CN107771510A - The stall detection method and intelligent grass-removing of intelligent grass-removing - Google Patents
The stall detection method and intelligent grass-removing of intelligent grass-removing Download PDFInfo
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- CN107771510A CN107771510A CN201610737393.3A CN201610737393A CN107771510A CN 107771510 A CN107771510 A CN 107771510A CN 201610737393 A CN201610737393 A CN 201610737393A CN 107771510 A CN107771510 A CN 107771510A
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- mowing
- motor
- mowing motor
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- intelligent grass
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The present invention relates to the stall detection method and intelligent grass-removing of a kind of intelligent grass-removing, intelligent grass-removing includes casing and the mowing motor and movable motor that are arranged in casing, mowing motor connection has mowing blade group, movable motor is connected with the road wheel for driving intelligent grass-removing walking, and methods described includes：Whether detection mowing motor can normally drive mowing blade group to work；When mowing motor can not normally drive mowing blade group to work, intelligent grass-removing is kept to be in walking states, and, mowing motor is stopped and restart mowing motor, if mowing motor can normally drive mowing blade group to work, mowing motor is entered working condition, otherwise, repeat to stop the work of mowing motor and start mowing motor；Or mowing motor is stopped, driving road wheel makes intelligent grass-removing return to charging station, then restarts mowing motor.The present invention in intelligent grass-removing stall, can automatic cycle start mowing motor, avoid manual operation, save the time.
Description
Technical field
The present invention relates to smart machine field, stall detection method and intelligence more particularly to a kind of intelligent grass-removing are cut
Careless machine.
Background technology
With the development of science and technology, intelligent automatic running device is well known, because automatic running device can
The inter-related task pre-set is performed with the program pre-set automatically, without artificial operation and intervention, therefore should in industry
With and family product on application it is very extensive.Robot of the industrial application as performed various functions, on family product
Using such as hay mover, dust catcher etc., these intelligent automatic running devices dramatically saves on the time of people, to industrial production
And life staying idle at home all brings great convenience.
Intelligent grass-removing is one kind in automatic running device, can realize the trimming to lawn automatically.Intelligent grass-removing leads to
Often worked in boundary line, for convenience of charging, charging station is provided with boundary line, when intelligent grass-removing is cutting the grass on a lawn electricity not
When sufficient, recurrence charging can be carried out with auto-returned charging station, intelligent grass-removing can also select when cutting the grass on a lawn and encountering failure
Return to charging station.
Conventional intelligent grass-removing run into top grass or it is close careless when, mowing motor can cause to mow due to load excessive
Motor stalls.In conventional intelligent grass-removing, the stalling of mowing motor can cause the movable motor of intelligent grass-removing also to stall, if
Hay mover is again started up, it is necessary to which manual operation startup movable motor, compares and lose time.
The content of the invention
Based on this, it is necessary to the stall detection method and intelligent grass-removing of a kind of intelligent grass-removing are provided, in machine stall
Shi Zidong resumes work.
A kind of stall detection method of intelligent grass-removing, intelligent grass-removing include casing and are arranged at cutting in the casing
Careless motor and movable motor, the mowing motor connection have mowing blade group, and the movable motor is connected with drive intelligence and mowed
The road wheel of machine walking, the stall detection method of the intelligent grass-removing include step：
Detect whether the mowing motor can normally drive the mowing blade group to work；
When detecting that the mowing motor can not normally drive the mowing blade group to work, the intelligence is kept to mow
Machine is in walking states, also,
Mowing motor is stopped and restart mowing motor, if mowing motor can normally drive the hay knife
Piece group works, then the mowing motor is entered working condition, otherwise, repeats to stop the work of mowing motor and starts electricity of mowing
Machine；
Or mowing motor is stopped, drive the road wheel intelligent grass-removing is returned to charging station, then weigh
It is new to start mowing motor.
In one of the embodiments, if repeating to stop the work of mowing motor and starting mowing motor, it is impossible to make mowing
Motor normally drives the mowing blade group to work, then stops starting mowing motor, and drive the road wheel to make the intelligence
Hay mover returns to charging station, restarts mowing motor.
