CN110447371A - A kind of control method and grass trimmer of grass trimmer - Google Patents
A kind of control method and grass trimmer of grass trimmer Download PDFInfo
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- CN110447371A CN110447371A CN201910721775.0A CN201910721775A CN110447371A CN 110447371 A CN110447371 A CN 110447371A CN 201910721775 A CN201910721775 A CN 201910721775A CN 110447371 A CN110447371 A CN 110447371A
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- mowing
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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Abstract
The invention belongs to grass trimmer field more particularly to the control methods and grass trimmer of a kind of grass trimmer.Grass trimmer includes the motor with the transmission connection of mowing disk, and control method is comprising steps of receive the default mowing height of input；Motor, which is controlled, according to default mowing height rotates correspondence ring number；Several litres of drop respective distances of correspondence ring that control mowing packing is rotated according to motor, with lifting to default mowing height.The mowing disk of the grass trimmer of the embodiment of the present invention is connect with motor drive, the adjustable height of mowing disk can be controlled by the turnning circle of motor, default mowing height is first inputted on the input equipment of grass trimmer, motor, which is controlled, according to default mowing height rotates correspondence ring number, several litres of drop respective distances of correspondence ring that control mowing packing is rotated according to motor, with lifting to default mowing height, the adjustable height control of mowing disk is relatively simple, accurate, so that meadow is cleavable to predetermined altitude, meet the accurate demand of user, improves user experience.
Description
Technical field
The invention belongs to grass trimmer field more particularly to the control methods and grass trimmer of a kind of grass trimmer.
Background technique
With the rapid development of our country's economy, people's living standard is gradually increased, and the greening of people's living environment also gets over
Come more comprehensive, is seen everywhere the green lawns such as football pitch meadow, park meadow, school playground meadow and cell meadow.And these
The area on meadow is all bigger, becomes to complete large-scale weeding work and a large amount of meadow maintenance work, grass trimmer
Substitute artificial important tool.
Grass trimmer is otherwise known as weeder, grass mower, lawn pruning etc., is a kind of for trimming meadow, orchard weed
Deng machine tool.Different according to the specific occasion used, grass trimmer is divided into hand-push type mower again, Straddle riding type grass trimmer, leads
Tractor-hitched mower etc. is respectively suitable for the mowing on the meadow of different area.For different meadow situations, need to adjust grass trimmer
Mowing height to meet mowing demand.Existing grass trimmer mostly uses greatly the mowing disk of blade type configuration, that is, passes through motor
Or hydraulic motor driving mowing axis rotation, so that the mowing disk connected on mowing axis be made to complete grass cutting action.
Generally, user passes through the height that visual determination substantially needs to mow, then controls the adjustable height of mowing disk, and cuts
The elevating control of careless disk is generally several lifting gears, and the range of lifting distance is larger, cannot accurately control mowing disk
Lifting, adjustable height can not it is accurate by user, clearly know, cause the height on meadow to be unable to get accurately to control and also can not
Known by user, is not able to satisfy the accurate demand of user, causes experience sense poor.
Summary of the invention
The embodiment of the present invention provides a kind of control method of grass trimmer, it is intended to solve the lifting distance model of existing mowing disk
It encloses larger, cannot accurately control the lifting of mowing disk, adjustable height can not accurately be known that the height on meadow can not by user
Accurately controlled the problem of also can not being known by user, influence user experience.
The embodiments of the present invention are implemented as follows, a kind of control method of grass trimmer, the grass trimmer include mowing disk and
With the motor of mowing disk transmission connection, control method includes: the default mowing height for receiving input；It is cut according to described preset
Natural plant height degree controls the motor and rotates correspondence ring number；Control several litres of the correspondence ring drops pair that the mowing packing is rotated according to the motor
Should distance, with lifting to default mowing height.
The embodiment of the present invention also provides a kind of grass trimmer, the electricity including mowing disk and with mowing disk transmission connection
Machine, the grass trimmer further include: receiving module, default mowing height for receiving input；Drive module, for according to
Default mowing height controls the motor and rotates correspondence ring number；Control module, for controlling the mowing packing according to the motor
Several litres of drop respective distances of correspondence ring of rotation, with lifting to default mowing height.
Control method and the grass trimmer beneficial effect achieved of the grass trimmer of the embodiment of the present invention are the mowings of grass trimmer
Disk is connect with motor drive, and the adjustable height of mowing disk can be controlled by the turnning circle of motor, first in the input equipment of grass trimmer
The default mowing height of upper input controls motor according to default mowing height and rotates correspondence ring number, then controls mowing packing according to electricity
Several litres of drop respective distances of correspondence ring of machine rotation, weeds are cut to default mowing height, the adjustable height of mowing disk control compared with
To be simple, accurate, so that meadow is cleavable to predetermined altitude, meets the accurate demand of user, improve user experience.
