CN112088636A

CN112088636A - Automatic mower

Info

Publication number: CN112088636A
Application number: CN202010561125.7A
Authority: CN
Inventors: 赵凤丽; 杜江; 查霞红; 王彪; 周晓青; 刘斌
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: 2020-12-18
Also published as: CN212876738U; CN112088635A; CN213662490U; CN213404158U; CN112335397A; CN213404156U; CN213907508U; CN213404157U; CN112088637A; CN213662492U; CN212876735U; CN112088638A; 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 further comprises a protection component provided with a protection wall, the protection wall is arranged on the outer side of the cutting mechanism in the horizontal direction, the protection component at least comprises a movable protection part, the protection wall at least comprises the movable protection part and the movable protection wall which is arranged on the outer side of the cutting mechanism in the horizontal direction, the cutting mechanism is arranged at any cutting height, when the movable protection part is in a free state free of external force, the ground clearance at the lower end of the movable protection wall is an initial distance, the initial distance is smaller than M all the time, the M is not smaller than 38mm and not larger than 40mm, and the movable protection part can move in the up-and-down direction compared with the bottom shell under the action of the external force to change the ground clearance at the lower end of the movable protection wall.

Description

Automatic mower

Technical Field

The invention 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.

Disclosure of Invention

In order to overcome the defects, the invention adopts the following technical scheme: an automatic lawnmower, comprising:

a housing provided with a bottom shell;

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 at a predetermined cutting height, 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 further comprises a protection component provided with a protection wall, the protection wall is arranged on the outer side of the cutting mechanism in the horizontal direction, the protection component at least comprises a movable protection part, the protection wall at least comprises the movable protection part and the movable protection wall which is arranged on the outer side of the cutting mechanism in the horizontal direction, the cutting mechanism is arranged at any cutting height, when the movable protection part is in a free state free of external force, the ground clearance at the lower end of the movable protection wall is an initial distance, the initial distance is smaller than M all the time, the M is not smaller than 38mm and not larger than 40mm, and the movable protection part can move in the up-and-down direction compared with the bottom shell under the action of the external force to change the ground clearance at the lower end of the movable protection wall.

Further, the cutting mechanism is at any cutting height, and the initial distance ranges from 15mm to 35 mm.

Further, when the external force is removed, the movable guard may move downward relative to the bottom case to return the ground clearance of the lower end of the movable guard wall to the initial distance.

Further, the cutting mechanism may be moved in an up-and-down direction compared to the movable guard in adjusting the height of the cutting mechanism from a lowest gear to a highest gear.

Further, in the process of adjusting the height of the cutting mechanism, the distance from the lower end of the movable protective wall to the ground is always kept unchanged.

Further, in the forced upward movement process of the movable protective wall, when the distance from the lower end of the movable protective wall to the ground is greater than a preset grass safety lifting height, the upward movement resistance of the movable protective wall is greater than, and when the distance from the lower end of the movable protective wall to the ground is less than the preset grass safety lifting height, the upward movement resistance of the movable protective wall is greater than.

Further, the movable protective wall comprises a front movable protective wall arranged in front of the cutting mechanism, a rear movable protective wall arranged behind the cutting mechanism and at least one of the side movable protective walls arranged on two sides of the cutting mechanism.

Further, in the horizontal direction, the minimum distance X from the outermost edge of the movable protective wall to the cutting element ranges from X to 58 mm.

Further, the movable protective wall comprises a main movable part, the main movable part comprises an obstacle passing area located at the outermost edge of the main movable part, and the obstacle passing area comprises an inclined surface which is inclined from outside to inside and extends downwards.

Further, the movable protective wall further comprises a locking part formed by extending downwards from the main movable part, the locking part comprises a safety locking area located at the outermost edge of the locking part, the lower end ground clearance of the safety locking area is smaller than M, and the safety locking area is located on the outer side of a downward extension line of the barrier passing area on the same radial direction as the safety locking area.

Furthermore, the movable protection wall comprises a plurality of blocking protrusions arranged at the bottom of the movable protection wall at intervals in the circumferential direction, and the lower ends of the blocking protrusions are larger than or equal to M/2 away from the ground when the movable protection part is in a free state without external force.

Furthermore, the movable protective wall further comprises an upper blocking part connected above the blocking protrusion, the outermost edge of the blocking protrusion is not completely overlapped with the outer edge of the upper blocking part, and the part of the blocking protrusion, which is not overlapped with the outermost edge of the upper blocking part, is positioned on the inner side of the corresponding part of the outermost edge of the upper blocking part.

Furthermore, the blocking protrusion comprises a safety locking area located at the outermost edge of the blocking protrusion, the safety locking area comprises an inclined surface and/or a vertical surface, and when the safety locking area is an inclined surface which inclines from outside to inside and extends downwards, the angle of the inward inclination of the safety locking area from the vertical plane where the outermost end of the safety locking area is located is less than 15 degrees.

Further, the height h of the blocking protrusion ranges from: h is more than or equal to 0mm and less than or equal to 80mm, or h is more than or equal to 3mm and less than or equal to 20 mm; the width M of the blocking bulge is within the range of 0< M < 40mm, or 0< M < 20 mm; the range of the distance S between two adjacent blocking bulges is 0< S < 40mm, or 3 < S < 25 mm.

Furthermore, the movable protective wall further comprises a connecting protrusion extending in the up-down direction and connecting the two adjacent blocking protrusions, and the connecting protrusion is partially recessed inwards so that the connecting protrusion and the two adjacent blocking protrusions connected with the connecting protrusion enclose a structure with an outer side interval and an inner side closed.

Further, the cutting mechanism is arranged at any cutting height, and the range of the initial distance is always smaller than or equal to M/2.

Further, in the process that the movable protective wall moves upwards to the highest point of the movable range of the movable protective wall under the action of external force, the lower end of the blocking wall is always lower than the lowest point of the cutting element.

Further, the guard assembly further includes a mechanism guard fixed in an up-down direction compared to the cutting mechanism, the mechanism guard includes a mechanism guard wall located between the movable guard wall and the cutting mechanism in a horizontal direction, the blocking wall further includes the mechanism guard wall, and a lower end of the mechanism guard wall is always lower than a lowest point of the cutting element.

Further, the casing comprises a high-position casing located outside the cutting mechanism in the horizontal direction, the high-position casing extends in the direction from outside to inside and in the direction perpendicular to the direction from outside to inside within the range of M, the distance from the high-position casing to the ground is always higher than M, and at least part of the mechanism protection wall is located between the high-position casing and the cutting mechanism in the horizontal direction.

Further, the mechanism protective wall is including being located the preceding mechanism protective wall in cutting mechanism the place ahead, being located the side mechanism protective wall of cutting mechanism both sides and being located the rear mechanism protective wall at cutting mechanism rear, preceding mechanism protective wall, rear mechanism protective wall and side mechanism protective wall enclose jointly and become to go up to seal circumferentially mechanism protective wall.

Further, the lowermost portion of the mechanism guard wall in the circumferential direction of 360 degrees is lower than the cutting element lowermost portion.

Furthermore, the minimum distance range of the movable protective wall and the mechanism protective wall in the horizontal direction is 2-30mm, or 2-8 mm.

Furthermore, the cutting mechanism is arranged at any cutting height, and when the movable protective wall moves upwards to the highest point of the movable range of the movable protective wall under the action of external force, the lower end of the movable protective wall is lower than the lowest point of the cutting element.

Further, at least one cutting height, the lower end of the movable protection wall may move in the up-down direction compared to the cutting mechanism during the movement of the movable protection member in the up-down direction by the external force.

Furthermore, the automatic mower further comprises a limiting structure for limiting the degree of relative movement between the movable protection part and the cutting mechanism in the up-and-down direction.

Furthermore, the limiting mechanism comprises a cutting limiting part and a protection part limiting part which can be abutted to each other for limiting, the cutting limiting part and the cutting mechanism are relatively fixed in the up-down direction, the protection part limiting part and the movable protection part are relatively fixed in the up-down direction, and when the cutting limiting part and the protection part are abutted to each other for limiting, the cutting limiting part is located above the protection part limiting part.

Further, in a non-height-adjustable state, when the cutting mechanism is acted by an external force, the cutting mechanism can move up and down relative to the ground, and at least one cutting height, when the movable protection part moves up by the external force, the movable protection part moves up independently until the movable protection part and the cutting mechanism limit each other, and then moves up together with the cutting mechanism.

Further, the guard assembly further includes a cutting guard fixed in the vertical direction compared to the cutting mechanism, the cutting guard is disposed in the movable guard in the horizontal direction, the lower end of the cutting guard is lower than the lowest point of the cutting element, and the cutting guard is movable in the vertical direction compared to the bottom case together with the cutting mechanism under the action of external force in the non-heightened state.

Further, the cutting mechanism includes a cutter head for securing the cutting element, the cutting guard includes a cutter head guard disposed below the cutter head and surrounding a central cavity, the lower end of the cutter head guard being lower than the lowest point of the cutting element.

Furthermore, the automatic mower further comprises a bendable flexible blocking piece arranged at the bottom side of the shell, the blocking piece is positioned at the front side and/or the rear side of the moving module in the advancing direction of the self-moving device, the blocking piece comprises a shell end fixed at the bottom side of the shell and a free end capable of moving relative to the shell end under the action of external force, the shell end and the moving module are arranged at intervals, and the free end can be in abutting contact with the moving module under the action of external force.

Furthermore, the automatic mower further comprises a cutter disc used for installing the cutting elements, and the cutting elements are arranged above the cutter disc.

Further, in the moving process of the automatic mower, when the movable protective wall is acted by an outside-in force, the distance between the lower end of the movable protective wall and the ground can be more than or equal to M, wherein M is more than or equal to 38mm and less than or equal to 40 mm.

Further, the range of the distance of the lower end of the movable protective wall moving in the up-down direction is 15-80mm, or 20-40 mm.

Furthermore, the movable guard wall comprises a grass pressing end surface which is positioned at the lower end of the movable guard wall and continuously extends along the circumferential direction.

Furthermore, the movable protective wall comprises a vertical protective wall extending along the vertical direction and a transverse protective wall located below the vertical protective wall and extending along the horizontal direction, and at least one side of the transverse protective wall in the horizontal inner and outer direction protrudes out of the corresponding side of the vertical protective wall.

Further, the robotic lawnmower further comprises guard-up guide means for connecting the movable guard to the housing, the guard-up guide means allowing the movable guard wall to move up when the movable guard is subjected to an outside-in force.

Further, the upward guide mechanism includes at least one of a four-bar linkage, two-bar linkage, single bar, or a slide groove.

Further, the robotic lawnmower further comprises a cutting upward guide mechanism for connecting the cutting mechanism to the housing.

Further, the movable guard includes an upper guard and a lower guard, and the lower guard is movable in an up-and-down direction compared to the upper guard when the lower guard is acted on by an external force.

Further, the movable guard is arranged outside the housing and/or between the cutting mechanism and the housing and/or connected to a part of the housing.

Further, the movable guard wall including set up in cutting mechanism the preceding movable guard wall in place ahead, the fender subassembly is still including the movable guard part in back that is equipped with the movable guard wall in back, the movable guard wall in back set up in cutting mechanism's rear, when the movable guard part in back receives the exogenic action, the lower extreme of the movable guard wall in back can produce relative displacement in the upper and lower direction than ground.

Further, under the action of external force, the movable protection part and the rear movable protection part can move independently.

Furthermore, the rear movable protection part comprises a baffle plate, one end of the baffle plate is fixed on the shell, and the baffle plate comprises a fixed end fixed on the shell and a movable end capable of rotating around the fixed end under the action of external force.

Further, the front-movable guard is movable in an up-down direction when the front-movable guard is subjected to a vertically upward force; and when the rear movable guard is subjected to a vertically upward force, the rear movable guard cannot move in an up-down direction.

Furthermore, the movable protective wall also comprises side movable protective walls arranged on two sides of the automatic mower, and the front movable protective wall is connected with the side movable protective walls, so that the side movable protective walls and the front movable protective walls can synchronously move in the vertical direction when being acted by external force.

The beneficial effect of this scheme is: through the protection subassembly that sets up to have the protection wall to when avoiding children's fingers and arm etc. to be wounded by mistake, guarantee the trafficability characteristic of automatic mower.

Drawings

FIG. 1 is a perspective view of an robotic lawnmower according to one embodiment of the invention.

FIG. 2 is another perspective view of the robotic lawnmower of FIG. 1.

FIG. 3 is another perspective view of the robotic lawnmower of FIG. 1.

FIG. 4 is a schematic view of the guard assembly of the robotic lawnmower in one embodiment of the invention.

FIG. 5 is a schematic view of a state of the guard assembly of the robotic lawnmower according to an embodiment of the invention.

FIG. 6 is a schematic view of the guard assembly of the robotic lawnmower in one embodiment of the invention.

FIG. 7 is a schematic view of the guard assembly of the robotic lawnmower in one embodiment of the invention.

FIG. 8 is a schematic view of the guard assembly of the robotic lawnmower in one embodiment of the invention.

FIG. 9 is a schematic view of the guard assembly of the robotic lawnmower in one embodiment of the invention.

FIG. 10 is a side view of the cutting mechanism and guard assembly of the robotic lawnmower according to one embodiment of the invention.

FIG. 11 is a schematic view of the cutting mechanism and movable guard of the robotic lawnmower according to one embodiment of the invention.

FIG. 12 is a schematic view of the guard assembly of the robotic lawnmower in one embodiment of the invention.

FIG. 13 is a schematic view of the guard assembly of the robotic lawnmower in one embodiment of the invention.

FIG. 14 is a schematic view of the guard assembly of the robotic lawnmower in one embodiment of the invention.

FIG. 15 is a schematic view of the guard assembly of the robotic lawnmower in one embodiment of the invention.

FIG. 16 is a schematic view of a guard assembly of the robotic lawnmower according to an embodiment of the invention.

FIG. 17 is a schematic view of a guard assembly of the robotic lawnmower according to an embodiment of the invention.

FIG. 18 is a schematic view of a guard assembly of the robotic lawnmower according to an embodiment of the invention.

FIG. 19 is a schematic view of a guard assembly of the robotic lawnmower according to an embodiment of the invention.

FIG. 20 is a schematic view of a guard assembly of the robotic lawnmower according to an embodiment of the invention.

FIG. 21 is a schematic view of one embodiment of the guard assembly of the robotic lawnmower of the present invention.

FIG. 22 is another state schematic view of the robotic lawnmower of FIG. 21.

FIG. 23 is another state schematic view of the robotic lawnmower of FIG. 21.

FIG. 24 is a schematic view of a state of the guard assembly of the robotic lawnmower in accordance with an embodiment of the invention.

Fig. 25 is another angular view of fig. 24.

Fig. 26 is a schematic view of the outermost edge of a movable guard according to an embodiment of the present invention.

FIG. 27 is a schematic view of an robotic lawnmower according to one embodiment of the invention.

FIG. 28 is a schematic view of the robotic lawnmower of FIG. 27 in another state.

FIG. 29 is a schematic view of the robotic lawnmower of FIG. 27 in another state.

FIG. 30 is a schematic view of an robotic lawnmower according to an embodiment of the invention.

FIG. 31 is a schematic view of the robotic lawnmower of FIG. 30 in another state.

FIG. 32 is a schematic view of the robotic lawnmower of FIG. 30 in another state.

FIG. 33 is a schematic view of an robotic lawnmower according to an embodiment of the invention.

FIG. 34 is a schematic view of the robotic lawnmower of FIG. 33 being raised.

Fig. 35 is a schematic view of an embodiment of a moveable guard.

FIG. 36 is a schematic view of an robotic lawnmower according to an embodiment of the invention.

Fig. 37 is a schematic view of one state of the movable guard of fig. 36.

FIG. 38 is a bottom schematic view of the robotic lawnmower of FIG. 36.

Fig. 39 is a schematic view of one configuration of the movable guard of fig. 36.

Fig. 40 is a schematic view of another configuration of the movable guard of fig. 36.

FIG. 41 is a schematic view of another arrangement of the movable guard of FIG. 36 in an robotic lawnmower.

FIG. 42 is a schematic view of yet another arrangement of the movable guard of FIG. 36 in an robotic lawnmower.

Fig. 43 is a schematic view of a movable guard and a mechanism guard according to an embodiment of the invention.

