TWI735242B - Automatic weeding apparatus and operating method thereof - Google Patents

Abstract

The presented invention is related to an operating method of an automatic weeding apparatus. The automatic weeding apparatus comprises a movable body, a blade unit disposed at the movable body, a driving unit which can drive the blade unit rotating, and a control unit which can control the movable body moving. The operating method comprises: Upon the movable body rotating, the control unit obtaining driving status data from the driving unit, and adjusting the moving speed of the movable body according to the driving status data. The driving status data relates to the change of magnitude of resistance of the cutter unit when it rotates.

Description

Automatic weeding equipment and its operation method

The invention relates to a weeding equipment, in particular to an automatic weeding equipment that can automatically adjust the moving speed. In addition, the present invention also relates to the operation method of the automatic weeding equipment.

In recent years, due to the development of automatic control technology, many electrical equipment have been equipped with automatic operation functions, without the need for the user to personally operate. However, for the existing automatic weeding equipment, the growth status of plants in various areas on the ground is different, and during the process of automatic weeding, the area where plants grow too dense may cause the service life of the automatic weeding equipment to be reduced. Therefore, how to avoid The occurrence of the aforementioned situation has become a topic worthy of discussion.

One of the objectives of the present invention is to provide an automatic weeding equipment that can improve the shortcomings of the prior art.

The automatic weeding device of the present invention includes a moving body, a cutter unit arranged on the moving body, a drive unit connected to the cutter unit and used to generate a drive current for driving the cutter unit to rotate at a predetermined speed, and an electric A processing unit connected to the moving body and the driving unit and capable of controlling the movement of the moving body. In the case of controlling the movement of the mobile body, the drive state data indicates the magnitude of the drive current changes over time, and the processing unit judges whether an overload condition is met according to the drive state data, and then judges that the overload condition is met When reducing the moving speed of the moving body, the overload condition includes that the driving current is greater than a current upper limit threshold.

In some embodiments of the automatic weeding device of the present invention, the overload condition further includes that the duration of the driving current being greater than the current upper threshold value reaches a first time threshold value.

In some embodiments of the automatic weeding device of the present invention, when the processing unit determines that the overload condition is met and the moving body is controlled at a minimum speed, the processing unit controls the driving unit to stop driving the cutter unit to rotate, and The processing unit also generates and outputs an exception notification.

In some implementation aspects of the automatic weeding device of the present invention, after obtaining the driving state data, the processing unit also determines whether a light load condition is met according to the driving state data, and increases the light load condition when it is judged that the light load condition is met. The moving speed of the mobile body, and the light load condition includes that the driving current is less than a current lower threshold, and the duration of the driving current being less than the current lower threshold reaches a second time threshold.

In some embodiments of the automatic weeding device of the present invention, when the processing unit determines that the light load condition is met and the mobile body is controlled to move at a highest speed, the processing unit maintains the highest speed to control the mobile body to move .

In some embodiments of the automatic weeding device of the present invention, the cutter unit includes a cutter holder that can be driven and rotated by the driving unit, and a plurality of cutter holders connected to the cutter holder and can be driven by the cutter holder and located between the cutter holders. The blade below.

In some embodiments of the automatic weeding equipment of the present invention, the cutter unit further includes a plurality of connecting pieces extending downward from the bottom surface of the cutter seat and respectively connecting the blades, and each blade and the bottom surface of the cutter seat are mutually connected to each other. Phase interval.

In some embodiments of the automatic weeding device of the present invention, the cutter unit further includes a blocking member disposed under the cutter holder and not linked with the cutter holder.

In some embodiments of the automatic weeding device of the present invention, the length of each connecting member is less than or equal to 15 mm.

Another object of the present invention is to provide an operation method of automatic weeding equipment.

The operation method of the automatic weeding equipment of the present invention is implemented by an automatic weeding equipment. The automatic weeding equipment includes a moving body, a cutter unit arranged on the moving body, and a generator for driving the cutter unit to rotate at a predetermined speed. A driving unit for driving current, and a processing unit capable of controlling the movement of the mobile body; the operation method of the automatic weeding equipment includes: in the case of controlling the movement of the mobile body, the processing unit obtains a driving state data from the driving unit, the The drive state data indicates that the drive current changes with time. The processing unit judges whether an overload condition is met according to the drive state data, and reduces the moving speed of the mobile body when the overload condition is judged to be met. The overload The condition includes that the driving current is greater than a current upper limit threshold.

