CN212876733U

CN212876733U - Boundary accessory and mowing system

Info

Publication number: CN212876733U
Application number: CN202020438343.7U
Authority: CN
Inventors: 周晓青; 查霞红; 赵凤丽
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2020-03-30
Filing date: 2020-03-30
Publication date: 2021-04-06
Anticipated expiration: 2030-03-30

Abstract

The application discloses boundary attachment and system of mowing to in with boundary grass processing totally, promote boundary lawn look and feel. Wherein a boundary attachment participates in forming at least a boundary of a work area of the self-moving device, the boundary defining the work area of the self-moving device; the boundary accessory is provided with a plate body; the plate body has a surface covering a target mounting location; a plurality of the boundary appendages are arranged to form a boundary of the working area for at least a portion of the length.

Description

Boundary accessory and mowing system

Technical Field

The present application relates in particular to a boundary attachment and a mowing system.

Background

Currently, in order for an intelligent lawn mower to cut grass on a boundary clean, it is necessary to place the boundary line as close to the boundary as possible. However, in the existing lawn mowers on the market, the cutter head is usually arranged in the middle of the chassis of the intelligent lawn mower, so that the intelligent lawn mower cannot treat the boundary area completely, a circle of grass is left around the boundary, the boundary grass cannot be cut completely, and the attractiveness of the lawn is affected. Some mowers bias the deck to the side of the chassis in order to cut the boundary as clean as possible, but still do not cut completely clean. Moreover, the intelligent mower needs to consider self steering and swing space during walking along the boundary, and further needs to leave a certain margin during boundary arrangement, so that the intelligent mower is complex to operate.

In addition, when the lawn mower cuts the boundary and returns to the charging station along the boundary, grass on the boundary can be rolled for multiple times, so that the lawn near the boundary is seriously worn, and the attractiveness and the health of the lawn are affected.

SUMMERY OF THE UTILITY MODEL

In view of the above-identified problems, it is an object of the present application to provide a boundary attachment and mowing system that facilitates the cleaning of boundary grass and enhances the look and feel of the boundary grass.

It is a further object of the present application to provide a boundary attachment and mowing system that facilitates boundary lawns to be less prone to wear.

It is a further object of the present application to provide a boundary attachment and mowing system to facilitate the placement of boundary lines.

In order to achieve at least one of the above purposes, the following technical scheme is adopted in the application:

a boundary attachment that participates in forming at least a boundary of a work area of a self-moving device, the boundary for defining the work area of the self-moving device; the boundary accessory is provided with a plate body; the plate body has a surface covering a target mounting location; a plurality of the boundary appendages are arranged to form a boundary of the working area for at least a portion of the length.

In a preferred embodiment, the boundary accessory is provided with a boundary indicator; the boundary indicator carries or is used for sending boundary information.

As a preferred embodiment, the boundary indicator includes at least one of a boundary line, a boundary label, a boundary two-dimensional code, and a boundary magnetic member.

As a preferred embodiment, the plate body is provided with a fixing portion for positioning the boundary accessory at a target installation position, and preferably, the fixing portion includes at least one insertion protrusion provided on a lower surface of the plate body; the height of the insertion projection is more than 20 mm.

In a preferred embodiment, the boundary attachment has a first end and a second end along the direction of the arrangement; the first end is shaped to mate with the second end, and the first end of one of the boundary appendages is configured to mate with the second end of another boundary appendage.

As a preferred embodiment, the shape of the plate body includes at least one of a rectangle, a hexagon, and a trapezoid.

In a preferred embodiment, the boundary attachment is made of plastic or metal, and the boundary attachment is preferably made of plastic.

As a preferred embodiment, the boundary attachment has a mounting portion for placing the boundary line; preferably, the mounting portion includes a slot or a through hole formed in the plate body.

As a preferred embodiment, the boundary attachment is embedded with a boundary line; the boundary accessory is provided with a first electrical connection part and a second electrical connection part which are connected with two ends of the boundary line; the first electrical connection part is matched with the second electrical connection part; the first electrical connection portion of one of the boundary attachments may be mated with the second electrical connection portion of another boundary attachment.

