CN108235865A

CN108235865A - Has the antitheft comprehensive intelligent garden in plant protection gardens of wireless telecommunications remote control and multiple functions

Info

Publication number: CN108235865A
Application number: CN201711499403.5A
Authority: CN
Inventors: 苏克; 叶晓波; P·G·安祺莉卡
Original assignee: Ningbo Daye Garden Equipment Co Ltd
Current assignee: Ningbo Daye Garden Equipment Co Ltd
Priority date: 2017-12-22
Filing date: 2017-12-22
Publication date: 2018-07-03

Abstract

Has the antitheft comprehensive intelligent garden in plant protection gardens of wireless telecommunications remote control and multiple functions, photovoltaic generation charging pile has energy-saving effect, and the mowing of multifunctional platform tool, fertilising, pressure-vaccum, polishing, brush, sowing, pouring are multi-functional.Using hay mower equipped with compass and two-man act balancer so as to during operation by direction in length and breadth come layout direction of keeping order, tool communication control perceives the remote that forward-reverse Multifunctional circuit platform perceives more chargings of sequentially forming into columns, it is artificial semi-automatic with mobile phone to rectify a deviation the detecting head of correction sensor wire electromagnetic field and multiple video cameras and laser and supersonic sounding device are perceived and positioned by the Big Dipper of internet and charge to be remotely controlled each gardens working machine order, containing intelligentized charge management circuit is taken, different charging strategies is taken；The compass, the compass being directed toward in the horizontal north and south of pulling is hung using the suspension of vertical direction, and deflection angle is transmitted to single board computer and handled by the reflective mirror that compass is equipped with.

Description

Has the antitheft comprehensive intelligent garden in plant protection gardens of wireless telecommunications remote control and multiple functions

Technical field

It is tool the present invention relates to a kind of for the hay mower that places cut the grass on a lawn beside garden, park and road etc. Automatic charging pin is inserted into and extracts the intelligent grass-removing of the charging assembly of contact chip.It is to contain to be located at lawnmower chassis forepart at it Anticollision safety device and containing equipped with anticollision insure can automatic stop logatithmic spiral brake and equipped with low vibration foliage pressure-vacuum machine and contain It installing dust bag bracket and tying additional and bodice upper casing dust mouth adds soft, blow impeller and add cutting edge, circuit adds insurance and biswitch, And silencing vibration-damping and honeycomb, idler wheel are changed to turn to and comprehensive set pressure-vaccum and moving head and equipped with pouring and fertilising and spill medicine Liquid line tube rolling device multi-functional grass trimmer and tool automatic charging pin be inserted into and extract contact chip component intelligence cut On the basis of careless machine, again it is improved tool wireless telecommunications remote control and multiple functions the antitheft comprehensive intelligent garden in plant protection gardens.

Background technology

Hay mower is widely used in mowing by the selected mode of hobby of people.Some operation pedestrians like During with custom grass trimmer, slightly larger strength is made on latter half of upper handrail and has a kind of feeling relied on and push, this is with regard to nothing The hanging possibility of the tilting of front-wheel is increased in shape；And the design of grass trimmer should also look after the comfortable and square of user as far as possible Just.Also lacked using being stuck up before the grass trimmer of petrol engine, because of engines heavy.But it is stuck up before particularly the near front wheel is stuck up before also having Bad phenomenon occur.For power-operated mower, since motor is lighter than engine, and motor axis will drive revolution The very big hay knife of diameter, but cannot too forward installation, therefore the front-wheel of power-operated mower stick up lift phenomenon it is more common.It says again, According to related standard such as GB4706.78-2005；IEC60335-2-77-2002；The standards such as EN836-1997, particularly EN836/A3-2004/ 4.2.3.2.1~4.2.3.2.3.3 have the code requirement on 16.7 degree of slope.Add in complete machine forepart and match Weight sand pot, installation will change chassis, to add three holes position, also want gaza's stone, cumbersome.For counterweight because heavier, transportation cost is also higher.Separately There is common grass-mowing machine, without knife, there is the moving head of nylon wire by series excited machine drive.When installing grass-mowing machine, and start make around Nylon wire rotation in line wheel 25-3, with regard to that can beat the grass.When line in short-term, operator's pier pressure once, reel aluminium head 25-3b touch ground, Reel spring 25-1 is compressed, and turns reel 25-3, the nylon wire 134 in it is made to lead to wire over inserted sheet 25-6, and is put Line.The long line released is trimmed by blade 127.Blade sleeve 126 is placed on blade 127 when not used, there is protective action.It beats the grass Head effect of beating the grass is good, power saving lighter and handier than knife, but because pier is needed to press line, and can not be mounted in has on the common grass trimmer of wheel.

The common widely used engine of hay mower, scope of activities is wide, but wants oil consumption, exhaust pollution environment.Some Operation pedestrian likes using power-operated mower, but limited by power supply, and the widely used of this grass trimmer is also restricted.Just like Automobile needs gas station the same, and power-operated mower is also required to charging station, and market needs a kind of improved tool automatic charging pin to be inserted into And the intelligent grass-removing of contact chip component is extracted so as to reliably automatic plug charging；But how micro charging is plugged servo-actuatedly be A problem, innovation design is hovered such as ghost for a long time, by means of Switzerland senior engineer SENI.ENGI. lifetimes experience and international co-operation, It sequentially forms into columns charging, is thousand worries and good fortune has one, then improved tool wireless telecommunications remote control of the invention and multiple functions The antitheft comprehensive intelligent garden in plant protection gardens is just come into being, and solving the problems, such as that battery is not durable frequently need to manually charge and micro- The problem of servo-actuated ground of amount reliably plugs charging.Continuously improve and perfect improved tool automatic charging pin be inserted into and extract contact On the basis of the intelligent grass-removing of piece component, the intelligent machine of control direction is taught in further exploitation with straight line moving with balancer Device people's working machine, resultant effect are to expand use scope, and straight line moving is taught control direction to strengthen pressure grass and protected with balancer Moisture in the soil and safety and province's energy and environmental protection.

The present invention relates to a kind of hay mowers that lawn is repaiied for the places such as beside garden, park and road, are to improve Tool wireless telecommunications remote control and multiple functions the antitheft comprehensive intelligent garden in plant protection gardens；It is to be located at lawnmower chassis forepart Anticollision safety device and containing equipped with anticollision insure can automatic stop logatithmic spiral brake and equipped with low vibration foliage pressure-vacuum machine and contain It installing dust bag bracket and tying additional and bodice upper casing dust mouth adds soft, blow impeller and add cutting edge, circuit adds insurance and biswitch, And in blower additional silencing vibration-damping material and honeycomb, idler wheel is changed to turn to and single cylinder that stretches out is changed to more protruded tubes Or flexible folding pipe, the comprehensive more work(for setting pressure-vaccum and moving head and the tube rolling device equipped with the liquid line for pouring and applying fertilizer and spill medicine On the basis of the grass trimmer of energy, then set improved tool automatic charging pin and be inserted into and extract the intelligent grass-removing of contact chip component, with Just reliably automatic plug charges；Need gas station the same just like automobile, power-operated mower is also required to charging station, and market needs one Kind tool automatic charging pin is inserted into and extracts the intelligent grass-removing of the charging assembly of contact chip, so that reliably automatic plug charges； Then the intelligent grass-removing that a kind of improved tool automatic charging pin was inserted into and extracted contact chip component just comes into being, and solves Battery is not durable the problem of frequently need to manually charging；The improved intelligent machine for assisting control direction with compass with straight line moving Device people's grass trimmer is inserted into and extracts contact chip component containing improved tool automatic charging pin；The tool automatic charging pin is inserted into And contact chip component is extracted, the tool of the fixed power supply part, the also fuselage containing grass trimmer of the automatic charging pin insertion part containing tool Extract the electric component of the activity of contact chip；The fixed power supply part of the tool automatic charging pin insertion part, equipped with level Be laid on the bottom plate of earth's surface, stand on front front wall, power supply source, fot screw, the left side of the bottom plate for being horizontally arranged in earth's surface and Right side is respectively provided with along the symmetrical guided way of axis (233c), so as to the forepart to grass trimmer fuselage it is symmetrical along central axes Left side and right side be oriented to；And the bottom plate for being horizontally arranged in earth's surface left side and right side it is each be equipped with along central axes pair The curved section of each guided way of the guided way (233c) of title is a cube curve, to slow down impact；It is described to be horizontally arranged in earth's surface Bottom plate four feet be equipped with the fot screw, to fix；The forepart of the bottom plate for being horizontally arranged in earth's surface is equipped with described Stand on the front wall in front；The described front wall for standing on front is equipped with along the described of the symmetrical left side of axis and right side each one ((233), (root of (233) is equipped with pin ball (233a) to the charging pin to charging pin, so as to micro servo-actuated, described charging pin (root of (233) is equipped with screw thread, to be connected with the power supply source；(head of (233) is equipped with inserting surface to the charging pin (233b), so that the pin that charges is inserted into and extracts contact chip；The bottom plate for being horizontally arranged in earth's surface is laid with along central axes and draws simultaneously The conducting wire of leading the way of electromagnetic pulse is equipped with along earth's surface in working region, will pass through the sensor of grass trimmer lower front (234d) And pass through the fixed power supply walked when circuit board intelligently guiding grass trimmer will charge to the tool automatic charging pin insertion part Being equipped with for component is horizontally arranged on the bottom plate of earth's surface；Before the electric component of the activity that contact chip is extracted containing tool is located at grass trimmer Portion, sensor (234d) of the electric component containing the grass trimmer lower front of the activity that contact chip is extracted containing tool and sets Contact chip (234) and tabletting torsional spring (234a) and shaft in grass trimmer forepart；The contact chip (234) and tabletting torsional spring (234a) and shaft it is each altogether there are four, each described contact chip (234) and tabletting torsional spring (234a) and shaft composition one A dodge gate, and a dodge gate of each described described contact chip (234) and tabletting torsional spring (234a) and shaft composition Another dodge gate forming face pair formed with each described described contact chip (234) and tabletting torsional spring (234a) and shaft Face it is split two-door, respectively there is aspectant each contact chip of the two-door dodge gate on left side and right side (234) contact surface ((234b) corresponding described front wall for standing on front be equipped with along the symmetrical left side of axis and the right side Charging pin (the inserting surface (233b) that the head of (233) is equipped with, by charging pin by pin ball of side each one (233a) micro servo-actuated insertion；Grass trimmer can be started when being charged to setting value to retreat, charging pin is made to extract contact chip, then work Make；Grass trimmer walking being horizontally arranged in the fixed power supply part of the tool automatic charging pin insertion part when charging again It is inserted on the bottom plate of earth's surface and by charging pin.

