CN117918107A

CN117918107A - Mower cutter mechanism, control method and device thereof and terminal equipment

Info

Publication number: CN117918107A
Application number: CN202311788007.XA
Authority: CN
Inventors: 杨波; 雷春华; 何雨林
Original assignee: Shenzhen Ubtech Technology Co ltd
Current assignee: Shenzhen Ubtech Technology Co ltd
Priority date: 2023-12-22
Filing date: 2023-12-22
Publication date: 2024-04-26

Abstract

The application provides a mower cutter mechanism, a control method and device thereof and terminal equipment; a cutter head mechanism of a mower comprises a cutter motor, a lifting motor, a transmission part, a controller, a first Hall sensor and a first magnet corresponding to the first Hall sensor; the first Hall sensor is used for determining the lifting height of the cutterhead motor; the controller is used for acquiring the cutter head required height and the cutter head initial height of the cutter head motor; determining the corresponding relation between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutterhead motor according to the lifting heights; determining the required Hall pulse number according to the required height of the cutterhead, the initial height of the cutterhead and the corresponding relation; generating a corresponding operation instruction according to the required Hall pulse number, and sending the operation instruction to the lifting motor; the lifting motor is used for running according to the running instruction so as to drive the cutterhead motor to lift and lower to reach the required height of the cutterhead through the transmission part; the convenience of adjusting the lifting height of the cutter motor can be improved.

Description

Mower cutter mechanism, control method and device thereof and terminal equipment

Technical Field

The application relates to the technical field of mowers, in particular to a mowing cutter head mechanism, a control method and device thereof and terminal equipment.

Background

Currently, intelligent mowers are increasingly widely used. In practical application, for a wire-enclosure type mower, the lifting height of a cutter motor in a cutter mechanism of the mower needs to be adjusted through a disc scale knob or a scale screwdriver and the like so as to meet the requirement of mowing height. That is, in the current technical scheme, a user manually adjusts the lifting height of the cutterhead motor through a disc scale knob or a scale screwdriver, so that the operation process is complex, and the adjustment efficiency is affected.

Therefore, how to improve the convenience of adjusting the lifting height of the cutterhead motor is a technical problem that needs to be solved by the skilled person at present.

Disclosure of Invention

The application aims to provide a mower cutter mechanism, a control method and device of the mower cutter mechanism, terminal equipment, a mower and a computer readable storage medium, and aims to improve the convenience of adjusting the lifting height of a cutter motor.

In a first aspect, the present application provides a mower deck mechanism. The mower cutter mechanism comprises a cutter motor, a lifting motor, a transmission part, a controller, a first Hall sensor and a first magnet corresponding to the first Hall sensor; the first Hall sensor and the first magnet are arranged on one side of the lifting motor, which is close to the cutterhead motor; the cutterhead motor is connected with the lifting motor transmission part through the transmission part; the lifting motor and the first Hall sensor are respectively in communication connection with the controller;

The first Hall sensor is used for determining the lifting height of the cutterhead motor;

The controller is used for acquiring the cutter head required height and the cutter head initial height of the cutter head motor; determining the corresponding relation between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutterhead motor according to the lifting heights; determining a required Hall pulse number according to the required height of the cutterhead, the initial height of the cutterhead and the corresponding relation; generating a corresponding operation instruction according to the required Hall pulse number, and sending the operation instruction to the lifting motor;

the lifting motor is used for running according to the running instruction, so that the cutter head motor is driven to lift by the transmission part to reach the required height of the cutter head.

In one embodiment, a second Hall sensor is arranged on one side, close to the lifting motor, of the cutterhead motor; the cutter motor is provided with a second magnet corresponding to the second Hall sensor;

when the lifting motor moves from bottom to top until the second magnet triggers the second Hall sensor, the first Hall sensor obtains the maximum height of a cutterhead of the cutterhead motor;

the controller is also configured to determine the maximum height of the cutterhead as the initial height of the cutterhead.

In one embodiment, a third hall sensor is arranged at one end, far away from the lifting motor, of the cutterhead motor; a third magnet corresponding to the third Hall sensor is arranged on the cutter motor;

In the process that the lifting motor drives the cutterhead motor to move, when the second magnet triggers the second Hall sensor for the first time or the third magnet triggers the third Hall sensor for the first time, the lifting motor moves in the opposite direction until the second magnet triggers the second Hall sensor again; the first Hall sensor obtains the maximum height of the cutterhead motor.

In a second aspect, the present application provides a control method for a mower deck mechanism, which is applied to the mower deck mechanism. The method comprises the following steps:

acquiring a cutter head demand height and an initial cutter head height of a cutter head motor;

determining the corresponding relation between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutterhead motor according to a plurality of lifting heights;

determining a required Hall pulse number according to the required height of the cutterhead, the initial height of the cutterhead and the corresponding relation;

and generating a corresponding operation instruction according to the required Hall pulse number and sending the operation instruction to a lifting motor, so that the lifting motor operates according to the operation instruction, and the cutter motor is driven to lift by a transmission part to reach the required height of the cutter.