As a preferred embodiment, the boundary attachment has an inner side close to the working area and an outer side remote from the working area; the boundary line or the boundary indicator is arranged close to the inner side edge with respect to the outer side edge.

As a preferred embodiment, the boundary attachment has an inner side close to the working area and an outer side remote from the working area; the distance between the boundary line or the mounting part and the outer side of the boundary attachment is 50-400 mm.

As a preferred embodiment, the self-moving device has a driving wheel, and the distance between the boundary line and the outer side of the boundary attachment is greater than the distance from the center of travel of the self-moving device along the boundary line to the outer side of the driving wheel.

In a preferred embodiment, the length of the plate body in the direction perpendicular to the arrangement direction is 100mm or more.

As a preferred embodiment, the thickness of the plate body is 0.1mm to 50mm, preferably 2mm to 5 mm.

As a preferred embodiment, the boundary attachment is provided with a magnetic portion, preferably the magnetic portion comprises a magnetic strip or a magnetic peg integrated on the boundary attachment.

A mowing system comprising: a mowing robot, a boundary accessory as described in any of the above embodiments; a plurality of boundary attachments are continuously arranged to form at least partial length boundary of the working area; the mowing robot performs moving operation in a work area defined by a boundary.

Has the advantages that:

according to the boundary accessory provided by the embodiment of the application, when the intelligent mower processes the boundary of the working area, the boundary accessory is rolled, so that the lawn is not excessively injured. Moreover, because the boundary accessory is arranged at the boundary of the working area, the boundary grass where the boundary accessory is positioned is pressed down by the boundary accessory due to the certain width of the boundary accessory, so that the cutting is not needed, the periphery of the boundary of the working area is visually seen to have no irregular grass,

specific embodiments of the present invention are disclosed in detail with reference to the following description and the accompanying drawings, which specify the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the present invention are not so limited in scope.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.

Drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a top view of a boundary attachment provided by one embodiment of the present application;

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a top view of a boundary attachment provided in another embodiment of the present application;

FIG. 4 is a top view of a boundary attachment provided in another embodiment of the present application;

FIG. 5 is a side view of FIG. 4;

FIG. 6 is a schematic view of a mowing system provided by an embodiment of the present application.

Detailed Description

In order to make the technical solutions in the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

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

Referring to fig. 1 and 2 in conjunction with fig. 6, one embodiment of the present application provides a boundary attachment 3, where the boundary attachment 3 at least participates in forming a boundary of a working area S of a self-mobile device, and the boundary is used for defining the working area S of the self-mobile device. Wherein the working area boundary of the mower comprises an inner boundary and an outer boundary, the outer boundary is used for enabling the mower not to work out of the boundary in the inner working area, and the inner boundary is used for limiting the unprocessed area in the mower. The inner and outer boundaries cooperate to define a working area S of the mower.

In this embodiment, the self-moving apparatus may be a smart lawn mower 1 (which may also be referred to as a lawn mowing robot), and the boundary accessory 3 participates in forming a working area S of the smart lawn mower 1 around. Of course, in other embodiments, the self-moving device may also be a cleaning robot (e.g., a sweeping robot, a mopping robot), a handling robot, or the like, and in the embodiment of the present application, the intelligent lawn mower 1 may be used as a preferred solution of the self-moving device.

In the present embodiment, the boundary attachment 3 has a plate body 100. The plate body 100 has a surface 105 that covers the target installation location. Wherein the surface 105 may be flat to conform to the ground or turf and hold the border grass down neatly. A plurality of said boundary appendages 3 are arranged to form the boundary of said working area S for at least part of its length.

The boundary attachments 3 are simple to arrange, and at the boundary to be placed, the boundary attachments 3 are placed one by one according to a desired boundary to form the boundary of the working area S. For example, when a wall exists at the boundary of the work area S, as shown in fig. 6, the boundary attachment 3 is laid along the wall, and the boundary grass near the wall is pressed down to form a neat lawn boundary.

