CN108522023A - The intelligent robot working machine of control direction is taught with balancer with straight line moving - Google Patents
The intelligent robot working machine of control direction is taught with balancer with straight line moving Download PDFInfo
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- CN108522023A CN108522023A CN201711499156.9A CN201711499156A CN108522023A CN 108522023 A CN108522023 A CN 108522023A CN 201711499156 A CN201711499156 A CN 201711499156A CN 108522023 A CN108522023 A CN 108522023A
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
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- H02J7/0026—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
-
- H02J7/0077—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/20—Charging or discharging characterised by the power electronics converter
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/00302—Overcharge protection
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/00304—Overcurrent protection
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/00306—Overdischarge protection
Abstract
The intelligent robot working machine of control direction is taught with balancer with straight line moving, photovoltaic generation charging pile is connected on the bottom plate for having the fixed power supply part of automatic charging pin insertion part and is laid in the conducting wire besieging circle of leading the way that earth's surface has electromagnetic pulse along mowing border to put the gardens Duo Tai working machine；The remote that control perception forward-reverse Multifunctional circuit platform perceives more chargings of sequentially forming into columns is communicated using tool, it is artificial semi-automatic to rectify a deviation the detecting head of correction sensor wire electromagnetic field with mobile phone and multiple video cameras and laser and the perception of supersonic sounding device and position by the Big Dipper of internet is charged to be remotely controlled each gardens working machine order, containing taking intelligentized charge management circuit, take different charging strategies, photovoltaic generation charging pile has energy-saving effect, the intelligent gardens work implements of multifunctional platform are mowed, fertilising, pressure-vaccum, polishing, brush, sowing, it pours and sweeps away snow and is multi-functional.
Description
Technical field
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., is tool
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 front 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 installs dust bag bracket and tying additional and bodice upper casing dust mouth adds soft, blow impeller and cutting edge, circuit is added to add 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
It is improved with the straight line moving intelligent robot working machine of balancer guidance control direction again on the basis of careless machine.
Background technology
Hay mower is widely used in mowing by the selected mode of hobby of people.Some operation pedestrians like
When with custom grass trimmer, slightly larger strength is made on latter half of upper handrail and has a kind of feeling of dependence and pushing, 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 sticking up especially the near front wheel before also having
Bad phenomenon occur.For power-operated mower, since motor is lighter than engine, and motor axis will drive revolution
The prodigious 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, especially
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 front and matches
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, do not have to knife, the moving head for having nylon wire is driven by series excited machine.When installing grass-mowing machine, and start make around
Nylon wire rotation in line wheel 25-3, can beat the grass.When line in short-term, operator's pier pressure once, reel aluminium head 25-3b touch ground,
So that reel spring 25-1 is compressed, and reel 25-3 is made to turn, the nylon wire 134 in it is made to lead to wire over inserted sheet 25-6, and puts
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 needing pier 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 is 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 are hovered such as ghost for a long time, and Switzerland senior engineer SENI.ENGI. lifetimes experience and international co-operation are borrowed,
It sequentially forms into columns charging, is thousand worries and good fortune has one, it is then of the invention improved to there is straight line moving to be taught with balancer control
The intelligent robot working machine in direction processed just comes 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, further exploitation has the intelligent machine that straight line moving teaches control direction with balancer
Device people's working machine, resultant effect are to expand use scope, and straight line moving is taught control direction to reinforce pressure grass and protected with balancer
Moisture in the soil and safety, and save energy and environmental protection.
