CN112042363A - Blade height adjusting device of mower and mower - Google Patents
Blade height adjusting device of mower and mower Download PDFInfo
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- CN112042363A CN112042363A CN202010882189.7A CN202010882189A CN112042363A CN 112042363 A CN112042363 A CN 112042363A CN 202010882189 A CN202010882189 A CN 202010882189A CN 112042363 A CN112042363 A CN 112042363A
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- Prior art keywords
- blade
- obstacle
- driving device
- rotate
- motor
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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
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
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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
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/74—Cutting-height adjustment
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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
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
- A01D75/185—Avoiding collisions with obstacles
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The invention is suitable for the technical field of mowers, and provides a blade height adjusting device of a mower and the mower, wherein the blade height adjusting device of the mower comprises: the blade rotation driving device is in driving connection with the blade and is used for driving the blade to rotate; the blade lifting driving device is connected with the blade and used for driving the blade to lift; the detection device is used for detecting working parameters when the blade rotation driving device drives the blade to rotate; the control device is connected with the blade rotation driving device, the blade lifting driving device and the detection device and is used for judging whether the cutting object is an obstacle or not according to the working parameters detected by the detection device; and when the cutting object is judged to be the obstacle, controlling the blade lifting driving device to drive the blade to rise for a preset distance relative to the current position. The blade height adjusting device of the mower provided by the invention can lift the height of the blade from the ground to avoid the obstacle when judging that the cutting object is the obstacle, so that the purpose of protecting the blade is achieved, and the blade is prevented from being damaged.
Description
Technical Field
The invention relates to the technical field of mowers, in particular to a blade height adjusting device of a mower and the mower.
Background
A lawn mower, also known as a weeder, a lawnmower, a lawn trimmer, and the like, is a mechanical tool for trimming lawns, vegetation, and the like. The power device of the mower drives the blade to rotate at a high speed, so that the blade can be used for mowing, the operation time of weeding workers is saved, and a large amount of human resources are reduced.
In the prior art, the height of a blade of a mower is usually fixed, the blade of the mower is inevitably contacted with obstacles such as stumps and stones in the mowing process, and the blade of the mower is easily damaged when cutting the obstacles such as stumps and stones, so that the blade cannot be protected.
Disclosure of Invention
The invention provides a blade height adjusting device of a mower, and aims to solve the problems that a blade of the mower in the prior art is easily damaged by an obstacle in mowing operation and cannot be protected.
The present invention is achieved in this way, and provides a blade height adjusting device of a lawn mower, including:
the blade rotation driving device is in driving connection with the blade and is used for driving the blade to rotate;
the blade lifting driving device is connected with the blade and used for driving the blade to lift;
the detection device is used for detecting working parameters when the blade rotation driving device drives the blade to rotate;
the control device is connected with the blade rotation driving device, the blade lifting driving device and the detection device and is used for judging whether the cut object is an obstacle according to the working parameters detected by the detection device; and when the cutting object is judged to be an obstacle, controlling the blade lifting driving device to drive the blade to ascend by a preset distance relative to the current position.
Preferably, the control device includes:
the judging unit is used for judging whether the cutting object is an obstacle or not according to the working parameters detected by the detecting device;
and the first control unit is used for controlling the blade lifting driving device to drive the blade to ascend by a preset distance relative to the current position when the cutting object is judged to be the obstacle.
Preferably, the control device is further configured to:
and when the cutting object is judged to be an obstacle, controlling the blade rotation driving device to stop driving the blade to rotate, and controlling the blade rotation driving device to drive the blade to reversely rotate for a preset angle according to the initial rotation direction of the blade.
Preferably, the control device further includes:
and the second control unit is used for controlling the blade rotation driving device to stop driving the blade to rotate when the cutting object is judged to be the obstacle, and controlling the blade rotation driving device to drive the blade to reversely rotate for a preset angle according to the initial rotation direction of the blade.
Preferably, the detection device includes:
a first detection sensor for detecting a blade rotation speed at which the blade rotation driving means drives the blade to rotate;
the judging unit includes:
the first judging subunit is used for judging whether the cutting object is an obstacle or not according to the rotation speed of the blade; and when the rotating speed of the blade is less than a preset value, judging that the cutting object is an obstacle.
