CN213662492U

CN213662492U - Automatic mower

Info

Publication number: CN213662492U
Application number: CN202021141294.7U
Authority: CN
Inventors: 查霞红; 赵凤丽; 周晓青
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-06-18
Filing date: 2020-06-18
Publication date: 2021-07-13
Anticipated expiration: 2030-06-18
Also published as: CN213404156U; CN212876735U; CN213404157U; CN112335397A; CN213662490U; CN112088636A; CN112088638A; CN213404158U; CN112088637A; CN213907508U; CN112088635A; CN212876738U; CN213907507U

Abstract

An automatic mower comprises a shell provided with a bottom shell, a moving module, a cutting mechanism with a cutting element and a control module; the automatic mower comprises a baffle arranged at least one of the front part, the side edge and the rear part of the cutting mechanism, the baffle comprises a fixed end and a movable end, the fixed end is connected to the shell, the lower end of the movable end can move relative to the shell under the action of external force, so that the distance between the lower end of the baffle and the ground can be changed, the distance between the lower end of the baffle and the ground is always smaller than M in a free state, and M is not less than 38mm and not more than 40 mm.

Description

Automatic mower

Technical Field

The utility model relates to an automatic mower.

Background

With the continuous progress of computer technology and artificial intelligence technology, automatic mowers similar to intelligent robots have started to walk slowly into people's lives. The automatic mower can automatically cut grass and charge in the lawn of a user without user interference. After the automatic working system is set once, the user is freed from tedious and time-consuming and labor-consuming housework such as cleaning, lawn maintenance and the like without being invested in energy management.

The automatic mower automatically walks and mows on the grass land and comprises a cutting element for cutting, a protection piece for blocking fingers or arms of a person is required to be arranged outside the cutting element in order to avoid the cutting element of the automatic mower from accidentally injuring the fingers or the arms of the person, the passing performance of the automatic mower can be met, the protection piece cannot be too low, and the passing performance of the automatic mower can be poor due to the fact that the distance from the protection piece to the ground is too low; in order to meet the passing condition, the protection part cannot prevent fingers and arms of the child from extending into the automatic mower, so that the child is easily accidentally injured by the automatic mower.

Therefore, there is a need for an automatic lawn mower with a new guard assembly that solves the above problems.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects, the utility model adopts the following technical scheme:

an automatic lawnmower, comprising:

a housing;

the moving module is arranged below the shell and used for driving the automatic mower to move;

a cutting mechanism disposed in the housing to perform a cutting task, the cutting mechanism including a cutting element for cutting;

the control module is used for autonomously controlling the moving module to drive the automatic mower to move and autonomously controlling the cutting mechanism to execute a cutting task;

the automatic mower comprises a baffle arranged at least one of the front part, the side edge and the rear part of the cutting mechanism, the baffle comprises a fixed end and a movable end, the fixed end is connected to the shell, the lower end of the movable end can move relative to the shell under the action of external force, so that the distance between the lower end of the baffle and the ground can be changed, the distance between the lower end of the baffle and the ground is always smaller than M in a free state, and M is not smaller than 38mm and not larger than 40 mm.

Further, the baffle is at least arranged in front of the cutting mechanism.

Further, a protection command and a limit position are preset, and when the baffle moves beyond the preset limit position, the control module controls the automatic mower to execute the preset protection command.

Furthermore, the automatic mower further comprises a detection switch used for detecting the position information of the baffle, and the control module is electrically connected with the detection switch so as to control the moving module and/or the cutting element to work according to the detection information of the detection switch.

Furthermore, when the baffle plate is subjected to external force, the baffle plate can move between an initial position and a first preset position, the baffle plate is provided with an initial ground clearance and a first ground clearance respectively, the initial ground clearance and the first ground clearance are both smaller than the ground clearance of the cutting element, the first ground clearance is larger than the initial ground clearance, the detection switch is used for detecting whether the baffle plate reaches the first preset position, and the control module is electrically connected with the detection switch so as to control the moving module and/or the cutting element to reduce the operation speed or to walk reversely when the baffle plate reaches the first preset position.

Further, when an external force acts, the baffle plate can move to a second preset position, when the second preset position is reached, the baffle plate has a second ground clearance, the second ground clearance is larger than the first ground clearance, the detection switch is used for detecting whether the baffle plate reaches the second preset position, and the control module is electrically connected with the detection switch so as to control the moving module and/or the cutting element to walk reversely after decelerating to zero or brake the moving module when the baffle plate reaches the second preset position.

Further, the baffle is rotatably connected with the housing, and when the baffle rotates from the initial position to a first predetermined position, the baffle rotates towards the cutting element.

Further, the baffle is connected with the shell in a sliding mode, and the baffle is configured to be capable of moving up and down along the height direction of the shell.

Further, the bottom of the baffle has a chamfer on the side away from the cutting element.

Furthermore, the automatic mower further comprises a thermal infrared sensor for detecting a living body, and the thermal infrared sensor is arranged on one side of the baffle plate, which is far away from the cutting element; the control module is used for receiving the detection data of the thermal infrared sensor so as to implement cutting protection on the automatic mower.

Further, the cutting protection is to brake the cutting element, and/or to make the moving module drive the shell to move reversely; and/or enabling the moving module to drive the shell to turn.

Furthermore, the automatic mower further comprises a rotation limiting structure for limiting the baffle to move from outside to inside without exceeding a rotation limiting position, the position of the baffle in a free state is different from the rotation limiting position, the baffle is arranged at the rotation limiting position, the resistance of the baffle rotating from outside to inside is greater than the resistance of the baffle rotating from outside to inside in a free state, when the baffle is arranged at the rotation limiting position, the distance between the lower end of the baffle and the ground is less than M, wherein M is more than or equal to 38mm and less than or equal to 40 mm.

Furthermore, a safety external force value and an external force threshold value are preset, the baffle is arranged at the rotation limiting position, the resistance of the rotation from outside to inside is larger than the preset safety external force value and smaller than the external force threshold value, so that when the resistance is larger than the external force threshold value and acts on the baffle, the baffle can cross over the rotation limiting position.

Further, when the acting force from outside to inside is greater than the external force threshold value, the baffle plate rotates from outside to inside to exceed the rotation limiting position but not exceed a protection limiting position, and when the baffle plate is located at the protection limiting position, the distance between the lower end of the baffle plate and the ground is always smaller than the lowest point of the cutting element or the distance between the lower end of the front baffle plate and the ground is smaller than M, wherein M is larger than or equal to 38mm and smaller than or equal to 40 mm.

Further, the robotic lawnmower further comprises a mechanism guard disposed between the cutting mechanism and the tailgate, the mechanism guard comprising a mechanism guard wall disposed horizontally between the tailgate and the cutting mechanism, a lower end of the mechanism guard wall being lower than a lowest point of the cutting element in an up-down direction.

The beneficial effect of this scheme is: through setting up the baffle that is located cutting mechanism at least one direction all around to when avoiding children's fingers and arm etc. to be wounded by the mistake, guarantee the trafficability characteristic of automatic mower.

Drawings

Fig. 1 is a schematic view of a protection assembly of an automatic lawn mower according to an embodiment of the present invention.

FIG. 2 is another state schematic view of the robotic lawnmower shown in FIG. 1.

FIG. 3 is another state schematic view of the robotic lawnmower shown in FIG. 1.

Fig. 4 is a schematic view of a protection assembly of the robotic lawnmower according to an embodiment of the present invention.

Fig. 5 is another angular view of fig. 4.

Fig. 6 is a schematic view of a movable guard according to an embodiment of the present invention.

Fig. 7 is a schematic view of an automatic mower according to an embodiment of the present invention.