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., is to change
Into tool automatic charging pin be inserted into and extract contact chip component intelligent grass-removing；It is to contain to be located at lawnmower chassis front 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 installs dust bag bracket and tying additional and bodice upper casing dust mouth adds soft, blow impeller and cutting edge, circuit is added to add 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 sets 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 intelligent grass-removing that 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 intelligence that improved tool automatic charging pin was inserted into and extracted contact chip component is cut
Careless machine is inserted into containing improved tool automatic charging pin and extracts contact chip component；The tool automatic charging pin is inserted into and extracts
The tool extraction of contact chip component, the fixed power supply part of the automatic charging pin insertion part containing tool, the also fuselage containing grass trimmer connects
The movable electric component of contact；The fixed power supply part of the tool automatic charging pin insertion part, equipped with being horizontally arranged in ground
The bottom plate of table, the front wall for standing on front, power supply source, fot screw, the left side and right side of the bottom plate for being horizontally arranged in earth's surface are each
Equipped with along the symmetrical guided way of axis (233c), so as to the front to grass trimmer fuselage along the symmetrical left side of axis
And right side is oriented to；And the left side of the bottom plate for being horizontally arranged in earth's surface and right side is each be equipped with leads along axis is symmetrical
Curved section to each guided way of rail (233c) is a cube curve, to slow down impact；The bottom plate for being horizontally arranged in earth's surface
Four feet be equipped with the fot screw, to fix；Before the front of the bottom plate for being horizontally arranged in earth's surface is equipped with described stand on
The front wall of side；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 along central axes and in workspace
Domain is equipped with the conducting wire of leading the way of electromagnetic pulse along earth's surface, will pass through the sensor (234d) of grass trimmer lower front and pass through electricity
Walking setting to the fixed power supply part for having 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 movable electric component that contact chip is extracted containing tool is located at grass trimmer front, described
Containing sensor (234d) of the movable electric component for having extraction 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 front；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 form an activity
Door, and each described described contact chip (234) and tabletting torsional spring (234a) and shaft composition a dodge gate with it is described
It is aspectant right that another dodge gate of each described contact chip (234) and tabletting torsional spring (234a) and shaft composition is formed
That opens is two-door, and left and right side respectively has connecing for aspectant each contact chip (234) of the two-door dodge gate
Contacting surface (the institute along the symmetrical left side of axis and right side each one that (234b) corresponding described front wall for standing on front is equipped with
(inserting surface (233b) that the head of (233) is equipped with leans on pin ball (233a) micro servo-actuated to the charging pin stated by charging pin
It is inserted into；Grass trimmer retrogressing can be started when being charged to setting value, so that charging pin is extracted contact chip, then work；When charging again
Grass trimmer walking being horizontally arranged on the bottom plate of earth's surface simultaneously to the fixed power supply part for having automatic charging pin insertion part
It is inserted 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 in mutually toroidal, to be matched with the auxiliary guide rod (234e) of grass trimmer front side edge.
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,
It is characterized in that, charging pin (the pin ball (233a) that the root of (233) is equipped with is that cross pin is equipped on spheric seat, with
Just 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, (there are two nuts for dress 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, i.e. etc. because of logatithmic spiral for the contact surface of the contact chip (234)
Angle spread has pressure angle equal characteristic everywhere, is conducive to contact and is inserted into.
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 has the one station multimachine of wisdom garden of intelligent robot grass trimmer internet Internet of Things framework.
The one station multimachine of wisdom garden for having intelligent robot grass trimmer internet Internet of Things framework fills 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 tool of the fixed power supply part of electricity pin insertion part, the also fuselage containing grass trimmer extracts the movable electric component 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 is equipped with right along the preceding inlet wire of unilateral preceding universal wheel
The guided way (233c) of title, to be led along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer
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 front 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, so that (root of (233) is equipped with spiral shell to micro servo-actuated, described charging pin
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 and draws along central axes and is laid with along earth's surface in working region
The conducting wire of leading the way for having electromagnetic pulse, will pass through the sensor (234d) of grass trimmer lower front and by 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 movable electric component that contact chip is extracted containing tool is located at grass trimmer front, described to extract contact containing tool
Sensor (234d) be located at grass trimmer front contact of the movable electric component of piece containing the grass trimmer lower front