In one of the embodiments, when repetition stops the work of mowing motor and starts the time of mowing motor more than presetting
Between, or when stopping the work of mowing motor or starting the number of mowing motor and exceed preset times, judge to repeat to stop to mow electric
Machine works and startup mowing motor can not make mowing motor normally drive the mowing blade group to work.
In one of the embodiments, when detecting that the electric current of mowing motor exceedes pre-set current value, mowing motor is judged
The mowing blade group can not be normally driven to work.
In one of the embodiments, when detecting that the rotating speed of mowing motor is less than preset rotation speed value, mowing motor is judged
The mowing blade group can not be normally driven to work.
The stall detection method of intelligent grass-removing described above, in intelligent grass-removing stall, keep intelligent grass-removing
Walking, by loop start mowing motor, or intelligent grass-removing is set to restart mowing motor after returning to charging station so that electricity of mowing
Machine can drive mowing blade group normal work again, avoid manual operation, save the time.
A kind of intelligent grass-removing, including casing and the mowing motor and movable motor that are arranged in the casing, it is described to cut
Careless motor connection has mowing blade group, and the movable motor is connected with the road wheel for driving intelligent grass-removing walking, in addition to：
Detection module, for detecting whether the mowing motor can normally drive the mowing blade group to work；
Control module, for when judging that the mowing motor can not normally drive the mowing blade group to work, keeping
The intelligent grass-removing is in walking states, also,
Mowing motor is stopped and restart mowing motor, if mowing motor can normally drive the hay knife
Piece group works, then the mowing motor is entered working condition, otherwise, repeats to stop the work of mowing motor and starts electricity of mowing
Machine；
Or mowing motor is stopped, drive the road wheel intelligent grass-removing is returned to charging station, then weigh
It is new to start mowing motor.
In one of the embodiments, the control module is additionally operable to repeating to stop the work of mowing motor and start to mow
Motor, it is impossible to when making the mowing motor normally drive the mowing blade group to work, stop starting mowing motor, and described in driving
Road wheel makes the intelligent grass-removing return to charging station, restarts mowing motor.
In one of the embodiments, the control module is additionally operable to repeating to stop the work of mowing motor and start to mow
The time of motor exceedes preset time, or the number of the work of stopping mowing motor or startup mowing motor exceedes preset times
When, judge to repeat to stop the work of mowing motor and starting mowing motor can not make mowing motor normally drive the mowing blade
Group work.
In one of the embodiments, the detection module exceedes pre-set current value in the electric current for detecting mowing motor
When, the control module judges that mowing motor can not normally drive the mowing blade group to work.
In one of the embodiments, the detection module is less than preset rotation speed value in the rotating speed for detecting mowing motor
When, the control module judges that mowing motor can not normally drive the mowing blade group to work.
Intelligent grass-removing described above makes intelligent grass-removing keep walking in stall, by loop start mowing motor,
Or intelligent grass-removing is set to restart mowing motor after returning to charging station so that mowing motor can drive mowing blade group again just
Often work, avoids manual operation, saves the time.
Brief description of the drawings
Fig. 1 is the structural representation of the intelligent grass-removing of an embodiment.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
A kind of stall detection method of intelligent grass-removing, intelligent grass-removing include casing and the mowing being arranged in casing electricity
Machine and movable motor, mowing motor connection have mowing blade group, and movable motor is connected with the walking for driving intelligent grass-removing walking
Wheel, the stall detection method of intelligent grass-removing include step：
Whether detection mowing motor can normally drive mowing blade group to work；
When detecting that mowing motor can not normally drive mowing blade group to work, intelligent grass-removing is kept to be in walking shape
State, also,
Mowing motor is stopped and restart mowing motor, if mowing motor can normally drive mowing blade group
Work, then make mowing motor enter working condition, otherwise, repeats to stop the work of mowing motor and starts mowing motor；
Or mowing motor is stopped, driving road wheel makes intelligent grass-removing return to charging station, then restarts and cut
Careless motor.
The stall detection method of intelligent grass-removing described above, in intelligent grass-removing stall, keep intelligent grass-removing
Walking, by loop start mowing motor, or intelligent grass-removing is set to restart mowing motor after returning to charging station so that electricity of mowing
Machine can drive mowing blade group normal work again, avoid manual operation, save the time.
