CN104124730B - Intelligent grass-removing charging device and charging method thereof - Google Patents
Intelligent grass-removing charging device and charging method thereof Download PDFInfo
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- CN104124730B CN104124730B CN201410204833.XA CN201410204833A CN104124730B CN 104124730 B CN104124730 B CN 104124730B CN 201410204833 A CN201410204833 A CN 201410204833A CN 104124730 B CN104124730 B CN 104124730B
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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
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Abstract
The present invention relates to a kind of intelligent grass-removing charging device and charging method thereof.Charging device includes base and upper cover, base includes a base plate and is located at the cavity volume on the left of base plate, charging circuit it is provided with in cavity volume, upper cover covers on cavity volume, on cover and be provided with two elastic conductors upwarped separately, one end of elastic conductor is fixing end and is connected with the electric energy output end of charging circuit, the other end of elastic conductor is suspension end, elastic conductor position is set with the charging electrode being arranged on bottom intelligent grass-removing to arrange position corresponding, charging circuit is wireless with intelligent grass-removing to be connected.Charging method is: when intelligent grass-removing electric power deficiency, intelligent grass-removing drives towards charging device automatically, climbs up base plate, and the charging electrode bottom intelligent grass-removing is depressed elastic conductor under gravity and realized being fully contacted, starting to charge up, now intelligent grass-removing driving wheel quits work.Charge contact of the present invention is reliable, effectively save electric energy.
Description
Technical field
The present invention relates to a kind of charging device, particularly relate to a kind of intelligent grass-removing charging device and charging method thereof.
Background technology
Along with the development of science and technology, in order to time-consuming, save labour force, occur in that various intelligent robot, such as full-automatic sweeper, full-automatic hay mover etc., save soon and gather the needs of work and life meeting people.Intelligent robot is walked about owing to being required in work process, therefore typically all uses rechargeable battery powered, when electric energy deficiency, it is necessary to be charged it by charging device.The most full-automatic sweeper, the charging inlet of full-automatic hay mover are the most all located at the front end of machine, side or afterbody, and the charging inlet on charging device is located at side, and two charging inlets use the horizontal way of contact, are charged after full contact.Using this charging modes, during charging, intelligent robot has always a demand for driving wheel and provides power, just can ensure that charge contact member in tight contacts, and once driving wheel cannot provide power (as having a power failure, shutting down), then cannot reliably be charged.It is to say, use current charging device, intelligent robot its driving wheel when charging necessarily be in running status, charging limit, limit also in power consumption, inadequate saves energy, and there is also the defect that charge contact is less reliable.
Summary of the invention
Present invention mainly solves original intelligent robot charging device charge contact less reliable, intelligent robot driving wheel must operate to provide power, not the technical problem of saves energy；Thering is provided a kind of intelligent grass-removing charging device and charging method thereof, when intelligent grass-removing is charged by it, charge contact is very reliable, and the driving wheel that need not intelligent grass-removing operates to provide power, saves energy.
The above-mentioned technical problem of the present invention is mainly addressed by following technical proposals: the intelligent grass-removing charging device of the present invention, the housing being connected with upper cover including base, charging circuit it is provided with in housing, described base includes a base plate and is located at the cavity volume on the left of base plate, described charging circuit is located in cavity volume, described upper cover covers on cavity volume, cover on described and be provided with two elastic conductors upwarped separately, one end of elastic conductor is fixing end, fixing end is connected with the electric energy output end of described charging circuit, and fixing end is towards the right side of described base plate, the other end of elastic conductor is suspension end, suspension end is higher than fixing end, elastic conductor position is set with the charging electrode being arranged on bottom intelligent grass-removing to arrange position corresponding, described charging circuit is wireless with intelligent grass-removing to be connected.Intelligent grass-removing and charging circuit communicate wirelessly, when intelligent grass-removing electric power deficiency, intelligent grass-removing is by the position of wireless telecommunications location charging device, automatically charging device is driven towards, intelligent grass-removing is under the effect of driving wheel, climb up base plate, driving wheel works on, when the suspension end of elastic conductor is depressed under the action of gravity of intelligent grass-removing by the charging electrode bottom intelligent grass-removing, both are fully contacted, intelligent grass-removing is charged by charging device, and the driving wheel of intelligent grass-removing quits work.The present invention utilizes the gravity of intelligent grass-removing, the upper and lower way of contact is used to realize the connection between the charging electrode of intelligent grass-removing and the elastic conductor of charging device, charge contact is the most reliable, the most therefore, during charging, it is not necessary to intelligent grass-removing has a power moved ahead to guarantee to be fully contacted, so the driving wheel that need not intelligent grass-removing remains in operation, driving wheel no longer power consumption, it is to avoid the wasting phenomenon that traditional charging modes limit charging limit drives, effectively save electric energy.