Preferably, the blade rotation driving device includes a fuel engine and an electric motor respectively connected to the control device, a rotating shaft of the fuel engine is connected to a rotating shaft of the electric motor, and the rotating shaft of the fuel engine or the rotating shaft of the electric motor drives the blade to rotate.
Preferably, the detection device includes:
a second detection sensor for detecting an operating current of the motor when the motor drives the blade to rotate;
the judging unit includes:
the second judging subunit is used for judging whether the cutting object is an obstacle or not according to the working current of the motor; and when the working current of the motor is larger than a preset value, judging that the cutting object is an obstacle.
Preferably, the detection device includes:
a third detection sensor for detecting an operating voltage at the time of operation of the motor when the motor drives the blade to rotate;
the judging unit includes:
a third judging subunit, configured to judge whether the cut object is an obstacle according to a rate of change of the operating voltage of the motor; and when the change rate of the working voltage of the motor is greater than a preset value, judging that the cutting object is an obstacle.
Preferably, the blade height adjusting apparatus of the lawn mower includes:
the blade is fixed on the main shaft, the blade rotation driving device can drive the main shaft to rotate, and the blade lifting driving device is connected with the blade through the main shaft and can drive the main shaft to lift.
The invention also provides a mower and a blade height adjusting device applying the mower.
According to the blade height adjusting device of the mower, the blade lifting driving device is arranged, the detection device is used for detecting the working parameters of the blade rotating driving device when the blade rotating driving device drives the blade to rotate in real time, and when the control device judges that a cutting object is an obstacle according to the working parameters detected by the detection device, the blade lifting driving device is controlled to drive the blade to lift a preset distance relative to the current position, so that the height of the blade from the ground is raised to avoid the obstacle, the purpose of protecting the blade is achieved, the blade is protected by itself, and the blade is prevented from being damaged. The self-protection of the blade of the mower can be realized by applying the blade height adjusting device of the mower, and the blade is prevented from being damaged.
Drawings
Fig. 1 is a schematic structural view of a blade height adjusting device of a lawn mower according to an embodiment of the present invention;
fig. 2 is a block diagram illustrating a blade height adjusting device of a lawn mower according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a control device in a blade height adjustment device of a lawn mower according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control device in a blade height adjusting device of a mower according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control device in a blade height adjusting device of a mower according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a control device in a blade height adjusting device of a lawn mower according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
According to the blade height adjusting device of the mower, the blade lifting driving device is arranged, the detection device is used for detecting the working parameters of the blade rotating driving device when the blade rotating driving device drives the blade to rotate in real time, and when the control device judges that the cutting object is an obstacle according to the working parameters detected by the detection device, the blade lifting driving device is controlled to drive the blade to ascend by a preset distance relative to the current position, so that the height of the blade above the ground is raised to avoid the obstacle, the purpose of protecting the blade is achieved, the blade is protected by itself, and the blade of the mower is prevented from being damaged.
Example one
Referring to fig. 1 and 2, an embodiment of the present invention provides a blade height adjusting device for a lawn mower, including:
the blade rotation driving device 1 is in driving connection with the blade 2 and is used for driving the blade 2 to rotate;
the blade lifting driving device 3 is connected with the blade 2 and is used for driving the blade 2 to lift;
the detection device 4 is used for detecting working parameters of the blade rotation driving device 1 for driving the blade 2 to rotate;
the control device 5 is connected with the blade rotating driving device 1, the blade lifting driving device 3 and the detection device 4 and is used for judging whether the cutting object is an obstacle or not according to the working parameters detected by the detection device 4; when the cutting object is judged to be the obstacle, the blade lifting driving device 3 is controlled to drive the blade 2 to lift for a preset distance relative to the current position.
In the embodiment of the invention, the blade height adjusting device of the mower comprises a main shaft 6, and the blade 2 is fixed on the main shaft 6; the blade rotation driving device 1 can drive the main shaft 6 to rotate, and the blade lifting driving device 3 is connected with the blade 2 through the main shaft 6 and can drive the main shaft 6 to lift. The blade rotation driving device 1 drives the main shaft 6 to rotate, and the main shaft 6 drives the blade 2 to rotate so as to perform cutting work. The blade lifting driving device 3 drives the main shaft 6 to lift, and the main shaft 6 drives the blade 2 to lift synchronously, so that the height of the blade 2 above the ground is adjusted.