Detailed description of the invention
Fig. 1 is the flow diagram of the control method of grass trimmer provided in an embodiment of the present invention；
Fig. 2 and Fig. 3 is the structural schematic diagram of grass trimmer provided in an embodiment of the present invention；
Fig. 4 is the flow diagram of the control method of grass trimmer provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of grass trimmer provided in an embodiment of the present invention；
Fig. 6 is that the embodiment of the present invention provides the schematic diagram of Hall sensor, shaft and magnet；
Fig. 7 to Fig. 9 is the flow diagram of the control method of grass trimmer provided in an embodiment of the present invention；
Figure 10 is the structural schematic diagram of grass trimmer provided in an embodiment of the present invention；
Figure 11 and Figure 12 is the flow diagram of the control method of grass trimmer provided in an embodiment of the present invention；
Figure 13 to Figure 17 is the schematic diagram of the functional module of grass trimmer provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
For different meadow (such as football pitch meadow, park meadow, school playground meadow and cell meadow greening grass
Ground), need to adjust the mowing height of grass trimmer to meet mowing demand.Existing grass trimmer mostly uses greatly cutting for blade type configuration
Careless disk drives the rotation of mowing axis by motor or hydraulic motor, so that the mowing disk connected on mowing axis be made to complete to mow
Work.
Generally, user passes through the height that visual determination substantially needs to mow, then controls the adjustable height of mowing disk, and cuts
The elevating control of careless disk is generally several lifting gears, and the range of lifting distance is larger, cannot accurately control mowing disk
Lifting, adjustable height can not it is accurate by user, clearly know, cause the height on meadow to be unable to get accurately to control and also can not
Known by user, is not able to satisfy the accurate demand of user, causes experience sense poor.
The mowing disk of the grass trimmer of the embodiment of the present invention is connect with motor drive, and the adjustable height of mowing disk can be by motor
Turnning circle control can control motor according to default mowing height and rotate correspondence ring number, then control mowing packing and rotate according to motor
Several litres of drop respective distances of correspondence ring, weeds are cut to default mowing height, realization is precisely controlled, and user can be accurate, clear
Current mowing height is known on ground, meets the accurate demand of itself, improves user experience.
Embodiment one
Please refer to Fig. 1 and Fig. 2, in the control method of the grass trimmer 100 of the embodiment of the present invention, grass trimmer 100 includes mowing
Disk 10 and with mowing disk 10 be sequentially connected motor 20, control method comprising steps of
S01: the default mowing height of input is received；
S02: motor is controlled according to default mowing height and rotates correspondence ring number；
S03: several litres of drop respective distances of correspondence ring that control mowing packing is rotated according to motor are high to default mowing with lifting
Degree.
The grass trimmer 100 of the embodiment of the present invention is by taking Straddle riding type grass trimmer as an example.Grass trimmer 100 may include fuselage, mowing disk
10 are set to the bottom of fuselage and towards ground, and the mowing disk 10 and motor 20 of grass trimmer 100 are sequentially connected, the liter of mowing disk 10
Drop height can be controlled by the turnning circle of motor 20.The default mowing height first inputted on the input equipment of grass trimmer 100, root
Correspondence ring number is rotated according to default mowing height control motor 20, then is controlled several litres of correspondence ring that mowing disk 10 is rotated according to motor 20
Respective distances are dropped, weeds are cut to default mowing height, the adjustable height control of mowing disk 10 is relatively simple, accurate, can be real
It is now precisely controlled, user can accurately, clearly know the lifting distance and mowing height of current mowing disk 10, meet itself
Accurate demand, improve user experience.
Incorporated by reference to Fig. 3, in an embodiment of the present invention, motor 20 can be push-rod electric machine 20.Push-rod electric machine 20 includes driving
Dynamic motor 21 and push rod 22, driving motor 21 include shaft 211, and shaft 211 and one end of push rod 22 pass through multiple gear drives
Connection, mowing disk 10 are set to the other end of the push rod 22 far from driving motor 21.Push-rod electric machine 20 can be by the rotation of driving motor 21
Transhipment turn becomes the straight reciprocating motion of push rod 22, specifically, the shaft 211 of driving motor 21 after reduction gearing is slowed down,
The operation of push rod nut is driven, the rotary motion of the shaft 211 of driving motor 21 is become the linear motion of push rod nut, and can
The advance of push rod 22, backward movement are completed using the forward and backward of driving motor 21, until when set stroke, push rod nut
Feeler pushes down limit switch and disconnects power supply, and just (push rod 22 moves forward or back can be by above-mentioned mistake for stop motion for driving motor 21
Cheng Dacheng).More, also it can complete the rotation of push rod 22 by the mechanisms such as various push rods 22, rocking bar or connecting rod are arranged, shake
Deng more movements；In addition, can also can increase and push away to increase the path increment of push rod 22 by increasing the torque arm length of push rod 22
The length that bar 22 advances, retreats, meets more path increment demands.In more embodiments, motor 20 can also be other
Motor, such as brush DC synchronous motor, motor 20 can be adapted to more demands, improve the suitability of motor 20 and may be selected
Property.