Fig. 8 is a schematic view of a state of the movable guard shown in fig. 7.

FIG. 9 is a schematic bottom view of the robotic lawnmower of FIG. 7.

Fig. 10 is a schematic diagram of one configuration of the movable guard of fig. 7.

Fig. 11 is a schematic view of another configuration of the movable guard of fig. 7.

FIG. 12 is a schematic view of another arrangement of the movable guard of FIG. 7 in an robotic lawnmower.

FIG. 13 is a schematic view of yet another arrangement of the movable guard of FIG. 7 in an robotic lawnmower.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to 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 invention.

As shown in fig. 1 to 13, the present invention provides an automatic working system, which includes an automatic mower 1 that autonomously moves and works and a charging station for charging the automatic mower 1. The automatic mower 1 comprises a shell 10 provided with a bottom shell 101, a moving module 20 arranged below the shell 10 and used for driving the automatic mower 1 to move, a cutting mechanism 3 used for executing a cutting task with a preset cutting height, a power module used for providing power, a control module used for automatically controlling the moving module to drive the automatic mower 1 to move and automatically controlling the cutting mechanism to execute the cutting task, and an energy module 5 used for providing energy.

The cutting mechanism 3 is rotatably fixed below the housing 10, the cutting mechanism 3 includes a cutter disc 31 rotatably fixed below the housing 10, a plurality of cutting elements 32 fixed on the cutter disc 31, and a fastening member 33 for fixing the cutting elements 32 on the cutter disc 31, in this embodiment, the cutting mechanism 3 further includes a rotating portion 36 rotatably fixed below the housing 10, and the cutter disc 31 is fixed on the rotating portion 36 and can rotate along with the rotating portion 36. The cutting elements 32 are cutting blades which are uniformly fixed to the circumference of the cutter disc 31 so as to rotate together with the cutter disc 31. In one embodiment, the cutting mechanism 3 comprises 3 cutting blades, in other embodiments the number of cutting blades may be determined as the case may be, for example, 2 or more than 3 cutting elements.

The height of the cutting mechanism 3 is adjustable compared to the ground, so that the automatic mower 1 can cut grass at different heights. Specifically, the mode of adjusting the height of cutting mechanism 3 has the multiple, and in an embodiment, robotic lawnmower 1 still includes and is used for adjusting the structure of increaseing of cutting mechanism height (increasement), when robotic lawnmower 1 need adjust the cutting height, the mechanism of increaseing is operated the drive of structure of increaseing is down, and cutting mechanism 3 can reciprocate to realize the regulation of 3 heights of cutting mechanism, in order to realize the regulation of cutting grass height. During the adjustment of the cutting height from the lowest gear to the highest gear, the cutting mechanism 3 can move relatively in the up-down direction compared with the movable guard, for example, the cutting mechanism 3 moves in the up-down direction compared with the housing 10, the cutting mechanism 3 moves in the up-down direction compared with the ground, and the movable guard 41 is stationary in the up-down direction compared with the ground, that is, the initial distance from the lower end of the movable guard wall to the ground is kept constant. The lowermost state 411 of the movable guard 41 remains unchanged so that the raising does not affect the safety protection effect of the robotic lawnmower 1. In the embodiment, in the process of adjusting the cutting height from the lowest gear to the highest gear, the initial distance from the lower end of the movable protective wall to the ground is always kept unchanged; in other embodiments, during the partial gear adjustment, the initial distance from the lower end of the movable protective wall to the ground is kept constant, and during the partial gear adjustment, the initial distance from the lower end of the movable protective wall to the ground is changed. In another embodiment, the automatic mower 1 can also adjust the distance between the cutting element 32 and the ground by reversely installing the cutter disc 31 up and down or changing a new cutter disc 31, so as to achieve the purpose of adjusting the cutting height. Of course, in some embodiments, the height of the cutting mechanism 3 relative to the ground may also be fixed at all times and not adjustable.

In the non-raised state, the cutting mechanism 3 may be arranged to be fixed in relation to the housing or may be arranged to be movable in relation to the housing. For example, the cutting mechanism 3 can move in the up-and-down direction compared with the housing, when an external force acts on the lower portion of the cutting mechanism 3, for example, when an upward external force is applied to the lower portion of the cutting mechanism 3 due to an obstacle, the cutting mechanism 3 can move upward compared with the housing to avoid the obstacle, prevent the obstacle from colliding with the blade, and improve the passing ability.

The automatic mower 1 further comprises a protection component 4 of a protection wall 40 for safety protection, and in the horizontal direction, the protection wall is arranged outside the cutting mechanism 3 to prevent people from accidentally colliding the cutting mechanism 3 from the outside to the inside and causing accidental injury to people. The guard assembly 4 comprises at least a movable guard 41 provided with a movable guard wall 414 for safety protection, the guard wall comprising at least the movable guard wall 414 provided on the movable guard 41 and located outside the cutting mechanism 3 in the horizontal direction. In the moving process of the robotic lawnmower 1, when the movable protective wall 414 is acted by a proper external force, the distance between the lower end of the movable protective wall 414 and the ground in the up-down direction can be changed, so that when the robotic lawnmower 1 encounters the obstacle 62, the movable protective wall 414 is acted by a sufficient external force, and the distance between the lower end 417 of the movable protective wall of the movable protective member 41 and the ground can be increased to quickly pass through the obstacle, thereby improving the passing ability of the robotic lawnmower 1. The lower end of the movable protective wall 414 may also be referred to as a movable protective wall lower end 417.

The maximum value M of the diameter of the arm of the child is preset, no matter what cutting height the cutting mechanism 3 is, or the cutting mechanism 3 is at any cutting height, when the protection component 4 is in a free state without external force, the distance from the lower end of the protection component 4 to the ground is an initial distance which is always smaller than M, so that the problem that the arm of the child can extend into the vicinity of the cutting mechanism 3 in the automatic mower 1 through the bottom of the movable protection component 4 to cause the risk of being accidentally injured by the cutting mechanism 3 is avoided. Generally, the maximum M range of the diameter of the child arm is 38mm-40mm (including 38mm and 40mm), namely, M is more than or equal to 38mm and less than or equal to 40 mm. The distance of the lower end of the shielding assembly 4 from the ground may then be set to 15mm, 19m, 25mm, 35mm, 37mm, 39mm, etc., respectively. Of course, in other embodiments, the range of M may be adjusted according to actual situations, for example, M may be set smaller to protect thinner arms or M may be set larger to protect thicker arms. Taking M as an example of 38mm, that is, the distance from the lower end of the guard assembly 4 to the ground is always less than 38mm, the free state of the guard assembly 4 means the state of the guard assembly 4 when the robotic lawnmower 1 is not subjected to any external force no matter what cutting height the cutting mechanism 3 is at. When the guard assembly 4 is in the free state, an arm with a diameter larger than M tries to extend into the robotic lawnmower 1 from below the movable guard 41, the arm is blocked by the lower end of the guard assembly 4 and cannot extend into the movable guard 41. In an embodiment, the distance between the lower end of the protection component 4 and the ground is within the range of 15-35 mm, so that the distance between the lower end of the protection component 4 and the ground can avoid the arm of a child from stretching into the protection component, and the normal walking of the child on the grassland cannot be influenced due to the fact that the protection component 4 is too close to the ground.