Fig. 44 is a force diagram of the movable guard of fig. 43 subjected to an illegal outward force.

Fig. 45 is a force diagram of the movable guard of fig. 43 subjected to an illegal outward force.

Fig. 46 is a schematic view of a movable guard and a mechanism guard with blocking protrusions according to an embodiment of the present invention.

Fig. 47 is a force diagram of the movable guard of fig. 46 under an illegal outward force.

Fig. 48 is a schematic view of the movable guard of fig. 46 under an illegal outward force.

Fig. 49 is a schematic view of the movable guard shown in fig. 46 under an illegal outward force when the distance from the ground is less than or equal to M/2.

Fig. 50 is a schematic diagram of the movable guard shown in fig. 46 under an illegal outward force when the distance from the ground is less than or equal to M/2.

Fig. 51 is a schematic view of a movable guard and a mechanism guard having a connecting protrusion according to an embodiment of the present invention.

Fig. 52 to 54 are schematic views illustrating a state of grass when the movable guard shown in fig. 51 encounters the grass.

Fig. 55 is a partial enlarged view of fig. 51.

Fig. 56 is a schematic view of a movable guard and a mechanism guard having a connecting protrusion according to another embodiment of the present invention.

FIG. 57 is a schematic view of a single wheel rolling child arm of the robotic lawnmower in accordance with an embodiment of the invention.

FIG. 58 is a schematic view of an robotic lawnmower having a stop, according to an embodiment of the invention.

FIG. 59 is a schematic view of a mower with a blade guard below the blade in accordance with an embodiment of the present invention.

FIG. 60 is a schematic view of an robotic lawnmower according to an embodiment of the invention.

FIG. 61 is a top view of the robotic lawnmower of FIG. 60.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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 34, the present invention provides an automatic working system including an autonomous moving and working robotic lawnmower 1 and a charging station for charging the robotic lawnmower 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 height-adjusting structure 6 of cutting mechanism height (heightening), when robotic lawnmower 1 need adjust cutting height, operation heightening mechanism 6 under heightening structure 6's the drive, 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.

As shown in fig. 2 and 3, the robotic lawnmower 1 further comprises a protection assembly 4 for protecting the protection wall 40, and the protection wall is disposed outside the cutting mechanism 3 in the horizontal direction to prevent accidental injury to the person caused by the person accidentally touching the cutting mechanism 3 from the outside to the inside. 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 15-35mm, 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, as shown in fig. 1 to 18, the bottom case of the housing 10 does not move in the up-down direction compared to the ground, and the movable guard 41 can move in the up-down direction compared to the ground by moving in the up-down direction compared to the bottom case of the housing 10. Specifically, as shown in fig. 1 to 3, the movable guard 41 is disposed between the housing 10 and the cutting mechanism 3 and is disposed independently from the housing 10, or as shown in fig. 16 to 17, the movable guard 41 is disposed outside the housing 10, and the movable guard 41 can move in the up-down direction compared with the bottom case of the housing 10. The movable guard 41 may be completely covered outside the housing 10 as shown in fig. 16 to 17 to form an upper cover of the robotic lawnmower 1, or the movable guard 41 may be disposed above a part of the housing 10 as shown in fig. 18, for example, at the edges of the front, the rear, the side, and the like of the housing 10.

In another embodiment, the movable protection member 41 may be fixed compared to the housing, and the distance between the housing 10 and the ground may be changed, for example, the connection form between the movable module and the housing 10 is changed, so that the distance between the housing 10 and the ground is changed, etc. In another embodiment, as shown in fig. 19 to 20, the distance from the upper end of the movable protection member 41 to the ground is constant, and the distance from the lower end 417 of the movable protection wall to the ground is changed by the deformation of the movable protection member 41 when the movable protection member touches an obstacle. In another embodiment, as shown in fig. 21 to 23, 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 of diameter M in fig. 8, the test arm 61 thus acts as an obstacle 62 that exerts a force on the movable guard wall 414 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 the present embodiment, as shown in fig. 8, 11 and 23, when the movable guard 41 is in the free state, the lower end 417 of the movable guard wall is lower than the lowest point of the cutting element, and when the movable guard 41 is applied with the force from outside to inside and moves upwards 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 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, 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 lower than the lowest point 30 of the cutting element, the testing arm 61 can only be located below the cutting element 30, as shown in fig. 8, which is a schematic view of the cutting height being higher than the diameter of the arm of the child, and at this time, the height of the cutting mechanism 3 from the ground is larger than the diameter of the arm of the child. To further ensure safety, the cutting mechanism 3 further includes a blade guard 35 disposed at a lower end thereof, and the lower end of the blade guard 35 is a smooth surface to ensure that a child's arm touches the smooth surface when the child's arm extends into the lower portion of the cutting mechanism 3. In particular, when the robotic lawnmower is tilted, the cutting elements 32 tilt therewith, and the child's arm is blocked by the deck guard 35 from hitting the cutting elements 32.

In one embodiment, as shown in fig. 9, the cutting element 32 is disposed above the cutter disc 31, and the cutting mechanism 3 further comprises a fastener 33 for securing the cutting element 32 to the cutter disc 31, the fastener 33 securing the cutting element 32 above the cutter disc 31 from top to bottom. The cutting mechanism 3 includes a fixing member 34 for fixing the cutter head 31 to the rotating portion 36 and a cutter head guard 35 assembled below the cutter head 31, the lower end of the cutter head guard 35 is a smooth surface, an accommodating space 37 for accommodating the fixing member 34 is provided between the cutter head guard 35 and the cutter head 31, the fixing member 34 fixes the cutter head 31 to the rotating portion 36 from bottom to top, and the fixing member 34 is accommodated in the accommodating space 37 to prevent the fixing member 34 from being exposed below the cutting mechanism 3, thereby preventing the metal fixing member 34 from touching the arms of a child when the rotating portion 36 rotates at a high speed. As shown in fig. 9, the impeller 31 includes a blade mounting portion 315 for inter-assembly with the cutting element 32, a rotary mounting portion 316 intermediate the blade mounting portion for inter-assembly with the rotary portion 36, and an impeller attachment portion 317 for attaching the blade mounting portion 315 to the rotary mounting portion 316. The height of the rotary mounting portion 316 is higher than that of the blade mounting portion 315, and the rotary mounting portion 316, the cutter head connecting portion 317, and the cutter head guard 35 enclose an accommodation space 37. The cutterhead 31 and the cutterhead protection piece 35 are respectively provided with a fixed connecting structure 312 fixedly connected with each other, the fixed connecting structure 312 comprises a first buckling structure 313 and a second buckling structure 314 buckled with each other, and the first buckling structure 313 and the second buckling structure 314 are respectively arranged on the cutterhead connecting part 317 and the cutterhead protection piece 35. The lower end of the cutter head protection piece 35 and the lower end of the cutter head 31 can be on the same plane, so that the lower end of the cutting mechanism 3 is a complete plane, the bottom of the cutting mechanism 3 is smoother, and the safety protection effect is better. Of course, in other embodiments, the cutter head guard 35 and the cutter head 31 may not be in the same plane, and only the lower end of the cutter head guard 35 or the cutter head 31 may be the lower end of the cutting mechanism 3, as long as the lower ends of the cutter head guard 35 and the cutter head 31 are smooth surfaces.

In another embodiment, the cutting guard 305 may also be disposed within the movable guard with its lower end below the lowest point of the cutting elements in the medial-lateral direction of the horizontal direction of the robotic lawnmower by adding the cutting guard 305. As shown in fig. 57, the cutting guard 305 may be a mechanism guard 42 disposed within a movable guard as shown in fig. 57. Of course, the cutting guard may also take other forms, for example:

as shown in fig. 10, in one embodiment, the cutter guard 305 includes a smooth-bottomed cutter guard 35 assembled below the cutting mechanism 3, a receiving cavity 39 for receiving the fastening member 33 is formed between the cutter 31 and the cutting mechanism 3, and the cutting element 32 is partially received in the receiving cavity 39. In the above embodiment, the cutter head guard 35 is assembled below the cutting mechanism 3, but in other embodiments, the cutter head guard 35 may be integrally formed with a part of the cutting mechanism 3, for example, may be formed by directly extending from a part of the cutting mechanism 3.

In another embodiment, as shown in fig. 59, the cutting guard 305 comprises a cutter head guard 35 disposed on the cutter head 31 and projecting downwardly from the surface of the cutter head 31. The lower end of the cutter head guard 35 is lower than the lowest point of the cutting element 32, the cutting element 32 can rotate around the self axis to form a self-rotating area, and when the rotating axis of the cutter head deviates from the gravity direction by no more than a preset angle, the extension line of the connecting line between the lowest point of the cutter head guard 35 and the lowest point of the higher driving wheel in the two driving wheels does not intersect with the self-rotating area of the cutting element rotating to any position relative to the rotating axis; the predetermined angle is in the range of 30-60 degrees. When the rotation axis of the cutter head deviates from the gravity direction by no more than a predetermined angle, the extension line of the line between the lowest point of the cutter head protection piece 35 and the lowest point of the higher-positioned drive wheel in the two drive wheels does not intersect with the lower surface of the cutter head; the predetermined angle is in the range of 30-60 degrees.

The cutter head 31 has a lower surface facing downward; the cutting elements 32 are rotatably mounted to the lower surface and can project beyond the outer edge of the impeller 31; the cutter head guard 35 is provided to the lower surface of the cutter head 31 or projects downward from the lower surface of the cutter head 31; the maximum outer diameter of the impeller guard 35 is less than the maximum outer diameter of the cutting elements 32. The disc guard 35 is disposed about a central cavity 350, the central cavity 350 forming a downwardly facing opening at the lower end of the disc guard 35. The cutter head guard 35 may be a hollow ring structure disposed below the cutter head 31 as shown in fig. 59, and the hollow ring may be formed to directly protrude downward from the lower surface of the cutter head 31, or may be assembled with a separate component to the lower surface of the cutter head 31. The cut grass enters the middle cavity 350, and because the middle cavity 350 has an opening facing downward, the grass does not accumulate in the projection, ensuring smooth rotation of the cutter head. The cutter head guard 35 and the cutter head 31 are coaxially disposed; the lower end surface of the head guard 35 is a circular ring-shaped flat surface. Furthermore, the cutter guard 35 can separate the cutting elements 321 from the child's arms, regardless of whether the cutter disc 31 is tilted to either side, thereby providing better cut resistance. In other embodiments, the impeller guard 35 may have other configurations, such as a plurality of spaced arcs, columns, or other shapes disposed about the central cavity 350. The height of the impeller guard 35 down beyond the cutting elements ranges from 2-30 mm.

For convenience of description, the impeller guard 35 in the above embodiments may also be referred to directly as the cutting guard 305.

In the above embodiment, in order to further prevent the child arm from possibly extending into the cutting mechanism 3 when the robotic lawnmower 1 is inclined, the cutting guard 305 and the cutting mechanism are fixed to each other in the up-down direction, and in the non-lifted state, the cutting guard is movable in the up-down direction together with the cutting mechanism 3 compared to the bottom case under the action of external force, so that when the child arm extends into the movable guard 41, as shown in fig. 59, the cutting guard 305 receives the force exerted by the child arm to drive the cutting mechanism 3 to move upward together, thereby further preventing the child arm from touching the cutting element.

In the above embodiment, for further safety, when the cutting guard 305 is forced to drive the cutting mechanism 3 to move upward, the cutting guard 305 and the cutting mechanism 3 may be lowered in a delayed manner, for example, stay at the vertex for a certain time, and then be lowered to return to the original position, so as to avoid that the cutting mechanism falls down and accidentally injures the arm of the child because the robotic mower has not yet driven over the arm of the child. Specifically, the automatic mower can be realized by arranging a time delay mechanism for controlling the reset speed of the cutting mechanism 3, and the time delay mechanism can be a damping device or an electromagnet.

Specifically, there are various ways to achieve that the lower end of the blocking wall 40 of the guard assembly 4 is always below the cutting element lowest point 30, for example, in one embodiment, during forced upward movement of the movable guard 41, the upward movement of the movable guard 41 is limited such that the movable guard wall lower end 417 is always located at the cutting element lowest point 30. In another embodiment, the movable guard 41 may also be synchronously movable with the cutting mechanism 3 such that the movable guard wall lower end 417 is a constant distance from the cutting element lowest point 30, thereby achieving that the movable guard wall lower end 417 is always located at the cutting element lowest point 30. In another embodiment, the lower end of the blocking wall 40 of the guard assembly 4 may also be consistently below the cutting element lowest point 30, and so on, by adding a mechanism guard 42 whose lower end is consistently below the cutting element lowest point 30.

The following description will be made in detail by taking the example of adding the mechanism guard 42 whose lower end is always lower than the lowest point 30 of the cutting element. In this embodiment, the guard assembly 4 further includes a mechanism guard 42 provided with a mechanism guard wall 424, the mechanism guard wall 424 of the robotic lawnmower being disposed between the cutting mechanism 3 and the movable guard wall in the horizontal direction, and the guard wall 40 including the movable guard wall and the mechanism guard wall 424. The mechanism guard 42 is fixed in comparison to the cutting mechanism 3, wherein the cutting mechanism 3 may or may not move in comparison to the housing depending on the situation, the mechanism guard 42 following together when the cutting mechanism 3 moves in comparison to the housing, and the mechanism guard 42 following together when the cutting mechanism 2 is not moving in comparison to the housing. In this embodiment, the mechanism protection member 42 is completely fixed and cannot move relatively in any direction compared to the cutting mechanism 3, but in other embodiments, the mechanism protection member 42 may be fixed only in the vertical direction compared to the cutting mechanism 3, and both may move relatively in directions other than the vertical direction. The mechanism guard 42 includes a mechanism guard wall 424 for guarding, and the cutting mechanism 3 includes the cutting element lowest point 30 at its lowest position in the up-down direction. The mechanism guard 42 is fixed in comparison with the cutting mechanism 3 in the up-down direction, that is, the relative position of the mechanism guard 42 and the cutting mechanism 3 is not changed in the up-down direction. The lower end of the mechanism guard wall 424 of the mechanism guard 42, i.e., the mechanism guard wall lower end 427, is always below the cutting element lowest point 30, thereby ensuring that the lower end of the guard wall 40 is always below the cutting element lowest point 30 to prevent the child's arm from being crushed by the robotic lawnmower 1.

As shown in fig. 4 and 6, the mechanism guard 42 is horizontally located between the cutting mechanism 3 and the movable guard 41, and the minimum distance between the movable guard 41 and the mechanism guard 42 in the horizontal direction is 2-30mm, so that the movable guard 41 does not interfere with the mechanism guard 42 during the upward movement. In one embodiment, the minimum distance between the movable guard 41 and the mechanism guard 42 is 2-8 mm, so that the movable guard 41 and the mechanism guard 42 do not interfere with each other in the process of ensuring the movement of the movable guard 41, and the distance between the movable guard 41 and the mechanism guard 42 is reduced, so that the overall structure of the automatic lawn mower 1 is more compact.

The mechanism guard 42 includes a mechanism guard wall 424 and a fixed connection wall 425 for connecting the mechanism guard wall 424 with the housing 10, and the mechanism guard wall 424 is fixed relative to the cutter head 31 in the up-down direction, that is, the relative positions of the mechanism guard wall 424 and the cutter head 31 in the up-down direction are unchanged. The mechanism protection wall 424 comprises a plurality of fixed protection teeth 4246, a plurality of fixed grass inlet 4247 positioned between two adjacent fixed protection teeth 4246, and a connecting part 4248 for connecting the adjacent fixed protection teeth 4246. The width of the fixed grass inlet 4247 is 1-M, the width of the fixed protection teeth 4246 is 1-20 mm, grass can be fed, and meanwhile the situation that the arms of a child touch the cutting mechanism 3 through the fixed grass inlet 4247 penetrates through the mechanism protection piece 41 is avoided. Because the fixed grass inlet 4247 is too wide, the effective length of the fixed protection teeth 4246 is reduced, in one embodiment, the width of the fixed grass inlet 4247 is 10-25 mm, the effective length of the fixed protection teeth 4246 is ensured, and meanwhile, the situation that the arms of children penetrate through the mechanism protection piece 42 through the fixed grass inlet 4247 is avoided, so that the amount of grass entering the cutting mechanism 3 through the fixed grass inlet 4247 is proper in the moving process of the automatic mower 1, the phenomenon that the working efficiency is low or grass is blocked is avoided due to too small amount of entering grass. The width of the fixed protection teeth 4146 is 4-10 mm, and when the rigidity of the fixed protection teeth 4246 is improved, the phenomenon that the fixed protection teeth 4246 are too large in width to cause grass blockage is avoided. In one embodiment, the movable guard 41 also includes a plurality of movable guard teeth 4146, a plurality of fixed grass inlet 4147 between two adjacent movable guard teeth 4146, and a connecting portion 4148 for connecting adjacent movable guard teeth 4146, and the fixed grass inlet 4247 and the movable grass inlet 4147 are correspondingly arranged in front and back in the advancing direction of the automatic mower 1, so that grass can pass through the movable grass inlet 4147 and the fixed grass inlet 4247 in a straight line, thereby preventing grass from being caught. The fixed guard teeth 4246 and the movable guard teeth 4146 are circumferentially distributed outside the cutting mechanism 3, respectively, to form a safety guard outside the cutting mechanism 3.