The boundary attachments 3 participate in the formation of the boundary of the working area S, wherein the boundary attachments 3 can also be used individually as a covering element, arranged in the lawn according to the user' S wishes to form a desired pattern. Preferably, the boundary attachments 3 are arranged to form a boundary of at least part of the working area S, the self-moving device cannot cross the boundary attachments 3 to enter the other side in the working area S, and is limited to perform work in the working area S, for example, when the self-moving device is the intelligent mower 1, the intelligent mower 1 is limited by the boundary formed by the boundary attachments 3, the mowing work is performed in the working area S, when the self-moving device returns to a base station or performs the boundary mowing work, the boundary grass is pressed down by the boundary attachments 3, the integral attractiveness of the boundary grass is high, and when the intelligent mower 1 rides across the boundary line 2 and returns to the base station, the boundary attachments 3 are rolled at the boundary position, so that the lawn is not damaged excessively.

In the present embodiment, the boundary attachments 3 are mounted on the boundary of the working area S. Referring to fig. 6, wherein a and B are installed at the position of the boundary line 2, the boundary line 2 forms the overall outline of the working area S (i.e., participates in forming the outer boundary), and a wall arrangement scheme is arranged at the position of a, which is the working area S, and the boundary grass at the wall root is pressed down by the boundary attachment 3, so that the boundary grass is tidy.

The boundary attachment 3 can also be used to isolate unwanted cutting areas (non-cutting areas). Such as the C installation disclosed in fig. 6, wherein C, D is an island installation, the inner area is formed as an island by arranging a plurality of boundary attachments 3 around to form a closed loop (i.e. to participate in forming the inner boundary), and the area to be protected is protected, which cannot be accessed from the mobile device.

When the intelligent mower 1 processes the boundary of the working area S, the boundary attachments 3 are rolled, so that the lawn is not excessively injured. Moreover, since the boundary attachments 3 are installed at the boundary of the working area S, the boundary attachments 3 have a certain width (length perpendicular to the arrangement direction F, the extending direction of the boundary line 2, or the traveling direction of the intelligent lawn mower 1), and the boundary grass where the boundary attachments 3 are located is pressed down by the boundary attachments 3, so that cutting is not required, and the boundary periphery of the working area S is visually seen to have no irregular grass,

in order to fix the boundary attachment 3 on the lawn and prevent the boundary attachment from being easily displaced, the plate body 100 is further provided with a fixing portion 200 for positioning the boundary attachment 3 at a target installation position. The anchoring portion 200 may be an anchoring structure or an insertion structure. As shown in fig. 2, the fixing portion 200 is disposed on the lower surface 105 of the plate body 100. Specifically, the fixing portion 200 includes at least one insertion projection provided on the lower surface 105 of the plate body 100. The height of the insertion projection is more than 20 mm. For example: the insertion projection may be an insertion nail, and the boundary attachment 3 may be further nailed into the lawn to fix itself. Of course, in some embodiments, the border accessory 3 is made of metal and can be directly placed in the lawn to press the border grass down by its own weight.

In the boundary of the working area S, the boundary attachment 3 may form a boundary of a partial length, and the remaining boundary may be formed directly by the boundary line 2 without the boundary attachment 3. For example: in the rectangular working area S as shown in fig. 6, the boundary attachments 3 form the two short sides of the rectangular working area S, and the two long sides are formed by the boundary lines 2.

In the present embodiment, the plate body 100 of the boundary attachment 3 is preferably a flat structure, and the plate body 100 may have an upper surface and a lower surface 105 opposite to each other. The upper surface may be provided with a pattern or other attachment structure, and the application is not limited. In this embodiment, the thickness of the plate body 100 is 0.1mm to 50mm, preferably, 2mm to 5 mm. It can be seen that the boundary attachments 3 have a relatively thin thickness and can be placed directly without grooving the lawn, and are simple and quick to install. The thickness direction of the plate body 100 is from the upper surface to the lower surface 105. The lower surface 105 of the board body 100 may be flat to facilitate pressing the lawn flat and level with the ground.