User can pass through the input unit (being such as labeled with the key, knob, pull rod gear of adjustable height) of grass trimmer 100
Default mowing height is inputted to grass trimmer 100, presetting mowing height is height careless after mowing expected from user, as user inputs
Default mowing height be 10cm, then grass trimmer 100 execute mowing task after, careless height is cut by the height of script to be worked as
Preceding 10cm, i.e. careless present level are default mowing height.It is appreciated that shaft 211 rotation one circle perimeter be it is known,
And the path increment of push rod 22 can also directly measure to obtain, and the rotation of shaft 211 will drive gear drive push rod 22, by conversion
Afterwards, the quantitative relation of the path increment of perimeter, the circle number that shaft 211 rotates and the push rod 22 that can obtain shaft 211, can be led to this
The circle number that measurement shaft 211 rotates is crossed to obtain the height of the lifting of mowing disk 10, with corresponding with default mowing height.
Embodiment two
Please refer to Fig. 4 and Fig. 5, further, grass trimmer 100 include Hall sensor 30, step S02 comprising steps of
S021: motor is controlled according to default mowing height by Hall sensor and rotates correspondence ring number.
Specifically, incorporated by reference to Fig. 6, the top end of shaft 211 is equipped with the magnet 40 of a monopole pair, and magnet 40 can be with shaft
211 rotation and rotate, Hall sensor 30 is electrically installed on sampling circuit board 50 and towards the magnet 40, sampling circuit board
50 are set to the predeterminated position of motor 20.When one circle of rotation of shaft 211, Hall sensor 30 can incude with magnet 40,
Magnetic field between Hall sensor 30 and magnet 40 changes, at this point, Hall sensor 30 can export a pulse, sampling electricity
The then recording impulse number of road plate 50 determines the circle number that shaft 211 rotates by the number of pulse.Sampling circuit board 50 can be electrical
The processor for connecting grass trimmer 100, when pulse number reaches preset times, Hall sensor 30 measures what shaft 211 rotated
Circle number reaches correspondence ring number, and push rod 22 also drives the lifting of mowing disk 10 to respective distances, and sampling circuit board 50 rotates shaft 211
The information of correspondence ring number is transferred to processor, and processor can control the power-off of driving motor 20, so that mowing disk 10 rests on currently
Height, to mow to preset height.
In an embodiment of the present invention, Hall sensor 30 is 1, to reduce structure complexity and control cost, sampling
Circuit board 50 can be fixedly installed on the position of the equal shaft 211 close to motor 20 inside or outside motor 20.Certainly, more
In embodiment, Hall sensor 30 can also be more quantity such as 2,3,4, to improve the induction of Hall sensor 30
Precision, improves the accuracy of impulse sampling, and sampling circuit board 50 and Hall sensor 30 may also be disposed on motor 20 or grass trimmer
100 other positions are specific to be arranged under the premise of guaranteeing that Hall sensor 30 can be with 40 actual induction of magnet.
Embodiment three
Incorporated by reference to Fig. 7, further, step S02 is further comprised the steps of:
S022: the estimated adjustable height of mowing disk is obtained according to default mowing height；
S023: the practical adjustable height of mowing disk corresponding to motor every revolution is obtained；
S024: adjustable height and practical adjustable height are on the estimation to obtain correspondence ring number.
Specifically, the estimated adjustable height of mowing disk 10 can be understood as the estimated path increment moved forward or back of push rod 22,
The practical adjustable height of mowing disk 10 corresponding to 20 every revolution of motor can be understood as the perimeter conversion of 211 every revolution of shaft
Therefore the value of removing of adjustable height and practical adjustable height correspondence ring number can be obtained on the estimation for the adjustable height of mowing disk 10,
And control mowing disk 10 and go up and down estimated adjustable height, grass can be cut to default mowing height.
In an embodiment of the present invention, the estimated adjustable height of mowing disk 10 is obtained according to default mowing height, specifically,
After inputting default mowing height, user can first determine the height on mowing disk current distance ground, by mowing disk current distance
The height in face subtracts default mowing height, the as estimated adjustable height of mowing disk.And the height on mowing disk current distance ground
Can be by labor measurement, or be recorded in the various data of factory record of grass trimmer, in addition, mowing disk current distance ground
Height can also be measured by smart machines such as sensors (infrared sensor, TOF, 3D structure light), momentarily, accurately to measure
The mowing disk distance apart from ground in any position, is not particularly limited herein.