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
(inserting surface (233b) that the head of (233) is equipped with leans on the micro servo-actuated insertion of pin ball (233a) by charging pin；When filling
It is retreated to grass trimmer can be started when setting value, so that charging pin is extracted contact chip, then work；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
(there are two nuts for dress 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 conducive to contact and is inserted into；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 mounted on recessed half ball seat and a left side for the pin ball for the charging pin being equipped with
The pin of the 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 the fixation of its tool automatic charging pin insertion part contained of system emulation formation charge control intelligence hay mower
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 the 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 is expanded mowing area, and avoiding between original two wide guided ways has the half to keep left to be the areas Lou Ge or lean on
Left half is the areas Shang Dao or the half to keep left is to hinder guide rail area；Has the wisdom of intelligent robot grass trimmer internet Internet of Things framework
One station multimachine of 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
It photovoltaic generation charging pile and being laid on earth's surface along mowing border has the conducting wire of leading the way of electromagnetic pulse to besiege circle, mow on the edge
More hay mowers are put in being laid in the conducting wire besieging circle of leading the way for having electromagnetic pulse of earth's surface for working region border, described
Every hay mower form a line come volume of keeping order by direction in length and breadth in operation equipped with compass compass；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 are perceived and are remotely controlled by the Big Dipper positioning 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 when 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 cut-offs prevent battery to system power supply, avoid battery over-discharge, the work of each section circuit as follows：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 poles G of MOS are powered by 12V voltages to the poles G, 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 cut-offs, and the voltage at the ends B-E 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 ends G-S 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 MCU is detected, charging voltage is more than 2.7V/CELL, 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, into charged state and maloperation, adding an obstruction two
Pole pipe；
The effect of D23 diodes：In charged state, charging voltage is prevented to be filled to battery by the body diode of TF10
Electricity；
This system uses intelligentized charging management system, the data in multiple charge data detections and charging process to survey
Amount, provides multiple protection functions, to ensure charging safety；
Chip MCU determines the size of charging, and charge cutoff voltage and electric current according to setting by detecting cell voltage
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 MCU is detected, cell voltage is less than 2.7V/CELL, 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 MCU is detected, cell voltage is higher than 2.7V/CELL, 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
It is connected therewith, base station voltage is charged the battery by resistance TF12MOS pipes, and charging current is determined by base station charger current size
Fixed, 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
When 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
For low level when, control chip interior connection pin 1 and pin 2 between metal-oxide-semiconductor be on off state, metal-oxide-semiconductor is at each
The turn-on time of switch periods depends on the error amount that output voltage feeds back to the feedback voltage and built-in reference voltage at 4 end of pin
Size,
MOS conducting states are set 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,
When MOS is disconnected, the electric energy being stored on inductance L1 in a upper turn-on cycle can release, and 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 end, keeps 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
It causes built-in MOS switch pipe turn-on time to reduce, reduces the electricity that feeder ear is supplied to load end, output is made to fall after rise to setting
Voltage value, the above variation because of load cause output voltage and set the error amount of voltage value, and output voltage is made to maintain dynamic flat
Input voltage is directly transformed to the voltage needed for system by the stationary value of weighing apparatus because Switching Power Supply is operated on off state, cancels line
Property power input output voltage difference energy expenditure, therefore, have it is efficient, simultaneity factor calorific value is small,
Offer system functional 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 executes 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：
Be motor driven chip U13 as electronics rotor position decoding Hall sensor output signal occur it is positive or negative
Saltus step can make U12 generate the pulse of an amplitude and 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 at the pin 13 of U13, and is closed into feedback control loop, output driving
The control signal of MOS, meanwhile, the PWM reference voltages at U13 pins 13, which 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.
Description of the drawings
Present invention will be further explained below with reference to the attached 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 (233c) of (233) and bottom plate 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 the preceding universal wheel of tool.
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 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 implementation mode
Pedestrian's grass trimmer is operated, safety goggles and mask are preferably put on, 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 grow up on the basis of a kind of grass trimmer having winder again in existing moving head 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.
