Lawn mowing robot, lawn mowing system, and grass-full detection method for lawn mowing robot

Abstract

Provided are a lawn mowing robot, a lawn mowing system, and a grass-full detection method for a lawn mowing robot. The lawn mowing robot comprises a body (04), a lawn mowing assembly (07), a grass clippings processing assembly (12), and a detection assembly, wherein the body (04) has a grass discharge port (047); the grass clippings processing assembly (12) is detachably arranged on the body (04), and is in communication with the grass discharge port (047); and the detection assembly is configured to detect the operating state of the grass clippings processing assembly (12), such that the lawn mowing robot can detect the operating state of the grass clippings processing assembly (12) by itself, thereby improving the operating efficiency and usage convenience of the lawn mowing robot, and reducing the frequency and operational complexity of manual detection.

Description

Lawn mowing robots, lawn mowing systems, and methods for detecting full lawns in lawn mowing robots.

[0001] This application claims Chinese patent applications filed on January 24, 2025, with the Chinese Patent Office, application number 202510123257.4, entitled "A Material Gathering Device, a Grass-Mowing Equipment, and a Method for Detecting Grass Fullness"; Chinese patent applications filed on January 24, 2025, with the Chinese Patent Office, application number 202520172563.2, entitled "A Material Gathering Device and a Grass-Mowing Equipment"; Chinese patent applications filed on February 8, 2025, with the Chinese Patent Office, application number 202510142079.X, entitled "A Material Gathering Device, a Grass-Mowing Equipment, and a Method for Detecting Grass Fullness"; and Chinese patent applications filed on February 8, 2025, with the Chinese Patent Office, application number 202520203336.1, entitled "A Material Gathering Device and a Grass-Mowing Equipment"; and Chinese patent applications filed in October 2025. The priority of the following Chinese patent applications filed on October 24, 2025, are incorporated herein by reference: application number 202522266127.4, entitled "Grass Collection Bag, Mowing Robot, and Mowing System"; application number 202511537796.9, entitled "Grass Collection Bag, Mowing Robot, and Mowing System"; application number 202522264657.5, entitled "Flipping Mechanism, Mowing Robot, and Mowing System"; and application number 202522266927.6, entitled "Grass Fullness Detection Component, Mowing Robot, and Mowing System". Technical Field

[0002] This application belongs to the technical field of lawn mowing robots, and more specifically, relates to a lawn mowing robot, a lawn mowing system, and a method for detecting full grass on a lawn mowing robot. Background Technology

[0003] With advancements in technology and improvements in living standards, lawnmowers have gradually become an important tool for modern home gardening maintenance. Not only can they automatically mow lawns, but they can also collect the trimmed grass clippings through their built-in collection devices, eliminating the hassle of manual cleaning.

[0004] Currently, the working status of the grass collection frame (such as whether the grass collection frame is installed in place, the type of grass collection frame, or whether the grass clippings in the grass collection frame are overflowing) usually requires manual judgment by the user. This not only increases the user's burden, but may also cause the lawn mower robot to malfunction due to untimely or inaccurate judgment. Technical issues

[0005] The purpose of this application is to provide a lawn mowing robot, a lawn mowing system, and a method for detecting full grass on the lawn mowing robot, so as to solve the technical problem in the prior art that the working status of the grass collection frame of the lawn mowing robot needs to be judged manually. Technical solutions

[0006] To achieve the above objectives, the first aspect of this application provides a lawnmower robot, comprising:

[0007] The main body of the equipment has a straw discharge port;

[0008] A lawn mowing component is located at the bottom of the device body;

[0009] The grass clipping treatment component is detachably connected to the main body of the equipment and communicates with the grass discharge port;

[0010] The detection component is configured to detect the operating status of the grass clipping processing component.

[0011] A second aspect of this application provides a lawn mowing system, including a base station and a lawn mowing robot as described in the first aspect above, wherein the base station is at least used for charging the lawn mowing robot.

[0012] A third aspect of this application provides a method for detecting grass fullness in a lawnmower robot, the method comprising:

[0013] When the lawnmower robot is powered on, it detects whether grass clippings are passing through the grass collection space inlet;

[0014] When grass clippings are detected passing by, and the blades of the mowing robot are rotating, it is determined that the grass collection space is not full of grass clippings.

[0015] When no grass clippings are detected passing through, and the blades of the mowing robot are rotating, it is determined that the grass collection space is full of grass clippings.

[0016] The fourth aspect of this application provides another method for detecting grass fullness in a lawnmower robot, the method comprising:

[0017] The load current of the motor of the lawnmower robot's blade increased;

[0018] Determine the current load current level of the motor of the mowing robot's blade, with each load current level corresponding to a mowing duration;

[0019] When the mowing time corresponding to the load current level is reached, it is determined that the grass collection space is full of grass clippings. Beneficial effects

[0020] The beneficial effects of the lawn mowing robot, lawn mowing system, and lawn mowing robot full grass detection method provided in this application are as follows: Compared with the prior art, by setting up detection components, the lawn mowing robot can automatically detect the working status of the grass clipping processing components, thereby improving the working efficiency and ease of use of the lawn mowing robot and reducing the frequency and complexity of manual inspection. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or exemplary technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 is a schematic diagram of the component configuration structure of a lawnmower robot in an exemplary embodiment of this application;

[0023] Figure 2 is a three-dimensional structural diagram of a lawnmower robot in an exemplary embodiment of this application;

[0024] Figure 3 is a schematic diagram of the lawnmower robot from below in an exemplary embodiment of this application;

[0025] Figure 4 is a side view of the lawnmower robot in an exemplary embodiment of this application;

[0026] Figure 5 is a partial structural schematic diagram of the lawnmower robot in an exemplary embodiment of this application;

[0027] Figure 6 is a partial structural schematic diagram of the lawnmower robot in an exemplary embodiment of this application;

[0028] Figure 7 is a schematic diagram of a partial structure in Figure 5;

[0029] Figure 8 is a schematic diagram of the exploded structure in Figure 7;

[0030] Figure 9 is a first exploded structural diagram of the flipping component in an exemplary embodiment of this application;

[0031] Figure 10 is a second exploded structural diagram of the flipping component in an exemplary embodiment of this application;

[0032] Figure 11 is a front view structural diagram of the support member in an exemplary embodiment of this application;

[0033] Figure 12 is a three-dimensional structural diagram of the grass-gathering component in an exemplary embodiment of this application;

[0034] Figure 13 is an exploded structural diagram of the grass collection component in an exemplary embodiment of this application;

[0035] Figure 14 is a structural schematic diagram of a lawnmower robot in another exemplary embodiment of this application;

[0036] Figure 15 is another structural schematic diagram of the lawnmower robot in another exemplary embodiment of this application;

[0037] Figure 16 is a schematic diagram of the cross-sectional structure along direction AA in Figure 15;

[0038] Figure 17 is a schematic diagram of the structure of a radar sensor in another exemplary embodiment of this application;

[0039] Figure 18 is a schematic diagram of the structure of a lawn mowing system in an exemplary embodiment of this application;

[0040] Figure 19 is a schematic diagram of the steps of a lawn mowing robot grass full detection method in an exemplary embodiment of this application;

[0041] Figure 20 is a schematic diagram of the steps of a lawn mowing robot grass full detection method in another exemplary embodiment of this application. Embodiments of the present invention

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of this application.

[0043] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly or indirectly attached to that other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," etc., indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and are for ease of description only, not to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. 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. "A plurality" means two or more, unless otherwise explicitly defined.

[0044] The present application will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0045] This application provides a lawn mowing robot, which can be an automatic lawn mowing robot or a lawnmower that requires manual pushing by an operator. The following description uses an automatic lawn mowing robot as an example, but it does not limit the lawn mowing robot of this application to a lawnmower that requires manual pushing by an operator.

[0046] Referring to Figures 1-3, the lawn mowing robot includes a device body 04, a mowing component 07 disposed on the device body 04, and a grass clipping processing component 12 detachably connected to the device body 04. The mowing component 07 is used to perform mowing operations, and the grass clipping processing component 12 is used to process the grass clippings cut from the grass by the mowing component.

[0047] Specifically, the equipment body 04 has a grass discharge port 047, which is used to discharge grass clippings cut by the mowing component 07. The grass clipping processing component 12 can be a grass collecting component 06 or a grass blocking component 11. The grass collecting component 06 has a grass collecting space 065 for storing grass clippings, which is connected to the grass discharge port 047. The grass collecting space 065 can be used to store grass clippings generated during the mowing process. The grass blocking component 11 is used to prevent grass clippings from splashing out of the grass discharge port 047 and guide them to fall onto the grass. The grass blocking component 11 can also be used to guide the grass clippings generated during the mowing process to flow and discharge in a predetermined direction to prevent grass clippings from splashing.

[0048] The lawnmower may also include a detection component configured to detect the working status of the grass clipping component, enabling the lawnmower to detect the working status of the grass clipping component automatically, reducing the frequency and complexity of manual inspections, and improving the user experience.

[0049] In some embodiments, the working state includes at least one of a first state, a second state, and a third state. The first state is the connection state between the grass clipping component and the device body; the second state is the type state of the grass clipping component connected to the device body; and the third state is the overflow state of the grass collection space. That is, the detection component can be used to detect at least one of the following working states: the connection state of the grass clipping component 12 to the device body 04; the type state of the grass clipping component; and the overflow state of the grass collection space 065. Specifically, the detection component can detect whether the grass clipping component 12 is connected to the device body 04, avoiding operation of the mowing robot without the grass clipping component 12 connected; or, the detection component can identify the type of the grass clipping component 12, such as distinguishing between a grass collection component 06 and a grass barrier 11, so that the mowing robot can adjust its working mode or parameters according to different component types, achieving more intelligent operation. When using the grass collection component 06 as the grass clipping treatment component 12, the grass clipping accumulation in the grass collection space 065 can also be monitored in real time by the detection component. When the grass collection space 065 is about to be full or has been full of grass clipping, a signal is sent to notify the user in a timely manner or the grass discharge operation is automatically executed, thereby avoiding grass clipping overflow from affecting the normal operation of the mowing robot and the aesthetics of the lawn.

[0050] Thanks to the detection components, the lawnmower robot can flexibly adjust its working status according to different usage scenarios and needs, improving ease of use and lawnmower efficiency.

