CN211721119U

CN211721119U - Automatic mower

Info

Publication number: CN211721119U
Application number: CN201922074784.3U
Authority: CN
Inventors: 查霞红; 赵凤丽; 程坤
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-11-27
Filing date: 2019-11-27
Publication date: 2020-10-23
Anticipated expiration: 2029-11-27

Abstract

The utility model discloses an automatic mower, it relates to the apparatus technical field that mows, automatic mower can remove and work in the work area, include: a body; the walking module is arranged on the machine body and used for driving the automatic mower to move; the boundary detection module is arranged on the machine body and used for detecting the boundary of the working area and outputting a boundary detection signal; the grass cutting mechanism is arranged on the side edge of the machine body, a cutting area is formed when the grass cutting mechanism works, the angle between the plane of the cutting area and the ground is more than or equal to 60 degrees and less than or equal to 90 degrees, and the cutting area extends along the front end and the rear end of the automatic mower generally; and the control module is used for controlling the walking module and the grass mowing mechanism. The lawn boundary automatic trimming device can automatically detect the boundary of a working area and trim grass on the lawn boundary in the working area along the vertical plane, so that the lawn boundary is more tidy in the vertical plane.

Description

Automatic mower

Technical Field

The utility model relates to a mowing apparatus technical field, in particular to an automatic mower.

Background

A lawn mower, also called as a weed mower or a lawnmower, is a mechanical tool for trimming lawns, vegetation, and the like, and includes a main body and a grass trimmer mechanism, which is installed below the main body or at the front end of the main body, and generally cuts and trims lawns in a horizontal direction. That is, the grass in the lawn grows generally vertically upward and the mowing mechanism cuts the vertically upward growing grass in a horizontal direction.

However, at the boundary of the lawn, the grass in the lawn grows not only in a direction vertical to the ground but also in a horizontal direction extending out to the periphery. Because there is some grass that extends peripherally beyond the boundary of the lawn, the height of the grass that extends beyond the boundary may be lower because it is closer to the ground. Therefore, when the lawn mower cuts and trims the lawn in the horizontal direction, grass growing along the direction vertical to the ground can be trimmed at the boundary of the lawn, but the part of the grass extending out to the horizontal direction beyond the boundary cannot be effectively trimmed, so that the boundary of the lawn is not neat and messy due to different growth trends of the grass. Especially, on the two sides of the lane, most users want the boundary of the lawn to be originally neat and uniform, so that manual trimming may be needed, a lot of trouble is added to the users, and the user experience is reduced.

SUMMERY OF THE UTILITY MODEL

In order to overcome the above-mentioned defect of prior art, the embodiment of the utility model provides a technical problem that will solve provides an automatic lawn mower, and it can detect the work area border by oneself and prune the grass on lawn border in the work area along vertical plane for the lawn border is more neat in vertical plane.

The embodiment of the utility model provides a concrete technical scheme is:

an robotic lawnmower movable and operable within a work area, the robotic lawnmower comprising:

a body;

the walking module is arranged on the machine body and is used for driving the automatic mower to move;

the boundary detection module is arranged on the machine body and is used for detecting the boundary of the working area and outputting a boundary detection signal;

the grass cutting mechanism is arranged on the side edge of the machine body, a cutting area is formed when the grass cutting mechanism works, the angle between the plane of the cutting area and the ground is more than or equal to 60 degrees and less than or equal to 90 degrees, and the cutting area extends along the front end and the rear end of the automatic mower generally;

and the control module is used for controlling the walking module and the grass mowing mechanism.

Preferably, a rotating mechanism is connected between the grass mowing mechanism and the machine body, and the control module controls the rotating mechanism to rotate so that an angle formed by a plane where the cutting area is located and the ground is switched between a first angle and a second angle.

Preferably, the first angle is equal to or greater than 60 degrees and equal to or less than 90 degrees, and the second angle is equal to or greater than 0 degrees and equal to or less than 30 degrees.

Preferably, the robotic lawnmower comprises a edging mode in which the plane of the cutting area is substantially perpendicular to the ground.

Preferably, the robotic lawnmower has a grass mode in which the cutting area lies in a plane substantially parallel to the ground.

Preferably, in the trimming mode, the control module controls the grass cutting mechanism to work at least based on the boundary detection signal.