As an embodiment of the present invention, the blade rotation driving device 1 includes a fuel engine 11 and an electric motor 12 respectively connected to the control device 5, a rotating shaft 11 of the fuel engine 11 is connected to a rotating shaft 121 of the electric motor 12, and the rotating shaft 11 of the fuel engine 11 or the rotating shaft 121 of the electric motor 12 rotates the blade 2.
Specifically, the rotary shaft 11 of the fuel engine 11 or the rotary shaft 121 of the electric motor 12 is drivingly connected to the main shaft 6. The main shaft 6 is driven to rotate by the fuel engine 11 or the motor 12, and the main shaft 6 drives the blade 2 to rotate so as to perform mowing operation, so that mowing in a pure fuel mode or mowing in an electric mode is realized, fuel is saved, and the lawn mower is more environment-friendly.
As an embodiment of the present invention, one end of a rotary shaft 111 of the fuel engine 11 is drivingly connected to the main shaft 6, and the other end is connected to a rotary shaft 121 of the electric motor 12. In addition to the present embodiment, one end of the rotating shaft 121 of the electric motor 12 may be connected to the rotating shaft 111 of the fuel engine 11, and the other end of the rotating shaft 121 of the electric motor 12 may be drivingly connected to the main shaft 6.
In this embodiment, when the fuel mode is used for operation, the control device 5 controls the fuel engine 11 to operate, the rotating shaft 111 of the fuel engine 11 drives the rotating shaft 121 of the electric motor 12 to rotate synchronously, meanwhile, the fuel engine 11 drives the blade 2 to rotate through the spindle 6 to mow, and at this time, the fuel engine 11 drives the blade 2 to rotate, so that the fuel only mode is achieved. When the electric mode is adopted for operation, the control device 5 controls the operation of the electric motor 12, the rotating shaft 111 of the fuel engine 11 is driven to rotate by the rotating shaft 121 of the electric motor 12, the rotating shaft 111 of the fuel engine 11 drives the blade 2 to rotate through the spindle 6 for mowing, and at the moment, the electric motor 12 drives the blade 2 to rotate, so that mowing in the electric mode is realized.
According to one embodiment of the invention, a first gear 7 is fixed on the main shaft 6, a second gear 8 is connected with the blade rotation driving device 1, and the first gear 7 and the second gear 8 are in meshing transmission.
In this embodiment, when the fuel mode or the electric mode is used, the rotating shaft 111 of the fuel engine 11 drives the second gear 8 to rotate, the second gear 8 drives the first gear 7 on the main shaft 6 to rotate, so as to drive the main shaft 6 to rotate, and the main shaft 6 drives the blade 2 to rotate for mowing. The blade rotation driving device 1 utilizes the meshing transmission of the second gear 8 and the first gear 7, so that the transmission is stable and reliable.
As an embodiment of the present invention, the blade elevation drive device 3 includes:
the driving motor 31, the driving motor 31 couples to controlling device 5;
the lifting mechanism 32 is in driving connection with the driving motor 31;
the main shaft 6 is rotatably disposed on the holder 33, and the lifting mechanism 32 can drive the main shaft 6 to move up and down through the holder 33.
In this embodiment, the blade lifting driving device 3 is used for driving the blade 2 to lift so as to adjust the height of the blade from the ground. When the blade lifting driving device 3 drives the blade 2 to ascend, the driving motor 31 drives the lifting mechanism 32 to move so as to drive the holding piece 33 to ascend, so as to drive the main shaft 6 to move upwards, and further to raise the ground clearance of the blade 2; when the blade lifting driving device 3 drives the blade 2 to descend, the driving motor 31 drives the lifting mechanism 32 to move so as to drive the holding piece 33 to descend, so as to drive the main shaft 6 to move downwards, and further reduce the ground clearance of the blade 2.
