CN114846983A - Mower assembly and automatic battery replacement method - Google Patents
Mower assembly and automatic battery replacement method Download PDFInfo
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- CN114846983A CN114846983A CN202210579654.9A CN202210579654A CN114846983A CN 114846983 A CN114846983 A CN 114846983A CN 202210579654 A CN202210579654 A CN 202210579654A CN 114846983 A CN114846983 A CN 114846983A
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- 230000005611 electricity Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 description 5
- 230000001960 triggered effect Effects 0.000 description 4
- 238000009966 trimming Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 2
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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
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
The invention relates to the technical field of mowers, and discloses a mower assembly and an automatic battery replacement method, wherein the mower assembly comprises: the mower comprises a mower body, a power device, an operation device and a processing device, wherein the mower body is provided with a battery cavity, the power device is used for driving the mower body to move, the operation device is used for carrying out mowing operation, and the processing device is used for controlling the power device to move and controlling the operation device to operate; the base station comprises a base station body, a battery replacing device, a door lock device, a locking device and a control device, wherein the base station body is provided with a battery bin, the battery replacing device and the control device; the power supply device is accommodated in the battery cavity and used for providing power for the power device and the operation device, and the other power supply device is accommodated in the battery cabin; and the positioning device is used for determining the position of the mower. Through the mode, the embodiment of the invention can realize automatic power changing of the mower.
Description
Technical Field
The embodiment of the invention relates to the technical field of mowers, in particular to a mower assembly and an automatic battery replacement method.
Background
The lawn mower is a full-automatic mechanical tool for trimming grass quilts and vegetation, is widely applied to occasions such as garden decoration trimming, family and public grassland greening trimming, can independently complete the lawn trimming work by the intelligent lawn mower, does not need artificial direct control and operation, and fully saves manpower and time.
Generally, when grass quilts and vegetation are trimmed, a single intelligent mower needs to work for a plurality of discrete lawns, and sometimes the single intelligent mower is shared by a plurality of users, provides services for the plurality of users, and needs to work on lawns in different regions. The lawn mower needs to be replaced by a battery when the lawn mowing task is completed or the electric quantity is low. However, the inventors of the present invention have found that, when the power of the lawnmower is too low and battery replacement is necessary, the battery of the lawnmower is usually replaced manually, and thus continuous unmanned work of the lawnmower cannot be performed.
Disclosure of Invention
The embodiment of the invention mainly solves the technical problem of providing a mower assembly and an automatic power changing method, which can enable a power supply device of a mower to be automatically changed.
In order to solve the technical problems, the invention adopts a technical scheme that: there is provided a mower assembly comprising:
the mower assembly comprises a mower body, a power device, a working device and a processing device, wherein the power device, the working device and the processing device are all arranged on the mower body, the mower body is provided with a battery cavity, the power device is used for driving the mower body to move, the working device is used for carrying out mowing operation, and the processing device is used for controlling the power device to move and controlling the working device to work;
the base station comprises a base station body, a battery replacing device, a door lock device, a locking device and a control device, wherein the base station body is provided with a battery compartment, the battery replacing device and the door lock device are electrically connected with the control device, the battery replacing device is used for replacing a power supply device in the mower, the door lock device is used for opening or closing the battery compartment, and the locking device is used for locking or releasing the mower positioned at a preset position of the base station body;
the power supply device is accommodated in the battery cavity and used for providing power for the power device and the operation device, and the other power supply device is accommodated in the battery cabin;
and the positioning device comprises a signal generator and a signal receiver, the signal generator is arranged on the base station body and is connected with the control device, and the signal receiver is arranged on the mower body and is connected with the processing device.