There are various ways in which the distance of the lower end 417 of the movable shielding wall of the movable shielding member 41 from the ground may be changed, for example, the movable shielding member 41 may be moved in an up-down direction compared to the bottom case to change the ground clearance of the lower end of the movable shielding wall; for example, the movable guard 41 may be integrally movable in the up-down direction with respect to the bottom case, so that the movable guard wall is integrally movable in the up-down direction with respect to the ground; alternatively, the movable shielding member 4 is only partially moved in the up-down direction compared to the bottom case, so that the distance of the movable shielding wall portion from the ground is variable, etc.; alternatively, the distance from the upper end of the movable protection member 4 to the ground is constant, and the distance from the lower end 417 of the movable protection wall to the ground is variable, for example, the distance from the lower end 417 of the movable protection wall to the ground may be generated by rotation or deformation.

In one embodiment of the present invention, the substrate is,

in one embodiment, as also shown in fig. 1 to 3, the distance from the upper end of the movable shielding member 41 to the ground is constant, and the upper end of the movable shielding member 41 is fixed compared to the housing 10, and the distance from the lower end 417 of the movable shielding wall to the ground is changed by rotating the movable shielding member 41 around the upper end. In other embodiments, the movable guard 41 may also be used in other ways to achieve a variable distance between the lower end 417 of the movable guard wall compared to the ground, which is not listed here.

The cutting element 32 includes a cutting element lowest point 30 located at its lowest position in the up-down direction. Whatever the cutting height of the cutting mechanism 3, when the robotic lawnmower 1 is in motion, when it encounters a child's arm, such as the test arm 61 having a diameter M, and thus the test arm 61 acts as an obstacle 62, the force exerted on the movable guard wall 414 is sufficient to move the movable guard wall 414 upward. When the lower end of the movable protection wall 414 moves upward due to an external force, if the lower end of the protection component 4 is able to be greater than or equal to M from the ground, for example, the distance between the lower end 417 of the movable protection wall and the ground is able to be greater than or equal to M, and the lower end of the protection component 4 moves to a position higher than the lowest point 30 of the cutting element, when the automatic lawn mower 1 moves, an arm of a child is encountered, and the arm directly rolls, and the arm can directly enter the vicinity of the cutting mechanism 3 through the protection component 4 and is cut by the cutting element 32. In this embodiment, the lower end 417 of the movable guard 41 is lower than the lowest point of the cutting element when the movable guard 41 is in the free state, and when the movable guard 41 is applied with an outward-inward force and moves upward to the highest point of the movable range, the lower end of the blocking wall 40 of the guard assembly 4 is always lower than the lowest point 30 of the cutting element, so that even if a child's arm (simulated by the test arm 61) is encountered during the movement of the robotic lawnmower 1, the arm can enter the vicinity of the cutting mechanism 3 from the guard assembly 4, and because the lower end of the guard wall 40 of the guard assembly 4 is always lower than the lowest point 30 of the cutting element, the test arm 61 can only be located below the cutting element 30 and cannot touch the cutting element 32, thereby avoiding being cut. Of course, in other embodiments, the distance from the lower end 417 of the movable protection wall to the ground is always less than M by limiting the distance from the lower end 417 of the movable protection wall to the ground to be always less than M no matter what height the cutting mechanism is, or no matter how high the cutting mechanism 3 is at any cutting height, and the distance from the lower end of the blocking wall 40 of the protection component 4 to the ground is always less than M by limiting the distance from the lower end 417 of the movable protection wall to the ground to be always less than M, so as to limit the arm from extending into the cutting mechanism 3 from the lower side of the protection component 4.

Since the lower end of the blocking wall 40 of the guard assembly 4 is always below the cutting element lowest point 30, the test arm 61 can only be located below the cutting element 30.

In an embodiment of the present invention, the distance from the ground is constant on the upper portion of the movable guard wall 414 of the movable guard 41, and the movable guard wall fixed end 4111 is fixed compared to the housing 10, while the distance from the ground is variable on the lower portion of the movable guard wall 414, thereby realizing that the distance from the movable guard wall lower end 417 to the ground is variable to improve the passing ability of the robotic lawnmower 1. When the movable guard 41 is subjected to an external force from outside to inside (from front to back) in the free state, the distance from the lower end 417 of the movable guard wall to the ground is always less than M, so that the arm of the child cannot extend into the housing 10 to touch the cutting mechanism 3 under the blocking of the movable guard wall 414.

As shown in fig. 1 to 3, the distance between the lower end of the movable protective wall 414 and the ground can be changed by rotating the movable protective wall around the upper end; as shown in fig. 6, the movable protection member 41 may be retractable, the upper end of the movable protection wall 414 is fixed relative to the housing 10, and the lower end of the movable protection wall 414 may be retractable to change the distance between the lower end and the ground, specifically, the retractable manner may be implemented by elastic deformation or a sliding groove.

As shown in fig. 1 to 3, the movable guard 41 includes a blocking plate 46 provided to the housing 10, the blocking plate 46 being provided at least one of in front of, in side of, and in rear of the cutting mechanism. When the baffle is arranged in front of the cutting mechanism, the baffle can be called as a front baffle; when the baffle is arranged behind the cutting mechanism, the baffle can be called a rear baffle; when the baffle is arranged at the side of the cutting mechanism, the baffle can be called a side baffle. Baffle 46 is under free state, and the distance of its lower extreme distance ground is less than M, and baffle 46 includes stiff end 4111 and loose end 4112, and stiff end 4111 is connected on casing 10, and is concrete, and stiff end fixed connection is on casing 10, and under the exogenic action, the lower extreme of loose end 4112 can compare in the motion of drain pan 101 to the distance that makes the lower extreme of loose end 4112 apart from ground can change. In this embodiment, the movable end 4112 can rotate around the fixed end 4111, so that the distance from the movable end to the ground is less than M. The shield 46 includes a movable shielding wall 414 for shielding, and a movable end 4112 of the shield 46 may also be referred to as a movable floating wall lower end 417.

In the free state, as shown in fig. 1, the movable end 4112 is in the initial position a, and when the blocking plate 46 moves forward to meet an obstacle, as shown in fig. 2, it is acted on by an external force in the direction opposite to the moving direction of the robotic lawnmower 1, and the movable end 4112 rotates to the obstacle crossing limit position B. During rotation, the free end 4112 of the flapper 46 is shiftable between at least an initial position A and an obstacle crossing limit position B. In the up-down direction, the distance from the obstacle crossing limit position B to the ground is greater than the distance from the initial position a to the ground, so that when the fender 46 of the movable guard 41 meets an obstacle while the robotic lawnmower 1 moves forward, it can rotate to the obstacle crossing limit position B to increase the distance from the lower end 417 (the movable end 4112) of the movable guard wall to the ground, and thus quickly pass through the obstacle.

The rotation limiting position C where the baffle 46 rotates from outside to inside is preset, and the distance between the movable end 4112 and the ground is smaller than M in the rotation limiting position. When a predetermined safety external force value, for example, an external force of 5N, is applied to the movable protective wall 414 of the barrier 46, and the outside-in force does not exceed the predetermined safety external force value, the movable end 4112 cannot rotate inward or does not rotate inward beyond the rotation limit position C, so as to prevent the fingers of the child from extending into the barrier 46 from the outside to the inside. As shown in fig. 3, in an embodiment, the rotation limiting position C is the initial position a, that is, when the baffle 46 is subjected to an external force from outside to inside, and the external force value does not exceed a preset safe external force value, the baffle 46 cannot rotate inwards. In other embodiments, the rotation limiting position C may also be a position where the initial position a rotates inward by a certain angle, as long as the distance from the rotation limiting position C to the ground is less than M, that is, the baffle 46 receives an external force from outside to inside, and when the external force value does not exceed a preset safe external force value, the inward rotation of the baffle 46 cannot reach a position where the distance from the movable end 4112 to the ground is greater than or equal to M, so as to prevent the finger of the child from extending into the position. The protection limit position K for the outward-inward rotation of the flap 46 is preset, and no matter how large the outward-inward external force is applied to the flap 46, the outward-inward rotation of the flap 46 cannot exceed the protection limit position K. In this embodiment, the protection limit position K is the rotation limit position C. In other embodiments, the protection limit position K may be different from the rotation limit position C. For example, the safety external force value and the external force threshold value are preset, and the resistance of the baffle 46 to rotate from back to front at the rotation limit position is larger than the preset safety external force value and smaller than the external force threshold value. When an external force smaller than a preset safety external force value acts on the flap 46, the flap 46 can be rotated to the rotation limit position C, and when a force larger than an external force threshold value acts on the flap 46, the flap 46 can cross the rotation limit position C and reach the protection limit position K. In the guard limit position K, the movable end 4112 of the flap 46 is below the lowest point 30 of the cutting element and/or is spaced from the ground by a distance less than M to avoid accidental injury to the child's arm by the cutting element when the robotic lawnmower 1 rolls the child's arm against an obstacle.