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., is to change
Into tool automatic charging pin be inserted into and extract contact chip component intelligent grass-removing；It is to contain to be located at lawnmower chassis front 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 installs dust bag bracket and tying additional and bodice upper casing dust mouth adds soft, blow impeller and cutting edge, circuit is added to add 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 sets 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 containing improved tool automatic charging pin and extracts contact chip component；The tool automatic charging
Pin is inserted into and extracts contact chip component, the fixed power supply part of the automatic charging pin insertion part containing tool, also machine containing grass trimmer
The tool of body extracts the movable electric component of contact chip；The fixed power supply part of the tool automatic charging pin insertion part, if
Have and is 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 front 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
It is equipped with the fot screw in four feet of the bottom plate of earth's surface, to fix；The front 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 for drawing and being equipped with along earth's surface in working region electromagnetic pulse, will pass through the sensor of grass trimmer lower front
(234d) and fixation of the walking to tool automatic charging pin insertion part when being charged by circuit board intelligently guiding grass trimmer
Power supply part be equipped be horizontally arranged on the bottom plate of earth's surface；The movable electric component that contact chip is extracted containing tool, which is located at, to be cut
Careless machine front, it is described to extract the movable electric component of contact chip containing the sensor of the grass trimmer lower front containing tool
(234d) and the contact chip (234) and tabletting torsional spring (234a) and shaft for being located at grass trimmer front；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 left and right side respectively has the aspectant each described of the two-door dodge gate
Contact chip (234) contact surface ((234b) corresponding described front wall for standing on front be equipped with along the symmetrical left side of axis
(inserting surface (233b) that the head of (233) is equipped with leans on pin to the charging pin on side and right side each one by charging pin
The micro servo-actuated insertion of ball (233a)；Grass trimmer retrogressing can be started when being charged to setting value, so that charging pin is extracted contact chip, then work
Make；Grass trimmer walking being horizontally arranged in the fixed power supply part for having 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 in mutually toroidal, to be matched with the auxiliary guide rod (234e) of grass trimmer front side edge.
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,
It is characterized in that, charging pin (the pin ball (233a) that the root of (233) is equipped with is that cross pin is equipped on spheric seat, with
Just 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, (there are two nuts for dress 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, (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.
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, i.e. etc. because of logatithmic spiral for the contact surface of the contact chip (234)
Angle spread has pressure angle equal characteristic everywhere, is conducive to contact and is inserted into.
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, market is needed to need the intelligent grass-removing that automatic charging pin plugs, solve 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 conducive to contact and is inserted into.
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 for answering the front wall for standing on front 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, certainly containing tool
The tool of the fixed power supply part of dynamic charging pin insertion part, the also fuselage containing grass trimmer extracts the movable power receiving section 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 front 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 along central axes and in workspace
Domain is equipped with the conducting wire of leading the way of electromagnetic pulse along earth's surface, will pass through the sensor (234d) of grass trimmer lower front and pass through electricity
Walking setting to the fixed power supply part for having 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 movable electric component that contact chip is extracted containing tool is located at grass trimmer front, described
Containing sensor (234d) of the movable electric component for having extraction 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 front；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, left and right side respectively has the contact surface of aspectant each contact chip (234) of the two-door dodge gate
((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 (inserted by charging pin by micro be servo-actuated of pin ball (233a) by the inserting surface (233b) that the head of (233) is equipped with
Enter；Grass trimmer retrogressing can be started when being charged to setting value, so that charging pin is extracted contact chip, then work；It is cut when charging again
The walking of careless machine to the tool automatic charging pin insertion part fixed power supply 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, is conducive to contact and is inserted into；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 having
The unilateral side for 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 universal wheel is with half of guide groove cooperation and to the fore-body of grass trimmer along unilateral preceding universal wheel before slowing down impact and making
The left and right of preceding inlet wire is oriented to and is expanded mowing area, and avoiding between original two wide guided ways has the half to keep left to be
The areas Lou Ge or the half to keep left are the areas Shang Dao or the half to keep left is to hinder guide rail area.