In this embodiment, the lifting mechanism 32 is a rack-and-pinion mechanism, a gear 321 of the rack-and-pinion mechanism is in transmission connection with the driving motor 31, and a rack 322 of the rack-and-pinion mechanism is fixedly connected with the holder 33. When the control device 5 judges that the cutting object is an obstacle, the control device 5 controls the driving motor 31 to start, the driving motor 31 drives the gear 321 to rotate in the forward direction, and the gear 321 drives the rack 322 to move upwards, so that the fixing piece 33 and the main shaft 6 are driven to move upwards synchronously, and the blade 2 is driven to rise by a preset distance to increase the ground clearance of the blade 2; when the blade 2 needs to continue normal mowing operation after the blade 2 passes through the obstacle, the control device 5 controls the driving motor 31 to rotate reversely, the driving gear 321 of the driving motor 31 rotates reversely, the gear 321 drives the rack 322 to move downwards, so that the fixing piece 33 and the main shaft 6 are driven to synchronously move downwards, and the blade 2 is driven to descend until the blade 2 recovers the required ground clearance for normal mowing operation, so as to continue mowing operation.
In the embodiment of the invention, the detection device 4 is used for detecting working parameters of the blade rotation driving device 1 during working in real time, the control device 5 judges whether the cutting object is an obstacle according to the working parameters detected by the detection device 4, and controls the blade lifting driving device 3 to drive the blade 2 to lift for a preset distance relative to the current position when the cutting object is judged to be the obstacle.
In this embodiment, the operating parameter includes the blade rotational speed. The detection device 4 includes a first detection sensor for detecting the blade rotation speed at which the blade rotation drive device 1 drives the blade 2 to rotate.
When the blade rotation speed detected by the detection device 4 is less than a preset value, the control device 5 judges that the cutting object is an obstacle; otherwise, judging that the cutting object is not an obstacle.
Referring to fig. 3, in the present embodiment, the control device 5 includes:
a judging unit 51 for judging whether the cutting object is an obstacle or not based on the working parameters detected by the detecting device 4;
the first control unit 52 is configured to control the blade lifting driving device to drive the blade to ascend by a preset distance relative to the current position when the cutting object is determined to be an obstacle.
In this embodiment, the determining unit 51 first determines whether the cutting object is an obstacle according to the working parameters detected by the detecting device 4; when the determining unit 51 determines that the cutting object is an obstacle, the first control unit 52 drives the blade 2 to ascend by a preset distance relative to the current position by the blade lifting driving device 3, so as to increase the height of the blade from the ground, thereby achieving the purpose of protecting the blade.
In this embodiment, the determining unit 51 includes:
a first judging subunit 511, configured to judge whether the cutting object is an obstacle according to the rotation speed of the blade; and when the rotating speed of the blade is less than a preset value, judging that the cutting object is an obstacle.
In this embodiment, according to the characteristic that the blade 2 of the mower can cause the rotation speed of the blade to be reduced when cutting hard obstacles such as stumps and stones, whether the cutting object is the obstacle can be intuitively and accurately judged by detecting whether the rotation speed of the blade is smaller than a preset value, and the occurrence of misjudgment is avoided. If the rotating speed of the blade is smaller than the preset value, the cutting object can be considered to be a stump, a stone and other hard obstacles.
In the present embodiment, the first detection sensor is a rotational speed sensor connected to the control device 5 for detecting the rotational speed of the blade. When the fuel mode or the electric mode is adopted for mowing operation, namely the fuel engine 11 or the electric motor 12 is adopted to drive the blade 2 to rotate, the control device 5 judges whether a cutting object is an obstacle by judging whether the rotating speed of the blade detected by the first detection sensor is larger than a preset value; when the rotating speed of the blade is judged to be larger than a preset value, judging that the cutting object is an obstacle; otherwise, if the cutting object is judged not to be the obstacle, the blade is controlled to normally cut grass.
In the embodiment of the invention, when the control device 5 judges that the cutting object is an obstacle, the control device 5 controls the blade lifting driving device to drive the blade 2 to lift a preset distance relative to the current position so as to lift the height of the blade 2 from the ground to avoid the obstacle, so that the aim of protecting the blade 2 is fulfilled.
The preset distance for the blade 2 to rise relative to the current position can be set according to actual needs. Preferably, the preset distance is the maximum stroke of the upward movement of the current blade position, that is, the lifting mechanism 32 drives the blade 2 to move upward to the limit position, so as to raise the height of the blade 2 from the ground as much as possible, thereby further improving the reliability of avoiding obstacles and avoiding damage to the blade 2.
