CN107027433A - Hay mover - Google Patents
Hay mover Download PDFInfo
- Publication number
- CN107027433A CN107027433A CN201610076150.XA CN201610076150A CN107027433A CN 107027433 A CN107027433 A CN 107027433A CN 201610076150 A CN201610076150 A CN 201610076150A CN 107027433 A CN107027433 A CN 107027433A
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- Prior art keywords
- pole plate
- hay mover
- sensor
- plate
- control device
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of hay mover, including housing, cutting mechanism, walking mechanism, control device, the control device is used for the work for controlling the cutting mechanism, sensor, including the first pole plate and the second pole plate；Signal processing circuit, with input and output end, wherein input is connected with the sensor, and output end is connected with the control device；Capacitance variation between the first pole plate and the second pole plate that the control device is detected according to signal processing circuit sends control instruction to the cutting mechanism.The electric field for pressing to meadow is formed between the first pole plate and the second pole plate on above-mentioned hay mover, sensor, height change can be detected in time when thick grass height change, so as to realize the lifting of sensitivity.
Description
Technical field
The present invention relates to electric garden tool, more particularly to a kind of hay mover.
Background technology
With the continuous progress of computer technology and artificial intelligence technology, the intelligence similar to intelligent robot is cut
Careless machine has begun to the life for coming into people slowly.Intelligent grass-removing can be cut in the lawn of user automatically
Grass, charging, without user's interference.This automatic working system just need not put into energy again after once setting
Management, user is freed from the housework work that cleaning, lawn maintenance etc. are uninteresting and waste time and energy.
In order to reduce the idle running of hay mover, operating efficiency is improved, intelligent grass-removing is provided with meadow sensing mostly
Device.Meadow sensor determines whether thick grass to be cut, and then control mowing motor by detecting lawn height
Working condition.But some meadow sensors of the prior art, the not high deficiency of sensitivity is there is,
And the contactless meadow sensor of some of which is also easy to be disturbed by other factors such as air.
The content of the invention
Based on this, it is necessary to provide a kind of hay mover, the sensitivity with higher detection meadow height.
A kind of hay mover, including housing, cutting mechanism, walking mechanism, control device, the control device
Work for controlling the cutting mechanism, in addition to：
Sensor, including the first pole plate and the second pole plate；
Signal processing circuit, with input and output end, wherein input is connected with the sensor, defeated
Go out end with the control device to be connected；
Electric capacity between the first pole plate and the second pole plate that the control device is detected according to signal processing circuit
Value changes send control instruction to the cutting mechanism.
The electric field for pressing to meadow is formed between the first pole plate and the second pole plate on above-mentioned hay mover, sensor,
Height change can be detected in time when thick grass height change, so as to realize the lifting of sensitivity.
In one of the embodiments, first pole plate and the second pole plate are generally aligned in the same plane.
In one of the embodiments, first pole plate and the second pole plate are arranged in the horizontal direction.
In one of the embodiments, the sensor is provided with one or more, one or more of biographies
Sensor is collectively forming induction region on the width of the hay mover, and the width of the induction region is more than
Or equal to the cutting mechanism cutting diameter.
In one of the embodiments, the control device judges that natural plant height is more than preset height according to capacitance variations
When, the control device control cutting mechanism performs cutting operation.
In one of the embodiments, first pole plate accesses the input of the signal processing circuit, institute
The second pole plate is stated with the common ground end of the signal processing circuit to be connected；Or first at pole plate and the signal
The common ground end for managing circuit is connected, and second pole plate accesses the input of the signal processing circuit.
In one of the embodiments, the signal processing circuit includes Schmidt trigger, first pole
Plate or the second pole plate are connected with the input of the Schmidt trigger.
In one of the embodiments, first pole plate has two, respectively positioned at the two of second pole plate
Connected between side, two the first pole plates by wire；Or first pole plate and the second pole plate are each provided with one
Individual, the two is arranged side by side.
In one of the embodiments, first pole plate and the second pole plate are additionally provided with back to the side on meadow
Barricade, the barricade is connected with second pole plate by voltage follower.
In one of the embodiments, provided with exhausted between first pole plate and the second pole plate and the barricade
Edge division board, it is described to be dielectrically separated from plate provided with the passage for placing the voltage follower.
In one of the embodiments, the sensor is installed on the housing, and height on the housing
Degree is adjustable.
In one of the embodiments, the sensor also includes the supporting plate for being connected to the housing, described
First pole plate and the second pole plate are arranged side by side in the supporting plate.