Optionally, the battery replacement device includes a grabbing mechanism and a driving mechanism, both the grabbing mechanism and the driving mechanism are electrically connected to the control device, the grabbing mechanism is capable of moving between the first position and the second position, and the driving mechanism is capable of moving between the third position and the fourth position;
the driving mechanism is provided with at least two battery placing cavities, one of the battery placing cavities accommodates one of the power supply devices, the grabbing mechanism moves from a first position to a second position to grab the power supply device in the battery cavity, then the grabbing mechanism resets to the first position and places the power supply device into the other battery placing cavity, then the driving mechanism moves from the third position to a fourth position, and the grabbing mechanism moves from the first position to the second position to place the power supply device in the battery placing cavity into the battery cavity.
Optionally, the mower assembly further includes a door lock device, the door lock device is disposed in the battery compartment, the door lock device is electrically connected to the control device, and the door lock device is used for opening or closing the battery compartment.
Optionally, the mower assembly further comprises a triggering device, and the triggering device is electrically connected to the control device;
when the mower moves to a preset position of the base station, the mower abuts against the trigger device, the locking device locks the mower, the trigger device sends a trigger signal to the control device, the control device controls the door lock device to open the battery compartment, the control device controls the battery replacing device to replace the battery for the mower after acquiring a feedback signal of the opening of the door lock device, and the control device controls the door lock device to close the battery compartment and controls the locking device to unlock the mower after acquiring a reset signal of the grabbing mechanism.
The invention also provides an embodiment of an automatic electricity changing method, which is applied to the embodiment of the mower component and comprises the following steps:
planning a traveling route by taking the base station as a base point, and setting different electric quantity thresholds according to different positions of the mower on the traveling route;
detecting the electric quantity of a power supply device in the mower in real time when the mower carries out mowing operation;
when the electric quantity of the power supply device reaches a preset electric quantity threshold value, controlling the mower to drive to a base station;
when the mower reaches the preset position of the base station, controlling the electricity changing device to change a power supply device of the mower;
and when the power supply device of the mower is replaced, controlling the mower to drive away from the base station and continue to operate along the travel route.
Optionally, the planning of the travel route with the base station as the base point and setting different electric quantity thresholds according to different positions of the mower on the travel route further include:
and after triggering the electric quantity threshold, the mower plans different return routes according to different traveling positions.
Optionally, the step of controlling the mower to drive to the base station when the power of the mower reaches a preset power threshold includes:
the mower stops mowing;
the mower marks the current lower position as a reset point according to the position signal;
the mower is driven to the base station along a return route;
and the mower adjusts the return route according to the position signal.
Optionally, the step of controlling the power exchanging device to replace the power supply device of the lawn mower when the lawn mower reaches the preset position of the base station includes:
the control device acquires a trigger signal sent by the trigger device, and controls the door lock device to open the battery compartment;
the control device acquires a feedback signal after the door lock device is opened, and the control device controls the electricity changing device to change electricity for the mower;
the control device controls the door lock device to close the battery compartment and controls the locking device to unlock after acquiring a reset signal of the grabbing mechanism;
the signal generator sends a driving-away signal to the signal receiver, and the processor receives the driving-away signal transmitted by the signal receiver and controls the mower to drive away from the base station.
Optionally, the controlling means obtains a feedback signal after the door lock device is opened, and the controlling means controls the battery replacement device to replace the power of the lawn mower, including:
the control device controls the grabbing mechanism to move from the first position to the second position to grab the power supply device in the battery cavity;
the control device controls the grabbing mechanism to move from the second position to the first position so that the power supply device is placed in the battery placing cavity;
the control device controls the first driving mechanism to drive the bracket to move from the third position to the fourth position;
the control device controls the grabbing mechanism to move from the first position to the second position, so that the power supply device is contained in the battery cavity from the battery placing cavity;
the control device controls the grabbing mechanism to reset from the second position to the first position.
Optionally, when the power supply device of the mower is replaced, the step of controlling the mower to move away from the base station and continue to operate along the travel route comprises the steps of:
moving the mower to the reset point along a return route;
starting the operation device of the mower;
the mower continues to move along the path of travel.