Example IV
Incorporated by reference to Fig. 8, further, step S022 comprising steps of
S0221: the relative altitude on measurement mowing disk relative level ground in a non-operative state；
S0222: according to relative altitude and default mowing height, the estimated adjustable height of mowing disk is obtained.
Specifically, the off working state of mowing disk 10 is that mowing disk 10 is located at the state of initial position, i.e. motor 20 pushes away
Bar 211 is contained in the state in push rod nut, and the distance between mowing disk 10 and level ground are maximum at this time, and the value of the distance is
The value of the relative altitude on relative level ground in a non-operative state of mowing disk 10；The working condition of mowing disk 10 is then mowing disk
10 are located at the state of extended position, the i.e. state stretched out from push rod nut of the push rod 211 of motor 20, at this time mowing disk 10 and level
The distance between ground is opposite to shorten, at this time the value of relative altitude be the height on the current relative level ground of mowing disk 10 value with
The sum of the value of the value and 10 adjustable height of mowing disk of the sum of value of length that push rod 211 stretches out and default mowing height.
The relative altitude on the relative level ground in a non-operative state of mowing disk 10 can be obtained by manual measurement, or
It is obtained in the production process of 100 complete machine of grass trimmer by specifically setting, and the difference of relative altitude and default mowing height, i.e.,
For the estimated adjustable height of mowing disk 10.In other embodiments, can also be arranged in the predeterminated position of mowing disk 10 towards ground
Infrared distance sensor or other have the equipment of distance measurement function, by infrared distance sensor can at any time, accurately measure
The height apart from ground at an arbitrary position of mowing disk 10, so that grass trimmer 100 can be on any position on ground, by the height on meadow
Degree is cut to default mowing height, improves the accurate control to mowing height.
Embodiment five
Incorporated by reference to Fig. 9 and Figure 10, further, grass trimmer 100 further includes display 60, and control method further includes step
It is rapid:
S04: control display shows default mowing height.
Specifically, display 60 may be disposed at the position being easily viewed by a user on grass trimmer 100, such as be set to grass trimmer
On 100 handle, headstock nearby etc., know default mowing height in real time convenient for user, avoid user different pre- because inputting
If mowing height and mix up or forget.Display 60 can also be touch screen, user can touch-control on the display 60 input it is pre-
If mowing height, the lifting for controlling mowing disk 10, the adjustable height for inputting mowing disk 10 and other work for managing grass trimmer 100
Task dispatching is improved to the control of grass trimmer 100 and the experience sense of user.More, display 60 may also display grass trimmer 100
Riding speed, the fuel tank fuel quantity of grass trimmer 100, the runing time of grass trimmer 100 and range ability etc., user can be in all directions
The various data of grass trimmer 100 are solved, convenient for making corresponding operation.
In one embodiment, camera can be also set on the fuselage of grass trimmer 100, and camera can captured in real-time meadow
The case where and grass trimmer 100 near ambient conditions, and show that user can be by shown by display 60 by display 60
Image information, come control mowing height, planning mowing route and avoiding obstacles etc., raising mowing task efficiency.
Embodiment six
Further, Figure 11 is please referred to, before step S01, comprising steps of
S05: when grass trimmer is in preset state, control mowing disk is gone up and down to initial position, and preset state includes mowing
One or more of machine booting, grass trimmer shutdown, the stopping of current mowing task, the completion of current mowing task.
Specifically, in an embodiment of the present invention, when grass trimmer 100 is in preset state, control mowing disk 10 is returned to
Initial position (extreme higher position and extreme lower position such as mowing disk 10 in grass trimmer 100), preset state include that grass trimmer 100 is opened
One or more of machine, the shutdown of grass trimmer 100, the stopping of current mowing task, the completion of current mowing task.It is opened in mowing disk 10
After machine, current mowing task stops or when current mowing task is completed, if grass trimmer 100 is subsequent to continue mowing task, cuts
Careless disk 10 is located at adjustable height one initial reference value of control that initial position can be given to mowing disk 10, and initial position is with respect to water
The distance of plane earth is to preset and known (such as setting when grass trimmer 100 produces), and therefore, grass trimmer 100 can be according to
According to this initial reference value lifting mowing disk 10 to mow, and initial position can be returned to during mowing and carries out error
Correction guarantees the accuracy of the adjustable height of mowing disk 10, to further improve the accuracy of mowing height.And in order to avoid
The abnormal shutdown of grass trimmer 100 causes mowing disk 10 to rest on unexpected position, causes the position of mowing disk 10 to influence subsequent
The accuracy of lifting, when grass trimmer 100 shuts down, equally control mowing disk 10 returns to initial position.
