WO2018077231A1

WO2018077231A1 - Grass trimmer and line release method thereof

Info

Publication number: WO2018077231A1
Application number: PCT/CN2017/107986
Authority: WO
Inventors: 钱富; 邵陈蔚; 刘芳世; 张士松
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2016-10-28
Filing date: 2017-10-27
Publication date: 2018-05-03
Also published as: CN107996122A

Abstract

A grass trimmer and a trimmer line release method, comprising: an extension rod (20); a machine housing (25), arranged at one end of the extension rod; a trimming head (22), connected to the machine housing and being provided with a line outlet; a motor (26), used for driving the trimming head to rotate about an axis; a trimming line (34) extending from the line outlet, the extended length thereof being the trimming length; a line release mechanism, able to selectively release the trimming line to increase the trimming length; a detection module (21), the detection module detecting specific parameters reflecting the trimming length when the grass trimmer performs a cutting operation; and a controller (51), used for comparing said specific parameters to preset parameters and outputting the comparison results; on the basis of the comparison results, the line release mechanism is selectively started up to release the trimming line. During the operating process, the operator can automatically release the line without the need to interrupt the operation of the grass trimmer; manual operation is not required and the line release is reliable.

Description

Grass cutter and its method

Technical field

The invention relates to a garden tool, in particular to a grass cutter and a wire laying method of a grass cutter.

Background technique

Green vegetation is an essential environmental element for our human beings, and the awareness of greening is becoming more and more popular. Whether it is a golf course, a football field, a manor, a villa's courtyard, or an ordinary residential community, green turf is everywhere, bringing vitality and vitality to people's lives. But if you leave people's care, these turf will become ups and downs and chaos.

As a gardening tool for turf, the lawn mower is being favored by more and more users. The lawnmower generally drives the grass by rotating the grass line, and the grass line is set in the working head and extends out of a free end, and the free end is rotated and cut with the high speed rotation of the grass head. Because the grass line rotates and grass is hit, the end of the grass line is very easy to wear, and the worn grass line does not reach the required grassing radius, and the grassing efficiency is greatly reduced. To this end, a line-removing mechanism is required on the lawn mower to adjust the length of the grass-carrying head to extend the length of the grass head at an appropriate time.

There are two kinds of normal pay-off mechanisms, one is the automatic pay-off mechanism of the switch machine. As the name suggests, the switch-off mechanism will automatically release the line every time it is turned on and off, no additional operation is required, but it is because of each time. Both the power on and off will be put on the line, and the loss of the grass line is more serious. The other is a tapping and paying mechanism. The tapping and paying mechanism has a triggering member protruding from the cover. When the cover is used, the cover is struck on the ground to trigger the triggering of the triggering device. The main disadvantage is that the trimming operation is performed on the lawnmower. At that time, it is necessary to reverse the lawn mower so that the cover can strike the ground to release the line, not only to interrupt the trimming and grassing work but also to be cumbersome to operate.

There is also a lawn mower, where a separate pay-off switch is arranged at the handle for controlling the pay-off mechanism. When the user perceives that the grass-line wear causes the grass to be inefficient, the pay-off switch is pressed, and the pay-off mechanism performs the pay-off action. , release a paragraph of grass. The lawnmower of the above structure needs manual operation, and the user needs to judge the timing of the line-off according to the state of the lawnmower.

In addition, there is a lawn mower that can realize the release line without the user's operation, and adopts the intelligent pay-off control mechanism to set the balance line which is balanced with the centrifugal force of the set length of the grass line when the normal work is set on the grass head. When the grass line is worn, the pay-off device moves to release a length of fiber. Although the lawn mower of the above structure does not require manual operation, the accuracy of the payer is quite high, and the payout is unreliable.

Summary of the invention

In order to overcome the deficiencies of the prior art, the problem to be solved by the present invention is to provide a self-relief and reliable self-discharge. The action line mower.