It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component, It is characterized in that, the left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along the symmetrical guided way of axis The curved section of (233c) is mutually in toroidal, so that the auxiliary guide rod (234e) with grass trimmer front side edge matches.

It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component, It is characterized in that, the left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along the symmetrical guided way of axis The curved section of each guided way of (233c) is a cube curve, to match with the auxiliary guide rod (234e) of grass trimmer front side edge And impact-reducing.

It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component, It is characterized in that, the fot screw that four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with is swell fixture.

It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component, Be characterized in that, it is described charging pin (the pin ball (233a) that the root of (233) is equipped with, be on spheric seat be equipped with cross pin, with Just it is micro servo-actuated.

It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component, It is characterized in that, (dress is there are two nut on the screw thread that the root of (233) is equipped with, with anti-loosening for the charging pin.

It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component, It is characterized in that, (orientation device (233a) that the root of (233) is equipped with is packed into thick rubber pad to the charging pin, so as to fine motion Impact resistance.

It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component, It is characterized in that, (inserting surface (233b) that the head of (233) is equipped with is wedge to the charging pin.

It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component, It is characterized in that, there are two the close circle torsional springs of the tabletting torsional spring (234a).

It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component, It is characterized in that, (one section of curve of (234b) is logatithmic spiral, because of logatithmic spiral i.e. etc. for the contact surface of the contact chip (234) Angle spread has pressure angle equal characteristic everywhere, is inserted into conducive to contact.

Continuously improve and perfect improved tool automatic charging pin be inserted into and extract contact chip component intelligent grass-removing On the basis of, further exploitation assists the intelligent robot grass trimmer of control direction with straight line moving with compass.

The intelligent robot grass trimmer of control direction is assisted with compass with straight line moving, is filled automatically containing improved tool Electricity pin is inserted into and extracts contact chip component；The tool automatic charging pin is inserted into and extracts contact chip component, is filled automatically containing tool The fixed power supply part of electricity pin insertion part, the tool of the also fuselage containing grass trimmer extract the electric component of the activity of contact chip；Institute State tool automatic charging pin insertion part fixed power supply part, equipped be horizontally arranged in the bottom plate of earth's surface, stand on front front wall, Power supply source, fot screw, the unilateral side of the bottom plate for being horizontally arranged in earth's surface be equipped with along the preceding inlet wire of unilateral preceding universal wheel and it is right The guided way (233c) of title, to be led to the fore-body of grass trimmer along the left and right of the preceding inlet wire of unilateral preceding universal wheel To；And the bottom plate for being horizontally arranged in earth's surface left side and right side it is each be equipped with along the symmetrical guided way of axis (233c) The curved section of each guided way is a cube curve, to slow down impact；Four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with institute Fot screw is stated, to fix；The forepart of the bottom plate for being horizontally arranged in earth's surface is equipped with the front wall for standing on front；It is described The front wall for standing on front be equipped with along the symmetrical left side of axis and right side each one the charging pin ((233), it is described (root of (233) is equipped with pin ball (233a) to charging pin, and so as to micro servo-actuated, described charging pin, (root of (233) is equipped with spiral shell Line, to be connected with the power supply source；(head of (233) is equipped with inserting surface (233b) to the charging pin, and to charge, pin is inserted Enter and extract contact chip；The bottom plate for being horizontally arranged in earth's surface is laid with along central axes and draws and be laid in working region along earth's surface There is the conducting wire of leading the way of electromagnetic pulse, will pass through the sensor of grass trimmer lower front (234d) and pass through circuit board intelligently guiding Being equipped with for fixed power supply part of walking to the tool automatic charging pin insertion part is horizontally arranged in ground when grass trimmer will charge On the bottom plate of table；The electric component of the activity that contact chip is extracted containing tool is located at grass trimmer forepart, described to extract contact containing tool Sensor (234d) and the contact that is located at grass trimmer forepart of the electric component containing the grass trimmer lower front of the activity of piece Piece (234) and tabletting torsional spring (234a) and shaft；The contact chip (234) and tabletting torsional spring (234a) and shaft are each shared Four, each described contact chip (234) and tabletting torsional spring (234a) and shaft form a dodge gate, and it is described each A dodge gate and each described described contact chip for the contact chip (234) and tabletting torsional spring (234a) and shaft composition (234) and another dodge gate of tabletting torsional spring (234a) and shaft composition formed it is aspectant split two-door, left side and Respectively there is contact surface ((234b) correspondence of aspectant each contact chip (234) of the two-door dodge gate on right side The charging pin along the symmetrical left side of axis and right side each one that the front wall for standing on front is equipped with (the inserting surface (233b) that the head of (233) is equipped with, by charging pin by the micro servo-actuated insertion of pin ball (233a)；When filling It is retreated to grass trimmer can be started during setting value, charging pin is made to extract contact chip, is then worked；When charging again, grass trimmer is walked Being horizontally arranged on the bottom plate of earth's surface and being inserted by charging pin to the fixed power supply part for having automatic charging pin insertion part Enter；The left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along the every of the symmetrical guided way of axis (233c) The curved section of a guided way is a cube curve, to match and impact-reducing with the auxiliary guide rod (234e) of grass trimmer front side edge； The fot screw that four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with is swell fixture；The charging pin (233) The pin ball (233a) that root is equipped with is that cross pin is equipped on spheric seat, so as to micro servo-actuated；The charging pin (dress is there are two nut on the screw thread that the root of (233) is equipped with, with anti-loosening；The head of the charging pin (233) is equipped with Inserting surface (233b) be wedge；There are two the close circle torsional springs of the tabletting torsional spring (234a)；The contact chip (234) Contact surface (one section of curve of (234b) is logatithmic spiral, because logatithmic spiral, that is, equiangular spiral have pressure angle it is equal everywhere Characteristic is inserted into conducive to contact；The one station multimachine of wisdom garden of tool intelligent robot grass trimmer internet Internet of Things framework, institute (the pin ball (233a) that the root of (233) is equipped with is on recessed half ball seat and a left side for described pin ball for the charging pin being equipped with The pin of coaxial line on the right side each one is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；Random delay is used Function does system emulation formation charge control intelligence hay mower its fixation of the tool automatic charging pin insertion part for containing The unilateral side of the bottom plate for being horizontally arranged in earth's surface that is equipped with of power supply part be equipped with preceding inlet wire along unilateral preceding universal wheel and Symmetrical narrow guided way (233c), the intermediate groove of the narrow guided way (233c) are only capable of accommodating the unilateral front-wheel of grass trimmer Preceding universal wheel, the left and right width of the narrow guided way (233c) is less than the half of the width of grass trimmer, the narrow guiding Each guided way of rail (233c) is the toroidal of cube curved section of the function curve containing higher mathematics, to slow down impact With make before a left side of the universal wheel with half of guide groove cooperation and to the fore-body of grass trimmer along the preceding inlet wire of unilateral preceding universal wheel The right side is oriented to and expands mowing area, and avoiding between original two wide guided ways has the half to keep left to be Lou Ge areas or lean on Left half is Shang Dao areas or the half to keep left is to hinder guide rail area；The plant protection gardens for having wireless telecommunications remote control and multiple functions are antitheft Comprehensive intelligent garden, which is characterized in that connected on the bottom plate of the fixed power supply part of the tool automatic charging pin insertion part Photovoltaic generation charging pile and being laid on earth's surface along mowing border has the conducting wire besieging circle of leading the way of electromagnetic pulse, mows on the edge The conducting wire of leading the way for having electromagnetic pulse for being laid on earth's surface in working region border, which is besieged in circle, puts more hay mowers, described Every hay mower equipped with compass compass to form a line in operation by direction in length and breadth come volume of keeping order；It is described Between the fixed power supply part and hay mower that have automatic charging pin insertion part, using tool aware circuit multifunctional platform The remote of the more chargings of sequentially forming into columns of perception of operation when long, artificial semi-automatic mobile phone correction correction sensor wire electromagnetism The detecting head and multiple video cameras and laser and supersonic sounding device of field perceive and position to be remotely controlled by the Big Dipper of internet Each gardens working machine order charges；The working machine is containing intelligentized charge management circuit is taken, according to the practical electricity of battery pack Amount situation takes different charging strategies, ensures system work；Different charging plans is taken according to the practical battery condition of battery pack Slightly；When the single-unit battery core voltage of battery is less than 2.7V/CELL, since system operating current is larger, battery core remaining capacity is not enough to System worked well is maintained, directly to system power supply and is charged the battery by the voltage for base station of charging at this time, specific works are former Reason is as follows：System detectio cell voltage during charging station when machine is linked into, if voltage is less than 2.7V/CELL, at this point, BD_EN, BT_ctr that MCU is sent out control signal are all low level, TF14 MOS conductings, charging base station to system power supply, meanwhile, TF10 MOS end, and battery is prevented to avoid battery over-discharge, the work of each section circuit is as follows to system power supply：Cell voltage Detection circuit：When system works, the branch pressure voltage of AD input pin detection resistances R142, R146, R147 of MCU, through over-sampling The voltage value of battery is calculated, and compared with the charge threshold of software setting, to control charging modes；

The voltage that microcontroller micro control unit chip MCU is sampled：

V=(R146//R147) * (R142+R146//R147) * Vbattery

The effect of wherein TF15 metal-oxide-semiconductor field effect transistors is as follows：

When system is under normal power supply state, the G poles of MOS are powered by 12V voltages to G poles, and G pole tensions are：

VG-S=R127/ (R126+R127) * 12V

This voltage ensures the reliable conducting of TF15 pipes, and battery voltage sampling circuit work, when system cut-off, TF15 is because of G, S Terminal voltage is ended for zero, and battery voltage sampling circuit disconnects, and prevents battery by this circuit discharging, reduce machine without using In the case of electric quantity consumption,

When machine be linked into the case of system cut-off charging base station, at this time because the BT_ctr signals of MCU be low level, Triode Q28 ends, and the voltage at the B-E ends of triode Q27 is：

VB-E=VCIN+*R212/ (R210+R212),

This voltage value is more than the on state threshold voltage of triode, and triode Q27 is connected, at this time the G-S ends of TF14 metal-oxide-semiconductors Voltage is：

VG-S=VCIN* (1-R211/ (R209+R211))

Therefore TF14 is connected, base station voltage VCIN+, to system power supply, system Auto Power On, and is detected whether by TF14 Meet charge condition；In charging process, when charging voltage is more than 2.7V/CELL when MCU is detected, control signal BT_ctr, BD_EN is switched to high level by low level, and charged state switches as described below：

When being switched to high level by low level because of BT_ctr signals, triode Q28 is led by cut-off state switched conductive state The base voltage of triode Q27 is caused to be reduced to no-voltage and end, TF14 ends therewith,

