CN107771510B - Locked-rotor control method of intelligent mower and intelligent mower - Google Patents
Locked-rotor control method of intelligent mower and intelligent mower Download PDFInfo
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- CN107771510B CN107771510B CN201610737393.3A CN201610737393A CN107771510B CN 107771510 B CN107771510 B CN 107771510B CN 201610737393 A CN201610737393 A CN 201610737393A CN 107771510 B CN107771510 B CN 107771510B
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- mowing
- motor
- mowing motor
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- walking
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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
Abstract
The invention relates to a locked-rotor control method of an intelligent mower and the intelligent mower, wherein the intelligent mower comprises a shell, a mowing motor and a walking motor, the mowing motor and the walking motor are arranged in the shell, the mowing motor is connected with a mowing blade group, the walking motor is connected with a walking wheel for driving the intelligent mower to walk, and the method comprises the following steps: detecting whether the mowing motor can normally drive the mowing blade group to work or not; when the mowing motor can not normally drive the mowing blade group to work, the intelligent mowing machine is kept in a walking state, the mowing motor is stopped to work and the mowing motor is restarted, if the mowing motor can normally drive the mowing blade group to work, the mowing motor is enabled to enter a working state, and otherwise, the mowing motor is repeatedly stopped to work and started; or the mowing motor stops working, the walking wheels are driven to enable the intelligent mower to return to the charging station, and then the mowing motor is restarted. When the intelligent mower is locked, the mowing motor can be automatically started in a circulating mode, manual operation is avoided, and time is saved.
Description
Technical Field
The invention relates to the field of intelligent equipment, in particular to a locked-rotor control method of an intelligent mower and the intelligent mower.
Background
With the development of scientific technology, intelligent automatic walking equipment is well known, and because the automatic walking equipment can automatically execute preset related tasks by a preset program without manual operation and intervention, the intelligent automatic walking equipment is widely applied to industrial application and household products. The intelligent automatic walking equipment greatly saves time of people and brings great convenience to industrial production and home life.
The intelligent mower is one of automatic walking devices and can automatically realize the trimming of a lawn. The intelligent lawn mower works in a boundary line generally, and is provided with a charging station on the boundary line for convenient charging, when the electric quantity of the intelligent lawn mower is insufficient during lawn mowing, the intelligent lawn mower can automatically return to the charging station for returning to charge, and the intelligent lawn mower can also select to return to the charging station when the lawn mowing is in fault.
When the conventional intelligent mower meets high grass or dense grass, the mowing motor stops due to overlarge load. In the conventional intelligent mower, the stop of the mowing motor can cause the stop of the walking motor of the intelligent mower, and if the mowing machine needs to be started again, the walking motor needs to be started through manual operation, so that time is wasted.
Disclosure of Invention
Therefore, there is a need for a method for controlling locked-rotor of an intelligent lawn mower and an intelligent lawn mower, which can automatically resume working when the machine is locked-rotor.
The intelligent mower comprises a shell, a mowing motor and a walking motor, wherein the mowing motor and the walking motor are arranged in the shell, the mowing motor is connected with a mowing blade group, the walking motor is connected with a walking wheel for driving the intelligent mower to walk, and the intelligent mower stalling detection method comprises the following steps:
detecting whether the mowing motor can normally drive the mowing blade group to work or not;
when the mowing motor is detected not to be capable of driving the mowing blade group to work normally, the intelligent mower is kept in a walking state, and,
stopping the mowing motor and restarting the mowing motor, if the mowing motor can normally drive the mowing blade group to work, enabling the mowing motor to enter a working state, and if not, repeatedly stopping the mowing motor and starting the mowing motor;
or the mowing motor stops working, the walking wheel is driven to enable the intelligent mower to return to the charging station, and then the mowing motor is restarted.
In one embodiment, if the mowing motor is repeatedly stopped and started, and the mowing motor cannot normally drive the mowing blade group to work, the mowing motor is stopped and driven to drive the travelling wheels to enable the intelligent mower to return to a charging station, and then the mowing motor is started.
In one embodiment, when the time for repeatedly stopping and starting the mowing motor exceeds a preset time, or the times for stopping and starting the mowing motor exceeds a preset time, it is determined that the repeatedly stopping and starting the mowing motor cannot enable the mowing motor to normally drive the mowing blade set to work.