In some implementation aspects of the operation method of the automatic weeding equipment of the present invention, the overload condition further includes that the duration of the driving current being greater than the current upper threshold value reaches a first time threshold value.

In some embodiments of the operation method of the automatic weeding equipment of the present invention, when the processing unit determines that the overload condition is met and the moving body is controlled at a minimum speed, the processing unit controls the driving unit to stop driving the cutter unit to rotate , And the processing unit also generates and outputs an exception notification.

In some implementation aspects of the operation method of the automatic weeding equipment of the present invention, after obtaining the driving state data, the processing unit also determines whether a light load condition is met according to the driving state data, and when it is determined that the light load condition is met The moving speed of the mobile body is increased, and the light load condition includes that the driving current is less than a current lower threshold, and the duration of the driving current being less than the current lower threshold reaches a second time threshold.

In some embodiments of the operation method of the automatic weeding equipment of the present invention, when the processing unit determines that the light load condition is met and the mobile body is controlled to move at a maximum speed, the processing unit maintains the maximum speed to control the movement The body moves.

The effect of the present invention is that the automatic weeding equipment can reduce the moving speed when the overload condition is met, and can avoid damage due to excessive dense plants during automatic weeding.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same numbers. Moreover, the "electrical connection" mentioned in this patent specification generally refers to a wired electrical connection between multiple electronic devices/devices/components connected through conductive materials, and a radio connection through wireless communication technology for wireless signal transmission. . Moreover, the “electrical connection” mentioned in this patent specification also refers to the “direct electrical connection” formed by the direct connection between two electronic equipment/devices/components, and the “direct electrical connection” between the two electronic equipment/devices/components. "Indirect electrical connection" formed by connecting other electronic equipment/devices/components.

1, a first embodiment of the automatic weeding device 1 of the present invention includes a moving body 11, a cutter unit 12 disposed on the moving body 11, and a cutter unit 12 disposed on the moving body 11 and capable of driving the cutter unit 12 to rotate. The driving unit 13 and a processing unit 14 electrically connected to the mobile body 11 and the driving unit 13. In this embodiment, the processing unit 14 is, for example, implemented as a processor provided in the moving body 11, and can control the movement of the moving body 11 and control the driving unit 13 to drive the cutter unit 12. However, In other embodiments, the processing unit 14 can also be implemented as a collection of one or more processors and/or control circuits, and is not limited to this embodiment.

In this embodiment, the moving body 11 includes, for example, a wheel set 111 composed of multiple wheel bodies, a transmission mechanism 112 connected to the wheel set 111, and a transmission mechanism 112 connected to the transmission mechanism 112 and electrically connected to the processing unit 14. The connected wheel drives the motor 113. Wherein, the wheel body driving motor 113 can be operated under the control of the processing unit 14, and drives the wheels of the wheel set 111 to rotate through the transmission mechanism 112, so that the automatic weeding device 1 can face various directions on the ground move. Moreover, the rotation speed of the wheel drive motor 113 can be changed under the control of the processing unit 14. In other words, the processing unit 14 can adjust the moving speed of the moving body 11 by controlling the rotation speed of the wheel drive motor 113 ( That is to control the overall moving speed of the automatic weeding equipment 1 on the ground).

With reference to Figure 2 (composed of Figures 2A and 2B), in this embodiment, the tool unit 12 includes, for example, a tool holder 121, a plurality of blades 122, and a plurality of blades 122 respectively penetrated to fix the blades 122 The connecting piece 123 of the tool holder 121. In this embodiment, the knife holder 121 is generally disc-shaped and can be driven to rotate by the driving unit 13, the connecting members 123 are, for example, a plurality of non-threaded screws, and the knife edges 122 respectively pass through the It is locked on a bottom surface 124 of the tool holder 121 and protrudes from the edge of the bottom surface 124, so that the blades 122 can be driven by the tool holder 121 when the tool holder 121 rotates. Rotate to realize the function of cutting weeds. Moreover, in a preferred implementation aspect of this embodiment, the portion of each edentulous screw that penetrates the corresponding blade 122 is a edentulous segment of the edentulous screw, and the surface of the edentulous segment is not A thread is formed, whereby if the blade 122 hits a hard object during the rotation, the force of the impact can make the blade 122 pivot with the corresponding toothless screw as the axis, thereby achieving a cushioning effect .