In order to solve the above problems, the technical solution of the present invention is: a lawnmower comprising: an extension rod; a casing disposed at one end of the extension rod; and a grass head connected to the casing and having an outlet; a motor that drives the grass head to rotate about an axis; a grass line extending from the outlet port, the length of the protrusion being a length of the grass; and a pay-off mechanism capable of selectively releasing the grass line, adding the a length of the grass; a detecting module, when the grass cutter performs a cutting work, the detecting module detects a specific parameter reflecting the length of the grassing; and the controller is configured to compare the specific parameter with the preset parameter, And outputting a comparison result; the pay-off mechanism is selectively activated according to the comparison result to release the grassing line.

Preferably, the specific parameter is specifically a parameter reflecting a workload.

Preferably, the specific parameter includes an operating current of the lawnmower, and the preset parameter includes a preset current value.

Specifically, the controller compares the working current with the preset current value, and if the operating current is less than the preset current value, the controller outputs a control signal to activate a pay-off mechanism to release the Hit the grass line.

Preferably, the parameter detected by the detecting module further includes a voltage, and the controller calculates the preset current value by using the voltage.

In another optional embodiment, the specific parameter includes a rotational speed of the motor, and the preset parameter includes a preset motor rotational speed value.

Specifically, the controller compares the rotation speed detected by the detection module with the preset motor rotation speed value, and if the detected rotation speed is greater than the preset motor rotation speed value, the controller outputs a control signal. A pay-off mechanism is activated to release the grass line.

Preferably, the parameter detected by the detecting module further includes a voltage, and the controller calculates the preset motor speed value by using the voltage.

Preferably, the specific parameter is specifically a parameter reflecting an actual physical length of the grass length.

Specifically, the specific parameter includes air pressure near the end of the grass length, and the detecting module includes a air pressure parameter detecting module, configured to detect a change in air pressure caused by the different length of the grass.

Preferably, the controller compares the air pressure value detected by the detecting module with a preset air pressure value, and if the detected air pressure value is greater than the preset air pressure value, the controller outputs a control signal to activate the pay-off mechanism to release The grass line.

In another optional embodiment, the detecting module includes at least one pair of photovoltaic elements, one of the photoelectric elements is for transmitting a photoelectric signal, and the other is for receiving a photoelectric signal, the grassing line It is possible to influence the reception of the photoelectric signal.

A lawnmower according to claim 12, wherein said photoelectric elements are spaced apart, said spacing for said end of said grassing length to pass when said lawnmower is in operation, said end passing said interval The photoelectric signal is blocked, the photoelectric element for receiving the photoelectric signal no longer receives the photoelectric signal, and the controller outputs a control signal to activate the pay-off mechanism according to the signal of the photoelectric element.

Specifically, the photoelectric elements are spaced apart, and the interval is used for the end of the grassing length when the grass cutter is working, and when the end passes the interval, the photoelectric signal is reflected, and the The optoelectronic component receiving the optoelectronic signal receives the reflected optoelectronic signal, the controller identifies the signal to the optoelectronic component, and the output control signal activates the payout mechanism.

The present invention also provides an optional embodiment, the detecting module includes a Hall sensor, and the grassing line has magnetic properties. When the grassing line passes through the sensing range of the Hall sensor, the Hall sensor senses The magnetic force of the grass line, when the grass line wear reaches or exceeds the set length, the Hall sensor does not detect the magnetic signal of the grass line, and the controller outputs a control signal according to the signal to the Hall sensor. To activate the pay-off mechanism.

The present invention also provides an optional embodiment, the detection module includes a color recognition sensor capable of recognizing the color of the grass line, and when the grass line wear reaches or exceeds a set length, The color recognition sensor does not recognize the color of the grassing line, and the controller outputs a control signal to activate the pay-off mechanism according to the signal of the color recognition sensor.

Preferably, the pay-off mechanism includes at least one pay-off electronic switch, and the pay-off electronic switch can selectively activate the pay-off mechanism according to the comparison result.

Preferably, the pay-off mechanism is selectively activated according to the comparison result to release the grassing line to increase the length of the grass to the target length, and the detecting module further detects whether the length of the grass is reached. For the parameter of the target length, the controller outputs a control signal according to the parameter reflecting whether the grass length is up to the target length to selectively stop the pay-off action of the pay-off mechanism.

Preferably, for each of the comparison results, the pay-off mechanism performs a take-off action at most once.