Preferably, a wire for transmitting electromagnetic signals is arranged at the boundary of the working area;

the boundary detection module includes: the first sensors are used for detecting electromagnetic signals generated by the lead so as to judge that the first sensors are positioned on one side or the opposite side of the lead; the second sensors are used for detecting the intensity of electromagnetic signals generated by the conducting wire so as to judge the distance between the second sensors and the conducting wire.

Preferably, in the grass mowing mode, the control module controls the first sensors to be respectively located on two sides of the lead, and the control module controls the second sensors to be respectively located on two sides of the lead.

Preferably, the boundary detection module comprises a positioning sensor, and the control module receives and stores the working area boundary coordinates.

Preferably, the boundary detection module includes a surface identification sensor, and the control module identifies the working area boundary based on the surface feature difference.

Preferably, in the trimming mode, the control module controls the automatic mower to start the grass mowing mechanism after leaving a preset distance and/or a preset time from the charging device.

Preferably, the grass mowing mechanism comprises: a drive motor; a grass cutting element drivingly connected to the shaft of the drive motor, the grass cutting element forming a cutting zone when rotated.

Preferably, the grass cutting element is rotatable towards the rear of the body when located below the centre of rotation.

Preferably, the walking module comprises: the walking wheels are mounted on the machine body, and the lowest end of the cutting area is lower than the lowest end of the walking wheels.

Preferably, the distance between the lowest end of the cutting area and the lowest end of the travelling wheel is less than or equal to 30 mm.

Preferably, the walking module comprises: install walking wheel on the fuselage, the walking wheel includes action wheel and/or follows the driving wheel on the direction of advance of automatic mower, the axle center of grass-mowing mechanism with the distance of the axle center of action wheel is in 2 times within range of the radius of action wheel.

Preferably, the robotic lawnmower further comprises: install on the fuselage with the protection casing that grass mowing mechanism matches, the protection casing is right grass mowing mechanism protects regional more than or equal to 150 degrees.

The technical scheme of the utility model following beneficial effect that is showing has:

when the automatic mower passes through the boundary detection module, the boundary of the working area is detected, a boundary detection signal is output, the control module receives the boundary detection signal, and therefore the walking module is controlled by the control module to drive the automatic mower to move to the boundary of the working area, and the boundary of the working area is a lawn boundary. When the lawn boundary needs to be trimmed on a vertical plane, the side of the automatic mower with the grass mowing mechanism is abutted against the lawn boundary, and the body of the automatic mower runs along the extending direction of the lawn boundary. In the process, the angle between the cutting area of the grass cutting mechanism and the ground is more than or equal to 60 degrees and less than or equal to 90 degrees, and the cutting area extends along the front end and the rear end of the automatic grass cutting machine in general, so that the cutting area is cut into the boundary of the lawn, and the part of grass which extends out beyond the boundary in the horizontal direction is cut off. Through the trimming process, the lawn boundary can be tidier and more attractive in a vertical plane, and particularly, the boundary of the lawn and the lane can be neatly marked at the two sides of the lane.

Specific embodiments of the present invention are disclosed in detail with reference to the following description and the accompanying drawings, which specify the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the present invention are not so limited in scope. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims. Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.

Drawings

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely schematic for helping the understanding of the present invention, and do not specifically limit the shapes, the proportional sizes, and the like of the respective members of the present invention. The skilled person in the art can, under the teaching of the present invention, choose various possible shapes and proportional dimensions to implement the invention according to the specific situation.

FIG. 1 is a side view of an embodiment of the present invention illustrating an automatic lawnmower during trimming;

FIG. 2 is a top view of the robotic lawnmower during trimming in an embodiment of the invention;

FIG. 3 is a top view of an embodiment of the present invention in a second state;

FIG. 4 is a schematic view of the relative position between the first sensor and the second sensor of the robotic lawnmower according to an embodiment of the present invention;

FIG. 5 is a side view of an embodiment of the present invention in a first state;

FIG. 6 is a diagram showing the position relationship between the grass mowing mechanism and the road wheel of the automatic mower according to the embodiment of the present invention.

Reference numerals of the above figures:

1. a body; 2. a grass mowing mechanism; 21. cutting the area; 22. a grass cutting element; 3. a traveling wheel; 31. a front wheel; 32. a rear wheel; 4. a wire; 5. a first sensor; 6. a second sensor; 7. a boundary; 8. a cutting mechanism; 9. a shield.