As shown in FIG. 1, the driving unit 13 includes, for example, a driving circuit 131 electrically connected to the processing unit 14, and a tool driving motor 132 electrically connected to the driving circuit 131 and connected to the tool holder 121 of the tool unit 12. The drive circuit 131 is used to output a drive current to the tool drive motor 132 under the control of the processing unit 14, so that the tool drive motor 132 rotates according to the electric energy of the drive current, and thereby drives the tool unit 12 to a predetermined value. Speed rotation. It is added that the actual rotation speed of the tool unit 12 may vary according to the resistance experienced by the tool unit 12 when it rotates. Therefore, in order to make the tool unit 12 rotate at the predetermined rotation speed as much as possible, when the processing unit 12 14 When it is judged that the actual rotation speed of the tool unit 12 is lower than the predetermined rotation speed (indicating that the resistance to the tool unit 12 is greater), the drive circuit 131 is controlled to increase the driving current to increase the actual rotation speed of the tool unit 12. On the other hand, when the processing unit 14 determines that the actual rotation speed of the tool unit 12 is higher than the predetermined rotation speed (indicating that the resistance to the tool unit 12 is less), it controls the drive circuit 131 to weaken the drive current to Reduce the actual rotation speed of the tool unit 12.

Referring to FIGS. 1 and 3 at the same time, the following exemplarily describes in detail how the automatic weeding device 1 of this embodiment implements an automatic weeding device operation method.

First, in step S1, the processing unit 14 controls the moving body 11 to automatically move at a preset moving speed, and controls the drive unit 13 to output the drive current, so that the drive unit 13 drives the tool unit 12 at the predetermined speed. The rotation speed rotates, whereby the automatic weeding device 1 can perform automatic weeding. Then, the flow proceeds to step S2.

In step S2, the processing unit 14 receives a drive state data generated by the drive unit 13 from the drive unit 13, and the drive state data is related to the change in the resistance of the tool unit 12 when it rotates. More specifically, in this embodiment, the driving state data is, for example, generated by the driving unit 13 according to a sensing result of a current sensing element (such as a Hall element), and the driving state data includes, for example, a plurality of There are sequential sensing time points, and a plurality of sensing current values corresponding to the sensing time points and indicating the current amount of the driving current. In other words, the driving state data indicates that the driving current varies with The size of time changes, but not limited to this. Then, the flow proceeds to step S3.

In step S3, the processing unit 14 determines whether one of an overload condition and a light load condition is met according to the driving state data.

In this embodiment, the overload condition includes, for example, that the drive current is greater than a current upper threshold, and the duration of the drive current greater than the current upper threshold reaches a first time threshold, in other words, the overload condition It means that the driving unit 13 must continuously output a relatively large driving current to make the actual rotation speed of the tool unit 12 reach the predetermined rotation speed, but it is not limited to this.

On the other hand, the light load condition includes, for example, that the driving current is less than a current lower threshold, and the duration of the driving current being less than the current lower threshold reaches a second time threshold, and the current lower threshold is at In this embodiment, for example, it is less than the current upper limit threshold. In other words, the light load condition means that the drive unit 13 only needs to continuously output a relatively small drive current to enable the actual rotation speed of the tool unit 12 to reach this value. The predetermined speed. However, in other embodiments, the current upper limit threshold value and the current lower limit threshold value can also be implemented to be equal to each other, and are not limited to this embodiment.

It is added that the first time threshold value and the second time threshold value can be implemented as 1 second, for example, but can also be implemented as other values, or implemented as two different values respectively. In addition, The current upper limit threshold value and the current lower limit threshold value are adjusted according to the actual implementation of the drive unit 13 and the tool unit 12, so this embodiment does not impose any special limitation on this.