In one embodiment, when the current of the mowing motor is detected to exceed a preset current value, the mowing motor is judged to be incapable of driving the mowing blade set to work normally.
In one embodiment, when the rotation speed of the mowing motor is detected to be lower than a preset rotation speed value, the mowing motor is judged to be incapable of driving the mowing blade group to work normally.
According to the intelligent mower stalling detection method, when the intelligent mower stalls, the intelligent mower keeps walking, and the mowing motor is started circularly or is started after the intelligent mower returns to the charging station, so that the mowing motor can drive the mowing blade group to work normally again, manual operation is avoided, and time is saved.
The utility model provides an intelligent mower, include the casing and set up in mowing motor and walking motor in the casing, the motor of mowing is connected with the grass cutting blade group, the walking motor is connected with the walking wheel that drives intelligent mower walking, still includes:
the detection module is used for detecting whether the mowing motor can normally drive the mowing blade group to work or not;
the control module is used for keeping the intelligent mower in a walking state when judging that the mowing motor can not normally drive the mowing blade group to work,
stopping the mowing motor and restarting the mowing motor, if the mowing motor can normally drive the mowing blade group to work, enabling the mowing motor to enter a working state, and if not, repeatedly stopping the mowing motor and starting the mowing motor;
or the mowing motor stops working, the walking wheel is driven to enable the intelligent mower to return to the charging station, and then the mowing motor is restarted.
In one embodiment, the control module is further configured to stop starting the mowing motor, drive the traveling wheel to return the intelligent mowing machine to the charging station, and then start the mowing motor when the mowing motor is repeatedly stopped and started and the mowing motor cannot normally drive the mowing blade set to work.
In one embodiment, the control module is further configured to determine that the repeated stopping of the mowing motor and the repeated starting of the mowing motor cannot enable the mowing motor to normally drive the mowing blade set to work when the time for the repeated stopping of the mowing motor and the starting of the mowing motor exceeds a preset time or the number of times for the repeated stopping of the mowing motor or the starting of the mowing motor exceeds a preset number of times.
In one embodiment, when the detection module detects that the current of the mowing motor exceeds a preset current value, the control module judges that the mowing motor cannot normally drive the mowing blade set to work.
In one embodiment, when the detection module detects that the rotation speed of the mowing motor is lower than a preset rotation speed value, the control module judges that the mowing motor cannot normally drive the mowing blade set to work.
When the intelligent mower is locked, the intelligent mower keeps walking, the mowing motor is started in a circulating mode, or the mowing motor is started after the intelligent mower returns to a charging station, so that the mowing motor can drive the mowing blade group to normally work again, manual operation is avoided, and time is saved.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent lawn mower according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The intelligent mower comprises a shell, a mowing motor and a walking motor, wherein the mowing motor and the walking motor are arranged in the shell, the mowing motor is connected with a mowing blade group, the walking motor is connected with a walking wheel for driving the intelligent mower to walk, and the locked-rotor detection method of the intelligent mower comprises the following steps:
detecting whether the mowing motor can normally drive the mowing blade group to work or not;
when the mowing motor is detected not to be capable of normally driving the mowing blade group to work, the intelligent mower is kept in a walking state,
stopping the mowing motor and restarting the mowing motor, if the mowing motor can normally drive the mowing blade group to work, enabling the mowing motor to enter a working state, and if not, repeatedly stopping the mowing motor and starting the mowing motor;
or the mowing motor stops working, the walking wheels are driven to enable the intelligent mower to return to the charging station, and then the mowing motor is restarted.
According to the intelligent mower stalling detection method, when the intelligent mower stalls, the intelligent mower keeps walking, and the mowing motor is started circularly or is started after the intelligent mower returns to the charging station, so that the mowing motor can drive the mowing blade group to work normally again, manual operation is avoided, and time is saved.
In one embodiment, when it is detected that the mowing motor cannot normally drive the mowing blade group to work, the intelligent mowing machine is kept in a walking state, the mowing motor is stopped and restarted, if the mowing motor can normally drive the mowing blade group to work, the mowing motor is enabled to enter a working state, and otherwise, the mowing motor is stopped and started repeatedly.