And in the lifting of mowing disk 10 to initial position, then receive the default mowing height of input, the rotation of control motor 20 with
And mowing disk 10 lifting when, it will be understood that step S03 can be with are as follows: the correspondence that control mowing disk 10 is rotated according to motor 20
Several litres of drop respective distances are enclosed, so that mowing disk 10 is gone up and down from initial position to default mowing height, it is accurate to reach mowing height
The purpose of correction.
It is worth noting that, preset state is not limited to the booting of grass trimmer 100, the shutdown of grass trimmer 100, task of currently mowing
The states such as stopping, the completion of current mowing task, in other examples, preset state may also include 100 failure of grass trimmer etc.,
Specific setting in the particular embodiment.
Embodiment seven
Further, Figure 12 is please referred to, initial position includes first position and the second position, and first position is mowing disk
The extreme higher position that can rise, the second position are the extreme lower position that can decline of mowing disk, step S05 comprising steps of
S051: the current location of detection mowing disk；
S052: detection first distance of the current location apart from first position and the second distance apart from the second position；
S053: if first distance is greater than second distance, mowing disk is controlled by current location and rises to first position；
S054: if first distance is equal to second distance, mowing disk is controlled by current location and rises to first position；Or,
It controls mowing disk and the second position is dropped to by current location；
S055: if first distance is less than second distance, mowing disk is controlled by current location and drops to the second position.
Specifically, in an embodiment of the present invention, initial position includes first position and the second position, and first position is to cut
The extreme higher position that careless disk 10 can rise, the second position are the extreme lower position that mowing disk 10 can decline.When grass trimmer 100 is current
After the completion of mowing task, the current location of mowing disk 10 is first confirmed, the current location of mowing disk 10 can control mowing previous
Disk 10, which was gone up and down in the step of respective distances, to be confirmed, behind the current location of confirmation mowing disk 10, then confirms mowing disk 10 opposite the
The first distance of one position and the second distance of relative second position are closed in confirmation first distance and the size of second distance
After system, the relatively small distance of 10 liftable of mowing disk reduces grass trimmer with corresponding lifting to first position or the second position
100 time cost of energy consumption and mowing disk 10 lifting etc., improves the experience sense of user.
In an embodiment of the present invention, detection can be passed through in such a way that travel switch detects or locked rotor current detects
Whether the opening and closing signal of row switch or the operating current for detecting motor 20, which are greater than locked rotor current, (rises to highest in mowing disk 10
Position or when dropping to extreme lower position, is greater than stall by the opening and closing signal for detecting travel switch or the operating current for detecting motor
Electric current), to detect whether mowing disk 10 goes up and down to initial position (first position or the second position), when the control electricity of travel switch
When road is connected or the operating current of motor 20 is greater than locked rotor current, it can determine that mowing disk 10 is reaching initial position (first position
Or the second position).In other examples, also it can detect whether mowing disk 10 goes up and down to initial position by other means,
It is not particularly limited herein.
It include first position and the second position about initial position it is worth noting that, in the embodiment of the present invention, first
Position is the extreme higher position that mowing disk 10 can rise, and the second position is that the narration for the extreme lower position that mowing disk 10 can decline is only to show
Example property.In other examples, initial position is not limited only to first position and the second position, and initial position can also include
More positions, mowing disk 10 can be initial position, certainly, first position and the in any position that grass trimmer 100 is gone up and down
Two positions also can be mowing disk 10 in any position that grass trimmer 100 is gone up and down.By by the specific elevation information of initial position
It is recorded in processor, when grass trimmer 100 carries out mowing task, on the basis of the elevation information, to correct mowing height
Error is gone up and down, achievees the purpose that precisely to mow.In addition, in other embodiments, the specific location of initial position can also by with
Family itself setting improves user experience to correspond to the personal demand of user.The narration of initial position is merely illustrative above
Initial position is specifically arranged in a particular embodiment, is not particularly limited herein for ground.
Embodiment eight
Fig. 2 and Figure 13 are please referred to, the grass trimmer 100 of the embodiment of the present invention includes mowing disk 10 and is driven company with mowing disk 10
The motor 20 connect, grass trimmer 100 further include:
Receiving module 101, default mowing height for receiving input；
Drive module 102, for rotating correspondence ring number according to default mowing height control motor 20；
Control module 103, several litres of drop respective distances of correspondence ring rotated for controlling mowing disk 10 according to motor 20, to rise
It is down to default mowing height.
In other words, receiving module 101 can be used for realizing the step S01 of the control method of grass trimmer 100 of the invention, drive
Dynamic model block 102 can be used for realizing step S02, and control module 103 can be used for realizing step S03.
It the technical effect of grass trimmer 100 provided by the embodiment of the present invention eight, realization principle and generation and above-mentioned cuts
The embodiment one of the control method of careless machine 100 is identical, and to briefly describe, the embodiment eight of grass trimmer 100 does not refer to place, can join
Corresponding contents in embodiment of the method one are stated before examination.