In one embodiment, the process of determining the initial height of the cutterhead includes:

If the mower cutter head mechanism is started for the first time, in the process that the cutter head motor is driven by the lifting motor to move, when the second magnet triggers the second Hall sensor for the first time or the third magnet triggers the third Hall sensor for the first time, the lifting motor is controlled to move in the opposite direction until the second magnet triggers the second Hall sensor again; acquiring the maximum height of a cutterhead of the cutterhead motor by using the first Hall sensor;

And determining the maximum height of the cutterhead as the initial height of the cutterhead.

In one embodiment, the determining the initial height of the cutterhead includes:

If the mower cutter mechanism is not started for the first time, acquiring a history cutter height;

and determining the historical cutter head height as the initial cutter head height.

In a third aspect, the present application further provides a control device for a mower blade mechanism, which is applied to the mower blade mechanism. The device comprises:

The acquisition module is used for acquiring the cutter head required height and the cutter head initial height of the cutter head motor;

the corresponding relation determining module is used for determining the corresponding relation between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutterhead motor according to the lifting heights;

The pulse number determining module is used for determining the required Hall pulse number according to the required height of the cutterhead, the initial height of the cutterhead and the corresponding relation;

the adjusting control module is used for generating a corresponding operation instruction according to the required Hall pulse number and sending the operation instruction to the lifting motor so that the lifting motor operates according to the operation instruction, and the cutter motor is driven to lift through the transmission part to reach the required height of the cutter.

In a fourth aspect, the application further provides a terminal device. The terminal device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, which processor, when executing the computer program, implements the steps of the method as described above.

In a fifth aspect, the present application further provides a mower, which includes a mower body and the mower cutterhead mechanism.

In a sixth aspect, the present application also provides a computer readable storage medium. The computer readable storage medium stores a computer program which, when executed by a processor, implements the steps of the method as described above.

The application provides a mower cutter mechanism, which comprises a cutter motor, a lifting motor, a transmission part, a controller, a first Hall sensor and a first magnet corresponding to the first Hall sensor, wherein the cutter motor is arranged on the cutter motor; the first Hall sensor and the first magnet are arranged on one side of the lifting motor, which is close to the cutterhead motor; determining the lifting height of the cutterhead motor by using a first Hall sensor; after the controller obtains the required height of the cutterhead and the initial height of the cutterhead, determining the corresponding relation between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutterhead motor according to the lifting heights; determining a required Hall pulse number according to the required height of the cutterhead, the initial height of the cutterhead and the corresponding relation, so as to control the operation of the lifting motor according to the required Hall pulse number, and driving the cutterhead motor to lift by the driving part in the operation process of the lifting motor to reach the required height of the cutterhead; that is, the lifting motor can automatically adjust the lifting height of the cutter motor according to the Hall pulse number, so that the cutter head mechanism of the mower can improve the convenience of adjusting the lifting height of the cutter motor.

It can be appreciated that the control method, the device, the terminal device, the mower and the computer readable storage medium of the mower cutter mechanism provided by the embodiment of the application have the same beneficial effects as those of the mower cutter mechanism, and are not repeated herein.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a cutter head mechanism of a mower according to an embodiment of the present application;

FIG. 2 is a schematic view of another mower deck mechanism according to an embodiment of the present application;

FIG. 3 is a flow chart of a method for controlling a mower deck mechanism according to an embodiment of the present application;

FIG. 4 is a schematic diagram of data transmission in a mower deck mechanism according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a control device for a cutter head mechanism of a mower according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise. "plurality" means "two or more".

Fig. 1 is a schematic structural view of a cutter head mechanism of a mower according to an embodiment of the present application. For convenience of explanation, only a portion related to the present embodiment is shown, in which a mower deck mechanism includes a deck motor 110, a lift motor 120, a transmission member 130, a controller 140, a first hall sensor 150, and a first magnet 160 corresponding to the first hall sensor 150; the first hall sensor 150 and the first magnet 160 are disposed on one side of the lifting motor 120 close to the cutterhead motor 110; the cutterhead motor 110 and the lifting motor 120 are connected through a transmission part 130; the lifting motor 120 and the first hall sensor 150 are respectively in communication with the controller 140;

the first hall sensor 150 is used for determining the lifting height of the cutterhead motor 110;

The controller 140 is configured to obtain a cutterhead required height and a cutterhead initial height of the cutterhead motor 110; determining a corresponding relation between the number of Hall pulses of the first Hall sensor 150 and the theoretical lifting height of the cutterhead motor 110 according to the lifting heights; determining the required Hall pulse number according to the required height of the cutterhead, the initial height of the cutterhead and the corresponding relation; generating a corresponding operation instruction according to the required Hall pulse number, and sending the operation instruction to the lifting motor 120;

The lifting motor 120 is used for operating according to the operation command, so as to drive the cutterhead motor 110 to lift and reach the cutterhead required height through the transmission part 130.

Wherein the cutter motor 110 refers to a motor for controlling the cutter to rotate at a high speed to achieve mowing; the elevation motor 120 refers to a motor for adjusting the elevation height of the cutter motor 110; the cutterhead motor 110 and the lifting motor 120 are connected through a transmission part 130, so that the lifting motor 120 drives the cutterhead motor 110 to lift through the transmission part 130 when rotating forwards and reversely, so as to adjust the cutterhead height of the cutterhead motor 110.