According to the blade height adjusting device of the mower, the blade lifting driving device is arranged, the detection device is used for detecting the working parameters of the blade rotating driving device when the blade rotating driving device drives the blade to rotate in real time, and when the control device judges that a cutting object is an obstacle according to the working parameters, the blade lifting driving device is controlled to drive the blade to rise to the preset height relative to the current position, so that the height of the blade above the ground is raised to avoid the obstacle, the purpose of protecting the blade is achieved, and the blade of the mower is prevented from being damaged.
Example two
With reference to fig. 4, on the basis of the first embodiment, the control device 5 of the blade height adjusting device of the grass mower of the present embodiment is further configured to:
when the cutting object is judged to be an obstacle, the blade rotation driving device 1 is controlled to drive the blade 2 to rotate reversely by a preset angle according to the initial rotation direction of the blade 2.
In this embodiment, the control device 5 further includes:
and a second control unit 53, configured to control the blade rotation driving device 1 to stop driving the blade 2 to rotate when it is determined that the cutting object is an obstacle, and control the blade rotation driving device 1 to drive the blade to rotate reversely by a preset angle according to the initial rotation direction of the blade.
In this embodiment, before controlling the blade lifting driving device 3 to drive the blade 2 to rise to the preset distance relative to the current position, the control device 5 controls the blade rotation driving device 1 to stop driving the blade 2 to rotate first, and then controls the blade rotation driving device 1 to drive the blade 2 to rotate reversely by the preset angle according to the initial rotation direction of the blade 2, so as to avoid the situation that the blade 2 is cut into the inside of the obstacle and cannot be lifted directly, so that the blade 2 is withdrawn from the obstacle by rotating reversely, and then the blade 2 is driven to rise by the preset distance relative to the current position to pass through the obstacle, thereby greatly improving the reliability of avoiding the obstacle. Wherein, the blade rotation driving device 1 drives the blade 2 to rotate reversely by 10-20 degrees. For example, the initial rotation direction of the blade 2 is clockwise rotation, and the blade rotation driving device 1 first drives the blade 2 to rotate 15 ° counterclockwise, so that the blade 2 exits from the inside of the obstacle, and then drives the blade 2 to rise to the highest height above the ground relative to the current position.
According to the blade height adjusting device of the mower provided by the embodiment of the invention, the blade lifting driving device is arranged, the detection device is used for detecting the working parameters of the blade rotating driving device when the blade rotating driving device drives the blade to rotate in real time, when the control device judges that a cutting object is an obstacle according to the working parameters, the blade rotating driving device is controlled to stop driving the blade to rotate, the blade rotating driving device is controlled to drive the blade to rotate reversely by a preset angle according to the initial rotating direction of the blade, and then the blade lifting driving device is controlled to drive the blade to rise to the preset height relative to the current position, so that the situation that the blade cannot be directly raised after being cut into the obstacle is avoided, the ground clearance of the blade is further improved to avoid the reliability of the obstacle, and the blade of the mower is prevented from.
EXAMPLE III
Referring to fig. 5, on the basis of the first or second embodiment, the detecting device 4 in the blade height adjusting device of the lawn mower of the present embodiment includes a second detecting sensor for detecting the operating current of the motor 12 when the motor 12 drives the blade 2 to rotate.
In the present embodiment, the second detection sensor is a current sensor connected to the control device 5, and is configured to detect an operating current when the motor 12 operates.
In the present embodiment, the judging unit 51 includes a second judging subunit 512, configured to judge whether the cutting object is an obstacle according to the working current of the motor 12; when the working current of the motor 12 is larger than a preset value, judging that the cutting object is an obstacle; otherwise, judging that the cutting object is not an obstacle.
The operating current when the motor 12 is operated means a current of a main circuit of the motor 12 when the motor 12 is operated. The preset value of the working current can be set according to practical application.
In the present embodiment, when mowing in the electric mode, the motor 12 is operated, and the operating current of the motor 12 is increased according to the characteristic that the blade 2 of the mower cuts a hard obstacle such as a stump or a stone, and therefore, whether the object to be cut is an obstacle can be accurately and reliably determined by detecting the operating current of the motor 12. If the working current of the motor 12 is greater than a preset value, the cut object can be considered to be a hard obstacle such as a stump, a stone, etc.