Embodiment nine
Fig. 5 and Figure 13 are please referred to, further, grass trimmer 100 includes Hall sensor 30, and drive module 102 is also used
In: motor 20 is controlled according to default mowing height by Hall sensor 30 and rotates correspondence ring number.
In other words, drive module 102 can also be used in the step S021 for realizing control method of the invention.
The technical effect and control above-mentioned of grass trimmer 100 provided by the embodiment of the present invention nine, realization principle and generation
The embodiment two of method processed is identical, and to briefly describe, the embodiment nine of grass trimmer 100 does not refer to place, can refer to preceding method
Corresponding contents in embodiment two.
Embodiment ten
Fig. 2 and Figure 14 are please referred to, further, grass trimmer 100 further include:
First computing module 104, for obtaining the estimated adjustable height of mowing disk 10 according to default mowing height；
First obtains module 105, for obtaining the practical adjustable height of mowing disk 10 corresponding to 20 every revolution of motor；
Second computing module 106, for adjustable height on the estimation and practical adjustable height to obtain correspondence ring number.
In other words, the first computing module 104 can be used for realizing the step S022 of control method of the invention, and first obtains
Module 105 can be used for realizing that step S023, the second computing module 106 can be used for realizing step S024.
The technical effect of grass trimmer 100 provided by the embodiment of the present invention ten, realization principle and generation and side above-mentioned
The embodiment three of method is identical, and to briefly describe, the embodiment ten of grass trimmer 100 does not refer to place, can refer to preceding method implementation
Corresponding contents in example three.
Embodiment 11
Fig. 2 and Figure 15 are please referred to, further, grass trimmer 100 further include: measurement module 107, for measuring mowing disk
The relative altitude on 10 relative level ground in a non-operative state；
First computing module 105 is also used to: according to relative altitude and default mowing height, being obtained the estimated of mowing disk 10 and is risen
Drop height.
In other words, measurement module 107 can be used for realizing the step S0221 of control method of the invention, and first calculates mould
Block 105 can also be used to realize step S0222.
The technical effect of grass trimmer 100 provided by the embodiment of the present invention 11, realization principle and generation and above-mentioned
The example IV of control method is identical, and to briefly describe, the embodiment 11 of grass trimmer 100 does not refer to place, can refer to aforementioned
Corresponding contents in embodiment of the method four.
Embodiment 12
Figure 10 and Figure 16 are please referred to, further, grass trimmer 100 further includes display 60 and display module 108, display
Module 108 is used for: control display 60 shows default mowing height.
In other words, display module 108 can be used for realizing the step S04 of control method of the invention.
The technical effect of grass trimmer 100 provided by the embodiment of the present invention 12, realization principle and generation and above-mentioned
The embodiment five of control method is identical, and to briefly describe, the embodiment 12 of grass trimmer 100 does not refer to place, can refer to aforementioned
Corresponding contents in embodiment of the method five.
Embodiment 13
Fig. 2 and Figure 13 are please referred to, further, control module 103 is also used to, and is in preset state in grass trimmer 100
When, to initial position, preset state includes the booting of grass trimmer 100, the shutdown of grass trimmer 100, currently cuts for the control lifting of mowing disk 10
One or more of careless task stopping, the completion of current mowing task；
Control module 103 is also used to, several litres of drop respective distances of correspondence ring that control mowing disk 10 is rotated according to motor 20, with
Go up and down mowing disk 10 to default mowing height from initial position.
In other words, control module 103 can be used for realizing the step S05 and step S031 of control method of the invention.
The technical effect of grass trimmer 100 provided by the embodiment of the present invention 13, realization principle and generation and above-mentioned
The embodiment six of control method is identical, and to briefly describe, the embodiment 13 of grass trimmer 100 does not refer to place, can refer to aforementioned
Corresponding contents in embodiment of the method six.
Embodiment 14
Please continue to refer to Fig. 2 and Figure 17, further, initial position includes first position and the second position, and first
It is set to the extreme higher position that mowing disk 10 can rise, the second position is the extreme lower position that mowing disk 10 can decline,
Detection module 109 is also used to, and detects the current location of mowing disk 10；
Detection module 109 is also used to, and detects first distance of the current location apart from first position and apart from the second position
Second distance；
Control module 103 is also used to, if first distance is greater than second distance, is controlled mowing disk 10 and is risen by current location
To first position；
Control module 103 is also used to, if first distance is equal to second distance, is controlled mowing disk 10 and is risen by current location
To first position；Or, control mowing disk 10 drops to the second position by current location；
Control module 103 is also used to, if first distance is less than second distance, is controlled mowing disk 10 and is declined by current location
To the second position.