It should be noted that, the lifting motor 120 may be composed of a dc motor and a reduction gearbox; since the frequency of use of the lift motor 120 is low in practical applications, the dc motor in the lift motor 120 may be specifically a dc brush motor.

The inside of the lifting motor 120 is provided with a worm gear and a worm corresponding to the inside, the worm gear and the worm structure is used for transmitting motion and power between two staggered shafts, the cutterhead motor 110 is in transmission connection with the worm of the outside, and the worm is in transmission connection with the lifting motor 120; the lifting motor 120 drives the cutterhead motor 110 to lift by driving the external worm to rotate, so that the lifting height of the cutterhead motor 110 can be adjusted more accurately.

Wherein, a first hall sensor 150 and a first magnet 160 corresponding to the first hall sensor 150 are arranged on one side of the lifting motor 120 close to the cutterhead motor 110; the first hall sensor 150 cooperates with the first magnet 160 to determine the cutterhead height of the cutterhead motor 110. Specifically, when the lifting motor 120 is running, the two paths of Hall outputs corresponding to the first Hall sensor 150 will correspondingly output two paths of square waves AB output (Hall-a and Hall-B), and the controller 140 determines the lifting displacement of the lifting motor 120 by reading the output number of the two paths of square waves AB output by the first Hall sensor 150, so as to determine the cutterhead height of the cutterhead motor 110. In practical application, since the phase difference of the two square wave outputs AB is 90 degrees, the number of any Hall output pulse in the two square wave outputs AB (Hall-a and Hall-B) can be read to determine the elevation of the cutterhead motor 110.

The controller 140 in this embodiment may be a CPU (Central Processing Unit, a central processing unit), an MCU (Microcontroller Unit, a micro control unit), or the like, which is not limited in this embodiment.

The required cutter head height of the cutter head motor 110 is the mowing height; the cutterhead demand height of the cutterhead motor 110 can be obtained directly in response to input operation of a user, or when the controller 140 is in communication connection with a user terminal, the user inputs the cutterhead demand height of the cutterhead motor 110 at the user terminal, and the user terminal sends the cutterhead demand height to the controller 140, so that the controller 140 obtains the cutterhead demand height of the cutterhead motor 110 through the user terminal.

The initial height of the cutterhead refers to the initial height of the cutterhead motor 110 when the lifting height of the cutterhead motor 110 needs to be adjusted. In practical application, the first hall sensor 150 may be directly used to determine the initial height of the cutterhead, or may be a preset parameter, which is not limited in this embodiment.

Specifically, the waveform output by the first hall sensor 150 at the tail of the lifting motor 120 is used for real-time analysis to the controller 140, the controller 140 controls the rotation number of the lifting motor 120, the cutterhead motor 110 correspondingly lifts for a certain displacement, and the lifting height corresponding to the cutterhead motor 110 is determined.

Specifically, after the first hall sensor 150 is used to obtain a plurality of lifting heights of the cutterhead motor 110, a correspondence between the output pulse number of the first hall sensor 150 and the theoretical lifting height of the cutterhead motor 110 is determined according to the lifting heights.

In one specific implementation, assuming that the resolution of the first hall sensor 150 is 2PPR (pulse per revolution, the number of pulses output by the encoder per turn), i.e., one rotation of the lift motor 120, the first hall sensor 150 correspondingly outputs two pulses; the lifting motor 120 is driven by an output shaft to rotate an external worm for one circle, and the theoretical lifting height of the cutterhead motor 110 is H; the reduction ratio of the reduction gearbox of the lifting motor 120 is I; that is, when the elevation height of the cutterhead motor 110 is H, the pulse number n=h×i×2 of the first hall sensor 150. For example, when the reduction gear ratio of the reduction gearbox of the lift motor 120 is 100 and the lift height H of the cutterhead motor 110 is 1cm, the number of pulses n=200 output by the first hall sensor 150. The corresponding relation between the number of hall pulses of the first hall sensor 150 and the theoretical lifting height of the cutterhead motor 110 is not limited in this embodiment.

Specifically, after determining the corresponding relation between the cutter head demand height and the cutter head initial height of the cutter head motor 110 and the output pulse number of the first hall sensor 150 and the theoretical lifting height of the cutter head motor 110, the required hall pulse number is determined according to the cutter head demand height, the cutter head initial height and the corresponding relation, that is, when the hall output pulse number of the first hall sensor 150 is the required hall pulse number, the lifting height of the cutter head motor 110 reaches the cutter head demand height. For example, assuming that the initial height of the cutterhead is H0 and the required height of the cutterhead is Hx, the required hall pulse number can be determined according to { (H0-Hx)/H } ×i×2.

Specifically, after determining the number of the required hall pulses, the controller 140 generates a start command according to the number of the required hall pulses, and sends the start command to the lift motor 120, and the lift motor 120 starts to rotate forward or backward according to the start command, and drives the cutterhead motor 110 to lift through the transmission component 130.