The shape of the boundary attachment 3 in the embodiment of the present application is not limited too much, and preferably, the shape of the plate body 100 includes at least one of a rectangle, a hexagon, and a trapezoid. For example, in the embodiment shown in fig. 1 to 3, the boundary appendages 3 are rectangular in shape; in the embodiment shown in fig. 4, 5, the shape of the boundary appendages 3 is regular hexagon; in the embodiment shown in fig. 6, the boundary attachments 3 in the C, D arrangement are trapezoidal in shape.

In this application embodiment, can avoid seting up the through-hole on the plate body 100, of course, in some embodiments, can have structures such as fretwork, decorative pattern, through-hole on the plate body 100, through placing this border annex 3, push down partial border grass and can promote the aesthetic measure on lawn border equally, promote the neat degree on border grass.

In the present embodiment, the material of the boundary attachment 3 is plastic, preferably PP (polypropylene). In other embodiments, the material of the boundary attachment 3 may also be metal. The length of the plate body 100 along the direction perpendicular to the arrangement direction F (the length perpendicular to the arrangement direction F, the extending direction of the boundary line 2, or the walking direction of the intelligent mower 1) is more than 100 mm. The plate body 100 is preferably made of an opaque material, so that the lawn covered by the border accessory 3 is prevented from growing, and the flatness of the border can be maintained for a long time.

In the embodiment shown in fig. 1 and 2, the boundary attachment 3 is of a rectangular structure, the material of the boundary attachment 3 is plastic or metal, the thickness of the boundary attachment 3 is 3-4 mm, the lower surface 105 is provided with a plurality of mounting pins, and the length and the width of the boundary attachment 3 can be within 500-350 mm.

In the present embodiment, the boundary attachment 3 has a first end 103 and a second end 104 along the arrangement direction F. The shape of the first end 103 and the shape of the second end 104 match. The first end 103 of one of the boundary appendages 3 may be butt-mated with the second end 104 of another boundary appendage 3. The first end 103 and the second end 104 are butted to avoid a gap, thereby facilitating the covering of the boundary grass. In addition, the first end 103 and the second end 104 may have a matching connection structure, such as a plug structure, a snap structure, etc., so as to splice two adjacent boundary attachments 3 together, and are not easy to separate and shift when being fixed on the lawn.

To facilitate the indication of the boundary position of the mobile device, the boundary attachment 3 is provided with a boundary indicator. In one embodiment, the boundary attachment 3 has a mounting portion for mounting a boundary indicator. The boundary indicator carries or is used for sending boundary information. The boundary indicator comprises at least one of a boundary line 2, a boundary label, a boundary two-dimensional code and a boundary magnetic part. By means of the boundary indicator, the boundary attachment 3 is recognized as a boundary of the working area S from the mobile device. To promote the applicable scene of the boundary attachment 3, the boundary attachment 3 may also be plugged with other recognition objects, such as a visual recognition image. In another embodiment, the boundary attachment 3 has a boundary indicator 3, which is integrally arranged on the boundary attachment 3. The boundary attachments 3 are placed in succession to form the boundary of at least part of the working area S of the lawn mower.

The boundary line 2 can send an electric signal when being conducted, and the mobile device can obtain the position of the boundary line 2 by sensing the electric signal to obtain the boundary information of the working area S. The boundary magnetic part can send out a magnetic signal, and the boundary position is further obtained by sensing the magnetic signal from the mobile equipment, so that the boundary information of the working area S is obtained. The boundary tag or the boundary two-dimensional code carries boundary information, and the self-moving device can be provided with an identification component (such as a camera) to identify the boundary tag or the boundary two-dimensional code, so that a boundary position is obtained, and the boundary information of the working area S is obtained.

Of course, in other embodiments, the boundary attachment 3 may not be provided with a boundary indicator, for example, the boundary line 2 and the boundary attachment 3 are arranged separately, and the boundary line 2 is preferably pressed down below the boundary attachment 3, so that the appearance is attractive and the damage caused by rolling from the mobile device is avoided. Specifically, the boundary line 2 may be arranged, and the boundary attachment 3 may be covered on the boundary line 2 to form a boundary of the working area S.