Detailed Description

The details of the present invention can be more clearly understood with reference to the accompanying drawings and the description of the embodiments of the present invention. However, the specific embodiments of the present invention described herein are for the purpose of explanation only, and should not be construed as limiting the invention in any way. Given the teachings of the present invention, the skilled person can conceive of any possible variants based on the invention, which should all be considered as belonging to the scope of the invention. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted," "connected," and "connected" are to be construed broadly and may include, for example, mechanical or electrical connections, communications between two elements, direct connections, indirect connections through intermediaries, and the like. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

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

In order to detect the work area border by oneself and prune along vertical plane the grass on lawn border in the work area for the lawn border is more neat in vertical plane, provided an automatic mower in this application, it can remove and work in the work area, fig. 1 is the embodiment of the utility model provides an automatic mower side view when the deburring, fig. 2 is the embodiment of the utility model provides an automatic mower top view when the deburring, as shown in fig. 1 and fig. 2, this automatic mower can include: a body 1; the walking module is arranged on the machine body 1 and is used for driving the automatic mower to move; a boundary detection module mounted on the body 1 for detecting the boundary of the working area and outputting a boundary detection signal; the grass cutting mechanism 2 is arranged on the side edge of the machine body 1, a cutting area 21 is formed when the grass cutting mechanism 2 works, the angle between the plane of the cutting area 21 and the ground is more than or equal to 60 degrees and less than or equal to 90 degrees, and the cutting area extends along the front end and the rear end of the automatic mower generally; and the control module is used for controlling the walking module and the grass mowing mechanism 2.

When the automatic mower passes through the boundary detection module, the boundary of the working area is detected, a boundary detection signal is output, the control module receives the boundary detection signal, and therefore the walking module is controlled by the control module to drive the automatic mower to move to the boundary of the working area, and the boundary of the working area is a lawn boundary. When the lawn boundary 7 needs to be trimmed on a vertical plane, the control module controls the automatic mower to enable the side edge of the grass mowing mechanism 2 to lean against the lawn boundary 7, and the body 1 of the automatic mower runs along the extending direction of the lawn boundary 7. In the process, the cutting area 21 of the grass cutting mechanism 2 has an angle of 60 degrees or more and 90 degrees or less with the ground, and extends along the front and rear end directions of the automatic mower, so as to cut into the lawn boundary 7, and cut off the part of grass which extends out beyond the boundary 7 in the horizontal direction. Through the trimming process, the lawn boundary 7 can be tidier and more attractive in a vertical plane, and particularly, the boundary 7 of the lawn and the lane can be neatly marked at the two sides of the lane.

In order to better understand the lawn mower of the present application, it will be further explained and illustrated below. As shown in fig. 1, the automatic mower comprises a body 1, wherein the body 1 is used for mounting a grass mowing mechanism 2, a walking module for moving the automatic mower, and a control module for controlling the walking module and the grass mowing mechanism. In a feasible implementation manner, the walking module may be a walking wheel 3 installed on the body 1, the walking wheel 3 specifically may include a front wheel 31 and a rear wheel 32 located on the side of the body 1, the front wheel 31 may be two and located on the left and right sides of the front end of the body 1, respectively, and the rear wheel 32 may also be two and located on the left and right sides of the rear end of the body 1, respectively. Fig. 6 is the position relation diagram of the automatic mower between the grass mowing mechanism and the traveling wheel, as shown in fig. 6, the traveling wheel includes a driving wheel and a driven wheel, in a feasible embodiment, the rear wheel 32 is the driving wheel, the front wheel 31 is the driven wheel, in the advancing direction of the automatic mower, the axis of the grass mowing mechanism can be within 2 times of the radius of the driving wheel with the distance a from the axis of the driving wheel. The weight of initiative wheel department has taken up the weight of most whole automatic mower, can produce the vibration when grass mowing mechanism during operation, consequently, when grass mowing mechanism is close to in the certain limit of action wheel, can effectively improve automatic mower during operation holistic stability. Preferably, the cutting region 21 that the grass cutting mechanism 2 formed at the time of operation exceeds the boundary of the outermost side of the driving wheel in the left-right direction of the machine body 1, so that the cutting region 21 that the grass cutting mechanism 2 formed at the time of operation is staggered with the driving wheel, and the grass cutting mechanism 2 can be closer to the driving wheel on the premise of avoiding the cutting region 21 from touching the driving wheel. In other possible embodiments, the grass cutting mechanism 2 may also be installed in front of the front wheels 31 or behind the rear wheels 32 on the side of the body 1, which is not limited in this application.