As shown in fig. 24 and 25, in the forward direction of the robotic lawnmower 1, the mechanism protective wall 424 includes a front mechanism protective wall 4241 located in front of the cutting mechanism 3, side mechanism protective walls 4243 located on both sides of the cutting mechanism, and a rear mechanism protective wall 4242 located behind the cutting mechanism. Wherein the lower ends 427 of the front, rear, and side

mechanism guard walls

4241, 4242, 4243 are all below the cutting element lowest point 30.

In this embodiment, in order to ensure that the arms of the child cannot touch the cutting element 30 when the child extends from any direction, mechanism protection walls may be disposed around the mechanism protection member 42, that is, as shown in fig. 24 and 25, in the forward direction of the automatic mower 1, the front mechanism protection wall 4241, the rear mechanism protection wall 4242 and the side mechanism protection wall 4243 together define a circumferentially closed mechanism protection wall, and the lower ends of the front mechanism protection wall 4241, the rear mechanism protection wall 4242 and the side mechanism protection wall 4243 are all lower than the cutting element lowest point 30, in this embodiment, the lowest portions of the mechanism protection walls in the circumferential direction of 360 degrees are all lower than the cutting element lowest point 30. In another embodiment, the lowest part of the mechanism protective wall in the circumferential direction of 360 degrees is at least partially higher than the lowest point of the cutting element, at least partially lower than the lowest point of the cutting element, and the parts higher than the lowest point of the cutting element continuously extend in the circumferential direction to have the length less than M so as to avoid the child arm from extending into the mechanism protective wall. In other embodiments, the mechanism guard walls 424 include at least one of a front mechanism guard wall 4241 located forward of the cutting mechanism 3, side mechanism guard walls 4243 located on both sides of the cutting mechanism, and a rear mechanism guard wall 4242 located rearward of the cutting mechanism.

In one embodiment, as shown in fig. 1, the mechanism guard walls 424 include a front mechanism guard wall 4241 located in front of the cutting mechanism 3 and at least one of side mechanism guard walls 4243 located on both sides of the cutting mechanism to prevent the arms of the child from reaching the vicinity of the cutting mechanism 3 from the front or the rear and being cut. When an outside-in force is applied to the movable protective wall at the rear of the robotic lawnmower 1, and the direction of the applied external force is opposite to the direction of the movement of the obstacle 62 (from inside to outside) relative to the robotic lawnmower 1 when the robotic lawnmower 1 is moving forward, the outside-in force can be distinguished from the obstacle 62, for example, the lower end 417 of the movable protective wall at the rear of the robotic lawnmower 1 can be prevented from moving upward or beyond the lowest point 30 of the cutting element by limiting the resistance of the movable protective wall 414 against the upward movement from outside to inside at the rear of the robotic lawnmower 1, thereby preventing the child from being injured. In this embodiment, the front mechanism protective wall 4241 and/or the side mechanism protective wall 4243 may be added to the front and both sides of the robotic lawnmower 1 because the direction of the force applied from the outside to the inside in front of the robotic lawnmower 1 is the same as the direction of the movement of the obstacle 62 relative to the robotic lawnmower 1, and the directions of the external forces applied from the outside to the inside are not completely opposite to the direction of the movement of the obstacle 62 relative to the robotic lawnmower 1, so that the force applied from the outside to the inside cannot be distinguished from the obstacle 62.

As shown in fig. 1 to 3, the housing 10 comprises a high-level housing 49 which is located outside the cutting mechanism 3 in the horizontal direction, and the high-level housing 49 is always located at a distance higher than M from the ground in the range extending M in the direction from the outside to the inside (in the horizontal direction), so that the forearm can reach the vicinity of the cutting element 32 through below the high-level housing 49 and be cut, and therefore, in the horizontal direction, or in the inside-outside direction of the automatic lawnmower, at least part of the mechanism protective wall 424 is located between the high-level housing 49 and the cutting mechanism 3 to prevent the forearm from reaching the vicinity of the cutting element 32 from below the high-level housing 49 and being cut.

In other embodiments, depending on the manner of movement of movable guard 41, different embodiments may be selected to achieve that the lower end of guard assembly 4 is always below cutting element lowest point 30.

Hereinafter, the following description will be made in detail, taking as an example that the movable guard 41 is movable in the vertical direction with respect to the bottom case of the housing 10 by an external force to change the distance from the ground of the lower end of the movable guard.

As shown in fig. 1 to 3, the movable guard 41 includes a plurality of movable guard walls 414 for blocking an arm, a finger, or other foreign objects of the user and a movable connection wall 415 for connecting the movable guard walls with the housing. The movable protection wall 414 includes at least one of a front movable protection wall 4141 disposed in front of the cutting mechanism 3, side movable protection walls 4142 disposed at both sides of the cutting mechanism 3, and a rear movable protection wall 4143 disposed behind the cutting mechanism 3. In the present embodiment, the movable protective wall 414 includes a front movable protective wall 4141, a side movable protective wall 4142, and a rear movable protective wall 4143. The front movable protective wall 4141, the side movable protective wall 4142 and the rear movable protective wall 4143 may be connected to each other entirely or partially, and then connected to the housing 10 through the movable connecting wall 415, and the front movable protective wall 4141, the side movable protective wall 4142 and the rear movable protective wall 4143 may not be connected to each other but connected to the housing 10 through the movable connecting wall 415. The front movable guard wall 4141, the side movable guard walls 4142, and the rear movable guard wall 4143 may be formed by directly extending from the movable connecting wall 415, or may be formed separately and then assembled to the movable connecting wall 415. The movable guard wall 414 includes a plurality of movable guard teeth 4146 and a plurality of movable grass inlet 4147 between two adjacent movable guard teeth 4146. As shown in FIG. 1, in one embodiment, only the front movable fence 4141 is provided with a plurality of movable fence teeth 4146 and movable grass inlet 4147 so that grass can enter the cutting mechanism 3 through the movable grass inlet 4147 without being blocked by the movable fence teeth 4146 when the robotic lawnmower 1 advances. In other embodiments, the rear movable guard wall 4143 and the side movable guard walls 4142 may be provided with a plurality of movable grass inlets 4147 to prevent grass from pressing. The width of the movable grass inlet 4147 is 1-M, the width of the movable protection teeth 4146 is 1-20 mm, and when grass can be fed, the arm of a child can be prevented from passing through the movable protection part 41 through the movable grass inlet 4147 and touching the cutting mechanism 3. The effective length of the movable grass inlet 4146 is reduced due to the fact that the movable grass inlet 4147 is too wide, in one embodiment, the width of the movable grass inlet 4147 is 10-25 mm, the effective length of the movable grass inlet 4146 is guaranteed, and meanwhile the situation that the arm of a child penetrates through the movable guard 41 through the movable grass inlet 4147 is avoided, the amount of grass entering the cutting mechanism 3 through the movable grass inlet 4147 is proper in the moving process of the automatic mower 1, and the phenomena of low working efficiency or grass blockage and the like due to too small amount of entering grass are avoided. The width of the movable protection teeth 4146 is 4-10 mm, and when the rigidity of the movable protection teeth 4146 is improved, the movable protection teeth 4146 are prevented from being too large in width to cause grass blockage.

In the up-down direction, the movable guard 41 is movable compared to the bottom case 101 of the housing 10, and the movable guard wall 414 is also movable compared to the bottom case of the housing 10, so that when the robotic lawnmower 1 encounters an obstacle 62 within a certain range, the movable guard wall 414 of the movable guard 41 can move upward to avoid the obstacle 62, thereby ensuring better passing performance of the robotic lawnmower. In this embodiment, the movable guard 41 can move upward relative to the bottom case 101 under the action of an external force applied by an obstacle, so that the distance from the ground of all points on the lower surface of the movable guard wall is increased, the whole automatic mower can quickly pass through the obstacle, and the passing performance of the whole automatic mower is greatly improved. The movable guard 41 has a lowest state 411 and a highest state 412 within a movable range, the lowest state 411 being a lowest position of the movable guard 41 in a space movable in the up-down direction during movement of the robotic lawnmower, and the highest state 412 being a highest position of the movable guard 41 in the space movable in the up-down direction during movement of the robotic lawnmower. It should be noted that the lowest position and the highest position both refer to a range in which the movable protection member 41 is moved by an external force naturally encountered or an external force in the same direction as the naturally applied external force during the movement of the robotic lawnmower, for example, the external force applied by an obstacle to the movable protection member 41, or a buoyancy of grass thereon, etc.; and does not include a case where the movable shielding wall is moved downward by an artificially forced downward external force applied to the movable shielding member 41. As shown in fig. 4, the lowest state 411 in which the movable guard 41 is in its movable range, and as shown in fig. 5, the highest state 412 in which the movable guard 41 is in its movable range. The movable guard wall lower end 417 is at a distance H1 from the ground when the movable guard 41 is in its lowest state 411, and the movable guard wall lower end 417 is at a distance H2 from the ground when the movable guard 41 is in its highest state 412. When the robotic lawnmower 1 is moved over flat grass, or passes over grass having a height equal to or less than H1 of the obstacle 62, the movable guard 41 is in the lowermost state 411. When the height past obstacle 62 is greater than H1 and less than H2, movable guard 41 is forced by obstacle 62 to move upward to quickly pass obstacle 62.

In the present embodiment, the movable guard 41 includes a free state, which is a state in which the movable guard 41 is located when the robotic lawnmower 1 is not subjected to an external force at its corresponding cutting height. At different cutting heights, the free state of the movable guard 41 may be the same, i.e. adjusting the height of the cutting mechanism 3 does not affect the free state of the movable guard 41; of course, in other embodiments, the free state of movable guard 41 may also be affected by the modulation. However, in order to prevent the arms of the child from extending under the movable guard 41 in the state in which the robotic lawnmower 1 is stationary, it must be ensured that the initial distance H0 of the lower end 417 of the movable guard wall from the ground is always less than M at any cutting height in the free state of the movable guard 41. In the above embodiment, M is set to be 38mm, that is, the initial distance between the lower end 417 of the movable protective wall and the ground is always smaller than 38mm, and certainly, the initial distance between the lower end 417 of the movable protective wall and the ground is always smaller than 38mm, in other embodiments, M may also be between 38mm and 40mm (including 38mm and 40mm), correspondingly, the distance between the lower end 417 of the movable protective wall and the ground only needs to be always smaller than M, for example, when M is 40mm, the distance between the lower end 417 of the movable protective wall and the ground is always smaller than 40mm, and in the following embodiments, the example is that the initial distance between the lower end 417 of the movable protective wall and the ground is always smaller than 38 mm.

In one embodiment, the lower end 417 of the movable protective wall is initially within 15mm to 35mm of the ground so that the distance below the guard 41 is from the ground to prevent the child's arms from reaching and not interfering with the child's normal walking on the grass due to the movable protective wall 414 being too close to the ground. The ground clearance of the lower end 417 of the movable protective wall can be further limited within the range of 19mm-30mm, on one hand, the ground clearance is limited to be larger than 19mm, the ground clearance of the lower end 417 of the movable protective wall is increased, and the trafficability characteristic is improved; on the other hand, the limited ground clearance is smaller than 30mm, so that the difference value between the ground clearance and the diameter of the arm of the child is larger than a certain value, a certain safety margin is reserved, and the fingers of the child cannot stretch into the automatic mower under special working conditions such as inclination. Of course, the distance from the lower end 417 of the movable protective wall may be set to other ranges, such as 15mm-25mm, etc.

In another embodiment, the initial distance of the lower end 417 of the movable guard wall from the ground is always less than 19mm, i.e., always less than the radius of the child's arm, so that the child's fingers do not easily extend into the cutting mechanism 3 from below the lower end 417 of the movable guard wall.

Specifically, a safe distance value can be preset, and the safe distance value is less than or equal to M, for example, the safe distance value is 40mm, 38mm, or 19mm, 15-35mm, or 19-30mm, or 15-25 mm, and the like. Regardless of the cutting height of the cutting mechanism 3, or any cutting height of the cutting mechanism 3, the initial distance H0 between the lower end 417 of the movable guard wall and the ground is always smaller than the safety distance value when the movable guard 41 is in the free state. In this embodiment, the initial distance H0 between the lower end 417 of the movable protection wall and the ground in the free state of the movable protection member 41 is always smaller than the safety distance value by the fact that the cutting mechanism 3 can move compared with the movable protection member 41 when the cutting height of the cutting mechanism 3 is adjusted.

As shown in fig. 4, when the movable guard 41 is in its lowermost state 411, the distance H1 from the ground at the lower end 417 of the movable guard wall is less than M to prevent the child's arm from extending from the bottom of the movable guard 41 into the interior of the cutting mechanism 3 and causing accidental injury to the cutting mechanism 3. As shown in fig. 4, in the free state of the movable guard 41, i.e. the state of the robotic lawnmower 1 not being subjected to external forces, the movable guard 41 is in its lowermost state 411; and regardless of the cutting height of the cutting mechanism 3, the movable guard 41 is in the free state, and the movable guard 41 is always in its lowest state 411. That is, the distance H0 from the lower end 417 of the movable guard wall to the ground in the free state of the movable guard 41 is the same as the distance H1 from the lower end 417 of the movable guard wall to the ground when the movable guard 41 is in its lowermost state 411. For example, when the robotic lawnmower 1 is in a state of not moving, or moving on a grass field without resistance, or a grass field having a height equal to or less than H1 passing through the obstacle 62, the movable guard 41 is in the lowermost state 411. In the lowest position 411, the distance H1 between the lower end 417 of the movable guard wall and the ground is less than M, and when an arm with a diameter greater than or equal to M tries to extend into the robotic lawnmower 1 from below the movable guard 41, the arm is blocked by the movable guard wall 414 and cannot extend into the movable guard 41. In one embodiment, the distance H1 between the lower end 417 of the movable protective wall and the ground is in the range of 15-25 mm, so that the distance between the lower side of the movable protective member 41 and the ground can prevent the arms of the child from extending into the lower end, and the normal walking on the lawn is not affected by the proximity of the movable protective wall 414 to the ground. In another embodiment, the lower end 417 of the movable guard wall is always less than 19mm from the ground to prevent a child's fingers from extending into the cutting mechanism 3 from below the lower end 417 of the movable guard wall.

The movable protection part 41 can move upwards by an external force in the up-and-down direction by a distance not less than 15mm, and the specific distance that can move upwards can be 15-80mm, so that the movable protection part 41 can avoid most of the obstacles 62. After the lower end of the movable protective wall moves upwards, the distance between the lower end of the movable protective wall and the ground can be larger than M, so that the passing ability of the movable protective wall is prevented from being limited for blocking the arm of the child. In one embodiment, as shown in fig. 4 to 6, the robotic lawnmower 1 includes an upward guide mechanism, e.g., a parallel four-bar linkage structure or the like, connecting the housing 10 and the movable guard 41, and guiding the upward guide mechanism to allow the movable guard 41 to move in the up-down direction when the movable guard 41 is subjected to an outside-in force. This upward guiding mechanism connected to the movable guard 41 may also be referred to as guard upward guiding mechanism 45. When the cutting mechanism 3 is at any cutting height, the movable protection part 41 can move upwards compared with the bottom shell 101 under the action of external force, so that the ground clearance of the movable protection wall is increased; when the external force is removed, the movable guard 41 may move downward compared to the bottom case 101 to return the ground clearance of the lower end of the movable guard wall to the initial distance. Specifically, the movable guard 41 may be automatically returned to its free state position by gravity, or may be returned to its free state position by adding a return mechanism, such as a spring. In the process of rotation, the guard upward guiding mechanism 45 may drive the movable guard 41 to move in the vertical direction, and also drive the movable guard 41 to move in the horizontal direction, and if the displacement in the horizontal direction is too large, the movable guard may interfere with the housing 10 or other components in the horizontal direction, and the movement of the movable guard 41 in the horizontal direction may be reduced. In other embodiments, the movable guard 41 may be connected to the housing 10 by other structures to achieve the movement in the up and down direction, for example, a four-bar linkage, a two-bar linkage, a single bar linkage, and a sliding slot linkage.

