CN208446048U - A kind of intelligent grass-removing enters the station the operating system that charges - Google Patents
A kind of intelligent grass-removing enters the station the operating system that charges Download PDFInfo
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- CN208446048U CN208446048U CN201821005416.2U CN201821005416U CN208446048U CN 208446048 U CN208446048 U CN 208446048U CN 201821005416 U CN201821005416 U CN 201821005416U CN 208446048 U CN208446048 U CN 208446048U
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- station
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- charging interface
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Abstract
The utility model provides a kind of intelligent grass-removing and enters the station the operating system that charges, including charging station and intelligent grass-removing, intelligent grass-removing includes grass trimmer ontology and central processing unit, grass trimmer ontology is equipped with the first charging interface piece, the the second charging interface piece cooperated with the first charging interface piece is equipped in charging station, intelligent grass-removing enter the station charge operating system further include for detect first charging contact pin mouth with second charge contact pin mouth mated condition the first testing agency, first testing agency connect with central processing unit, central processing unit receives the signal that the first testing agency sends, determine that the first charging interface piece and the docking of the second charging interface piece are accurate, no-float, the signal that central processing unit issues confirmation charging makes grass trimmer ontology stop mobile and starts to charge, intelligent grass-removing the phenomenon that there is no charging interface piece poor contacts at this time , energization efficiency is higher.
Description
Technical field
It enters the station the operating system that charges the utility model relates to a kind of intelligent grass-removing.
Background technique
It, can handle when intelligent grass-removing enters charging station since intelligent intelligent grass-removing all has detection of obstacles function
Charging station regards barrier, or other misunderstandings occurs, prevent intelligent grass-removing is from can smoothly enter into charging station, in addition because existing
Intelligent grass-removing all docked substantially by mechanical interface with charging station, if interface docking is inaccurate, energization efficiency can be very low.To mention
The efficiency of high intelligent grass-removing charging, US20150366137 disclose that a kind of using intensity gradient to control intelligent grass-removing big
Trend is caused, the path for returning to charging is found, reduces the interference of barrier, reduce causes battery to exhaust because reaching charging station
The grass trimmer of risk, but he only improves charging return, reduces the risk that battery exhausts, is not improved having for connector docking
Effect property.
Utility model content
It enters the station the operating system that charges the purpose of this utility model is to provide a kind of intelligent grass-removing, so that intelligent grass-removing
Charging interface docked with the charging interface of charging station accurately, energization efficiency is higher.
In order to achieve the above object, the utility model adopts the following technical solution: a kind of charging of entering the station of intelligent grass-removing is made
Industry system, including charging station and intelligent grass-removing, intelligent grass-removing include grass trimmer ontology and central processing unit, grass trimmer ontology
It is equipped with the first charging interface piece, the second charging interface piece cooperated with the first charging interface piece is equipped in charging station, intelligently cuts
The enter the station operating system that charges of careless machine further includes charging the of contact pin mouth mated condition with second for detecting the first charging contact pin mouth
One testing agency, the first testing agency connect with central processing unit, and central processing unit receives the signal that the first testing agency sends
The signal for issuing confirmation charging afterwards makes grass trimmer ontology stop mobile and starts to charge.
Further, first testing agency includes the first magnet and the first Hall element, the installation of the first Hall element
It is electrically connected at the first charging interface piece and with central processing unit, the first magnet is mounted at the second charging interface piece；Alternatively, the
One Hall element is mounted at the second charging interface piece and connect with central processing unit communication, and the first magnet is mounted on the first charging
At interface chip.
Further, first testing agency includes first stroke switch, and first stroke switch is mounted on the second charging
It is connect at interface chip and with central processing unit communication, on grass trimmer ontology and is located at the first charging interface piece and is equipped with and the first row
The protrusion of Cheng Kaiguan cooperation；Alternatively, first stroke switch is mounted at the first charging interface piece and is electrically connected with central processing unit,
The protrusion with first stroke switch cooperation is equipped at second charging interface piece.
Further, the enter the station operating system that charges of the intelligent grass-removing further includes for detecting grass trimmer ontology close to filling
Second testing agency in power station.
Further, the inlet of the charging station is equipped with the guide rail entered convenient for grass trimmer ontology.