Usefulness：The intelligent robot working machine of control direction is taught with balancer with straight line moving, described fills
The pin ball (233a) that the root of electricity pin (233) is equipped with is mounted in the coaxial of on the recessed half ball seat and left and right each one of the pin ball
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 for the bottom plate for being horizontally arranged in earth's surface being equipped with is symmetrically narrow equipped with the preceding inlet wire along unilateral preceding universal wheel to lead
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 is oriented to along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer
And expand mowing area, avoiding having between original two wide guided ways, the half to keep left is the areas Lou Ge or the half to keep left is
The areas Shang Dao 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 retrogressing can be started when being charged to setting value, 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 intelligent robot working machine for teaching control direction with balancer with straight line moving, described fills
The pin ball (233a) that the root of electricity pin (233) is equipped with is mounted in the coaxial of on the recessed half ball seat and left and right each one of the pin ball
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 accommodating preceding ten thousand
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 avoids original to slow down impact and to be oriented to and expanded mowing area
The half to keep left is the areas Lou Ge to having between two wide guided ways or the half to keep left is the areas Shang Dao 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：The intelligent robot working machine of control direction is taught with balancer with straight line moving, described fills
The pin ball (233a) that the root of electricity pin (233) is equipped with is mounted in the coaxial of on the recessed half ball seat and left and right each one of the pin ball
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 for the bottom plate for being horizontally arranged in earth's surface being equipped with is symmetrically narrow equipped with the preceding inlet wire along unilateral preceding universal wheel to lead
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 is oriented to along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer
And expand mowing area, avoiding having between original two wide guided ways, the half to keep left is the areas Lou Ge or the half to keep left is
The areas Shang Dao 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 retrogressing can be started when being charged to setting value, 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 is controlled with balancer with straight line moving
Direction is technological innovation.
It continuously improves and gradually forms and develop and the perfect intelligence for teaching control direction with straight line moving balancer
Energy robot working machine, 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
More hay mowers, institute are put in being laid in the conducting wire besieging circle of leading the way for having electromagnetic pulse of earth's surface for careless working region border
The every hay mower stated is formed a line by direction in length and breadth come volume of keeping order equipped with two-man act balancer in operation；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 when 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 come distant by the Big Dipper of internet
Each gardens working machine order is controlled to charge；；The working machine, which contains, takes intelligentized charge management circuit,
Different charging strategies is taken according to the practical battery condition of battery pack, ensures 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 when 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 cut-offs, it prevents battery to system power supply, avoids battery over-discharge, the work of each section circuit as follows：
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：
When system is under normal power supply state, the poles G of MOS are powered by 12V voltages to the poles G, 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 cut-offs, and the voltage at the ends B-E 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 ends G-S 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 MCU is detected, charging voltage is more than 2.7V/CELL, 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 body two pole of the cell voltage by TF14
Pipe is added to CIN+ signal ends, and system is made to be judged as, into charged state and maloperation, adding 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, the data in multiple charge data detections and charging process to survey
Amount, provides multiple protection functions, to ensure charging safety；
MCU determines the size of charging by detecting cell voltage, and according to the charge cutoff voltage of setting and the value of electric current,
When decision terminates charging, to ensure charging safety and improve the service life of battery,
MCU controls the size of charging current by controlling the level condition of ChrgEn1, ChrgEN2 signal,
When MCU is detected, cell voltage is less than 2.7V/CELL, 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 MCU is detected, cell voltage is higher than 2.7V/CELL, 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
It is connected therewith, base station voltage is charged the battery by resistance TF12MOS pipes, and charging current is determined by base station charger current size
It is fixed,
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
When 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
For low level when, control chip interior connection pin 1 and pin 2 between metal-oxide-semiconductor be on off state, metal-oxide-semiconductor is at each
The turn-on time of switch periods depends on the error amount that output voltage feeds back to the feedback voltage and built-in reference voltage at 4 end of pin
Size,
MOS conducting states are set 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,
When MOS is disconnected, the electric energy being stored on inductance L1 in a upper turn-on cycle can release, and 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 end, keeps 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