In one embodiment, the grass safety raising height is preset, and when the distance from the lower end 417 of the movable protection wall to the ground is greater than the grass safety raising height during the upward movement of the movable protection wall 414 by the external force, the resistance of the upward movement of the movable protection wall 414 is greater than the resistance of the upward movement of the movable protection wall 414 when the distance from the lower end 417 of the movable protection wall to the ground is not greater than the grass safety raising height. When the robotic lawnmower 1 is resting on a grass surface, the grass lift force on the robotic lawnmower 1 is greater than the resistance to upward movement of the movable guard wall 414 when the distance from the lower end 417 of the movable guard wall to the ground is not greater than the preset grass safety lift height, and less than the resistance to upward movement of the movable guard wall 414 when the distance from the lower end 417 of the movable guard wall to the ground is greater than the preset grass safety lift height. Therefore, when the robotic lawnmower 1 is placed on a lawn in a stationary manner, the grass lifting force can only lift the lower end 417 of the movable guard wall to a height not greater than the preset grass safety lifting height from the ground, but not greater than the grass safety lifting height from the ground, thereby preventing the robotic lawnmower 1 from being placed on a lawn in a stationary manner, and the movable guard wall 414 from being lifted to the grass safety lifting height by the grass, which may cause the arm of a child to extend into the cutting mechanism 3 from below the movable guard wall 414. In this embodiment, the predetermined height of the grass is less than 38mm to prevent the arms of the child from extending into the grass, and in one embodiment, the predetermined height of the grass is within 15-25 mm, so that the distance from the lower side of the protection member 41 to the ground can prevent the arms of the child from extending into the grass, and the movable protection wall 414 is too close to the ground to affect the normal walking on the lawn. Of course, the preset grass raising height may be set to be less than 19mm to prevent the finger of a child from being inserted.

In another embodiment, the grass lifting force of the grass on the robotic lawnmower 1 during movement of the robotic lawnmower 1 is greater than the upward grass lifting force of the grass on the movable guard wall 414 when the robotic lawnmower 1 is stationary. When the distance between the lower end 417 of the movable protective wall and the ground is greater than the preset grass safety lifting height, the resistance of the movable protective wall 414 to the upward movement is greater than the upward grass lifting force of grass on the movable protective wall 414 when the automatic mower 1 is in a static state, and is also greater than the grass lifting force of grass on the automatic mower 1 when the automatic mower 1 moves. That is, in the moving process of the robotic lawnmower 1, the grass lifting force of the grass on the robotic lawnmower 1 is greater than the resistance to upward movement of the movable protective wall 414 when the distance from the lower end 417 of the movable protective wall to the ground is not greater than the preset grass safety lifting height, and less than the resistance to upward movement of the movable protective wall 414 when the distance from the lower end 417 of the movable protective wall to the ground is greater than the preset grass safety lifting height. Therefore, when the robotic lawnmower 1 moves on the lawn, the grass lifting force can only lift the lower end 417 of the movable guard wall to a height not greater than the preset grass safety lifting height from the ground, but not greater than the grass safety lifting height from the ground, thereby preventing the robotic lawnmower 1 from moving on the lawn, and the movable guard wall 414 from being lifted to the grass safety lifting height by the grass, which causes the child's arm to extend into the cutting mechanism 3 from below the movable guard wall 414. In this embodiment, the predetermined height of the grass is smaller than M to prevent the arm of the child with a diameter M from extending into the grass, and in one embodiment, the predetermined height of the grass is within 15-25 mm, so that the distance from the lower side of the protection member 41 to the ground can prevent the arm of the child from extending into the grass, and the movable protection wall 414 is too close to the ground to affect the normal walking on the lawn. Of course, the preset grass raising height may be set to be less than 19mm to prevent the finger of a child from being inserted.

In the horizontal direction, the minimum distance X between the outermost edge of the movable protective wall 414 and the closest part of the cutting mechanism 3 is greater than 58mm, and in general, the minimum distance X between the outermost edge of the movable protective wall 414 and the closest part of the cutting mechanism 3 is: the minimum distance between the outermost edge of the movable guard wall 414 and the cutting element 30 during rotation of the cutter head with the cutting element 30. In this embodiment, the minimum distance X is 58 to 200mm, and the fingers with smaller diameters can still extend in parallel from the bottom of the movable protection member 41 to touch the cutting mechanism 3, in this embodiment, the minimum distance X between the outermost edge of the movable protection wall 414 and the nearest part of the cutting mechanism 3 is 58 to 200mm, and the fingers of most children are within 58mm in length, so that the fingers of most children can be effectively prevented from extending into the cutting mechanism 3 from the bottom of the movable protection member 41 to be accidentally injured by the cutting mechanism 3. In one embodiment, the minimum distance X between the outermost edge of the movable protection wall 414 and the closest portion of the cutting mechanism 3 is 63-75 mm, so as to limit the horizontal distance between the movable protection member 41 and the cutting mechanism 3 while ensuring that the fingers of the child cannot touch the cutting mechanism 3, thereby improving the compactness of the overall structure of the robotic lawnmower 1 and realizing the miniaturization and light weight of the robotic lawnmower 1. The outermost edge 413 of the movable shielding wall refers to the outermost part of the movable shielding wall 414 that can be touched by the arm or finger of the user, and as shown in fig. 1, the outermost edge 413 of the movable shielding wall includes a front outermost edge 4131 located at the front edge of the front movable shielding wall 4141, a side outermost edge 4132 located at the outer edge of the side movable shielding wall 4142, and a rear outermost edge 4133 located at the rear edge of the rear movable shielding wall 4143. The outermost edge 413 of the movable guard wall may be a flat surface, a curved surface, an irregular surface, or the like.

As shown in fig. 1, 4, 6 and 26, an outermost edge of the movable shielding wall 414, that is, an outermost edge 413 of the movable shielding wall includes a barrier passing region 4135, the barrier passing region 4135 includes an inclined surface extending obliquely downward from outside to inside, the outer edge of the barrier passing region 4135 is higher than the inner edge, and when the barrier 62 collides with the outermost edge 413 of the movable shielding wall from outside to inside, the barrier 62 generates a force perpendicular to the outermost edge 4131 of the movable shielding member 41, that is, an obliquely upward force, and the obliquely upward force generates an upward component force, so that the movable shielding member 41 moves upward to quickly pass through the barrier 62.

The front end outermost edge 4131 of the movable guard wall 414 includes the obstacle passing area 4135, and the obstacle passing area 4135 includes an inclined surface extending obliquely downward from outside to inside (from front to back), and the inclined front end outermost edge 4131 is higher in front and lower in back in the direction of forward movement of the robotic lawnmower, so that when the robotic lawnmower 1 automatically walks to meet the obstacle 62, the movable guard 41 collides against the obstacle 62, and the obstacle 62 generates a force perpendicular to the front end outermost edge 4131 of the movable guard 41, that is, an obliquely upward force, and the obliquely upward force generates an upward component force, so that the movable guard 41 moves upward as shown in fig. 5 to avoid the obstacle 62, thereby achieving that the robotic lawnmower 1 improves its passing ability while avoiding the fingers or arms of the child from touching the cutting mechanism 3. The leading end outermost edge 4131 may be an inclined plane or curved surface, or the like.

As shown in fig. 12, in one embodiment, the rear-end outermost edge 4133 of the movable guard wall 414 extends obliquely downward from outside to inside (from rear to front). In the advancing direction of the robotic lawnmower 1, the inclined rear end outermost edge 4133 is lower in front and higher in back, and when the robotic lawnmower 1 retreats, if colliding against the obstacle 62, the obstacle 62 generates a force perpendicular to the rear end outermost edge 4133 of the movable guard 41, i.e., an inclined upward force, which generates an upward component force, so that the movable guard 41 moves upward to avoid the obstacle 62, thereby realizing that the robotic lawnmower 1 improves the passing ability when retreating while avoiding the fingers or arms of the child from touching the cutting mechanism 3. The back end outermost edge 4133 may be an inclined plane or curved surface or the like. Similarly, the outermost edge 4132 of the side edge of the movable protection wall 414 may also be configured to extend obliquely outward and upward, so that the robotic lawnmower 1 can quickly pass through obstacles when turning to both sides, and the passing ability of the robotic lawnmower during turning is improved.

As shown in fig. 13, the rear movable fence 4143 of the movable fence 414 is assembled on the movable connecting wall 415. The robotic lawnmower 1 includes a position-limiting structure 418 and a restoring structure 416, in this embodiment, the restoring structure 416 is an elastic member, such as a torsion spring, for connecting the movable connecting wall 415 and the rear movable protection wall 4143, the position-limiting structure 418 is a position-limiting portion 4181, and in other embodiments, the position-limiting structure 418 and the restoring structure 416 may have other forms. In the case where the robotic lawnmower 1 is normally moved, the rear movable guard wall 4143 is held in the position shown in fig. 13 by the elastic force of the elastic member and the stopper 4181. As shown in fig. 13, when the robotic lawnmower 1 moves backward and the rear outermost edge 4133 of the rear movable guard wall 4143 collides with the obstacle 62, the movable guard wall 4143 is moved upward by an upward force to the position shown in fig. 14, the upper side of the rear movable guard wall 4143 collides with the housing 10, and the rear movable guard wall 4143 is forced downward and further rotates clockwise downward as shown in fig. 15, pushing the obstacle 62 forward and further passing quickly over the obstacle 62 to continue moving backward. After the rear movable guard wall 4143 has rotated a certain distance clockwise, the rear movable guard wall 4143 returns counterclockwise to the position shown in fig. 13 by the reverse action of the return structure 416, for example, by the restoring force of the torsion spring. In this embodiment, the rear movable protection wall 4143 is designed to be reversible and assembled on the movable connecting wall 415, the rear movable protection wall 4143 is turned downward to avoid the obstacle 62, the upward movable distance of the rear movable protection wall 4143 is reduced, and more space is reserved above the rear movable protection wall 4143 for the housing 10, so that the overall structure of the automatic mower 1 is more compact.

As shown in fig. 26, in one embodiment, a static analysis of one of the links yields:

F*L1*sin(a+b)＝G*L1*cos(a)

obtaining: f ═ G × cos (a)/sin (a + b)

Wherein: f is the horizontal pushing force of the child's arm, L1 is the length of the link, L2 is the distance the shield is allowed to float, G is the weight of the shield, and b is the angle of inclination inward from the vertical plane in which its outermost end lies. In this embodiment the moveable guard 41 is 30mm from the ground allowing 20mm upward movement, i.e. the lower moveable guard end 417 is between 30 and 50mm from the ground. In this example, the length of the four-bar linkage is selected to be 110 mm. When the movable guard 41 is in the uppermost state 412, the four-bar linkage movement remains horizontal. In this example, when F is the test force of the child arm 5N, G is 0.93N. I.e. the movable guard weighs more than 93g and the child arm test force cannot lift the guard.

From the above calculation, it can be found that the smaller b, that is, the closer to vertical the area where the outermost edge 413 of the movable guard contacts the test arm 61, the longer the four-bar linkage, the heavier the movable guard 41, and the smaller the distance the lower end 417 of the movable guard wall moves upward, the less likely the movable guard 41 is to be lifted.

In this embodiment, as shown in fig. 26, the outermost edge 413 of the movable guard wall further includes a safety locking region 4136 for preventing the child arm from lifting the movable guard wall 414. A predetermined safety outer force value F1 is provided, which is no less than the child arm test force 5N, and the movable guard wall 414 cannot move upward when an outside-in force is applied to the safety locking region. A safety locking region 4136 is provided in the region where the outermost edge 413 of the movable guard contacts the test arm 61 to prevent the lower end 417 of the movable guard from moving upwardly under the influence of the child arm test force. The lower end ground clearance of the safety locking area is smaller than M, even if the movable protection part moves upwards under the stress, because the lower end ground clearance of the safety locking area is smaller than M, a section of safety locking area is inevitably supported against the child arm at the highest position where the child arm can jack up the movable protection part, so as to ensure that the child arm cannot extend into the cutting mechanism. Since the area where the outermost edge 413 of the movable guard contacts the test arm 61 is generally within a distance M (including M) from the ground of the movable guard wall 414, a safety locking area 4136 is provided at least within the distance M from the ground of the movable guard wall 414, and of course, the safety locking area 41 may be provided at a distance M from the ground of the movable guard wall 414 to prevent the child arm from tilting to contact the movable guard wall 414, depending on the situation. In order to leave a certain safety margin, the safety locking zone 41 extends in the up-down direction over a length of not less than 3mm, for example 3-4 mm.

As shown in fig. 26, the safety lock section 4136 is located outside a downward extension of the barrier passing section in the same radial direction thereof. The safety locking region 4136 includes an inclined surface and/or a vertical surface, and specifically, the safety locking region 4136 includes an inclined surface and/or a vertical surface extending from outside to inside and inclining downward and/or an inclined surface extending from outside to inside and inclining upward, and the inclined surface and the vertical surface may be a plane, a curved surface, an irregular surface, and the like. When the safety locking region 4136 is an inclined surface extending obliquely downward from outside to inside, the angle of the inclined surface of the safety locking region 4136 inclined inward from the vertical plane on which the outermost end thereof is located may be less than 15 degrees, and in one embodiment, the angle of the inclined surface of the safety locking region 4136 inclined inward from the vertical plane on which the outermost end thereof is located may be less than 3 degrees. When the safety locking section 4136 is an inclined surface extending obliquely downward from outside to inside, the angle at which the inclined surface of the safety locking section 4136 is inclined inward from the vertical plane on which the outermost end thereof is located is smaller than the angle at which the inclined surface of the barrier passing section 4135 is inclined inward from the vertical plane on which the outermost end thereof is located. The smaller the angle of inclination of the inclined surface of the safety locking region 4136 inwardly from the vertical plane in which the outermost end thereof is located, the less easily the movable shielding wall moves upwardly when a preset safety external force value is applied to the safety locking region 4136. In one embodiment, the security locking area 4136 may be selected to be vertical, leaving only the draft angle. The larger the angle of inclination of the inclined surface of the obstacle passing area 4135 from the vertical plane on which the outermost end thereof is located is, the more easily the movable protective wall 414 is lifted when the obstacle 62 hits the movable protective wall 414, and the more easily the obstacle is avoided. In one embodiment, as shown in fig. 43, in the up-down direction of the automatic mower 1, the movable protective wall 414 includes a main movable portion 401 at the upper end thereof and a locking portion 402 formed by extending downward from the main movable portion 401, the outermost edge of the main movable portion 401 is provided with an obstacle passing area 4135, and the outermost edge of the locking portion 402 is provided with a safety locking area 4136. In this embodiment, taking the example that the movable protection wall has both the obstacle passing region 4135 and the safety locking region 4136, in other embodiments, the movable protection wall may have only one of the obstacle passing region 4135 and the safety locking region 4136. For better passing ability, the lower end-to-ground distance of the locking part 402 is preferably in the range of M/2 to M, where M is between 38mm-40mm, for example, when the locking part 402 is between 19mm-40mm, at this time, the lower end-to-ground distance of the locking part 402 is greater than the radius of the test arm 61, if as shown in fig. 43, the outermost edge of the locking part 402 is a continuous surface or has a long continuous surface, when the test arm 61 hits the lower end of the movable protection wall 414 shown in fig. 43 along the non-normal direction, the test arm is forced to bear on the lower end of the continuous surface of the outermost edge of the locking part 402, as shown in fig. 44 and 45, the transition surface between the front end surface of the test arm 61 and the side surface thereof is a transition surface, and as shown in fig. 45, the force point on the test arm 61 is located above the horizontal plane of the center line of the test arm, the test arm 61 and the movable protection wall 414 are pressed to produce a force F, the force F can be decomposed into a component F1 in the vertical direction and a component F2 in the horizontal direction, wherein the component F1 in the vertical direction pushes the floatable protection wall to move upward, which results in an increase in the distance from the movable protection wall to the ground, and when the distance is greater than the diameter of the test arm 61, the test arm 61 can extend into the movable protection wall 414, and then into the cutting mechanism to be accidentally injured.