In one of the embodiments, the both sides of the cutting mechanism are provided with the sensor.
In one of the embodiments, the control device is additionally operable to control the walking mechanism, the control
Capacitance variation between the first pole plate and the second pole plate that device is detected according to signal processing circuit is to described
Walking mechanism sends control instruction.
Brief description of the drawings
Fig. 1 is the schematic diagram of hay mover of the present invention；
The schematic diagram of Fig. 2 meadow sensors of the present invention；
Fig. 3 is the schematic diagram of the meadow sensor of embodiment one；
Fig. 4 is the diagrammatic top view of the meadow sensor of embodiment one；
Fig. 5 is the diagrammatic side view of the meadow sensor of embodiment one；
Fig. 6 is the schematic diagram of another connection mode of the meadow sensor of embodiment one；
Fig. 7 is the diagrammatic top view of the meadow sensor of embodiment two；
Fig. 8 is the diagrammatic side view of the meadow sensor of embodiment two；
Fig. 9 is the schematic diagram of the meadow sensor of embodiment two；
Figure 10 is the schematic diagram of another connection mode of the meadow sensor of embodiment two.
Related elements reference numeral in figure is as follows：
100th, hay mover 110, housing 120, cutting mechanism
130th, walking mechanism 140, control device 150, meadow sensor
152nd, the first pole plate 154, the second pole plate 156, wire
158th, supporting plate 160, signal processing circuit 162, Schmidt trigger
250th, sensor 252, the first pole plate 254, the second pole plate
256th, wire 257, barricade 258, voltage follower
259th, plate 260, signal processing circuit 262, Schmidt trigger are dielectrically separated from
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is right below in conjunction with the accompanying drawings
The embodiment of the present invention is described in detail.Elaborate in the following description many details with
It is easy to fully understand the present invention.But the present invention can come real to be much different from other manner described here
Apply, those skilled in the art can make similar improvements without departing from the spirit of the invention, therefore this hair
It is bright not limited by following public specific embodiment.
Below in conjunction with the accompanying drawings, the better embodiment of hay mover is illustrated.
Embodiment one
Join Fig. 1, propose a kind of hay mover 100, including housing 110, cutting mechanism 120, walking mechanism 130,
Control device 140, wherein control device 140 are used for the work for controlling cutting mechanism 120 and walking mechanism 130.
In order to reduce the idle running of hay mover, operating efficiency is improved, hay mover 100 is also in the both sides of cutting mechanism 120
Meadow sensor 150 is respectively arranged with, the letter being connected with meadow sensor 150 and control device 140 is additionally provided with
Number process circuit 160.
The meadow sensor 150 of the present invention is to rely on to form electric capacity between sensor 150 and control device 140
C, when natural plant height changes, the medium around influence capacitor plate, so as to cause what the principles of capacitance variations was realized.
Join Fig. 2, meadow sensor 150 realizes the judgement to natural plant height, meadow or non-meadow using capacitance principle.
Can be so that the electric capacity in Fig. 2 at sensor 150 changes, so as to change signal transacting electricity when having grass without grass
The output signal S on road 160 change.In Fig. 2, signal processing circuit 160 includes Schmidt trigger 162,
During capacitance variation at sensor 150, the output signal S of Schmidt trigger 162 frequency of oscillation will be sent out
It is raw to change, electric capacity at the change identification sensor 150 of the MCU of control device 140 by reading signal frequency
Change, so as to realize meadow or non-meadow, the identification of natural plant height, and then according to setting to cutting mechanism 120
Work order is sent with walking mechanism 130.
Fig. 2 is only the schematic diagram of meadow sensor 150, which illustrates and changes signal transacting by capacitance variations
The output signal S of Schmidt trigger device 162 frequency of oscillation in circuit 160, so as to reach that identification electric capacity becomes
The purpose of change.But capacitance variations can certainly be converted to electricity by capacitance variations by unlike signal process circuit
Pressure, the change of current signal, then record judges, can equally reach the purpose of identification capacitance variations.
Join Fig. 3-5, sensor 150 includes three pieces of pole plates for being generally aligned in the same plane, from left to right respectively first
Pole plate 152, the second pole plate 154, the first pole plate 152.Three pieces of pole plates are made of conductive metallic material, the
One pole plate 152 has two, respectively positioned at the both sides of the second pole plate 154, leads between two the first pole plates 152
Wire 156 is crossed to connect.So, the left and right sides of the second pole plate 154 is respectively formed electric field E, forms larger sensing
Region.One the first pole plate 152 and second pole plate 154 can certainly be only set, and the two is arranged side by side
In same plane.