If the processing unit 14 determines that the overload condition is met according to the driving state data, the flow proceeds to step S4. On the other hand, if the processing unit 14 determines that the light load condition is met according to the driving state data, the flow proceeds to step S7. On the other hand, if the processing unit 14 determines that both the overload condition and the light load condition are not met, the process starts again from step S2.

In step S4 following step S3, once the processing unit 14 determines that the overload condition is met, the processing unit 14 then determines whether it is currently controlling the mobile body 11 at a minimum speed. In this embodiment, The minimum speed can be implemented as 0 meters/second, for example, in other words, the processing unit 14 determines whether the mobile body 11 is in a stationary state under its own control in step S4 of this embodiment. However, In other embodiments, the minimum speed can also be implemented as other values such as 0.5 m/sec or 1 m/sec, and is not limited to this embodiment. If the judgment result of the processing unit 14 is no, the flow proceeds to step S5, on the other hand, if the judgment result of the processing unit 14 is yes, the flow proceeds to step S6,

In step S5 following step S4, once the processing unit 14 determines that the overload condition is met, and determines that it is not currently controlling the moving body 11 to move at the lowest speed, it means that the tool unit 12 may have encountered Weeds that grow densely or are less likely to be cut, resulting in greater resistance to the cutter unit 12 when it rotates. In this case, the processing unit 14 reduces the moving speed of the moving body 11, thereby reducing the resistance received by the cutter unit 12, so as to prevent the driving unit 13 from continuously generating excessively high driving current and being damaged. In this embodiment, the processing unit 14 controls the speed of the moving body 11 to slow down, for example, to reduce its moving speed by 1 meter per second, but it is not limited to this. And, after the processing unit 14 reduces the moving speed of the moving body 11, the flow starts again from step S2.

In step S6 following step S4, once the processing unit 14 determines that the overload condition is met, and also determines that it is currently controlling the moving body 11 at the lowest speed, it means that the tool unit 12 is likely It encounters an object that cannot be cut, or is stuck by a foreign object and is difficult to rotate. In this case, the processing unit 14 controls the driving unit 13 to stop driving the cutter unit 12 to rotate, so as to avoid the driving unit 13 and the cutter unit 12 Damaged. In addition, the processing unit 14 also generates and outputs an abnormality notification to notify the user that the automatic weeding device 1 has encountered an abnormal situation that needs to be manually eliminated. It is added that the abnormality notification can be implemented as an alarm sound, or It is one or more of a short message, an email, an application push and an instant message that can be read by a user terminal (such as a mobile phone or a computer), but it is not limited to this.

In step S7 following step S3, once the processing unit 14 determines that the light load condition is met, the processing unit 14 then determines whether it is currently controlling the mobile body 11 at a maximum speed. The maximum speed can be, for example, It is implemented as 25 meters per second, but it is not limited to this. If the judgment result of the processing unit 14 is no, the flow proceeds to step S8, on the other hand, if the judgment result of the processing unit 14 is yes, the flow proceeds to step S9.

In step S8 following step S7, once the processing unit 14 determines that the light load condition is met, and determines that it is not currently controlling the movement of the moving body 11 at the highest speed, it means that the tool unit 12 may touch When the weeds with lower growth density or easier to cut are reached, the resistance that the cutter unit 12 receives when it rotates becomes smaller. In this case, the processing unit 14 increases the moving speed of the mobile body 11, thereby improving the weeding efficiency of the automatic weeding device 1. In this embodiment, the processing unit 14 controls the acceleration of the moving body 11, for example, to increase its moving speed by 1 meter per second, but it is not limited to this. And, after the processing unit 14 increases the moving speed of the moving body 11, the flow starts again from step S2.

In step S9 following step S7, once the processing unit 14 determines that the light load condition is met, and also determines that it is currently controlling the movement of the mobile body 11 at the highest speed, the processing unit 14 maintains The moving body 11 is controlled to move at the highest speed, and the flow starts again from step S2.