Further, second testing agency includes the second magnet and the second Hall element, the installation of the second Hall element
It is electrically connected on grass trimmer ontology and with central processing unit, the second magnet is mounted on guide rail；Alternatively, the second Hall element
It is mounted on guide rail and is connect with central processing unit communication, the second magnet is mounted on grass trimmer ontology.
Further, second testing agency includes second stroke switch, and second stroke switch is mounted on guide rail
Above and with central processing unit communication it connect.
Further, there are two the first charging interface piece is set, two the first charging interface pieces are located at grass trimmer
The left and right sides of ontology.
After adopting the above technical scheme, the utility model has the advantages that
1, it by the first testing agency of setting, is in and the second charging interface piece cooperation position in the first charging interface piece
When, the first testing agency sends signal to central processing unit, judges that the first charging interface piece and the docking of the second charging interface piece are quasi-
Really, no-float, central processing unit, which issues confirmation charging signals, to be made grass trimmer ontology stop mobile and starts to charge, at this time intelligence
Grass trimmer the phenomenon that there is no charging interface piece poor contacts, energization efficiency is higher.
2, the first testing agency includes the first Hall element and the first magnet, close in the first Hall element and the first magnet
When to certain position, i.e. when the first charging interface piece and the second charging interface piece are in cooperation position, the first Hall element state
Variation, the first Hall element send signal to central processing unit, are sensed as non-contact inductive because of Hall element, were using
It will not be destroyed in journey, use is reliable.
3, the first testing agency includes first stroke switch and protrusion, when protrusion is contradicted with first stroke switch, i.e., the
When one charging interface piece and the second charging interface piece are in cooperation position, the variation of first stroke switch state, first stroke switch
Give central processing unit send signal, because travel switch be mechanical switch, induction do not influenced by other environmental factors, using than
It is relatively reliable.
4, by the second testing agency of setting, whether the second testing agency can detecte grass trimmer ontology close to charging station,
Grass trimmer ontology is allowed to be converted into the affirmation mode that enters the station from the mode of fast moving after charging station, due to intelligent
Grass trimmer all has detection of obstacles function, when intelligent grass-removing enters charging station, can assign charging station as barrier, or
Other misunderstandings occur, prevent intelligent grass-removing is from can smoothly enter into charging station, it can by the conversion of grass trimmer ontology Move Mode
To avoid the generation of such case, so that intelligent grass-removing enters the station more smoothly, efficiently.
5, by the way that guide rail is arranged in the inlet of charging station, enter in charging station convenient for grass trimmer ontology.
6, the second testing agency includes the second magnet and the second Hall element, the second magnet and the second Hall element close to
When certain position, i.e., judgement grass trimmer ontology is close to charging station, and the second Hall element state change, the second Hall element is to center
Processor send signal will not be destroyed in use because of the non-contact inductive that is sensed as of Hall element, using than
It is relatively reliable.
7, the second testing agency includes second stroke switch, and second stroke switch is mounted on guide rail, works as grass trimmer
When ontology and guide rail contact, it is determined as grass trimmer ontology close to charging station, the variation of second stroke switch state, second stroke
It switchs and sends signal to central processing unit, because travel switch is mechanical switch, induction is not influenced by other environmental factors, makes
With reliable.
8, by two the first charging interface pieces of setting, two the first charging interface pieces are located at a left side for grass trimmer ontology
Right two sides, so that grass trimmer ontology both can enter from the left side of charging station or enter from the right of charging station, movement side
To unrestricted, can complete to charge, so that the charging of intelligent grass-removing is more convenient.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawing:
Fig. 1 is that the enter the station intelligent grass-removing in operating system that charges of intelligent grass-removing described in the utility model embodiment one is close
Schematic diagram when charging station.
Fig. 2 is that intelligent grass-removing described in the utility model embodiment one enters the station and charging in operating system intelligent grass-removing
Schematic diagram when charging.
Fig. 3 is that intelligent grass-removing described in the utility model embodiment one enters the station the operational flowchart of confirmation method.
Marked the names of the parts are as follows in figure:
1, charging station；11, guide rail；111, the second magnet；12, the second charging interface piece；2, grass trimmer ontology；21,
First charging interface piece.