In order to avoid the risk of the test arm 61 striking the movable protective wall 414 along the non-normal direction, in an embodiment, as shown in fig. 46, the locking portion 402 at the lower end of the movable protective wall 41 includes a plurality of blocking protrusions 4021 circumferentially spaced at the bottom of the movable protective wall 414 and a transition wall 4022 for connecting the main movable portion 401 and the blocking protrusions 4021, wherein the outermost edges of the blocking protrusions 4021 and the transition portion 4022 are respectively provided with a safety locking region 4136 for preventing the movable protective wall from being lifted when the child arm extends from the locking portion 402. In some embodiments, if the highest point-to-ground distance of the blocking protrusion 4021 is large enough, for example, since the diameter of the child arm does not exceed M, when the highest point-to-ground distance of the blocking protrusion 4021 is not less than M, the transition portion may not be provided, that is, the blocking protrusion 4021 is directly formed by extending downward from the bottom of the main activity portion 401. As shown in fig. 46, the transition portion 4022 connected above the blocking protrusion 4021 may be referred to as an upper blocking portion, and when the transition portion 4022 is not located above the blocking protrusion 4021, but the main movable portion 401 is directly connected above the blocking protrusion 4021, the main movable portion 401 may also be referred to as an upper blocking portion.

As shown in fig. 46 to 48, when the lower end of the locking part 402 is spaced from the ground within a range of M/2 to M, that is, when the lower end of the blocking protrusion 4021 is spaced apart from the ground by a distance greater than M/2, for example, when the blocking protrusion 4021 is spaced apart from the ground by a distance of 19 to 40mm, or when the lower end of the lock 402 is farther from the ground than the radius of the test arm 61, when the test arm 61 hits the lower end of the movable shielding wall 414 shown in fig. 46 in the non-normal direction, the front end face of the test arm 61 abuts against the stopper protrusion 4021, the force is shown in fig. 47 and fig. 48, the force bearing surface is always the front end surface of the test arm 61, which only generates the force F' on the horizontal plane shown in fig. 48, does not generate the upward force, it is avoided that the movable protective wall 414 moves upwards when the force is applied by the test arm 61 in a non-normal direction, which may cause the test arm 61 to extend into the cutting mechanism, thereby causing a danger.

In order to make the test arm 61 strike the lower end of the movable protective wall 414 along any normal direction, the force-bearing surface is the front end surface of the test arm 61, and further avoid generating an upward component force, the distance S between any two adjacent blocking protrusions 4021 and the height h of the blocking protrusions 4021 must be greater than zero, but in order to avoid the test arm 61 extending into the gap between two adjacent blocking protrusions 4021 along the normal direction, therefore, the distance S is less than or equal to the diameter of the test arm, and because the diameter of the test arm is less than or equal to 40mm, in this embodiment, the range of S is defined as: s is more than 0 and less than or equal to 40 mm; preferably, the S range is: s is more than or equal to 3 and less than or equal to 25mm, so that the situation that the test arm invades along the non-normal direction to generate upward force due to too small gap between two adjacent blocking protrusions 4021 is avoided, or the situation that the test arm 61 can stretch into the gap due to too large gap is avoided. Meanwhile, if the barrier protrusions 4021 are too large, poor passing may result, and thus, the height h of the barrier protrusions 4021 is defined as 0< h ≦ 80mm, preferably, 3 ≦ h ≦ 20 mm.

Meanwhile, in order to avoid that the transition surface of the test arm 61 abuts against the outermost edge of the blocking protrusion 4021 when the test arm 61 is impacted in the non-normal direction, the width M of the blocking protrusion 4021 is defined as 0< M ≦ 40mm, preferably 0< M ≦ 20mm, the outermost edge of the blocking protrusion 4021 does not overlap with the outermost edge of the upper blocking part, that is, the outermost edge of the blocking protrusion 4021 does not overlap with the outermost edge of the transition part 4022, and the part of the blocking protrusion 4021 that does not overlap with the outermost edge of the upper blocking part is located inside the corresponding part of the outermost edge of the upper blocking part, that is, as shown in FIG. 46, the part of the outermost edge of the blocking protrusion 4021 that does not overlap with the outermost edge of the transition part 4022 is located inside the corresponding part of the outermost edge of the transition. For example, when the upper blocking portion, that is, the outermost edges of the transition portion 4022 and the blocking protrusion 4021 are both curved, the curvature of the blocking protrusion 4021 is greater than the curvature of the upper blocking portion at the corresponding position, that is, the curvature of the transition portion 4022 at the corresponding position is greater. The radius of curvature R of the barrier protrusions 4021 may be set to 0< R.ltoreq.20 mm, preferably 0< R.ltoreq.10 mm. In this embodiment, the outermost edge of the blocking protrusion 4021 is a semicircular arc surface, and in this embodiment, the outermost edge of the blocking protrusion 4021 may also be another circular arc surface, or a straight surface with a relatively small width, or the like.

In this embodiment, when the ground clearance of the lower end of the locking part 402, that is, the lower end of the blocking protrusion 4021, is set to be in the range of M/2 to M, for example, the ground clearance of the lower end of the locking part 402 is 19mm to 40mm, the passing ability of the automatic mower is enhanced, and meanwhile, the blocking protrusion 4021 is provided to prevent the arm of a child from entering the movable protective wall along the non-normal direction, so that the passing ability is improved, and the safety of the child is ensured.

In another embodiment, the lower end of the locking part 402 may be limited to a radius of the child's arm to prevent an upward component force from being generated when the child's arm collides with the locking part 402 in a non-normal direction. Specifically, when the cutting mechanism is at any cutting height, the initial distance from the ground of the movable protective wall 41 is always less than or equal to M/2, that is, the initial distance from the ground of the lower end of the locking portion 402 is limited to be less than or equal to M/2, for example, the distance from the ground of the lower end of the locking portion 402 is less than or equal to 19 mm. At this time, as shown in fig. 49, when the test arm 61 hits the lower end of the movable shielding wall 414 shown in fig. 43 in the non-normal direction, as shown in fig. 50, the force point on the test arm 61 is always on the horizontal plane on which the center line of the test arm 61 is located, and at this time, only the force F' on the horizontal plane is generated, and no upward component is generated, so that the arm of the child is prevented from protruding into the movable shielding wall 414 in the non-normal direction.

When the automatic mower with the locking part 402 as shown in fig. 46 encounters dense grass, the blocking protrusions 4021 are inserted into the grass, the grass is overlapped, the blocking protrusions 4021 break the grass along with the advance of the automatic mower, and the overlapped grass brings resistance to the advance of the automatic mower, so that the passing performance of the automatic mower is reduced.

In order to further improve the grass passing ability, in an embodiment, as shown in fig. 51, the locking part 402 of the lower end of the movable protective wall 41 further includes a connecting protrusion 4023 extending in the up-down direction for connecting at least two adjacent blocking protrusions 4021, and the connecting protrusion 4023 is partially recessed inward so that the connecting protrusion 4023 and the two adjacent blocking protrusions 4021 connected thereto together enclose a structure in which the outer side is spaced apart and the inner side is closed. As shown in fig. 52-54, when the robotic lawnmower encounters grass while advancing, the stop protrusion 4021 inserts into the grass, but as the robotic lawnmower advances, as shown in fig. 53, the grass is knocked down by the attachment protrusion 4023, and as the robotic lawnmower further advances, as shown in fig. 54, the knocked down grass stands up again, enters the cutting area, and is cut by the cutting mechanism. In this embodiment, by the arrangement of the connecting protrusions 4023, the increase of the running resistance, even the grass being pulled off or damaged due to the fact that the blocking protrusions are inserted into the dense grass is effectively avoided. The circumferentially continuous structure formed by the connecting projections and the blocking projections may also be referred to as a grass-cutting end surface 406. In other embodiments, the grass pressing end surface 406 extending continuously in the circumferential direction may be directly provided at the lower end of the movable protective wall or the lower end of the mechanism protective wall, and the grass pressing end surface 406 only needs to make the lower end of the movable protective wall have no through opening in the inner and outer directions, and may be a sawtooth shape as shown in fig. 51, a structure as shown in fig. 56, or a structure as shown in fig. 43, and the grass pressing end surface 406 directly presses down the grass, thereby avoiding large running resistance, and even breaking or pulling the grass.

As shown in fig. 55, in order to achieve better passing performance under the premise of ensuring safety protection, in the direction from outside to inside, the distance d between the outermost side of each blocking protrusion 4021 and the innermost side of each connecting protrusion 4023, the height h of each blocking protrusion 4021, the distance S between two adjacent blocking protrusions 4021, and the width M of each blocking protrusion 4021 cannot be too large or too small; d is too large, h is too large, or S is too large, the more the gap between the two blocking protrusions is plugged, or the movement distance of the grass in the gap is reached, the larger the running resistance is, the easier the grass is pulled; too small d, too small h, too small S, or too large M, the arms of the child may more easily extend into the movable protective wall 414, presenting a safety risk; m cannot be too small, and M is too small, the strength of the barrier protrusions 4021 is also reduced. In view of the above, in the present embodiment, d is set to 1 mm. ltoreq. d.ltoreq.100 mm, preferably 3 mm. ltoreq. d.ltoreq.20 mm; h is more than 0mm and less than or equal to 80mm, preferably more than or equal to 3mm and less than or equal to 20 mm; s is more than 0 and less than or equal to 40mm, preferably more than or equal to 3 and less than or equal to 25 mm; the m is more than or equal to 0 and less than or equal to 40mm, preferably more than or equal to 0 and less than or equal to 20mm, so as to improve the passing performance of the automatic mower on the premise of ensuring that the child arm cannot extend into the movable protective wall.

As shown in fig. 51, in this embodiment, the connecting protrusion 4023 is a V-shaped structure connecting two adjacent blocking protrusions 4021, and the connecting protrusion 4023 and the blocking protrusions 4021 are connected in a zigzag manner, so that the design can ensure the distance S between two adjacent blocking protrusions 4021, the distance d between the outermost side of the blocking protrusion 4021 and the innermost side of the connecting protrusion 4023, the height h of the blocking protrusion 4021, and the width M of the blocking protrusion 4021, and at the same time, reduce the volume of the groove surrounded by the connecting protrusion 4023 and the blocking protrusion 4021 and facing the outer side of the automatic mower, reduce the amount of grass inserted into the groove, reduce the running resistance, and reduce the risk of grass being pulled.

Of course, in other embodiments, the connecting protrusion 4023 may be an arc structure close to a V shape, and the connecting protrusion 4023 and the blocking protrusion 4021 are connected in a wave shape, as shown in fig. 56, or the connecting protrusion 4023 may be an N-shaped structure, and the connecting protrusion 4023 and the blocking protrusion 4021 are connected in a continuous N-shaped structure, and so on, as the case may be. In this embodiment, the cutting element 32 is prevented from cutting the child's arm when the child's arm is accidentally rolled by the robotic lawnmower 1. It is necessary to ensure that the lower end of the guard assembly 4 is always below the cutting element 30 during movement of the movable guard 41, i.e. movement of the lower end 417 of the movable guard wall in the up-down direction. To achieve this, the lower end of guard assembly 4 may be consistently below cutting element lowest point 30 by adding the mechanism guard 42 described above. This can also be achieved by limiting the relative position of the movable guard 41 and the cutting mechanism 3 during movement of the movable guard 41, such that when the movable guard 41 is subjected to an external force, the lower end 417 of the movable guard wall is always below the lowest point 30 of the cutting member during movement of the lower end 417 of the movable guard wall in the up-down direction.

Taking the example where the movable guard 41 is present, the lower end of the guard assembly 4 may be consistently below the cutting element lowest point 30 by adding the mechanism guard 42 as previously described. The guard assembly 4 comprises a movable guard 41 and a mechanism guard 42, wherein the mechanism guard 42 is fixed compared to the cutting mechanism 3, e.g. the mechanism guard 42 follows together when the cutting mechanism 3 moves compared to the housing, and the mechanism guard 42 follows together when the cutting mechanism 2 is stationary compared to the housing. In the non-heightened state, the cutting mechanism 3 may be configured to move relative to the housing or may not be configured to move relative to the housing. Regardless of the movement or relative movement of the cutting mechanism 2 and the movable guard 41, the mechanism guard 42 is always fixed relative to the cutting mechanism 2, and the lower end of the mechanism guard 42 is always below the cutting element lowest point 30, so that the test arm 61 is blocked by the mechanism guard 42 even if it passes over the movable guard 41; even if the lower end of the mechanism guard 42 is higher than the test arm 61, the test arm 61 can only be located under the cutting element 30 and cannot touch the cutting element 30. Therefore, the arm safety of the children can be ensured. In this embodiment, reference may be made directly to any of the other embodiments having the mechanism guard 42 described above or below, and in this embodiment, the structure will not be described in detail. Hereinafter, in the case of the movable guard 41, the lower end of the guard assembly 4 is always lower than the cutting element 30 by limiting the relative position relationship between the movable guard 41 and the cutting mechanism 3 during the movement of the movable guard 41.

For example, by limiting the movable guard 41 to both the lowest state 411 and the highest state 412, the lower end of the movable guard is always below the cutting element lowest point 30, such that the lower end of the movable guard 41 is always below the cutting element lowest point 30 throughout the entire movement.

When the cutting height of the robotic lawnmower 2 is adjusted to the lowest position, and the movable guard 41 is in the lowest position 411, the movable guard wall lower end 417 of the movable guard 41 is lower than the cutting member lowest point 30 in the up-down direction, so that the robotic lawnmower 2 is adjusted regardless of the cutting height, and when the movable guard 41 is in the lowest position, the movable guard wall lower end 417 of the movable guard 41 is always lower than the cutting member lowest point 30 to prevent the child's arm from being crushed by the robotic lawnmower 1. Specifically, the distance between the lower end 417 of the movable guard wall and the lowest point 30 of the cutting element is 2-30mm, so as to ensure that the fingers and arms of the child do not touch the cutting mechanism 3 around the guard.

When the cutting mechanism is at any cutting height, and during the movement of the robotic lawnmower 1, when the movable guard 41 is in the highest position 412, i.e., when the movable guard wall moves upward to the highest point of its movable range by an external force, the lower end 417 of the movable guard wall is lower than the lowest point 30 of the cutting element, so that when the movable guard 41 is forced from the outside to the inside, the lower end 417 of the movable guard wall of the movable guard 41 is always lower than the lowest point 30 of the cutting element. To achieve the above object, the following technical solutions can be adopted.

In one embodiment, at least one cutting level, when the movable guard 41 is moved in the up-and-down direction by an external force during the movement of the robotic lawnmower 1, the cutting mechanism 3 follows the movable guard 41 to move synchronously in the up-and-down direction to ensure that the lower movable guard wall end 417 is always below the cutting element lowest point 30. The movable guard 41 is interconnected with the cutting mechanism 3, and during the movement of the robotic lawnmower 1, when the movable guard 41 is forced to move upward, the cutting mechanism 3 follows together to move upward, and when the movable guard 41 moves downward, the cutting mechanism 3 also follows together to move downward. In this embodiment, the cutting mechanism 3 and the movable protection member 41 are connected to each other, so that when the movable protection member 41 moves up and down, the cutting mechanism 3 can be driven to move up and down synchronously, and when the cutting mechanism 3 moves up and down along with the movable protection member 41, the cutting mechanism 3 can be fixed relative to the movable protection member 41 in the up and down direction, and can also move relatively to each other. For example, in one embodiment, the cutting mechanism 3 and the movable guard 41 are relatively fixed in the up-down direction during movement of the robotic lawnmower 1, i.e., the relative positions of the two are not changed in the up-down direction. Since the cutting mechanism 3 is movable along with the movable guard 41, and the relative position of the two in the vertical direction is not changed, as long as the movable guard 41 is in the lowest position, the lower end 417 of the movable guard wall is lower than the lowest point 30 of the cutting element, and the lower end 417 of the movable guard wall is lower than the lowest point 30 of the cutting element during the whole movable process of the movable guard 41. In another embodiment, the cutting mechanism 3 can move relative to the movable guard 41 while the cutting mechanism 3 follows the movable guard 41 to move together in the up-down direction, and the robotic lawnmower 1 further comprises a movable adjusting mechanism (not shown) for adjusting the movement of the cutting mechanism 3 relative to the movable guard 41, for example, the movable adjusting mechanism is an adjusting mechanism for automatically adjusting the upward movement of the cutting mechanism 3, for example, when the movable guard 41 moves upward by 20mm under an external force and the movable adjusting mechanism controls the upward movement of the cutting mechanism 3 by 10mm relative to the movable guard 41, the movable guard 41 moves upward by 20mm relative to the housing 10 and the cutting mechanism 3 moves upward by 30mm relative to the housing 10 in the whole process.