The above is an example description of the operation method of the automatic weeding equipment of the first embodiment. It is worth mentioning that since the temperature change of the tool drive motor 132 has the highest correlation with the magnitude of the drive current, the processing unit 14 uses the magnitude change of the drive current to determine whether the overload condition is met. It can effectively prevent the tool drive motor 132 from being damaged due to overheating. In more detail, the thermal energy of the cutter drive motor 132 when it rotates mainly comes from the winding on its stator, and the temperature of the winding can be determined by the square of the value of the drive current, the internal resistance of the winding, and a constant k. The product is calculated, that is, when the drive current rises, the temperature of the winding of the tool drive motor 132 will rise exponentially. Therefore, the change in the drive current is used to determine whether the overload condition meets , That is, it can accurately determine whether the tool driving motor 132 is overheated without using a temperature sensor. It is further explained that the power consumed by the tool drive motor 132 is calculated using the product of its rotational speed and the magnitude of the drive current. However, if the resistance experienced by the tool unit 12 becomes larger when it rotates, it will cause the The rotation speed of the tool drive motor 132 is reduced. As a result, the power consumed by the tool drive motor 132 cannot fully reflect the actual temperature rise of the winding. Therefore, compared with the power consumption of the tool drive motor to determine whether With the overloading method, this embodiment can more effectively prevent the tool drive motor 132 from being damaged due to overheating.

In the first embodiment, the cutting edges 122 of the cutting tool unit 12 are arranged on the bottom surface 124 of the cutting tool holder 121 as shown in FIG. 2B. It should be understood that if weeds are to be completely cut by the cutter unit 12 as much as possible, the blades 122 must be as close to the ground as possible to achieve a better weeding effect when the cutter unit 12 rotates. However, the closer the blades 122 are to the ground, the easier it is for the bottom surface 124 of the blade holder 121 to rub against the protrusions on the ground or other foreign objects (such as rocks and branches), thereby increasing the resistance of the blade unit 12 when it rotates. , The power loss of the automatic weeding device 1 increases, and the service life of the automatic weeding device 1 may even be reduced.

Therefore, referring to FIG. 4 in conjunction with FIG. 1, the present invention also provides a second embodiment of the automatic weeding device 1 to solve the deficiencies of the first embodiment. In the second embodiment, the connecting pieces 123 of the cutter unit 12 are, for example, a plurality of copper pillars each presenting a vertical elongated shape. Specifically, the connecting pieces 123 are formed by the bottom surface 124 of the cutter seat 121. Extend downward and respectively connect the blades 122. In other words, in this embodiment, the top end of each connecting member 123 is connected to the bottom surface 124 of the blade holder 121, and the bottom end is connected to the corresponding blade 122 Accordingly, each connecting member 123 is connected between the blade holder 121 and the corresponding blade 122, so that each blade 122 and the bottom surface 124 of the blade holder 121 are spaced apart from each other. In this way, even if the blades 122 are quite close to the ground, it can still be ensured that the bottom surface 124 of the blade holder 121 is separated from the ground by a certain distance, so it can effectively prevent the bottom surface 124 of the blade holder 121 from rubbing against the ground or foreign objects.

It is further explained that in the second embodiment, if the length of the connecting pieces 123 is too long, the connecting pieces 123 will continuously hit the cut grass clippings during the weeding process, and the cutter unit will be increased. 12 Rotation resistance, and whether it is the resistance of the connecting pieces 123 hitting the grass clippings, or the weight of the connecting pieces 123 itself, it will cause the drive unit 13 to generate a larger drive current to maintain the cutter unit 12 The rotation speed is not conducive to the operating efficiency of the automatic weeding device 1. Moreover, the resistance of the connecting pieces 123 hitting the grass clippings will also cause pulling stress on the tool holder 121. Therefore, if the length of the connecting pieces 123 is If it is too long, it will adversely affect the service life of the tool holder 121.

According to actual experimental results, if the length of the connecting pieces 123 is within 15 mm, the cutter unit 12 in the second embodiment can indeed be more energy-efficient than the cutter unit in the first embodiment at the same rotation speed. Therefore, in the second embodiment, in order to avoid friction between the bottom surface 124 of the tool holder 121 and the ground or foreign objects and the adverse effects caused by the excessively long connecting members 123, the length of each connecting member 123 is greater than It is preferably equal to 5 mm and less than or equal to 15 mm. In addition, it is supplemented that, in the second embodiment, each blade 122 and the corresponding connecting member 123 are, for example, non-tightly connected, that is, each blade 122 is loosely arranged on the corresponding connecting member 123. The connecting member 123 can be pivoted relative to the corresponding connecting member 123, but it is not limited to this. In this way, during the rotation of the cutter unit 12, even if the blade 122 collides with a hard object, the chance of the blade 122 and the corresponding connecting member 123 being broken can be reduced. In addition, the connecting members 123 can also be made of other materials (for example, iron, steel) or a combination of multiple materials, and are not limited to copper.