In the embodiment of the invention, the mower can move to the preset position of the base station through the positioning device when the electric quantity threshold value is triggered, the base station can open the bin opening through the door lock device, the battery replacing device takes out the power supply device in the mower and replaces the power supply device in the battery bin into the battery cavity of the mower, so that automatic battery replacement is completed, finally, the locking device unlocks the mower and the door lock device closes the bin opening, and the processing device controls the mower to move away from the base station to continue to operate according to the signal received by the signal receiver from the signal generator.
Drawings
FIG. 1 is a general schematic view of an embodiment of a mower assembly of the present invention;
FIG. 2 is a schematic view of a mower of an embodiment of the mower assembly of the present invention;
FIG. 3 is a schematic view of the electrical connections of a mower of an embodiment of the mower assembly of the present invention;
FIG. 4 is a schematic view of a base station of an embodiment of the mower assembly of the present invention;
FIG. 5 is a schematic diagram of a power swapping device of the base station of FIG. 4;
FIG. 6 is a schematic diagram of the electrical connections of a base station of an embodiment of the mower assembly of the present invention;
FIG. 7 is another schematic view of FIG. 5;
FIG. 8 is a further schematic diagram of the swapping device of FIG. 5;
FIG. 9 is a schematic view of a power supply of an embodiment of the mower assembly of the present invention;
FIG. 10 is a flowchart illustrating steps of an automatic power swapping method according to an embodiment of the invention;
FIG. 11 is a flowchart illustrating a step S30 in the auto power swapping method shown in FIG. 10;
FIG. 12 is a flowchart illustrating a step S40 in the auto power swapping method shown in FIG. 10;
fig. 13 is a flowchart illustrating the step S402 in the automatic battery swapping method shown in fig. 12.
Detailed Description
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 6, a mower assembly 100 includes a mower 10, a base station 20, at least two power supply devices 30, and a positioning device 40, the mower 10 includes a mower body 101, a power device 102, a working device 103, and a processing device 104, the power device 102, the working device 103, and the processing device 104 are all disposed on the mower body 101, the mower body 101 is provided with a battery cavity 1011, the battery cavity 1011 is used for accommodating one of the power supply devices 30, and the power supply device 30 accommodated in the battery cavity 1011 is connected to the power device 102, the working device 103, and the processing device 104. The power device 102 is used for driving the mower body 101 to move, the working device 103 is used for carrying out mowing operation, and the processing device 104 is used for controlling the power device 102 to move and controlling the working device 103 to work. The base station 20 comprises a base station body 201, a battery replacing device 202, a door lock device 203, a locking device 204 and a control device 205, wherein the base station body 201 is provided with a battery bin 2011 and a bin opening 2012 for communicating the battery bin 2011 with the outside, the battery bin 2011 is used for accommodating one power supply device 30, and the battery replacing device 202, the door lock device 203 and the locking device 204 are all electrically connected with the control device 205. The positioning device 40 includes a signal generator 401 and a signal receiver 402, the signal generator 401 is disposed on the base station body 101 and connected to the control device 205, and the signal receiver 402 is disposed on the mower body 101 and connected to the processing device 104. When the power supply device 30 of the lawn mower 10 needs to be replaced due to low battery, the signal receiver 402 receives a position signal from the signal generator 401, then the signal receiver 402 sends the position signal to the processing device 104, the processing device 104 controls the lawn mower 10 to move to the preset position of the base station 20 according to the position information sent by the signal receiver 402 until the lawn mower 10 moves to the preset position of the base station 20 and the power supply device 30 in the battery cavity 1011 aligns with the bin opening 2012, at this time, the door lock device 203 opens the battery bin 2011, the locking device 204 locks the lawn mower 10 at the preset position of the base station, and then the control device 205 controls the power exchanging device 203 to replace the power supply device 30 of the lawn mower 10. After the power supply device 30 of the lawn mower 10 is replaced, the control device 205 controls the door lock device 203 to close the battery compartment 2011, the signal generator 401 sends a driving-away signal to the signal receiver 402, and the processing device 104 receives the driving-away signal transmitted by the signal receiver 402 and controls the lawn mower 10 to drive away from the base station 20.