The boundary attachment 3 in the embodiment of the present application may have the boundary line 300 itself, or additionally set the boundary line 2, and further have the function of the boundary line 2. The boundary line 2 of the working area S is set in the form of the boundary accessory 3, a user can finish arrangement of the boundary line 2 only by placing the boundary accessory 3, arrangement of the boundary line 2 is facilitated, and walking and turning allowance of the intelligent mower 1 does not need to be considered too much.

In the present embodiment, as shown in fig. 3 and 4, the boundary line 300 may be detachably mounted on the boundary attachment 3. The boundary attachment 3 has a mounting portion for placing the boundary line 300. The extension direction of the mounting portion is also the arrangement direction F of the boundary attachments 3. In this embodiment, the mounting portion includes a slot or a through hole disposed on the board body 100. The boundary line 300 is inserted into the slot or inserted into the through hole, the boundary attachment 3 is positioned by the boundary line 300, and the boundary attachment 3 is fixed at the boundary line 300 by the fixing portion 200, forming a boundary of the working area S. Of course, the mounting portion is not limited to the form of the slot or the through hole, for example, the mounting portion may be mounted on the boundary attachment 3 in a manner of a snap, a fastener, an adhesive, a binding (e.g., a ribbon), and the like, and preferably, the mounting portion may be the slot, and the boundary line 300 may be directly inserted into the slot and inserted into the plate body 100 of the boundary attachment 3.

In order to ensure that the self-moving device rolls the boundary attachment 3 while walking on the boundary and avoids rolling the lawn, the boundary attachment 3 has an inner side close to the working area S and an outer side remote from the working area S. The boundary indicator (boundary line 300 or mounting portion) is disposed proximate the inner side edge relative to the outer side edge. In a particular embodiment, the distance between the boundary line 300 (mounting portion, boundary indicator) and the outer side of the boundary attachment 3 is 50-400 mm. The self-moving device has a drive wheel; the distance between the boundary line 300 (mounting portion, boundary indicator) and the outer side of the boundary attachment 3 is greater than the distance from the traveling center of the self-moving apparatus along the boundary line 300 to the outer side of the driving wheel.

In another embodiment, the boundary attachment 3 is provided with a magnetic portion. The boundary magnetic member includes the magnetic portion. The boundary attachment 3 may be made of a magnetic material as a whole, and accordingly, the boundary attachment 3 may be a magnetic portion as a whole. Of course, the magnetic part may be a separate structure from the board body 100, for example, the magnetic part includes a magnetic strip or a magnetic nail integrated on the boundary accessory 3. The magnetic strip or the magnetic nail is fixedly arranged on the plate body 100 to form the boundary attachment 3.

The boundary attachment 3 is embedded with a boundary line 300. The boundary attachment 3 is provided with a first electrical connection portion and a second electrical connection portion connecting both ends of the boundary line 300. The first electrical connection portion is matched with the second electrical connection portion. The first electrical connection portion of one of the boundary attachments 3 is capable of mating with the second electrical connection portion of another boundary attachment 3. A plurality of the boundary attachments 3 are arranged to connect the boundary lines 300 in series. Preferably, the first electrical connection portion is located at the first end 103, and the second electrical connection portion is located at the second end 104.

The first electrical connection portion and the second electrical connection portion can be of a plug structure (such as a male end and a female end) or a buckle structure, when the two adjacent boundary accessories 3 are spliced, the first electrical connection portion and the second electrical connection portion are used for achieving electrical connection of the boundary line 300, and the two adjacent boundary accessories 3 can be connected and positioned to avoid separation of the two boundary accessories.

As shown in fig. 6, in an embodiment of the present application, there is also provided a mowing system, including: a mowing robot, a boundary accessory 3 as described in any of the above embodiments. A plurality of said boundary appendages 3 are arranged in succession to form at least part of the length boundary of the working area S. The mowing robot performs moving operation in a working area S defined by a boundary.