As preferably, the cross section of described cavity volume is in " convex " font, and plush copper is towards the right side of described base plate, two limited blocks it are provided with symmetrically on described base plate, limited block exceeds base plate, and two limited blocks 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 above plush copper.Limited block plays orientation and position-limiting action, guarantee that the front-wheel of intelligent grass-removing is along continuing to move ahead outside it, make the charging electrode bottom intelligent grass-removing and the elastic conductor accurate contraposition on charging device, further ensure that the charging electrode bottom intelligent grass-removing and elastic conductor reliably turn on.
As preferably, the right-hand member width of described limited block is less than left end width, and the lateral surface of limited block has an inclined-plane and a cambered surface, and the right-hand member of limited block is an arced terminus, and arced terminus, inclined-plane, cambered surface and lateral surface are smoothly connected successively.Further ensure that intelligent grass-removing is had good guide effect, guarantee the front-wheel of intelligent grass-removing is not resulted in 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 limited blocks, two blocks to arrange position corresponding with the two of intelligent grass-removing front wheel positions.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 impulsive force when intelligent grass-removing continues to move ahead caused charging device, makes charging device to shift, it is ensured that the charging electrode bottom intelligent grass-removing and the elastic conductor accurate contraposition on charging device.
As preferably, described base plate is provided with the convex tendon that a lot of bar is parallel to each other, and the direction that the setting direction of convex tendon sails charging device into intelligent grass-removing is vertical.Due to the charging electrode bottom intelligent grass-removing and the elastic conductor on charging device contact conducting after, the driving wheel of intelligent grass-removing is off work, therefore the setting of convex tendon, with increasing friction force, it is ensured that during charging, intelligent grass-removing will not retreat and terminate charging.
As preferably, described elastic conductor is spring leaf, spring leaf includes substrate and the upper tabs being connected with substrate, the middle part of upper tabs is the arc-like sheet in mountain ridge, arc-like sheet is near described suspension end, substrate, as the fixing end of spring leaf, substrate connects the pin having vertically downward, and pin is connected with the electric energy output end of described charging circuit.The spring leaf of the technical program has good elastic force, had both been easy to pressure, and after intelligent grass-removing exits base plate, can quickly upwarp again, it is simple to next time can also be with the charging electrode good contact of intelligent grass-removing during charging.
As preferably, described charging circuit includes 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 wireless with intelligent grass-removing to be connected.Under the control of the central processing unit, detected by charging and control unit exports electric energy.Relevant setting is carried out, by display unit display charging device and the duty of intelligent grass-removing by push-button unit.Radio communication unit can use 433MHz communication module, it would however also be possible to employ other frequencies, the communication module of other communication protocols, such as ZIGBEE wireless module, WIFI wireless module or bluetooth module etc..
As preferably, described cavity volume is provided with fence circuit, fence circuit includes 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 outfan 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 outfan of current sample feedback unit is connected with described CPU.Sent signal control full-bridge type electric-motor drive unit generation a-c cycle signal by CPU and flow to fence, it is signaled to constant-current control unit by CPU, then is controlled full-bridge type electric-motor drive unit to keep constant current by constant-current control unit.Full-bridge type electric-motor drive unit can use the motor drive ics such as L298, A4950.The loading range of the technical program connect fence line is big, increases the working range of intelligent robot, reduces electromagnetic interference.