The automatic mower 1 further comprises a rotation limiting structure 4113 for limiting the movement of the baffle from outside to inside to be not more than the rotation limiting position, the position of the baffle in the free state is different from the rotation limiting position, the baffle is in the rotation limiting position, the resistance of the rotation from outside to inside is greater than that of the baffle in the free state, and when the baffle is in the rotation limiting position, the distance from the lower end of the baffle to the ground is less than M.

The method comprises the steps that a safety external force value and an external force threshold value are preset, the baffle is located at a rotation limiting position, the resistance of the outside-in rotation is larger than the preset safety external force value and smaller than the external force threshold value, and therefore when the resistance is larger than the external force threshold value and acts on the baffle, the baffle can cross over the rotation limiting position.

When the acting force from outside to inside is larger than the external force threshold value, the baffle rotates from outside to inside to cross the rotation limiting position but not exceed the protection limiting position, when the baffle is located at the protection limiting position, the distance between the lower end of the baffle and the ground is always smaller than M, wherein M is larger than or equal to 38mm and smaller than or equal to 40mm, and the lower end of the baffle is always lower than the lowest point of the cutting element or the lower end of the front baffle is away from the ground.

The automatic mower further comprises a mechanism protection piece arranged between the cutting mechanism and the baffle, the mechanism protection piece comprises a mechanism protection wall arranged between the baffle and the cutting mechanism in the horizontal direction, and the lower end of the mechanism protection wall is always lower than the lowest point of the cutting element in the up-down direction.

As shown in fig. 1 to 3, the flap 46 of the movable guard 41 is disposed behind the cutting mechanism 3 in the direction of forward movement of the robotic lawnmower 1, but it can also be referred to as a tailgate. The automatic mower 1 comprises a rear baffle arranged at the rear of the cutting mechanism, the rear baffle comprises a fixed end 4111 and a movable end 4112, the fixed end is connected to the shell, the movable end 4112 can rotate around the fixed end, so that the distance between the movable end and the ground changes, and the automatic mower further comprises a rotation limiting structure 4113 which is used for limiting the rear baffle to rotate backwards to a position which is not more than a rotation limiting position.

When the rear baffle is in a free state, the distance between the lower end of the rear baffle and the ground is less than M, wherein M is more than or equal to 38mm and less than or equal to 40 mm. When the rear baffle is acted by external force in a free state, the resistance of the rear baffle to rotate from front to back is smaller than the resistance of the rear baffle to rotate from back to front. The resistance of the rear baffle plate rotating from back to front at the rotation limiting position is more than or equal to the resistance of the rear baffle plate rotating from back to front in a free state. The position of the rear baffle in the free state is the same as the rotation limiting position. When the rear baffle is under the action of external force in a free state, the rear baffle can only rotate from front to back but cannot rotate from back to front. The position of the rear baffle in the free state is different from the rotation limiting position, the resistance of the rear baffle rotating from back to front at the rotation limiting position is larger than the resistance of the rear baffle rotating from back to front at the free state, when the rear baffle is at the rotation limiting position, the distance between the lower end of the rear baffle and the ground is smaller than M, wherein M is larger than or equal to 38mm and smaller than or equal to 40 mm. The safety external force value and the external force threshold value are preset, the resistance of the rear baffle plate rotating from back to front at the rotation limiting position is larger than the preset safety external force value and smaller than the external force threshold value. When the acting force from back to front is larger than the external force threshold value, the rear baffle can pass through the rotation limiting position by rotating from back to front but not exceed the protection limiting position, when the rear baffle is located at the protection limiting position, the lower end of the rear baffle is always lower than the lowest point of the cutting element or the distance between the lower end of the rear baffle and the ground is smaller than M, wherein M is larger than or equal to 38mm and smaller than or equal to 40 mm.

The robotic lawnmower 1 further comprises a mechanism guard 42 disposed between the cutting mechanism 3 and the tailgate, the mechanism guard comprising a mechanism guard wall disposed horizontally between the tailgate and the cutting mechanism, the lower end of the mechanism guard wall being always lower than the lowest point of the cutting element in the up-down direction.

In one embodiment, the rotation limiting structure 4113 is at least partially disposed on the housing and/or the tailgate. For example, the rotation limiting structure 4113 is at least partially disposed on one of the housing and the tailgate, when the tailgate is in the rotation limiting position, the rotation limiting structure 4113 abuts against at least a part of the other of the housing and the tailgate, and when the tailgate and the housing abut against each other, a distance from a lower end of the tailgate to the ground is less than M, where M is greater than or equal to 38mm and less than or equal to 40 mm.

The automatic mower 1 further comprises a side baffle arranged on the side of the cutting mechanism 3, the side baffle comprises a side fixed end connected with the shell and a side movable end capable of rotating around the side fixed end, and the automatic mower further comprises a side rotating limiting structure used for limiting the degree of rotation of the side movable end of the side baffle in the outside-in direction.

The automatic mower 1 further comprises a front baffle arranged in front of the cutting mechanism 3, the front baffle comprises a front fixed end and a front movable end, the front fixed end of the shell can rotate around the front fixed end, and the front movable end of the side baffle rotates from outside to inside to form a front rotation limiting structure. In the horizontal direction, the distance range of the outermost edge of the movable end of the rear baffle plate from the cutting element is larger than 58mm or 63-75 mm in a free state.

When the child's arm extends into the housing 10 from the rear to the front, as shown in fig. 3, it is stopped by the flap 46, and the flap 46 is subjected to an outside-in force. In the free state of the flap 46, the resistance to the rotation from inside to outside is smaller than the resistance to the rotation from outside to inside, in this embodiment, in the free state, the initial position a where the lower end 417 (the movable end 4112) of the movable protective wall is located is the rotation limiting position C of the rotation from outside to inside, and is also the protection limiting position K, the flap 46 can only rotate from inside to outside and cannot rotate from outside to inside, and the distance from the initial position a to the ground is smaller than M, so when an external force is applied to the movable protective wall 414 from the rear direction by the arm of a child, the movable protective wall 414 cannot rotate clockwise, thereby ensuring that when the movable protective part 41 is subjected to the external force from outside to inside in the free state, the distance from the lower end 417 of the movable protective wall to the ground is always smaller than M, so that the arm of the child cannot extend into the housing 10 under the blocking of the movable protective wall 414 of the flap 46, so that the arms of the child cannot touch the cutting mechanism 3. In another embodiment, in the protection limit position K, the lower end 417 (the movable end 4112) of the movable protection wall is lower than the lowest point 30 of the cutting element, when the arm of the child extends into the housing 10 from the back to the front, and is blocked by the blocking plate 46, and when the blocking plate 46 is forced from the outside to the inside, and rotates to the rotation limit position C, the movable end 4112 of the blocking plate 46 is lower than the lowest point 30 of the cutting element, so as to prevent the child's arm from being accidentally injured by the cutting element when the robotic lawnmower 1 rolls the child's arm against an obstacle. The robotic lawnmower 1 further comprises a rotation limiting structure 4113 configured to limit the rotation of the movable guard wall 414 of the flap 46 from outside to inside to a rotation limit position C, so as to limit the rotation dimension of the movable guard wall 414 of the flap 46. When the rotation limiting position C and the protection limiting position K are different positions, the robotic lawnmower 1 includes a rotation limiting structure 4113 configured to limit the rotation of the movable protective wall 414 of the flap 46 from outside to inside to be no more than the rotation limiting position C, and a protection limiting mechanism configured to limit the rotation of the movable protective wall 414 of the flap 46 from outside to inside to be no more than the protection limiting position K.