[0051] The following will take the grass collection component 06 as an example of a grass clipping treatment component for a detailed explanation. It should be noted that the following content also applies to the case where the grass barrier 11 is used as a grass clipping treatment component, but this will not be repeated in this embodiment.

[0052] As shown in Figures 3, 4, and 5, the device body 04 may include a chassis 044 and a shell 045. The shell 045 covers the chassis 044, forming the external outline of the lawnmower robot, and serves to protect internal components, improve the aesthetic appearance of the lawnmower robot, and optimize aerodynamic performance. The shell 045 may be a one-piece structure, such as being made of plastic or metal through injection molding or die casting. Alternatively, the shell 045 may be a modular structure, composed of multiple shell parts, to facilitate the installation, maintenance, and replacement of the lawnmower robot's internal components. The chassis 044 may be equipped with wheels to allow the robot to move on the working surface. In this embodiment, the wheels may include guide wheels 048 and drive wheels 043, which are respectively located on the front and rear sides of the chassis 044. There are two drive wheels 043, located on the left and right sides of the chassis 044. With the cooperation of guide wheel 048 and drive wheel 043, the lawnmower robot can flexibly perform forward, backward, and turning movements to meet the mobility needs in different working scenarios. In other embodiments, the walking wheels can also be tracked wheels or other types of walking wheels, as long as they can enable the lawnmower robot to move stably on the working surface.

[0053] In some embodiments, the device body 04 may further include a vision component and a positioning component 14. The vision component and the positioning component 14 are disposed on the chassis 044 or the housing 045. The vision component is used to identify environmental information, and the positioning component 14 is used to determine the robot's position information so that the lawnmower robot can work according to a preset path.

[0054] In some embodiments, the detection component may include a detection element 01, which emits a detection signal toward the grass collection space 065 and receives a detection signal reflected back from the grass collection space 065. During operation, the detection element 01 emits a detection signal toward the grass collection space 065, which may be in the form of sound waves, light signals, or electromagnetic waves. Understandably, changes in the amount of grass clippings in the grass collection space 065 will affect the detection signal reflected back from the grass collection space 065; that is, the detection signal received by the detection element 01 will change according to the change in grass clippings. Therefore, the change in grass clippings is determined based on the received detection signal, thereby determining the overflow status of the grass collection space 065. The amount of grass clippings may be the height of the grass clippings pile, the volume of the grass clippings pile, or the area of ​​the grass clippings pile.

[0055] In some embodiments, when the lawnmower robot is located on the working base 10, the angle between the emission direction of the detection element 01 and the working base 10 is 40°-45°. With this configuration, the detection signal emitted by the detection element 01 can be directed at the grass collection space 065 at a better incident angle.

[0056] As shown in Figures 8 and 12, in some embodiments, the detection component may include a detection element 01 and a calibration element 02, with the calibration element 02 disposed within the grass collection space 065. During operation, the detection element 01 emits a detection signal toward the calibration element 02. The detection signal may be in the form of sound waves, light signals, or electromagnetic waves, and is received by the detection element 01 after being reflected by the calibration element 02. As grass clippings accumulate in the grass collection space 065, the surface of the calibration element 02 is gradually covered by grass clippings. Different thicknesses of grass clippings will have corresponding effects on parameters such as the propagation speed, reflection intensity, or signal waveform of the detection signal. By analyzing the differences in specific characteristics between the received signal and the initial signal, or the signal from the previous moment, or the preset signal, the detection element 01 can identify the current accumulation state of the grass clippings, and thus accurately determine whether the grass collection space 065 has reached the overflow condition. The preset signal has the same characteristics as the signal received by the detection element 01 when the grass is full.

[0057] In some embodiments, the detection element 01 is disposed at the top of the grass collection space 065, while the calibration element 02 is correspondingly disposed at the bottom of the grass collection space 065. The two are arranged opposite each other in the vertical direction to form a detection path. The detection element 01 can be disposed outside or inside the grass collection space 065. When the detection element 01 is disposed outside the grass collection space 065, the portion of the grass collection assembly located on the detection signal path of the detection element 01 is made transparent, thereby facilitating the transmission of the detection signal of the detection element 01 through the transparent portion into the grass collection space.

[0058] As an alternative implementation, the grass inlet 064 is connected to the grass discharge outlet 047 of the mowing robot. Grass clippings enter the grass collection space 065 from the grass inlet 064. When the grass clippings accumulate to a high height at the grass inlet 064, it affects the discharge of grass from the grass discharge outlet 047. Understandably, when the grass clippings accumulate to a high height at the grass inlet 064, they block the grass clippings from the grass discharge outlet 047, preventing them from entering the grass collection space 065. Consequently, the grass clippings fall onto the working base surface 10 of the mowing robot. In response to the situation described above, the detection component 01 is placed at the top of the grass inlet 064 of the grass collection space 065, while the calibration component 02 is placed at the bottom of the grass collection space 065 and positioned close to the grass inlet 064. This arrangement can specifically detect the accumulation of grass clippings near the entrance of the grass collection space 065. When the accumulation height detected at the grass inlet 064 reaches a preset height, it is determined that the grass collection space 065 is full of grass, thereby cleaning the grass clippings in the grass collection space 065 and preventing the grass clippings from the grass discharge outlet 047 from entering the grass collection space 065.

[0059] In some embodiments, the condition for determining whether the grass collection space 065 is full of grass is whether the actual height of the grass clippings accumulated in the grass collection space 065 is greater than a preset height value. To satisfy this detection logic, the installation height of the detection element 01 is set to be greater than the preset height, while the installation height of the calibration element 02 is correspondingly set to be less than the preset height. This positional relationship ensures that the detection signal emitted by the detection element 01 and reflected back by the calibration element 02 can propagate normally without obstruction before the grass clippings continue to accumulate and reach the preset height. When the grass clippings accumulate to the preset height and continue to cover the calibration element 02, the propagation path or reflection characteristics of the detection signal will undergo a identifiable change, and the detection element 01 can determine that the grass collection space 065 has reached the full grass state by capturing this change.

[0060] As shown in Figures 7 and 8, in some embodiments, the detection component includes a signal amplifier 03, which covers the detection element 01. The signal amplifier 03 has a hemispherical structure with an internal accommodating space, and the detection element 01 is disposed within the signal amplifier 03. The function of the signal amplifier 03 is to amplify the detection signal, specifically by amplifying the intensity of the detection signal emitted by the detection element 01 and the intensity of the detection signal reflected back to the detection element 01 by the calibration element 02. By setting the hemispherical signal amplifier 03, on the one hand, the hemispherical signal amplifier 03 can cover the detection field of view of the detection element 01; on the other hand, the detection element 01 can effectively focus the energy of the detection signal, compensating for the attenuation of the signal during propagation caused by factors such as debris obstruction and spatial diffusion, thereby improving the signal-to-noise ratio of the detection signal and the sensitivity of the detection system to changes in the thickness of the grass debris accumulation, ensuring the reliability of the grass fullness judgment.

[0061] In some embodiments, the detection element 01 employs a millimeter-wave radar to achieve high-precision detection of grass clipping height. Correspondingly, the calibration element 02 is a metal plate located within the detection field of view of the millimeter-wave radar. The metal plate has good electromagnetic wave reflection characteristics; when the amount of grass clipping in the grass collection space 065 changes, the detection signal reflected back by the metal plate and received by the detection element 01 will show a significant change. Therefore, using a metal plate as the calibration element 02 can improve the accuracy of detecting the overflow state of the grass collection space 065. The metal plate can be made of metals such as iron, aluminum alloy, or stainless steel. The metal plate is fixedly installed within the grass collection space 065, ensuring it is within the effective coverage range of the millimeter-wave radar's detection field of view. During operation, the millimeter-wave radar emits millimeter-wave frequency electromagnetic wave signals towards the metal plate and receives the echo reflected by the metal plate. When grass clippings accumulate in the grass collection space 065 and gradually cover the metal plate, it will change the reflection intensity of the millimeter wave signal or other related information. By analyzing these changes in signal characteristics, the millimeter wave radar can accurately sense the accumulation height of the grass clippings, thereby achieving reliable detection of the overflow state of the grass collection space 065.

[0062] Millimeter-wave radar emits electromagnetic waves that have some penetrating power through grass clippings. When the radar emits electromagnetic waves into the grass collection space 065, the waves penetrate the grass clippings, resulting in a weak reflected signal. The electromagnetic waves emitted by the radar have weak penetrating power through metal plates, which reflect most of the waves back. When the amount of grass clippings in the grass collection space 065 changes, the characteristics of the electromagnetic waves reflected back through the metal plates change significantly. Therefore, the amount of grass clippings in the grass collection space 065 can be determined based on this significant change in electromagnetic wave characteristics.

[0063] In some embodiments, the metal plate used in the calibration component 02 has a reflective surface dedicated to reflecting the detection signal. A gain structure for increasing reflectivity is formed on the reflective surface. This gain structure can be achieved through specific surface treatment processes or physical configurations, such as frosting the reflective surface to form a microstructure that enhances diffuse reflection, or processing regularly arranged fin-like protrusions on the reflective surface to directionally converge the reflected beam.

[0064] In some embodiments, to ensure sufficient reflected signal, the effective area of ​​the metal plate reflective surface is set to be no less than 30 square centimeters, thereby providing a sufficient reflection area for the detection signal, which helps to reduce signal fluctuations caused by local accumulation of grass clippings or changes in posture, and thus ensures the accuracy of the detection results.

[0065] In some embodiments, the device body 04 is provided with a mounting platform 041, and the detection element 01 is disposed on the mounting platform 041. The mounting platform 041 facilitates the installation of the detection element 01 on the device body 04.

[0066] The mounting platform 041 has a mounting ramp 0411, which is configured to face the calibration element 02 located in the grass collection space 065. The detection element 01 is mounted on the mounting ramp 0411. This arrangement helps to align the detection signal of the detection element 01 with the calibration element 02, optimizes the signal propagation path, and improves the accuracy and stability of the detection.

[0067] In some embodiments, the working base 10 is the plane on which the lawnmower robot operates, such as a grass surface, in which case the working base 10 is parallel to the horizontal plane. When the lawnmower robot is in normal working condition and parked on the working base 10, the mounting ramp 0411 of the mounting platform 041 is not parallel to or perpendicular to the working base 10, but forms a specific inclined angle with the working base 10. The optimized value range of this angle is set between 40 and 45 degrees. The detection element 01 is mounted on the mounting ramp 0411, and the detection element 01 can emit a detection signal downwards into the grass collection space 065. With this configuration, the detection signal emitted by the detection element 01 can be directed at the calibration element 02 located at the bottom of the grass collection space 065 at a better incident angle, thereby minimizing the invalid loss and interference reflection of the detection signal on the propagation path and ensuring the efficiency and stability of the detection signal transmission and reception.