In this embodiment, if the time for repeatedly stopping and starting the mowing motor exceeds the preset time, or the time for repeatedly stopping and starting the mowing motor exceeds the preset time, it is determined that the repeatedly stopping and starting the mowing motor cannot enable the mowing motor to normally drive the mowing blade set to work.
In this embodiment, if the mowing motor is repeatedly stopped and started, and the mowing motor cannot normally drive the mowing blade group to work, the mowing motor is stopped and driven to drive the traveling wheels to enable the intelligent mowing machine to return to the charging station, and then the mowing motor is started.
In one embodiment, when the mowing motor is detected to be incapable of driving the mowing blade set to work normally, the intelligent mowing machine is kept in a walking state, the mowing motor stops working, the walking wheel is driven to enable the intelligent mowing machine to return to a charging station, and the mowing motor is restarted.
In the above embodiment, when detecting whether the mowing motor can normally drive the mowing blade group to work, if the current of the mowing motor is detected to exceed the preset current value, or the rotating speed of the mowing motor is detected to be lower than the preset rotating speed value, it is determined that the mowing motor cannot normally drive the mowing blade group to work.
As shown in fig. 1, the intelligent lawn mower of an embodiment includes a housing, and a mowing motor and a traveling motor disposed in the housing, wherein the mowing motor is connected to a mowing blade set, and the traveling motor is connected to a traveling wheel for driving the intelligent lawn mower to travel, and the intelligent lawn mower further includes a detection module 120 and a control module 140.
The detection module 120 is used for detecting whether the mowing motor can normally drive the mowing blade set to work;
the control module 140 is configured to keep the intelligent lawn mower in a walking state when detecting that the mowing motor cannot normally drive the mowing blade set to work, and,
stopping the mowing motor and restarting the mowing motor, if the mowing motor can normally drive the mowing blade group to work, enabling the mowing motor to enter a working state, and if not, repeatedly stopping the mowing motor and starting the mowing motor;
or the mowing motor stops working, the walking wheels are driven to enable the intelligent mower to return to the charging station, and then the mowing motor is restarted.
In this embodiment, the control module is further configured to stop starting the mowing motor when the mowing motor is repeatedly stopped and started and the mowing motor cannot normally drive the mowing blade group to work, and drive the traveling wheels to return the intelligent mowing machine to the charging station, and then start the mowing motor.
In this embodiment, the control module is further configured to determine that the mowing motor cannot normally drive the mowing blade set to work by repeatedly stopping the mowing motor and starting the mowing motor when the time for repeatedly stopping the mowing motor and starting the mowing motor exceeds a preset time, or the number of times for stopping the mowing motor or starting the mowing motor exceeds a preset number of times.
In this embodiment, the detection module is detecting whether the motor of mowing can normally drive the blade group of mowing work, if the electric current that detects the motor of mowing exceeds the predetermined current value, or when the rotational speed that detects the motor of mowing is less than the predetermined rotational speed value, then judge that the motor of mowing can not normally drive the blade group of mowing work.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. The intelligent mower comprises a shell, a mowing motor and a walking motor, wherein the mowing motor and the walking motor are arranged in the shell, the mowing motor is connected with a mowing blade group, and the walking motor is connected with walking wheels for driving the intelligent mower to walk, and the intelligent mower stalling detection method is characterized by comprising the following steps:
detecting whether the mowing motor can normally drive the mowing blade group to work or not;
when the mowing motor is detected not to be capable of driving the mowing blade group to work normally, the intelligent mower is kept in a walking state, and,
stopping the mowing motor and restarting the mowing motor, if the mowing motor can normally drive the mowing blade group to work, enabling the mowing motor to enter a working state, otherwise, repeatedly stopping the mowing motor and starting the mowing motor, and if the mowing motor can not normally drive the mowing blade group to work, stopping starting the mowing motor, driving the travelling wheels to enable the intelligent mowing machine to return to a charging station, and then starting the mowing motor;
or the mowing motor stops working, the walking wheel is driven to enable the intelligent mower to return to the charging station, and then the mowing motor is restarted.
2. The locked rotor detection method according to claim 1, wherein when the time for repeatedly stopping and starting the mowing motor exceeds a preset time or the number of times for stopping or starting the mowing motor exceeds a preset number, it is determined that the repeated stopping and starting of the mowing motor does not enable the mowing motor to normally drive the mowing blade set to operate.