Specific embodiment
As depicted in figs. 1 and 2, the utility model provides a kind of intelligent grass-removing and enters the station the operating system that charges, and intelligence is mowed
The enter the station operating system that charges of machine includes charging station 1 and intelligent grass-removing, and intelligent grass-removing includes grass trimmer ontology 2 and central processing
Device, grass trimmer ontology 2 are equipped with the first charging interface piece 21, and the cooperated with the first charging interface piece 21 is equipped in charging station 1
Two charging interface pieces 12, intelligent grass-removing enter the station charge operating system further include for detect first charging contact pin mouth 21 and second
First testing agency of 12 mated condition of contact pin mouth that charges, the first testing agency connect with central processing unit, and central processing unit connects
After the signal for receiving the transmission of the first testing agency, determine that the first charging interface piece and the docking of the second charging interface piece are accurate, it is good to cooperate
Good, the signal that central processing unit issues confirmation charging makes grass trimmer ontology stop mobile and starts to charge, at this time intelligent grass-removing
The phenomenon that there is no charging interface piece poor contacts, energization efficiency is higher.
First testing agency includes the first magnet and the first Hall element, and the first Hall element is mounted on the first charging interface
It is electrically connected at piece and with central processing unit, the first magnet is mounted at the second charging interface piece, in the first Hall element and first
When magnet is close to certain position, i.e. when the first charging interface piece and the second charging interface piece are in cooperation position, the first Hall
Element state variation, the first Hall element send signal to central processing unit, are sensed as non-contact inductive because of Hall element,
It will not be destroyed in use, use is reliable.
Intelligent grass-removing enter the station charge operating system further include for detect grass trimmer ontology close to charging station second inspection
Survey mechanism.By the way that the second testing agency is arranged, whether the second testing agency can detecte grass trimmer ontology close to charging station, so that
Grass trimmer ontology can be converted into the affirmation mode that enters the station from the mode of fast moving after charging station, since intelligence intelligence is mowed
Machine all has detection of obstacles function, when intelligent grass-removing enters charging station, can assign charging station as barrier, or occur
Other are misunderstood, prevent intelligent grass-removing from can smoothly enter into charging station, can be kept away by the conversion of grass trimmer ontology Move Mode
Exempt from the generation of such case, so that intelligent grass-removing enters the station more smoothly, efficiently.
The inlet of charging station 1 is equipped with guide rail 11, is convenient to the entrance of grass trimmer ontology 2.
Second testing agency includes the second magnet 111 and the second Hall element, and the second Hall element is mounted on grass trimmer sheet
It is electrically connected on body and with central processing unit, the second magnet 111 is mounted on guide rail 11, the second magnet and the second Hall element
When within close to 5cm, i.e. judgement grass trimmer ontology is close to charging station, the second Hall element state change, the second Hall element
Sending signal to central processing unit will not be destroyed in use because of the non-contact inductive that is sensed as of Hall element,
Using reliable.
There are two first charging interface piece is set, two the first charging interface pieces are located at the left and right two of grass trimmer ontology
Side, as depicted in figs. 1 and 2, grass trimmer ontology can both enter from the left side of charging station or enter from the right of charging station,
Direction shown in arrow is the moving direction of grass trimmer ontology in Fig. 1 and Fig. 2, keeps moving direction unrestricted, can be completed
Charging, so that the charging of intelligent grass-removing is more convenient.
As shown in figure 3, intelligent grass-removing enter the station charge operating system it is specifically used when, comprising the following steps:
A, after the electricity that central processing unit receives grass trimmer ontology is lower than the signal of given threshold, central processing unit sending is returned
The signal for recharging electricity moves grass trimmer ontology towards charging station along immediate sunken cord；
B, when grass trimmer ontology is close to charging station, the second Hall element sends signal to central processing unit；
C, after central processing unit receives the signal that the second Hall element issues, central processing unit, which issues the confirmation signal that enters the station, to be made
Grass trimmer ontology is converted into the affirmation mode that enters the station from the mode of fast moving.
D, when the first charging interface piece is in the second charging interface piece cooperation position, the first Hall element is to central processing
Device sends signal, determines that the first charging interface piece and the second charging interface piece dock accurate, no-float；
E, after central processing unit receives the signal that the first Hall element issues, central processing unit issues the signal of confirmation charging
So that grass trimmer ontology is stopped mobile and start to charge, at this time intelligent grass-removing showing there is no charging interface piece poor contact
As energization efficiency is higher.