In this embodiment, in the free state of the baffle 46, the movable protective wall 414 is in a vertical or approximately vertical state, so that the lower end 417 (the movable end 4112) of the movable protective wall is at the lowest point in the rotating process of the movable protective wall 414, and further, when the movable protective wall 414 is subjected to the acting force of an obstacle in front, the distance from the rotated position to the ground is always greater than the distance from the initial position a to the ground, so as to ensure that the movable protective wall passes through the ground quickly after encountering the obstacle.

In the above embodiment, when the flap 46 is subjected to a rearward force in the moving direction of the robotic lawnmower 1, the rotation limit position C and the protection limit position K, which are rotated by the outward-inward external force, are the same as the initial position a in the free state. In another embodiment, the rotational limit position C and the protection limit position K of the movable guard 41 may be different from the initial position a when the movable guard is subjected to a force (an outside-in force) applied rearward in the moving direction of the robotic lawnmower 1, as long as the distance from the lower end of the fence to the ground is less than M when the fence is in the rotational limit position C, and the distance from the lower end of the fence to the ground is less than M when the fence is in the protection limit position K, or the protection limit position K is always lower than the lowest point 30 of the cutting element.

In this embodiment, the flap 46 of the movable guard 41 is rotated by an external force, and the lower end 417 of the movable guard wall is changeable between the initial position a, the obstacle crossing limit position B, and the guard limit position K. In the above embodiment, by disposing the movable guard 41 of the turning type behind the cutting mechanism 3 in the moving direction of the robotic lawnmower 1, the direction of the external force acting on the movable guard from outside to inside (from back to front) is opposite to the direction of the movement of the robotic lawnmower 1 (from front to back), and controlling the movable guard 41 to turn in the moving direction of the obstacle relative to the robotic lawnmower 1 to pass the obstacle, the turning of the flap 46 in the outside to inside (from back to front) direction is restricted, thereby preventing the arms of the child from touching the cutting mechanism 3 through the flap 46. Furthermore, the mobile module 20 of the robotic lawnmower 1 includes a drive wheel disposed behind the robotic lawnmower 1 and a driven wheel disposed in front of the drive wheel. In this embodiment, the baffle 46 of the movable protection part 41 is arranged behind the automatic mower 1, that is, the baffle 46 is arranged behind the cutting mechanism 3 and near the rear driving wheel, so that the driving wheel is effectively prevented from being padded up by an obstacle, the driving wheel is overhead and cannot contact the ground, and the driving force cannot be provided, thereby greatly improving the passing ability of the automatic mower 1.

In another embodiment, as shown in fig. 7-9, the flap 46 may also be positioned in front of the cutting mechanism 3 in the direction of travel of the robotic lawnmower 1. When the flap 46 is subjected to an external force from the outside to the inside (from the front to the back) in a free state, the movement of the flap 46 does not exceed a preset movement range, and in the preset movement range, the distance from the lower end 417 of the movable protective wall to the ground is always smaller than M, so that the arm of the child cannot extend into the housing 10 under the blocking of the movable protective wall 414, and/or the lower end 417 of the movable protective wall is always lower than the lowest point 30 of the cutting element, so that the arm of the child cannot touch the cutting mechanism 3.

As shown in fig. 7, the shutter 46 of the movable guard 41 is in the free state, and the movable guard wall lower end 417 (movable end 4112) is in the initial position a; when the automatic mower 1 advances and touches an obstacle and moves to the limit position under the action of the obstacle, the lower end 417 (the movable end 4112) of the movable guard wall is at the limit position B of the obstacle; when the movable guard wall moves to the limit position by an external force from the outside to the inside, the lower end 417 of the movable guard wall is at the guard limit position K. Since the direction of the force applied by the obstacle to the movable protective wall 414 is the same as the direction of the external force applied by the movable protective wall 414 from outside to inside, the obstacle limit position B and the protection limit position K are at the same position.

The robotic lawnmower 1 further comprises a limiting module (not shown) for limiting the range of motion of the flap 46 when subjected to an outside-in force in the free state. The limiting module limits the range of motion of the movable guard 41 to be no more than the predetermined range of motion, so that the distance from the protective limit position K to the ground is always less than M, so that the arm of the child cannot extend into the housing 10 under the blockage of the movable guard wall 414, and/or, in the up-down direction, the protective limit position K is always lower than the cutting element lowest point 30, so that the arm of the child cannot touch the cutting mechanism 3. The limiting module may be a mechanical structure, which directly limits the rotation angle of the movable protection part 41 to limit the moving range thereof; the rotation angle of the movable protection member 41 can also be detected electronically, and when the movable protection member 41 is subjected to an external force from outside to inside in the free state and the range of motion exceeds the preset range of motion, the control module 50 controls the robotic lawnmower 1 to execute a corresponding predetermined protection command. Specifically, a protection instruction can be preset, and the protection instruction comprises the stop of the cutting mechanism 3, the backward movement of the automatic mower 1, the stop of the movement, the stop of the movement, and the like.

In one embodiment, as shown in fig. 8, the lower end 417 (the movable end 4112) of the movable guard wall is located below the cutting mechanism 3 in the up-down direction, and the movable end 4112 is closer to the inside of the automatic lawn mower 1 than the cutting element 32 in the horizontal direction, so that when an animate object such as a finger of a child or a small animal or the like extends into the cutting mechanism 3 from the movable end 4112, the animate object is blocked by the movable guard wall 414 and cannot touch the cutting element 32 from the bottom to the top, thereby preventing the cutting element 32 from being accidentally injured.

In another embodiment, as shown in fig. 7 and 9, a detection switch 60 for detecting a position change of movable guard 41 is further installed on housing 10. The detection switch 60 can detect the position change of the movable protection part 41 and send the detection data to the control module 50, and the control module 50 is used for controlling the automatic mower 1 to execute the corresponding protection instruction according to the detection information of the detection switch 60.

When the robotic lawnmower is traveling automatically, the movable guard 41 is closer to the outer wall of the housing 10 than the cutting mechanism 3, and in this embodiment, the movable guard 41 is taken as the baffle 46, but in other embodiments, the movable guard 41 may be of other types. In this embodiment, the movable guard 41, that is, the flap 46, first contacts the grass, plants or obstacles to be cut, and then the movable guard 41 moves in a direction away from the grass with respect to the housing 10 by the contact force, so that the ground clearance of the bottom of the movable guard 41 is gradually increased. Thus, the movable guard 41 may guard the cutting element 32 of the cutting mechanism 3.