Base station is disconnected to system power supply channel,

While BT_ctr signals are switched to high level by low level, BD_EN signals are also switched to high electricity by low level Flat, triode Q16 is switched to conducting state by cut-off state, and the voltage drop at R138 resistance both ends is more than the G-S electric conductions of TF10 Pressure, TF10 MOS are connected therewith, at this point, while base station supplying channels disconnect, by battery to system power supply,

The effect of D23A diodes：In the other working conditions of system, the state in addition to charging, to prevent cell voltage CIN+ signal ends are added to by the body diode of TF14, system is made to be judged as entering charged state and maloperation, adds an obstruction two Pole pipe；

The effect of D23 diodes：In charged state, charging voltage is prevented to be filled by the body diode of TF10 to battery Electricity；

This system uses intelligentized charging management system, and the data in multiple charge data detections and charging process are surveyed Amount, provides multiple protection functions, to ensure charging safety；

Chip MCU is by detecting the size and the charge cutoff voltage and electric current according to setting that cell voltage determines charging Value, decision when terminate charging, with ensure charging safety and raising battery service life,

MCU controls the size of charging current by controlling the level condition of ChrgEn1, ChrgEN2 signal,

When cell voltage is less than 2.7V/CELL when MCU is detected, charged the battery using low current, at this point, ChrgEn1 signals are low level, meanwhile, ChrgEN2 signals are high level, and triode Q20 is connected, and triode Q19 is connected therewith, Base station voltage is charged the battery by resistance R164, R164A, R164B, Q19,

The effect of resistance R164, R164A, R164B are as follows：

Metering function is played, charging current is：

IChrg=(VCIN+-Vbattery)/(R164+R164A+R164B)

It avoids cell voltage too low, by base station voltage pull-down, leads to system cisco unity malfunction；

When cell voltage is higher than 2.7V/CELL when MCU is detected, charged the battery using high current, at this point, ChrgEn1 signals are switched to high level, meanwhile, ChrgEN2 signals are switched to low level, triode Q21 conductings, metal-oxide-semiconductor TF12 Be connected therewith, base station voltage is charged the battery by resistance TF12 metal-oxide-semiconductors, charging current by base station charger current size Lai It determines, R176, R181 are current sampling resistor, when the voltage that charging current flows through the generation of this resistance is more than MCU setting charging thresholds During threshold voltage, MCU thinks the overcurrent that charges, and stops charging immediately；

Charge cutoff condition：

When battery stagnation pressure is more than 4.15V/CELL or charging current is less than 200mA, stops charging, battery is avoided to occur It overcharges；

System power supply circuit：

This system power-supply service provided by the way of Switching Power Supply and linear stabilized power supply combination 12V needed for system, 5V, 3.3V voltage, specific works are described as follows：

Cell voltage or base station supply voltage are added in the input pin 1 of Switching Power Supply transformation chip, when switch control pin 5 During for low level, the metal-oxide-semiconductor between control chip interior connection pin 1 and pin 2 is on off state, and metal-oxide-semiconductor is at each The turn-on time of switch periods feeds back to the feedback voltage at 4 end of pin and the error amount of built-in reference voltage depending on output voltage Size,

MOS conducting states are put in the chip, and input voltage provides energy, while inductance L1 by inductance L1 to output+12V With capacitance C64 during this period also can storing up electricity energy,

It when MOS is disconnected, can release in electric energy of the upper turn-on cycle memory storage on inductance L1, be supplied to load Electricity, diode D21 provide current loop to inductance L1, and when energy reduces on L1, C64 supplements provide voltage, maintain output electricity Pressure+12V is constant；

The operation principle of built-in switch pipe is as described below：

When loading increasing, output voltage reduces, while the voltage of feedback pin 4 decreases, the base with chip interior The error amount of quasi- voltage increases, and as a result lengthens the turn-on time of built-in MOS, and more electricity increase output terminal, makes output electric The nearly setting pressure of crimping, maintains output voltage stabilization；

Similarly, when output loading reduces, output voltage rises, therefore feedback voltage reduces with reference voltage error, leads Built-in MOS switch pipe turn-on time is caused to reduce, reduces the electricity that feeder ear is supplied to load end, output is made to fall after rise to setting Voltage value, more than because of the variation of load, cause output voltage and set the error amount of voltage value, output voltage is made to maintain dynamic flat Input voltage because Switching Power Supply is operated on off state, is directly transformed to voltage needed for system, cancels line by the stationary value of weighing apparatus Property power input output voltage difference energy expenditure, therefore, have it is efficient, simultaneity factor calorific value is small, provide system work Reliability,

U18, U16 are three terminal regulator, provide 5V, 3.3V operating voltage needed for system；

Motor control part principle：

Control principle drawing is as follows：

When collision alarm is sent to MCU by Hall sensor, MCU will control the BLADE_DIR's in motor operation direction Signal is switched to high level by low level, after the processing of following negative circuit, generates low level BLADE_P7 signals to electricity Machine driving chip U13, motor switch inverted status by rotating forward, and machine performs fall back action, and left and right movable motor has phase Same function；

The electromechanical machine speed control circuit schematic diagram of Figure 20 intelligence gardens work is please referred to below：

Motor speed control principle：

Under different working conditions, motor operation speed also differs machine, it is therefore desirable to feed back the operation speed of motor It spends signal and drives core U13 to motor, this system design uses dedicated motor speed detection chip, to generate motor speed control Required feedback voltage, without expensive tachometer, U12, you can realize this function,

Concrete operating principle is as described below：

It is positive or negative to be motor driven Hall sensor output signal generations of the chip U13 as the decoding of electronics rotor position Saltus step can make U12 generate an amplitude and the pulse of duration, and parameter is determined by non-essential resistance R101, C48, in U12 Pin 5 at output pulse by U13 error amplifier integrate, to generate a DC level, the level and motor speed Directly proportional, this velocity feedback voltage establishes PWM datums, and be closed into feedback control loop at the pin 13 of U13, output driving The control signal of MOS, meanwhile, the PWM reference voltages at U13 pins 13 are fed back to MCU has the pin of analog-digital conversion function, So that MCU learns motor actual motion speed, and control voltage is adjusted according to the difference of actual motion velocity amplitude and setting value,

Interlock circuit is described as follows：

RMOT_DAC is that the target velocity of MCU outputs controls the voltage value, (amplification factor=1+ after operational amplifier amplifies R5/R12), send to the pin 11 of right movable motor driving chip, draw target velocity voltage and the difference of actual speed voltage passes through After the amplification of chip interior error amplifier, the reference voltage signal RMOT_P6 that above-mentioned PWM is adjusted is exported at pin 13；

The compass, hangs the compass being directed toward in the horizontal north and south of pulling using the suspension of vertical direction, set on compass Deflection angle is transmitted to single board computer processing by some reflective mirrors；It is more that there are in the antitheft comprehensive intelligent garden in plant protection gardens wireless telecommunications to be remotely controlled Kind function.

Description of the drawings

The present invention is further described with reference to the accompanying drawings and examples.

Fig. 1 is the schematic diagram of the intelligent grass-removing of the charging assembly for the tool automatic charging pin for having auxiliary guide rod (234e).

Fig. 2 is the charging pin (schematic diagram of the guided way of (233) and bottom plate (233c) on front wall.

Fig. 3 be contact chip (234) and tabletting torsional spring (234a) and shaft it is each altogether there are four schematic diagram.

Fig. 4 is the schematic diagram for the intelligent grass-removing for having the charging assembly that automatic charging pin was inserted into and extracted contact chip.

Fig. 5 is the charging pin (schematic diagram of (233) stood on the front wall in front.

Fig. 6 is the charging pin (schematic diagram of the root of (233) stood on the front wall in front.

Fig. 7 is the charging pin (schematic diagram of (233).

Fig. 8 is the schematic diagram of tabletting torsional spring (234a).

Fig. 9 is the signal of the bottom for the intelligent grass-removing for having the charging assembly that automatic charging pin was inserted into and extracted contact chip Figure.

Figure 10 is the contact surface (schematic diagram of (234b) of contact chip (234).

Figure 11 is the schematic diagram of half of guide groove.

Figure 12 is the schematic diagram of the intelligent grass-removing of universal wheel before having.

Figure 13 is the flow diagram and circuit diagram of intelligent gardens working machine.

Figure 14 is intelligent gardens working machine charge management circuit schematic diagram.

Figure 15 is intelligent gardens working machine charging voltage detection circuit schematic diagram.

Figure 16 is intelligent gardens working machine system power supply potential circuit schematic diagram.

Figure 17 is the intelligent electromechanical machine control circuit schematic diagram of gardens work.

Figure 18 is the intelligent electromechanical stream operational amplification circuit schematic diagram of gardens work.

Figure 19 is intelligent gardens working machine brake and fall back circuit diagram.

Figure 20 is the intelligent electromechanical machine speed control circuit schematic diagram of gardens work.

Figure 21 is the schematic diagram of the intelligent robot working machine with straight line moving balancer guidance control direction.

As shown in the figure, in figure：

234e. assists guide rod；233c. guided way；233. be charging pin；233a. sells ball；233b. inserting surfaces (233b)； 234d. sensor；234. contact chip；234a. tabletting torsional springs；234a. tabletting torsional springs；234b. contact surface；236. balancer.

Specific embodiment

Pedestrian's grass trimmer is operated, preferably puts on safety goggles and mask, power supply is checked, mixes lithium battery or power supply is long Line checks again for insuring, and by operation instructions, runin once, has checked leaf area without cullet and electric wire, in the situation of safety It is lower just to be made of grass trimmer, while notably rain situation.Considerably increase the power-operated mower of common live wire Mowing range.Perhaps a kind of grow up on the basis of existing moving head has the grass trimmer of winder again it can be said that having started Such a new technical field of intelligent robot working machine of control direction is taught with balancer with straight line moving.It is beneficial to it Place is to solve the problems, such as power supply and mow all.