The charging method of the intelligent grass-removing charging device of the present invention is, described intelligent grass-removing and described charging circuit communicate wirelessly, when intelligent grass-removing electric power deficiency, intelligent grass-removing by wireless telecommunications position described in the position of charging device, automatically charging device is driven towards, intelligent grass-removing is under the effect of driving wheel, climb up described base plate, driving wheel works on, when described elastic conductor is depressed under the action of gravity of intelligent grass-removing by the charging electrode bottom intelligent grass-removing, charging electrode and the elastic conductor of intelligent grass-removing are fully contacted, intelligent grass-removing is charged by charging device, the driving wheel of intelligent grass-removing quits work.Using 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 the driving wheel that simultaneously need not intelligent grass-removing during charging remains in operation, driving wheel no longer power consumption, effectively save electric energy.
As preferably, being provided with fence circuit in described cavity volume, fence circuit is connected with described charging circuit, and fence circuit is connected with the plain conductor as fence again；When intelligent grass-removing electric power deficiency, intelligent grass-removing by wireless telecommunications position described in the position of charging device, the electromagnetic field produced by detection fence, first automatically drive towards fence nearby, then intelligent grass-removing adjustment direction is allowed to front-wheel and towards described charging device and rides on fence, then automatically drives towards charging device along fence.Guarantee intelligent grass-removing when charging device travels, it is more accurate to orient and position.
The invention has the beneficial effects as follows: utilize the gravity of intelligent grass-removing, the upper and lower way of contact is used to realize the connection between the charging electrode of intelligent grass-removing and the elastic conductor of charging device, charge contact is the most reliable, and when charging, need not intelligent grass-removing has a power moved ahead to guarantee to be fully contacted, so the driving wheel that need not intelligent grass-removing remains in operation, and driving wheel no longer power consumption, avoid the waste electric energy phenomenon that tradition charging limit, charging modes limit drives, effectively save electric energy.
Accompanying drawing explanation
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 the intelligent grass-removing charging device of the present invention a kind of perspective view when charging intelligent grass-removing.
Fig. 5 is the elastic conductor of intelligent grass-removing charging device of the present invention a kind of sectional structure schematic diagram when contacting with the charging electrode of intelligent grass-removing.
Fig. 6 is charging circuit and a kind of circuit theory attachment structure block diagram of 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.
null1. upper cover in figure，2. base plate，3. cavity volume，4. elastic conductor，5. fixing end，6. suspension end，7. plush copper，8. limited block，9. block，10. convex tendon，11. CPU，12. charging detection and control units，13. push-button units，14. display units，15. radio communication units，16. constant-current control unit，17. full-bridge type electric-motor drive units，18. current sample feedback units，19. fences，20. Pear-Shaped regions，21. square areas，22. display lamps，23. buttons，24. fire-retardant parts，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.
Detailed description of the invention
Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.
Embodiment: the intelligent grass-removing charging device of the present embodiment, as shown in Figure 1 and Figure 2, the housing being connected with upper cover 1 including base, base includes a base plate 2 and is positioned at the cavity volume 3 on the left of base plate 2, the left side of base plate is a big round end, and the right side of base plate is a small round head, curved smooth connected between big round end and small round head, being provided with the charging circuit that be connected wireless with intelligent grass-removing and fence circuit in cavity volume 3, upper cover 1 covers on cavity volume 3.The cross section of cavity volume 3 is in " convex " font, and plush copper 7, towards the right side of base plate 2, base plate 2 has two limited blocks 8 symmetrically, and limited block 8 exceeds base plate 2, and two limited blocks 8 lay respectively at the both sides of plush copper 7.The right-hand member width of limited