[0068] When the lawnmower robot is working on the work surface 10, such as a grassy area, its mowing component 07 cuts the grass and discharges the grass clippings from the discharge port 047 on the robot's main body 04. Along the robot's forward direction, a grass clipping treatment component 12 is located at the rear of the main body 04. This component guides or collects the grass clippings generated during cutting and exiting from the discharge port 047, preventing them from splashing out and hitting the operator.

[0069] Figures 1 and 5 are schematic diagrams of the structure of the lawnmower robot after the grass clipping processing component 12 is disassembled in this embodiment of the application. Figure 5 can be regarded as the main body of the lawnmower robot. As shown in Figure 4, the main body 04 is provided with a grass discharge port 047 for discharging grass clippings. The grass cutting component 07 is located at the bottom of the main body 04 and is used to cut grass during the lawnmower robot's grass cutting operation. As shown in Figures 5 and 7, the main body 04 may be provided with a support member 08, which is used to connect the grass clipping processing component 12. When the grass clipping processing component 12 is connected to the support member 08, it can at least partially block the grass discharge port 047, so that the grass clipping processing component 12 can guide or collect the grass clippings generated during cutting and discharged from the grass discharge port 047.

[0070] Understandably, the grass discharge port 047 is connected to the mowing assembly 07, and the blades of the mowing assembly 07 are visible through the grass discharge port 047, meaning the blades are exposed. When the grass discharge port 047 is not covered, the exposed blades are quite dangerous, especially when the mowing assembly 07 is working. The blades rotate to cut grass, and grass clippings are discharged through the grass discharge port 047 during operation. Due to the rotation of the blades, grass clippings are flung out of the grass discharge port 047, potentially hitting the operator, even their mouth, nose, and eyes. The grass clipping treatment assembly 12 covers the grass discharge port 047 to prevent grass clippings from flying everywhere, but does not prevent them from exiting the grass discharge port 047. Understandably, the grass clipping treatment component 12 guides or collects the grass clippings generated during cutting and exiting from the grass discharge port 047. When the grass clipping treatment component 12 is a grass-blocking component 11, the grass-blocking component 11 can be connected to the support component 08, connected to the mowing robot, and forming an opening facing the working base at the grass discharge port 047 to facilitate guiding the grass clippings exiting from the grass discharge port 047 to the working base. Alternatively, the grass clipping treatment component 12 can be a grass-collecting component, connected to the support component 08, connected to the mowing robot, and forming a grass-collecting space at the grass discharge port 047 to facilitate collecting the grass clippings exiting from the grass discharge port 047 into the grass-collecting space.

[0071] In some embodiments, the detection component may include a detection sensor 13, which is used to determine the connection state of the support 08. Specifically, the detection sensor 13 can determine whether the grass clipping assembly 12 is connected to the support 08, and if the grass clipping assembly 12 is detected to be installed, identify the specific type of the installed grass clipping assembly 12. Identifying the specific type of the installed grass clipping assembly 12 means identifying whether the grass clipping assembly 12 is a grass collecting assembly 06 or a grass blocking assembly 11.

[0072] In some embodiments, upon receiving a mowing command, the lawnmower robot first determines the connection status of the support member 08 detected by the detection sensor 13. If the detection result indicates that the support member 08 is not connected to the grass clipping assembly 12, the controller of the lawnmower robot will control the mowing assembly 07 not to start working, thereby fundamentally eliminating the safety hazards that may be caused by the grass clipping assembly 12 not being connected. That is, upon receiving a mowing command, if the support member 08 is not connected to the grass clipping assembly 12, the mowing assembly 07 will not work. Conversely, if the support member 08 is detected to be connected to the grass clipping assembly 12, the controller determines that the safety conditions have been met and then allows or directly controls the mowing assembly 07 to enter the normal working mode to perform the mowing operation. That is, if the support member 08 is connected to the grass clipping assembly 12, the controller controls the mowing assembly 07 to work. Through the above control method, it is ensured that the mowing assembly 07 can only operate after the grass clipping assembly 12 is installed in place, significantly improving the safety performance of the equipment.

[0073] In some embodiments, the lawnmower robot includes an alarm component (not shown). When the controller of the lawnmower robot receives a mowing command, it determines the connection status of the support member 08 based on the signal fed back by the detection sensor 13. If the connection status of the support member 08 is that the grass clipping assembly 12 is not connected, the controller will synchronously trigger the alarm component, causing the alarm component to emit corresponding optical, acoustic, or other forms of prompt information to warn the operator that the current equipment is in a state where the grass clipping assembly 12 is not installed.

[0074] In some embodiments, the operating parameters of the lawnmower robot can be adjusted according to the specific type of the grass clipping handling component 12 installed. Specifically, when the lawnmower robot recognizes that the grass collection component 06 is connected to the support 08, the controller of the lawnmower robot will control the grass mowing component 07 to operate at a first cutting speed during the mowing operation, in order to meet the requirements of grass clipping collection efficiency in the grass collection mode. The first cutting speed is a relatively high cutting speed. After cutting the grass, the blades of the grass mowing component 07 drive the grass clippings out of the discharge port 047 through the speed of the blades, so that the grass clippings can enter the grass collection space 065 in the grass collection component 06. When the lawnmower robot recognizes that the grass blocking component 11 is connected to the support 08, the controller controls the grass mowing component 07 to operate at a relatively low second cutting speed. This speed setting is more suitable for controlling the grass clipping scattering or spreading effect in the grass blocking mode. Here, the first cutting speed is configured to be greater than the second cutting speed.

[0075] As shown in Figure 9, in some embodiments, the detection sensor 13 includes at least one first detection sensor 131 and at least one second detection sensor 132, thereby enabling the detection sensor 13 to distinguish different types of grass clipping components 12. When the lawnmower robot is working, when the installed grass clipping component 12 is a grass collecting component 06, as shown in Figure 11, the sensor trigger 0621 on the grass collecting component 06 corresponds to the position of the first detection sensor 131, and triggers the first detection sensor 131; correspondingly, when the installed grass clipping component 12 is a grass blocking component 11, the sensor trigger on the grass blocking component 11 corresponds to the position of the second detection sensor 132, and triggers the second detection sensor 132. By determining whether the first detection sensor 131 or the second detection sensor 132 is triggered, the controller can accurately identify the specific type of the currently installed grass clipping component 12, thereby providing a basis for subsequent execution of the corresponding control strategy.

[0076] As shown in Figures 8 and 9, in some embodiments, the detection sensor 13 and the detection element 01 are respectively located on opposite sides of the mounting platform 041. In one example, the detection sensor 13 is located on the upper side of the mounting platform 041. When the grass-collecting assembly 06 is connected to the support member 08, the sensing trigger 0621 on the grass-collecting assembly 06 can contact the detection sensor 13 on the upper side of the mounting platform 041, and the mounting platform 041 can support the sensing trigger 0621. The detection element 01 is located on the lower side of the mounting platform 041. When the grass-collecting assembly 06 is connected to the support member, the detection element 01 can face the grass-collecting space 065 within the grass-collecting assembly 06, thereby emitting a detection signal into the grass-collecting space. Furthermore, the positional arrangement of the detection sensor 13 and the detection element 01 can effectively avoid spatial interference between the two detection elements, ensuring the independence and reliability of their respective functions.

[0077] When the support member 08 is connected to the grass collection assembly 06, the mounting platform 041 extends into the grass collection space 065. The mounting platform 041, together with the detection sensor 13 and the detection element 01 it carries, extends into the grass collection space 065 inside the grass collection assembly 06, so that the detection element 01 can emit a detection signal toward the grass collection space 065, thereby detecting the overflow state of grass clippings in the grass collection space 065.

[0078] As shown in Figures 9 and 10, in some embodiments, the lawnmower robot includes a flipping component 05, which is disposed on the device body 04. The flipping component 05 drives the support member 08 to rotate. When the grass collecting component 06 is connected to the support member 08, the detection member 01 detects that the grass collecting space 065 is full. The flipping component 05 can then drive the support member 08 to rotate, causing the grass collecting component 06 to flip, so that the grass clippings in the grass collecting space 065 are poured out from the grass inlet 064. In addition, the flipping component 05 can adjust the position of the grass collecting component 06 connected to the support member 08 relative to the device body by driving the support member 08 to rotate.

[0079] In one example, the device body 04 has a mounting cavity 046 on the side facing the grass collection assembly 06, and the flipping assembly 05 is installed inside the mounting cavity 046. To protect the flipping assembly, the mounting cavity 046 is provided with a cover plate 042, which is connected to the cavity wall 0465 of the mounting cavity 046, together forming a closed cavity for accommodating and protecting the flipping assembly 05. The mounting platform 041 is disposed on the cover plate 042. In one example, the mounting platform 041 is disposed on the outer surface of the cover plate 042, so that the detection sensor 13 and the detection element 01 are located outside the closed space, facilitating interaction with the grass collection assembly 06.

[0080] As shown in Figures 12 and 13, in some embodiments, the grass collection component 06 specifically includes a support frame 061 and a grass collection bag 062. The grass collection bag 062 is fitted onto the support frame 061, which is detachably connected to the support member 08. When the grass collection component 06 is connected to the support member 08, the flipping component 05 can drive the support frame 061, along with the grass collection bag 062, to swing relative to the device body 04 within a certain angle. This swinging motion helps to empty the grass clippings collected in the grass collection bag 062.

[0081] In related technologies, the grass-collecting component 06 includes a support frame 061 and a grass-collecting bag 062. The grass-collecting bag 062 needs to be fitted onto the support frame 061, and then the support frame 061 with the grass-collecting bag 062 is connected to the lawnmower robot to collect grass clippings. However, in related technologies, the sensor trigger 0621 of the grass-collecting component is located on the support frame 061. This results in a situation where the lawnmower robot can recognize the grass-collecting component 06 as connected even if only the support frame 061 is connected. In this case, when the lawnmower robot operates, grass clippings fly out from the discharge port 047 and scatter in all directions, posing a safety hazard.