It is to change the present invention relates to a kind of for the hay mower that places cut the grass on a lawn beside garden, park and road etc. Into tool automatic charging pin be inserted into and extract the intelligent grass-removing of contact chip component；It is to contain to be located at lawnmower chassis forepart at it Anticollision safety device and containing equipped with anticollision insure can automatic stop logatithmic spiral brake and equipped with low vibration foliage pressure-vacuum machine and contain It installing dust bag bracket and tying additional and bodice upper casing dust mouth adds soft, blow impeller and add cutting edge, circuit adds insurance and biswitch, And in blower additional silencing vibration-damping material and honeycomb, idler wheel is changed to turn to and single cylinder that stretches out is changed to more protruded tubes Or flexible folding pipe, the comprehensive more work(for setting pressure-vaccum and moving head and the tube rolling device equipped with the liquid line for pouring and applying fertilizer and spill medicine On the basis of the grass trimmer of energy, then set improved tool automatic charging pin and be inserted into and extract the intelligent grass-removing of contact chip component, with Just reliably automatic plug charges；Need gas station the same just like automobile, power-operated mower is also required to charging station, and market needs one Kind tool automatic charging pin is inserted into and extracts the intelligent grass-removing of the charging assembly of contact chip, so that reliably automatic plug charges； Then a kind of one station multimachine of wisdom garden of improved tool intelligent robot grass trimmer internet Internet of Things framework just comes into being, Solving the problems, such as that battery is not durable frequently need to manually charge；Improved tool intelligent robot grass trimmer internet Internet of Things framework One station multimachine of wisdom garden is inserted into and extracts contact chip component containing improved tool automatic charging pin；The tool automatic charging Pin is inserted into and extracts contact chip component, the also fixed power supply part of the automatic charging pin insertion part containing tool, machine containing grass trimmer The tool of body extracts the electric component of the activity of contact chip；The fixed power supply part of the tool automatic charging pin insertion part, if Have and be horizontally arranged in the bottom plate of earth's surface, the front wall for standing on front, power supply source, fot screw, the bottom plate for being horizontally arranged in earth's surface Left side and right side are respectively provided with along the symmetrical guided way of axis (233c), so as to the forepart to grass trimmer fuselage along axis Symmetrical left side and right side are oriented to；And the bottom plate for being horizontally arranged in earth's surface left side and right side it is each be equipped in The curved section of each guided way of the guided way (233c) of axisymmetrical is a cube curve, to slow down impact；The horizontal paving The fot screw is equipped in four feet of the bottom plate of earth's surface, to fix；The forepart of the bottom plate for being horizontally arranged in earth's surface is equipped with The front wall for standing on front；The described front wall for standing on front is equipped with along the symmetrical left side of axis and right side each one ((233), (root of (233) is equipped with pin ball (233a) to the charging pin to the charging pin, described so as to micro servo-actuated (root of (233) is equipped with screw thread to charging pin, to be connected with the power supply source；(head of (233) is equipped with the charging pin Inserting surface (233b), so that the pin that charges is inserted into and extracts contact chip；The bottom plate for being horizontally arranged in earth's surface along central axes be laid with and The conducting wire of leading the way of electromagnetic pulse is drawn and is equipped in working region along earth's surface, will pass through the sensor of grass trimmer lower front (234d) and pass through the fixation walked when circuit board intelligently guiding grass trimmer will charge to the tool automatic charging pin insertion part Power supply part be equipped be horizontally arranged on the bottom plate of earth's surface；The electric component of the activity that contact chip is extracted containing tool, which is located at, to be cut Careless machine forepart, sensor of the electric component containing the grass trimmer lower front of the activity that contact chip is extracted containing tool (234d) and it is located at the contact chip (234) of grass trimmer forepart and tabletting torsional spring (234a) and shaft；The contact chip (234) And tabletting torsional spring (234a) and shaft it is each altogether there are four, each described contact chip (234) and tabletting torsional spring (234a) and Shaft one dodge gate of composition, and what each described described contact chip (234) and tabletting torsional spring (234a) and shaft formed Another activity of one dodge gate and each described described contact chip (234) and tabletting torsional spring (234a) and shaft composition Door forms aspectant split two-door, and respectively there is the aspectant each described of the two-door dodge gate on left side and right side Contact chip (234) contact surface ((234b) corresponding described front wall for standing on front be equipped with along the symmetrical left side of axis Side and the charging pin (inserting surface (233b) that the head of (233) is equipped with, by charging pin by pin on right side each one The micro servo-actuated insertion of ball (233a)；Grass trimmer can be started when being charged to setting value to retreat, charging pin is made to extract contact chip, then work Make；Grass trimmer walking being horizontally arranged in the fixed power supply part of the tool automatic charging pin insertion part when charging again It is inserted on the bottom plate of earth's surface and by charging pin.

It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component, It is characterized in that, (the pin ball (233a) that the root of (233) is equipped with is packed into thick rubber pad to the charging pin, resistance to so as to fine motion Impact.

Usefulness：The one station multimachine of wisdom garden of improved tool intelligent robot grass trimmer internet Internet of Things framework can be certainly It is characterized in that the charging is sold, (the pin ball (233a) that the root of (233) is equipped with is that ten are equipped on spheric seat for dynamic plug charging Cabinet frame pin solves the problems, such as the reliable plug charging in micro servo-actuated ground.Need gas station the same just like automobile, power-operated mower Charging station is needed, market needs the intelligent grass-removing that automatic charging pin plugs, solves battery and be not durable and frequently need to manually charge The problem of；It is each be equipped with along the symmetrical guided way of axis (233c) that it is horizontally arranged in the left side of the bottom plate of earth's surface and right side The curved section of each guided way is a cube curve, to slow down impact；The contact surface of the contact chip (234) be ((234b's) One section of curve is logatithmic spiral, because logatithmic spiral, that is, equiangular spiral has pressure angle equal characteristic everywhere, is inserted into conducive to contact. The contact chip (234) and tabletting torsional spring (234a) and shaft it is each altogether there are four, form aspectant split two-door, left side Respectively having the contact surface of the aspectant contact chip (234) of the two-door dodge gate with right side, ((234b) is right The charging pin along the symmetrical left side of axis and right side each one that the front wall for standing on front is answered to be equipped with (inserting surface (233b) that the head of (233) is equipped with, to charge, pin is inserted into, and can be started when being charged to setting value and be cut Careless machine retreats and goes to mow；It is reciprocal with this when charging again in grass trimmer walking to bottom plate.It guided way cube curve and connects Contacting surface is technological progress with logatithmic spiral.

It continuously improves and perfect, in the intelligent grass-removing that improved tool automatic charging pin is inserted into and extracts contact chip component On the basis of develop with straight line moving balancer teach control direction intelligent robot working machine, containing it is improved tool from Dynamic charging pin is inserted into and extracts contact chip component；The tool automatic charging pin is inserted into and extracts contact chip component, containing tool certainly The fixed power supply part of dynamic charging pin insertion part, the tool of the also fuselage containing grass trimmer extract the power receiving section of the activity of contact chip Part；It is described tool automatic charging pin insertion part fixed power supply part, equipped be horizontally arranged in the bottom plate of earth's surface, stand on front Front wall, power supply source, fot screw, the unilateral side of the bottom plate for being horizontally arranged in earth's surface are equipped with the preceding inlet wire along unilateral preceding universal wheel And symmetrical guided way (233c), to be given along the left and right of the preceding inlet wire of unilateral preceding universal wheel the fore-body of grass trimmer To be oriented to；And the bottom plate for being horizontally arranged in earth's surface left side and right side it is each be equipped with along the symmetrical guided way of axis The curved section of each guided way of (233c) is a cube curve, to slow down impact；The four of the bottom plate for being horizontally arranged in earth's surface Foot is equipped with the fot screw, to fix；The forepart of the bottom plate for being horizontally arranged in earth's surface is equipped with the described front stood on Front wall；The front wall for standing on front is equipped with the charging pin along the symmetrical left side of axis and right side each one ((233), (root of (233) is equipped with pin ball (233a) to the charging pin, so as to micro servo-actuated, described charging pin ((233) Root be equipped with screw thread, to be connected with the power supply source；The charging pin (head of (233) is equipped with inserting surface (233b), So that the pin that charges is inserted into and extracts contact chip；The bottom plate for being horizontally arranged in earth's surface is laid with and draws and in workspace along central axes Domain is equipped with the conducting wire of leading the way of electromagnetic pulse along earth's surface, will pass through the sensor of grass trimmer lower front (234d) and pass through electricity Walking setting to the fixed power supply part of tool automatic charging pin insertion part when road plate intelligently guiding grass trimmer will charge Have on the bottom plate for being horizontally arranged in earth's surface；The electric component of the activity that contact chip is extracted containing tool is located at grass trimmer forepart, described Containing sensor (234d) of the electric component for having the activity for extracting contact chip containing the grass trimmer lower front and it is located at mowing The contact chip (234) and tabletting torsional spring (234a) and shaft of machine forepart；The contact chip (234) and tabletting torsional spring (234a) with And shaft it is each altogether there are four, each described contact chip (234) and tabletting torsional spring (234a) and shaft form a dodge gate, And each described described contact chip (234) and tabletting torsional spring (234a) and shaft composition a dodge gate with it is described each Another dodge gate of a contact chip (234) and tabletting torsional spring (234a) and shaft composition forms aspectant split Two-door, respectively there is the contact surface of aspectant each contact chip (234) of the two-door dodge gate on left side and right side ((234b) corresponding described front wall for standing on front be equipped with along the described of the symmetrical left side of axis and right side each one Charging, pin (by charging pin by micro be servo-actuated of pin ball (233a) inserted by the inserting surface (233b) that the head of (233) is equipped with Enter；Grass trimmer can be started when being charged to setting value to retreat, charging pin is made to extract contact chip, is then worked；It is cut when charging again The walking of careless machine to the fixed power supply part of the tool automatic charging pin insertion part be horizontally arranged on the bottom plate of earth's surface and by Charging pin is inserted into；The left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along the symmetrical guided way of axis The curved section of each guided way of (233c) is a cube curve, so as to auxiliary guide rod (234e) phase with grass trimmer front side edge Match and impact-reducing；The fot screw that four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with is swell fixture；It is described to fill (the pin ball (233a) that the root of (233) is equipped with is that cross pin is equipped on spheric seat to electricity pin, so as to micro servo-actuated；It is described Charging pin (dress is there are two nut on the screw thread that the root of (233) is equipped with, with anti-loosening；The head of the charging pin (233) The inserting surface (233b) that portion is equipped with is wedge；There are two the close circle torsional springs of the tabletting torsional spring (234a)；Described connects (one section of curve of (234b) is logatithmic spiral to the contact surface of contact (234), because logatithmic spiral, that is, equiangular spiral has at pressure angle Locate equal characteristic, be inserted into conducive to contact；One station of wisdom garden of tool intelligent robot grass trimmer internet Internet of Things framework Multimachine, which is characterized in that the pin ball (233a) that the root of the charging pin (233) is equipped with is on recessed half ball seat and described The pin of coaxial line of left and right each one of pin ball be respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance； Its described tool automatic charging pin contained is inserted into universal wheel with the intelligent grass-removing of half of guide groove cooperation expansion mowing area before tool The unilateral side of the bottom plate for being horizontally arranged in earth's surface that the fixed power supply part of component is equipped with is equipped with along unilateral preceding universal wheel Preceding inlet wire and symmetrical narrow guided way (233c), the intermediate groove of the narrow guided way (233c) are only capable of accommodating grass trimmer Unilateral front-wheel preceding universal wheel, the left and right width of the narrow guided way (233c) is less than the half of the width of grass trimmer, institute The each guided way for stating narrow guided way (233c) is the toroidal of cube curved section of the function curve containing higher mathematics, with Just slow down impact and before making universal wheel with half of guide groove cooperation and to the fore-body of grass trimmer along unilateral preceding universal wheel The left and right of preceding inlet wire is oriented to and expands mowing area, and avoiding between original two wide guided ways has the half to keep left to be Lou Ge areas or the half to keep left are Shang Dao areas or the half to keep left is to hinder guide rail area.