In other words, detection module 109 can also be used in the step S051 and step S052 that realize control method of the invention,
Control module 103 can also be used to realize step S053, step S054 and step S055.
The technical effect of grass trimmer 100 provided by the embodiment of the present invention 14, realization principle and generation and above-mentioned
The embodiment seven of control method is identical, and to briefly describe, the embodiment 14 of grass trimmer 100 does not refer to place, can refer to aforementioned
Corresponding contents in embodiment of the method seven.
More, the grass trimmer 100 of the embodiment of the present invention further includes processor.Processor is used to control the liter of mowing disk 10
Drop height, the rotation of control motor 20, the measurement for controlling Hall sensor 30 etc..Processor can be central processing unit
(Central Processing Unit, CPU), can also be other general processors, digital signal processor (Digital
Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit,
ASIC), ready-made programmable gate array (Field-Programmable GateArray, FPGA) or other programmable logic devices
Part, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor, alternatively, at this
Reason device is also possible to any conventional processor etc., and processor is the control centre of grass trimmer 100, according to various interfaces and route
Connect the various pieces of entire grass trimmer 100.
It, can also be with it is understood that the processor in the grass trimmer 100 of the embodiment of the present invention is when executing the above method
Realize that (receiving module 101, drive module 102, control module 103, the first computing module 104, first obtain above-mentioned modules
Module 105, the second computing module 106, third computing module 107, measurement module 108, display module 109 etc.) function, herein
It repeats no more.
The mowing disk 10 and motor 20 of the grass trimmer 100 of the embodiment of the present invention are sequentially connected, the adjustable height of mowing disk 10
It can be controlled by the turnning circle of motor 20.The default mowing height first inputted on the input equipment of grass trimmer 100, according to default
Mowing height controls motor 20 and rotates correspondence ring number, then controls several litres of drops of correspondence ring that mowing disk 10 is rotated according to motor 20 and correspond to
Distance, mowing disk 10 go up and down to default mowing height, weeds are cut to default mowing height.
The relative altitude on the relative level ground in a non-operative state of mowing disk 10 can be obtained by manual measurement, and
The difference of relative altitude and default mowing height, the as estimated adjustable height of mowing disk 10.The estimated lifting of mowing disk 10 is high
Degree is the estimated path increment moved forward or back of push rod 22, and the practical adjustable height of mowing disk 10 corresponding to 20 every revolution of motor is
The perimeter of 211 every revolution of shaft is converted to the adjustable height of mowing disk 10, adjustable height and reality can go up and down height on the estimation
The value of removing of degree obtains correspondence ring number.
It can be measured by Hall sensor 30, the correspondence ring number of the rotation of control shaft 211, when Hall sensor 30 and magnetic
When the pulse number generated between iron 40 reaches preset times, Hall sensor 30 measures the circle number that shaft 211 rotates and reaches pair
Number should be enclosed, push rod 22 also drives the lifting of mowing disk 10 to respective distances, and shaft 211 is rotated correspondence ring number by sampling circuit board 50
Information is transferred to processor, and processor can control the power-off of driving motor 20, so that mowing disk 10 rests on current height, to cut
Grass is to preset height.And the adjustable height of the estimated lifting of the lifting of mowing disk 10 is controlled, grass can be cut to default mowing height.
In addition, user can also know in real time default mowing height by display 60, avoid user different because inputting
It presets mowing height and mixes up or forget.Display 60 can also be touch screen, user can touch-control on the display 60 input
Default mowing height, the lifting for controlling mowing disk 10, the adjustable height for inputting mowing disk 10 and other works for managing grass trimmer 100
Make task dispatching, improves to the control of grass trimmer 100 and the experience sense of user.More, display 60 may also display grass trimmer 100
Riding speed, the fuel tank fuel quantity of grass trimmer 100, the runing time of grass trimmer 100 and range ability etc., user can be in all directions
The various data of grass trimmer 100 are understood, convenient for making corresponding operation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (14)
1. a kind of control method of grass trimmer, the grass trimmer includes mowing disk and the motor with mowing disk transmission connection,
It is characterized in that, control method includes:
Receive the default mowing height of input；
The motor, which is controlled, according to the default mowing height rotates correspondence ring number；
Several litres of drop respective distances of correspondence ring that the mowing packing is rotated according to the motor are controlled, it is high to default mowing with lifting
Degree.
2. control method as described in claim 1, which is characterized in that the grass trimmer further includes Hall sensor, and described
The motor, which is controlled, according to the default mowing height rotates correspondence ring number, comprising:
The motor is controlled according to the default mowing height by the Hall sensor and rotates correspondence ring number.