Preferably, the lawnmower further includes an adjustment mechanism of a preset parameter, and the preset parameter can be adjusted by adjusting the structure.

Preferably, the pay-off mechanism further comprises a control device, the control device comprising a control circuit electrically connected to the motor, the control circuit for controlling the motor to switch between a normal working speed and a pay-off speed.

The invention also provides a method for releasing a grass-cutter, comprising the following steps:

S1: detecting a specific parameter reflecting the length of the grass;

S2: comparing the specific parameter with a preset parameter, and outputting a comparison result;

S3: Selecting the pay-off mechanism to release the grassing line according to the judgment result of the step S2.

Preferably, the specific parameter detected in the step S1 is specifically a parameter reflecting a workload.

In a preferred embodiment, if the specific parameter detected by the step S1 includes an operating current of the lawnmower, the preset parameter includes a preset current value, and the controller compares the working current with the preset The current values are compared. If the operating current is less than the preset current value, the pay-off mechanism is activated in step S3 to release the grassing line.

Preferably, if the parameter detected by the detecting module in the step S1 further includes a voltage, the controller calculates a corresponding preset current value by using the voltage.

In another optional embodiment, if the specific parameter detected by the step S1 includes the rotational speed of the motor, the preset parameter includes a preset motor rotational speed value, and the rotational speed is compared with the preset motor rotational speed, If the rotation speed is greater than the preset motor rotation speed, the pay-off mechanism is activated in step S3 to release the grassing line.

Preferably, the specific parameter detected by the step S1 is specifically a parameter reflecting the actual physical length of the grass length.

In a preferred embodiment, if the specific parameter detected by the step S1 includes a photoelectric signal, the preset parameter includes a preset photoelectric signal that does not wear or wear the length of the grass, and the photoelectric signal is The preset photoelectric signal is compared. If the photoelectric signal is different from the preset photoelectric signal, the pay-off mechanism is activated in step S3 to release the grassing line.

In another preferred embodiment, if the specific parameter detected by the step S1 includes a photoelectric signal, the preset parameter includes a predetermined photoelectric signal whose abrasion length reaches or exceeds a set length, and the photoelectric signal is The preset photoelectric signals are compared. If the predetermined photoelectric signals of the photoelectric signals are the same, the pay-off mechanism is activated in step S3 to release the grassing lines.

Compared with the prior art, the lawn mower of the present invention comprises a pay-off mechanism, and the pay-off mechanism is controlled by a separate controller, and the controller automatically outputs the control result according to the parameter detected by the detecting module to selectively control the electronic switch of the pay-off The action, thereby starting the pay-off control mechanism, without human operation, is more intelligent, and by controlling the specific parameters to control the pay-off, the reliability of the pay-off mechanism is greatly improved, thereby reducing the grass-line Loss.

DRAWINGS

The invention will now be further described with reference to the drawings and embodiments.

1 is a schematic cross-sectional view of a whole machine of a lawnmower according to a first embodiment of the present invention.

Figure 2 is an enlarged cross-sectional view of the head of the lawnmower shown in Figure 1.

FIG. 3 is a schematic diagram of the principle of the principle of the line-lifting control of the lawnmower shown in FIG. 1.

4 to 6 are schematic views showing the operation of the control circuit of the lawnmower shown in Fig. 1.

Fig. 7 is a schematic view showing the change of the rotational speed of the motor of the lawnmower shown in Fig. 1.

8 to FIG. 12 are schematic diagrams showing the state change process of the slider and the reel in the process of controlling the pay-off of the pay-off mechanism shown in FIG.

Figure 13 is a perspective exploded view of the thread take-up mechanism of the head of the lawnmower shown in Figure 1.

14 to FIG. 16 are schematic diagrams showing the state change process of the slider and the stopper device during the process of controlling the payout of the pay-off mechanism shown in FIG. 1.

Figure 17 is a flow chart showing the control of the pay-off mechanism of the pay-off mechanism of Figure 1.

Figure 18 is a schematic view showing the circuit principle of the lawnliner control of the lawnmower shown in Figure 1.

Fig. 19 is a flow chart showing the pay-off control of the lawnmower according to the second embodiment of the present invention.