[0082] To address this technical issue, a sensor trigger 0621 is provided on the grass collection bag 062. When the grass collection bag 062 is installed in the predetermined working position of the equipment body 04, the position of the sensor trigger 0621 corresponds to the detection sensor 13 provided on the equipment body 04, and can trigger the detection sensor 13. This allows the equipment controller to confirm that the grass collection bag 062 is in the working position, providing a basis for judgment for allowing the equipment to start or adapt to the corresponding working mode.

[0083] Understandably, when the grass collection bag 062 is fitted onto the support frame 061, and the grass collection bag 062, together with the support frame 061, is connected to the mowing robot, the sensor trigger 0621 on the grass collection bag 062 triggers the detection sensor 13 on the mowing robot, thereby enabling the equipment controller to confirm that the grass collection assembly 06 is in the working position. This avoids the situation where only the support frame 061 is connected to the mowing robot, causing the mowing robot to mistakenly identify the grass collection assembly as connected.

[0084] In some embodiments, the sensor trigger 0621 is generally mounted on the edge of the feed inlet of the grass collection bag 062. It is understood that the sensor trigger 0621 mounted on the edge of the feed inlet of the grass collection bag 062, as well as in the area within 10 cm of the feed inlet edge, are all within the scope of protection of this application. The position of the sensor trigger 0621 is designed such that when the grass collection bag 062 is installed on the device body 04, the sensor trigger 0621 can trigger the detection sensor 13 located on the device body 04, thereby ensuring the reliability of the detection. Arranging the sensor trigger 0621 on the edge of the feed inlet facilitates its proximity to the detection sensor 13 for triggering the detection sensor 13.

[0085] In some embodiments, the detection sensor 13 is a Hall sensor, while the sensing trigger 0621 disposed on the grass collection bag 062 is a magnetic element. When the grass collection bag 062 is installed in place, the magnetic element enters the effective sensing range of the Hall sensor. The Hall sensor detects changes in the magnetic field and outputs an electrical signal, thereby accurately determining that the grass collection bag 062 is in the working position. This non-contact detection scheme has the advantages of high reliability and long service life.

[0086] In some embodiments, the mowing assembly 07 may include a rotatable cutter 071, and the distance between the rotation center of the cutter 071 and the projection of the first axis l1 of the grass collection assembly 06 on the working base surface 10 (such as the ground) is d. The mowing robot includes drive wheels 043 for walking, and the diameter of the drive wheels 043 is D. By controlling the ratio of the above projection distance d to the drive wheel diameter D within a specific range, that is, satisfying the relationship 0.5 < d / D < 1.5, the tipping assembly 05 and the mowing assembly 07 can be made as close as possible in the spatial layout, effectively shortening the conveying path of the grass clippings. This not only reduces the risk of blockage during the conveying process of the grass clippings, but also improves the compactness of the overall machine structure and the rationality of the layout.

[0087] The tipping assembly 05 includes a driving member 054, and the driving member 054 at least includes a motor. Since the tipping assembly 05 has a relatively heavy weight, the position layout of the tipping assembly 05 will affect the center of gravity position of the mowing robot. Therefore, controlling the ratio of the above projection distance d to the drive wheel diameter D within 0.5 < d / D < 1.5 can also effectively adjust the distribution of the center of gravity of the entire mowing robot, suppress the tipping moment generated on the mowing robot when the grass collection assembly 06 tips, thereby avoiding the front end of the mowing robot from lifting, and ensuring the stability and continuity of the mowing robot during the grass unloading process.

[0088] As shown in FIG. 3, in some embodiments, the projection distance d from the rotation center of the cutter 071 to the first axis l1 on the working base surface 10 is set to be less than the diameter D of the drive wheel 043, so as to minimize the spatial span between the inlet of the grass collection assembly 06 and the cutter 071 as much as possible, thereby effectively shortening the flow channel distance for the grass clippings to be conveyed from the cutting position to the collection position, which is beneficial to improving the collection effect and reducing the leakage of grass clippings during the conveying process. In addition, a smaller projection distance d helps to move the projection position of the center of gravity of the entire machine forward on the working base surface 10, so that when the grass collection assembly 06 tips, it can effectively balance the tipping moment generated due to the rearward movement of the center of gravity of the mowing robot, and suppress the upward trend of the front end of the mowing robot body, ensuring the operation stability.

[0089] As shown in FIGS. 2 and 3, in some embodiments, there are two drive wheels 043, which are respectively arranged on the left and right sides of the robot body to provide driving power for traveling. On the projection of the working base surface 10, the rotation center of the cutter 071 and the first axis l_{1} around which the grass collection assembly 06 rotates are both located between the two drive wheels 043. It can be understood that by connecting the diameters of the two drive wheels 043 parallel to the forward direction to form a rectangle, the rotation center of the cutter 071 and the first axis l_{1} around which the grass collection assembly 06 rotates are both located within this rectangle.

[0090] In some embodiments, the drive wheel 043 rotates about the second axis l2, and the projection distance d1 between the first axis l1 and the second axis l2 on the working base 10 is configured to be smaller than the radius r of the drive wheel 043. This relative positional relationship makes the projection of the first axis l1 of the grass collecting assembly 06 very close to the grounding point of the drive wheel 043 on the working base 10, thereby shortening the length of the lever arm during flipping, effectively suppressing the backward tilting torque, and playing a certain role in preventing the front end of the robot from tilting up.

[0091] As shown in Figure 3, in some embodiments, the mowing assembly 07 includes a cutter cover 072 and a conveying channel 073 integrally formed with the cutter cover 072. The cutter 071 is rotatably housed within the internal space of the cutter cover 072, which has a discharge port 0721. One end of the conveying channel 073 is connected to the discharge port 0721, and the other end leads to the inlet of the grass clipping processing assembly 12, thus forming a path for conveying the cut grass clippings to the grass collection assembly 06. It is worth noting that the side of the conveying channel 073 facing the working base 10 is open, that is, the side of the conveying channel 073 facing the working base 10 is open, which can prevent grass clippings from clogging the conveying channel 073. In addition, since the ratio of the projection distance d of the rotation center of the cutter 071 to the first axis l1 on the working base 10 to the diameter D of the drive wheel is controlled within a specific range, the overall center of gravity distribution of the mowing robot is effectively adjusted, and the length of the conveying channel 073 is shortened. The grass clippings can be thrown out of the discharge port 047 well by the rotation of the cutter 071.

[0092] As shown in Figures 9 and 10, in some embodiments, the flipping assembly 05 specifically includes a drive shaft 051, a positioning member 052 mounted on the drive shaft 051, and a position sensor 053 for detecting the angular position of the positioning member 052. The axis of the drive shaft 051 is the first axis l1 of the grass collecting assembly 06. When the drive shaft 051 rotates, it synchronously drives the positioning member 052 to rotate as well. When the positioning member 052 rotates with the drive shaft 051 to a first preset angle, it triggers the position sensor 053 to generate a corresponding first signal. Similarly, when it rotates to a second preset angle, it triggers the position sensor 053 to generate a second signal. The position sensor 053 can be a light sensor. When the positioning member 052 rotates with the drive shaft 051 to the first preset angle and to the second preset angle, the positioning member 052 blocks the light from the light sensor, thereby triggering the position sensor 053. Understandably, for the first and second preset angle positions of the positioning component 052, a light-emitting component and a light-receiving component are respectively set at the corresponding positions of the position sensor 053. The first preset angle refers to the position where the grass-collecting assembly 06 is rotated to its maximum angle to allow the grass clippings to be smoothly discharged. At this point, the position sensor 053 generates a first signal to indicate that the grass-collecting assembly 06 has reached the grass-discharging position. The second preset angle refers to the angle at which the grass-collecting assembly 06 returns to its initial working position. When the positioning component 052 rotates to this position, the position sensor 053 generates a second signal, indicating that the grass-collecting assembly 06 has been reset and the lawnmower robot can continue to work normally. When the positioning component 052 rotates to the first or second preset angle position, it will block the light emitted by the light-emitting component at the corresponding position. The light-receiving component does not receive light, thus determining whether the positioning component 052 has rotated to the first or second preset angle position. The position sensor can also be a trigger switch. When the positioning component 052 rotates to the first or second preset angle position, the positioning component 052 will trigger the switch, thereby generating a signal.

[0093] Since the function of the flipping component 05 is to drive the grass collecting component 06 to flip around the first axis l1 to achieve unloading, by capturing the different signals generated by the position sensor 053 triggered by the positioning component 052, it is possible to determine whether the grass collecting component 06 is in the working position or the unloading position, thereby achieving reliable monitoring of the current operating posture of the grass collecting component 06.

[0094] As shown in Figures 9 and 10, in some embodiments, the flipping assembly 05 includes a support member 08. Exemplarily, at least two support members 08 are provided, respectively connected to both ends of the drive shaft 051, and can rotate together with the drive shaft 051. A hanging groove 081 is provided on the support member 08, configured to connect with the grass clipping processing assembly 12, so that the support member 08 drives the grass clipping processing assembly 12 to rotate. When the grass clipping processing assembly 12 is a grass collecting assembly 06, the hanging groove 081 can engage with the corresponding hook 063 provided on the grass collecting assembly 06. Through this engagement, when the drive shaft 051 drives the support member 08 to rotate around the first axis l1, the support member 08 can drive the entire grass collecting assembly 06 to flip around the first axis l1 through the transmission of the hanging groove 081 and the hook 063, thereby realizing the grass clipping dumping operation of the mowing robot.

[0095] As shown in Figures 5 and 6, in some embodiments, the lawnmower robot has a mounting cavity 046 on the side facing the grass clipping assembly 12, and the main body of the flipping assembly 05 is housed within this mounting cavity 046. For example, the drive shaft 051 and other related structures of the flipping assembly 05 are housed within this mounting cavity 046. To improve safety and dust prevention, baffles 09 are provided on the left and right sides of the mounting cavity 046 to shield and protect the flipping assembly 05 inside. An installation opening 0461 is provided above the mounting cavity 046. The installation opening 0461 provides necessary space for the movement of the support member 08, and its design facilitates the installation of the hook 063 of the grass collecting assembly 06 onto the support member. Specifically, at least a portion of the vertical projection of the support member 08 on the working base surface 10 falls within the projection area of ​​the mounting port 0461 on the working base surface 10, so as to ensure that when the support member 08 drives the grass collecting component 06 to rotate, the movement path of the grass collecting component 06 will not interfere with the robot body structure. At the same time, the mounting port 0461 also facilitates the connection operation between the support member 08 and the grass collecting component 06.