3. control method as described in claim 1, which is characterized in that described to control the electricity according to the default mowing height
Machine rotates correspondence ring number, comprising:
The estimated adjustable height of the mowing disk is obtained according to the default mowing height；
Obtain the practical adjustable height of the mowing disk corresponding to the motor every revolution；
According to the estimated adjustable height and the practical adjustable height to obtain the correspondence ring number.
4. control method as claimed in claim 3, which is characterized in that described to obtain described cut according to the default mowing height
The estimated adjustable height of careless disk, comprising:
Measure the relative altitude on mowing disk relative level ground in a non-operative state；
According to the relative altitude and the default mowing height, the estimated adjustable height of the mowing disk is obtained.
5. control method as described in claim 1, which is characterized in that the grass trimmer further includes display, the controlling party
Method further include: control the display and show the default mowing height.
6. control method as described in claim 1, which is characterized in that before the default mowing height for receiving input, packet
It includes:
When the grass trimmer is in preset state, controls the mowing disk and go up and down to initial position, the preset state includes
One or more during the grass trimmer booting, the grass trimmer are shut down, current mowing task stops, current mowing task is completed
It is a.
7. control method as claimed in claim 6, which is characterized in that the initial position includes first position and second
It sets, the first position is the extreme higher position that the mowing disk can rise, and the second position mowing disk can decline
Extreme lower position, it is described when the grass trimmer is in preset state, it controls the mowing disk and goes up and down to initial position, comprising:
Detect the current location of the mowing disk；
Detect first distance of the current location apart from the first position and the second distance apart from the second position；
If the first distance is greater than the second distance, the mowing disk is controlled by the current location and rises to described the
One position；
If the first distance is equal to the second distance, the mowing disk is controlled by the current location and rises to described the
One position；The second position is dropped to by the current location or, controlling the mowing disk；
If the first distance is less than the second distance, the mowing disk is controlled by the current location and drops to described the
Two positions.
8. a kind of grass trimmer, the grass trimmer includes mowing disk and the motor with mowing disk transmission connection, which is characterized in that
The grass trimmer further include:
Receiving module, default mowing height for receiving input；
Drive module rotates correspondence ring number for controlling the motor according to the default mowing height；
Control module, several litres of drop respective distances of correspondence ring rotated for controlling the mowing packing according to the motor, with lifting
To default mowing height.
9. grass trimmer as claimed in claim 8, which is characterized in that the grass trimmer further includes Hall sensor, the driving
Module is also used to:
The motor is controlled according to the default mowing height by the Hall sensor and rotates correspondence ring number.
10. grass trimmer as claimed in claim 8, which is characterized in that further include:
First computing module, for obtaining the estimated adjustable height of the mowing disk according to the default mowing height；
First obtains module, for obtaining the practical adjustable height of the mowing disk corresponding to the motor every revolution；
Second computing module, for the estimated adjustable height and the practical adjustable height to obtain the correspondence ring number.
11. grass trimmer as claimed in claim 10, which is characterized in that further include:
Module is measured, for measuring the relative altitude on mowing disk relative level ground in a non-operative state；
First computing module is also used to:
According to the relative altitude and the default mowing height, the estimated adjustable height of the mowing disk is obtained.
12. grass trimmer as claimed in claim 8, which is characterized in that the grass trimmer further includes display and display module, institute
It states display module to be used for: controlling the display and show the default mowing height.
13. grass trimmer as claimed in claim 8, which is characterized in that the control module is also used to,
When the grass trimmer is in preset state, controls the mowing disk and go up and down to initial position, the preset state includes
One or more during the grass trimmer booting, the grass trimmer are shut down, current mowing task stops, current mowing task is completed
It is a.
14. grass trimmer as claimed in claim 13, which is characterized in that the initial position includes first position and second
It sets, the first position is the extreme higher position that the mowing disk can rise, and the second position mowing disk can decline
Extreme lower position,
The detection module is also used to, and detects the current location of the mowing disk；
The detection module is also used to, and detects first distance of the current location apart from the first position and apart from described
The second distance of the second position；
The control module is also used to, if the first distance is greater than the second distance, controls the mowing disk by described
Current location rises to the first position；
The control module is also used to, if the first distance is equal to the second distance, controls the mowing disk by described
Current location rises to the first position；The second position is dropped to by the current location or, controlling the mowing disk；
The control module is also used to, if the first distance is less than the second distance, controls the mowing disk by described
Current location drops to the second position.
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| CN201910721775.0A CN110447371A (en) | 2019-08-06 | 2019-08-06 | A kind of control method and grass trimmer of grass trimmer |
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| CN201910721775.0A CN110447371A (en) | 2019-08-06 | 2019-08-06 | A kind of control method and grass trimmer of grass trimmer |
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| CN116235681A (en) * | 2021-12-08 | 2023-06-09 | 格力博(江苏)股份有限公司 | Mower and height adjusting method |
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