CN104124730A - Charging device of intelligent mower and charging method thereof - Google Patents
Charging device of intelligent mower and charging method thereof Download PDFInfo
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- CN104124730A CN104124730A CN201410204833.XA CN201410204833A CN104124730A CN 104124730 A CN104124730 A CN 104124730A CN 201410204833 A CN201410204833 A CN 201410204833A CN 104124730 A CN104124730 A CN 104124730A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The invention relates to a charging device of an intelligent mower and a charging method thereof. The charging device comprises a base and an upper cover; the base comprises a bottom plate and a cavity formed in the left side of the bottom plate, a charging circuit is arranged in the cavity, the upper cover covers the cavity and the upper cover is provided with two alternate curled elastic conductors; one end of every elastic conductor is a fixed end and is connected with an electric energy output end of the charging circuit, and the other end of the elastic conductor is a suspension end, the installation positions of the elastic conductors and the installation positions of a charging electrode arranged at the bottom of the intelligent mower correspond with each other and the charging circuit is connected with the intelligent mower wirelessly. The charging method comprises the steps that the intelligent mower automatically drives to the charging device and climbs up the bottom plate when the electric power of the intelligent mower is not enough, the elastic conductors are pressed to realize full contact under the action of gravity by the charging electrode at the bottom of the intelligent mower, and the intelligent mower is charged but a driving wheel of the intelligent mower stops working. The intelligent hay mower provided by the invention is reliable to charge and contact, therefore, the electric energy can be effectively saved.
Description
Technical field
The present invention relates to a kind of charging device, relate in particular to a kind of intelligent grass-removing charging device and charging method thereof.
Background technology
Along with scientific and technological development, in order to save time, save labour, there are various intelligent robots, as full-automatic sweeper, full-automatic hay mover etc., gather the needs of work and life to meet the fast joint of people.Intelligent robot is walked about owing to all needing in the course of work, therefore generally all adopts rechargeable battery poweredly, in the time that electric energy is not enough, just need to charge to it by charging device.The charging inlet of at present full-automatic sweeper, full-automatic hay mover is generally all located at front end, side or the afterbody of machine, and the charging inlet on charging device is located at side, and two charging inlets adopt lateral contact mode, after contact, charge completely.Adopt this charging modes, when charging, intelligent robot always demand motive wheel provides power, just can guarantee charge contact parts close contact, once driving wheel cannot provide power (as having a power failure, shutting down), cannot charge reliably.That is to say, adopt current charging device, intelligent robot when charging its driving wheel must be in running status, charging limit, limit is also in power consumption, saves energy not, and have charge contact defect not reliably.
Summary of the invention
It is reliable not that the present invention mainly solves original intelligent robot charging device charge contact, and intelligent robot driving wheel must turn round to provide power, not the technical problem of saves energy; A kind of intelligent grass-removing charging device and charging method thereof are provided, and when it charges to intelligent grass-removing, charge contact is very reliable, and does not need the driving wheel of intelligent grass-removing to turn round to provide power, saves energy.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals: intelligent grass-removing charging device of the present invention, comprise the housing that base is connected and forms with upper cover, in housing, be provided with charging circuit, described base comprises a base plate and is located at the cavity volume in base plate left side, described charging circuit is located in cavity volume, described upper cover covers on cavity volume, on described, cover and be provided with two elastic conductors that upwarp separately, one end of elastic conductor is stiff end, the electric energy output end of stiff end and described charging circuit is connected, and stiff end is towards the right side of described base plate, the other end of elastic conductor is suspension end, suspension end is higher than stiff end, the setting position of elastic conductor is corresponding with the setting position of charging electrode that is arranged on intelligent grass-removing bottom, described charging circuit is connected with intelligent grass-removing is wireless.Intelligent grass-removing and charging circuit carry out wireless telecommunications, in the time of intelligent grass-removing power shortage, intelligent grass-removing is located the position of charging device by wireless telecommunications, automatically drive towards charging device, intelligent grass-removing is under the effect of driving wheel, climb up base plate, driving wheel works on, in the time the suspension end of elastic conductor being depressed under the Action of Gravity Field of the charging electrode bottom intelligent grass-removing at intelligent grass-removing, both fully contact, charging device charges to intelligent grass-removing, and the driving wheel of intelligent grass-removing quits work.The present invention utilizes the gravity of intelligent grass-removing, adopt the upper and lower way of contact to realize the connection between the charging electrode of intelligent grass-removing and the elastic conductor of charging device, charge contact is very reliable, therefore,, when charging, do not need intelligent grass-removing to have a power moving ahead to guarantee abundant contact yet, so do not need the driving wheel of intelligent grass-removing to remain in operation, driving wheel is power consumption no longer, the wasting phenomenon of having avoided charging limit, traditional charging modes limit to drive, effectively saves energy.