In one embodiment, the controller 140 controls the lift motor 120 to rotate forward or backward at a preset speed by outputting a PWM signal to a driving IC of the lift motor 120. The controller 140 starts counting the pulse number of the first hall sensor 150 at the same time, when the count reaches the required hall pulse number, the controller 140 sends a stop command to the lift motor 120, the lift motor 120 stops forward rotation or reverse rotation according to the stop command, and at this time, the lift displacement of the lift motor 120 makes the cutterhead motor 110 reach the cutterhead height.

The embodiment of the application provides a mower cutter mechanism, which comprises a cutter motor, a lifting motor, a transmission part, a controller, a first Hall sensor and a first magnet corresponding to the first Hall sensor, wherein the cutter motor is arranged on the cutter motor; the first Hall sensor and the first magnet are arranged on one side of the lifting motor, which is close to the cutterhead motor; determining the lifting height of the cutterhead motor by using a first Hall sensor; after the controller obtains the required height of the cutterhead and the initial height of the cutterhead, determining the corresponding relation between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutterhead motor according to the lifting heights; determining a required Hall pulse number according to the required height of the cutterhead, the initial height of the cutterhead and the corresponding relation, so as to control the operation of the lifting motor according to the required Hall pulse number, and driving the cutterhead motor to lift by the driving part in the operation process of the lifting motor to reach the required height of the cutterhead; that is, the lifting motor can automatically adjust the lifting height of the cutter motor according to the Hall pulse number, so that the cutter head mechanism of the mower can improve the convenience of adjusting the lifting height of the cutter motor.

Fig. 2 is a schematic structural view of another mower deck mechanism according to an embodiment of the present application. On the basis of the above embodiment, the technical solution is further described and optimized in this embodiment, specifically, as shown in fig. 2, in this embodiment, a second hall sensor 170 is disposed on a side of the cutterhead motor 110, which is close to the lifting motor 120; the cutter motor 110 is provided with a second magnet 180 corresponding to the second hall sensor 170;

The first hall sensor 150 obtains the maximum height of the cutterhead motor 110 when the lifting motor 120 moves from bottom to top until the second magnet 180 triggers the second hall sensor 170;

the controller 140 is also configured to determine the maximum cutterhead height as the initial cutterhead height.

It should be noted that, when the lifting motor 120 operates, when the distance between the magnet and the hall sensor is smaller than the preset distance threshold, the magnet will trigger the corresponding hall sensor; when the hall sensor is triggered, the lifting motor 120 can immediately stop running, and the hall sensor plays a role in limiting the cutterhead motor 110, so that the lifting motor 120 is prevented from blocking.

In this embodiment, therefore, the second hall sensor 170 is disposed on the side of the cutterhead motor 110 close to the lifting motor 120, and the corresponding second magnet 180 is disposed on the cutterhead motor 110. In the process of the lifting motor 120 running from bottom to top, when the second magnet 180 on the lifting motor 120 triggers the second Hall sensor 170, the cutter head motor 110 runs to the top limit position, the lifting motor 120 stops running, and the lifting motor 120 is prevented from being blocked; at this time, the elevation of the cutterhead motor 110 is obtained by using the first hall sensor 150, i.e., the maximum height of the cutterhead motor 110 is determined.

In practical applications, the maximum height of the cutterhead is determined as the initial height of the cutterhead, and the elevation height of the cutterhead motor 110 is adjusted based on the initial height of the cutterhead (maximum height of the cutterhead) of the cutterhead motor 110.

Therefore, according to the method of the embodiment, the initial height of the cutterhead motor can be efficiently and conveniently determined.

On the basis of the above embodiment, the technical solution is further described and optimized in this embodiment, and specifically, in this embodiment, a third hall sensor 190 is disposed at one end of the cutterhead motor 110 away from the lifting motor 120; the cutter motor 110 is provided with a third magnet 200 corresponding to the third hall sensor 190;

If the mower cutterhead mechanism is started for the first time, in the process that the lifting motor 120 drives the cutterhead motor 110 to move, when the second magnet 180 triggers the second Hall sensor 170 for the first time or the third magnet 200 triggers the third Hall sensor 190 for the first time, the lifting motor 120 moves in the opposite direction until the second magnet 180 triggers the second Hall sensor 170 again; the first hall sensor 150 obtains the maximum cutterhead height of the cutterhead motor 110.

Since the magnet will trigger the corresponding hall sensor when the distance between the magnet and the hall sensor is less than the preset distance threshold while the elevator motor 120 is running. Based on this, it is further considered in the present embodiment that if the lifting motor 120 initially moves upwards, the initial distance between the second magnet 180 on the top of the cutterhead motor 110 and the second hall sensor 170 may be smaller than the preset distance threshold, and the second magnet 180 will trigger the second hall sensor 170, so that it will not be accurate to obtain the maximum height of the cutterhead motor 110 by using the first hall sensor 150.

In the present embodiment, magnets (the second magnet 180 and the third magnet 200) are respectively installed at the top and bottom of the cutter motor 110 for triggering the hall sensors (the second hall sensor 170 and the third hall sensor 190) at the top and bottom thereof. The controller reads output values of the second hall sensor 170 and the third hall sensor 190 in real time; if neither the second hall sensor 170 nor the third hall sensor 190 is initially triggered, it indicates that the cutterhead motor 110 is at the neutral position, and thus the lifting motor 120 is used to control the cutterhead motor 110 to move from bottom to top until the second hall sensor 170 is triggered.