[0096] As shown in Figure 6, in some embodiments, the mounting cavity 046 is provided with a connection opening 0462 on the side facing the grass collection component 06. At least a portion of the edge of the connection opening 0462 forms a support portion 0463 that protrudes toward the grass collection component 06. When the grass collection component 06 is installed in place, the support portion 0463 can provide support for the grass collection component 06 to improve the placement stability of the grass collection component 06 in a non-tilting state.

[0097] In some embodiments, the bottom of the mounting cavity 046 has an inclined surface 0464, which helps guide grass clippings to move into the grass collection space, or helps guide grass clippings to move into the opening of the grass barrier 11 and be discharged, reducing accumulation. The mounting cavity 046 is provided with a cover plate 042, which is connected to the cavity wall 0465 of the mounting cavity 046 to form a relatively closed cavity, thereby accommodating the main body of the flipping assembly 05 and providing a certain degree of protection; in this configuration, the position sensor 053 can be fixedly connected to the cavity wall 0465 of the mounting cavity 046.

[0098] It is conceivable that a mounting box can be installed inside the mounting cavity 046. The mounting box is detachably installed inside the mounting cavity 046, and an accommodating space is formed inside the mounting box. The transmission part of the flipping assembly 05 is accommodated inside the mounting box, while the support member 08 is located outside the accommodating space. In this configuration, the position sensor 053 can be connected to the inner wall of the mounting box, which facilitates installation, subsequent debugging, and maintenance.

[0099] As shown in Figures 9 and 10, in some embodiments, the flipping assembly 05 includes a drive member 054, which drives the transmission shaft 051 to rotate around its own axis, i.e., the drive member 054 drives the transmission shaft 051 to rotate around a first axis l1. The drive member 054 is spatially positioned below the transmission shaft 051. A position sensor 053 is at least partially located between the drive member 054 and the transmission shaft 051 to fully utilize the unused space below the transmission shaft 051. The vertically staggered arrangement of the drive member 054 and the position sensor 053 helps reduce the space occupied by the flipping assembly 05 in the direction of travel of the lawnmower robot, thereby contributing to the miniaturization and compactness of the overall structure of the lawnmower robot. Furthermore, reducing the space occupied by the flipping assembly 05 in the direction of travel of the lawnmower robot can indirectly shorten the length of the conveying channel 073.

[0100] As shown in Figures 2 and 3, in some embodiments, the lawnmower robot includes a chassis 044 and a shell 045 covering the chassis 044. The mowing component 07, which performs the cutting function, is located on the chassis 044. The shell 045 has a mounting cavity 046 on the side near the grass-collecting component 06 for accommodating the flipping component 05. Most of the components of the lawnmower robot are integrated into the chassis 044, such as the mowing component 07 and drive wheels 043. The chassis 044 serves as the main frame of the lawnmower robot, supporting its main weight. The shell 045 acts as a protective cover for the components on the chassis 044, shielding them and providing protection. The mounting cavity 046 is located within the shell; it is formed during the molding of the shell 045. This design minimizes gaps in the lawnmower robot's shell, resulting in better waterproofing.

[0101] As shown in Figures 12 and 13, in some embodiments, the grass collection component 06 includes a support frame 061 and a grass collection bag 062. The grass collection bag 062 is fitted onto the support frame 061 and is held in its unfolded state by the support frame 061. The support frame 061 has a foldable structure to facilitate compact storage of the grass collection component 06 during non-working periods or when storage is required.

[0102] Specifically, the support frame 061 includes a bag depth support frame 0611 at the top, a bag opening support frame 0612 on the side, and diagonal braces 0613 supporting these two parts. The bag depth support frame 0611 and the bag opening support frame 0612 are rotatably connected at their adjacent edges via a hinge structure. Two diagonal braces 0613 are provided, respectively arranged on the left and right sides of the support frame 061. One end of each diagonal brace 0613 is hinged to the bag opening support frame 0612, while the other end is detachably snapped onto the bag depth support frame 0611. Thus, the bag depth support frame 0611, the bag opening support frame 0612, and the diagonal braces 0613 can form a stable triangular support structure, ensuring that the shape of the grass collection bag 062 is maintained in the working state. When folding is required, the operator first separates the diagonal brace 0613 from the bag depth support frame 0611 to release the triangular support constraint. Then, the bag depth support frame 0611, the bag opening support frame 0612, and the diagonal brace 0613 can be stacked together to achieve a significant reduction in the volume of the grass collection component 06.

[0103] As shown in Figures 12 and 13, in some embodiments, the grass-collecting component 06 specifically includes a support frame 061 and a hook 063, with the hook 063 connected to the support frame 061. The hook 063 is formed by bending a first connecting rod 0631, while the support frame 061 is composed of multiple second connecting rods 0614 connected together. The outer diameter of the second connecting rods 0614 constituting the support frame 061 is set to be smaller than the outer diameter of the first connecting rods 0631 constituting the hook 063. Since the hook 063 is the load-bearing part that is directly connected to the support member 08 and bears the main weight of the grass-collecting component 06, a first connecting rod 0631 with a larger diameter is used to meet the strength requirements of the hook 063; while the main function of the support frame 061 is to maintain the shape of the grass-collecting bag 062, by using second connecting rods 0614 with a smaller diameter, the overall frame can be effectively lightweight while ensuring the stability of the basic structure.

[0104] In some embodiments, the outer diameter of the second connecting rod 0614 is D1, and the outer diameter of the first connecting rod 0631 is D2. The outer diameters of the second connecting rod 0614 and the first connecting rod 0631 satisfy 0.3 < D1 / D2 < 0.8, thereby achieving an optimized balance between structural strength and material lightweighting. This ensures that the hook 063, as the main load-bearing component, has sufficient mechanical properties, while also minimizing the material usage of the support frame 061 while meeting its basic support functions. This achieves overall lightweighting of the grass collection assembly 06 and controls manufacturing costs.

[0105] As shown in Figures 9 and 10, this application provides a flipping assembly 05 for use in a lawnmower robot. The flipping assembly 05 includes a drive member 054, a drive shaft 051, and a support member 08. The drive member 054 drives the drive shaft 051 to rotate, and the support member 08 is connected to the drive shaft 051. The support member 08 is provided with a hanging groove 081, which can be engaged with the hook 063 of the grass collection assembly 06. The outline of the hanging groove 081 includes an arc segment 0811 and two elongated segments 0812 respectively connected to both ends of the arc segment 0811. This specific groove structure helps guide the hook 063 smoothly into the working position during engagement and provides a stable transmission connection during the flipping process.

[0106] As shown in Figure 11, in some embodiments, the central angle corresponding to the arc segment 0811 is set to a range of 30° to 180°; the ratio between the length L of the elongated segment 0812 and the radius R of the arc segment 0811 satisfies the relationship L / R>1.5. This range of central angles ensures that the hook 063 has sufficient travel within the arc segment 0811 to adapt to different connection postures, while the aforementioned aspect ratio ensures that the elongated segment 0812 has sufficient guiding length, facilitating the smooth sliding of the hook 063 into or out of the hanging slot 081, thereby jointly ensuring the reliability and smoothness of the connection and separation actions between the support member 08 and the grass collection assembly 06.

[0107] Referring to Figures 14 to 16, in some embodiments, the detection component may include a radar sensor 15, which is positioned towards the grass inlet 064 to detect whether the grass collection component 06 is full of grass clippings. If the radar sensor 15 detects grass clippings passing through the grass inlet 064, it determines that the grass collection component 06 is not full of grass clippings. For example, when no grass clippings are detected passing through the grass inlet 064, and the cutter is rotating, it is determined that the collection chamber is full of grass clippings.

[0108] It should be explained that the grass collection component 06 is used to store and accumulate grass clippings. The grass clippings enter the grass collection component 06 through the grass inlet 064. Specifically, the grass clippings can be grass clippings, grains, pellets, fallen leaves, etc. The radar sensor 15 can detect the dynamic process of grass clippings entering the grass collection component 06 in real time. The radar sensor 15 senses the presence and movement of grass clippings by emitting and receiving electromagnetic waves, thereby achieving precise monitoring of the grass clippings' state.

[0109] Understandably, when radar sensor 15 detects movement of grass clippings, it indicates that the clippings are entering the grass collection assembly 06 along the grass inlet 064. At this time, the grass collection assembly 06 is not yet full of grass clippings, so the collection operation can continue. If radar sensor 15 does not detect grass clipping movement for a period of time, this usually means that the grass collection assembly 06 is full. This is because when the grass collection assembly 06 is full, no more grass clippings can enter, causing radar sensor 15 to no longer detect grass clipping movement. At this time, radar sensor 15 can issue a corresponding signal or prompt to inform the operator that the grass collection assembly 06 is full.

[0110] In current lawnmowers, the stability of detecting when the grass collection assembly is full is not high. However, in this application, a radar sensor 15 is used to detect whether grass clippings pass through the grass inlet 064, thereby determining whether the grass collection assembly 06 is full of grass clippings. Furthermore, the detection signal of the radar sensor 15 has a certain degree of penetration, and the radar sensor 15 is not easily affected by grass clippings, which helps to improve the detection stability.

[0111] In some embodiments, the radar sensor 15 is disposed within the grass collection assembly 06, and the radar sensor 15 is disposed at or above the grass inlet 064.

[0112] Understandably, when the radar sensor 15 is set at or above the grass inlet 064, it ensures that grass clippings do not directly obstruct the radar sensor 15's view when entering the grass collection assembly 06. This helps the radar sensor 15 to more accurately perceive the movement and accumulation of grass clippings.

[0113] In some embodiments, the radar sensor 15 can be installed on the top wall or side wall of the grass collection assembly 06, near the top wall. This arrangement positions the radar sensor 15 at a relatively high position, minimizing direct obstruction by grass clippings as they fall into the grass collection assembly 06. This allows for continuous and stable transmission and reception of electromagnetic waves, sensing the presence and movement of grass clippings, and reliably determining whether the grass collection assembly 06 is full. Furthermore, installing the radar sensor 15 on the top wall or side wall of the grass collection assembly 06 facilitates installation and maintenance, enabling operators to easily adjust, inspect, and replace it, thus improving the overall ease of use and maintenance efficiency of the lawnmower robot.