In one possible embodiment, as shown in fig. 1, the cutting mechanism 8 may be mounted to the bottom of the middle portion of the body 1, the cutting mechanism 8 being operative to define a cutting area 21, the cutting area 21 being in a plane substantially parallel to the ground for cutting and trimming grass growing up from the middle portion of the lawn path traveled by the robotic lawnmower.

In a possible embodiment, the grass mowing mechanism 2 may comprise: a drive motor; the grass-mowing element 22, which is connected to the shaft of the drive motor, is driven, the grass-mowing element 22 forming the cutting area 21 when rotating. When the grass cutting mechanism 2 is required to trim the lawn boundary 7 in a vertical plane, the cutting area 21 formed by the rotation of the grass cutting element 22 is at an angle of 60 degrees or more and 90 degrees or less to the ground, and extends substantially along the front and rear end directions of the automatic lawn mower. Of course, the cutting zone 21 formed when the grass cutting element 22 rotates does not necessarily need to extend completely in the front-rear direction of the robotic lawnmower. The cutting area 21 formed by the rotation of the grass cutting element 22 only needs to form a proper included angle with the ground, and the cutting area 21 formed by the rotation of the grass cutting element 22 only needs to form a proper included angle with the front end direction and the rear end direction of the automatic mower. When the cutting area 21 is at the angle, it can effectively avoid cutting too much or hurting the root of the part of the grass growing upward near the lawn border 7, and prevent the part of the grass from dying later. The included angle between the plane of the cutting area 21 and the ground can be 60 degrees to 90 degrees, in the interval, the automatic mower can trim grass on the lawn boundary 7 along the vertical plane well, and the effect of the trimmed lawn boundary 7 is good. The angle between the plane of the cutting area 21 and the ground surface only determines the inclination of the grass at the lawn boundary 7 after trimming. In fig. 2, in a preferred embodiment, the robotic lawnmower may have a trimming mode in which the cutting area 21 lies in a plane that is substantially perpendicular to the ground, e.g., the cutting area 21 may lie in a plane that is at an angle of about 90 degrees to the ground. In this manner, the grass at the grass boundary 7 after trimming is not inclined to the extent that its edges are substantially directly perpendicular to the ground.

In one possible embodiment, the cutting area 21 may be positioned in a plane that is angled between 0 and 45 degrees from the front and rear direction of the robotic lawnmower. In the interval, the automatic mower can well trim the grass on the lawn boundary 7 along the vertical plane, and the effect of the trimmed lawn boundary 7 is good. For example, when the angle is equal to 0, as shown in FIG. 2, the mowing mechanism 2 of the robotic lawnmower may be configured to trim the grass at the grass boundary 7 with minimal grass loss. For example, when the angle is larger, the grass trimming mechanism 2 of the automatic lawn mower trims grass on the lawn boundary 7, and the grass is trimmed and cut more and more worn.

Because the body 1 of the automatic mower is located on the lawn and travels on the lawn when the automatic mower trims the grass on the lawn boundary 7 along the vertical plane, and the travelling wheels 3 of the body 1 are located on the lawn, no matter whether the lawn where the body 1 of the automatic mower is located is trimmed, the body has a certain thickness, as shown in fig. 1, the lowest end of the cutting area 21 formed by the grass cutting mechanism 2 can be generally lower than the lowest end of the travelling wheels 3, and the distance between the lowest end of the cutting area 21 and the lowest end of the travelling wheels 3 can be preferably less than or equal to 30 mm. Thus, when the automatic mower trims the grass on the lawn boundary 7 along the vertical plane, the grass can be trimmed to a sufficient depth in the vertical plane to ensure that the lawn boundary 7 is tidy at a certain depth in the vertical plane.