block 8 is less than left end width, and the lateral surface of limited block 8 has an inclined-plane 81 and a cambered surface 82, and the right-hand member of limited block 8 is an arced terminus 83, and arced terminus 83, inclined-plane 81, cambered surface 82 and lateral surface are smoothly connected successively.The both sides being positioned at plush copper 7 on base plate are respectively arranged with a block being obliquely installed 9, and two blocks 9 lay respectively at the outside of two limited blocks 8, two blocks 9 to arrange position corresponding with the two of intelligent grass-removing 30 front-wheel 32 positions.There is individual Pear-Shaped region 20 at the middle part of base plate 2, the bottom of calabash is surrounded by plush copper 7 and two limited blocks 8, a spacing is had between top and the right side edge of base plate 2 of calabash, have two symmetrically arranged square areas 21 between top and the right side edge of base plate 2 of calabash, square areas 21 to arrange position corresponding with trailing wheel 33 position of intelligent grass-removing 30.The convex tendon 10 that a lot of bar is parallel to each other is had on base plate 2, the direction that the setting direction of convex tendon 10 sails charging device into intelligent grass-removing 20 is vertical, and convex tendon 10 is distributed between the edge in Pear-Shaped region 20 and base plate 2 edge and between the outer ledge of square areas 21 and base plate 2 edge.Two elastic conductors 4 upwarped separately are had on upper cover 1, elastic conductor 4 is positioned at plush copper 7 position, one end of elastic conductor 4 is fixing end 5, fixing end 5 is connected with the electric energy output end of charging circuit, and fixing end 5 right sides towards base plate 2, the other end of elastic conductor 4 is suspension end 6, suspension end 6 higher than fixing end 5, elastic conductor 4 position is set with the charging electrode 31 being arranged on intelligent grass-removing bottom 30 to arrange position corresponding.In the present embodiment, as shown in Figure 3, elastic conductor 4 is spring leaf, and spring leaf includes substrate 41 and the upper tabs 42 being connected with substrate 41, and the middle part of upper tabs 42 is the arc-like sheet 43 in mountain ridge, arc-like sheet 43 is near suspension end 6, substrate 41, as the fixing end 5 of spring leaf, substrate 41 connects the pin 44 having vertically downward, and pin 44 is through upper cover and is inserted in cavity volume, pin is connected with the electric energy output end of charging circuit, is provided with fire-retardant part 24 between substrate edge and upper cover.On covered a guidance panel, five display lamps 22 and two buttons 23 are installed on guidance panel, five display lamps are respectively communication state display lamp, hay mover charge status indicating light, two fence display lamps and a charging device status indicator lamp, and two buttons are respectively intelligent grass-removing and return mowing button on charging device button and fence.
As shown in Figure 6, charging circuit includes CPU 11, charging detection and control unit 12, push-button unit 13, display unit 14 and radio communication unit 15, charging detection 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 wireless with intelligent grass-removing to be connected.Fence circuit includes 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 outfan of full-bridge type electric-motor drive unit 17 is connected with the plain conductor as fence 19, the input of current sample feedback unit 18 is connected with full-bridge type electric-motor drive unit 17, and the outfan of current sample feedback unit 18 is connected with CPU 11.
As it is shown in fig. 7, CPU 11 includes that single-chip microcomputer U3, single-chip microcomputer U3 use STC15F2K60S2 single-chip microcomputer；Charging detection and control unit 12 include audion Q14, audion Q13, audion Q12, audion Q2, field effect transistor Q1 and amplifier U6 and charging inlet CN2 and some resistance being connected with these components and parts；Push-button unit 13 includes button KEY1 and button KEY2, and display unit 14 includes 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 with 2 feet of single-chip microcomputer U3 but also had met voltage VCC through resistance R29, the other end of button KEY2 had not only been connected with 1 foot of single-chip microcomputer U3 but also had met voltage VCC through resistance R30, LED 1, LED 2, LED 3, the negative pole of LED 4 and LED 5 is respectively through resistance R8, resistance R9, resistance R10, 3 feet of resistance R11 and resistance R12 and single-chip microcomputer U3, 4 feet, 6 feet, 7 feet and 5 feet 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 is exactly to be inlaid in two buttons 