[0114] In some embodiments, please refer to Figures 14 and 16. The device body 04 is also provided with a conveying channel 073. The mowing component 07 is provided at one end of the conveying channel 073. The other end of the conveying channel 073 forms a grass discharge port 047 and communicates with the grass inlet 064. The mowing component 07 is used to collect grass clippings. The radar sensor 15 is provided on the inner sidewall or inner top wall of the conveying channel 073.

[0115] It should be explained that the inner top wall refers to the inner wall of the conveying channel 073 that is furthest from the horizontal plane when the lawnmower robot is placed on a horizontal plane (i.e., the inner top wall of the conveying channel 073). The inner side walls refer to the side walls that are spaced apart along the horizontal direction of the conveying channel 073 when the lawnmower robot is placed on a horizontal plane, that is, the side walls on the left and right sides of the conveying channel 073.

[0116] Understandably, grass clippings can be guided from the mowing assembly 07 along the conveying channel to the grass collection assembly 06, achieving continuity and smoothness in the entire collection process. Specifically, the mowing assembly 07 can collect grass clippings into the collection space through mechanical gripping, suction, or negative pressure generated by the rotation of the cutter blade. Placing the radar sensor 15 on the inner sidewall or top wall of the conveying channel 073 helps reduce the obstruction of the radar sensor 15 due to grass clippings deposited in the conveying channel 073. This arrangement in this embodiment ensures that the radar sensor 15 can directly detect the process of grass clippings entering the conveying channel 073 and the transmission status of the grass clippings within the channel.

[0117] In some embodiments, the radar sensor 15 is disposed on the inner sidewall of the conveying channel 073 and faces the other sidewall, or the radar sensor 15 is disposed on the inner top wall of the conveying channel 073 and faces the bottom wall.

[0118] In some embodiments, the radar sensor 15 is configured such that when the lawnmower is collecting grass clippings on the working surface, the sensing area of ​​the radar sensor 15 does not cover the area on the working surface, that is, the radar sensor 15 is controlled not to sense the area where the working surface is located, so as to reduce the interference of the environment on the radar sensor 15 and improve the accuracy of detection.

[0119] It's important to clarify that the working surface refers to the area where the grass clippings are located before entering the lawnmower robot. In a lawnmower robot, the working surface can be a lawn. This means that the radar sensor 15 does not directly detect the state of the grass clippings on the working surface, but focuses on the grass clippings within the conveying channel 073 and the grass collection assembly 06. Various interfering factors, such as dust, vibration, and irregular grass clippings, may exist on the working surface. These factors can affect the performance of the radar sensor 15, leading to false alarms or missed alarms. By excluding the working surface area, the impact of these interfering factors on the radar sensor 15 can be reduced, improving detection accuracy.

[0120] In some embodiments, the sensing distance of the radar sensor 15 is 5cm to 50cm, and the radar sensor 15 is a radar sensor with adjustable sensing distance.

[0121] It is understandable that the radar sensor 15 can be adjusted to avoid detecting the movement of grass clippings on the ground, thereby improving the detection accuracy of the radar sensor 15.

[0122] In some embodiments, the sensing distance of the radar sensor 15 is 10cm to 30cm.

[0123] In some embodiments, the signal transmission direction of the radar sensor 15 is different from the direction in which the radar sensor 15 points to the working surface, which is the surface where the grass clippings are located before entering the lawnmower robot. It is understood that by limiting the signal transmission direction of the radar sensor 15, the radar sensor 15 can be prevented from sensing ground movement, thereby improving the detection accuracy of the radar sensor 15.

[0124] In some embodiments, please refer to FIG17. The radar sensor 15 of this embodiment is provided with a radar antenna 151 on the signal transmitting end for adjusting the transmission angle of the radar sensor 15. Specifically, the radar antenna 151 is a microwave antenna with a horn-shaped grass inlet, including a feed section and a horn connected thereto. The feed section is responsible for guiding electromagnetic waves into the horn. The main working principle is to radiate the electromagnetic waves guided by the feed section through the horn grass inlet gradually.

[0125] It is understandable that the signal transmission direction of the radar sensor 15 can be constrained by setting the radar antenna 151, so as to avoid the radar sensor 15 sensing the movement of the ground, thereby improving the detection accuracy of the radar sensor 15.

[0126] In some embodiments, please continue to refer to FIG17, the radar antenna 151 has a gradually expanding structure along its signal transmission direction.

[0127] In this embodiment, the radar antenna 151 is shaped like a horn to reduce the microwave wide-angle. The field of view can be adjusted by changing the angle of the horn mount. Specifically, the radar antenna 151 can be used to narrow the field of view of the radar sensor 15, that is, to narrow the emission angle. This allows the radar signal to be focused on the location of the object to be detected, resulting in more accurate detection and reducing false triggering.

[0128] In other embodiments, the radar sensor may also be an acoustic sensor or an optical sensor.

[0129] In some embodiments, the lawn mowing robot includes a mowing component 07, which performs cutting operations and transports the cut grass clippings to a grass collection component 06; a radar sensor 15 is used to detect whether the grass collection component 06 is full of grass clippings when the mowing component 07 is started and the operating current of the mowing component 07 changes.

[0130] In some embodiments, the mowing assembly 07 includes a blade. If the blade is rotating but not cutting any material, no grass clippings will be collected in the grass collection assembly 06. In this case, it is necessary to determine whether the mowing assembly 07 has cut grass clippings based on the change in the motor load current. For example, when the mowing assembly 07 cuts material, the load current of its motor will change; when the mowing assembly 07 does not cut material, its load current will not change.

[0131] In some embodiments, the lawnmower robot further includes a controller, which is used to determine that the grass collection component 06 is not full of grass clippings when the radar sensor 15 detects that grass clippings are moving along a first direction a. The first direction a is the direction in which grass clippings enter the grass collection component 06 from the grass inlet 064.

[0132] It should be explained that the radar sensor 15 operates by emitting electromagnetic waves and receiving the signals reflected back from the grass clippings. When grass clippings enter the grass collection assembly 06 along the grass inlet 064, the electromagnetic waves come into contact with the grass clippings and generate reflected signals. These reflected signals are received by the radar sensor 15 and converted into electrical signals, which are then transmitted to the controller. The controller only considers the grass collection assembly 06 to be not full when the grass clippings move along the first direction a.

[0133] In some embodiments, the controller may also be used to output a prompt signal at preset intervals during the operation of the lawn mowing robot. The prompt signal is used to prompt the execution of the operation of emptying the grass clippings in the grass collection component 06.

[0134] Understandably, radar sensor 15 may malfunction in certain situations. For example, radar sensor 15 is more sensitive to larger moving objects (such as fallen leaves or thick grass) and less sensitive to smaller objects. If extremely small, few, or fine grass is cut and collected into the grass collection frame, it may fail to detect the grass, leading to misjudgment. Therefore, prompting the user to empty the grass clippings at preset intervals effectively avoids the problem of the grass collection component becoming overfilled due to radar sensor 15 malfunction, ensuring the lawnmower robot can operate continuously and stably. The preset interval can be flexibly set according to actual usage, such as once every hour or every two hours, which avoids disturbing the user too frequently while ensuring timely cleaning of the grass clippings in the grass collection component 06. The prompt signal can be presented in various ways, such as through sound, light, or mobile app push notifications, to meet the needs and usage habits of different users. In addition, the controller can adjust the preset interval based on factors such as the lawnmower robot's working time, the capacity of the grass collection component, and the accumulation rate of the grass clippings, to achieve a more accurate and user-friendly prompt function.

[0135] In some embodiments, taking grass clippings as an example, the collection structure is a grass collection frame structure. The corresponding mechanism is a lawnmower robot. The load current of the cutter motor during mowing is divided into four levels: A, B, C, and D, with the load current of the cutter motor increasing sequentially. When the lawnmower robot is working, it detects the load current of the cutter motor. If the load current is evenly distributed in level A, it can determine that the grass collection space is full after 50 minutes of continuous mowing, and then perform the grass emptying operation; if the load current is evenly distributed in level B, it can determine that the grass collection space is full after 40 minutes of continuous mowing, and then perform the grass emptying operation; if the load current is evenly distributed in level C, it can determine that the grass collection space is full after 30 minutes of continuous mowing, and then perform the grass emptying operation; if the load current is evenly distributed in level D, it can determine that the grass collection space is full after 20 minutes of continuous mowing, and then perform the grass emptying operation.

[0136] In some embodiments, the radar sensor 15 may include either a microwave radar sensor or a millimeter-wave radar.

[0137] In some embodiments, the radar sensor 15 may also be a radar sensor 15 in other frequency bands.

[0138] In some embodiments, the lawnmower robot also includes a capacitive sensor disposed within the grass collection assembly 06. The capacitive sensor is used to detect the height of grass clippings accumulated within the grass collection assembly 06. It is understood that, taking the lawnmower robot as an example, the capacitive sensor can detect changes in capacitance in the vicinity. By installing the sensor at a high position in the grass collection frame, when the grass clippings accumulate to a preset height, the capacitive sensor can sense the preset capacitance change, thereby determining that there are grass clippings near the sensor. This indicates that the grass clippings have reached the preset height, meaning the lawn is full.

[0139] In some embodiments, the lawnmower robot also includes a pressure sensor disposed at the bottom of the grass collection assembly 06 and used to detect changes in the weight of grass clippings within the grass collection assembly 06. It is understood that, taking the lawnmower robot as an example, the pressure sensor detects changes in the overall weight of the grass collection frame. Since the weight of the grass collection frame remains essentially constant, this allows for the detection of changes in the weight of grass clippings within the frame. When the detected grass clipping weight reaches a preset weight, the frame is determined to be full.

[0140] It should be noted that this embodiment is equipped with multiple components for sensing grass fullness. When one component fails or becomes insensitive, other components can replace it to perform the function of sensing grass fullness. For example, when each component performs the function of sensing grass fullness, it will transmit the sensing result to the control unit (such as the controller), and the control unit will control the execution of the grass-dredging operation.

[0141] In some embodiments, two components may simultaneously perform the function of sensing grass fullness, and the controller may combine the sensing results of two or more sensors to analyze whether grass fullness has occurred.

[0142] In some embodiments, the lawnmower robot further includes a detector configured to determine that the grass collection assembly 06 is full of grass clippings when the lawnmower robot is powered on and the radar sensor 15 detects that no grass clippings are passing through the grass inlet 064. The detector can be a separate hardware module, such as a circuit board integrating a microprocessor and related logic circuits, or it can be integrated into the controller and its judgment function implemented through a software algorithm.

