JP6552456B2 - 電動芝刈り機の制御装置 - Google Patents
電動芝刈り機の制御装置 Download PDFInfo
- Publication number
- JP6552456B2 JP6552456B2 JP2016117199A JP2016117199A JP6552456B2 JP 6552456 B2 JP6552456 B2 JP 6552456B2 JP 2016117199 A JP2016117199 A JP 2016117199A JP 2016117199 A JP2016117199 A JP 2016117199A JP 6552456 B2 JP6552456 B2 JP 6552456B2
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- Prior art keywords
- secondary battery
- electric motor
- switching element
- turned
- motor
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- Expired - Fee Related
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
- A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
- A01D34/6806—Driving mechanisms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/76—Driving mechanisms for the cutters
- A01D34/78—Driving mechanisms for the cutters electric
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/22—Dynamic electric resistor braking, combined with dynamic electric regenerative braking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/05—Accumulators with non-aqueous electrolyte
- H01M10/052—Li-accumulators
- H01M10/0525—Rocking-chair batteries, i.e. batteries with lithium insertion or intercalation in both electrodes; Lithium-ion batteries
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/48—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte
- H01M10/486—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte for measuring temperature
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
- H02J7/1438—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle in combination with power supplies for loads other than batteries
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D2101/00—Lawn-mowers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M2220/00—Batteries for particular applications
- H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Materials Engineering (AREA)
- Automation & Control Theory (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Harvester Elements (AREA)
- Secondary Cells (AREA)
- Inverter Devices (AREA)
Description
Claims (4)
- ユーザによって後方から手押しされて芝生育地を移動可能な機体と、前記機体に搭載される電動モータと、前記機体の下面に配置されると共に、前記電動モータに接続され、前記電動モータで回転駆動されるとき、前記芝を刈り取り可能なブレードカッタと、前記機体に搭載されると共に、前記電動モータに接続され、前記電動モータに貯留電力を動作電源として放電する一方、前記ブレードカッタの回転駆動の制動時に前記電動モータからの回生電流によって充電される二次電池と、前記電動モータへの動作電源の供給を調整するモータドライバ回路と、前記モータドライバ回路の動作を制御する制御部とを備えたウォークビハインド型の電動芝刈り機の制御装置において、前記二次電池と電動モータを接続する電流路に配置され、オンされるとき前記電動モータから前記二次電池への充電電流の通電を許容する一方、オフされるとき阻止する第1スイッチング素子と、前記電流路に介挿される抵抗器と、前記電流路において前記抵抗器と直列に介挿され、オンされるとき前記電動モータから前記抵抗器への充電電流の通電を許容する一方、オフされるとき阻止する第2スイッチング素子と、前記二次電池の温度を検出する二次電池温度検出手段と、前記モータドライバ回路の内部電圧を検出する回路内部電圧検出手段とを備えると共に、前記制御部は、前記二次電池温度検出手段と回路内部電圧検出手段の出力に基づいて前記第1、第2スイッチング素子のオン/オフ動作を制御することを特徴とする電動芝刈り機の制御装置。
- 前記制御部は、前記二次電池温度検出手段によって検出された前記二次電池の温度が所定温度以上のとき前記第1スイッチング素子をオンさせて前記電動モータから前記二次電池への充電電流の通電を許容する一方、前記二次電池の温度が前記所定温度未満のとき前記第1スイッチング素子をオフさせて前記電動モータから前記二次電池への充電電流の通電を阻止することを特徴とする請求項1記載の電動芝刈り機の制御装置。
- 前記制御部は、前記回路内部電圧検出手段によって検出された前記モータドライバ回路の内部電圧が保護電圧以上のとき前記第2スイッチング素子をオンさせて前記電動モータから前記抵抗器への充電電流の通電を許容する一方、前記検出された前記モータドライバ回路の内部電圧が前記保護電圧未満のとき前記第2スイッチング素子をオフさせて前記電動モータから前記抵抗器への充電電流の通電を阻止することを特徴とする請求項1または2記載の電動芝刈り機の制御装置。
- 前記二次電池の残容量を検出する二次電池残容量検出手段を備え、前記制御部は、前記二次電池残容量検出手段によって検出された前記二次電池の残容量が所定容量未満のとき前記第1スイッチング素子をオンさせて前記電動モータから前記二次電池への充電電流の通電を許容する一方、前記二次電池の残容量が前記所定容量以上のとき前記第1スイッチング素子をオフさせて前記電動モータから前記二次電池への充電電流の通電を阻止することを特徴とする請求項1から3のいずれかに記載の電動芝刈り機の制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016117199A JP6552456B2 (ja) | 2016-06-13 | 2016-06-13 | 電動芝刈り機の制御装置 |
US15/610,900 US10111378B2 (en) | 2016-06-13 | 2017-06-01 | Electric lawn mower control apparatus |
EP17174656.3A EP3257351B1 (en) | 2016-06-13 | 2017-06-07 | Electric lawn mower control apparatus |