23 covered, and LED 1, LED 2, LED 3, LED 4 and LED 5 are inlaid in five display lamps 22 covered exactly.32 feet of single-chip microcomputer U3 are connected through the base stage of resistance R23 with audion Q6, the grounded emitter of audion Q6, and the colelctor electrode of audion Q6 connects 12V voltage through the series circuit of resistance R89 and resistance R72, and resistance R89 is parallel with buzzer BELL.Corresponding different duty can send corresponding sound prompting user.In the present embodiment, radio communication unit 15 includes wireless communication module U10, wireless communication module U10 uses 433MHz communication module, 1 foot of wireless communication module U10～6 feet are connected with 30 feet～25 feet of single-chip microcomputer U3 respectively, 7 feet of wireless communication module U10 connect 3.3 voltages, 8 foot ground connection, and connecting between bipod has electric capacity C8.As shown in Figure 8, constant-current control unit 2 includes amplifier U7, audion Q10 and field effect transistor Q8；Full-bridge type electric-motor drive unit 3 includes the motor drive ic U9 of built-in full-bridge circuit, audion Q3 and audion Q5, and motor drive ic U9 uses L298N motor drive ic；Current sample feedback unit 5 includes amplifier U8.nullThe inverting input of amplifier U7 is connected through 34 feet of resistance R34 and single-chip microcomputer U3，The inverting input of amplifier U7 is again through the parallel circuit ground connection of resistance R58 and electric capacity C12，The outfan of amplifier U7 is connected through the base stage of resistance R56 with audion Q10，The grounded emitter of audion Q10，The colelctor electrode of audion Q10 is connected with the grid of field effect transistor Q8，Connect between grid and the drain electrode of field effect transistor Q8 of field effect transistor Q8 and have resistance R33，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 L3，The other end of inductance L3，One tunnel is through the parallel circuit ground connection of electric capacity C11 and electric capacity C24，Another road is through the series circuit ground connection of resistance R59 and resistance R50，A road is also had to be connected with 4 feet of motor drive ic U9，The also contact of resistance R59 and resistance R50 is connected with the in-phase input end of amplifier U7；nullThe base stage of audion Q3 and the base stage of audion Q5 are respectively through resistance R13、35 feet and 33 feet of resistance R18 and single-chip microcomputer U3 are connected，The emitter stage of audion Q3 and the equal ground connection of emitter stage of audion Q5，The colelctor electrode of audion Q3，One tunnel meets voltage VCC through resistance R14，Another road is connected through 5 feet and 12 feet of resistance R15 and motor drive ic U9，The colelctor electrode of audion Q5，One tunnel meets voltage VCC through resistance R20，Another road is connected through 6 feet and 11 feet of resistance R22 and motor drive ic U9，35 feet of single-chip microcomputer U3 are connected with 7 feet and 10 feet of motor drive ic U9 again，The 4 foot meridian capacitor C13 ground connection of motor drive ic U9，9 feet of motor drive ic U9 meet voltage VCC，The 8 foot ground connection of motor drive ic U9，3 feet of motor drive ic U9 and 13 feet also connect and are connected with 1 foot of interface LINE1，2 feet of motor drive ic U9 and 14 feet also connect and are connected with 2 feet of interface LINE1，The negative pole of the negative pole of diode D3 and diode D5 also connects and is connected with 4 feet of motor drive ic U9，The positive pole of diode D4 and the plus earth of diode D6，The positive pole of diode D3 and the negative pole of diode D4 are all connected with 1 foot of interface LINE1，The positive pole of diode D5 and the negative pole of diode D6 are all connected with 2 feet of interface LINE1，Interface LINE1 is connected with the plain conductor as fence 4 again；The in-phase input end of amplifier U8, one tunnel is connected through 1 foot and 15 feet of resistance R42 and motor drive ic U9, another road is through electric capacity C18 ground connection, 1 foot of motor drive ic U9 and the also contact of 15 feet are through resistance R66 ground connection, the inverting input of amplifier U8, one tunnel is through resistance R41 ground connection, another road is connected with the outfan of amplifier U8 through resistance R61, the outfan of amplifier U8 is connected with one end of resistance R40, the other end of resistance R40, one tunnel is connected through 8 feet of the parallel circuit ground connection of resistance R39 and electric capacity C16, another road and single-chip microcomputer U3.Power supply interface and the fence interface of charging device are inlaid on the left surface of cavity volume respectively.