The movable guard 41 is connected to the housing 10 so as to be movable relative thereto, and can be realized in different ways. For example, as shown in fig. 7, the movable guard 41 is rotatably connected to the housing 10 via a rotating shaft, and can rotate relative to the housing 10 toward the cutting blade. As shown in fig. 6, the movable guard 41 may be slidably connected to the housing 10 so as to be movable up and down in the height direction of the housing 10 to get away from or close to grass.

In the present embodiment, the position information of the movable guard 41 is detected by the detection switch 60, and the detected information is transmitted to the control module 50. The control module is electrically connected with the detection switch to receive the detection information and control the mobile module and/or the cutting mechanism to work according to the detection information sent by the detection switch.

The detection switch 60 is configured to control the moving module 20 to normally travel and the cutting mechanism 3 to rotate when the detection switch 60 detects that the movable protection member 41 reaches a predetermined limit position, and when the detection switch 60 detects that the movable protection member 41 reaches the predetermined limit position, the detection switch 60 is triggered, and the control module 50 controls the automatic mower 1 to execute a corresponding predetermined protection instruction, for example, the moving module 20 and/or the cutting mechanism 3 stops working, or the operation speed of the moving module 20 and/or the cutting mechanism 3 is reduced, so as to implement cutting protection on the automatic mower 1.

Specifically, the utility model discloses a utility model people's research discovers that grass or plant are the clearance object of automatic mower 1, and mobile protection part 41 needs to be able to cross grass or plant. Grass or plants are relatively easy to fall down and therefore the angle of rotation or the distance of upward movement required for the movable guard 41 is limited. Thus, when the movable guard 41 reaches a predetermined limit position (defined as a limit position where vegetation passes), objects that are able to pass over the movable guard 41 can be regarded as grass or plants. If the angle of rotation or the distance of movement of the movable guard 41 is too large, it indicates that the movable guard 41 may touch an obstacle, possibly damaging the cutting blade 32. Therefore, by detecting the position of movable guard 41, the touching object of movable guard 41 can be known.

In some embodiments, the predetermined limit position may be a position, and the detection switch 60 controls the robotic lawnmower 1 to execute the predetermined protection command by one detection; the number of the predetermined limit positions can be at least two, and the detection switch 60 controls the automatic mower 1 to execute protection instructions of different degrees according to different degrees of the predetermined limit positions. The predetermined limit positions include a first predetermined position D and a second predetermined position E.

As shown in fig. 7, the movable guard 41 is provided to be switchable between an initial position a and a first predetermined position D with respect to the housing 10. In the initial position a and the first predetermined position D, the movable guard 41 has an initial ground clearance a and a first ground clearance D, respectively, both being smaller than the ground clearance of the cutting element 32, the first ground clearance D being greater than the initial ground clearance a.

In the automatic lawn mower of the present embodiment, during mowing, the movable guard 41 first touches an object, and when the movable guard 41 touches grass or plants, the movable guard 41 does not move to the first predetermined position D, and therefore the detection switch 60 is not triggered. When the movable guard 41 reaches the first predetermined position D by the contact force, which indicates that the probable occurrence that the movable guard 41 encounters is an obstacle, but the detection switch 60 is triggered at this time, the control module 50 reduces the operating speed of the moving module 20 and/or the cutting mechanism 3. This results in little to no damage to the cutting element 32 even if an obstruction hits the cutting element 32, thereby providing cutting protection. Moreover, since the position of the movable guard 41 can be changed relative to the housing 10, the height of the housing 10 from the ground does not need to be reduced while cutting protection is achieved, and good passing performance of the automatic mower is ensured.

For example, taking the example of the movable guard 41 rotating relative to the housing 10 in fig. 7, the movable guard 41 may be perpendicular to the grass in the initial position a, and the movable guard 41 may rotate to the first predetermined position D by an angle of 30 degrees. I.e. a critical point when defining the 30 degree rotation angle of the movable guard 41. When the rotation angle reaches 30 degrees, cutting protection is implemented. In other embodiments, the initial position a may be inclined to the outer wall of the housing 10 at an angle from the vertical direction. The rotation angle of the movable guard 41 when rotated to the first predetermined position D is not necessarily 30 degrees, depending on the thickness and hardness of grass and plants on the work site.

In this embodiment, the cutting protection comprises reducing the speed of operation of the movement module 20 and/or the cutting mechanism 3, which may be performed alternatively or simultaneously. For example, when the movable guard 41 moves to the first predetermined position D, the detection switch 60 is triggered, and the control module 50 may reduce the walking speed of the moving module 20 and simultaneously reduce the rotation speed of the cutting mechanism 3.

The detection switch 60 may be a contact switch, such as a pressure sensor, a hall switch, etc., which can be adapted to the severe working environment under the housing 10. Specifically, the detection switch 60 may be disposed below the housing 10, and when the movable shielding member 41 rotates to the first predetermined position D, the detection switch 60 is touched, so as to trigger the detection switch 60, and the detection switch 60 generates a trigger signal. The detection switch 60 may also be a non-contact sensor, such as an ultrasonic sensor.

In the present embodiment, a detection switch 60 is added to detect a change in the position of the movable guard 41. After the control module 50 receives the detection data of the detection switch 60, the control circuit can change the magnitude of the input current of the moving module 20 and the cutting mechanism 3 to realize deceleration, and the direction of the input current can be changed to realize reverse walking of the moving module 20.

In some embodiments, the movable guard 41 is in the first predetermined position D, and when the detection switch 60 is triggered, the control module 50 controls the moving module 20 to decelerate to a predetermined speed, decelerate to zero and walk in reverse, or decelerate to zero; and/or to control the cutting mechanism 3 to decelerate to a predetermined speed greater than zero, or to zero. Specifically, the moving module 20 may continue to move forward after decelerating, may slow down to zero and walk in reverse, i.e., move backward, or may slow down to zero, i.e., brake. The cutting mechanism 3 may be decelerated and then rotated continuously, or braked to stop rotating. That is, the moving module 20 and the cutting mechanism 3 are both decelerated first, but the degree of deceleration can be flexibly set, wherein the backward movement can be regarded as a special deceleration.

In some embodiments, as shown in fig. 7, the movable guard 41 also has a second predetermined position E relative to the housing 10, in which the movable guard 41 has a second ground clearance E, which is greater than the first ground clearance. That is, at the second predetermined position E, the height of the movable guard 41 from the ground is larger and farther from the grass.

In practice, if the movable protection part 41 reaches the first predetermined position D, the early warning that the movable protection part 41 touches the obstacle may be, but may be, relatively hard vegetation. In such a case, the movable guard 41 would pass the first predetermined position D and then at least shutdown of the robotic lawnmower 100 would be undesirable.

For this reason, in the present embodiment, the second predetermined position E is also provided. When the movable guard 41 is in the first predetermined position D, the detection switch 60 is triggered and generates a first trigger signal, and the control module 50 controls the moving module to decelerate to a predetermined speed greater than zero to continue to advance. When the movable guard 41 is at the second predetermined position E, the detection switch 60 is triggered and generates a second trigger signal, and the control module 50 controls the moving module 20 to walk backward after decelerating to zero, or brake the moving module 20. That is, when the detection switch 60 is triggered for the first time, the moving module decelerates to advance, and when the movable guard 41 reaches the second predetermined position E, the detection switch 60 is triggered for the second time, it is determined that the movable guard 41 touches an obstacle, and it is necessary to provide a stricter cutting protection, so that the moving module 20 directly stops or simply moves backward.

In a possible embodiment, the detection switch 60 is a contact switch provided on the housing 10, which can be triggered when the movable guard 41 reaches the first predetermined position D; the detection switch 60 can be triggered again when the movable guard 41 reaches the second predetermined position E. That is, the movable guard 41 may trigger the detection switch 60 only when the first predetermined position D or the second predetermined position E is reached.