It is fast moved specifically, fast moving grass trimmer ontology when mode, movement speed reaches 0.3m/s-1m/s.
Enter the station affirmation mode the following steps are included:
B1, grass trimmer ontology movement speed is reduced, movement speed drops to 0-0.3m/s, avoids the movement of grass trimmer ontology too fast
Have little time adjustment route to collide with charging station；
B2, the GNSS/INS/ Integrated Navigation for Land Vehicle technology based on Beidou confirm the position and course of grass trimmer ontology；
B3, destination path is confirmed by paths planning method, if destination path is straightway, direct line taking section both ends are constituted
Straight line as destination path, if destination path is curved section, curved section is finely divided according to demand, is formed by a plurality of straight
The broken line that line segment is constituted sequentially carries out path trace to each straightway respectively；
B4, move grass trimmer ontology along destination path according to the position that destination path adjusts grass trimmer ontology.
Specifically, by the way that grass trimmer ontology is reduced to two wheel differential models, it is according to MMSE algorithm that grass trimmer ontology is left
Right wheel speed difference selects the control amount sequence of n dimension, according to cutting as control amount out of optional control amount according to demand
The deviation of directivity between careless machine ontology and destination path extrapolates the corresponding subsequent time grass trimmer ontology of the control amount respectively
Position and course, and corresponding lateral deviation, course deviation are calculated, it is corresponding to find weighted mean square error minimum value in all sequences
Control amount, as optimal differential control amount；The left and right wheels differential of grass trimmer ontology is measured further according to optimal differential control；So
The motor speed of left and right wheels is calculated according to the left and right wheels differential and movement speed of grass trimmer ontology afterwards；Finally according to left and right wheels
Motor speed control grass trimmer ontology movement.
The affirmation mode that enters the station makes to mow by constantly adjusting the difference between grass trimmer ontology physical location and destination path
Machine ontology is moved along destination path, and intelligent grass-removing can be can smoothly enter into charging station.
It should be understood that intelligent grass-removing enters the station, the operating system that charges may be that fertilizer applicator enters the station the operating system etc. that charges
Deng, it is not limited to grass trimmer.
It should be understood that in step A grass trimmer can also be made based on the GNSS/INS/ Integrated Navigation for Land Vehicle technology of Beidou
Ontology is moved along the return path of theory setting towards charging station.
It should be understood that can also detect based on technology of sunkening cord in the step 2 for the affirmation mode that enters the station and adjust grass trimmer
Ontology keeps specific position with sunkening cord always.
It should be understood that the first Hall element can also be mounted at the second charging interface piece and be led to central processing unit
The connection of the wireless communication modes such as bluetooth, WiFi is crossed, the first magnet is mounted at the first charging interface piece.
It should be understood that the second magnet can also be mounted on grass trimmer ontology, the second Hall element is mounted on and is drawn
It leads on guardrail and is connect with central processing unit by wireless communication modes such as bluetooth, WiFi.
It should be understood that the first charging interface piece can also only be provided with one, be arranged in grass trimmer ontology left side or
Right side.
Embodiment two:
The present embodiment and the main distinction of embodiment one are that the first testing agency includes first stroke switch and protrusion.
First testing agency includes first stroke switch and protrusion, and first stroke switch is mounted on the second charging interface piece
Place, protrusion is mounted at the first charging interface piece, when protrusion is contradicted with first stroke switch, i.e. the first charging interface piece and the
When two charging interface pieces are in cooperation position, the variation of first stroke switch state simultaneously sends signal to central processing unit.It sets in this way
Setting is advantageous in that, travel switch is mechanical switch, and induction is not influenced by other environmental factors, and use is reliable.
It is mounted at the first charging interface piece it should be understood that first stroke can also be switched, protrusion is mounted on the
At two charging interface pieces.
Embodiment three:
The present embodiment and the main distinction of embodiment one, two are that the second testing agency includes second stroke switch.
Second stroke switch is mounted on guide rail, and grass trimmer body contacts second stroke switch is determined as grass trimmer
Ontology switchs to central processing unit close to charging station, the variation of second stroke switch state, second stroke and sends signal.It is arranged in this way
It is advantageous in that, travel switch is mechanical switch, and induction is not influenced by other environmental factors, and use is reliable.