Usefulness：Has the antitheft comprehensive intelligent garden in plant protection gardens of wireless telecommunications remote control and multiple functions, described fills The pin ball (233a) that is equipped with of root of electricity pin (233) on recessed half ball seat and the left and right each one of the pin ball it is coaxial The pin of line is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；Has the interconnection of intelligent robot grass trimmer The fixed power supply part institute of its tool automatic charging pin insertion part contained of the one station multimachine of wisdom garden of net Internet of Things framework The unilateral side of the bottom plate for being horizontally arranged in earth's surface being equipped with is equipped with the preceding inlet wire along unilateral preceding universal wheel and symmetrical narrow leads To rail (233c), the intermediate groove of the narrow guided way (233c) is only capable of accommodating the preceding universal wheel of the unilateral front-wheel of grass trimmer, The left and right width of the narrow guided way (233c) is less than the half of the width of grass trimmer, the narrow guided way (233c) Each guided way is the toroidal of cube curved section of the function curve containing higher mathematics, to slow down impact and to make preceding universal Wheel coordinates with half of guide groove and the fore-body of grass trimmer is oriented to along the left and right of the preceding inlet wire of unilateral preceding universal wheel And expand mowing area, avoiding having between original two wide guided ways, the half to keep left is Lou Ge areas or the half to keep left is Shang Dao areas or the half to keep left are to hinder guide rail area.Solves the problems, such as the reliable plug charging in micro servo-actuated ground.It is needed just like automobile Gas station is the same, and power-operated mower is also required to charging station, and market needs the intelligent grass-removing that automatic charging pin plugs, solves electricity Pond is not durable the problem of frequently need to manually charging；Grass trimmer can be started when being charged to setting value to retreat, charging pin is made to extract contact Piece goes to mow；It is reciprocal with this when charging again in grass trimmer walking to bottom plate；Two-man act balancer is technological innovation.

Bright spot is：

A kind of improved tool wireless telecommunications remote control and the antitheft comprehensive intelligent garden in plant protection gardens of multiple functions, described fills The pin ball (233a) that is equipped with of root of electricity pin (233) on recessed half ball seat and the left and right each one of the pin ball it is coaxial The pin of line is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；It is horizontally arranged in the list of the bottom plate of earth's surface Side is equipped with the preceding inlet wire along unilateral preceding universal wheel and the intermediate groove of symmetrical narrow guided way (233c) is only capable of ten thousand before accommodating To wheel, the left and right width of narrow guided way is less than the half of the width of grass trimmer, and each guided way is the function containing higher mathematics The toroidal of cube curved section of curve to slow down impact and to be oriented to and expand mowing area, avoids original Between two wide guided ways there is the half to keep left to be Lou Ge areas or the half to keep left is Shang Dao areas or the half to keep left is to hinder guide rail Area.Solve the problems, such as that the reliable plug charging in micro servo-actuated ground and straight line moving teach the intelligent robot work of control direction to ask Topic.

Usefulness：Has the antitheft comprehensive intelligent garden in plant protection gardens of wireless telecommunications remote control and multiple functions, described fills The pin ball (233a) that is equipped with of root of electricity pin (233) on recessed half ball seat and the left and right each one of the pin ball it is coaxial The pin of line is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；Universal wheel and half of guide groove before tool Cooperation expands the fixed power supply part institute of its tool automatic charging pin insertion part contained of the intelligent grass-removing of mowing area The unilateral side of the bottom plate for being horizontally arranged in earth's surface being equipped with is equipped with the preceding inlet wire along unilateral preceding universal wheel and symmetrical narrow leads To rail (233c), the intermediate groove of the narrow guided way (233c) is only capable of accommodating the preceding universal wheel of the unilateral front-wheel of grass trimmer, The left and right width of the narrow guided way (233c) is less than the half of the width of grass trimmer, the narrow guided way (233c) Each guided way is the toroidal of cube curved section of the function curve containing higher mathematics, to slow down impact and to make preceding universal Wheel coordinates with half of guide groove and the fore-body of grass trimmer is oriented to along the left and right of the preceding inlet wire of unilateral preceding universal wheel And expand mowing area, avoiding having between original two wide guided ways, the half to keep left is Lou Ge areas or the half to keep left is Shang Dao areas or the half to keep left are to hinder guide rail area.Solves the problems, such as the reliable plug charging in micro servo-actuated ground.It is needed just like automobile Gas station is the same, and power-operated mower is also required to charging station, and market needs the intelligent grass-removing that automatic charging pin plugs, solves electricity Pond is not durable the problem of frequently need to manually charging；Grass trimmer can be started when being charged to setting value to retreat, charging pin is made to extract contact Piece goes to mow；It is reciprocal with this when charging again in grass trimmer walking to bottom plate；It is taught and controlled with balancer with straight line moving Direction is technological innovation.

It continuously improves and gradually forms and develop and the plant protection gardens of perfect tool wireless telecommunications remote control and multiple functions are prevented Steal comprehensive intelligent garden, which is characterized in that connect on the bottom plate of the fixed power supply part of the tool automatic charging pin insertion part Then photovoltaic generation charging pile and along mowing border be laid on earth's surface have electromagnetic pulse lead the way conducting wire besiege circle, cut on the edge The conducting wire of leading the way for having electromagnetic pulse for being laid on earth's surface in careless working region border, which is besieged in circle, puts more hay mowers, institute State hay mower equipped with compass and two-man act balancer so as to during operation by direction in length and breadth come layout direction of keeping order；Institute Between the fixed power supply part and hay mower of stating tool automatic charging pin insertion part, using tool aware circuit Multifunctional flat The remote of the more chargings of sequentially forming into columns of perception of operation during director, the artificial semi-automatic sensor wire electricity that makes corrections of being rectified a deviation with mobile phone The detecting head in magnetic field and multiple video cameras and laser and supersonic sounding device are perceived and are positioned by the Big Dipper of internet come distant Each gardens working machine order is controlled to charge；；The tool wireless telecommunications remote control and the antitheft comprehensive intelligent in plant protection gardens of multiple functions The working machine in garden takes different charging plans according to the practical battery condition of battery pack containing intelligentized charge management circuit is taken Slightly, ensure system work；

When the single-unit battery core voltage of battery is less than 2.7V/CELL, since system operating current is larger, battery core remaining capacity is not It is enough to maintain system worked well,

It directly to system power supply and is charged the battery by the voltage for base station of charging at this time, concrete operating principle is as follows：

Please refer to Figure 14 intelligence gardens working machine charge management circuit schematic diagram：

System detectio cell voltage during charging station when machine is linked into, if voltage is less than 2.7V/CELL, this When, BD_EN, BT_ctr that MCU is sent out control signal are all low level, TF14 MOS conductings, charging base station to system power supply, Meanwhile TF10 MOS end, and battery is prevented to avoid battery over-discharge, the work of each section circuit is as follows to system power supply：

Battery voltage detection circuit：

When system works, the branch pressure voltage of AD input pin detection resistances R142, R146, R147 of MCU, through over-sampling meter The voltage value of battery is calculated, and compared with the charge threshold of software setting, to control charging modes；

The voltage that MCU is sampled：V=(R146//R147) * (R142+R146//R147) * Vbattery

The effect of wherein TF15 metal-oxide-semiconductors is as follows：

VG-S=R127/ (R126+R127) * 12V

This voltage ensures the reliable conducting of TF15 pipes, and battery voltage sampling circuit work, when system cut-off, TF15 is because of G, S Terminal voltage is ended for zero, and battery voltage sampling circuit disconnects, and prevents battery by this circuit discharging, reduce machine without using In the case of electric quantity consumption；

VB-E=VCIN+*R212/ (R210+R212),

VG-S=VCIN* (1-R211/ (R209+R211))

Base station is disconnected to system power supply channel,

The effect of D23A diodes：

In the other working conditions of system, the state in addition to charging, to prevent body two pole of the cell voltage by TF14 Pipe is added to CIN+ signal ends, and system is made to be judged as entering charged state and maloperation, adds a blocking diode；

The effect of D23 diodes：

In charged state, charging voltage is prevented to charge the battery by the body diode of TF10；

MCU determines the size of charging and according to the charge cutoff voltage of setting and the value of electric current by detecting cell voltage, When decision terminates charging, to ensure the service life of charging safety and raising battery,

The effect of resistance R164, R164A, R164B are as follows：

Metering function is played, charging current is：

IChrg=(VCIN+-Vbattery)/(R164+R164A+R164B)

When cell voltage is higher than 2.7V/CELL when MCU is detected, charged the battery using high current, at this point, ChrgEn1 signals are switched to high level, meanwhile, ChrgEN2 signals are switched to low level, triode Q21 conductings, metal-oxide-semiconductor TF12 Be connected therewith, base station voltage is charged the battery by resistance TF12 metal-oxide-semiconductors, charging current by base station charger current size Lai It determines,

R176, R181 are current sampling resistor, when the voltage that charging current flows through the generation of this resistance is more than MCU setting chargings During threshold voltage, MCU thinks the overcurrent that charges, and stops charging immediately；

Charge cutoff condition：

System power supply circuit：

The operation principle of built-in switch pipe is as described below：

Motor control part principle：

Control principle drawing is as follows：

Please refer to the electromechanical machine control circuit schematic diagram of Figure 17 intelligence gardens work：

Integrated chip control program, the decoding of built-in chip type rotor-position are purchased in this system Brush-Less DC motor control part Device monitors three motor position sensors, to provide the correct sequential on top, lower part power MOS drivings, there is six step of all-wave to drive Dynamic function, peripheral three-phase drive device are integrated metal-oxide-semiconductor,

Upper power switch is PMOS tube, and lower part power switch is NMOS tube；

Integrated chip have overcurrent protection function, R118 resistance be current of electric sampling resistor, current sampling signal quilt Chip current sampling end is sent to after R117, R119 partial pressure, when current sampling signal value is more than 0.1V, overcurrent protection function activates, Motor stalls, overcurrent protection set-point are：