Fig. 20 is an enlarged cross-sectional view showing the head of the lawnmower according to the third embodiment of the present invention.

Fig. 21 is a flow chart showing the control of the pay-off mechanism of the lawn mower shown in Fig. 20.

22 and 23 are schematic views showing the relative positional relationship between the photoelectric element of the lawnmower shown in Fig. 20 and the grass head.

Fig. 24 is an enlarged cross-sectional view showing the head of the lawnmower according to the fourth embodiment of the present invention.

Fig. 25 is a flow chart showing the control of the pay-off mechanism of the lawn mower shown in Fig. 24.

Fig. 26 is a bottom view of the nose of the lawnmower according to the fifth embodiment of the present invention.

Fig. 27 is a flow chart showing the control of the pay-off mechanism of the lawn mower shown in Fig. 26.

28 is a schematic flow chart of controlling a pay-off line of a grass-carrying machine pay-off mechanism according to a sixth embodiment of the present invention.

Fig. 29 is an enlarged cross-sectional view showing the head of the lawnmower according to the seventh embodiment of the present invention.

Fig. 30 is a flow chart showing the control of the pay-off mechanism of the lawn mower shown in Fig. 29.

Figure 31 is an enlarged cross-sectional view showing the head of the lawnmower according to the eighth embodiment of the present invention.

Figure 32 is a flow chart showing the control of the pay-off mechanism of the grass-cuttering mechanism shown in Figure 31.

33 is a schematic flow chart of a method for paying a lawnmower according to the present invention.

among them,

100 lawnmower 33 slider 405 reset device

20 extension rod 39 first toothed edge 411 first end

22 grass head 65 second tooth 409 installation

24 auxiliary handle 45 radial face 407 stop projection

23 main handle 67 third tooth 413 second end

25 housing 63 first tooth 417 abutment

26 motor 69 fourth tooth 415 hollow

21 detection module 37 toothed groove 101 photoelectric element

51 controller 200 grass cutter 103 air pressure sensor

27 main switch 300 lawnmower 105 Hall sensor

28 housing seat 400 lawnmower 102 vibration sensor

38 battery pack 47 circumferential surface 31 broken blade

30 cover 49 protruding teeth 500 lawnmower

32 wire tray 54 biasing member 600 lawnmower

34 grass line 401 stop device 106 color recognition sensor

34a free end 403 stop

detailed description

1 to 18 show a lawnmower 100 according to a first embodiment of the present invention.

Referring to FIG. 1 , the lawn mower 100 of the present embodiment includes an extension rod 20 extending longitudinally and a head disposed at one end of the extension rod 20 . The machine head includes a casing 25 , a motor 26 disposed in the casing 25 , and The motor 26 drives a grass head 22 that rotates about an axis L, and a battery pack 38 that powers the motor 26; the lawnmower 100 further includes a main handle 23 that is disposed on the extension rod 20 and disposed at a distance from the head. The auxiliary handle 24, the main switch 27 for controlling the motor, and the grassing line for cutting work. The grass head 22 further includes an outlet hole, and the free end 34a of the grassing line 34 protrudes from the outlet hole of the grass head 22, and the length of the grassing line for cutting work when the grass cutter is working is The length of the grass. The lawnmower further includes a pay-off mechanism that controls the pay-off, a detection module that detects a specific parameter reflecting the length of the grass, and a controller for controlling the pay-off mechanism. During the working process of the lawnmower, the detecting module detects the specific parameter of the reaction length, and the controller compares the specific parameter detected by the detecting module with the preset parameter, and outputs the comparison result, and the pay-off mechanism can compare the output according to the controller. Selective activation to release the grass line increases the length of the grass.

During the grass-grawing process, the working parameters of the lawn mower will change due to the wear of the grass. The working parameters such as the working current of the grass-grawing machine, the centrifugal force of the straw, the output power of the motor, and the rotational speed of the motor. . The detection module detects specific parameters reflecting the length of the grass. The relatively straightforward method is to detect the centrifugal force of the straw, the working current of the grasser, the output power of the motor or the change of the motor speed. Of course, other advanced electronic techniques can be used. The specific parameters reflecting the length of the grass are converted to other dimensions for measurement, such as indirect measurement using a Hall sensor, a color recognition sensor, a barometric pressure sensor, and the like.