In one of embodiment, when detecting that mowing motor can not normally drive mowing blade group to work, intelligence is kept
Energy hay mover is in walking states, also, mowing motor is stopped and restart mowing motor, if mowing motor can
It is normal to drive the work of mowing blade group, then mowing motor is entered working condition, otherwise, repeat to stop the work of mowing motor and open
Dynamic mowing motor.
In the present embodiment, if the time for repeating the work of stopping mowing motor and startup mowing motor exceedes preset time,
Or when stopping the work of mowing motor or starting the number of mowing motor and exceed preset times, then judge to repeat stopping mowing motor
Work and startup mowing motor can not make mowing motor normally drive the mowing blade group to work.
In the present embodiment, if repeating to stop the work of mowing motor and starting mowing motor, it is impossible to make mowing motor normal
Drive the mowing blade group to work, then stop starting mowing motor, and drive the road wheel to return the intelligent grass-removing
Power station is recharged, restarts mowing motor.
In one of embodiment, when detecting that mowing motor can not normally drive mowing blade group to work, intelligence is kept
Energy hay mover is in walking states, also, mowing motor is stopped, and drives the road wheel to return the intelligent grass-removing
Power station is recharged, then restarts mowing motor.
In above-described embodiment, when whether detection mowing motor can normally drive mowing blade group to work, if detected
When the electric current of mowing motor exceedes pre-set current value, or when detecting that the rotating speed of mowing motor is less than preset rotation speed value, then sentence
Disconnected mowing motor can not normally drive mowing blade group to work.
As shown in figure 1, the intelligent grass-removing of an embodiment includes casing and the mowing motor being arranged in casing and walking
Motor, mowing motor connection have mowing blade group, and movable motor is connected with the road wheel for driving intelligent grass-removing walking, wherein,
Intelligent grass-removing also includes detection module 120 and control module 140.
Detection module 120 is used to detect whether mowing motor can normally drive mowing blade group to work；
Control module 140 is used to, when detecting that mowing motor can not normally drive mowing blade group to work, keep intelligence
Hay mover is in walking states, also,
Mowing motor is stopped and restart mowing motor, if mowing motor can normally drive mowing blade group
Work, then make mowing motor enter working condition, otherwise, repeats to stop the work of mowing motor and starts mowing motor；
Or mowing motor is stopped, driving road wheel makes intelligent grass-removing return to charging station, then restarts and cut
Careless motor.
In the present embodiment, control module is additionally operable to repeating to stop the work of mowing motor and starting mowing motor, it is impossible to
When making the mowing motor normally drive the mowing blade group to work, stop starting mowing motor, and drive road wheel to make intelligent grass-removing
Charging station is returned, restarts mowing motor.
In the present embodiment, control module is additionally operable to surpass in the time for repeating to stop the work of mowing motor and startup mowing motor
When crossing preset time, or stopping the work of mowing motor or start the number of mowing motor and exceed preset times, judge repeatedly to stop
Only the work of mowing motor and startup mowing motor can not make mowing motor normally drive mowing blade group to work.
In the present embodiment, detection module detect mowing motor whether can normally drive mowing blade group work when, if
When detecting that the electric current of mowing motor exceedes pre-set current value, or detect that the rotating speed of mowing motor is less than preset rotation speed value
When, then judge that mowing motor can not normally drive mowing blade group to work.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of stall detection method of intelligent grass-removing, intelligent grass-removing includes casing and the mowing being arranged in the casing
Motor and movable motor, the mowing motor connection have mowing blade group, and the movable motor is connected with drive intelligent grass-removing
The road wheel of walking, it is characterised in that the stall detection method of the intelligent grass-removing includes step：
Detect whether the mowing motor can normally drive the mowing blade group to work；
When detecting that the mowing motor can not normally drive the mowing blade group to work, keep at the intelligent grass-removing
In walking states, also,
Mowing motor is stopped and restart mowing motor, if mowing motor can normally drive the mowing blade group
Work, then make the mowing motor enter working condition, otherwise, repeats to stop the work of mowing motor and starts mowing motor；
Or mowing motor is stopped, drive the road wheel intelligent grass-removing is returned to charging station, then open again
Dynamic mowing motor.