Icurrent=0.1* (R117+R119)/(R118*R119)

When overcurrent events occur, the output of driving chip Fault Output pins is low level, and motor is driven and is believed Number OutputEnable signals drag down, and motor shuts down, and avoid machine loading electric current excessive and electronic device damage occurs, When Fault Output are low level, the B-E terminal voltages of triode Q24 are also reduced to zero, and cut-off shape is switched to by conducting state State, BLADE_FAULT signals are high level, after MCU receives BLADE_FAULT high level, stop all motor operations immediately； MCU is additionally provided with two level software overcurrent protection function, so that under different load conditions, flexible handling machine run action is kept away Exempt from machine frequent shutdown,

Software overcurrent protection function can be described as follows：

Current of electric sampled signal BLADE_P8, after 7.8 times of operational amplifier operation amplifier, by amplified sampling Current analog signal BLADE_CRT signals are given on pins of the MCU with analog-digital conversion function, by built-in analog-to-digital conversion list After member processing, analog current signal is converted to the digital current signal of 12, the overcurrent threshold signal phase that this signal is set with MCU Compare, when current signal value is more than overcurrent threshold value, perform run action during corresponding overcurrent,

Left and right movable motor has identical overcurrent protection function；

Current operator amplifying circuit：

Please refer to the electromechanical stream operational amplification circuit schematic diagram of Figure 18 intelligence gardens work：

Current amplification factor Counting Formula：

A=1+ (R7/R14) * Icurrent

It is promoted when occurring unusual condition such as machine collision, machine in motor operation course, when machine is overturn, these things occurs Coherent signal is fed back to MCU by the perceptron of part, and MCU is immediately performed brake function；

Specific action process is as follows：

When location bias occurs for the Hall sensor of detection more than event, hall signal is switched to low electricity by high level Flat, MCU pin is detected to level change, and the BLADE_BRK signals sent out are switched to low level by high level, by following After negative circuit processing, generate BLADE_P4 high level signals and give motor drive ic U13, actuating motor brake function is left and right Movable motor has the function of identical；

The upper figure intelligent grass-removing of the working machine brake of Figure 19 intelligence gardens and fall back circuit diagram is please referred to above Braking circuit；

Driving chip also have make motor forward/reverse function, when machine operation in collide event when, machine perform after Function is moved back, specific action description is as follows：

Figure below intelligent grass-removing of the working machine brake of Figure 19 intelligence gardens and fall back circuit diagram is please referred to above Retreat circuit；

Motor speed control principle：

Concrete operating principle is as described below：

It is positive or negative to be motor driven Hall sensor output signal generations of the chip U13 as the decoding of electronics rotor position Saltus step can be such that U12 one amplitude of generation and the pulse of duration, parameter is determined by non-essential resistance R101, C48, Output pulse at the pin 5 of U12 is integrated by the error amplifier of U13, to generate a DC level, the level and motor speed Spend directly proportional, this velocity feedback voltage establishes PWM datums, and be closed into feedback control loop at the pin 13 of U13, and output is driven The control signal of dynamic MOS, meanwhile, the PWM reference voltages at U13 pins 13 are fed back into MCU drawing with analog-digital conversion function Foot so that MCU learns motor actual motion speed, and adjusts control electricity according to the difference of actual motion velocity amplitude and setting value Pressure,

Interlock circuit is described as follows：

RMOT_DAC is that the target velocity of MCU outputs controls the voltage value, (amplification factor=1+ after operational amplifier amplifies R5/R12), send to the pin 11 of right movable motor driving chip, draw target velocity voltage and the difference of actual speed voltage passes through After the amplification of chip interior error amplifier, the reference voltage signal RMOT_P6 that above-mentioned PWM is adjusted is exported at pin 13.

Usefulness：Has the antitheft comprehensive intelligent garden in plant protection gardens of wireless telecommunications remote control and multiple functions, tool fills automatically Photovoltaic generation charging pile is connected on the bottom plate of the fixed power supply part of electricity pin insertion part and is laid on earth's surface along mowing border The conducting wire of leading the way for having electromagnetic pulse besieges circle, in the electromagnetic pulse that has for being laid on earth's surface along grass cutting action region border Conducting wire of leading the way besieges in circle and puts more hay mowers, described every hay mower be equipped with compass compass so as to It forms a line in operation by direction in length and breadth come volume of keeping order；The fixed power supply part of the tool automatic charging pin insertion part Between hay mower, using the communication of the more chargings of sequentially forming into columns of perception of operation during tool aware circuit Multifunctional flat director Remote control, the artificial semi-automatic detecting head of mobile phone correction correction sensor wire electromagnetic field and multiple video cameras and laser and ultrasound Range finder is perceived and is positioned by the Big Dipper of internet and charged to be remotely controlled each gardens working machine order；The working machine, which contains, to be adopted Intelligentized charge management circuit is taken, different charging strategies is taken according to the practical battery condition of battery pack, ensures system work； Different charging strategies is taken to take different chargings according to the practical battery condition of battery pack according to the practical battery condition of battery pack Strategy；Photovoltaic generation charging pile has energy-saving effect.The intelligent gardens work implements mowing of multifunctional platform, fertilising, pressure-vaccum, mill Light, brush, sowing, pouring are multi-functional；

Intelligent grass-removing realizes that a station multimachine technical need is wished in now developed DYM220601 intelligence by LAN On the basis of robot grass trimmer, realize that a charging station, more grass trimmers can work on a mowing region simultaneously；Has nothing The compass in the antitheft comprehensive intelligent garden in the plant protection gardens of line remote and multiple functions, using the suspension of vertical direction The compass that the horizontal north and south of pulling is directed toward is hung, deflection angle is transmitted to single board computer and handled by the reflective mirror that compass is equipped with.

Automatic mower host and charging station all band 868MHz wireless communication modules；A mating gateway, GATEWAY；

Grass trimmer and charging station are mutually communicated by gateway, have grass trimmer above charging station in charging, other mowings Machine is in running order or wait state；When charging station frees out, by etc. grass trimmer to be charged or minimum electricity return Charging station charges；The intelligent grass-removing bluetooth version and charging station system need 868MHz wireless communication modules to select, gateway GATEWAY is selected and LAN connection software and hardware；Intelligent grass-removing is passing through gateway and nothing by WIFI connection INTERNET After line communication module realizes LAN connection, further realize by the way that intelligent grass-removing is connected to INTERNET by WIFI, Long-range connection to intelligent grass-removing is realized by INTERNET；Automatic mower host and charging station all band 868MHz channel radios Module, mating one independent gateway GATEWAY are interrogated, which connects upper INTERNET by wired, wireless 2 kinds of modes；Intelligence Can grass trimmer be that a station multi-computer system further includes charging station and connect gateway with 868MHz wireless communication modules, and then be connected to INTERNET；The server of the INTERNET connections is required；Intelligent grass-removing mainly sells to European ＆ American Market, due to Internet control problems, future, server can be located at American-European countries；We have the office of oneself in Germany, so server Oneself is built；Or external server is rented, the first step is for European scale country；This mainly sees technical difficulty and operation Expense；It is expected that sales volume is annual 2000-10000 platforms intelligent grass-removing, calculated according to 5 years, market capacity should be in 50,000 intelligence Grass trimmer；We plan to develop other intelligent garden products in addition to grass trimmer simultaneously, including irrigating timer, garden lamp Deng so the server needs 100,000 intelligent garden products of service and 50,000 mobile phones simultaneously, i.e., at least 150,000 IP；According to 5 Year sales volume estimation, the IP quantity that server should service, registered user：50000, intelligent grass-removing：50000；The production of other intelligence gardens Product：50000；Internet of Things framework uses web interconnection architectures, and mobile phone and intelligent grass-removing are required for the side for being registered and being logged in user name Formula accesses separate server, and the presence of mobile phone and intelligent grass-removing is confirmed by server.Mobile phone and intelligent grass-removing All it is common Internet of Things equipment in server, they all have unique User ID in server, and Internet of Things equipment is stepped on The IP addresses of equipment where server can get User ID during the server of land；And cell phone application control intelligent grass-removing be with Family ID is that foundation is controlled, and User ID first is sent to server can get corresponding IP address.Due to the intelligence of our company In energy mower art route, the later stage also plans to have installs camera additional, and shown in video on mobile phone on intelligent grass-removing The function of appearance, so after mobile phone and intelligent grass-removing are by server identification and unicom, subsequent control can by server, It can directly be carried out around server.To facilitate the video data transmission of big flow；Requirement to server, Mei Yitai Intelligent garden products all can be there are one sequence number (Serial No), and mobile phone user to pass through the APP software scans sequence in registration Number, which could control the intelligence garden products.So each intelligent garden products are all the use registered with mobile phone user Name in an account book binding, a user can bind multiple sequence numbers, i.e., a variety of intelligent garden products, but a sequence number can only be tied up A fixed user；This is for security consideration, i.e., after the stolen loss of intelligence garden products, it is impossible to bind use by other people； Mobile phone user, which registers, to complete, user number and sequence number, i.e., after some intelligent garden products binding success, mobile phone just by APP and Intelligent garden products communication, mobile phone can send to grass trimmer and instruct, mow including beginning/stopping, returning to charging station etc.；Mobile phone The information of grass trimmer is read, including content for mowing, charging, false alarm and alarm occurs etc.；Mobile phone is read from server Weather information is taken, data are obtained from third party software；Function setting is carried out to grass trimmer on mobile phone, is mowed week time containing automatic Phase setting, system time setting, change of secret code；And the former setting data on server and grass trimmer chip are covered immediately；It mows The a few thing information of machine, mow accumulative total time, error information data, needs to retain on mobile phone and server；These numbers According to being for convenience of market survey and maintenance service；Grass trimmer software is upgraded by mobile phone；The server software is to user Privacy corresponding Security Assurance Mechanism is provided；User seeks long-range maintenance service by APP Connected Corp. website；It develops Intelligent grass-removing bluetooth version and charging station system need 868MHz wireless communication modules select, gateway GATEWAY select and office On the basis of domain net connection design of hardware and software and technology, software and hardwares programming and the skills such as INTERNET connections, server are provided Art is supported；Intelligent irrigation timer and the mating humidity sensor technical need set product include 2 parts：The Intelligent fixed time fills It irrigates controller to be connected on water source, according to the setting of user, solenoid valve, water flowing is opened in certain period；Humidity sensor is inserted into In the soil in garden, the humidity of soil is monitored, and data are sent to Intelligent fixed time irrigation controller by gateway；When soil When humidity is less than the threshold values set, Intelligent fixed time irrigation controller automatically opens solenoid valve, to garden watering；Intelligent fixed time is irrigated Controller and humidity sensor all band 868MHz wireless communication modules, LAN connection is realized by gateway；It can pass through net simultaneously It closes and realizes INTERNET connections；Intelligent fixed time irrigation controller and humidity sensor realize self-supporting supply using solar panel Electricity, all included 868MHz wireless communication modules of intelligent garden systems equipment, is realized in the system of intelligent garden between each product Mutually communication；So as to fulfill the communication between each product and control function, while INTERNET is connected by gateway, realize and use The function of each product in the system of family remote control intelligence garden.