As preferably, the cross section of described cavity volume is " protruding " font, and plush copper is towards the right side of described base plate, on described base plate, be provided with symmetrically two guide vane end stops, guide vane end stop exceeds base plate, and two guide vane end stops lay respectively at the both sides of plush copper, and described elastic conductor is positioned in described plush copper.The setting of plush copper, after making intelligent grass-removing drive on base plate, its leading section can cover plush copper top.Guide vane end stop plays orientation and position-limiting action, the front-wheel of guaranteeing intelligent grass-removing continues to move ahead along its outside, make the elastic conductor accurate contraposition on charging electrode and the charging device of intelligent grass-removing bottom, further guarantee charging electrode and the reliable conducting of elastic conductor of intelligent grass-removing bottom.
As preferably, the right-hand member width of described guide vane end stop is less than left end width, and the lateral surface of guide vane end stop has an inclined-plane and a cambered surface, and the right-hand member of guide vane end stop is an arced terminus, and arced terminus, inclined-plane, cambered surface and lateral surface are smoothly connected successively.Further guaranteeing has good guide effect to intelligent grass-removing, guarantees the front-wheel of intelligent grass-removing can not cause damage simultaneously.
As preferably, the both sides of described plush copper are respectively provided with a block being obliquely installed, and two blocks lay respectively at the outside of two guide vane end stops, and two front wheel location of the setting position of two blocks and intelligent grass-removing are corresponding.When intelligent grass-removing continues to move ahead, front-wheel leans on mutually with block.Block is obliquely installed, and plays certain cushioning effect, reduces the impulsive force that intelligent grass-removing causes charging device while continuing to move ahead, and charging device can not be shifted, and guarantees the elastic conductor accurate contraposition on charging electrode and the charging device of intelligent grass-removing bottom.
As preferably, described base plate is provided with a lot of bars convex tendon parallel to each other, and the setting party of convex tendon is to sail the direction of charging device into vertical with intelligent grass-removing.Because the elastic conductor on charging electrode and the charging device of intelligent grass-removing bottom contacts after conducting, the driving wheel of intelligent grass-removing is out-of-work, therefore the setting of convex tendon, with increasing friction force, while guaranteeing to charge, intelligent grass-removing can not retreat and stop charging.
As preferably, described elastic conductor is spring leaf, spring leaf comprises substrate and the upper tabs being connected with substrate, the middle part of upper tabs is the arc-like sheet that is mountain ridge, arc-like sheet is near described suspension end, substrate, as the stiff end of spring leaf, is connected with pin vertically downward on substrate, the electric energy output end of pin and described charging circuit is connected.The spring leaf of the technical program has good elastic force, has both been convenient to depress, when intelligent grass-removing exits after base plate, can upwarp very soon again, while being convenient to charge next time can also with the charging electrode good contact of intelligent grass-removing.