2. stall detection method according to claim 1, it is characterised in that if repeating to stop the work of mowing motor and starting
Mowing motor, it is impossible to make mowing motor normally drive the mowing blade group to work, then stop starting mowing motor, and drive
The road wheel makes the intelligent grass-removing return to charging station, restarts mowing motor.
3. stall detection method according to claim 1, it is characterised in that repeat to stop the work of mowing motor and startup is cut
The time of careless motor exceedes preset time, or the number of the work of stopping mowing motor or startup mowing motor exceedes preset times
When, judge to repeat to stop the work of mowing motor and starting mowing motor can not make mowing motor normally drive the mowing blade
Group work.
4. stall detection method according to claim 1, it is characterised in that detect that the electric current of mowing motor exceedes and preset
During current value, judge that mowing motor can not normally drive the mowing blade group to work.
5. stall detection method according to claim 1, it is characterised in that detect the rotating speed of mowing motor less than default
During tachometer value, judge that mowing motor can not normally drive the mowing blade group to work.
6. a kind of intelligent grass-removing, including casing and the mowing motor and movable motor that are arranged in the casing, the mowing
Motor connection has mowing blade group, and the movable motor is connected with the road wheel for driving intelligent grass-removing walking, it is characterised in that
Also include：
Detection module, for detecting whether the mowing motor can normally drive the mowing blade group to work；
Control module, for when judging that the mowing motor can not normally drive the mowing blade group to work, described in holding
Intelligent grass-removing is in walking states, also,
Mowing motor is stopped and restart mowing motor, if mowing motor can normally drive the mowing blade group
Work, then make the mowing motor enter working condition, otherwise, repeats to stop the work of mowing motor and starts mowing motor；
Or mowing motor is stopped, drive the road wheel intelligent grass-removing is returned to charging station, then open again
Dynamic mowing motor.
7. intelligent grass-removing according to claim 6, it is characterised in that the control module is additionally operable to cut in repetition stopping
The work of careless motor and start mowing motor, it is impossible to when making the mowing motor normally drive the mowing blade group to work, stop opening
Dynamic mowing motor, and drive the road wheel intelligent grass-removing is returned to charging station, restart mowing motor.
8. intelligent grass-removing according to claim 7, it is characterised in that the control module is additionally operable to cut in repetition stopping
The time of careless motor work and startup mowing motor exceedes preset time, or stops the work of mowing motor or start mowing motor
Number when exceeding preset times, judge to repeat to stop the work of mowing motor and start mowing motor that mowing motor can not be made just
The mowing blade group is often driven to work.
9. intelligent grass-removing according to claim 6, it is characterised in that the detection module is detecting mowing motor
When electric current exceedes pre-set current value, the control module judges that mowing motor can not normally drive the mowing blade group to work.
10. intelligent grass-removing according to claim 6, it is characterised in that the detection module is detecting mowing motor
Rotating speed when being less than preset rotation speed value, the control module judges that mowing motor can not normally drive the mowing blade group work
Make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610737393.3A CN107771510B (en) | 2016-08-26 | 2016-08-26 | Locked-rotor control method of intelligent mower and intelligent mower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610737393.3A CN107771510B (en) | 2016-08-26 | 2016-08-26 | Locked-rotor control method of intelligent mower and intelligent mower |
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| Publication Number | Publication Date |
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| CN107771510A true CN107771510A (en) | 2018-03-09 |
| CN107771510B CN107771510B (en) | 2020-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610737393.3A Active CN107771510B (en) | 2016-08-26 | 2016-08-26 | Locked-rotor control method of intelligent mower and intelligent mower |
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Cited By (4)
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| CN112655353A (en) * | 2020-12-25 | 2021-04-16 | 浙江三锋实业股份有限公司 | Mowing control method of intelligent mower |
| CN112673793A (en) * | 2020-12-17 | 2021-04-20 | 深圳拓邦股份有限公司 | Mower deep grass environment self-adaption method and mower |
| CN114415571A (en) * | 2022-01-24 | 2022-04-29 | 浙江三锋实业股份有限公司 | Control method for anti-stalling of brushless garden tool |
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| CN107771510B (en) | 2020-03-31 |
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