Has the antitheft comprehensive intelligent garden in plant protection gardens of wireless telecommunications remote control and multiple functions, photovoltaic generation charging pile has section Energy effect, the mowing of multifunctional platform tool, fertilising, pressure-vaccum, polishing, brush, sowing, pouring are multi-functional.Using on hay mower Equipped with compass and two-man act balancer so as to during operation by direction in length and breadth come layout direction of keeping order, tool communication control, which perceives, advances Retreat the remote that Multifunctional circuit platform perceives more chargings of sequentially forming into columns, artificial semi-automatic mobile phone correction correction sensing The detecting head of conducting wire electromagnetic field and multiple video cameras and laser and supersonic sounding device are perceived and are determined by the Big Dipper of internet Position is charged to be remotely controlled each gardens working machine order, containing intelligentized charge management circuit is taken, takes different charging strategies； The compass, the compass being directed toward in the horizontal north and south of pulling is hung using the suspension of vertical direction, and compass is equipped with reflective Deflection angle is transmitted to single board computer processing by mirror.

Have the antitheft comprehensive intelligent garden in plant protection gardens of wireless telecommunications remote control and multiple functions, tool automatic charging pin insertion section It is connected to photovoltaic generation charging pile on the bottom plate of the fixed power supply part of part and is laid on earth's surface along mowing border to have electromagnetic pulse Lead the way conducting wire besiege circle in put Duo Tai gardens working machine；Control is communicated using tool and perceives forward-reverse Multifunctional circuit platform The remote of more chargings of sequentially forming into columns is perceived, the detecting head of artificial semi-automatic correction sensor wire electromagnetic field of being rectified a deviation with mobile phone And multiple video cameras and laser and supersonic sounding device are perceived and are positioned by the Big Dipper of internet and worked to be remotely controlled each gardens Machine order charges, and containing intelligentized charge management circuit is taken, takes different charging strategies, photovoltaic generation charging pile has section Energy effect, intelligent gardens work implements mowing, fertilising, pressure-vaccum, polishing, brush, sowing, the pouring of multifunctional platform are multi-functional. The intelligent robot working machine of control direction is taught with there is the balancer (236) of two-man act complementary with straight line moving balancer Stability maintenance front axle in left and right has straight line moving purposes, simple and reliable；The hay mower is equipped with compass and two-man act is put down Weighing apparatus so as to during operation by direction in length and breadth come layout direction of keeping order.The compass hangs drawing using the suspension of vertical direction Deflection angle is transmitted to single board computer and handled by the compass that firmly horizontal north and south is directed toward, the reflective mirror that compass is equipped with.Plant protection garden The antitheft comprehensive intelligent garden tool wireless telecommunications remote control multiple functions of woods.

Claims

1. have the antitheft comprehensive intelligent garden in plant protection gardens of wireless telecommunications remote control and multiple functions, automatic charging containing work implements Pin is inserted into and extracts contact chip component；The tool automatic charging pin is inserted into and extracts contact chip component, the automatic charging containing tool The fixed power supply part of insertion part is sold, the tool of the also fuselage containing grass trimmer extracts the electric component of the activity of contact chip；It is described Have automatic charging pin insertion part fixed power supply part, equipped be horizontally arranged in the bottom plate of earth's surface, stand on front front wall, supply Power supply, fot screw, the unilateral side of the bottom plate for being horizontally arranged in earth's surface be equipped with along the preceding inlet wire of unilateral preceding universal wheel and it is symmetrical Guided way (233c), to be oriented to the fore-body of grass trimmer along the left and right of the preceding inlet wire of unilateral preceding universal wheel； And the bottom plate for being horizontally arranged in earth's surface left side and right side it is each be equipped with along the every of the symmetrical guided way of axis (233c) The curved section of a guided way is a cube curve, to slow down impact；Four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with described Fot screw, to fix；The forepart of the bottom plate for being horizontally arranged in earth's surface is equipped with the front wall for standing on front；Described Equipped with the charging pin along the symmetrical left side of axis and right side each one, ((233), described fills front wall in front of standing on Electricity pin (root of (233) is equipped with pin ball (233a), is servo-actuated so as to micro, the charging pin (root of (233) is equipped with screw thread, To be connected with the power supply source；(head of (233) is equipped with inserting surface (233b) to the charging pin, and to charge, pin is inserted into And extract contact chip；The bottom plate for being horizontally arranged in earth's surface is laid with along central axes and draws and be equipped in working region along earth's surface The conducting wire of leading the way of electromagnetic pulse is cut with will pass through the sensor of grass trimmer lower front (234d) and pass through circuit board intelligently guiding Being equipped with for fixed power supply part of walking to the tool automatic charging pin insertion part is horizontally arranged in earth's surface during careless confidential charging Bottom plate on；The electric component of the activity that contact chip is extracted containing tool is located at grass trimmer forepart, described to extract contact chip containing tool Activity sensor (234d) of the electric component containing the grass trimmer lower front and be located at the contact chip of grass trimmer forepart (234) and tabletting torsional spring (234a) and shaft；The contact chip (234) and tabletting torsional spring (234a) and shaft is each shares four A, each described contact chip (234) and tabletting torsional spring (234a) and shaft form a dodge gate, and each described institute State a dodge gate of contact chip (234) and tabletting torsional spring (234a) and shaft composition and each described described contact chip (234) and another dodge gate of tabletting torsional spring (234a) and shaft composition formed it is aspectant split two-door, left side and Respectively there is contact surface ((234b) correspondence of aspectant each contact chip (234) of the two-door dodge gate on right side The charging pin along the symmetrical left side of axis and right side each one that the front wall for standing on front is equipped with (the inserting surface (233b) that the head of (233) is equipped with, by charging pin by the micro servo-actuated insertion of pin ball (233a)；When filling It is retreated to grass trimmer can be started during setting value, charging pin is made to extract contact chip, is then worked；When charging again, grass trimmer is walked Being horizontally arranged on the bottom plate of earth's surface and being inserted by charging pin to the fixed power supply part for having automatic charging pin insertion part Enter；The left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along the every of the symmetrical guided way of axis (233c) The curved section of a guided way is a cube curve, to match and impact-reducing with the auxiliary guide rod (234e) of grass trimmer front side edge； The fot screw that four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with is swell fixture；The charging pin (233) The pin ball (233a) that root is equipped with is that cross pin is equipped on spheric seat, so as to micro servo-actuated；The charging pin (dress is there are two nut on the screw thread that the root of (233) is equipped with, with anti-loosening；What the head of the charging pin (233) was equipped with Inserting surface (233b) is wedge；There are two the close circle torsional springs of the tabletting torsional spring (234a)；The contact chip (234) (one section of curve of (234b) is logatithmic spiral to contact surface, because logatithmic spiral, that is, equiangular spiral has pressure angle equal spy everywhere Property, it is inserted into conducive to contact；The tool wireless telecommunications remote control and the antitheft comprehensive intelligent garden in plant protection gardens of multiple functions, institute (the pin ball (233a) that the root of (233) is equipped with is on recessed half ball seat and the pin ball for the charging pin being equipped with The pin of the coaxial line of left and right each one is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；With straight line Walking balancer teaches consolidating for its tool automatic charging pin insertion part contained of intelligent robot working machine of control direction The unilateral side of the bottom plate for being horizontally arranged in earth's surface that fixed power supply part is equipped with is equipped with the preceding inlet wire along unilateral preceding universal wheel And symmetrical narrow guided way (233c), the intermediate groove of the narrow guided way (233c) be only capable of accommodating grass trimmer it is unilateral before The preceding universal wheel of wheel, the left and right width of the narrow guided way (233c) are less than the half of the width of grass trimmer, and described narrow leads Each guided way to rail (233c) is the toroidal of cube curved section of the function curve containing higher mathematics, to slow down punching Hit and before making universal wheel with half of guide groove cooperation and to the fore-body of grass trimmer along the preceding inlet wire of unilateral preceding universal wheel Left and right is oriented to and expands mowing area, avoid between original two wide guided ways have the half to keep left be Lou Ge areas or The half to keep left is Shang Dao areas or the half to keep left is to hinder guide rail area；The plant protection gardens of tool wireless telecommunications remote control and multiple functions are prevented Comprehensive intelligent garden is stolen it is characterized in that, being connected on the bottom plate of the fixed power supply part of the tool automatic charging pin insertion part Photovoltaic generation charging pile and being laid on earth's surface along mowing border has the conducting wire besieging circle of leading the way of electromagnetic pulse, mows on the edge The conducting wire of leading the way for having electromagnetic pulse for being laid on earth's surface in working region border, which is besieged in circle, puts more hay mowers, described Hay mower equipped with compass and two-man act balancer so as to during operation by direction in length and breadth come layout direction of keeping order；It is described Between the fixed power supply part and hay mower that have automatic charging pin insertion part, using tool aware circuit multifunctional platform The remote of the more chargings of sequentially forming into columns of perception of operation when long, artificial semi-automatic mobile phone correction correction sensor wire electromagnetism The detecting head and multiple video cameras and laser and supersonic sounding device of field perceive and position to be remotely controlled by the Big Dipper of internet Each gardens working machine order charges；The working machine is containing intelligentized charge management circuit is taken, according to the practical electricity of battery pack Amount situation takes different charging strategies, ensures system work；Different charging plans is taken according to the practical battery condition of battery pack Slightly；When the single-unit battery core voltage of battery is less than 2.7V/CELL, since system operating current is larger, battery core remaining capacity is not enough to System worked well is maintained, directly to system power supply and is charged the battery by the voltage for base station of charging at this time, specific works are former Reason is as follows：System detectio cell voltage during charging station when machine is linked into, if voltage is less than 2.7V/CELL, at this point, BD_EN, BT_ctr that MCU is sent out control signal are all low level, TF14 MOS conductings, charging base station to system power supply, meanwhile, TF10 MOS end, and battery is prevented to avoid battery over-discharge, the work of each section circuit is as follows to system power supply：Cell voltage Detection circuit：When system works, the branch pressure voltage of AD input pin detection resistances R142, R146, R147 of MCU, through over-sampling The voltage value of battery is calculated, and compared with the charge threshold of software setting, to control charging modes；