As preferably, described charging circuit comprises CPU, charging detection and control unit, push-button unit, display unit and radio communication unit, charging detection and control unit, push-button unit, display unit and radio communication unit are connected with described CPU respectively, and radio communication unit is connected with intelligent grass-removing is wireless.Under the control of CPU, detect and control unit output electric energy by charging.Carry out relevant setting by push-button unit, shown the operating state of charging device and intelligent grass-removing by display unit.Radio communication unit can adopt 433MHz communication module, also can adopt the communication module of other frequencies, other communication protocols, as ZIGBEE wireless module, WIFI wireless module or bluetooth module etc.
As preferably, in described cavity volume, be provided with fence circuit, fence circuit comprises constant current control unit, full-bridge type electric-motor drive unit and current sample feedback unit, constant current control unit and full-bridge type electric-motor drive unit are connected with described CPU respectively, constant current control unit is connected with full-bridge type electric-motor drive unit again, the output of full-bridge type electric-motor drive unit is connected with the plain conductor as fence, the input of current sample feedback unit is connected with described full-bridge type electric-motor drive unit, the output of current sample feedback unit is connected with described CPU.Send signal controlling full-bridge type electric-motor drive unit generation a-c cycle signal by CPU and flow to fence, send signal to constant current control unit by CPU, then by constant current control unit control full-bridge type electric-motor drive unit with keep constant current.Full-bridge type electric-motor drive unit can adopt the motor drive ic such as L298, A4950.The loading range that the technical program connects fence line is large, increases the working range of intelligent robot, reduces electromagnetic interference.
The charging method of intelligent grass-removing charging device of the present invention is, described intelligent grass-removing and described charging circuit carry out wireless telecommunications, in the time of intelligent grass-removing power shortage, intelligent grass-removing is located the position of described charging device by wireless telecommunications, automatically drive towards charging device, intelligent grass-removing is under the effect of driving wheel, climb up described base plate, driving wheel works on, in the time described elastic conductor being depressed under the Action of Gravity Field of the charging electrode bottom intelligent grass-removing at intelligent grass-removing, the charging electrode of intelligent grass-removing fully contacts with elastic conductor, charging device charges to intelligent grass-removing, the driving wheel of intelligent grass-removing quits work.Adopt the upper and lower way of contact to realize the connection between the charging electrode of intelligent grass-removing and the elastic conductor of charging device, charge contact is very reliable, while charging, do not need the driving wheel of intelligent grass-removing to remain in operation, driving wheel is power consumption no longer simultaneously, effectively saves energy.
As preferably, in described cavity volume, be provided with fence circuit, fence circuit is connected with described charging circuit, and fence circuit is connected with the plain conductor as fence again; In the time of intelligent grass-removing power shortage, intelligent grass-removing is located the position of described charging device by wireless telecommunications, the electromagnetic field producing by detected electrons hedge, first automatically drive towards fence nearby, then intelligent grass-removing adjustment direction makes it front-wheel towards described charging device and rides on fence, then automatically drives towards charging device along fence.While guaranteeing that intelligent grass-removing travels to charging device, directed more accurate with location.
The invention has the beneficial effects as follows: the gravity that utilizes intelligent grass-removing, adopt the upper and lower way of contact to realize the connection between the charging electrode of intelligent grass-removing and the elastic conductor of charging device, charge contact is very reliable, and when charging, do not need intelligent grass-removing to have a power moving ahead to guarantee abundant contact, so do not need the driving wheel of intelligent grass-removing to remain in operation, driving wheel is power consumption no longer, the waste electric energy phenomenon of having avoided charging limit, traditional charging modes limit to drive, effectively saves energy.
Brief description of the drawings
Fig. 1 is a kind of perspective view of intelligent grass-removing charging device of the present invention.
Fig. 2 is a kind of stereo decomposing structural representation of intelligent grass-removing charging device of the present invention.
Fig. 3 is a kind of perspective view of intelligent grass-removing charging device Elastic conductor of the present invention.
Fig. 4 is a kind of perspective view of intelligent grass-removing charging device of the present invention when intelligent grass-removing is charged.