Referring to Fig. 5 (composed of Figs. 5A and 5B) in conjunction with Fig. 1, the present invention also provides a third embodiment of the automatic weeding device 1 to solve the deficiencies of the first embodiment. In the third embodiment, the connecting members 123 of the cutter unit 12 are similar to the second embodiment, and for example are implemented as a plurality of copper pillars. However, different from the second embodiment, in the third embodiment, the tool unit 12 further includes a disk-shaped (but not limited to) that is disposed under the tool holder 121 and is not connected to the tool. The stopper 125 is linked to the seat 131, and, as shown in FIG. 5B, the stopper 125 is slightly higher than the blades 122 of the cutter unit 12. It is worth noting that the blocking member 125 does not rotate with the rotation of the knife holder 121. More specifically, in this embodiment, the blocking member 125 is always stationary when the knife holder 121 rotates. Moreover, preferably, a top surface 126 of the blocking member 125 is spaced apart from the bottom surface 124 of the knife holder 121, so that when the knife holder 121 rotates, the bottom surface 124 of the knife holder 121 does not Contact with the top surface 126 of the stopper 125 to cause friction. However, it is supplemented that in other embodiments, the blocking member 135 may also be slightly loosely arranged under the knife holder 131, and does not have to be implemented as completely immovable. It should be understood that as long as the blocking member 135 is not fixed to the knife holder 131 and does not rotate in complete synchronization with the knife holder 131, it belongs to the implementable aspect of the present invention.

The function of the blocking member 125 will be described below. During the weeding process of the automatic weeding device 1, since the weeds are elastic, and the blades 122 of the cutter unit 12 cut the weeds from the side of the weeds, therefore, when the weeds are touched by any blade 122 , Will first follow the direction of force applied by the blade 122 and skew to the side before being cut by the blade 122. As a result, after the weed is cut by the blade 122 and reset, the height of the weed section may change Slightly higher than the height of the blades 122. Therefore, in the first embodiment in which the cutter unit 12 "does not" include the stopper 125, the bottom surface 124 of the cutter holder 121 (shown in FIG. 2) is likely to rub against the cross-section of the weeds, thereby increasing the The resistance of the tool unit 12 to rotation. However, in the third embodiment, since the blocking member 125 is spaced from the tool holder 121 below the tool holder 121 and does not rotate with the tool holder 121, the blocking member 125 can block higher than The weeds of the blades 122 can effectively prevent the bottom surface 124 of the blade holder 121 from rubbing against the weeds. Moreover, with the blocking effect of the blocking member 125, the length of the connecting members 123 in the third embodiment can be shortened, which can avoid the excessive length of the connecting members 123 in the second embodiment. problem. It is supplemented that the stopper 125 may be fixed under the tool holder 121 through a bearing (not shown), for example, however, the arrangement of the stopper 125 is not the focus of this patent specification. And it is not limited to the setting method exemplified above.

In summary, the automatic weeding device 1 can adjust the moving speed according to the change in the resistance of the cutter unit 12 when it rotates, and can reduce the speed when the resistance of the cutter unit 12 is large to avoid the driving unit. 13 is damaged, and the cutter unit 12 is accelerated when the resistance received by the cutter unit 12 is small to improve the efficiency of weeding, so it can indeed achieve the purpose of the invention.

However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited by this, all simple equivalent changes and modifications made in accordance with the scope of the patent application of the present invention and the content of the patent specification still belong to This invention patent covers the scope.