If either hall sensor (second hall sensor 170 or third hall sensor 190) is triggered, elevator motor 120 controls cutterhead motor 110 to move in the reverse direction until second hall sensor 170 is triggered.

Specifically, if the lifting motor 120 initially moves downward, when the third magnet 200 at the bottom of the cutterhead motor 110 triggers the third hall sensor 190, the lifting motor 120 stops running, and at this time, the cutterhead motor 110 moves to the bottom limit position, so that the cutterhead motor 110 is controlled to move reversely, that is, the lifting motor 120 moves upward; when the second magnet 180 is triggered to the second hall sensor 170, the lift motor 120 stops running, and at this time, the cutterhead motor 110 runs to the top limit position (calibration point), and the maximum cutterhead height Hmax of the cutterhead motor 110 is obtained and stored by the first hall sensor 150.

If the lifting motor 120 initially moves upwards, when the second magnet 180 at the top of the cutterhead motor 110 triggers the second hall sensor 170 for the first time, the lifting motor 120 stops running, but the initial distance between the second magnet 180 at the top of the cutterhead motor 110 and the second hall sensor 170 may be smaller than the preset distance threshold, so that the cutterhead motor 110 is controlled to move reversely, that is, the lifting motor 120 moves downwards; when the third magnet 200 triggers the third hall sensor 190, the cutterhead motor 110 is indicated to run to the bottom limit position at the moment; and then the cutterhead motor 110 is controlled to move reversely, namely the lifting motor 120 moves upwards, when the second magnet 180 is triggered to the second Hall sensor 170 again, the cutterhead motor 110 is indicated to run to the top limit position, and the maximum cutterhead height Hmax of the cutterhead motor 110 is obtained and stored by the first Hall sensor 150.

In practical application, when the cutterhead motor 110 is at the top limit position, the maximum height of the cutterhead is determined as the initial height of the cutterhead, then the required hall pulse number is calculated based on the initial height of the cutterhead (maximum height of the cutterhead) of the cutterhead motor 110, namely, the required pulse number corresponding to the required height of the cutterhead from the top limit position to the cutterhead is operated by the cutterhead motor 110, and then the lifting height of the cutterhead motor 110 is adjusted according to the required pulse number. For example, assuming that the maximum cutter head height (cutter head initial height) Hmax of the cutter head motor 110 is 7cm and the cutter head demand height hx=5 cm, the number of hall pulses required is determined based on (Hmax-Hx)/H }. I..

And, the third hall sensor 190 at the bottom can avoid damage to the cutterhead motor 110 or cutterhead when the lifting motor 120 or the cutterhead motor 110 fails to cause the cutterhead motor 110 to fall down.

Therefore, the cutter head mechanism of the mower in the embodiment can determine the maximum height of the cutter head more accurately, namely the initial height of the cutter head, so that the accuracy of determining the number of Hall pulses required can be improved, and the lifting height of the cutter head motor is accurately adjusted by utilizing the lifting motor.

The application also provides a control method of the mower cutter mechanism. The method may be performed by the controller in the mower deck mechanism of the above-described embodiment while running a corresponding computer program. Fig. 3 is a flowchart of a control method of a cutter head mechanism of a mower according to an embodiment of the present application, and fig. 4 is a schematic diagram of data transmission in the cutter head mechanism of the mower according to an embodiment of the present application. As shown in fig. 3 and 4, for convenience of explanation, only the portions related to the present embodiment are shown, and the method provided in the present embodiment includes the following steps:

s100: the cutter head required height and the cutter head initial height of the cutter head motor are obtained.

The cutter head demand height of the cutter head motor is the mowing height; the cutter head demand height of the cutter head motor can be directly obtained in response to input operation of a user, and the user can input the cutter head demand height of the cutter head motor to the controller through the user terminal when the controller is in communication connection with the user terminal, so that the controller can obtain the cutter head demand height of the cutter head motor through the user terminal, and the lifting height of the cutter head motor of the cutter head mechanism of the mower can be remotely adjusted.

The initial height of the cutterhead refers to the initial height of the cutterhead motor when the lifting height of the cutterhead motor needs to be adjusted. In practical application, the first hall sensor may be directly used to determine the initial height of the cutterhead, or may be a preset parameter, which is not limited in this embodiment.

S200: and determining the corresponding relation between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutterhead motor according to the lifting heights.

Specifically, the waveform output by the first Hall sensor at the tail part of the lifting motor is used for real-time analysis for the controller, the controller controls the rotation number of the lifting motor, the lifting motor is correspondingly lifted by a certain displacement, and the lifting height corresponding to the cutter motor is determined.

Specifically, after a plurality of lifting heights of the cutterhead motor are obtained by using the first Hall sensor, the corresponding relation between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutterhead motor is determined according to the lifting heights.