Fig. 5 is the elastic conductor of intelligent grass-removing charging device of the present invention and the charging electrode of the intelligent grass-removing a kind of sectional structure schematic diagram while contacting.
Fig. 6 is a kind of circuit theory syndeton block diagram of charging circuit and fence circuit in intelligent grass-removing charging device of the present invention.
Fig. 7 is a kind of circuit theory diagrams of charging circuit in intelligent grass-removing charging device of the present invention.
Fig. 8 is a kind of circuit theory diagrams of fence circuit in intelligent grass-removing charging device of the present invention.
1. upper covers in figure, 2. base plate, 3. cavity volume, 4. elastic conductor, 5. stiff end, 6. suspension end, 7. plush copper, 8. guide vane end stop, 9. block, 10. convex tendon, 11. CPU, 12. chargings detect and control unit, 13. push-button units, 14. display units, 15. radio communication units, 16. constant current control units, 17. full-bridge type electric-motor drive units, 18. current sample feedback units, 19. fences, 20. Pear-Shaped regions, 21. square regions, 22. indicator lights, 23. buttons, 24. fire-retardant, 30. intelligent grass-removings, 31. charging electrodes, 32. front-wheels, 33. trailing wheels, 41. substrates, tabs on 42., 43. arc-like sheets, 44. pins, 81. inclined-planes, 82. cambered surfaces, 83. arced terminus.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment: the intelligent grass-removing charging device of the present embodiment, as shown in Figure 1 and Figure 2, comprise the base housing forming that is connected with upper cover 1, base comprises a base plate 2 and is positioned at the cavity volume 3 in base plate 2 left sides, the left side of base plate is a large round end, and the right side of base plate is a small round head, curved smooth being connected between large round end and small round head, in cavity volume 3, be provided with and the wireless charging circuit being connected of intelligent grass-removing and fence circuit, upper cover 1 covers on cavity volume 3.The cross section of cavity volume 3 is " protruding " font, and plush copper 7, towards the right side of base plate 2, has two guide vane end stops 8 symmetrically on base plate 2, and guide vane end stop 8 exceeds 2, two guide vane end stops 8 of base plate and lay respectively at the both sides of plush copper 7.The right-hand member width of guide vane end stop 8 is less than left end width, and the lateral surface of guide vane end stop 8 has an inclined-plane 81 and a cambered surface 82, and the right-hand member of guide vane end stop 8 is arced terminus 83, and arced terminus 83, inclined-plane 81, cambered surface 82 and lateral surface are smoothly connected successively.The both sides that are positioned at plush copper 7 on base plate respectively have 9, two blocks 9 of a block being obliquely installed to lay respectively at the outside of two guide vane end stops 8, and two front-wheel 32 positions of the setting position of two blocks 9 and intelligent grass-removing 30 are corresponding.There is individual Pear-Shaped region 20 at the middle part of base plate 2, the bottom of cucurbit is surrounded by plush copper 7 and two guide vane end stops 8, between the right side edge of the top of cucurbit and base plate 2, there is a spacing, between the right side edge of the top of cucurbit and base plate 2, have two symmetrically arranged square regions 21, trailing wheel 33 positions of the setting position in square region 21 and intelligent grass-removing 30 are corresponding.On base plate 2, there is a lot of bars convex tendon parallel to each other 10, the setting party of convex tendon 10 is to sail the direction of charging device into vertical with intelligent grass-removing 20, and convex tendon 10 is distributed between the edge in Pear-Shaped region 20 and base plate 2 edges and between the outer ledge and base plate 2 edges in square region 21.On upper cover 1, there are two elastic conductors that upwarp 4 separately, elastic conductor 4 is positioned at plush copper 7 positions, one end of elastic conductor 4 is stiff end 5, the electric energy output end of stiff end 5 and charging circuit is connected, and stiff end 5 is towards the right side of base plate 2, the other end of elastic conductor 4 is suspension end 6, and suspension end 6 is higher than stiff end 5, and the setting position of elastic conductor 4 is corresponding with the setting position of charging electrode 31 that is arranged on intelligent grass-removing 30 bottoms.In the present embodiment, as shown in Figure 3, elastic conductor 4 is spring leaf, and spring leaf comprises substrate 41 and the upper tabs 42 being connected with substrate 41, and the middle part of upper tabs 42 is the arc-like sheets 43 that are mountain ridge, arc-like sheet 43 is near suspension end 6, substrate 41, as the stiff end 5 of spring leaf, is connected with pin 44 vertically downward on substrate 41, pin 44 passes upper cover and is inserted in cavity volume, the electric energy output end of pin and charging circuit is connected, and is provided with fire-retardant 24 between substrate edge and upper cover.On covered a guidance panel, five indicator lights 22 and two buttons 23 are installed on guidance panel, five indicator lights are respectively communication state indicator light, hay mover charged state indicator light, two fence indicator lights and a charging device status indicator lamp, and two buttons are respectively intelligent grass-removing and return to the button of mowing on charging device button and fence.