During the process of adjusting the height of the cutting mechanism 3, the cutting mechanism 3 and the movable guard 41 can move relatively in the vertical direction, so that the lower end 417 of the movable guard wall cannot increase infinitely with the height of the cutting mechanism 3, and the distance H0 between the lower end 417 of the movable guard wall and the ground is always smaller than a preset safety distance value, for example, always smaller than 38 mm. In the present embodiment, the cutting mechanism 3 and the movable guard 41 are movable in the vertical direction, such that the cutting mechanism 3 moves in the vertical direction compared to the ground and the movable guard 41 is stationary in the vertical direction compared to the ground during the process of adjusting the height of the cutting mechanism 3. Of course, in other embodiments, both the cutting mechanism 3 and the movable guard 41 may move in the up-down direction, but the two moving up directions are not synchronized, for example, the distance that the movable guard 41 moves is less than the distance that the cutting mechanism 3 moves, and the like. In this embodiment, the above-mentioned embodiment of the preset grass safety lifting height may also be adopted, and the preset grass safety lifting height is that, when the distance from the lower end 417 of the movable protective wall to the ground is greater than the preset grass safety lifting height in the process that the movable protective wall 414 moves upwards by an external force, the resistance of the upward movement of the movable protective wall 414 is greater than the resistance of the upward movement of the movable protective wall 414 when the distance from the lower end 417 of the movable protective wall to the ground is not greater than the preset grass safety lifting height. To achieve the above, when the robotic lawnmower 1 is placed on the lawn in a stationary manner, the grass lifting force can only lift the lower end 417 of the movable guard wall to a height not greater than the preset grass safety lifting height from the ground, but cannot lift the lower end 417 of the movable guard wall to a height greater than the grass safety lifting height from the ground, so that the situation that the robotic lawnmower 1 is placed on the lawn in a stationary manner is avoided, the movable guard wall 414 is lifted to the grass safety lifting height by the grass, and the child arm extends into the cutting mechanism 3 from the lower side of the movable guard wall 414 is caused. Details of this embodiment are not described in detail.

In another embodiment, at least one cutting height, the lower end of the movable protective wall 414 can move in the up-and-down direction compared to the cutting mechanism 3 during the movement of the movable protective wall 414 in the up-and-down direction by the external force. As shown in fig. 11, the robotic lawnmower 1 includes a limiting mechanism 9 for limiting the relative position of the movable guard 4 and the cutting mechanism 3, and the limiting mechanism 9 is for limiting the degree of relative movement between the movable guard 4 and the cutting mechanism 3 in the up-down direction. The limiting mechanism 9 includes a cutting limiting portion 39 and a guard limiting portion 419 capable of mutually abutting and limiting, the cutting limiting portion 39 and the cutting mechanism 3 are relatively fixed in the vertical direction, the guard limiting portion 419 and the movable guard 41 are relatively fixed in the vertical direction, and when the cutting limiting portion 39 and the movable guard 41 abut against each other, the cutting limiting portion 39 is located above the guard limiting portion 419. Specifically, the limiting mechanism 9 includes a guard limiting portion 419 disposed on the movable guard 4 and a cutting limiting portion 39 disposed on the cutting mechanism 3. The cutting limiting portion 39 is located above the guard limiting portion 419, when the movable protection wall 414 moves upward due to an external force, the movable protection wall 414 can move in the up-and-down direction compared to the cutting mechanism 3, when the movable protection wall 414 moves upward, the guard limiting portion 419 moves upward, when the guard limiting portion 419 moves to abut against the cutting limiting portion 39, the guard limiting portion 39 blocks the guard limiting portion, the upward movement of the movable guard 4 is limited by the cutting mechanism 3, the movable guard 4 can not move upward any more compared to the cutting mechanism 3, so as to limit the upward movement range of the movable guard 4 compared to the cutting mechanism 3, and the lower end 417 of the movable protection wall is always lower than the lowest cutting element point 30 during the upward movement of the movable guard 4. When the movable guard 4 is in the lowest position and the cutting mechanism 3 is adjusted to the lowest cutting height, the distance from the lower end 417 of the movable guard wall to the lowest point 3 of the cutting element is greater than the distance from the guard stop 419 to the cutting stop 39 in the up-down direction, so that when the movable guard 4 moves to the highest position, the lower end 417 of the movable guard wall is still lower than the lowest point 3 of the cutting element, and the lower end 417 of the movable guard wall is always lower than the lowest point 3 of the cutting element in the whole moving process. When the cutting mechanism 3 is adjusted upwardly, the distance between the guard shield 419 and the mechanism shield 39 when the movable guard 4 is in the lowermost condition as the cutting mechanism 3 is adjusted upwardly, the distance between the lower movable guard wall end 417 and the cutting element lowermost point 30 increases synchronously so that the lower movable guard wall end 417 is always lower than the cutting element lowermost point 30 in the up-down direction no matter how high the cutting mechanism 3 is adjusted upwardly. In other embodiments, the movable guard 4 may be movable in other ways, such that the lower end 417 of the movable guard wall is always below the lowest point 3 of the cutting element, which is not illustrated in the present invention. In this embodiment, the above-mentioned implementation of presetting the grass safety lifting height may also be adopted to avoid that when the automatic mower 1 is placed on the lawn in a stationary manner, the movable protective wall 414 is lifted to the grass safety lifting height by the grass, which causes the arm of the child to extend into the cutting mechanism 3 from below the movable protective wall 414.

In one embodiment of the present invention, the cutting mechanism 3 is relatively immovable in the up-down direction compared to the ground, and when the upward movement of the movable guard 4 is limited by the cutting mechanism 3, the cutting mechanism 3 cannot move upward, so that the movable guard 4 cannot move upward any more.

In another embodiment of this embodiment, as shown in fig. 27 to 29, the cutting mechanism 3 can also move in the up-and-down direction compared to the ground, and the cutting mechanism 3 and the movable guard 41 can move in the up-and-down direction relatively independently. The robotic lawnmower 1 includes a guard upward guide mechanism 45 for connecting the movable guard 41 with the housing 10, and a cutting upward guide mechanism 35 for connecting the cutting mechanism 3 with the housing 10, the guard upward guide mechanism 45 being independent of the cutting upward guide mechanism 315 so that the cutting mechanism 3 and the movable guard 41 are movable in the up-and-down direction relatively independently.

As shown in fig. 27 to 28, in the non-height-adjusted state, when the cutting mechanism is acted by external force, the cutting mechanism can move in the up-and-down direction relative to the ground, and at least at one cutting height, when the movable protection wall 414 is acted by external force during the movement in the up-and-down direction, the lower end of the movable protection wall 414 can move in the up-and-down direction relative to the cutting mechanism 3. In the present embodiment, the cutting mechanism is at any cutting height, and the movable protective wall 414 can move up and down compared to the cutting mechanism, but in other embodiments, the two can move relatively only in some gears. In this embodiment, the movable protective wall 414 is moved upward alone until it is limited by the cutting mechanism 3, and then the movable protective wall 414 is moved upward together with the cutting mechanism 3 as shown in fig. 28 to 29. The resistance to the upward movement of the movable guard wall 414 alone is less than the resistance to the upward movement of the movable guard wall 414 together with the cutting mechanism 3 after the spacing. As shown in fig. 27 to 28, during the forward movement of the robotic lawnmower 1, the movable guard wall 414 is subjected to a grass lifting force upward therefrom by the grass, which is greater than the resistance to the upward movement of the movable guard wall 414 alone, and the movable guard wall 414 can move upward. The grass lifting force is smaller than the resistance of the movable protective wall 414 moving upwards together with the cutting mechanism 3 after being limited, so that when the movable protective wall 414 moves upwards to the limit with the cutting mechanism 3, the grass lifting force of the grass on the movable protective wall 414 cannot lift the movable protective wall 414 upwards together with the cutting mechanism 3, at this time, the movable protective wall 414 is maintained in the state to execute the cutting task, so that the distance between the lower end 417 of the movable protective wall and the lowest point 30 of the cutting element is maintained within a certain range during cutting, and the grass pressed by the movable protective wall 417 cannot be cut under the conditions that the lower end 417 of the movable protective wall is too close to the ground and too far away from the lowest point 30 of the cutting element. In this embodiment, by ensuring the distance between the lower end 417 of the movable fence and the lowest point 30 of the cutting member, on the one hand, the distance between the lower end 417 of the movable fence and the ground is increased, and the possibility of grass cutting is reduced, and on the other hand, even if the lower end 417 of the movable fence is grass-cut, the distance between the lower end 417 of the movable fence and the lowest point 30 of the cutting member is reduced, the grass that is pressed can still be cut, and thus the cutting quality is greatly improved.

As shown in fig. 28, when the robotic lawnmower 1 encounters the obstacle 62 during movement, the upward obstacle lifting force generated by the external force applied by the obstacle 62 to the movable protective wall 414 is greater than the resistance to upward movement of the movable protective wall 414 with the cutting mechanism 3, so that, when the movable protective wall 414 moves upward to a position where it is positioned with the cutting mechanism 3, the movable protective wall 414 moves upward with the cutting mechanism 3 under the force of the obstacle 62 to pass the obstacle 62, as shown in fig. 29.

In the above embodiment, when the movable shielding wall 414 receives an external force from below to above, the lower end of the movable shielding wall 414 moves upward compared to the bottom case. When the automatic mower moves on the grassland, the movable protective wall 414 is subjected to the buoyancy applied by grass to the automatic mower from bottom to top, the movable protective wall 414 can move upwards, and the lower end of the movable protective wall 414 generates upward displacement so as to reduce the movement resistance applied by dense grass to the movable protective wall and improve the passing performance of the dense grass. In the above embodiment, the movable protective wall 414 is in a form of moving in the up-and-down direction as compared with the bottom case, in other embodiments, the movable protective wall 414 may also be a compressible structure as shown in fig. 19 to 20, such that when the lower end of the movable protective wall is subjected to a force from the bottom to the top, the lower end of the movable protective wall can move upwards to improve grass passing ability. Of course, in other embodiments, the movable guard may take other forms, not to mention one example.

In this embodiment, the grass safety raising height may be preset, and when the movable protective wall 414 moves upward under an external force, when the distance from the lower end 417 of the movable protective wall to the ground is greater than the grass safety raising height, the resistance of the movable protective wall 414 moving upward is greater than the resistance of the movable protective wall 414 moving upward when the distance from the lower end 417 of the movable protective wall to the ground is not greater than the grass safety raising height. When the distance from the lower end 417 of the movable protective wall to the ground is greater than the preset grass safety lifting height and the movable protective wall 414 is not limited by the cutting mechanism 3, the upward movement resistance of the movable protective wall 414 is greater than the upward movement resistance of the movable protective wall 414 when the distance from the lower end 417 of the movable protective wall to the ground is not greater than the preset grass safety lifting height and the movable protective wall 414 is not limited by the cutting mechanism 3; and smaller than the resistance to upward movement of the movable guard wall 414 and the cutting mechanism 3 after the spacing.

When the automatic mower 1 moves, the lifting force of grass to the movable protective wall 414 is greater than the resistance of upward movement of the movable protective wall 414 when the distance from the lower end 417 of the movable protective wall to the ground is greater than the preset grass safety lifting height and the movable protective wall 414 is not limited by the cutting mechanism 3, and is less than the resistance of upward movement of the movable protective wall 414 after the movable protective wall 414 is limited by the cutting mechanism 3. Therefore, during the movement of the robotic lawnmower 1, the grass can lift the movable guard wall 414 upward to the cutting mechanism 3 for a limited distance, thereby ensuring the distance between the lower end 417 of the movable guard wall and the lowest point 30 of the cutting element to improve the cutting quality.

When the automatic mower 1 is placed on the lawn in a stationary manner, the grass lifting force of the grass on the automatic mower 1 is greater than the resistance to upward movement of the movable protective wall 414 when the distance from the lower end 417 of the movable protective wall to the ground is not greater than the preset grass safety lifting height, and is less than the resistance to upward movement of the movable protective wall 414 when the distance from the lower end 417 of the movable protective wall to the ground is greater than the preset grass safety lifting height. Therefore, when the robotic lawnmower 1 is placed on a lawn in a stationary manner, the grass lifting force can only lift the lower end 417 of the movable guard wall to a height not greater than the preset grass safety lifting height from the ground, but not greater than the grass safety lifting height from the ground, thereby preventing the robotic lawnmower 1 from being placed on a lawn in a stationary manner, and the movable guard wall 414 from being lifted to the grass safety lifting height by the grass, which may cause the arm of a child to extend into the cutting mechanism 3 from below the movable guard wall 414. In this embodiment, the predetermined height of the grass is less than M to prevent the arms of the child from extending into the grass, and in one embodiment, the predetermined height of the grass is within 15-25 mm, so that the distance from the lower portion of the movable protection member 41 to the ground can prevent the arms of the child from extending into the grass, and the movable protection wall 414 is too close to the ground to affect the normal walking on the lawn. Of course, the preset grass raising height may be set to be less than 19mm to prevent the finger of a child from being inserted.

In another embodiment of this embodiment, as shown in fig. 30 to 32, the movable guard 41 includes an upper guard 43 and a lower guard 44, which can realize the change of the distance from the lower end of the lower guard 43 to the ground by the lower guard 44 moving in the up-down direction compared with the upper guard 43, and simultaneously realize the lower end of the lower guard 43 being movable in the up-down direction compared with the cutting mechanism 3. The upper guard 43 and the lower guard 44 respectively include an upper guard wall 434 and a lower guard wall 444, and the upper guard wall 434 and the lower guard wall 444 together form the movable guard wall 414. The lower end of the lower guard wall 444 is the movable guard wall lower end 417. The lowermost state 411 of the movable guard 41 is the lowermost position of the lower guard 44 in the space in which the lower guard is movable in the up-down direction, and the uppermost state 412 is the uppermost position of the lower guard 44 in the space in which the lower guard is movable in the up-down direction. The guard limiting portion 419 of the movable guard 41 is disposed on the lower guard 44, and the cutting mechanism 3 is provided with a cutting limiting portion 39 for limiting the guard limiting portion 419.

When the cutting height of the cutting mechanism 3 is adjusted, the lower protection wall 444 and the cutting mechanism 3 can move relatively in the up-down direction, so that the distance from the lower end of the lower protection wall 444, namely the lower end 417 of the movable protection wall, to the ground is always smaller than M. For example, it is possible to realize that the lower protection wall 444 and the cutting mechanism 3 are relatively movable in the up-down direction by the upper protection wall 434 and the cutting mechanism 3 being relatively movable in the up-down direction without the lower protection wall 444 and the upper protection wall 434 being relatively movable in the up-down direction. When the movable guard 41 moves upward under an external force, the lower guard wall 444 moves upward relative to the ground, and then moves upward relative to the upper guard wall 434 until it is limited by the cutting mechanism 3, and then moves upward together with the upper guard wall 434 and the cutting mechanism 3.