In a specific implementation, it is assumed that the resolution of the first hall sensor is 2PPR (pulse per revolution, the number of pulses output by the encoder per turn), that is, the first hall sensor correspondingly outputs two pulses per rotation of the lifting motor; the lifting motor goes out of the shaft to drive an external worm to rotate for one circle, and the theoretical lifting height of the cutterhead motor is H; the reduction ratio of the reduction gearbox of the lifting motor is I; when the lifting height of the cutterhead motor is H, the pulse number n=h×i×2 of the first hall sensor. For example, when the reduction ratio of the reduction gearbox of the lifting motor is 100 and the lifting height H of the cutterhead motor is 1cm, the pulse number n=200 output by the first hall sensor. In this embodiment, the correspondence between the number of hall pulses of the first hall sensor and the theoretical lifting height of the cutterhead motor is not limited.

S300: and determining the required Hall pulse number according to the required height of the cutterhead, the initial height of the cutterhead and the corresponding relation.

Specifically, after determining the corresponding relation between the cutter head demand height and the cutter head initial height of the cutter head motor and the theoretical lifting height of the cutter head motor, determining the required Hall pulse number according to the cutter head demand height, the cutter head initial height and the corresponding relation, namely when the Hall output pulse number of the first Hall sensor is the required Hall pulse number, the cutter head height of the cutter head motor reaches the cutter head demand height. For example, assuming that the initial height of the cutterhead is H0 and the required height of the cutterhead is Hx, the required hall pulse number can be determined according to { (H0-Hx)/H } ×i×2.

S400: and generating a corresponding operation instruction according to the required Hall pulse number and sending the operation instruction to the lifting motor so that the lifting motor operates according to the operation instruction, and driving the cutter motor to lift through the transmission part to reach the required height of the cutter.

Specifically, after determining the number of the required hall pulses, the controller generates a starting instruction according to the number of the required hall pulses, sends the starting instruction to the lifting motor, and drives the cutter motor to lift through the transmission part according to the starting instruction to start forward rotation or reverse rotation. In one embodiment, the controller controls the lift motor to rotate forward or backward at a preset speed by outputting a PWM signal to a driving IC of the lift motor. The controller starts to count the pulse number of the first Hall sensor simultaneously, when the count reaches the required Hall pulse number, the controller sends a stop instruction to the lifting motor, the lifting motor stops forward rotation or reverse rotation according to the stop instruction, and at the moment, the lifting displacement of the lifting motor enables the cutter head motor to reach the cutter head height.

The embodiment of the application provides a control method of a cutter head mechanism of a mower, which is applied to the cutter head mechanism of the mower in the embodiment, and after the required height of the cutter head and the initial height of the cutter head are obtained, the corresponding relation between the output pulse number of a first Hall sensor and the theoretical lifting height of a cutter head motor is determined according to a plurality of lifting heights; determining a required Hall pulse number according to the required height of the cutterhead, the initial height of the cutterhead and the corresponding relation, so as to control the operation of the lifting motor according to the required Hall pulse number, and driving the cutterhead motor to lift by the driving part in the operation process of the lifting motor to reach the required height of the cutterhead; that is, the lifting motor can automatically adjust the lifting height of the cutter motor according to the Hall pulse number, so that the cutter head mechanism of the mower can improve the convenience of adjusting the lifting height of the cutter motor.

On the basis of the above embodiment, the technical solution is further described and optimized in this embodiment, and specifically, in this embodiment, the process of determining the initial height of the cutterhead includes:

If the mower cutter head mechanism is started for the first time, in the process that the lifting motor drives the cutter head motor to move, when the second magnet triggers the second Hall sensor for the first time or the third magnet triggers the third Hall sensor for the first time, the lifting motor is controlled to move in the opposite direction until the second magnet triggers the second Hall sensor again; acquiring the maximum height of a cutterhead of the cutterhead motor by using a first Hall sensor;

the maximum height of the cutterhead is determined as the initial height of the cutterhead.

When the lifting motor operates, the magnet triggers the corresponding Hall sensor when the distance between the magnet and the Hall sensor is smaller than a preset distance threshold value. Based on this, in this embodiment, it is further considered that if the lifting motor initially moves upwards, the initial distance between the second magnet on the top of the cutterhead motor and the second hall sensor may be smaller than the preset distance threshold, the second magnet will trigger the second hall sensor, and at this time, it will not be accurate to obtain the maximum height of the cutterhead motor by using the first hall sensor.

In this embodiment, the top and bottom of the cutterhead motor are respectively provided with magnets (a second magnet and a third magnet) for triggering the hall sensors (a second hall sensor and a third hall sensor) at the top and bottom thereof. The controller reads output values of the second Hall sensor and the third Hall sensor in real time; if the second Hall sensor or the third Hall sensor is not triggered initially, the cutter motor is at the middle position, so that the cutter motor is controlled to move from bottom to top by the lifting motor until the second Hall sensor is triggered.

If any Hall sensor (the second Hall sensor or the third Hall sensor) is triggered, the lifting motor controls the cutterhead motor to move reversely until the second Hall sensor is triggered.

Specifically, if the lifting motor initially moves downwards, when a third magnet at the bottom of the cutter motor triggers a third Hall sensor, the lifting motor stops running, and the cutter motor runs to a bottom limit position at the moment, so that the cutter motor is controlled to move reversely, namely the lifting motor moves upwards; when the second magnet triggers to the second Hall sensor, the lifting motor stops running, the cutterhead motor runs to a top limit position (a standard point), and the maximum height Hmax of the cutterhead motor is obtained and stored by the first Hall sensor.