[0143] Understandably, grass clippings will only enter the grass collection component 06 when the lawnmower is powered on, and only then is a grass clipping full detection required.

[0144] Optionally, the detector is configured to determine that the grass collection assembly 06 is full of grass clippings when the lawnmower's blade is rotating and the radar sensor 15 detects that no grass clippings are passing through the grass inlet 064. It is understood that grass clippings can only be cut and guided into the grass collection assembly 06 when the lawnmower's blade is rotating, and only then is a grass clipping fullness detection necessary.

[0145] Referring to Figure 18, based on the lawnmower provided in the above embodiments, this application also provides a lawnmower system, including a base station 17 and the lawnmower 16 in any of the above embodiments. The base station 17 has at least the ability to charge the lawnmower 16. The base station 17 serves as a reliable energy supply node for the lawnmower 16, and the two work together to form an intelligent lawnmower system capable of long-term automated operation.

[0146] Please refer to Figure 19. This application embodiment also provides a method for detecting grass fullness in a lawn mowing robot. The lawn mowing robot adopts the above-mentioned lawn mowing robot. The method for detecting grass fullness includes at least steps S100, S200 and S300.

[0147] Step S100: When the lawn mowing robot is powered on, check whether there are grass clippings passing through the grass collection component 06's grass inlet 064.

[0148] When the lawnmower is not powered on, there is no need to detect whether grass clippings are passing through the grass inlet 064 of the grass collection component 06. This not only reduces the power consumption of the detection device but also improves the accuracy of grass full detection. When the lawnmower is powered on, it detects whether grass clippings are passing through the grass inlet 064 of the grass collection component 06.

[0149] Step S200: When grass clippings are detected passing by and the mowing robot's blades are rotating, it is determined that the grass collection component 06 is not full of grass clippings.

[0150] The presence of grass clippings through the grass inlet 064 indicates that the clippings are being cut and attempting to enter the grass collection assembly 06, while the rotation of the cutter ensures that the clippings are supplied to the grass collection assembly 06. Therefore, both conditions must be met simultaneously to determine that the grass collection assembly 06 is not full of clippings.

[0151] Step S300: When no grass clippings are detected passing by, and the mowing robot's blades are rotating, it is determined that the grass collection component 06 is full of grass clippings.

[0152] The absence of grass clippings at the grass inlet 064 may indicate that the grass collection assembly 06 is already full and cannot hold any more. The fact that the cutter is not rotating may mean that the cutting process has stopped or is obstructed because the grass collection assembly 06 is full. A complete grass collection assembly 06 can only be determined if the mowing robot is powered on, detects no grass clippings passing through the grass inlet 064, and the mowing robot's cutter is rotating.

[0153] Understandably, when the lawnmower is not powered on, there's no need to detect whether grass clippings are passing through the inlet. This reduces the robot's power consumption and avoids misjudging the grass-filling status. Furthermore, only when the blade is rotating can the radar sensor guarantee that the moving grass clippings detected are those cut by the blade. When the blade is stationary, it's difficult to guarantee that the detected clippings are indeed cut; they could be grass clippings flowing back into the collection space due to tilting or other reasons. Therefore, even if grass clippings are detected passing through the inlet, it's difficult to accurately determine if the collection space is full. Thus, when the blade is rotating, detecting grass clippings passing through the inlet is sufficient to determine if the collection space is not full, and detecting no grass clippings passing through the inlet is sufficient to determine if the collection space is full. This improves detection accuracy.

[0154] This application also provides a method for detecting grass fullness in a lawnmower robot. This method can be applied to the lawnmower robot in any of the above embodiments. Referring to Figure 20, the method for detecting grass fullness in this application includes at least steps A100, A200, and A300.

[0155] Step A100: Detect that the load current of the motor of the lawnmower robot's blade has increased.

[0156] If the lawnmower's blades do not cut the grass, the blade motor idles, and the motor current remains at a stable value. If the blades cut the grass, the load on the blade motor increases, and the motor current increases.

[0157] Step A200: Determine the current load level of the motor of the lawnmower robot. Each load current level corresponds to a mowing duration.

[0158] Based on the stable current value corresponding to the idling of the cutter motor, the increase in current of the current of the current of the current of the current of the current of the current of the current of the current of the current of the cutting robot can be calculated, and the load current level of the current of the current of the current of the cutting robot can be determined by the increase in current.

[0159] Step A300: When the mowing time corresponding to the load current setting is reached, confirm that the grass collection space is full of grass clippings.

[0160] A higher load current setting indicates greater mowing resistance, resulting in faster material collection in the grass collection space. In this case, the grass collection component 06 needs to be filled with grass clippings for a relatively shorter mowing time. Conversely, a lower load current setting indicates slower material collection in the grass collection space, allowing the grass collection component 06 to be filled with grass clippings for a relatively longer mowing time.

[0161] In some embodiments, the step A300 may be followed by a grass-cutting operation.

[0162] In one embodiment, after step A100 and before step A200, the method further includes obtaining the average value of the current load current of the motor.

[0163] The motor load current settings for the grass cutter can be preset to four levels: A, B, C, and D, with corresponding mowing times of 50 minutes, 40 minutes, 30 minutes, and 20 minutes respectively. When the motor starts and the cutter is cutting grass, the current load current is monitored in real time. If the load current is increasing, it indicates that the cutter is currently in mowing mode. The average current load current of the motor is calculated and matched with the preset level to obtain the corresponding mowing time. The cutter is then controlled to rotate and cut grass. When the mowing time is reached, it indicates that the grass collection space is full and mowing needs to be stopped. The cutter stops rotating, completing the current mowing task, and a prompt to perform a grass emptying operation is displayed. The average current value can be calculated by averaging the load current values ​​collected during mowing within a preset time period, which can be 10 seconds. In this case, the load current is collected every 1 second, and the average value of the load current collected within 10 seconds is calculated. Alternatively, the lawnmower can be controlled to travel a preset distance (e.g., 1 meter), and the load current can be collected every 1 second. When the lawnmower travels the preset distance, the average value of the load current collected during the preset distance travel time can be calculated.

[0164] It should be noted that if the load current of the cutter motor does not change, it means that the cutter is not currently cutting grass, that is, the cutter is idling. If the current increases, it means that the cutter is currently cutting grass. Therefore, the gear can be determined based on the change in current, and the cutting time can be determined based on the gear. When the cutting time is reached, the cutter will indicate that the grass is full and prompt the user to perform the grass emptying operation.

[0165] In this embodiment, a radar sensor is installed in the lawn mowing robot. The radar sensor detects whether grass clippings are passing through the grass feed inlet to determine whether the lawn is full. This does not require direct contact with the grass, which can prevent false detections and improve detection accuracy.

[0166] Secondly, multiple sensors are set up to detect whether the grass is full, which ensures the accuracy of the detection to a certain extent.

[0167] Furthermore, the system detects whether the lawn is currently being mowed based on changes in the motor's load current, and analyzes the current mowing setting based on the condition of the grass to be mowed (thickness, length, etc.). It determines whether the lawn is full based on the matched mowing setting. This detection method does not require any other components, does not require direct contact with the grass, is fast, simple, and highly accurate.

[0168] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A lawnmower robot, characterized in that, include: The main body of the equipment has a straw discharge port; A lawn mowing component is located at the bottom of the device body; The grass clipping treatment component is detachably connected to the main body of the equipment and communicates with the grass discharge port; The detection component is configured to detect the operating status of the grass clipping processing component.

2. The lawnmower robot according to claim 1, characterized in that, The working state includes a first state, which is the connection state between the grass clipping processing component and the device body; And / or, the operating state includes a second state, which is the type state of the grass clipping assembly connected to the device body; And / or, the operating state includes a third state, in which the grass clipping processing component is a grass collecting component, the grass collecting component has a grass collecting space for storing grass clippings, and the third state is the overflowing state of the grass collecting space.

3. The lawnmower robot according to claim 2, characterized in that, The detection component includes a radar sensor. The grass collection space is provided with a grass inlet communicating with the grass discharge port. The radar sensor is positioned facing the grass inlet and is used to detect whether the grass collection space is full of grass clippings. If the radar sensor detects grass clippings passing through the grass inlet, it is determined that the grass collection space is not full of grass clippings.

4. The lawnmower robot according to claim 3, characterized in that, The radar sensor is installed within the grass collection space, and the radar sensor is positioned at or above the grass inlet.

5. The lawnmower robot according to claim 3, characterized in that, The device body is provided with a conveying channel, the mowing component is located at one end of the conveying channel, the other end of the conveying channel forms the grass discharge port, and the radar sensor is located on the inner side wall or inner top wall of the conveying channel.

6. The lawnmower robot according to claim 3, characterized in that, The radar sensor has a sensing distance of 5cm to 50cm, and the radar sensor is a radar sensor with adjustable sensing distance. And / or, the signal transmission direction of the radar sensor is different from the direction in which the radar sensor points to the working surface, where the working surface is the working surface where the grass clippings were located before entering the mowing robot.

7. The lawnmower robot according to claim 6, characterized in that, The radar sensor is equipped with a radar antenna on its signal transmitting end. And / or, the sensing distance of the radar sensor is 10cm to 30cm.

8. The lawnmower robot according to any one of claims 3-7, characterized in that, The lawn mowing robot also includes a controller, which is used to determine that the grass collection space is not full of grass clippings when the radar sensor detects grass clippings moving along a first direction, wherein the first direction is the direction in which grass clippings enter the grass collection space from the grass inlet. And / or, the lawn mowing robot further includes a controller, which is used to output a prompt signal at preset intervals during the operation of the lawn mowing robot, the prompt signal being used to prompt the operation of emptying the grass clippings in the grass collection space; And / or, the radar sensor includes either a microwave radar sensor or a millimeter-wave radar.

9. The lawnmower robot according to any one of claims 3-7, characterized in that, The lawn mowing robot also includes a capacitive sensor, which is disposed in the grass collection space and is used to detect the height of grass clippings accumulated in the grass collection space. And / or, the lawnmower robot also includes a pressure sensor disposed at the bottom of the grass collection space and used to detect changes in the weight of grass clippings within the grass collection space.

10. The lawnmower robot according to claim 9, characterized in that, The lawnmower also includes a detector, which determines that the grass collection space is full of grass clippings when the lawnmower is powered on and the radar sensor detects that no grass clippings are passing through the grass inlet.