The voltage that microcontroller micro control unit chip MCU is sampled：

V=(R146//R147) * (R142+R146//R147) * Vbattery

VG-S=R127/ (R126+R127) * 12V

This voltage ensures the reliable conducting of TF15 pipes, and battery voltage sampling circuit work, when system cut-off, TF15 is because of G, S end electricity Pressure is ended for zero, and battery voltage sampling circuit disconnects, and prevents battery by this circuit discharging, reduce machine without using feelings Electric quantity consumption under condition,

When machine be linked into the case of system cut-off charging base station, at this time because the BT_ctr signals of MCU be low level, three poles Pipe Q28 ends, and the voltage at the B-E ends of triode Q27 is：VB-E=VCIN+*R212/ (R210+R212),

This voltage value is more than the on state threshold voltage of triode, and triode Q27 is connected, at this time the G-S terminal voltages of TF14 metal-oxide-semiconductors For：

VG-S=VCIN* (1-R211/ (R209+R211))

Therefore TF14 is connected, base station voltage VCIN+, to system power supply, system Auto Power On, and detects whether to meet by TF14 Charge condition；In charging process, when charging voltage is more than 2.7V/CELL when MCU is detected, signal BT_ctr, BD_EN are controlled High level is switched to by low level, charged state switches as described below：

When being switched to high level by low level because of BT_ctr signals, triode Q28 leads to three by cut-off state switched conductive state The base voltage of pole pipe Q27 is reduced to no-voltage and ends, and TF14 ends therewith,

Base station is disconnected to system power supply channel,

While BT_ctr signals are switched to high level by low level, BD_EN signals are also switched to high level by low level, and three Pole pipe Q16 is switched to conducting state by cut-off state, and the voltage drop at R138 resistance both ends is more than the G-S conducting voltages of TF10, TF10 MOS are connected therewith, at this point, while base station supplying channels disconnect, by battery to system power supply,

The effect of D23A diodes：In the other working conditions of system, the state in addition to charging, to prevent cell voltage from passing through The body diode of TF14 is added to CIN+ signal ends, and system is made to be judged as entering charged state and maloperation, adds a blocking diode；

The effect of D23 diodes：In charged state, charging voltage is prevented to charge the battery by the body diode of TF10；

This system uses intelligentized charging management system, and the DATA REASONING in multiple charge data detections and charging process carries For multiple protection functions, to ensure charging safety；

Chip MCU determines the size of charging and according to the charge cutoff voltage of setting and the value of electric current by detecting cell voltage, When decision terminates charging, to ensure the service life of charging safety and raising battery,

It when cell voltage is less than 2.7V/CELL when MCU is detected, is charged the battery using low current, at this point, ChrgEn1 believes Number for low level, meanwhile, ChrgEN2 signals are high level, triode Q20 conductings, and triode Q19 is connected therewith, base station voltage It is charged the battery by resistance R164, R164A, R164B, Q19,

The effect of resistance R164, R164A, R164B are as follows：

Metering function is played, charging current is：

IChrg=(VCIN+-Vbattery)/(R164+R164A+R164B)

It when cell voltage is higher than 2.7V/CELL when MCU is detected, is charged the battery using high current, at this point, ChrgEn1 believes Number high level is switched to, meanwhile, ChrgEN2 signals are switched to low level, triode Q21 conductings, and metal-oxide-semiconductor TF12 is connected therewith, Base station voltage is charged the battery by resistance TF12 metal-oxide-semiconductors, and charging current is determined by base station charger current size,

R176, R181 are current sampling resistor, when the voltage that charging current flows through the generation of this resistance is more than MCU setting charge thresholds During voltage, MCU thinks the overcurrent that charges, and stops charging immediately；

Charge cutoff condition：

When battery stagnation pressure is more than 4.15V/CELL or charging current is less than 200mA, stops charging, battery is avoided to overcharge；

System power supply circuit：

This system power-supply service provided by the way of Switching Power Supply and linear stabilized power supply combination 12V, 5V needed for system, 3.3V voltages, specific works are described as follows：

Cell voltage or base station supply voltage are added in the input pin 1 of Switching Power Supply transformation chip, when switch control pin 5 is low During level, the metal-oxide-semiconductor between control chip interior connection pin 1 and pin 2 is on off state, and metal-oxide-semiconductor is switched at each The turn-on time in period depends on output voltage and feeds back to the big of the feedback voltage at 4 end of pin and the error amount of built-in reference voltage It is small,

MOS conducting states are put in the chip, and input voltage provides energy, while inductance L1 and electricity by inductance L1 to output+12V Hold C64 during this period also can storing up electricity energy,

When MOS is disconnected, can be released in electric energy of the upper turn-on cycle memory storage on inductance L1, powering load, Diode D21 provides current loop to inductance L1, when energy reduces on L1, C64 supplement offer voltages, maintenance output voltage+ 12V is constant；

The operation principle of built-in switch pipe is as described below：

When loading increasing, output voltage reduces, while the voltage of feedback pin 4 decreases, the benchmark electricity with chip interior The error amount of pressure increases, and as a result lengthens the turn-on time of built-in MOS, more electricity increase output terminal, connect output voltage Nearly setting pressure, maintains output voltage stabilization；

Similarly, when output loading reduces, output voltage rises, therefore feedback voltage reduces with reference voltage error, causes interior The MOS switch pipe turn-on time put reduces, and reduces the electricity that feeder ear is supplied to load end, output is made to fall after rise to the voltage of setting Value, more than because of the variation of load, cause output voltage and set the error amount of voltage value, output voltage is made to maintain dynamic equilibrium Input voltage because Switching Power Supply is operated on off state, is directly transformed to voltage needed for system, cancels linear electricity by stationary value The energy expenditure of source input and output voltage difference, therefore, have it is efficient, simultaneity factor calorific value is small, provides system reliable operation Property,

Motor control principle is as follows：

Integrated chip control program, built-in chip type rotor-position decoder, prison are purchased in this system Brush-Less DC motor control part Three motor position sensors are controlled, to provide the correct sequential on top, lower part power MOS drivings, there is six step of all-wave to drive work( Can, peripheral three-phase drive device is integrated metal-oxide-semiconductor,

Upper power switch is PMOS tube, and lower part power switch is NMOS tube；

Integrated chip have overcurrent protection function, R118 resistance be current of electric sampling resistor, current sampling signal by R117, Chip current sampling end is sent to after R119 partial pressures, when current sampling signal value is more than 0.1V, overcurrent protection function activation, motor stops Rotation stop is moved, and overcurrent protection set-point is：

Icurrent=0.1* (R117+R119)/(R118*R119)

When overcurrent events occur, the output of driving chip Fault Output pins is low level, by motor drive signal OutputEnable signals drag down, and motor shuts down, and avoid machine loading electric current excessive and electronic device damage occurs, when When Fault Output are low level, the B-E terminal voltages of triode Q24 are also reduced to zero, and cut-off state is switched to by conducting state, BLADE_FAULT signals are high level, after MCU receives BLADE_FAULT high level, stop all motor operations immediately；MCU Two level software overcurrent protection function is additionally provided with, so that under different load conditions, flexible handling machine run action avoids machine Device frequent shutdown；Software overcurrent protection function is described as follows：

Current of electric sampled signal BLADE_P8, after 7.8 times of operational amplifier operation amplifier, by amplified sample rate current Analog signal BLADE_CRT signals are given on pins of the MCU with analog-digital conversion function, at built-in AD conversion unit After reason, analog current signal is converted to the digital current signal of 12, this signal is compared with the overcurrent threshold signal that MCU is set Compared with, when current signal value be more than overcurrent threshold value when, perform run action during corresponding overcurrent；

Left and right movable motor has identical overcurrent protection function；The current amplification factor of current operator amplifying circuit counts public Formula：

A=1+ (R7/R14) * Icurrent

It is promoted when occurring unusual condition such as machine collision, machine in motor operation course, when machine is overturn, these events occurs Coherent signal is fed back to MCU by perceptron, and MCU is immediately performed brake function；Specific action process is as follows：

When location bias occurs for the Hall sensor of detection more than event, hall signal is switched to low level, MCU by high level Pin is detected to level change, and the BLADE_BRK signals sent out are switched to low level by high level, by following reverse phase electricity After the processing of road, generate BLADE_P4 high level signals and give motor drive ic U13, actuating motor brake function, left and right walking electricity Machine has the function of identical；Driving chip also have make motor forward/reverse function, when machine operation in collide event when, Machine performs fallback function, and specific action description is as follows：When collision alarm is sent to MCU by Hall sensor, MCU will be controlled The signal of the BLADE_DIR in motor operation direction is switched to high level by low level, after the processing of following negative circuit, generates Low level BLADE_P7 signals give motor drive ic U13, and motor switches inverted status by rotating forward, and machine performs fall back Action, left and right movable motor has the function of identical；Motor speed control principle：Machine is under different working conditions, motor The speed of service also differs, it is therefore desirable to which the running speed signal for feeding back motor drives core U13 to motor, and this system design uses Dedicated motor speed detection chip, to generate the feedback voltage needed for motor speed control, without expensive tachometer U12, you can realize this function；Concrete operating principle is as described below：

It is motor driven Hall sensor output signals of the chip U13 as the decoding of electronics rotor position and positive or negative jump occurs Become, U12 can be made to generate an amplitude and the pulse of duration, parameter is determined by non-essential resistance R101, C48, U12's Output pulse at pin 5 is integrated by the error amplifier of U13, to generate one DC level, the level and motor speed into Direct ratio, this velocity feedback voltage establish PWM datums, and be closed into feedback control loop at the pin 13 of U13, output driving The control signal of MOS, meanwhile, the PWM reference voltages at U13 pins 13 are fed back to MCU has the pin of analog-digital conversion function, So that MCU learns motor actual motion speed, and control voltage, phase are adjusted according to the difference of actual motion velocity amplitude and setting value Powered-down road is described as follows：

RMOT_DAC is that the target velocity of MCU outputs controls the voltage value, (amplification factor=1+R5/ after operational amplifier amplifies R12), send to the pin 11 of right movable motor driving chip, draw target velocity voltage with the difference of actual speed voltage through core After the amplification of piece internal error amplifier, the reference voltage signal RMOT__P6 that above-mentioned PWM is adjusted is exported at pin 13；

The compass hangs the compass being directed toward in the horizontal north and south of pulling using the suspension of vertical direction, what compass was equipped with Deflection angle is transmitted to single board computer processing by reflective mirror；The antitheft comprehensive intelligent garden tool wireless telecommunications in plant protection gardens are remotely controlled a variety of work( Energy.