It causes built-in MOS switch pipe turn-on time to reduce, reduces the electricity that feeder ear is supplied to load end, output is made to fall after rise to setting
Voltage value, the above variation because of load cause output voltage and set the error amount of voltage value, and output voltage is made to maintain dynamic flat
Input voltage is directly transformed to the voltage needed for system by the stationary value of weighing apparatus because Switching Power Supply is operated on off state, cancels line
Property power input output voltage difference energy expenditure, therefore, have it is efficient, simultaneity factor calorific value is small,
Offer system functional 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：
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；
It is current of electric sampling resistor, current sampling signal quilt that integrated chip, which has overcurrent protection function, R118 resistance,
It is sent to chip current sampling end 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 that high level stops all motor operations immediately after MCU receives BLADE_FAULT high level；
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 12 digital current signals, the overcurrent threshold signal phase that this signal is arranged with MCU
Compare, when current signal value is more than overcurrent threshold value, execute run action when corresponding overcurrent,
Left and right movable motor overcurrent protection function having the same；
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 for detecting the above 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, and process is below
After negative circuit processing, generates BLADE_P4 high level signals and give motor drive ic U13, actuating motor brake function left and right
Movable motor function having the same；
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 execute after
Function is moved back, specific action description 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 executes fall back action, and left and right movable motor has phase
Same function；
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；
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：
Be motor driven chip U13 as electronics rotor position decoding Hall sensor output signal occur it is positive or negative
Saltus step can make U12 generate the pulse of an amplitude and duration, and 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 at the pin 13 of U13, and is closed into feedback control loop, 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：
RMOI_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 intelligent gardens working machine of aware circuit multifunctional platform operation when lawn is long, tool fills automatically
It is connected to photovoltaic generation charging pile 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
There is the conducting wire of leading the way of electromagnetic pulse to besiege 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 come volume of keeping order by direction in length and breadth in operation；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 when 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 a station multimachine technical need by LAN
Wish on the basis of our company shows developed DYM220601 intelligent robots grass trimmer, one charging station of realization,
More grass trimmers can work on a mowing region simultaneously；
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 in charging above charging station, 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,
The long-range connection to intelligent grass-removing is realized by INTERNET；Automatic mower host and charging station all band 868MHz channel radios
Module, a mating independent gateway GATEWAY are interrogated, which connects upper INTERNET by wired, wireless 2 kinds of modes；Intelligence
It further includes that charging station connect gateway with 868MHz wireless communication modules, and then is connected to that energy grass trimmer, which is a station multi-computer system,
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 irrigate timer, garden lamp
Deng so the server needs while servicing 100,000 intelligent garden products and 50,000 mobile phones, i.e., at least 150,000 IP；According to 5
Year sales volume estimation, the IP quantity that server should service register user：50000, intelligent grass-removing：50000；The production of other intelligence gardens
Product：50000；Internet of Things framework uses web interconnection architectures, mobile phone and intelligent grass-removing to be required for the side for being registered and being logged in user name
Formula accesses separate server, and confirms the presence of mobile phone and intelligent grass-removing by server.Mobile phone and intelligent grass-removing
All it is common Internet of Things equipment in server, they in server all there is unique User ID, Internet of Things equipment to step on
The addresses IP of equipment where server can get User ID when the server of land；And cell phone application control intelligent grass-removing be with
Family ID is that foundation is controlled, and User ID, which is first 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 to install camera additional on intelligent grass-removing, and is shown in video on mobile phone
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, each intelligent garden products all can there are one sequence number (Serial No), hands
For machine user in registration by the APP software scans sequence number, which could control the intelligence garden products.So each
Intelligent garden products are all that the user name registered with mobile phone user is bound, and a user can bind multiple sequence numbers, i.e., more
The intelligent garden products of kind, but a sequence number can only bind a user；This is that due to safety concerns, i.e., is produced from the intelligence garden
After the stolen loss of product, use cannot be bound by other people；Mobile phone user, which registers, to complete, user number and sequence number, i.e. some intelligence
After garden products binding success, mobile phone is just communicated by APP and intelligent garden products, and mobile phone can send to grass trimmer and instruct,
It mows including beginning/stopping, returning to charging station etc.；Mobile phone reads the information of grass trimmer, including is mowing, charging, mistake occurs