In a possible embodiment, in order to improve the efficiency of the automatic lawn mower in trimming lawns on the non-boundary 7, a rotating mechanism may be connected between the grass cutting mechanism 2 and the main body 1, and the control module controls the rotating mechanism to rotate so as to rotate the grass cutting mechanism 2, so that the angle formed by the plane of the cutting area 21 formed by the grass cutting mechanism 2 and the ground is switched between a first angle and a second angle. The first angle may be equal to or greater than 60 degrees and equal to or less than 90 degrees, and the second angle may be equal to or greater than 0 degrees and equal to or less than 30 degrees. That is, the grass cutting mechanism 2 is switched between being located at the side of the body 1 and being located at the bottom of the body 1. Under the first angle, the angle between the plane of the cutting area 21 formed by the grass cutting mechanism 2 during working and the ground is more than or equal to 60 degrees and less than or equal to 90 degrees, and the cutting area extends along the front end and the rear end of the automatic mower generally; at a second angle, fig. 3 is a top view of the automatic mower in the second state according to the embodiment of the present invention, as shown in fig. 3, the angle between the plane where the cutting area 21 formed by the grass mowing mechanism 2 during operation and the ground is greater than or equal to 0 degrees and less than or equal to 30 degrees, and is preferably substantially parallel to the ground. The robotic lawnmower may trim the boundary 7 of the lawn at a first angle; the grass mowing mechanism 2 can assist the cutting mechanism 8 in trimming the lawn at the non-boundary 7 at the second angle, and the two grass mowing mechanisms can enlarge the range of a trimming area when the automatic mower advances, so that the trimming efficiency is improved. The grass mowing mechanism 2 is controlled to rotate through the control module so that the automatic mower can be switched between the first state and the second state, and therefore an included angle formed between a plane where the cutting area 21 is located and the ground by the grass mowing mechanism 2 can be switched between 0 degree and 90 degrees. The included angle between the plane of the cutting area 21 formed by the grass mowing mechanism 2 and the front end direction and the rear end direction of the automatic mower can be switched from 0 degree to 90 degrees.

In order to enable the robotic lawnmower to automatically identify the boundary 7 of the lawn so that the robotic lawnmower can automatically advance along the boundary 7 of the lawn when trimming the lawn boundary 7 on a vertical plane, as shown in fig. 2, a conductive wire 4 arranged close to the boundary 7 of the lawn is embedded in the lawn of the work area mowed by the robotic lawnmower, the conductive wire being capable of transmitting an electromagnetic signal. Accordingly, the boundary detection module may include: the first sensors 5 are used for detecting electromagnetic signals generated by the lead 4 so as to judge that the first sensors 5 are positioned on one side or the opposite side of the lead 4; and the second sensors 6 are at least two, and the second sensors 6 are used for detecting the intensity of the electromagnetic signals generated by the lead 4 so as to judge the distance between the second sensors 6 and the lead 4. The second sensor 6 may also be a magnetic field sensor. The first sensor 5 may be a magnetic field sensor, and the second sensor 6 may be a magnetic field sensor. The boundary detection module can detect the boundary of the working area and output a boundary detection signal.

The automatic mower is in the trimming mode, and the control module controls the grass mowing mechanism to work at least based on the boundary detection signal. When the automatic mower smoothly performs trimming operation along the boundary 7 of the lawn, the control module of the automatic mower controls the traveling module to move so that the first sensors 5 are respectively positioned at two sides of the lead 4. That is, to achieve the above purpose, the distance from the middle of the two first sensors 5 to the extreme end of the side of the body 1 where the mowing mechanism 2 is located is substantially equal to the distance from the wire 4 to the boundary 7 of the lawn. When the automatic mower deviates from the boundary 7 of the lawn in the advancing process, the two first sensors 5 originally positioned on the two sides of the wire 4 deviate to one side of the wire 4, and at the moment, the two first sensors 5 of the automatic mower detect electromagnetic signals generated by the wire 4, so that which side of the wire 4 the automatic mower is positioned on is automatically judged. So, the direction that gos forward is corrected by oneself to the automatic mower, makes the adjustment to the direction of going forward to 4 positions of later stage wire resume to the centre of two first sensors 5, thereby reach the automatic effect of advancing along the border 7 on lawn of control automatic mower.