The resistance to the upward movement of the lower protection wall 444 alone is smaller than the resistance to the upward movement of the lower protection member 44 and the cutting mechanism 3 together with the upper protection wall 434. As shown in fig. 31, during the forward movement of the robotic lawnmower 1, the lower guard 44 is subjected to a grass lifting force upward from the grass, which is greater than the resistance of the lower guard 44 to upward movement alone, and the lower guard wall 444 can move upward. The grass lifting force is smaller than the resistance of the lower guard wall 444 to move upwards together with the cutting mechanism 3 after being limited, so when the lower guard wall 444 moves upwards to be limited with the cutting mechanism 3, the grass lifting force of the grass on the lower guard 44 cannot lift the lower guard wall 444 upwards together with the cutting mechanism 3, at this time, as shown in fig. 31, the upper guard 44 and the lower guard 44 are maintained in this state to perform a cutting task, so that the distance between the lower end 417 of the movable guard wall and the lowest point 30 of the cutting element is maintained within a certain range during cutting, that is, the distance between the lower end of the lower guard wall 444 and the lowest point 30 of the cutting element is maintained within a certain range, and the situation that the lower end of the lower guard wall 444 is too close to the ground and too far from the lowest point 30 of the cutting element is avoided, and grass pressed by the lower end of the lower guard wall 444 cannot be cut. In this embodiment, by securing the distance between the lower end of the lower protection wall 444 and the cutting member lowest point 30, on the one hand, the distance of the lower end of the lower protection wall 444 from the ground is increased, reducing the possibility of grass cutting, and on the other hand, even if the lower end of the lower protection wall 444 is grass-cut, the cut grass can still be cut due to the decreased distance from the cutting member lowest point 30, thereby greatly improving the cutting quality.

As shown in fig. 31 and 32, when the robotic lawnmower 1 encounters an obstacle 62 during movement, the upward obstacle lifting force generated by the external force applied by the obstacle 62 to the lower guard wall 444 is greater than the resistance to upward movement of the lower guard wall 444, the upper guard wall 434 and the cutting mechanism 3 together after being limited, so that, when the lower guard wall 444 moves upward to be limited by the upper guard wall 434 and the cutting mechanism 3, the lower guard wall 444 moves upward together with the upper guard wall 434 and the cutting mechanism 3 to pass through the obstacle 62 under the action of the obstacle 62, as shown in fig. 32.

In this embodiment, in combination with the above-mentioned embodiment that the cutting mechanism 3 and the movable guard 41 can move in the vertical direction relatively independently, and the limiting mechanisms 9 for limiting the grass height are disposed on the cutting mechanism 3 and the movable guard 41, by presetting the grass height, when the lower protective wall 444 moves upward by an external force, and when the distance from the lower end of the lower protective wall 444 to the ground is greater than the preset grass height, the resistance of the lower protective wall 444 moving upward is greater than the resistance of the lower protective wall 444 moving upward when the distance from the lower protective wall 444 to the ground is not greater than the preset grass height. When the distance from the lower end of the lower protective wall 444 to the ground is greater than the preset grass safety lifting height and the lower protective wall 444 is not limited with the cutting mechanism 3, the resistance of the lower protective wall 444 to move upwards is greater than the resistance of the lower protective wall 444 to move upwards when the distance from the lower protective wall 444 to the ground is not greater than the preset grass safety lifting height and the lower protective wall 444 is not limited with the cutting mechanism 3; and less than the resistance to upward movement of the lower guard wall 444, the upper guard wall 434 and the cutting mechanism 3 after being restrained together.

When the automatic mower 1 moves, the lifting force of grass to the lower protection wall 444 is greater than the resistance of the lower protection wall 444 to move upwards when the distance between the lower protection wall 444 and the ground is greater than the preset grass safety lifting height and the lower protection wall 444 is not limited with the cutting mechanism 3, and the resistance of the lower protection wall 444 to move upwards is less than the resistance of the lower protection wall 444 to move upwards together with the cutting mechanism 3 after being limited. Therefore, during the movement of the robotic lawnmower 1, grass can lift the lower protective wall 444 upward to a position limited by the cutting mechanism 3 as shown in fig. 32, thereby ensuring the distance between the lower end of the lower protective wall 444 and the lowest point 30 of the cutting element, and improving the cutting quality.

When the automatic mower 1 is placed on the lawn in a stationary manner, the grass lifting force of the grass on the automatic mower 1 is greater than the resistance of the lower protective wall 444 to the upward movement when the distance from the lower end of the lower protective wall 444 to the ground is not greater than the preset grass safety lifting height, and is less than the resistance of the lower protective wall 444 to the upward movement when the distance from the lower end of the lower protective wall 444 to the ground is greater than the preset grass safety lifting height. Therefore, when the robotic lawnmower 1 is placed on a grass surface in a stationary manner, the grass lifting force can only lift the lower end of the lower protective wall 444 to a height not greater than the preset grass safety lifting height from the ground, but cannot lift the lower end of the lower protective wall 444 to a height greater than the grass safety lifting height from the ground, thereby preventing the lower end of the lower protective wall 444 from being lifted to the grass safety lifting height by grass when the robotic lawnmower 1 is placed on a grass surface in a stationary manner, and causing the arms of children to extend into the cutting mechanism 3 from below the lower protective wall 444. In this embodiment, the predetermined height of the grass is less than M to prevent the arms of the child from extending into the grass, and in one embodiment, the predetermined height of the grass is within 15-25 mm, so that the distance from the lower portion of the movable protection member 41 to the ground can prevent the arms of the child from extending into the grass, and the movable protection wall 414 is too close to the ground to affect the normal walking on the lawn. Of course, the preset grass raising height may be set to be less than 19mm to prevent the finger of a child from being inserted.

In another embodiment, the movable guard 4 and the cutting mechanism 3 may also be automatically movable. The robotic lawnmower 1 further comprises a detection module for detecting whether the movable protection member 4 and the cutting mechanism 3 need to be movable, and a movable control module for controlling the robotic lawnmower 1 to automatically control the movable protection member 4 and the cutting mechanism 3 to be movable according to the detection result of the detection module. The detection module can be a vision sensor, an ultrasonic sensor, an infrared sensor and the like, whether an obstacle and the size of the obstacle exist in front or not is detected in a vision, ultrasonic, infrared and other modes, when the obstacle which can pass by exists in the front, the movable control module controls the movable protection part 4 and the cutting mechanism 3 to automatically move to avoid the obstacle, the movement distance of the movable protection part 4 and the cutting mechanism 3 is adjusted according to the size of the obstacle, when the movement distance of the movable protection part 4 and the cutting mechanism 3 is adjusted, the movable protection part 4 can be controlled to move the same distance synchronously with the cutting mechanism 3, and the movable protection part 4 and the cutting mechanism 3 can also be controlled to move different distances asynchronously; when there is no obstacle in the front, the movable control module controls the movable protection part 4 and the cutting mechanism 3 to return to the original state; when there is an obstacle in front but the obstacle is too large, the movable control module controls the movable protection part 4 and the cutting mechanism 3 not to move, and controls the automatic mower 1 to stop or turn according to actual conditions so as to avoid colliding with the obstacle. As shown in fig. 57, since some wheels of the robotic lawnmower 1, such as the larger driving wheels, are provided, if the test arm 61 is laid flat on the ground, the drive wheel 201 of the robotic lawnmower 1 climbs the test arm 61, which may cause the robotic lawnmower 1 to tilt, and at this time, if the cutting mechanism 3 of the robotic lawnmower 1 is at a lower height from the ground, the test arm 61 may hit the cutting element 32, which may risk damaging the arms of the child.

In one embodiment, as shown in fig. 58, the robotic lawnmower further comprises a bendable flexible blocking member disposed on the bottom side of the housing, wherein in the forward direction of the robotic lawnmower, the blocking member 19 is disposed on the front side and/or the rear side of the movable module, the blocking member comprises a housing end fixed on the bottom side of the housing and a free end capable of moving relative to the housing end under the action of an external force, the housing end is spaced apart from the movable module, and the free end can abut against the movable module under the action of the external force to prevent the movable module from moving forward and crushing the arm of the child. As shown in fig. 58, the blocking member 19 is provided in front of the driving wheel to prevent the driving wheel 201 from climbing up the child's arm forward. As shown in fig. 58, when the drive wheel 201 encounters the test arm 61, the flexible barrier 19 is positioned between the test arm 61 and the drive wheel 201, blocking the drive wheel 201 from climbing up the test arm 61.

In other embodiments, the driving wheel 201 may be blocked from climbing up the arm of the child in other ways, for example, two driven wheels are disposed in front of the robotic lawnmower 1, the diameter of each driven wheel is less than or equal to twice the diameter of the arm of the child, the diameter of each driven wheel may be set to less than or equal to 2M, for example, the diameter of each driven wheel may be set to 80mm, so that the arm of the child is not lower than the center line of each driven wheel, thereby avoiding the driven wheel from crossing the arm, and the driving wheel may not contact the arm because the driven wheel is located in front of the robotic lawnmower.

In another embodiment, it is also possible to provide the cutterhead guard as shown in fig. 4-10 below the cutting mechanism 3 so that even if the drive wheel 201 climbs the child's arm, the child's arm can only touch the cutterhead guard, and not the cutting elements.

In the above embodiment, in order to avoid rainwater from collecting on the protection component 4, a plurality of water leakage holes 403 penetrating up and down may be respectively formed on the movable protection member 41 and the mechanism protection member 42, so that rainwater can be timely drained to the ground to avoid water from collecting on the ground, and when a user turns over the machine, the rainwater flows into the electronic component.

In the above embodiments, the cutting mechanism 3 may be disposed near the central axis in the advancing direction of the robotic lawnmower 1, or may be disposed on one side of the central axis to cut the edge, and the movable guard 41 and/or the mechanism guard 42 in the corresponding embodiments are also disposed on one side of the central axis in the advancing direction of the robotic lawnmower 1 to cut the edge while preventing the fingers or arms of the child from extending into the cutting mechanism 3 to cause accidental injury. As shown in fig. 33, taking the example that the movable guard 41 and the cutting mechanism 3 are disposed on one side of the central axis, since the lower end 417 of the movable guard wall in this embodiment can move relative to the ground, as shown in fig. 34, when the user lifts the robotic lawnmower 1 and holds the robotic lawnmower 1 by hand, the fingers exert an upward pushing force on the movable guard 41 to move the movable guard wall 414 upward, so that the user's hand cannot lift the robotic lawnmower 1 by exerting a force on the movable guard 41, but can lift the robotic lawnmower 1 by exerting a force on the outer guard wall 14 of the housing 10. At this time, although the hand cannot directly hold the movable guard wall 417, the fingers still can extend below the movable guard 41 when holding the outer guard wall 14, so the movable guard 41 further includes a lower movable guard wall 4149 disposed below the cutting element 1 to prevent the fingers of the user from extending from below the movable guard 41 to the vicinity of the cutting element 32.

Since the movable protection wall 417 is provided between the outer protection wall 14 and the cutting mechanism 3, and the outer protection wall 14 is farther from the cutting member 32 than the movable protection wall 417, when a finger of a user extends from the outer protection wall 14 into the cutting mechanism 3, the distance below which the finger can touch the movable guard 41 is smaller than the length of the finger, and therefore, the width of the lower movable protection wall 4149 in the direction in which the finger extends is smaller than the length of the finger. However, as the distance between the outer side protection wall 14 and the movable protection wall 417 increases, the width of the lower movable protection wall 4149 in the direction in which the fingers extend, that is, in the horizontal direction of the automatic mower 1 perpendicular to the advancing direction thereof, can be set shorter, even without setting the lower movable protection wall 4149, so that the passing ability of the automatic mower 1 is greatly improved on the premise of ensuring the safety of the user lifting the automatic mower 1.

As shown in fig. 33 and 34, the movable protection wall includes a vertical protection wall extending in the vertical direction and a horizontal protection wall located below the vertical protection wall and extending in the horizontal direction, and at least one side of the horizontal protection wall protrudes from the corresponding side of the vertical protection wall, so that when the movable protection wall is subjected to the buoyancy of grass, the force bearing surface of the movable protection wall is larger, and the movable protection wall can be subjected to a larger lifting force of the grass, thereby enhancing the passability. As shown in FIG. 33, the inner side of the horizontal shielding wall may protrude from the inner side of the vertical shielding wall, the outer side of the horizontal shielding wall may protrude from the outer side of the vertical shielding wall, or both the inner and outer sides of the horizontal shielding wall may protrude from the inner and outer sides of the vertical shielding wall. Specifically, the width of the transverse protective wall along the inner and outer directions is 5-50 mm.

In an embodiment of the present invention, the upper portion of the movable guard wall 414 of the movable guard 41 is at a constant distance from the ground, and the fixed end 4111 of the movable guard wall is fixed compared to the housing 10, while the lower portion of the movable guard wall 414 is at a variable distance from the ground, so as to realize a variable distance of the lower end 417 of the movable guard wall from the ground, thereby improving 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. 21 to 23, 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. 35, the movable protection member 41 is 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 can be retracted to change the distance between the lower end and the ground, specifically, the retractable manner can be achieved by elastic deformation or sliding grooves.

As shown in fig. 21 to 23, the movable guard 41 includes a shutter 46 provided to the housing 10, the shutter 46 being provided at least one of in front of, to the side of, and behind 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. 21, 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. 22, 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. 23, 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 the 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. 21 to 23, 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 be directly 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.

As shown in fig. 23, when the child's arm extends into the case 10 from the rear to the front, the arm 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. 36-38, the flap 46 may also be disposed 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. 36, 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. 37, 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 member 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 member 32 from the bottom to the top, thereby preventing the cutting member 32 from being accidentally injured.

In another embodiment, as shown in fig. 36 and 38, 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. 36, the movable guard 41 is rotatably connected to the housing 10 by a rotating shaft, and is rotatable toward the cutting blade with respect to the housing 10. As shown in fig. 35, 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 inventors of the present invention have found that grass or plants are the cleaning object of the robotic lawnmower 1 and the movable guard 41 needs to be able to pass over the grass or plants. 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. 36, 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. 36, 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. 36, 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. 38, 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. 38, the movable guard 41 is located entirely between the front end 10 and the cutting mechanism 3. As shown in fig. 39, the movable guard 41 may have a plate shape. As shown in fig. 40, 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. 41, 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. 41, 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. 41, another way 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. 35, 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. 2 and 6, the bottom of the movable guard 41 has a chamfer 430 on the side away 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. 36 and 37, 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. 24 and 25, 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.

In one embodiment, as shown in fig. 60, the robotic lawnmower 1 comprises at least two guards, an inner guard 91 with an inner guard wall 911 and an outer guard 92 with an outer guard wall 921, wherein the outer guard wall 921 is located outside the cutting mechanism 3 and the inner guard wall 911 is located between the outer guard wall 921 and the cutting mechanism 3 in the horizontal direction; at any cutting height, the lower end of the outer protection wall 921 is less than M, wherein M is more than or equal to 38mm and less than or equal to 40mm, so as to prevent the finger of a child from extending into the cutting mechanism 3, when the outer protection member 92 is in a free state without being subjected to external force. The inner guard wall 911 is always lower than the lowest point of the cutting member by the external force to prevent the dynamic child arm from touching the cutting member 32 when it is inserted.

The inner guard 91 and the outer guard 92 may be movable guards or immovable fixtures, respectively.

In one embodiment, as shown in fig. 60 to 61, the inner protection member 91 and the outer protection member 92 are immovable fixing members. The outer shield 91 includes a fixed shield fixed in an up-down direction compared to the bottom case 101, for example, an outer shield wall 911 of the fixed shield may be a part of the housing. The ground clearance of the fixed protection part is less than M and greater than M/2.

The inner guard 91 is a mechanism guard fixed in the vertical direction compared to the cutting mechanism. As shown in fig. 60 to 61, the inner barrier 911 includes at least one of a front inner barrier 912 located in front of the cutting mechanism 3, two side inner barriers 913 located on both sides of the cutting mechanism, and a rear inner barrier 914 located behind the cutting mechanism.

The inner protection wall 911 includes a front inner protection wall 912 located in front of the cutting mechanism, two side inner protection walls 913 located at two sides of the cutting mechanism, and a rear inner protection wall 914 located behind the cutting mechanism 3, the front inner protection wall, the rear inner protection wall, and the side inner protection walls together enclose an inner protection wall 911 which is circumferentially closed, and the lowest part of the inner protection wall 913 in the circumferential direction of 360 degrees is lower than the lowest point of the cutting element. The lower end of the inner protective wall 911 is a continuously extending smooth surface.

Of course, in another embodiment, the lowest portion of the inner protective wall in the circumferential direction of 360 degrees may be at least partially higher than the lowest point of the cutting element and partially lower than the lowest point of the cutting element, and the portions higher than the lowest point of the cutting element continuously extend in the circumferential direction for a length less than M, so that the child arm cannot touch the cutting element even if the child arm extends into the cutting mechanism.