Since the power supply device 30 in the battery cavity 1011 needs to be aligned with the battery bin 2012 when the lawn mower 10 performs the power replacement operation, there is a high requirement for the precision of the movement of the lawn mower 10 to the base station 20 after the trigger power threshold, the signal generator 401 is disposed on the base station 20, and the signal receiver 402 is disposed on the lawn mower 402, so that the lawn mower 10 can move to the preset position of the base station more precisely, and the risk of power replacement failure caused by the position deviation of the lawn mower 10 moving to the base station 20 is reduced. The locking device 204 is capable of fixing the lawn mower 10 at a preset position of the base station 20, so that the lawn mower 10 does not displace relative to the base station body 201 during the power replacement operation, and the phenomenon of power replacement failure caused by movement of the lawn mower 10 during the power replacement operation of the lawn mower 10 is reduced.
In some embodiments, the locking device 204 is disposed on the base station body 201, the locking device 204 is a ground lock device controlled by a solenoid valve, the ground lock device includes a bolt with a guiding inclined surface, a positioning member (not shown) is disposed on a surface of the mower body 101 facing the base station 10, the positioning member is also provided with a guiding inclined surface, and the guiding inclined surface of the positioning member is opposite to the guiding inclined surface of the bolt. When the ground locking device is powered on, the bolt retracts into the ground locking device, and when the ground locking device is powered off, the bolt is ejected out of the ground locking device. When the lawn mower 10 enters the preset position of the base station 20 from the outside, the ground lock device is in a power-on state, the positioning element contacts the plug pin, then the plug pin is pressed back into the ground lock device under the action of the positioning element until the lawn mower 10 is located at the preset position of the base station 20, and the plug pin resets and locks the positioning element, so that the lawn mower 10 is fixed at the preset position of the base station 20. When the lawn mower 10 needs to move from the preset position of the base station 20 to the outside, the control device 205 controls the ground lock device to be connected with a power supply, and the latch retracts into the ground lock device, so that the lawn mower 10 is unlocked.
Referring to fig. 7, 8 and 9, the battery swapping device 202 includes a grabbing mechanism 2021 and a driving mechanism 2022, the grabbing mechanism 2021 and the driving mechanism 2022 are both electrically connected to the control device 205, the grabbing mechanism 2021 can move between the first position and the second position, and the driving mechanism 2022 can move between the third position and the fourth position. The driving mechanism 2022 is provided with at least two battery placing cavities 20221, wherein one of the battery placing cavities 20221 accommodates one of the power supply devices 30, after the grasping mechanism 2021 moves from the first position to the second position to grasp the power supply device 30 in the battery cavity 1011, the grasping mechanism 2021 returns to the first position and places the power supply device 30 in the other battery placing cavity 20221, and then the driving mechanism 2022 moves from the third position to the fourth position, and the grasping mechanism 2021 moves from the first position to the second position to place the power supply device 30 in the battery placing cavity 20221 in the battery cavity 1011.