3. The locked rotor detection method according to claim 1, wherein when the current of the mowing motor is detected to exceed a preset current value, it is determined that the mowing motor cannot normally drive the mowing blade set to work.
4. The locked rotor detection method according to claim 1, wherein when the rotation speed of the mowing motor is detected to be lower than a preset rotation speed value, it is determined that the mowing motor cannot normally drive the mowing blade set to work.
5. The utility model provides an intelligent mower, include the casing and set up in mowing motor and walking motor in the casing, the motor of mowing is connected with the grass cutting blade group, the walking motor is connected with the walking wheel that drives intelligent mower walking, its characterized in that still includes:
the detection module is used for detecting whether the mowing motor can normally drive the mowing blade group to work or not;
the control module is used for keeping the intelligent mower in a walking state when judging that the mowing motor can not normally drive the mowing blade group to work,
enabling a mowing motor to stop working and restart the mowing motor, enabling the mowing motor to enter a working state if the mowing motor can normally drive the mowing blade group to work, and otherwise, repeatedly stopping the mowing motor and starting the mowing motor;
or the mowing motor stops working, the walking wheel is driven to enable the intelligent mower to return to the charging station, and then the mowing motor is restarted.
6. The intelligent mower according to claim 5, wherein the control module is further configured to determine that the repeated stopping and starting of the mowing motor cannot enable the mowing motor to normally drive the mowing blade set to work when the time for repeatedly stopping and starting the mowing motor exceeds a preset time or the number of times for stopping or starting the mowing motor exceeds a preset number of times.
7. The intelligent mower according to claim 5, wherein the control module determines that the mowing motor cannot normally drive the mowing blade set to work when the detection module detects that the current of the mowing motor exceeds a preset current value.
8. The intelligent mower according to claim 5, wherein the control module determines that the mowing motor cannot normally drive the mowing blade set to work when the detection module detects that the rotation speed of the mowing motor is lower than a preset rotation speed value.
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| CN201610737393.3A CN107771510B (en) | 2016-08-26 | 2016-08-26 | Locked-rotor control method of intelligent mower and intelligent mower |
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| CN201610737393.3A CN107771510B (en) | 2016-08-26 | 2016-08-26 | Locked-rotor control method of intelligent mower and intelligent mower |
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| CN107771510A CN107771510A (en) | 2018-03-09 |
| CN107771510B true CN107771510B (en) | 2020-03-31 |
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| CN108762247B (en) * | 2018-04-21 | 2021-06-11 | 广东宝乐机器人股份有限公司 | Obstacle avoidance control method for self-moving equipment and self-moving equipment |
| CN112673793B (en) * | 2020-12-17 | 2022-06-24 | 深圳拓邦股份有限公司 | Mower deep grass environment self-adaption method and mower |
| 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 |
| CN114415571B (en) * | 2022-01-24 | 2024-02-09 | 浙江三锋实业股份有限公司 | Control method for preventing stalling of brushless garden tool |
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| JP2007010061A (en) * | 2005-06-30 | 2007-01-18 | Iseki & Co Ltd | Travel speed variable device |
| JP4858911B2 (en) * | 2006-11-14 | 2012-01-18 | 伊東電機株式会社 | Mower |
| EP1969919B1 (en) * | 2007-03-14 | 2012-01-18 | Robert Bosch Gmbh | Hedge cutting or trimming apparatus |
| US8966870B2 (en) * | 2011-10-26 | 2015-03-03 | Accelerated Systems Inc. | Methods of controlling a lawn mower having electric drive and blade motors |
| JP2013198432A (en) * | 2012-03-26 | 2013-10-03 | Mitsubishi Heavy Ind Ltd | Method for returning operation of electric bush cutter and electric bush cutter |
| CN103944487B (en) * | 2014-02-26 | 2016-06-22 | 上虞市冠业电器有限公司 | Direct current generator current-limiting protection circuit |
| CN103872651B (en) * | 2014-03-27 | 2017-05-24 | 天佑电器（苏州）有限公司 | Power-driven tool control circuit and control method thereof |
| CN204707485U (en) * | 2015-04-08 | 2015-10-21 | 苏州宝时得电动工具有限公司 | Weeding apparatus |
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