Lawn mower with autonomous traveling function

An autonomously-driven lawn mower comprising:

• a traveling driver including a traveling motor configured to drive at least one wheel;
• a mower motor configured to drive at least one cutting blade;
• at least one controller configured to:
• control the traveling driver to cause the autonomously-driven lawn mower to travel autonomously, on a basis of information detected on the autonomously-driven lawn mower;
• and
• control the mower motor;
• a lawn detection device configured to detect a condition of a portion of lawn on a front side in a traveling direction;
• and
• a position acquisition device configured to acquire self-position information,
• wherein when a portion of lawn that needs to be mowed and a portion of lawn that has already been mowed are detected on the front side in the traveling direction, the at least one controller controls the traveling driver to cause the autonomously-driven lawn mower to travel on the portion of lawn that needs to be mowed while changing the traveling direction towards the portion of lawn that needs to be mowed, on the basis of detection information acquired from the lawn detection device and the self-position,
• wherein the at least one controller includes a first controller, and a second controller capable of communicating with the first controller,
• wherein the autonomously-driven lawn mower further comprises a traveling inverter configured to drive the traveling driver,
• wherein the first controller is communicably connected to the traveling inverter, and controls the traveling driver,
• wherein the second controller is communicably connected to the lawn detection device and the position acquisition device, and transmits a traveling instruction to the first controller on the basis of the detection information acquired from the lawn detection device and the self-position information, the traveling instruction including an instruction to cause the autonomously-driven lawn mower to travel on the portion of the lawn that needs to be mowed while changing the traveling direction towards the portion of lawn that needs to be mowed when the portion of lawn that needs to be mowed and the portion of lawn that has already been mowed are detected on the front side in the traveling direction, and
• wherein the first controller controls the traveling driver in accordance with the traveling instruction.