In another possible embodiment, the detection switch 60 is a sliding resistance switch provided on the housing 10, and the movable guard 41 is connected to a movable portion of the sliding resistance switch. In this manner, the detection switch 60 is always triggered, but the trigger signal is different when the movable guard 41 reaches the first predetermined position D and the second predetermined position E, for example, the value of the feedback current signal given to the control module 50 is different, so that the control module 50 can generate different control commands.

In some embodiments, as shown in FIG. 9, the housing 10 has a front end 110 and a rear end 120, the direction from the rear end 120 to the front end 110 defining the forward direction of the robotic lawnmower 100, and the direction from the front end 110 to the rear end 120 defining the rearward direction of the robotic lawnmower 100. A direction perpendicular to the forward direction or the backward direction is defined as a left-right direction. The movable guard 41 is located at least partially between the front end 110 and the cutting mechanism 3, or at least partially between the rear end 120 and the cutting mechanism 3. In other words, the movable guard 41 is at least partially configured to be disposed at the front or rear side of the cutting mechanism 3 to guard the cutting mechanism 3 when the robotic lawnmower 100 is advanced or retracted. The movable guard 41 may also be at least partially configured to be disposed behind the cutting mechanism 3 to guard the cutting mechanism 3 when the robotic lawnmower 100 is retracted. It is also possible that both the front and the rear side of the cutting mechanism 3 are provided with movable guards 41.

In one arrangement of the movable guard 41 as shown in fig. 9, the movable guard 41 is located entirely between the front end 10 and the cutting mechanism 3. As shown in fig. 10, the movable guard 41 may have a plate shape. As shown in fig. 11, the movable guard 41 may be comb-shaped. Specifically, the movable guard 41 is provided with a plurality of grass inlet holes 510 at the bottom thereof near the grass surface. The gap of the movable grass inlet 4147 is set to be 60-40 mm, only grass and plants are allowed to pass through, but obstacles can be blocked from passing through.

In another arrangement of the movable guard 41, the movable guard 41 is located either to the left or to the right of the cutting blade, or both the left and right of the cutting mechanism 3 have the movable guard 41; and the movable guard 41 extends at least partially between the front end 110 and the cutting mechanism 3 or at least partially between the rear end 120 and the cutting mechanism 3.

In one embodiment, as shown in fig. 12, the cutting mechanism 3 has movable guards 41 on both sides. The movable guard 41 is generally arcuate such that a first of the two ends 410 extends between the front end 110 and the cutting mechanism 3 and a second of the two ends 410 extends between the rear end 120 and the cutting mechanism 3. Thus, when the robotic lawnmower 100 advances or retreats, the end 410 of the movable guard 41 can contact an obstacle before the cutting mechanism 3, and can exert a protective effect.

Further, the cutting mechanism 3 is surrounded by a movable guard 41. Specifically, as shown in fig. 12, one way is: a plurality of movable guards 41 are provided at intervals around the circumference of the cutting mechanism 3. As also shown in fig. 12, another approach is: the movable guard 41 surrounds the cutting mechanism 3 for one circle, and in this case, the movable guard 41 may be an integral type or a plurality of movable guards 41 may be spliced together.

In some embodiments, as shown in fig. 6, the movable guard 41 may also be slidably connected with the housing 10 to be able to move up and down along the height direction of the housing 10 to get away from or close to grass. As shown in connection with fig. 6, the bottom of the movable guard 41 has a chamfer 430 on the side remote from the cutting mechanism 3. Thus, the grass or plant may touch the chamfer 430 first, and may fall down more easily and then pass over the movable guard 41, so that the movable guard 41 needs a small moving distance, and occupies a small space below the housing 10, which is beneficial to compact structure. Further, the surface of the movable guard 41 at the chamfer 430 is a convex arc surface, so that grass and plants can more easily pass over the movable guard 41.

In some embodiments, as shown in fig. 7 and 8, the robotic lawnmower 100 further comprises a thermal infrared sensor 70 for detecting a living body, the thermal infrared sensor 70 being disposed on a side of the movable guard 41 away from the cutting mechanism 3; the control module 50 is used for receiving the detection data of the thermal infrared sensor 70 to implement cutting protection for the automatic mower. After the thermal infrared sensor 70 detects the living body, the automatic mower is protected from cutting, so that the occurrence of an injury event is avoided.

There are many implementations of cut protection herein. For example, the cutting protection is to brake the cutting mechanism 3, and/or to make the moving module 20 drive the housing 10 to move in the reverse direction; and/or to cause the moving module 20 to turn the housing 10. After the thermal infrared sensor 70 detects the living body, one or more of braking the cutting mechanism 3, moving the robotic lawnmower 100 backward or turning the robotic lawnmower may be used to perform cutting protection.

In some embodiments, it is also possible to combine the above-mentioned embodiment in which only one end of the movable guard 41 is movable, with the embodiment of the mechanism guard 42, and the robotic lawnmower 1 further comprises the mechanism guard 42 disposed between the flap 46 and the cutting mechanism 3 in the horizontal direction, and the mechanism guard 42 comprises a mechanism guard wall 424 disposed between the flap 46 and the cutting mechanism 3 in the horizontal direction, and the lower end 417 of the mechanism guard wall is always lower than the lowest point of the cutting element in the up-down direction. The specific structure of the mechanism protection member 42 can be referred to the above embodiment with the mechanism protection member 42, and will not be described herein.

In some embodiments, as shown in fig. 4 and 5, the movable guard 41 comprises at least two sub-movable guards that move independently of each other in the direction of advance of the robotic lawnmower 1. The movable guard 41 comprises a front movable guard 47 which is arranged at least in front of the robotic lawnmower 1 and is provided with a front movable guard wall 474, and a rear movable guard 48 which is arranged at least behind the robotic lawnmower 1 and is provided with a rear movable guard wall 484. The front movable guard 47 and the rear movable guard 48 may be referred to as sub-movable guards. The front movable shielding member 47 is provided independently of the rear movable shielding member 48, and the front movable shielding member 47 is not connected to the rear movable shielding member 48, so that when the front movable shielding member 47 and the rear movable shielding member 48 are subjected to an external force, the front movable shielding wall lower end 477 (the lower end of the front movable shielding wall 474) and the rear movable floating wall lower end 487 (the lower end of the rear movable shielding wall 484) move independently of the ground, respectively. Because the internal structure of the robotic lawnmower 1 is complex, if the mobile guard 48 is integrally formed on the robotic lawnmower 1, some parts are difficult to design due to insufficient space, in this embodiment, by designing the mobile guard 41 as at least two independent sub-mobile guards, the specific positions and number of the sub-mobile guards 41 can be arranged according to the space on the robotic lawnmower 1, so that the overall structure of the robotic lawnmower 1 can be arranged more compactly.

In the present embodiment, when the front movable guard 47 receives a vertically upward force, the front movable guard 47 can move in the up-down direction. And when the rear movable prevention piece 48 is subjected to a vertically upward force, the rear movable prevention piece 48 cannot move in the up-down direction. The front movable guard 47 may be the movable guard that moves upward as a whole under the action of an external force, or may be a movable guard that moves upward from the bottom by extending or retracting the front movable guard. The front movable guard 47 further includes side movable guard walls 475 provided on both sides of the robotic lawnmower 1, the side movable guard walls 475 being interconnected with the front movable guard walls 475 such that the side movable guard walls 475 move in an up-down direction in synchronization with the front movable guard walls 475 when the front movable guard 47 is subjected to an external force. The robotic lawnmower 1 further comprises a guard-upward guiding mechanism 45 for guiding the front movable guard 47 to move in the up-down direction compared to the housing, and the front movable guard wall 474 moves upward integrally with the side movable guard wall 475 when the front movable guard 47 moves upward by an external force. The rear movable guard 48 includes a blocking plate 46 fixed at one end to the housing, and the blocking plate 46 includes a fixed end 4111 fixed to the housing and a movable end 4112 capable of rotating around the fixed end 4111 under an external force.