Signal processing circuit 160 has input and output end.Wherein, at the first pole plate 152 access signal
The input of circuit 160 is managed, the second pole plate 154 is connected with the common ground end of signal processing circuit 160,
So as to form electric capacity between the first pole plate 152 and the second pole plate 154.Specific to the present embodiment, the first pole plate
152 are connected with the input of Schmidt trigger 162, the second pole plate 154 access signal processing circuit 160
Zero potential.
With reference to Fig. 6, another connection mode of sensor 150 and signal processing circuit 160 is illustrated.Wherein,
Two the first pole plates 152 are connected with the common ground end of signal processing circuit 160, and the second pole plate 154 is accessed
The input of signal processing circuit 160.
According to calculation formula C=(ε S)/d of parallel plate capacitor, wherein, ε：Dielectric permittivity between pole plate, S：
Pole plate facing area, d：Pole plate spacing；Want change C size, can by adjust ε, S or d come
Realize.Therefore when careless height change, the first pole plate 152, the second pole plate 154 media variations nearby are caused,
And then cause capacitance variations, that is, realize sensing function.
When control device 140 judges that natural plant height is more than preset height according to capacitance variations, control device 140 is controlled
Cutting mechanism performs cutting work.The output frequency of meadow sensor 150 and natural plant height degree have certain linear right
It should be related to.For example, being set as that grass is higher, the output signal frequency of signal processing circuit 160 is lower.General letter
Number frequency may be provided at 1Mhz or so changes, the parameter of the resistance R by setting sensor internal, can be with
During so that natural plant height being more than 4cm below sensor, output frequency f<1Mhz, on the contrary then f>1Mhz.Control
Device 140 recognizes this change, so as to drive cutting mechanism 120 to mow or do not mow, controls vehicle with walking machine
Structure 130 advances or retreated.
Further, control device 140 can complete the identification on meadow and non-meadow according to capacitance variations.Reason
It is zero equivalent to natural plant height degree to be non-meadow, when change exceedes predetermined variation, you can determine natural plant height degree by 4cm
Vanishing, can determine whether as non-meadow.
Sensor 150 is arranged on the lower section of housing 110, to detect height careless in grass cutting action region.Sensing
Device 150 also includes the supporting plate 158 for being connected to housing 110.First pole plate 152, the second pole plate 154 are side by side
Arrange in supporting plate 158.
Because the first pole plate 152, the second pole plate 154 are arranged at sensor 152, therefore, the first pole plate 152,
The electric field E formed between second pole plate 154 is located at the first pole plate 152, the lower section of the second pole plate 154, towards grass
Ground side, relatively meadow, with higher detection sensitivity.
In other words, because electric field presses to meadow side, during detection, the change of natural plant height will cause capacitance variations more
Plus substantially, detect more sensitive.For example when set of frequency is 1M or so changes, when the lower section of sensor 150
When natural plant height is 4cm, during using this programme, its output frequency is 800khz, and if using upward electric field
Then output frequency is 900khz to scheme, therefore during using this programme, sensor detection is sensitiveer.
First pole plate 152, the second pole plate 154 are arranged in the horizontal direction.When hay mover 100 works, first
Pole plate 152, the second pole plate 154 are concordant with meadow, it is ensured that induction field is to be forced downward meadow side.
Sensor 150 is set to height adjustable on housing 110, can adapt to the grass that cutting-height is different
The requirement on level ground, to coordinate the adjustment of signal processing circuit 160, and then ensures detection sensitivity.As, it is necessary to
During reserved 8cm lawns, if the position of sensor 160 remains in the position on original detection 4cm lawns,
Difficulty may be increased to the adjustment of signal processing circuit 160, or even can not be detected, now can first be adjusted
Height of the sensor 150 on housing 110.
Join Fig. 1, the left and right sides of cutting mechanism 120 is also to be respectively arranged with the rear and front end of housing 110
Several sensors 150.When hay mover 100 works, these sensors 150 in the front of cutting mechanism 120 and
Rear forms induction region respectively on the width of hay mover 100.Due to the first pole plate 152, the second pole plate
154 are arranged in same plane, and when setting multiple sensors 150, the induction region of multiple sensors 150 can be held in the mouth
It is connected together, forms continuous induction region.The width of the continuous induction region is more than or equal to cutting machine
The cutting diameter of structure 120.So, it is ensured that the grass in cut coverage can be detected, it is to avoid go out current situation
The natural plant height degree in portion region is appropriate, but the larger situation of natural plant height degree of respective regions.