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, being placed on the work border of intelligent grass-removing 30 by plain conductor as fence 19, the termination of plain conductor is connected on fence interface；nullCharging circuit in intelligent grass-removing 30 and charging device communicates wirelessly，When intelligent grass-removing electric power deficiency，Intelligent grass-removing is by the position of wireless telecommunications location charging device，The electromagnetic field produced by detection fence 19，First automatically drive towards fence 19 nearby，Then intelligent grass-removing 30 adjustment direction is allowed to front-wheel 32 and towards charging device and rides on fence 19，Then automatically charging device is driven towards along fence 19，Intelligent grass-removing is under the effect of driving wheel，Sail on the right side of base plate 2 and drive to base plate，As shown in Figure 4，Driving wheel works on，When the front-wheel 32 of intelligent grass-removing leans on mutually with block 9，Left、Off-front wheel is placed exactly in the outside of two limited blocks 8，Trailing wheel 33 is placed exactly on the square areas 21 of base plate 2，The lower protuberance position of the charging electrode 31 bottom intelligent grass-removing 30 is placed exactly in above the arc-like sheet 43 of elastic conductor 4，As shown in Figure 5，Under the action of gravity of intelligent grass-removing，The lower protuberance position of suspension end 6 and charging electrode 31 that the charging electrode 31 bottom intelligent grass-removing 30 depresses elastic conductor 4 is pressed on arc-like sheet 43，The charging electrode 31 and the spring leaf that make intelligent grass-removing 30 are fully contacted，Intelligent grass-removing 30 is charged by charging device，The driving wheel of intelligent grass-removing 30 quits work，Buzzer call after charging complete.
Pressing the intelligent grass-removing covered and return charging device button, this control signal is wirelessly sent to intelligent grass-removing, after intelligent grass-removing receives order, then rides on fence, and drives on the base plate of charging device, and process is ibid.
Pressing mowing button on the fence covered, this control signal is wirelessly sent to intelligent grass-removing, after intelligent grass-removing receives order, then travels along fence, mows on boundary line.
Claims (7)
1. an intelligent grass-removing charging device, the housing being connected with upper cover (1) including base, shell
Internal it is provided with charging circuit, it is characterised in that described base includes a base plate (2) and is located at base plate (2)
The cavity volume (3) in left side, described charging circuit is located in cavity volume (3), described upper cover (1) Gai Rong
On chamber (3), described upper cover (1) is provided with two elastic conductors (4) upwarped separately, elastic
One end of conductor (4) is fixing end (5), fixing end (5) and the electric energy output end of described charging circuit
It is connected, and fixing end (5) right side towards described base plate (2), the other end of elastic conductor (4)
For suspension end (6), suspension end (6) higher than fixing end (5), elastic conductor (4) position and peace are set
It is contained in the charging that to arrange position corresponding, described of the charging electrode (31) of intelligent grass-removing (30) bottom
Circuit is wireless with intelligent grass-removing (30) to be connected；The cross section of described cavity volume (3) in " convex " font,
Plush copper (7), towards the right side of described base plate (2), described base plate (2) is provided with two limits symmetrically
Position block (8), limited block (8) exceeds base plate (2), and two limited blocks (8) lay respectively at plush copper (7)
Both sides, described elastic conductor (4) is positioned in described plush copper (7).
Intelligent grass-removing charging device the most according to claim 1, it is characterised in that described limited block
(8) right-hand member width is less than left end width, and the lateral surface of limited block (8) has an inclined-plane (81) and
Individual cambered surface (82), the right-hand member of limited block (8) is an arced terminus (83), arced terminus (83), inclined-plane
(81), cambered surface (82) and lateral surface are smoothly connected successively.
Intelligent grass-removing charging device the most according to claim 1 and 2, it is characterised in that described is convex
The both sides of head (7) are respectively provided with a block being obliquely installed (9), and two blocks (9) lay respectively at two
The outside of limited block (8), before two that arrange position and intelligent grass-removing (30) of two blocks (9)
Wheel (32) position is corresponding.
A kind of intelligent grass-removing charging device the most according to claim 1 and 2, it is characterised in that described
Base plate (2) be provided with a lot of bar convex tendon parallel to each other (10), the setting direction of convex tendon (10) and intelligence
The direction that energy hay mover (30) sails charging device into is vertical.
Intelligent grass-removing charging device the most according to claim 1 and 2, it is characterised in that described bullet
Property conductor (4) is spring leaf, and spring leaf includes 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) in mountain ridge, and arc-like sheet (43) is near described
Suspension end (6), substrate (41) is as the fixing end (5) of spring leaf, and the upper connection of substrate (41) has vertically
Pin (44) down, pin (44) is connected with the electric energy output end of described charging circuit.