Specifically, power supply unit 30 is including installation shell 301 and battery 302, battery 302 accept in installation shell 301, installation shell 301 is provided with lockhole 3011 and locking lever 3012, lockhole 3011 and locking lever 3012 all set up in installation shell 301 is close to trade the one end of electric installation 202, locking lever 3012 accept in the lockhole 3011. The grabbing mechanism 2021 comprises a grabbing rod 20211, a grabbing piece 20212 and a first driving motor 20213, one end of the grabbing rod 20211 is connected to the first driving motor 20213, the other end of the grabbing rod 20211 is connected to the grabbing piece 20212, the first driving motor 20213 is electrically connected to the control device 205, and the first driving motor 20213 can drive the grabbing piece 20212 to move between the first position and the second position. The driving mechanism 2022 includes a bracket 20221, a guide rail 20222 and a second driving motor 20223, the bracket 20221 is provided with at least two battery placing cavities (not shown) and guides (not shown), the guide rail 20222 is provided with a guide groove 20222a and a communication hole (not shown) communicating with the guide groove 20222a, the second driving motor 20223 is disposed on the guide rail 20222 and electrically connected to the control device 205, the driving wheel of the second driving motor 20223 is exposed in the guide groove 20222a, the at least two battery placing cavities are used for accommodating the power supply device 30, the guide piece is accommodated in the guide groove 20222a and is connected with the driving gear of the second driving motor 20223, the guide piece can move under the driving of the second driving motor 20223, thereby moving the bracket 20221 along the guide groove 20222a between the third position and the fourth position.
The mower assembly 100 of the present embodiment further comprises a triggering device 50, wherein the triggering device 50 is electrically connected to the control device 205. When the lawn mower 10 moves to the base station 20 and abuts against the trigger device 50, the locking device 204 locks the lawn mower 10, the trigger device 50 sends a trigger signal to the control device 205, then the control device 205 controls the door lock device 203 to open the battery compartment 2011, and when the door lock device 203 opens the battery compartment 2011, the control device 205 sends a feedback signal to the control device 205, and after receiving the feedback signal from the door lock device 203, the control device 205 controls the first driving motor 20213 to drive the grabbing bar 20211 to move from the second position to the first position, so as to take out the power supply device 30 in the battery cavity 1011 and place the power supply device 30 in one of the battery placing cavities in the bracket 20212, and then the control device 205 controls the second driving motor 20223 to drive the bracket 20221 to move from the third position to the fourth position, then the control device controls the first driving motor 20213 to drive the grabbing bar 20211 to move from the first position to the second position, so as to place the power supply device 30 in another battery placing cavity into the battery cavity 1011, and finally the control device 205 controls the first driving motor 20213 to drive the grabbing bar 20211 to reset from the second position to the first position, and sends a reset signal to the control device 205, so as to complete the power replacement operation of the mower 10. After the power is replaced, the control device 205 receives a reset signal of the first driving motor 20213 and then controls the door lock device 203 to close the battery compartment 2011 and controls the locking device 204 to unlock the lawn mower 10, and then the signal generator 401 sends a driving-away signal to the signal receiver 402, and the processing device 104 receives the driving-away signal transmitted from the signal receiver 402 and controls the lawn mower 10 to drive away from the base station 20.
In the embodiment of the invention, the mower can move to the preset position of the base station through the positioning device when the electric quantity threshold value is triggered, the base station can open the bin opening through the door lock device, the battery replacing device takes out the power supply device in the mower and replaces the power supply device in the battery bin into the battery cavity of the mower, so that automatic battery replacement is completed, finally, the mower is driven away from the base station to continue operation, and the door lock device closes the bin opening.
The invention further provides an embodiment of an automatic power changing method, please refer to fig. 10, the automatic power changing method is applied to the mower assembly, and includes the steps of:
step S10: planning a traveling route by taking the base station as a base point, and setting different electric quantity thresholds according to different positions of the mower on the traveling route;
the processing device calculates and sets electric quantity threshold values of the mower at different positions on the travelling route according to the planned travelling route, namely when the electric quantity threshold value of the mower at a position far away from the base station on the travelling route is higher than the electric quantity threshold value of the mower at a position close to the base station on the travelling route, so that the mower can work for a longer time without replacing the power supply device and still has enough electric quantity to return to the base station for replacing the power supply device. It will be appreciated that the planned path of travel of the lawnmower can be adjusted by the user to specific parameters to conform the path of travel of the lawnmower to the work area of the use scenario.