When the robotic lawnmower 1 is moved over a grass surface, the front movable guard 47 is forced to move from bottom to top under the action of the grass lifting force from bottom to top, so as to avoid or reduce the height of the grass, reduce the distance between the cutting elements and the lower end 474 of the front movable guard, and improve the cutting quality. Since the cutting mechanism 3 of the robotic lawnmower 1 is in front of the rear movable guard 48, grass is cut when the rear movable guard 48 moves over the grass, and grass pressing is not caused.

The housing 10 further comprises an outer guard wall 14 located outside the movable guard 41, the lower end of the outer guard wall 14 being spaced from the ground by a distance of less than 75mm to prevent an adult arm from reaching the inside of the cutting mechanism 3. In one embodiment, the distance between the lower end of the outer protection wall 14 and the ground is 35-55 mm, which prevents the adult arm from extending into the cutting mechanism 3, and also limits the tilt angle of the child arm when the child arm extends into the housing 10 from the lower side of the outer protection wall 14, so as to reduce the risk that the child arm touches the cutting mechanism 3 obliquely and upwardly.

The robotic work system further comprises a guide line, and the robotic lawnmower 1 further comprises a guide line detection module (not shown) comprising at least one guide line detection sensor for detecting a positional relationship between the robotic lawnmower and the guide line. The positional relationship between the robotic lawnmower and the guide line includes one of the two sides of the guide line, or the distance between the robotic lawnmower and the guide line, or the like. In this embodiment, the guide line includes a boundary line that defines a working area of the robotic lawnmower. In other embodiments, the guide wire may also be a wire disposed in the work area, exiting from the location of the docking station, for guiding the robotic lawnmower towards the docking station. Of course, the guide line may be a physical boundary formed by a fence or the like, or a physical boundary formed between a lawn and a non-lawn, or the like. Accordingly, the guide wire detecting sensor may be a camera, a capacitance sensor, or the like. In other embodiments, there may be no guide line, and accordingly, the work area of the robotic lawnmower may be controlled directly by capacitive sensors, or GPS location, or the like.

The method comprises the steps that a threshold value is preset, when the electric energy in the energy module is lower than the threshold value, the control module 50 controls the automatic mower 1 to move towards the stop station along the boundary line so as to enable the automatic mower 1 to return to the charging station to supplement the electric energy to the energy module, the control module 50 controls the automatic mower 1 to move at least a first preset distance in the moving direction parallel to the boundary line by changing the distance between the automatic mower 1 and the boundary line in the process that the automatic mower 1 moves towards the stop station along the boundary line, and the steps are repeated so as to enable the control module 50 to control the automatic mower 1 to return to the charging station. In other embodiments, the robotic lawnmower 1 can return to the charging station in other ways as well. In other embodiments, the robotic lawnmower 1 can also control the robotic lawnmower 1 to automatically return to the charging station to replenish the power by a preset time or other parameter when the specified time or other parameter is reached.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. An automatic lawnmower, comprising:

a housing;

the control module is used for autonomously controlling the moving module to drive the automatic mower to move and autonomously controlling the cutting mechanism to execute a cutting task; the method is characterized in that:

2. The robotic lawnmower of claim 1, wherein: the baffle is at least arranged in front of the cutting mechanism.

3. The robotic lawnmower according to claim 1 or claim 2, wherein: and presetting a protection instruction and a limit position, and when the baffle moves beyond the preset limit position, the control module controls the automatic mower to execute the preset protection instruction.

4. The robotic lawnmower of claim 3, wherein: the automatic mower further comprises a detection switch used for detecting the position information of the baffle, and the control module is electrically connected with the detection switch so as to control the moving module and/or the cutting element to work according to the detection information of the detection switch.

5. The robotic lawnmower of claim 4, wherein: the baffle can move between an initial position and a first preset position when being subjected to external force, the baffle is respectively provided with an initial ground clearance and a first ground clearance at the initial position and the first preset position, the initial ground clearance and the first ground clearance are both smaller than the ground clearance of the cutting element, the first ground clearance is larger than the initial ground clearance, and the detection switch is used for detecting whether the baffle reaches the first preset position or not, so that when the baffle reaches the first preset position, the mobile module and/or the cutting element is controlled, and the operation speed is reduced or the reverse walking is realized.

6. The robotic lawnmower of claim 5, wherein: when the external force acts, the baffle can also move to a second preset position, when the baffle is at the second preset position, the baffle has a second ground clearance, the second ground clearance is larger than the first ground clearance, and the detection switch is used for detecting whether the baffle reaches the second preset position or not, so that when the baffle reaches the second preset position, the mobile module and/or the cutting element is controlled to walk reversely after being decelerated to zero, or the mobile module is braked.

7. The robotic lawnmower according to claim 5, wherein the flap is rotatably coupled to the housing, the flap rotating toward the cutting element when the flap rotates from the initial position to the first predetermined position.

8. The robotic lawnmower of claim 5, wherein the flap is slidably coupled to the housing, the flap configured to move up and down in a height direction of the housing.

9. The robotic lawnmower of claim 8, wherein the bottom of the baffle has a chamfer on a side away from the cutting element.

10. The robotic lawnmower according to claim 1, further comprising a thermal infrared sensor for detecting a living being, the thermal infrared sensor being disposed on a side of the baffle remote from the cutting element; the control module is used for receiving the detection data of the thermal infrared sensor so as to implement cutting protection on the automatic mower.

11. The robotic lawnmower according to claim 10, wherein the cutting protection is to brake the cutting element and/or cause the mobile module to propel the housing in a reverse direction; and/or enabling the moving module to drive the shell to turn.

12. The robotic lawnmower of claim 1, wherein: the automatic mower further comprises a rotation limiting structure used for limiting the baffle to move from outside to inside and not to exceed a rotation limiting position, the position of the baffle in a free state is different from the rotation limiting position, the baffle is located at the rotation limiting position, the resistance of the baffle rotating from outside to inside is larger than the resistance of the baffle rotating from outside to inside in a free state, when the baffle is located at the rotation limiting position, the distance between the lower end of the baffle and the ground is smaller than M, wherein M is larger than or equal to 38mm and smaller than or equal to 40 mm.

13. The robotic lawnmower of claim 12, wherein: the baffle is arranged at the rotation limiting position, the resistance of the outside-in rotation is larger than the preset safe external force value and smaller than the external force threshold value, so that when the resistance is larger than the external force threshold value and acts on the baffle, the baffle can cross the rotation limiting position.

14. The robotic lawnmower of claim 13, wherein: when the acting force from outside to inside is larger than the external force threshold value, the baffle rotates from outside to inside to exceed the rotation limiting position but not exceed the protection limiting position, when the baffle is located at the protection limiting position, the lower end of the baffle is always lower than the lowest point of the cutting element or the distance between the lower end of the baffle and the ground is smaller than M, wherein M is larger than or equal to 38mm and smaller than or equal to 40 mm.

15. The robotic lawnmower of claim 1 or claim 14, wherein: the robotic lawnmower further comprises a mechanism guard disposed between the cutting mechanism and the flap, the mechanism guard comprising a mechanism guard wall disposed horizontally between the flap and the cutting mechanism, a lower end of the mechanism guard wall being always lower than a lowest point of the cutting element in the up-down direction.