11. The lawnmower robot according to claim 10, characterized in that, The determiner is configured to determine that the grass collection space is full of grass clippings when the blade of the lawnmower is rotating and the radar sensor detects that no grass clippings are passing through the grass inlet.

12. The lawnmower robot according to claim 2, characterized in that, The detection component includes: The detection element is used to transmit a detection signal into the grass collection space and receive a detection signal reflected back from the grass collection space; the detection element determines the overflow state of the grass collection space based on the received detection signal. And / or, a detection sensor is used to determine the connection state of the support member, and when the grass clipping assembly is connected to the support member, the detection sensor determines the type of the grass clipping assembly.

13. The lawnmower robot according to claim 12, characterized in that, When the lawnmower robot is located on the working base, the angle between the launch direction of the detection component and the working base is 40°-45°.

14. The lawnmower robot according to claim 12, characterized in that, The detection component includes a calibration element installed in the grass collection space to reflect the detection signal emitted by the detection element.

15. The lawnmower robot according to claim 14, characterized in that, The detection component is located at the top of the grass collection space, and the calibration component is located at the bottom of the grass collection space; Alternatively, the detection element may be located at the top of the grass inlet, and the calibration element may be located at the bottom of the grass collection space, close to the grass inlet.

16. The lawnmower robot according to claim 14, characterized in that, The lawnmower is configured to determine that the grass collection space is full when the height of grass clippings in the grass collection space is greater than a preset height. The installation height of the testing component is greater than the preset height, while the installation height of the calibration component is less than the preset height.

17. The lawnmower robot according to claim 14, characterized in that, The detection component includes a signal amplifier, which is hemispherical and covers the detection element. The signal amplifier is used to amplify the detection signal emitted by the detection element and / or amplify the detection signal reflected back by the calibration element.

18. The lawnmower robot according to any one of claims 14-17, characterized in that, The detection component is a millimeter-wave radar, and the calibration component is a metal plate located within the detection field of the millimeter-wave radar.

19. The lawnmower robot according to claim 18, characterized in that, The metal plate has a reflective surface for reflecting detection signals, and the reflective surface has a gain structure for increasing reflectivity; And / or, the reflective surface area of ​​the metal plate is not less than 30 square centimeters.

20. The lawnmower robot according to claim 12, characterized in that, The lawnmower is configured such that, upon receiving a lawnmower command, if the support member is not connected to the grass clipping assembly, the lawnmower assembly does not operate; and if the support member is connected to the grass clipping assembly, the lawnmower assembly operates.

21. The lawnmower robot according to claim 12, characterized in that, The lawnmower includes an alarm component, and the lawnmower is configured to issue a warning message if the support component is not connected to the grass clipping processing component when a lawnmower command is received.

22. The lawnmower robot according to claim 12, characterized in that, The grass clipping treatment assembly includes one of a grass collection assembly and a grass barrier.

23. The lawnmower robot according to claim 22, characterized in that, The lawnmower robot is configured such that: when the grass collection component is connected to the support, the grass mowing component has a first cutting speed when performing grass mowing operations; when the grass blocking component is connected to the support, the grass mowing component has a second cutting speed when performing grass mowing operations; wherein the first cutting speed is greater than the second cutting speed.

24. The lawnmower robot according to claim 22, characterized in that, The detection sensor includes at least one first detection sensor and at least one second detection sensor. When the grass clipping processing component is a grass collecting component, the first detection sensor is triggered. When the grass clipping processing component is a grass blocking component, the second detection sensor is triggered.

25. The lawnmower robot according to any one of claims 12-17 or 20-24, characterized in that, The device body is provided with an installation platform, and the detection element and / or the sensing detection element is disposed on the installation platform; The mounting platform has an inclined mounting surface, and the detection component is mounted on the inclined mounting surface. When the lawnmower robot is located on the working base surface, the angle between the inclined mounting surface and the working base surface is in the range of 40°-45°.

26. The lawnmower robot according to claim 25, characterized in that, The detection sensor and the detection component are respectively disposed on opposite sides of the mounting platform. When the grass collection assembly is connected to the support, the mounting platform extends into the grass collection space.

27. The lawnmower robot according to claim 22, characterized in that, The grass collection assembly includes a support frame and a grass collection bag, the grass collection bag being fitted onto the support frame, and the support frame being detachably connected to the support member.

28. The lawnmower robot according to claim 27, characterized in that, The grass collection component includes a hook connected to the support frame. The hook is formed by bending a first connecting rod. The support frame includes multiple second connecting rods, and the outer diameter of the second connecting rod is smaller than the outer diameter of the first connecting rod.

29. The lawnmower robot according to claim 28, characterized in that, The outer diameter of the second connecting rod is D1, the outer diameter of the first connecting rod is D2, and the outer diameters of the second connecting rod and the first connecting rod satisfy 0.3 < D1 / D2 < 0.

8.

30. The lawnmower robot according to claim 27, characterized in that, The grass collection assembly also includes a sensor trigger, which is disposed on the grass collection bag. When the grass collection bag is installed on the device body, the sensor trigger is used to trigger the detection sensor on the device body to determine that the grass collection bag is in the working position.

31. The lawnmower robot according to claim 30, characterized in that, The detection sensing element is a Hall sensor, and the sensing trigger element is a magnetic element.

32. The lawnmower robot according to any one of claims 1-7, 12-17, 20-24 or 27-30, characterized in that, The lawnmower also includes a flipping component, which is disposed on the device body and is used to drive the grass collection component to rotate around a first axis to dump the grass clippings stored in the grass collection space.

33. The lawnmower robot according to claim 32, characterized in that, The flipping assembly includes a drive shaft, a positioning component, and a position sensor. The positioning component is mounted on the drive shaft. When the drive shaft rotates, the drive shaft drives the positioning component to rotate. When the positioning element rotates to a first preset angle or a second preset angle, the positioning element triggers the position sensor.

34. The lawnmower robot according to claim 33, characterized in that, The flipping assembly includes a support member connected to the drive shaft, and the support member is provided with a hanging groove; The hanging slot is configured to connect with the grass clipping processing component so that the support member drives the grass clipping processing component to rotate.

35. The lawnmower robot according to claim 34, characterized in that, The hanging groove includes an arc segment and two elongated segments, the two elongated segments being connected to both ends of the arc segment respectively, and the central angle of the arc segment being 30°-180°; And / or, the ratio of the length L of the elongated segment to the radius R of the circular arc segment satisfies: L / R > 1.

5.

36. The lawnmower robot according to claim 32, characterized in that, The device body has an installation cavity on the side facing the grass clipping processing component. The flipping component is installed in the installation cavity. Baffles are provided on both sides of the installation cavity to cover the flipping component. An installation opening is provided above the installation cavity. The projection of the support member on the working base surface falls at least partially into the projection of the installation opening on the working base surface.

37. The lawnmower robot according to claim 33, characterized in that, The mounting cavity has a connection opening on the side facing the grass clipping assembly, and the connection opening has a support portion at least partially along its edge, the support portion being used to support the grass clipping assembly; And / or, the bottom of the mounting cavity is provided with an inclined surface; And / or, the mounting cavity is provided with a cover plate, the cover plate being connected to the cavity wall of the mounting cavity to form a sealed cavity for accommodating the flipping assembly, and the position sensor being connected to the cavity wall of the mounting cavity; And / or, the mounting cavity is provided with a mounting box, the mounting box is detachably mounted in the mounting cavity, a receiving space is formed inside the mounting box, the flipping assembly is at least partially disposed in the receiving space, the support member is disposed outside the receiving space, and the position sensor is connected to the inner wall of the receiving space.

38. The lawnmower robot according to claim 33, characterized in that, The flipping assembly further includes a drive member for driving the drive shaft to rotate, and the drive member is located below the drive shaft. The position sensor is at least partially located between the drive member and the drive shaft.

39. The lawnmower robot according to claim 36, characterized in that, The lawnmower robot includes a chassis and a shell. The lawnmower assembly is mounted on the chassis, and the shell covers the chassis. The mounting cavity is formed on the side of the shell near the lawn collection assembly.

40. The lawnmower robot according to claim 32, characterized in that, The device body is provided with a drive wheel, and the diameter of the drive wheel is D; The mowing assembly includes a rotatable blade. The distance d from the rotation center of the blade to the projection of the first axis onto the working base is given by the distance d. The ratio of the projection distance to the diameter of the drive wheel satisfies the condition: 0.5 < d / D < 1.

5.

41. The lawnmower robot according to claim 40, characterized in that, The distance from the rotation center of the cutter to the projection of the first axis onto the working base is less than the diameter of the drive wheel.

42. The lawnmower robot according to claim 40, characterized in that, The number of drive wheels is two, and the rotation center of the cutter and the first axis are located between the two drive wheels; And / or, the drive wheel rotates about a second axis, and the projected distance between the first axis and the second axis on the working base is less than the radius of the drive wheel.

43. The lawnmower robot according to claim 40, characterized in that, The mowing assembly also includes a cutter cover and a conveying channel. The cutter is installed inside the cutter cover, the cutter cover has a discharge port, and one end of the conveying channel is connected to the discharge port, while the other end is connected to the grass clipping processing assembly. The conveying channel has an opening on the side facing the working base.

44. A lawn mowing system, characterized in that, The system includes a base station and a lawnmower robot according to any one of claims 1-43, wherein the base station is at least used to charge the lawnmower robot.

45. A method for detecting full lawn using a lawnmower robot, wherein the lawnmower robot is the lawnmower robot described in any one of claims 3-11, characterized in that, The grass fullness detection method includes: When the lawnmower robot is powered on, it detects whether grass clippings are passing through the grass collection space inlet; When grass clippings are detected passing by, and the blades of the mowing robot are rotating, it is determined that the grass collection space is not full of grass clippings. When no grass clippings are detected passing through, and the blades of the mowing robot are rotating, it is determined that the grass collection space is full of grass clippings.

46. ​​A method for detecting full lawn using a lawnmower robot, wherein the lawnmower robot is the lawnmower robot described in any one of claims 1-43, characterized in that, The grass fullness detection method includes: The load current of the motor of the lawnmower robot's blade increased; Determine the current load current level of the motor of the mowing robot's blade, with each load current level corresponding to a mowing duration; When the mowing time corresponding to the load current level is reached, it is determined that the grass collection space is full of grass clippings.

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