As shown in Figure 6, charging circuit comprises that CPU 11, charging detect and control unit 12, push-button unit 13, display unit 14 and radio communication unit 15, charging detects and control unit 12, push-button unit 13, display unit 14 and radio communication unit 15 are connected with CPU 11 respectively, and radio communication unit 15 is connected with intelligent grass-removing is wireless.Fence circuit comprises constant current control unit 16, full-bridge type electric-motor drive unit 17 and current sample feedback unit 18, constant current control unit 16 and full-bridge type electric-motor drive unit 17 are connected with CPU 11 respectively, constant current control unit 16 is connected with full-bridge type electric-motor drive unit 17 again, the output of full-bridge type electric-motor drive unit 17 be connected as the plain conductor of fence 19, the input of current sample feedback unit 18 is connected with full-bridge type electric-motor drive unit 17, and the output of current sample feedback unit 18 is connected with CPU 11.
As shown in Figure 7, CPU 11 comprises single-chip microcomputer U3, and single-chip microcomputer U3 adopts STC15F2K60S2 single-chip microcomputer; Charging detects and control unit 12 comprises triode Q14, triode Q13, triode Q12, triode Q2, field effect transistor Q1 and amplifier U6 and charging inlet CN2 and some resistance that are connected with these components and parts; Push-button unit 13 comprises button KEY1 and button KEY2, and display unit 14 comprises LED 1, LED 2, LED 3, LED 4 and LED 5.
One end ground connection of button KEY1 and button KEY2, the other end of button KEY1 had not only been connected but also had met voltage VCC through resistance R 29 with 2 pin of single-chip microcomputer U3, the other end of button KEY2 had not only been connected but also had met voltage VCC through resistance R 30 with 1 pin of single-chip microcomputer U3, LED 1, LED 2, LED 3, the negative pole of LED 4 and LED 5 is respectively through resistance R 8, resistance R 9, resistance R 10, 3 pin of resistance R 11 and resistance R 12 and single-chip microcomputer U3, 4 pin, 6 pin, 7 pin and 5 pin are connected, LED 1, LED 2, LED 3, the positive pole of LED 4 and LED 5 all meets voltage VCC.Button KEY1 and button KEY2 are inlaid in two buttons 23 that cover, and LED 1, LED 2, LED 3, LED 4 and LED 5 are exactly to be inlaid in five indicator lights 22 that cover.32 pin of single-chip microcomputer U3 are connected with the base stage of triode Q6 through resistance R 23, the grounded emitter of triode Q6, and the collector electrode of triode Q6 connects 12V voltage through the series circuit of resistance R 89 and resistance R 72, is parallel with buzzer BELL in resistance R 89.Corresponding different operating state can be sent corresponding sound prompting user.In the present embodiment, radio communication unit 15 comprises wireless communication module U10, wireless communication module U10 adopts 433MHz communication module, 1 pin～6 pin of wireless communication module U10 is connected with 30 pin～25 pin of single-chip microcomputer U3 respectively, 7 pin of wireless communication module U10 connect 3.3 voltages, 8 pin ground connection, are connected with capacitor C 8 between bipod.As shown in Figure 8, constant current control unit 2 comprises amplifier U7, triode Q10 and field effect transistor Q8; Full-bridge type electric-motor drive unit 3 includes motor drive ic U9, triode Q3 and the triode Q5 of built-in full-bridge circuit, and motor drive ic U9 adopts L298N motor drive ic; Current sample feedback unit 5 comprises amplifier U8.The inverting