CN201710433518.8A CN107484487A (zh) | 2016-06-13 | 2017-06-09 | 电动割草机的控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016117199A JP6552456B2 (ja) | 2016-06-13 | 2016-06-13 | 電動芝刈り機の制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017221116A JP2017221116A (ja) | 2017-12-21 |
JP6552456B2 true JP6552456B2 (ja) | 2019-07-31 |
Family
ID=59021399
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016117199A Expired - Fee Related JP6552456B2 (ja) | 2016-06-13 | 2016-06-13 | 電動芝刈り機の制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10111378B2 (ja) |
EP (1) | EP3257351B1 (ja) |
JP (1) | JP6552456B2 (ja) |
CN (1) | CN107484487A (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3711471B1 (en) * | 2017-11-17 | 2021-12-08 | Honda Motor Co., Ltd. | Work machine |
US11211814B2 (en) * | 2018-04-23 | 2021-12-28 | Spiers New Technologies, Inc. | Circuitry to prevent lithium plating within a lithium ion battery |
CN109463095A (zh) * | 2018-11-26 | 2019-03-15 | 常州格力博有限公司 | 割草机 |
CN111240233B (zh) * | 2019-04-11 | 2020-10-27 | 岳阳县辉通物联网科技有限公司 | 自适应设备控制方法 |
CN110212821B (zh) * | 2019-06-12 | 2020-10-02 | 上海艾为电子技术股份有限公司 | 基于正负反馈电压控制电流纹波的控制方法和驱动电路 |
JP7055777B2 (ja) * | 2019-07-12 | 2022-04-18 | 矢崎総業株式会社 | 検出装置 |
JP2021153536A (ja) | 2020-03-30 | 2021-10-07 | 本田技研工業株式会社 | 草刈り機 |
JP2021178717A (ja) * | 2020-05-14 | 2021-11-18 | 株式会社豊田自動織機 | 産業車両の回生制動制御装置 |
CN112078368B (zh) * | 2020-08-03 | 2022-03-29 | 湖南中联重科智能高空作业机械有限公司 | 回馈电流控制装置及高空作业车 |
CN112690084B (zh) * | 2020-12-25 | 2022-08-26 | 绿友机械集团股份有限公司 | 内置外转子电机驱动的草坪修剪滚刀 |
WO2022142840A1 (zh) * | 2020-12-30 | 2022-07-07 | 南京泉峰科技有限公司 | 电动工具及其控制方法 |
WO2022262762A1 (zh) * | 2021-06-16 | 2022-12-22 | 格力博(江苏)股份有限公司 | 割草机 |
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US6170241B1 (en) * | 1996-04-26 | 2001-01-09 | Tecumseh Products Company | Microprocessor controlled motor controller with current limiting protection |
US5727372A (en) * | 1996-05-30 | 1998-03-17 | The Toro Company | On-board charging system for electric lawn mower |
GB2338392A (en) * | 1998-06-16 | 1999-12-22 | Black & Decker Inc | Switch for battery powered lawn mower. |
AU2001257322A1 (en) * | 2000-05-05 | 2001-11-20 | Advanced Materials Corporation | Motor controller system for battery-powered motors |
US6987328B2 (en) * | 2002-11-22 | 2006-01-17 | Honda Motor Company, Ltd. | Power equipment apparatus having a power generation system |
WO2008048615A2 (en) * | 2006-10-17 | 2008-04-24 | Desa Ip, Llc | Hybrid electric device |
US7741793B2 (en) * | 2006-10-17 | 2010-06-22 | Mtd Products Inc | Hybrid electric device |
US7884560B2 (en) * | 2006-10-17 | 2011-02-08 | Mtd Products Inc | Hybrid electric device |
US8275502B2 (en) * | 2008-01-28 | 2012-09-25 | Textron Innovations Inc. | Braking regeneration energy shunt system |
JP5491346B2 (ja) * | 2010-10-13 | 2014-05-14 | 株式会社マキタ | 電動工具およびプログラム |
JP2013048608A (ja) * | 2011-08-31 | 2013-03-14 | Kokusan Denki Co Ltd | 電動式作業車両 |
JP2013207976A (ja) | 2012-03-29 | 2013-10-07 | Panasonic Corp | 電力回生システム |
US9192096B2 (en) * | 2012-08-31 | 2015-11-24 | Deere & Company | Electric lawn tractor power management system and method |
CN105432212B (zh) * | 2014-06-23 | 2018-06-15 | 苏州宝时得电动工具有限公司 | 机器人割草机及其电池检测方法 |
JP6457798B2 (ja) * | 2014-11-26 | 2019-01-23 | 株式会社マキタ | 電動機器 |
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2016
- 2016-06-13 JP JP2016117199A patent/JP6552456B2/ja not_active Expired - Fee Related
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2017
- 2017-06-01 US US15/610,900 patent/US10111378B2/en active Active
- 2017-06-07 EP EP17174656.3A patent/EP3257351B1/en active Active
- 2017-06-09 CN CN201710433518.8A patent/CN107484487A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
EP3257351A1 (en) | 2017-12-20 |
JP2017221116A (ja) | 2017-12-21 |
EP3257351B1 (en) | 2019-06-19 |
US10111378B2 (en) | 2018-10-30 |
US20170354087A1 (en) | 2017-12-14 |
CN107484487A (zh) | 2017-12-19 |
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