In some embodiments, after the step of planning the traveling route based on the base station and setting different charge thresholds according to different positions of the mower on the traveling route, the method further comprises:
step S11: after triggering the electric quantity threshold, the mower plans different return routes according to different traveling positions;
because the electric quantity thresholds of different positions on the traveling route are different, the position of the mower, which is far away from the base station, is also different when the electric quantity threshold is triggered, so that after the electric quantity threshold is triggered, the return route of the mower needs to be planned in combination with the current position, the operated route and the non-operated route, and the return route of the mower avoids the non-operated route, so that the mower can smoothly return to the base station.
Step S20: detecting the electric quantity of a power supply device in the mower in real time when the mower carries out mowing operation;
step S30: when the electric quantity of the power supply device reaches a preset electric quantity threshold value, controlling the mower to drive to a base station;
in some embodiments, as shown in fig. 11, when the power of the power supply device reaches a preset power threshold, the step of controlling the lawn mower to drive to the base station includes:
step S301: the mower stops mowing;
step S302: the mower marks the current lower position as a reset point according to the position signal;
step S303: the mower is driven to the base station along a return route;
step S304: and the mower adjusts the return route according to the position signal.
After the mower triggers the power threshold, in order to reduce the power loss of the power supply device, the processor suspends the operation of the working device, and ensures that the remaining power of the power supply device can support the mower to return to the base station. In order to enable the mower to automatically move to a position where the mower stops working before the power supply is replaced after the power supply device is replaced, and then continue working along a planned route, the processing device marks the current position of the mower as a reset point, and the reset point is an initial working position after the mower is replaced with the power supply device, namely a position where the working device is restarted. When the mower is driven to the base station, deviation occurs between the mower and a planned return route due to road conditions, and the mower with the deviation may not move smoothly to the base station or reach a preset position of the base station, so that the power change of the mower fails, and therefore the mower can adjust the return route according to the position signal received by the signal receiver from the signal generator, so that the mower can move smoothly to the preset position of the base station.
Step S40: when the mower reaches the preset position of the base station, controlling the electricity replacing device to replace a power supply device of the mower;
in some embodiments, referring to fig. 12, when the lawn mower reaches the predetermined position of the base station, the step of controlling the power exchanging device to exchange the power supply device of the lawn mower includes:
step S401: the control device acquires a trigger signal sent by the trigger device, and controls the door lock device to open the battery compartment;
when the mower moves to the preset position of the base station, the trigger device abuts against the mower, and the locking device locks the mower at the preset position of the base station.
Step S402: the control device acquires a feedback signal after the door lock device is opened, and the control device controls the electricity changing device to change electricity for the mower;
in other embodiments, referring to fig. 13, the step of acquiring a feedback signal after the door lock device is opened by the control device, and the step of controlling the battery replacement device to replace the battery of the lawn mower by the control device includes:
step S4021: the control device controls the grabbing mechanism to move from a first position to a second position to grab the power supply device in the battery cavity;
step S4022: the control device controls the grabbing mechanism to move from the second position to the first position so that the power supply device is placed in the battery placing cavity;
step S4023: the control device controls the first driving mechanism to drive the bracket to move from a third position to a fourth position;
step S4024: the control device controls the grabbing mechanism to move from the first position to the second position, so that the power supply device is contained in the battery cavity from the battery placing cavity;
step S4025: the control device controls the grabbing mechanism to reset from the second position to the first position.
Step S403: the control device controls the door lock device to close the battery compartment and controls the locking device to unlock after acquiring a reset signal of the first driving motor;
step S404: the signal generator sends a driving-away signal to the signal receiver, and the processor receives the driving-away signal transmitted by the signal receiver and controls the mower to drive away from the base station.