In this embodiment, when mowing in the electric mode, it is determined whether the working current of the motor 12 is greater than the preset value, and if so, it is determined that the object to be cut is an obstacle. Whether the cutting object is an obstacle can be judged by judging the rotation speed of the blade, whether the cutting object is an obstacle can also be judged by the working current of the motor, and when any one of the working current of the motor 12 and the rotation speed of the blade is abnormal, the cutting object can be judged to be the obstacle, so that the judgment accuracy and reliability are greatly improved. Moreover, whether the cutting object is an obstacle or not can be visually and accurately judged by utilizing the working current, and the judgment reliability is good.
Example four
Referring to fig. 6, based on the first, second or third embodiment, the detecting device 4 of the blade height adjusting device of the lawn mower of the present embodiment includes a third detecting sensor for detecting the operating voltage of the motor 12 when the motor 12 drives the blade 2 to rotate.
In the present embodiment, the third detection sensor is a voltage sensor connected to the control device 5, and is configured to detect an operating voltage when the motor 12 operates. The operating voltage when the motor 12 is operated means a voltage of a main circuit of the motor 12 when the motor 12 is operated.
In the present embodiment, the judging unit 51 includes a third judging subunit 513 configured to judge whether the cutting object is an obstacle according to a rate of change of the operating voltage of the motor 12; when the change rate of the working voltage of the motor 12 is greater than a preset value, judging that the cutting object is an obstacle; otherwise, judging that the cutting object is not an obstacle. The third determining subunit 513 calculates a change rate of the operating voltage of the motor 12 within a certain time according to the operating voltage of the motor 12 detected by the third detecting sensor, and determines whether the cutting object is an obstacle according to the change rate of the operating voltage of the motor 12, where a preset value of the change rate of the operating voltage may be set according to practical applications.
The operating voltage when the motor 12 is operated is a voltage of a main circuit of the motor 12. The preset value of the operating voltage can be set according to practical application.
In the present embodiment, when mowing in the electric mode, the motor 12 operates, and the operating voltage of the motor 12 fluctuates according to the characteristic that the blade 2 of the lawnmower cuts a hard obstacle such as a stump or a stone, and therefore, whether the cut object is an obstacle can be accurately and reliably determined by detecting the rate of change of the operating voltage of the motor 12. If the change rate of the operating voltage of the motor 12 is greater than a preset value, the cut object can be considered as a hard obstacle such as a stump, a stone, etc.
In this embodiment, when mowing in the electric mode, it is determined whether the change rate of the operating voltage is greater than a preset value within a certain time period when the motor 12 is operated, and if so, it is determined that the object to be cut is an obstacle. Whether the cutting object is an obstacle can be judged by judging the rotation speed of the blade, whether the cutting object is an obstacle can also be judged by judging the change rate of the working voltage of the motor 12, and when any one of the change rate of the working voltage of the motor 12 and the rotation speed of the blade is abnormal, the cutting object can be judged to be the obstacle, so that the judgment accuracy and reliability are greatly improved.
EXAMPLE five
The present embodiment provides a lawn mower to which the blade height adjusting device of the lawn mower according to the first embodiment, the second embodiment, the third embodiment or the fourth embodiment is applied. The lawn mower is characterized in that the blade height adjusting device of the lawn mower is applied, the detection device of the blade height adjusting device of the lawn mower is used for detecting working parameters of the blade rotation driving device during working in real time, when the control device judges that a cutting object is an obstacle according to the working parameters of the blade rotation driving device during working, the blade lifting driving device is controlled to drive the blade to ascend by a preset distance relative to the current position, and therefore the height from the ground of the blade is lifted to avoid the obstacle, the purpose of protecting the blade is achieved, self-protection of the blade is achieved, and damage to the blade of the lawn mower is avoided.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A blade height adjustment device for a lawn mower, comprising:
the blade rotation driving device is in driving connection with the blade and is used for driving the blade to rotate;
the blade lifting driving device is connected with the blade and used for driving the blade to lift;
the detection device is used for detecting working parameters when the blade rotation driving device drives the blade to rotate;
the control device is connected with the blade rotation driving device, the blade lifting driving device and the detection device and is used for judging whether the cut object is an obstacle according to the working parameters detected by the detection device; and when the cutting object is judged to be an obstacle, controlling the blade lifting driving device to drive the blade to ascend by a preset distance relative to the current position.
2. The blade height adjustment apparatus of a lawn mower according to claim 1, wherein said control means comprises:
the judging unit is used for judging whether the cutting object is an obstacle or not according to the working parameters detected by the detecting device;
and the first control unit is used for controlling the blade lifting driving device to drive the blade to ascend by a preset distance relative to the current position when the cutting object is judged to be the obstacle.