When the robotic lawnmower is trimming the boundary 7 of the lawn, the control module of the robotic lawnmower controls the travel module to move so that the second sensors 6 are located on either side of the wire 4, respectively, with the second sensor 6 on each side being located adjacent to the first sensor 5 on that side. Fig. 4 is a schematic diagram of the relative position between the first sensor and the second sensor of the automatic mower in the embodiment of the present invention, as shown in fig. 4, the second sensor 6 may be disposed at any position in the circumferential direction of the first sensor 5, for example, the second sensor 6 is disposed above, below, left or right of the first sensor 5. Of course, the first sensor 5 and the second sensor 6 located on both sides of the wire 4 are arranged symmetrically as much as possible, so that the distance from the wire 4 to the second sensor 6 can be calculated conveniently after the second sensor 6 on both sides detects the intensity of the electromagnetic signal generated by the wire 4. When the automatic mower moves along the boundary 7 of the lawn to perform trimming operation, if the automatic mower moves away from the boundary 7 of the lawn in the advancing process, two second sensors 6 originally positioned at two sides of the wire 4 deviate to one side of the wire 4 or the wire 4 is still positioned between the two second sensors 6, but the wire 4 slowly approaches one of the second sensors 6, at the moment, the two second sensors 6 of the automatic mower detect that the intensities of electromagnetic signals generated by the wire 4 are different, the distance from the automatic mower to the wire 4 is calculated according to the intensities of the electromagnetic signals detected by the two second sensors 6, and therefore the automatic mower is controlled to return to the position where the wire 4 is positioned between the two second sensors 6 or the position where the wire 4 is positioned between the two first sensors 5.

When the robotic lawnmower is at the second angle, the mowing mechanism 2 can cut grass growing vertically upwards in a horizontal direction at the boundary 7 of the lawn, as shown in fig. 3. In the process, another conducting wire 4 arranged along the boundary 7 can be embedded in the boundary 7 of the lawn, and the distance between the conducting wire 4 and the boundary 7 is slightly larger than that of the conducting wire 4 used when the automatic lawn mower trims the boundary 7 of the lawn on a vertical plane in the first state. According to the angle of the automatic mower, whether the different wires 4 emit electromagnetic signals or not can be respectively controlled, so that the automatic mower can complete corresponding lawn trimming operation under the state.

In one possible embodiment, the boundary detection module may include a positioning sensor for positioning the robotic lawnmower, and the control module receives and stores the work zone boundary coordinates. When the user uses the automatic mower, the user operates the automatic mower in advance so as to input the position information of the boundary of the working area and/or the position information of the boundary of the lawn needing trimming to the automatic mower. When the automatic mower works automatically, the position of the automatic mower can be determined according to the positioning sensor, and then the control module controls the walking module to drive the automatic mower to move to a stored working area for trimming operation, or to move to a boundary needing trimming in the working area for trimming operation.

In one possible embodiment, the boundary detection module may include a surface identification sensor, and the control module may identify the working area boundary based on the surface feature difference. During trimming or edging, the robotic lawnmower may identify the boundaries of the work area based on the differences in surface characteristics via the surface identification sensor to determine the boundaries of the lawn and road that require trimming. The surface recognition sensor can process the boundary of the contrast or the boundary of the reflecting condition so as to recognize the boundary of the working area, namely the boundary of the lawn and the road, in particular, the surface recognition sensor can be an image acquisition device, a radar and the like, and when the surface recognition sensor is the image acquisition device, the surface recognition sensor processes the boundary of the contrast according to the color of the image so as to recognize the boundary of the working area; in the case of radar, the boundary of the work area is identified by processing from the contrast of the reflected signal.

In another possible embodiment, the robotic lawnmower may be charged in the charging device, and upon receiving a user-set command, the robotic lawnmower may be moved away from the charging device a predetermined distance and/or a predetermined time before activating the grass cutting mechanism to cut the boundary of the lawn. The running of the automatic mower is stopped or the automatic mower returns to the charging device after running for a certain time or a certain distance.

In one possible embodiment, the robotic lawnmower may comprise: the protection cover 9 is arranged on the machine body and matched with the grass mowing mechanism, and the area of the protection cover 9 for protecting the grass mowing mechanism 2 can be more than or equal to 150 degrees. The hood 9 is generally mounted around the upper end of the grass cutting elements of the grass cutting mechanism 2 so as to prevent grass clippings, dirt, etc. produced by the grass cutting mechanism 2 from flying upwards and hitting surrounding persons or objects. The protection cover 9 may be arranged in a left-right symmetrical manner, or in an asymmetrical manner, for example, with more one side and less the other side.