The both sides of cutting mechanism 120 are respectively provided with sensor 150, and the sensor in left side judges whether needs before mowing
Cutting operation is performed, the sensor on right side, which then has, rechecks function, whether in place to judge cutting.
Implement two
7-9, describes the composition of the meadow sensor of embodiment two below in conjunction with the accompanying drawings.
Sensor 250 includes three pieces of pole plates being made up of conductive metal material.Three pieces of pole plates are generally aligned in the same plane,
Form the downward electric field towards meadow.Two the first pole plates 252 are located at the both sides of the second pole plate 254, two
Individual first pole plate 252 is linked together by wire 256, and with the Schmidt in signal processing circuit 260
The input connection of trigger 262, the second pole plate 254 is then grounded.
Sensor 250 also includes barricade 257.Barricade 257 is arranged on the first pole plate 252 and the second pole plate
The side of 254 back side, i.e. the first pole plate 252 and the second pole plate 254 back to meadow.Barricade 257 passes through
Voltage follower 258 is connected with the second pole plate 254, realizes barricade 257 and the current potential phase of the second pole plate 254
Together, avoided so as to realize due to being disturbed caused by the change of meadow upper air.Meanwhile, barricade 257 also rises
To the effect that the electric field between the first pole plate 252 and the second pole plate 254 is pressed to meadow, further increase is careless
The sensitivity of ground sensor.
It is provided between first pole plate 252 and the second pole plate 254 and barricade 257 and is dielectrically separated from plate 259.Insulation
Provided with the passage for placing voltage follower 258 in division board 259.
With reference to Figure 10, another connection mode of sensor 250 and signal processing circuit 260 is illustrated.Its
In, two the first pole plates 252 are connected with the common ground end of signal processing circuit 260, the second pole plate 254
Access the input of signal processing circuit 260.To sum up, hay mover 100 of the invention, in sensor 150 or
The electric field on meadow can be pressed to by being formed on sensor 250, therefore, it is possible to be quickly detected thick grass height on meadow
Change, complete thick grass level identification, can also further complete the identification on meadow and non-meadow.
Hay mover 100 of the present invention, it is preferential from can automatically walk intelligent grass-removing.In addition, also may be used
To be with armed hand-push type mower or be available for users to the riding cropper of rider, now, control
Device 140 is not except controlling walking mechanism, and other control modes are consistent with intelligent grass-removing.User can
With the feedback according to control device 140, the autonomous opportunity for determining walking and direction.
Each technical characteristic of embodiment described above can be combined arbitrarily, not right to make description succinct
The all possible combination of each technical characteristic in above-described embodiment is all described, as long as however, these skills
Contradiction is not present in the combination of art feature, is all considered to be the scope of this specification record.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed,
But can not therefore it be construed as limiting the scope of the patent.It should be pointed out that for this area
For those of ordinary skill, without departing from the inventive concept of the premise, some deformations can also be made and changed
Enter, these belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended power
Profit requires to be defined.
Claims (14)
1. a kind of hay mover, including housing, cutting mechanism, walking mechanism, control device, the control dress
Put the work for controlling the cutting mechanism, it is characterised in that also include：
Sensor, including the first pole plate and the second pole plate；
Signal processing circuit, with input and output end, wherein input is connected with the sensor, defeated
Go out end with the control device to be connected；
Electric capacity between the first pole plate and the second pole plate that the control device is detected according to signal processing circuit
Value changes send control instruction to the cutting mechanism.
2. hay mover according to claim 1, it is characterised in that first pole plate and the second pole plate
It is generally aligned in the same plane.
3. hay mover according to claim 1 or 2, it is characterised in that first pole plate and second
Pole plate is arranged in the horizontal direction.
4. hay mover according to claim 1, it is characterised in that the sensor be provided with one or
Multiple, one or more of sensors are collectively forming induction region on the width of the hay mover,
The width of the induction region is more than or equal to the cutting mechanism cutting diameter.
5. hay mover according to claim 1, it is characterised in that the control device becomes according to electric capacity
When change judges that natural plant height is more than preset height, the control device control cutting mechanism performs cutting operation.
6. hay mover according to claim 1, it is characterised in that first pole plate accesses the letter
The input of number process circuit, second pole plate is connected with the common ground end of the signal processing circuit；
Or first pole plate be connected with the common ground end of the signal processing circuit, second pole plate accesses the letter
The input of number process circuit.