1: Automatic weeding equipment 11: Move the body 111: Wheels 112: Transmission mechanism 113: Wheel drive motor 12: Tool unit 121: knife holder 122: Blade 123: connector 124: Bottom 125: Block 126: top surface 13: drive unit 131: drive circuit 132: Tool drive motor 14: Processing unit S1~S9: steps

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, in which: Fig. 1 is a schematic diagram of a hardware block diagram of a first embodiment of an automatic weeding device of the present invention; Fig. 2A is a schematic bottom view illustrating an exemplary tool unit of the first embodiment; Figure 2B is an incomplete schematic side view showing the tool unit exemplarily; Figure 3 is a flowchart illustrating how the first embodiment implements an automatic weeding equipment operation method; Fig. 4 is an incomplete schematic side view, exemplarily showing a cutter unit of a second embodiment of the automatic weeding device of the present invention; Fig. 5A is a schematic bottom view illustrating a cutter unit of a third embodiment of the automatic weeding device of the present invention; and FIG. 5B is an incomplete partial sectional schematic side view, exemplarily showing a tool holder of the tool unit of the third embodiment, and a blocking member spaced from the tool holder.

S1~S9: steps

Claims (10)

An automatic weeding equipment includes: a moving body; a cutter unit arranged on the moving body; a driving unit connected to the cutter unit and used to generate a driving current for driving the cutter unit to rotate; and a processing unit, Electrically connect the moving body and the drive unit, and can control the movement of the moving body, and control the drive unit to adjust the current of the drive current according to the actual rotation speed of the tool unit, so that the actual rotation speed of the tool unit approaches a predetermined Rotation speed; wherein, in the case of controlling the movement of the mobile body, the processing unit obtains a drive state data from the drive unit, the drive state data indicates the size of the drive current changes over time, the processing unit and based on the drive The state data judges whether an overload condition is met, and reduces the moving speed of the mobile body when it is judged that the overload condition is met. The overload condition includes that the drive current is greater than a current upper threshold. The automatic weeding device according to claim 1, wherein the overload condition further includes that the duration of the driving current being greater than the current upper threshold value reaches a first time threshold value. The automatic weeding device according to claim 2, wherein, when the processing unit determines that the overload condition is met and the moving body is controlled at a minimum speed, the processing unit controls the driving unit to stop driving the cutter unit to rotate, and The processing unit also generates and outputs an exception notification. The automatic weeding device according to claim 1, wherein, after obtaining the driver After the status data, the processing unit also judges whether a light load condition is met according to the driving status data, and increases the moving speed of the mobile body when the light load condition is met, and the light load condition includes that the driving current is less than A lower current threshold, and the duration of the drive current being less than the lower current threshold reaches a second time threshold. The automatic weeding device according to claim 4, wherein when the processing unit determines that the light load condition is met and the mobile body is controlled to move at a highest speed, the processing unit maintains the highest speed to control the mobile body to move . An operation method of an automatic weeding equipment is implemented by an automatic weeding equipment. The automatic weeding equipment includes a moving body, a cutter unit arranged on the moving body, and a generator for driving the cutter unit to rotate at a predetermined speed. A driving unit for driving current, and a processing unit capable of controlling the movement of the mobile body; the operation method of the automatic weeding equipment includes: in the case of controlling the movement of the mobile body, the processing unit obtains a driving state data from the driving unit, the The drive state data indicates that the drive current changes with time. The processing unit judges whether an overload condition is met according to the drive state data, and reduces the moving speed of the mobile body when the overload condition is judged to be met. The overload The condition includes that the driving current is greater than a current upper limit threshold. The operation method of the automatic weeding equipment according to claim 6, wherein the overload condition further includes that the duration of the driving current greater than the current upper threshold value reaches a first time threshold value. The operation method of automatic weeding equipment as described in claim 7, wherein, when the When the processing unit determines that the overload condition is met and the moving body is controlled at a minimum speed, the processing unit controls the driving unit to stop driving the tool unit to rotate, and the processing unit also generates and outputs an abnormality notification. The operation method of an automatic weeding device according to claim 6, wherein after obtaining the driving state data, the processing unit further determines whether a light load condition is met according to the driving state data, and when it is determined that the light load condition is met The moving speed of the mobile body is increased, and the light load condition includes that the driving current is less than a current lower threshold, and the duration of the driving current being less than the current lower threshold reaches a second time threshold. The operation method of an automatic weeding equipment according to claim 9, wherein when the processing unit determines that the light load condition is met and the mobile body is controlled to move at a highest speed, the processing unit maintains the highest speed to control the movement The body moves.

Images