If the lifting motor initially moves upwards, when the second magnet at the top of the cutterhead motor triggers the second Hall sensor for the first time, the lifting motor stops running, but the initial distance between the second magnet at the top of the cutterhead motor and the second Hall sensor is possibly smaller than a preset distance threshold value, so that the cutterhead motor is controlled to move reversely, namely the lifting motor moves downwards; when the third magnet is triggered to the third Hall sensor, the cutter head motor runs to the bottom limit position at the moment; and controlling the cutterhead motor to reversely move, namely, enabling the lifting motor to move upwards, and when the second magnet is triggered to the second Hall sensor again, indicating that the cutterhead motor runs to the top limiting position, and acquiring and storing the maximum height Hmax of the cutterhead motor by utilizing the first Hall sensor.

In practical application, when the cutter motor is at the top limit position, determining the maximum height of the cutter as the initial height of the cutter, calculating the required Hall pulse number based on the initial height of the cutter (the maximum height of the cutter) of the cutter motor, namely, the required pulse number corresponding to the required height of the cutter when the cutter motor runs from the top limit position, and adjusting the lifting height of the cutter motor according to the required pulse number. For example, assuming that the maximum cutter head height (cutter head initial height) Hmax of the cutter head motor is 7cm and the cutter head demand height hx=5 cm, the demand hall pulse number is determined based on (Hmax-Hx)/H }. I..

After determining the maximum height of the cutterhead, the height protection value can be further obtained, and the maximum height of the cutterhead is updated according to the maximum height of the cutterhead and the height protection value. For example, assuming that the maximum height of the cutterhead is determined to be 10cm and the height protection value is 2cm according to the first hall sensor, the maximum height of the cutterhead is updated to be 8cm according to the maximum height of the cutterhead and the height protection value. The lifting height is adjusted according to the updated maximum height of the cutterhead, so that the risk of damage to the cutterhead motor can be further reduced.

And moreover, the third Hall sensor at the bottom can avoid damaging the cutter motor or the cutter when the cutter motor falls down due to the failure of the lifting motor or the cutter motor.

Therefore, according to the method of the embodiment, the maximum height of the cutterhead, namely the initial height of the cutterhead, can be determined more accurately, so that the accuracy of determining the number of Hall pulses required can be improved, and the lifting height of the cutterhead motor can be adjusted accurately by using the lifting motor.

It can be understood that, if the current is not the first start of the cutter head mechanism of the mower, the initial height of the cutter head can be directly determined according to the adjustment result of the cutter head motor last time, and the technical scheme is further described and optimized in this embodiment, specifically, the process of determining the initial height of the cutter head in this embodiment includes:

If the cutter head mechanism of the mower is not started for the first time, acquiring the historical cutter head height;

the historical cutterhead height is determined as the cutterhead initial height.

The historical cutter head height is the cutter head demand height when the cutter head height of the cutter head motor is adjusted last time. In practical application, after determining the corresponding required Hall pulse number according to the required height of the cutter, and adjusting the cutter height of the cutter motor according to the required Hall pulse number, storing the required height of the cutter, namely obtaining the historical cutter height; when the cutter head height of the cutter head motor needs to be adjusted next time, the pre-stored historical cutter head height can be directly read, and the initial cutter head height is determined according to the historical cutter head height; and then determining the required Hall pulse number according to the required height of the cutter head, the initial height of the cutter head and the corresponding relation between the Hall pulse number and the theoretical lifting height of the cutter head motor.

Therefore, according to the method of the embodiment, the initial height of the cutterhead motor can be efficiently and conveniently determined, the efficiency of determining the required Hall pulse number is improved, and the convenience and the efficiency of adjusting the height of the cutterhead motor in the cutterhead mechanism of the mower are improved.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

Fig. 5 is a schematic structural diagram of a control device for a cutter head mechanism of a mower according to an embodiment of the present application. As shown in fig. 5, the above-described mower deck mechanism to which the control device of the mower deck mechanism of the embodiment is applied includes an acquisition module 510, a correspondence determination module 520, a pulse number determination module 530, and an adjustment control module 540; wherein,

The obtaining module 510 is configured to obtain a cutter head required height and a cutter head initial height of the cutter head motor;

the correspondence determining module 520 is configured to determine a correspondence between the output pulse number of the first hall sensor and a theoretical lifting height of the cutterhead motor according to the plurality of lifting heights;

The pulse number determining module 530 is configured to determine a required hall pulse number according to a required height of the cutterhead, an initial height of the cutterhead, and a corresponding relationship;

The adjustment control module 540 is configured to generate a corresponding operation instruction according to the required hall pulse number and send the operation instruction to the lifting motor, so that the lifting motor operates according to the operation instruction, and drives the cutterhead motor to lift to reach the cutterhead required height through the transmission component.

The control device of the mower cutter mechanism has the same beneficial effects as the control method of the mower cutter mechanism.