Usually, a power supply device for replacing power for the lawn mower is stored in the base station, so that a door lock mechanism is arranged at the outlet of the cabin of the base station, when the lawn mower leaves the base station for operation, the door lock mechanism closes the cabin so as to isolate the battery cabin from the external environment, thereby playing a role of protecting the power supply device and the internal structure of the battery cabin, when the lawn mower moves to a preset position of the base station, the lawn mower is abutted against the trigger device, at the moment, the lawn mower is locked by the locking device, the locking device can keep the stable state of the lawn mower relative to the base station, the trigger device sends a trigger signal to the control device, the control device controls the door lock device to open the battery cabin after receiving the trigger signal, and then the control device obtains a feedback signal after the door lock device is opened, the control device controls the electricity changing device to change electricity for the mower, and when the control device obtains a reset signal of the first driving motor, the control device controls the door lock device to close the battery compartment and unlock the mower from the locking device.
Step S50: and when the power supply device of the mower is replaced, controlling the mower to drive away from the base station and continue to operate along the travel route.
It should be noted that the preferred embodiments of the present invention are shown in the description and the drawings, but the present invention may be embodied in many different forms and is not limited to the embodiments described in the description, which are not intended as additional limitations to the present disclosure, which is provided for the purpose of providing a more thorough understanding of the present disclosure. Moreover, the above technical features are combined with each other to form various embodiments which are not listed above, and all the embodiments are regarded as the scope of the present invention described in the specification; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the scope of the appended claims.
Claims (10)
1. A mower assembly, comprising:
the mower comprises a mower body, a power device, a working device and a processing device, wherein the power device, the working device and the processing device are all arranged on the mower body, the mower body is provided with a battery cavity, the power device is used for driving the mower body to move, the working device is used for carrying out mowing operation, and the processing device is used for controlling the power device to move and controlling the working device to work;
the base station comprises a base station body, a battery replacing device, a door lock device, a locking device and a control device, wherein the base station body is provided with a battery bin, the battery replacing device, the door lock device and the locking device are electrically connected with the control device, the battery replacing device is used for replacing a power supply device in the mower, the door lock device is used for opening or closing the battery bin, and the locking device is used for locking or releasing the mower located at a preset position of the base station body;
the power supply device is accommodated in the battery cavity and used for providing power for the power device and the operation device, and the other power supply device is accommodated in the battery cabin;
and the positioning device comprises a signal generator and a signal receiver, the signal generator is arranged on the base station body and is connected with the control device, and the signal receiver is arranged on the mower body and is connected with the processing device.
2. The mower assembly of claim 1,
the battery replacing device comprises a grabbing mechanism and a driving mechanism, the grabbing mechanism and the driving mechanism are both electrically connected with the control device, the grabbing mechanism can move between a first position and a second position, and the driving mechanism can move between a third position and a fourth position;
the driving mechanism is provided with at least two battery placing cavities, one of the battery placing cavities accommodates one of the power supply devices, the grabbing mechanism moves from a first position to a second position to grab the power supply device in the battery cavity, then the grabbing mechanism resets to the first position and places the power supply device into the other battery placing cavity, then the driving mechanism moves from the third position to a fourth position, and the grabbing mechanism moves from the first position to the second position to place the power supply device in the battery placing cavity into the battery cavity.
3. The mower assembly of claim 2,
the mower assembly further comprises a door lock device, the door lock device is arranged on the battery compartment and electrically connected with the control device, and the door lock device is used for opening or closing the battery compartment.
4. The mower assembly of claim 3,
the mower assembly further comprises a triggering device, and the triggering device is electrically connected with the control device;
when the mower moves to a preset position of the base station, the mower abuts against the trigger device and the locking device locks the mower, the trigger device sends a trigger signal to the control device, the control device controls the door lock device to open the battery compartment, the control device controls the battery replacing device to replace the battery for the mower after acquiring a feedback signal of the opening of the door lock device, and the control device controls the door lock device to close the battery compartment and controls the locking device to unlock the mower after acquiring a reset signal of the grabbing mechanism.