The cutting mechanism 3 may be fixed in the up-down direction or may be relatively movable with respect to the bottom case 101. The cutting mechanism 3 and the bottom case 101 are fixed to each other in the vertical direction. The cutting mechanism 3 and the bottom case 101 are fixed relatively in the vertical direction, and the robotic lawnmower 1 further includes a cutter disc 31 for mounting the cutting element 32, and the cutting element 32 is disposed above the cutter disc 31. The robotic lawnmower 1 further comprises a bottom guard 95 disposed below the cutting mechanism 3, wherein the bottom of the bottom guard 95 is a smooth surface, and a cavity 951 is disposed between the bottom guard 95 and the cutting mechanism 3 for receiving the cutting element 32 and the fastener 33. Cutting element 32 is partially received within cavity 951. In the above embodiments, the bottom protection member 95 is assembled below the cutting mechanism 3, but in other embodiments, the bottom protection member 95 may be integrally formed with a part of the cutting mechanism 3, for example, directly extended from the part of the cutting mechanism 3. Specifically, the bottom guard 95 in this embodiment may be configured as the cutterhead guard 35 as shown in fig. 10, but may have other configurations.

As shown in fig. 60, the bottom guard 95 is spaced from the cutting element 32 in the range of 0-30mm in the up-down direction; the bottom guard 95 is spaced from the inner guard 91 by a distance in the range of 10-30mm in the left-right direction to prevent the child's arm from entering the interior of the cutting mechanism from the front or sides of the robotic lawnmower and touching the cutting element in the extreme case shown in fig. 60.

Specifically, the inner guard 91 may be the mechanism guard 42 fixed in the up-down direction compared to the cutting mechanism 3 in the embodiment shown in fig. 1 to 10 or in the other embodiments described above. When the cutting mechanism 3 is movable in the up-and-down direction compared to the bottom case 101 by an external force, the cutting mechanism 3 and the inner guard 91 are movable together in the up-and-down direction compared to the bottom case by the external force.

In other embodiments, the inner guard 91 may also be the embodiment shown in fig. 1 to 10, or the movable guard 41 provided with the movable guard wall 414 in the other embodiments described above. The movable guard 41 disposed inside the outer guard may also be referred to as an inner movable guard. The inner movable guard can move in the up-and-down direction compared with the cutting mechanism 3 under the action of external force; and under any cutting height, the lower end of the inner movable protective wall is always lower than the lowest point of the cutting element under the action of external force of the inner movable protective part.

At least one cutting height, when the inner movable protection part moves in the up-and-down direction under the action of external force, the lower end of the inner movable protection wall can move in the up-and-down direction compared with the cutting mechanism, the automatic mower 1 further comprises a limiting mechanism for limiting the relative position of the cutting mechanism and the inner movable protection part, and the lower end of the inner movable protection wall is always lower than the lowest point of the cutting element under the limitation of the limiting mechanism of the inner movable protection part. For the specific structure of the movable protection member 41, reference may be made to the other embodiments above, and the description thereof is omitted.

Of course, the outer guard 92 may also be the movable guard 41 in the embodiment shown in fig. 1-10, or other embodiments described above. The movable guard 41 arranged outside the inner guard may also be referred to as an outer movable guard, and the movable guard wall on the outer movable guard may also be referred to as an outer movable guard wall. The outer guard includes an outer movable guard provided with an outer movable guard wall. The lower end of the outer movable protection wall can generate vertical displacement relative to the bottom shell under the action of external force, and the lower end ground clearance of the outer movable protection wall is smaller than M when the outer movable protection part is in a free state at any cutting height.

As shown in fig. 61, the outer guard 92 may be two-piece, specifically, the outer guard 92 includes a fixed guard 923 fixed in the vertical direction compared to the bottom housing 101 and an outer movable guard 924 provided with an outer movable guard wall, the lower end of the outer movable guard wall 9241 is vertically displaceable relative to the bottom housing under the action of an external force from the outer movable guard 924, and the lower end of the outer movable guard wall 9241 is less than M away from the ground in a free state of the outer movable guard at any cutting height.

The fixed guard 923 includes an outer guard 14 disposed on the housing, the outer guard 14 is disposed at least in front of the cutting mechanism, and the outer movable guard 924 includes a tailgate disposed at least behind the cutting mechanism. In the free state, the outer shield may be 19-38mm from the ground. The minimum distance between the inner protection part and the outer protection part in the horizontal direction can be 2-30mm, or 2-8 mm, so as to prevent the inner protection part and the outer protection part from interfering with each other during movement. 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 express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An automatic lawnmower, comprising:

a housing provided with a bottom shell;

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 cutting mechanism is at any cutting height, and the range of the initial distance is 15-35 mm.

3. The robotic lawnmower of claim 1, wherein: when the external force is removed, the movable protection part can move downwards relative to the bottom shell so as to enable the ground clearance of the lower end of the movable protection wall to return to the initial distance.

4. The robotic lawnmower of claim 1, wherein: in the process of adjusting the height of the cutting mechanism from the lowest gear to the highest gear, the cutting mechanism may move in the up-down direction compared to the movable guard.

5. The robotic lawnmower of claim 1 or claim 4, wherein: and in the process of adjusting the height of the cutting mechanism, the distance from the lower end of the movable protective wall to the ground is always kept unchanged.

6. The robotic lawnmower of claim 2, wherein: in the forced upward movement process of the movable protective wall, when the distance from the lower end of the movable protective wall to the ground is greater than a preset grass safety lifting height, the upward movement resistance of the movable protective wall is greater than, and when the distance from the lower end of the movable protective wall to the ground is less than the preset grass safety lifting height, the upward movement resistance of the movable protective wall is greater than.

7. The robotic lawnmower of claim 1, wherein: the movable protective wall comprises a front movable protective wall arranged in front of the cutting mechanism, a rear movable protective wall arranged behind the cutting mechanism and at least one of the side movable protective walls arranged on two sides of the cutting mechanism.

8. The robotic lawnmower of claim 1 or claim 7, wherein: in the horizontal direction, the minimum distance X from the outermost edge of the movable protective wall to the cutting element is within the range of X being more than or equal to 58 mm.

9. The robotic lawnmower of claim 1, wherein: the movable protective wall comprises a main movable part, the main movable part comprises an obstacle passing area located at the outermost edge of the main movable part, and the obstacle passing area comprises an inclined surface which is inclined from outside to inside and extends downwards.

10. The robotic lawnmower of claim 9, wherein: the movable protective wall further comprises a locking part formed by extending downwards from the main movable part, the locking part comprises a safety locking area positioned at the outermost edge of the locking part, the ground clearance of the lower end of the safety locking area is smaller than M, and the safety locking area is positioned on the outer side of a downward extension line of an obstacle passing area on the same radial direction as the safety locking area.

11. The robotic lawnmower of claim 1, wherein: the movable protection wall comprises a plurality of blocking protrusions arranged at the bottom of the movable protection wall at intervals in the circumferential direction, and the lower ends of the blocking protrusions are above the ground by more than or equal to M/2 when the movable protection part is in a free state without external force.

12. The robotic lawnmower of claim 11, wherein: the movable protective wall further comprises an upper blocking part connected above the blocking protrusion, the outermost edge of the blocking protrusion is not completely overlapped with the outer edge of the upper blocking part, and the part of the blocking protrusion, which is not overlapped with the outermost edge of the upper blocking part, is located on the inner side of the corresponding part of the outermost edge of the upper blocking part.

13. The robotic lawnmower of claim 11, wherein: the blocking protrusion comprises a safety locking area located on the outermost edge of the blocking protrusion, the safety locking area comprises an inclined surface and/or a vertical surface, and when the safety locking area is inclined from outside to inside and extends downwards, the angle of the inward inclination of the safety locking area from the vertical plane where the outermost end of the safety locking area is located is smaller than 15 degrees.

14. The robotic lawnmower of claim 11, wherein: the range of the height h of the blocking protrusion is as follows: h is more than or equal to 0mm and less than or equal to 80mm, or h is more than or equal to 3mm and less than or equal to 20 mm; the width M of the blocking bulge is within the range of 0< M < 40mm, or 0< M < 20 mm; the range of the distance S between two adjacent blocking bulges is 0< S < 40mm, or 3 < S < 25 mm.

15. The robotic lawnmower of claim 11, wherein: the movable protective wall further comprises a connecting bulge extending in the up-down direction and used for connecting two adjacent blocking bulges, and the part of the connecting bulge is inwards recessed so that the connecting bulge and the two adjacent blocking bulges connected with the connecting bulge enclose a structure with an interval at the outer side and a closed inner side.

16. The robotic lawnmower of claim 1, wherein: the cutting mechanism is arranged at any cutting height, and the range of the initial distance is always smaller than or equal to M/2.

17. The robotic lawnmower of claim 1, wherein: and in the process that the movable protective wall moves upwards to the highest point of the movable range under the action of external force, the lower end of the blocking wall is always lower than the lowest point of the cutting element.

18. The robotic lawnmower of claim 17, wherein: the guard assembly further includes a mechanism guard fixed in an up-down direction compared to the cutting mechanism, the mechanism guard includes a mechanism guard wall located between the movable guard wall and the cutting mechanism in a horizontal direction, the blocking wall further includes the mechanism guard wall, and a lower end of the mechanism guard wall is always lower than a lowest point of the cutting element.

19. The robotic lawnmower of claim 18, wherein: the casing includes that lie in the horizontal direction the outside high-order casing of cutting mechanism, in outside-in's direction, and in the perpendicular to in the outside-in's direction extension M scope, the distance of high-order casing apart from ground is higher than M all the time, in the horizontal direction, at least part the mechanism protective wall is located high-order casing with between the cutting mechanism.

20. The robotic lawnmower of claim 18, wherein: the mechanism protective wall comprises a front mechanism protective wall positioned in front of the cutting mechanism, side mechanism protective walls positioned on two sides of the cutting mechanism and a rear mechanism protective wall positioned behind the cutting mechanism, wherein the front mechanism protective wall, the rear mechanism protective wall and the side mechanism protective walls are enclosed to form the mechanism protective wall which is circumferentially closed.

21. The robotic lawnmower of claim 20, wherein: the bottommost portions of the mechanism guard walls in the circumferential direction of 360 degrees are all lower than the cutting element lowest point.

22. The robotic lawnmower of claim 18, wherein: the minimum distance range of the movable protective wall and the mechanism protective wall in the horizontal direction is 2-30mm or 2-8 mm.

23. The robotic lawnmower of claim 17, wherein: the cutting mechanism is arranged at any cutting height, and when the movable protective wall moves upwards to the highest point of the movable range under the action of external force, the lower end of the movable protective wall is lower than the lowest point of the cutting element.

24. The robotic lawnmower of claim 23, wherein: at least one cutting height, the lower end of the movable protection wall can move in the up-and-down direction compared with the cutting mechanism when the movable protection part moves in the up-and-down direction under the action of external force.

25. The robotic lawnmower of claim 24, wherein: the robotic lawnmower further comprises a limiting structure for limiting the extent of relative movement between the movable guard and the cutting mechanism in the up-down direction.

26. The robotic lawnmower of claim 25, wherein: the limiting mechanism comprises a cutting limiting part and a protection part limiting part which can be abutted to each other for limiting, the cutting limiting part and the cutting mechanism are relatively fixed in the vertical direction, the protection part limiting part and the movable protection part are relatively fixed in the vertical direction, and when the cutting limiting part and the protection part are abutted to each other for limiting, the cutting limiting part is positioned above the protection part limiting part.

27. The robotic lawnmower of claim 25, wherein: under the non-heightened state, when the cutting mechanism is acted by external force, the cutting mechanism can move up and down compared with the ground, and under at least one cutting height, when the movable protection part moves up under the external force, the movable protection part moves up independently until the movable protection part and the cutting mechanism limit each other, and then moves up together with the cutting mechanism.

28. The robotic lawnmower of claim 1, wherein: the guard assembly further includes a cutting guard fixed to the cutting mechanism in an up-down direction, the cutting guard is disposed in the movable guard in a horizontal direction, a lower end of the cutting guard is lower than a lowest point of the cutting element, and the cutting guard is movable together with the cutting mechanism in an up-down direction compared to the bottom housing under an external force in a non-raised state.

29. The robotic lawnmower of claim 28, wherein: cutting mechanism is including being used for fixing cutting element's blade disc, cutting guard including set up in blade disc below and around the blade disc guard of a middle part cavity setting, the lower extreme of blade disc guard is less than cutting element's the minimum.

30. The robotic lawnmower of claim 1, wherein: the automatic mower further comprises a bendable flexible blocking piece arranged on the bottom side of the shell, the blocking piece is located on the front side and/or the rear side of the moving module in the advancing direction of the automatic moving device, the blocking piece comprises a shell end fixed on the bottom side of the shell and a free end capable of moving under the action of external force compared with the shell end, the shell end and the moving module are arranged at intervals, and the free end can be abutted and contacted with the moving module under the action of external force.

31. The robotic lawnmower of claim 1, wherein: the automatic mower further comprises a cutter disc used for installing the cutting elements, and the cutting elements are arranged above the cutter disc.

32. The robotic lawnmower of claim 1, wherein: in the moving process of the automatic mower, when the movable protective wall is acted by an outside-in force, the distance between the lower end of the movable protective wall and the ground can be more than or equal to M, wherein M is more than or equal to 38mm and less than or equal to 40 mm.

33. The robotic lawnmower of claim 1 or claim 32, wherein: the distance range of the lower end of the movable protective wall moving in the up-down direction is 15-80mm, or 20-40 mm.

34. The robotic lawnmower of claim 1, wherein: the movable guard wall comprises a grass pressing end face which is positioned at the lower end of the movable guard wall and continuously extends along the circumferential direction.

35. The robotic lawnmower of claim 1, wherein: the movable protective wall comprises a vertical protective wall extending along the vertical direction and a transverse protective wall located below the vertical protective wall and extending along the horizontal direction, and at least one side of the transverse protective wall in the horizontal inner and outer direction protrudes out of the corresponding side of the vertical protective wall.

36. The robotic lawnmower of claim 1, wherein: the robotic lawnmower further comprises guard-up guide means for connecting the movable guard to the housing, the guard-up guide means allowing the movable guard wall to move upwardly when the movable guard is subjected to an outside-in force.

37. The robotic lawnmower of claim 36, wherein: the upward guide mechanism includes at least one of a four-bar linkage, two-bar linkage, a single bar, or a chute.

38. The robotic lawnmower of claim 36, wherein: the robotic lawnmower further comprises a cutting upward guide mechanism for connecting the cutting mechanism to the housing.

39. The robotic lawnmower of claim 36, wherein: the movable guard includes an upper guard and a lower guard, and the lower guard is movable in an up-and-down direction compared to the upper guard when the lower guard is subjected to an external force.

40. The robotic lawnmower of claim 1, wherein: the movable guard is disposed outside of the housing and/or between and/or connected to a portion of the housing.

41. The robotic lawnmower of claim 1, wherein: the movable protective wall comprises a front movable protective wall arranged in front of the cutting mechanism, the protective component further comprises a rear movable protective part provided with a rear movable protective wall, the rear movable protective wall is arranged behind the cutting mechanism, and when the rear movable protective part is acted by external force, the lower end of the rear movable protective wall can generate relative displacement in the vertical direction compared with the ground.

42. The robotic lawnmower of claim 40, wherein: under the action of external force, the movable protection part and the rear movable protection part can move relatively independently.

43. The robotic lawnmower of claim 40 or claim 41, wherein: the rear movable protection part comprises a baffle plate, one end of the baffle plate is fixed on the shell, and the baffle plate comprises a fixed end fixed on the shell and a movable end which can rotate around the fixed end under the action of external force.

44. The robotic lawnmower of claim 40 or claim 41, wherein: the front-movable guard is movable in an up-down direction when the front-movable guard is subjected to a vertically upward force; and when the rear movable guard is subjected to a vertically upward force, the rear movable guard cannot move in an up-down direction.

45. The robotic lawnmower of claim 40 or claim 41, wherein: the movable protective wall also comprises side movable protective walls arranged on two sides of the automatic mower, and the front movable protective wall is connected with the side movable protective walls so that the side movable protective walls and the front movable protective walls can synchronously move in the up-and-down direction when being acted by external force.