In one embodiment thereof, the acquisition module comprises:

The cutter head maximum height obtaining submodule is used for controlling the lifting motor to move in the opposite direction when the second magnet triggers the second Hall sensor for the first time or the third magnet triggers the third Hall sensor for the first time in the process that the lifting motor drives the cutter head motor to move if the cutter head mechanism of the mower is started for the first time, until the second magnet triggers the second Hall sensor again; acquiring the maximum height of a cutterhead of the cutterhead motor by using a first Hall sensor;

And the first cutterhead initial height determining submodule is used for determining the maximum height of the cutterhead as the cutterhead initial height.

In one embodiment thereof, the acquisition module comprises:

The historical cutterhead height obtaining submodule is used for obtaining the historical cutterhead height if the mower cutterhead mechanism is not started for the first time;

And the second cutterhead initial height determining submodule is used for determining the historical cutterhead height as the cutterhead initial height.

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

Fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 6, the terminal device 600 of this embodiment includes a memory 601, a processor 602, and a computer program 603 stored in the memory 601 and executable on the processor 602; the processor 602, when executing the computer program 603, implements the steps of the above-described embodiments of the control method for each mower deck mechanism; or the processor 602 when executing the computer program 603 performs the functions of the modules/units in the above-described device embodiments.

By way of example, the computer program 603 may be partitioned into one or more modules/units that are stored in the memory 601 and executed by the processor 602 to implement the methods of embodiments of the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 603 in the terminal device 600. For example, the computer program 603 may be divided into an acquisition module, a correspondence determination module, a pulse number determination module, and an adjustment control module, each of which specifically functions as follows:

The corresponding relation determining module is used for determining the corresponding relation between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutter motor according to the lifting heights;

the adjusting control module is used for generating corresponding operation instructions according to the required Hall pulse number and sending the operation instructions to the lifting motor so that the lifting motor operates according to the operation instructions, and the driving part drives the cutter motor to lift to reach the cutter required height.

In application, the terminal device 600 may be a computing device such as a desktop computer, a notebook computer, a palm computer, and a cloud server. The terminal device 600 may include, but is not limited to, a memory 601 and a processor 602. It will be appreciated by those skilled in the art that fig. 6 is merely an example of a terminal device and is not meant to be limiting, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., a terminal device may also include an input-output device, a network access device, a bus, etc.; the input and output equipment can comprise a camera, an audio acquisition/play device, a display screen and the like; the network access device may include a communication module for wireless communication with an external device.

In applications, the Processor may be a central processing unit (Central Processing Unit, CPU), or other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

In an application, the memory may be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device; external storage devices of the terminal device, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), etc., which are provided on the terminal device; it may also comprise both an internal memory unit of the terminal device and an external memory device. The memory is used to store an operating system, application programs, boot Loader (Boot Loader), data, and other programs, etc., such as program code for a computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.

The embodiment of the application also provides a mower, which comprises a mower body and the mower cutter mechanism in each embodiment.

The mower provided by the embodiment of the application has the same beneficial effects as the mower cutter mechanism due to the mower cutter mechanism.

The embodiments of the present application also provide a computer readable storage medium storing a computer program, which when executed by a processor, implements the steps of the above-described method embodiments.

The computer readable storage medium provided by the embodiment of the application has the same beneficial effects as the control method of the mower cutter mechanism.

The embodiments of the present application also provide a computer program product comprising a computer program which, when executed by a processor, implements the steps of the various method embodiments described above.

The computer program product provided by the embodiment of the application has the same beneficial effects as the control method of the mower cutter mechanism.

The present application may be implemented in whole or in part by a computer program which, when executed by a processor, performs the steps of the method embodiments described above, and which may be embodied in a computer readable storage medium. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a terminal device, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative apparatus and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the embodiments of the apparatus described above are illustrative only, and the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, the apparatus may be indirectly coupled or in communication connection, whether in electrical, mechanical or other form.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. The mower cutter mechanism is characterized by comprising a cutter motor, a lifting motor, a transmission part, a controller, a first Hall sensor and a first magnet corresponding to the first Hall sensor; the first Hall sensor and the first magnet are arranged on one side of the lifting motor, which is close to the cutterhead motor; the cutterhead motor is connected with the lifting motor transmission part through the transmission part; the lifting motor and the first Hall sensor are respectively in communication connection with the controller;

2. The mower deck mechanism of claim 1, wherein a second hall sensor is provided on a side of the deck motor adjacent to the lift motor; the cutter motor is provided with a second magnet corresponding to the second Hall sensor;

3. The mower deck mechanism of claim 2, wherein a third hall sensor is provided at an end of the deck motor remote from the lift motor; a third magnet corresponding to the third Hall sensor is arranged on the cutter motor;

4. A method of controlling a mower deck mechanism as claimed in any one of claims 1 to 3, the method comprising:

5. The method of claim 4, wherein determining the initial height of the cutterhead comprises:

6. The method of claim 5, wherein said determining the initial height of the cutterhead comprises:

7. A control device for a mower deck mechanism, for use with a mower deck mechanism as claimed in any one of claims 1 to 3, said device comprising:

8. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 4 to 6 when the computer program is executed.

9. A mower comprising a mower body and a mower deck mechanism as claimed in any one of claims 1 to 3.

10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 4 to 6.