5. An automatic power changing method is applied to the mower assembly and is characterized by comprising the following steps:
planning a traveling route by taking the base station as a base point, and setting different electric quantity thresholds according to different positions of the mower on the traveling route;
detecting the electric quantity of a power supply device in the mower in real time when the mower carries out mowing operation;
when the electric quantity of the power supply device reaches a preset electric quantity threshold value, controlling the mower to drive to a base station;
when the mower reaches the preset position of the base station, controlling the electricity replacing device to replace a power supply device of the mower;
and when the power supply device of the mower is replaced, controlling the mower to drive away from the base station and continue to operate along the travel route.
6. The automatic power switching method as claimed in claim 5, wherein the method further comprises the following steps after planning a travel route based on the base station and setting different power thresholds according to different positions of the mower on the travel route:
and after triggering the electric quantity threshold, the mower plans different return routes according to different traveling positions.
7. The automatic power changing method of claim 6, wherein the step of controlling the mower to drive to a base station when the power of the mower reaches a preset power threshold comprises:
the mower stops mowing;
the mower marks the current lower position as a reset point according to the position signal;
the mower is driven to the base station along a return route;
and the mower adjusts the return route according to the position signal.
8. The automatic power swapping method of claim 7, wherein the step of controlling the power swapping device to replace a power supply device of the lawn mower when the lawn mower reaches a preset position of the base station comprises:
the control device acquires a trigger signal sent by the trigger device, and controls the door lock device to open the battery compartment;
the control device acquires a feedback signal after the door lock device is opened, and the control device controls the electricity changing device to change electricity for the mower;
the control device controls the door lock device to close the battery compartment and controls the locking device to unlock after acquiring a reset signal of the grabbing mechanism;
the signal generator sends a driving-away signal to the signal receiver, and the processor receives the driving-away signal transmitted by the signal receiver and controls the mower to drive away from the base station.
9. The automatic power replacing method as claimed in claim 8, wherein the step of the control device obtaining a feedback signal after the door lock device is opened and controlling the power replacing device to replace the power of the lawn mower comprises:
the control device controls the grabbing mechanism to move from the first position to the second position to grab the power supply device in the battery cavity;
the control device controls the grabbing mechanism to move from the second position to the first position so that the power supply device is placed in the battery placing cavity;
the control device controls the first driving mechanism to drive the bracket to move from the third position to the fourth position;
the control device controls the grabbing mechanism to move from the first position to the second position, so that the power supply device is contained in the battery cavity from the battery placing cavity;
the control device controls the grabbing mechanism to reset from the second position to the first position.
10. The automatic power changing method as claimed in claim 7, wherein the step of controlling the mower to move away from the base station and continue to operate along the travel route when the power supply device of the mower is replaced comprises:
moving the mower to the reset point along a return route;
starting the operation device of the mower;
the mower continues to move along the path of travel.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210579654.9A CN114846983B (en) | 2022-05-25 | 2022-05-25 | Mower assembly and automatic power changing method |
| PCT/CN2023/081928 WO2023226549A1 (en) | 2022-05-25 | 2023-03-16 | Mower assembly and automatic power supply replacement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210579654.9A CN114846983B (en) | 2022-05-25 | 2022-05-25 | Mower assembly and automatic power changing method |
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| CN114846983A true CN114846983A (en) | 2022-08-05 |
| CN114846983B CN114846983B (en) | 2024-03-15 |
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| CN202210579654.9A Active CN114846983B (en) | 2022-05-25 | 2022-05-25 | Mower assembly and automatic power changing method |
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| CN (1) | CN114846983B (en) |
| WO (1) | WO2023226549A1 (en) |
Cited By (1)
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| WO2023226549A1 (en) * | 2022-05-25 | 2023-11-30 | 深圳华芯信息技术股份有限公司 | Mower assembly and automatic power supply replacement method |
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| Publication number | Publication date |
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| WO2023226549A1 (en) | 2023-11-30 |
| CN114846983B (en) | 2024-03-15 |
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