input of amplifier U7 is connected through 34 pin of resistance R 34 and single-chip microcomputer U3, the inverting input of amplifier U7 is again through the parallel circuits ground connection of resistance R 58 and capacitor C 12, the output of amplifier U7 is connected with the base stage of triode Q10 through resistance R 56, the grounded emitter of triode Q10, the collector electrode of triode Q10 is connected with the grid of field effect transistor Q8, between the drain electrode of the grid of field effect transistor Q8 and field effect transistor Q8, be connected with resistance R 33, the drain electrode of field effect transistor Q8 connects 12V voltage, the source electrode of field effect transistor Q8 is connected with one end of inductance L 3, the other end of inductance L 3, one tunnel is through the parallel circuits ground connection of capacitor C 11 and capacitor C 24, another road is through the series circuit ground connection of resistance R 59 and resistance R 50, also have 4 pin of a road and motor drive ic U9 to be connected, the also contact of resistance R 59 and resistance R 50 is connected with the in-phase input end of amplifier U7, the base stage of the base stage of triode Q3 and triode Q5 is respectively through resistance R 13, 35 pin and 33 pin of resistance R 18 and single-chip microcomputer U3 are connected, the equal ground connection of emitter of the emitter of triode Q3 and triode Q5, the collector electrode of triode Q3, one tunnel meets voltage VCC through resistance R 14, another road is connected through 5 pin and 12 pin of resistance R 15 and motor drive ic U9, the collector electrode of triode Q5, one tunnel meets voltage VCC through resistance R 20, another road is connected through 6 pin and 11 pin of resistance R 22 and motor drive ic U9, 35 pin of single-chip microcomputer U3 are connected with 7 pin and 10 pin of motor drive ic U9 again, the 4 foot meridian capacitor C13 ground connection of motor drive ic U9, 9 pin of motor drive ic U9 meet voltage VCC, the 8 pin ground connection of motor drive ic U9, 3 pin of motor drive ic U9 are with 13 pin and connect and be connected with 1 pin of interface LINE1, 2 pin of motor drive ic U9 are with 14 pin and connect and be connected with 2 pin of interface LINE1, the negative pole of the negative pole of diode D3 and diode D5 also connects and is connected with 4 pin of motor drive ic U9, the plus earth of the positive pole of diode D4 and diode D6, the negative pole of the positive pole of diode D3 and diode D4 is all connected with 1 pin of interface LINE1, the negative pole of the positive pole of diode D5 and diode D6 is all connected with 2 pin of interface LINE1, interface LINE1 is connected again with as the plain conductor of fence 4, the in-phase input end of amplifier U8, one tunnel is connected through 1 pin and 15 pin of resistance R 42 and motor drive ic U9, another road is through capacitor C 18 ground connection, the also contact of 1 pin of motor drive ic U9 and 15 pin is through resistance R 66 ground connection, the inverting input of amplifier U8, one tunnel is through resistance R 41 ground connection, another road is connected with the output of amplifier U8 through resistance R 61, the output of amplifier U8 is connected with one end of resistance R 40, the other end of resistance R 40, one tunnel is through the parallel circuits ground connection of resistance R 39 and capacitor C 16, and 8 pin of another road and single-chip microcomputer U3 are connected.The power supply interface of charging device and fence interface are inlaid in respectively on the left surface of cavity volume.