False alarm and the content etc. of alarm；Mobile phone reads Weather information from server, and data are obtained from third party software；It is right on mobile phone
Grass trimmer carries out function setting, containing automatic time cycle setting of mowing, system time setting, change of secret code；And covering takes immediately
The former setting data being engaged on device and grass trimmer chip；The a few thing information of grass trimmer mows and adds up total time, error information number
According to needing to retain on mobile phone and server；These data are for convenience of market survey and maintenance service；By mobile phone to mowing
Machine software is upgraded；The server software provides corresponding Security Assurance Mechanism to the privacy of user；User is connected by APP
Long-range maintenance service is sought by company's site；The intelligent grass-removing bluetooth version and charging station system developed need 868MHz wireless
Communication module is selected, and on the basis of gateway GATEWAY selections and LAN connection design of hardware and software and technology, is provided
Software and hardwares programming and the technical supports such as INTERNET connections, server；Intelligent irrigation timer and mating humidity sensor
The technical need set product includes 2 parts：The Intelligent fixed time irrigation controller is connected on water source, according to the setting of user,
Solenoid valve, water flowing are opened in certain period；Humidity sensor is inserted into the soil in garden, monitors the humidity of soil, and by data
It is sent to Intelligent fixed time irrigation controller by gateway；When threshold values of the humidity of soil less than setting, Intelligent fixed time irrigates control
Device processed automatically opens solenoid valve, gives garden watering；Intelligent fixed time irrigation controller and humidity sensor all band 868MHz channel radios
Module is interrogated, LAN connection is realized by gateway；It can realize INTERNET connections by gateway simultaneously；Intelligent fixed time irrigation control
Device and humidity sensor realize self-energizing, all included 868MHz channel radios of intelligent garden systems equipment using solar panel
Module is interrogated, realizes the mutual communication between each product in the system of intelligent garden；To realize the communication between each product and
Control function, while INTERNET is connected by gateway, realize the work(of each product in the system of user's remote control intelligence garden
Energy.
The intelligent robot working machine of control direction, tool automatic charging pin insertion section are taught with balancer with straight line moving
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 the gardens Duo Tai working machine；Control perception forward-reverse Multifunctional circuit platform is communicated using tool
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 the perception of supersonic sounding device and being positioned by the Big Dipper of internet works to be remotely controlled each gardens
Machine order charges, and containing intelligentized charge management circuit is taken, different charging strategies, photovoltaic generation charging pile is taken to have section
Energy effect, intelligent gardens work implements mowing, fertilising, pressure-vaccum, polishing, brush, sowing, the pouring of multifunctional platform are multi-functional.
Teaching the intelligent robot working machine of control direction to use with straight line moving balancer has the balancer (236) of two-man act complementary
Stability maintenance front axle in left and right has straight line moving purposes, simple and reliable.
Claims (1)
1. teaching the intelligent robot working machine of control direction with balancer with straight line moving, contain improved tool automatic charging
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 movable electric component of contact chip；It is described
The fixed power supply part for having automatic charging pin insertion part, equipped with the front wall in front of being horizontally arranged in the bottom plate of earth's surface, standing on, confession
Power supply, fot screw, the unilateral side of the bottom plate for being horizontally arranged in earth's surface is equipped with symmetrical along the preceding inlet wire of unilateral preceding universal wheel
Guided way (233c), to be oriented to along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer；
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 front of the bottom plate for being horizontally arranged in earth's surface is equipped with the front wall for standing on front；Described
Front wall in front of standing on is equipped with the charging pin along the symmetrical left side of axis and right side each one, and ((233), described fills
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 with along earth's surface in working region
The conducting wire of leading the way of electromagnetic pulse, will pass through the sensor (234d) of grass trimmer lower front and be cut by 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 when careless confidential charging
Bottom plate on；The movable electric component that contact chip is extracted containing tool is located at grass trimmer front, described to extract contact chip containing tool
Sensor (234d) of the movable electric component containing the grass trimmer lower front and be located at the contact chip of grass trimmer front
(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
(inserting surface (233b) that the head of (233) is equipped with leans on the micro servo-actuated insertion of pin ball (233a) by charging pin；When filling
It is retreated to grass trimmer can be started when setting value, so that charging pin is extracted contact chip, then work；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
(there are two nuts for dress 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 conducive to contact and is inserted into；The intelligent robot working machine for teaching control direction with balancer with straight line moving, 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 for 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
It hits and preceding inlet wire of the universal wheel with half of guide groove cooperation and to the fore-body of grass trimmer along unilateral preceding universal wheel before making