3. The blade height adjustment apparatus of a lawn mower of claim 1, wherein the control apparatus is further configured to:
and when the cutting object is judged to be an obstacle, controlling the blade rotation driving device to stop driving the blade to rotate, and controlling the blade rotation driving device to drive the blade to reversely rotate for a preset angle according to the initial rotation direction of the blade.
4. The blade height adjustment apparatus of a lawn mower according to claim 3, wherein said control means further comprises:
and the second control unit is used for controlling the blade rotation driving device to stop driving the blade to rotate when the cutting object is judged to be the obstacle, and controlling the blade rotation driving device to drive the blade to reversely rotate for a preset angle according to the initial rotation direction of the blade.
5. The blade height adjustment apparatus of a lawn mower according to claim 2, wherein said detecting means comprises:
a first detection sensor for detecting a blade rotation speed at which the blade rotation driving means drives the blade to rotate;
the judging unit includes:
the first judging subunit is used for judging whether the cutting object is an obstacle or not according to the rotation speed of the blade; and when the rotating speed of the blade is less than a preset value, judging that the cutting object is an obstacle.
6. The device for adjusting the height of a blade of a lawn mower according to claim 2, wherein the blade rotation driving means comprises a fuel engine and an electric motor connected to the control means, respectively, a rotary shaft of the fuel engine being connected to a rotary shaft of the electric motor, the rotary shaft of the fuel engine or the rotary shaft of the electric motor rotating the blade.
7. The blade height adjustment apparatus of a lawn mower according to claim 6, wherein said detection means comprises:
a second detection sensor for detecting an operating current of the motor when the motor drives the blade to rotate;
the judging unit includes:
the second judging subunit is used for judging whether the cutting object is an obstacle or not according to the working current of the motor; and when the working current of the motor is larger than a preset value, judging that the cutting object is an obstacle.
8. The blade height adjustment apparatus of a lawn mower according to claim 6, wherein said detection means comprises:
a third detection sensor for detecting an operating voltage of the motor when the motor drives the blade to rotate;
the judging unit includes:
a third judging subunit, configured to judge whether the cut object is an obstacle according to a rate of change of the operating voltage of the motor; and when the change rate of the working voltage of the motor is greater than a preset value, judging that the cutting object is an obstacle.
9. The blade height adjustment apparatus of a lawn mower according to claim 1, comprising:
the blade is fixed on the main shaft, the blade rotation driving device can drive the main shaft to rotate, and the blade lifting driving device is connected with the blade through the main shaft and can drive the main shaft to lift.
10. A lawnmower to which the blade height adjusting apparatus according to any one of claims 1 to 9 is applied.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010882189.7A CN112042363A (en) | 2020-08-28 | 2020-08-28 | Blade height adjusting device of mower and mower |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010882189.7A CN112042363A (en) | 2020-08-28 | 2020-08-28 | Blade height adjusting device of mower and mower |
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| CN112042363A true CN112042363A (en) | 2020-12-08 |
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| CN202010882189.7A Pending CN112042363A (en) | 2020-08-28 | 2020-08-28 | Blade height adjusting device of mower and mower |
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| CN112715133A (en) * | 2020-12-28 | 2021-04-30 | 南京苏美达智能技术有限公司 | Intelligent mower system and mowing method |
| CN113940186A (en) * | 2021-11-15 | 2022-01-18 | 南京苏美达智能技术有限公司 | Control method of intelligent mower |
| CN114271091A (en) * | 2021-11-26 | 2022-04-05 | 李海领 | Automatic lawn cutting equipment for forestry and use method thereof |
| CN114342682A (en) * | 2021-12-22 | 2022-04-15 | 长沙中联重科环境产业有限公司 | Pruning device with bidirectional automatic obstacle avoidance function, control method of pruning device and hedge pruning vehicle |
| CN116300960A (en) * | 2023-03-31 | 2023-06-23 | 深圳森合创新科技有限公司 | Robot and map construction and positioning method thereof |
| CN116300960B (en) * | 2023-03-31 | 2024-05-28 | 深圳森合创新科技有限公司 | Robot and map construction and positioning method thereof |
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Application publication date: 20201208 |