In a possible embodiment, in order to prevent the grass cutting mechanism 2 from generating resistance force that hinders the automatic lawn mower from moving forward when trimming the lawn boundary 7 on a vertical plane, fig. 5 is a side view of the automatic lawn mower in the first state according to the embodiment of the present invention, as shown in fig. 5, the automatic lawn mower moves to the right, and the grass cutting mechanism 2 rotates toward the rear of the main body when the grass cutting element 22 of the grass cutting mechanism 2 is located below the center of rotation, that is, the grass cutting mechanism 2 rotates clockwise.

All articles and references disclosed, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe combinations of elements, components, or steps herein also contemplates embodiments that consist essentially of such elements, components, or steps. By using the term "may" herein, it is intended to indicate that any of the described attributes that "may" include are optional. A plurality of elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not intended to foreclose other elements, ingredients, components or steps.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose of the embodiments is to enable people skilled in the art to understand the contents of the present invention and to implement the present invention, which cannot limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims

1. An robotic lawnmower capable of moving and working within a work area, the robotic lawnmower comprising:

a body;

2. The robotic lawnmower of claim 1, wherein a rotation mechanism is coupled between the grass cutting mechanism and the body, and the control module controls the rotation mechanism to rotate such that an angle formed by a plane of the cutting area and the ground is switched between a first angle and a second angle.

3. The robotic lawnmower according to claim 2, wherein the first angle is equal to or greater than 60 degrees and equal to or less than 90 degrees, and the second angle is equal to or greater than 0 degrees and equal to or less than 30 degrees.

4. The robotic lawnmower according to claim 1, comprising a edging mode wherein the cutting area lies in a plane substantially perpendicular to the ground.

5. The robotic lawnmower of claim 4, wherein the robotic lawnmower has a grass mode in which the cutting area lies in a plane substantially parallel to the ground.

6. The robotic lawnmower of claim 4, wherein in the edging mode, the control module controls the grass cutting mechanism to operate based at least on the boundary detection signal.

7. The robotic lawnmower according to claim 6, wherein the working area boundary is provided with a wire that emits an electromagnetic signal;

8. The robotic lawnmower of claim 7, having a grass cutting mode in which the control module controls the first sensor to be located on each side of the wire and the control module controls the second sensor to be located on each side of the wire.

9. The robotic lawnmower of claim 1, wherein the boundary detection module comprises a positioning sensor, and the control module receives and stores the work area boundary coordinates.

10. The robotic lawnmower of claim 1, wherein the boundary detection module comprises a surface identification sensor, and the control module identifies the working area boundary based on surface feature differences.

11. The robotic lawnmower of claim 6, wherein in the edging mode, the control module controls the robotic lawnmower to activate the grass cutting mechanism a preset distance and/or a preset time from a charging device.

12. The robotic lawnmower of claim 1, wherein the grass mowing mechanism comprises: a drive motor; a grass cutting element drivingly connected to the shaft of the drive motor, the grass cutting element forming a cutting zone when rotated.

13. The robotic lawnmower of claim 12, wherein the grass cutting element rotates toward the rear of the body when positioned below the center of rotation.

14. The robotic lawnmower according to claim 1, wherein the walking module comprises: the walking wheels are mounted on the machine body, and the lowest end of the cutting area is lower than the lowest end of the walking wheels.

15. The robotic lawnmower of claim 14, wherein the distance between the lowermost end of the cutting area and the lowermost end of the road wheel is less than or equal to 30 millimeters.

16. The robotic lawnmower according to claim 1, wherein the walking module comprises: install walking wheel on the fuselage, the walking wheel includes action wheel and/or follows the driving wheel on the direction of advance of automatic mower, the axle center of grass-mowing mechanism with the distance of the axle center of action wheel is in 2 times within range of the radius of action wheel.

17. The robotic lawnmower according to claim 1, further comprising: install on the fuselage with the protection casing that grass mowing mechanism matches, the protection casing is right grass mowing mechanism protects regional more than or equal to 150 degrees.