Left and right is oriented to and is expanded mowing area, avoid between original two wide guided ways have the half to keep left be the areas Lou Ge or
The half to keep left is the areas Shang Dao or the half to keep left is to hinder guide rail area；The intelligence of control direction is taught with balancer with straight line moving
Energy robot working machine on the bottom plate of the fixed power supply part of the tool automatic charging pin insertion part it is characterized in that, connect
It photovoltaic generation charging pile and being laid on earth's surface along mowing border has the conducting wire of leading the way of electromagnetic pulse to besiege circle, mow on the edge
More hay mowers are put in being laid in the conducting wire besieging circle of leading the way for having electromagnetic pulse of earth's surface for working region border, described
Every hay mower form a line come volume of keeping order by direction in length and breadth in operation equipped with two-man act balancer；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 are perceived and are remotely controlled by the Big Dipper positioning 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 when 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 cut-offs prevent battery to system power supply, avoid battery over-discharge, the work of each section circuit as follows：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 poles G of MOS are powered by 12V voltages to the poles G, 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 the end G, S 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 cut-offs, and the voltage at the ends B-E 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,
TF10MOS is 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, into charged state and maloperation, adding 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, the DATA REASONING in multiple charge data detections and charging process to carry
For multiple protection functions, to ensure charging safety；
Chip MCU determines the size of charging by detecting cell voltage, and according to the charge cutoff voltage of setting and the value of electric current,
When decision terminates charging, to ensure charging safety and improve the service life of battery,
MCU controls the size of charging current by controlling the level condition of ChrgEn1, ChrgEN2 signal,
It when MCU is detected, cell voltage is less than 2.7V/CELL, is charged the battery using low current, at this point, ChrgEn1 believes
Number it is low level, meanwhile, ChrgEN2 signals are high level, triode Q20 conducting, 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 avoids cell voltage too low, by base station voltage pull-down, leads to system cisco unity malfunction；
It when MCU is detected, cell voltage is higher than 2.7V/CELL, is charged the battery using high current, at this point, ChrgEn1 believes
Number it is switched to high level, 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 TF12MOS pipes, 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
When 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
When 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 set 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, the electric energy being stored on inductance L1 in a upper turn-on cycle can release, 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 end, and output voltage is made to connect
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 set 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, the above variation because of load cause output voltage and set the error amount of voltage value, output voltage is made to maintain dynamic equilibrium
Input voltage is directly transformed to the voltage needed for system by stationary value because Switching Power Supply is operated on off state, cancels linear electricity
The energy expenditure of source input and output voltage difference, therefore, have it is efficient, simultaneity factor calorific value is small,
Offer system functional reliability,
U18, U16 are three terminal regulator, provide 5V, 3.3V operating voltage needed for system；
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,
It is sent to chip current sampling end after R119 partial pressures, when current sampling signal value is more than 0.1V, overcurrent protection function activation, motor stops
Rotation stop is dynamic, 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 that high level stops all motor operations immediately after MCU receives BLADE_FAULT high level；MCU
It is additionally provided with two level software overcurrent protection function, 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 12 digital current signals, this signal is compared with the overcurrent threshold signal that MCU is arranged
Compared with, when current signal value be more than overcurrent threshold value when, execute run action when corresponding overcurrent；
Left and right movable motor overcurrent protection function having the same；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 for detecting the above 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 reverse phase below electricity
After the processing of road, generates BLADE_P4 high level signals and give motor drive ic U13, actuating motor brake function, left and right walking electricity
Machine function having the same；Driving chip also have make motor forward/reverse function, when machine operation in collide event when,
Machine executes 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, motor to switch inverted status by rotating forward, and machine executes fall back
Action, left and right movable motor function having the same；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, this system design to use to motor
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 the pulse of an amplitude and 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 at
Direct ratio, this velocity feedback voltage establishes PWM datums at the pin 13 of U13, and is closed into feedback control loop, output driving
The control signal of MOS, meanwhile, the PWM reference voltages at U13 pins 13, which 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+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.
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Application publication date: 20180914 |