Intelligent grass-removing charging device the most according to claim 1 and 2, it is characterised in that described fills
Electricity circuit include CPU (11), charging detection and control unit (12), push-button unit (13),
Display unit (14) and radio communication unit (15), charging detection and control unit (12), push-button unit
(13), display unit (14) and radio communication unit (15) respectively with described CPU (11)
Being connected, radio communication unit (15) is wireless with intelligent grass-removing to be connected.
Intelligent grass-removing charging device the most according to claim 6, it is characterised in that described cavity volume (3)
In be provided with fence circuit, fence circuit includes that constant-current control unit (16), full-bridge type motor drive
Unit (17) and current sample feedback unit (18), constant-current control unit (16) and full-bridge type motor drive
Unit (17) is connected with described CPU (11) respectively, constant-current control unit (16) again and
Full-bridge type electric-motor drive unit (17) is connected, the outfan of full-bridge type electric-motor drive unit (17) and conduct
The plain conductor of fence (19) is connected, the input of current sample feedback unit (18) and described
Full-bridge type electric-motor drive unit (17) is connected, the outfan of current sample feedback unit (18) and described
CPU (11) is connected.
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| Application Number | Priority Date | Filing Date | Title |
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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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| CN104124730A CN104124730A (en) | 2014-10-29 |
| CN104124730B true CN104124730B (en) | 2016-09-28 |
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| CN106655299B (en) * | 2015-10-27 | 2020-02-28 | 苏州宝时得电动工具有限公司 | Wireless charging device and system |
| CN107800200A (en) * | 2016-08-31 | 2018-03-13 | 苏州宝时得电动工具有限公司 | Wireless charging power station and system of mowing automatically |
| TWI660557B (en) * | 2018-06-01 | 2019-05-21 | 和碩聯合科技股份有限公司 | Charging Station |
| CN211265771U (en) * | 2020-01-21 | 2020-08-14 | 天佑电器（苏州）有限公司 | Charging butt joint structure and charging system of lawn mower |
| CN112401723A (en) * | 2020-11-16 | 2021-02-26 | 桂林市云谷科技有限公司 | Intelligent movement closestool |
| IT202000029933A1 (en) * | 2020-12-04 | 2022-06-04 | Stiga S P A In Breve Anche St S P A | SELF-PROPULNED APPLIANCE, IN PARTICULAR SELF-DRIVEN LAWNMOWER, AND RELATED CHARGING DEVICE, IN PARTICULAR, CHARGING STATION FOR SELF-DRIVEN LAWNMOWER |
| SE2250481A1 (en) * | 2022-04-22 | 2023-05-30 | Husqvarna Ab | Robotic Work Tool and System Comprising Contact Plate with Angled Sections |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102407522A (en) * | 2010-09-19 | 2012-04-11 | 泰怡凯电器(苏州)有限公司 | Intelligent robot system and charging butting method thereof |
| CN103595080A (en) * | 2012-08-17 | 2014-02-19 | 乐金电子(天津)电器有限公司 | Charger of robot dust collector |
| CN203883520U (en) * | 2014-05-14 | 2014-10-15 | 杭州菲沃机器人科技有限公司 | An intelligent mower charging device |
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| CN100498602C (en) * | 2007-09-21 | 2009-06-10 | 浙江大学 | Robot electronic fencing control system |
| TWM377001U (en) * | 2009-10-16 | 2010-03-21 | Micro Star Int Co Ltd | Electronic device |
| JP6087498B2 (en) * | 2011-10-06 | 2017-03-01 | 日本信号株式会社 | Self-propelled device charging system |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102407522A (en) * | 2010-09-19 | 2012-04-11 | 泰怡凯电器(苏州)有限公司 | Intelligent robot system and charging butting method thereof |
| CN103595080A (en) * | 2012-08-17 | 2014-02-19 | 乐金电子(天津)电器有限公司 | Charger of robot dust collector |
| CN203883520U (en) * | 2014-05-14 | 2014-10-15 | 杭州菲沃机器人科技有限公司 | An intelligent mower charging device |
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