In addition to above preferred embodiment, for the utility model there are also other embodiments, those skilled in the art can root
It is made various changes and modifications according to the utility model, without departing from the spirit of the utility model, should belong to the utility model
Range defined in appended claims.
Claims (8)
- The operating system that charges 1. a kind of intelligent grass-removing enters the station, including charging station and intelligent grass-removing, intelligent grass-removing include cutting Careless machine ontology and central processing unit, grass trimmer ontology are equipped with the first charging interface piece, are equipped with and the first charging in charging station Second charging interface piece of mouthful piece cooperation, which is characterized in that the enter the station operating system that charges of the intelligent grass-removing further includes being used for First testing agency of the first charging contact pin mouth of detection and the second charging contact pin mouth mated condition, the first testing agency and centre Device connection is managed, the signal that confirmation charging is issued after the signal that the first testing agency of central processing unit reception sends makes grass trimmer ontology Stop mobile and starts to charge.
- The operating system that charges 2. intelligent grass-removing according to claim 1 enters the station, which is characterized in that first detection machine Structure includes the first magnet and the first Hall element, and the first Hall element is mounted at the first charging interface piece and and central processing unit Electrical connection, the first magnet are mounted at the second charging interface piece；Alternatively, the first Hall element is mounted at the second charging interface piece And connect with central processing unit communication, the first magnet is mounted at the first charging interface piece.
- The operating system that charges 3. intelligent grass-removing according to claim 1 enters the station, which is characterized in that first detection machine Structure includes first stroke switch, and first stroke switch is mounted at the second charging interface piece and connect with central processing unit communication, On grass trimmer ontology and it is located at the protrusion being equipped at the first charging interface piece with first stroke switch cooperation；Alternatively, first stroke Switch is mounted at the first charging interface piece and is electrically connected with central processing unit, is equipped at the second charging interface piece and first stroke Switch the protrusion of cooperation.
- The operating system that charges 4. intelligent grass-removing according to claim 1 enters the station, which is characterized in that the intelligent grass-removing The operating system that charges of entering the station further includes the second testing agency for detecting grass trimmer ontology close to charging station.
- The operating system that charges 5. intelligent grass-removing according to claim 4 enters the station, which is characterized in that the charging station enters The guide rail entered convenient for grass trimmer ontology is equipped at mouthful.
- The operating system that charges 6. intelligent grass-removing according to claim 5 enters the station, which is characterized in that second detection machine Structure includes the second magnet and the second Hall element, and the second Hall element is mounted on grass trimmer ontology and is electrically connected with central processing unit It connects, the second magnet is mounted on guide rail；Alternatively, the second Hall element is mounted on guide rail and leads to central processing unit News connection, the second magnet are mounted on grass trimmer ontology.
- The operating system that charges 7. intelligent grass-removing according to claim 5 enters the station, which is characterized in that second detection machine Structure includes second stroke switch, and second stroke switch is mounted on guide rail and connect with central processing unit communication.
- 8. entering the station the operating system that charges to intelligent grass-removing described in 7 any one according to claim 1, which is characterized in that institute It states there are two the first charging interface piece sets, two the first charging interface pieces are located at the left and right sides of grass trimmer ontology.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821005416.2U CN208446048U (en) | 2018-06-27 | 2018-06-27 | A kind of intelligent grass-removing enters the station the operating system that charges |
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| CN201821005416.2U CN208446048U (en) | 2018-06-27 | 2018-06-27 | A kind of intelligent grass-removing enters the station the operating system that charges |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114460927A (en) * | 2020-11-10 | 2022-05-10 | 炬星科技（深圳）有限公司 | Butt joint positioning method and mobile robot |
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2018
- 2018-06-27 CN CN201821005416.2U patent/CN208446048U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114460927A (en) * | 2020-11-10 | 2022-05-10 | 炬星科技（深圳）有限公司 | Butt joint positioning method and mobile robot |
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Address after: No. 150 Wenlong Road, Yuxin Town, Nanhu District, Jiaxing City, Zhejiang Province Patentee after: Zhejiang Yate Electric Appliance Co.,Ltd. Address before: 314100 No. 150 Wenlong Road, Yuxin Town, Nanhu District, Jiaxing City, Zhejiang Province Patentee before: ZHEJIANG YAT ELECTRICAL APPLIANCE Co.,Ltd. |