The charging method of above-mentioned intelligent grass-removing charging device is: the power supply interface of charging device is connected to mains-supplied socket by power line, to be placed into as the plain conductor of fence 19 on the work border of intelligent grass-removing 30, the termination of plain conductor is connected on fence interface, charging circuit in intelligent grass-removing 30 and charging device carries out wireless telecommunications, in the time of intelligent grass-removing power shortage, intelligent grass-removing is located the position of charging device by wireless telecommunications, the electromagnetic field producing by detected electrons hedge 19, first automatically drive towards fence 19 nearby, then intelligent grass-removing 30 is adjusted direction and is made it front-wheel 32 towards charging device and ride on fence 19, then automatically drive towards charging device along fence 19, intelligent grass-removing is under the effect of driving wheel, sail into and drive to base plate from base plate 2 right sides, as shown in Figure 4, driving wheel works on, in the time that the front-wheel 32 of intelligent grass-removing leans on mutually with block 9, left, off-front wheel is just in time positioned at the outside of two guide vane end stops 8, trailing wheel 33 is just in time positioned on the square region 21 of base plate 2, the lower protuberance position of the charging electrode 31 of intelligent grass-removing 30 bottoms is just in time positioned at arc-like sheet 43 tops of elastic conductor 4, as shown in Figure 5, under the Action of Gravity Field of intelligent grass-removing, the charging electrode 31 of intelligent grass-removing 30 bottoms depresses the suspension end 6 of elastic conductor 4 and the lower protuberance position of charging electrode 31 is pressed on arc-like sheet 43, the charging electrode 31 of intelligent grass-removing 30 is fully contacted with spring leaf, charging device charges to intelligent grass-removing 30, the driving wheel of intelligent grass-removing 30 quits work, rear buzzer call has charged.
Press the intelligent grass-removing covering and return to charging device button, this control signal is wirelessly sent to intelligent grass-removing, after intelligent grass-removing receives orders, rides on fence, and drives on the base plate of charging device, and process is the same.
Press the button of mowing on the fence covering, this control signal is wirelessly sent to intelligent grass-removing, after intelligent grass-removing receives orders, travels along fence, on boundary line, mows.
Claims (10)
1. an intelligent grass-removing charging device, comprise the base housing forming that is connected with upper cover (1), in housing, be provided with charging circuit, base described in it is characterized in that comprises a base plate (2) and is located at the cavity volume (3) in base plate (2) left side, described charging circuit is located in cavity volume (3), described upper cover (1) covers on cavity volume (3), described upper cover (1) is provided with two elastic conductors that upwarp (4) separately, one end of elastic conductor (4) is stiff end (5), the electric energy output end of stiff end (5) and described charging circuit is connected, and stiff end (5) is towards the right side of described base plate (2), the other end of elastic conductor (4) is suspension end (6), suspension end (6) is higher than stiff end (5), the setting position of elastic conductor (4) is corresponding with the setting position of charging electrode (31) that is arranged on intelligent grass-removing (30) bottom, described charging circuit and wireless being connected of intelligent grass-removing (30).
2. intelligent grass-removing charging device according to claim 1, the cross section that it is characterized in that described cavity volume (3) is " protruding " font, plush copper (7) is towards the right side of described base plate (2), on described base plate (2), be provided with symmetrically two guide vane end stops (8), guide vane end stop (8) exceeds base plate (2), two guide vane end stops (8) lay respectively at the both sides of plush copper (7), and described elastic conductor (4) is positioned in described plush copper (7).
3. intelligent grass-removing charging device according to claim 2, the right-hand member width that it is characterized in that described guide vane end stop (8) is less than left end width, the lateral surface of guide vane end stop (8) has an inclined-plane (81) and a cambered surface (82), the right-hand member of guide vane end stop (8) is an arced terminus (83), and arced terminus (83), inclined-plane (81), cambered surface (82) and lateral surface are smoothly connected successively.