Any numerical value recited herein includes all values from the lower value to the upper value, in increments of one unit, provided that there is a separation of at least two units between any lower value and any higher value. For example, if it is stated that the number of a component or a value of a process variable (e.g., temperature, pressure, time, etc.) is from 1 to 90, preferably from 20 to 80, and more preferably from 30 to 70, it is intended that equivalents such as 15 to 85, 22 to 68, 43 to 51, 30 to 32 are also expressly enumerated in this specification. For values less than 1, one unit is suitably considered to be 0.0001, 0.001, 0.01, 0.1. These are only examples of what is intended to be explicitly recited, and all possible combinations of numerical values between the lowest value and the highest value that are explicitly recited in the specification in a similar manner are to be considered.

Unless otherwise indicated, all ranges include the endpoints and all numbers between the endpoints. The use of "about" or "approximately" with a range applies to both endpoints of the range. Thus, "about 20 to about 30" is intended to cover "about 20 to about 30", including at least the endpoints specified.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes. The omission in the foregoing claims of any aspect of the subject matter that is disclosed herein is not intended to forego such subject matter, nor should the inventors be construed as having contemplated such subject matter as being part of the disclosed inventive subject matter.

Claims

1. A boundary attachment that participates in forming at least a boundary of a work area of a self-moving device, the boundary for defining the work area of the self-moving device; wherein the boundary attachment has a plate body; the plate body has a surface covering a target mounting location; a plurality of the boundary appendages are arranged to form a boundary of the working area for at least a portion of the length.

2. The boundary attachment of claim 1, wherein a boundary indicator is provided on the boundary attachment; the boundary indicator carries or is used for sending boundary information.

3. The boundary attachment of claim 2, wherein the boundary indicator comprises at least one of a boundary line, a boundary label, a boundary two-dimensional code, a boundary magnetic.

4. The boundary attachment of claim 1, wherein said plate body is provided with a securing portion for positioning said boundary attachment at a target mounting location.

5. The boundary attachment of claim 1, wherein the boundary attachment has a first end and a second end along the deployment direction; the first end is shaped to mate with the second end, and the first end of one of the boundary appendages is configured to mate with the second end of another boundary appendage.

6. The boundary attachment of claim 1, wherein the shape of the plate body comprises at least one of a rectangle, a hexagon, and a trapezoid.

7. The boundary attachment of claim 1, wherein the boundary attachment is made of plastic or metal.

8. The boundary attachment of claim 1, wherein the boundary attachment has a mounting portion for placement of a boundary line; the installation department including set up in draw-in groove or through-hole on the plate body.

9. The boundary attachment of claim 1, wherein the boundary attachment is pre-embedded with a boundary line; the boundary accessory is provided with a first electrical connection part and a second electrical connection part which are connected with two ends of the boundary line; the first electrical connection part is matched with the second electrical connection part; the first electrical connection portion of one of the boundary attachments may be mated with the second electrical connection portion of another boundary attachment.

10. The boundary attachment of claim 2, wherein the boundary attachment has an inner side proximate the working area and an outer side distal from the working area; the boundary indicator is disposed proximate the medial side relative to the lateral side.

11. The boundary attachment of claim 8, wherein the boundary attachment has an inner side proximate the working area and an outer side distal from the working area; the distance between the mounting part and the outer side edge of the boundary accessory is 50-400 mm.

12. Boundary attachment according to claim 3 or 8 or 9, the self-moving device having a driving wheel, characterized in that the distance between the boundary line and the outer side of the boundary attachment is greater than the distance from the walking centre of the self-moving device along the boundary line to the outer side of the driving wheel.

13. The boundary attachment of claim 1, wherein the length of the plate body in a direction perpendicular to the direction of arrangement of the boundary attachment is 100mm or more.

14. The boundary attachment of claim 1, wherein the plate body has a thickness of 0.1mm to 50 mm.

15. The boundary attachment of claim 4, wherein said retention portion includes at least one insertion projection provided on a lower surface of said plate body; the height of the insertion projection is more than 20 mm.

16. A mowing system, comprising: a mowing robot, the boundary accessory of any one of claims 1 to 15; a plurality of boundary attachments are continuously arranged to form at least partial length boundary of the working area; the mowing robot performs moving operation in a work area defined by a boundary.