7. hay mover according to claim 6, it is characterised in that the signal processing circuit includes applying
Schmitt trigger, first pole plate or the second pole plate are connected with the input of the Schmidt trigger.
8. hay mover according to claim 1, it is characterised in that first pole plate has two, point
Not Wei Yu second pole plate both sides, connected by wire between two the first pole plates；Or first pole
Plate and the second pole plate are each provided with one, and the two is arranged side by side.
9. hay mover according to claim 1, it is characterised in that first pole plate and the second pole plate
Side back to meadow is additionally provided with barricade, and the barricade passes through voltage follower with second pole plate
It is connected.
10. hay mover according to claim 9, it is characterised in that first pole plate and the second pole
Provided with being dielectrically separated from plate between plate and the barricade, it is described be dielectrically separated from plate provided with place the voltage with
With the passage of device.
11. hay mover according to claim 1, it is characterised in that the sensor is installed on described
Housing, and height adjustable on the housing.
12. hay mover according to claim 1, it is characterised in that the sensor also includes connection
In the supporting plate of the housing, first pole plate and the second pole plate are arranged side by side in the supporting plate.
13. hay mover according to claim 1, it is characterised in that the both sides of the cutting mechanism are equal
It is provided with the sensor.
14. hay mover according to claim 1, it is characterised in that the control device is additionally operable to control
The walking mechanism is made, the first pole plate and the second pole that the control device is detected according to signal processing circuit
Capacitance variation between plate sends control instruction to the walking mechanism.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610076150.XA CN107027433A (en) | 2016-02-03 | 2016-02-03 | Hay mover |
| PCT/CN2017/072748 WO2017133638A1 (en) | 2016-02-03 | 2017-01-26 | Self-moving device and control method therefor |
| US15/551,718 US10444757B2 (en) | 2016-02-03 | 2017-01-26 | Self-moving device and control method therefor |
| CN201780001321.5A CN107920466B (en) | 2016-02-03 | 2017-01-26 | Self-moving equipment and control method thereof |
| EP17746958.2A EP3412136A4 (en) | 2016-02-03 | 2017-01-26 | Self-moving device and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610076150.XA CN107027433A (en) | 2016-02-03 | 2016-02-03 | Hay mover |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107027433A true CN107027433A (en) | 2017-08-11 |
Family
ID=59532224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610076150.XA Pending CN107027433A (en) | 2016-02-03 | 2016-02-03 | Hay mover |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107027433A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109716915A (en) * | 2017-10-30 | 2019-05-07 | 苏州宝时得电动工具有限公司 | Capacitance sensor and grass trimmer |
| CN110506485A (en) * | 2019-09-29 | 2019-11-29 | 黄可 | A kind of control system of municipal administration turf-mown equipment |
| WO2020020652A1 (en) * | 2018-07-25 | 2020-01-30 | Robert Bosch Gmbh | Autonomous work device |
| CN115428644A (en) * | 2021-06-01 | 2022-12-06 | 苏州宝时得电动工具有限公司 | Mower and control method thereof |
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| JP2016026895A (en) * | 2015-08-07 | 2016-02-18 | 日立工機株式会社 | Connector device and power source device including the same |
| CN205320575U (en) * | 2015-12-17 | 2016-06-22 | 苏州宝时得电动工具有限公司 | Mower |
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| CN103196358A (en) * | 2013-02-27 | 2013-07-10 | 常州兆能电子科技有限公司 | Plastic thickness measuring device based on plane capacitive sensor and method thereof |
| CN103234446A (en) * | 2013-05-03 | 2013-08-07 | 慈溪迈思特电子科技有限公司 | Lawn height detection device based on piezoelectric sensor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109716915A (en) * | 2017-10-30 | 2019-05-07 | 苏州宝时得电动工具有限公司 | Capacitance sensor and grass trimmer |
| CN109716915B (en) * | 2017-10-30 | 2021-01-05 | 苏州宝时得电动工具有限公司 | Capacitive sensor and lawn mower |
| WO2020020652A1 (en) * | 2018-07-25 | 2020-01-30 | Robert Bosch Gmbh | Autonomous work device |
| CN110506485A (en) * | 2019-09-29 | 2019-11-29 | 黄可 | A kind of control system of municipal administration turf-mown equipment |
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| CN115428644A (en) * | 2021-06-01 | 2022-12-06 | 苏州宝时得电动工具有限公司 | Mower and control method thereof |
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Application publication date: 20170811 |
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