4. according to the intelligent grass-removing charging device described in claim 2 or 3, the both sides that it is characterized in that described plush copper (7) are respectively provided with a block being obliquely installed (9), two blocks (9) lay respectively at the outside of two guide vane end stops (8), and two front-wheels (32) position of the setting position of two blocks (9) and intelligent grass-removing (30) is corresponding.
5. according to a kind of intelligent grass-removing charging device described in claim 1 or 2 or 3, it is characterized in that described base plate (2) is provided with a lot of bars convex tendon parallel to each other (10), the setting party of convex tendon (10) is to sail the direction of charging device into vertical with intelligent grass-removing (30).
6. according to the intelligent grass-removing charging device described in claim 1 or 2 or 3, it is characterized in that described elastic conductor (4) is spring leaf, spring leaf comprises substrate (41) and the upper tabs (42) being connected with substrate (41), the middle part of upper tabs (42) is the arc-like sheet (43) that is mountain ridge, arc-like sheet (43) is near described suspension end (6), substrate (41) is as the stiff end (5) of spring leaf, on substrate (41), be connected with pin (44) vertically downward, the electric energy output end of pin (44) and described charging circuit is connected.
7. according to the intelligent grass-removing charging device described in claim 1 or 2 or 3, it is characterized in that described charging circuit comprises that CPU (11), charging detect and control unit (12), push-button unit (13), display unit (14) and radio communication unit (15), charging detects and control unit (12), push-button unit (13), display unit (14) and radio communication unit (15) are connected with described CPU (11) respectively, and radio communication unit (15) is connected with intelligent grass-removing is wireless.
8. intelligent grass-removing charging device according to claim 7, it is characterized in that being provided with fence circuit in described cavity volume (3), fence circuit comprises constant current control unit (16), full-bridge type electric-motor drive unit (17) and current sample feedback unit (18), constant current control unit (16) and full-bridge type electric-motor drive unit (17) are connected with described CPU (11) respectively, constant current control unit (16) is connected with full-bridge type electric-motor drive unit (17) again, the output of full-bridge type electric-motor drive unit (17) be connected as the plain conductor of fence (19), the input of current sample feedback unit (18) is connected with described full-bridge type electric-motor drive unit (17), the output of current sample feedback unit (18) is connected with described CPU (11).
9. the charging method of an intelligent grass-removing charging device as claimed in claim 1, it is characterized in that described intelligent grass-removing (30) and described charging circuit carry out wireless telecommunications, in the time of intelligent grass-removing power shortage, intelligent grass-removing is located the position of described charging device by wireless telecommunications, automatically drive towards charging device, intelligent grass-removing is under the effect of driving wheel, climb up described base plate (2), driving wheel works on, in the time described elastic conductor (4) being depressed under the Action of Gravity Field of the charging electrode (31) bottom intelligent grass-removing (30) at intelligent grass-removing, the charging electrode (31) of intelligent grass-removing (30) fully contacts with elastic conductor (4), charging device charges to intelligent grass-removing (30), the driving wheel of intelligent grass-removing (30) quits work.
10. charging method according to claim 9, is characterized in that being provided with fence circuit in described cavity volume (3), and fence circuit is connected with described charging circuit, and fence circuit is connected again with as the plain conductor of fence (19); In the time of intelligent grass-removing (30) power shortage, intelligent grass-removing is located the position of described charging device by wireless telecommunications, the electromagnetic field producing by detected electrons hedge (19), first automatically drive towards fence (19) nearby, then intelligent grass-removing (30) adjustment direction makes it front-wheel (32) towards described charging device and rides over fence (19) above, then automatically drives towards charging device along fence (19).
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| CN201410204833.XA CN104124730B (en) | 2014-05-14 | 2014-05-14 | Intelligent grass-removing charging device and charging method thereof |
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| CN201410204833.XA CN104124730B (en) | 2014-05-14 | 2014-05-14 | Intelligent grass-removing charging device and charging method thereof |
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| CN104124730B (en) | 2016-09-28 |
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