The controller stores a preset parameter, and the controller compares the specific parameter reflected by the detection module to reflect the length of the grass to be compared with the preset parameter, and then outputs a comparison result, and the comparison result serves as a control signal of the controller for controlling the pay-off mechanism. And the pay-off mechanism is selectively activated according to the comparison result to release the grassing line. The entire pay-off process does not require human intervention and is more intelligent.

The following description is made in conjunction with the actual use scenario. When the lawn mower is working normally, the main switch 27 is activated, the motor is powered on, the grass head 22 is driven by the motor 26 to rotate around the circumference L, and the free end 34a of the grass line 34 is rotated to form a cutting surface. The user lifts the lawnmower 100 through the handle to make the cutting surface of the grassing line 34 along the rotation surface of the grassing line 34. Due to the abrasion of the grassing line, the specific parameters detected by the detecting module change, and the controller sets specific parameters and preset parameters. Comparing, and then outputting a control signal according to the comparison result to control the selective activation of the pay-off mechanism to release the grassing line and increase the length of the grass. Preferably, the lawnmower 100 can be switched between a grassing state in which the free end 34a of the grass line 34 is horizontally rotated and a trimming state in the vertical rotation to meet different cutting use requirements.

The grip of the handle refers to the portion of the handle that the operator holds by hand. Referring to FIG. 1, in the embodiment, the handle includes a main handle 23 and an auxiliary handle 24 disposed at a distance, and the main switch 27 is disposed on the main handle 23. With this arrangement, the operator can lift and operate the grasser more reliably through the main handle 23 and the auxiliary handle 24.

In this embodiment, the motor 26 driving the grass head 22 is disposed coaxially with the grass head 22, and more preferably, the output shaft of the motor 26 directly drives the grass head 22, that is, the rotating shaft of the grass head 22 is the motor 26. The motor shaft is the output shaft and the structure is simple and compact. It will be appreciated by those skilled in the art that the motor 26 can be disposed anywhere else of the extension rod 20 and that the grass head 22 can be rotated by a particular transmission mechanism.

For convenience of description, the "axial", "circumferential", and other orientation-related descriptions of the present specification are referenced to the axis of rotation of the grass head 22. For example, "axial direction" is an extending direction along the rotation axis of the grass head 22; "circumferential direction" is a direction around the rotation axis of the grass head 22.

Referring to FIG. 1 and FIG. 2 , the grass head 22 includes a receiving seat 28 and a cover 30 matched with the receiving seat 28 . A reel 32 is provided in the inner cavity formed by the receptacle 28 and the cover 30. The spool 32 has a first state that is relatively stationary with the receptacle 28. When the main switch 27 controls the rotation of the motor 26, the reel 32 rotates in synchronization with the housing 28 in the first state.

In this embodiment, the reel 32 and the receiving base 28 have two states: in the first state, the reel 32 rotates synchronously with the receiving base 28, and the grassing line 34 wound on the bobbin 32 rotates synchronously with the receiving seat 28, The portion of the grass line 34 extending from the receiving seat 28 is rotated to form a cutting plane for trimming the lawn; in the second state, the reel 32 is disengaged from the receiving seat 28, and the centrifugal force of the rotating grass 34 drives the reel 32 and the receiving seat. 28 generates relative motion, thereby generating a difference in rotational speed, and then the centrifugal force of the grass line 34 can pull it outward to pull out a part of the line to increase the length of the grass, that is, the longer end 34a of the grass line 34 extends out of the holder. Outside of 28, the lawnmower 100 has a larger grassing radius.

Referring to FIG. 3, when the grass cutter 100 is in operation, the specific parameter reflected by the detection module 21 reflects the length of the grass, and the controller 51 compares the detected specific parameter with the preset parameter, and outputs a comparison result, and the pay-off mechanism according to the The comparison results are selectively initiated to release the grass line. In this embodiment, the detecting module 21 detects a specific parameter reflecting the length of the grass in real time. In other embodiments, the detecting module 21 may also sample intermittently or periodically, as long as the technical essence thereof is similar to the present invention, and should be covered in the present invention. Within the scope of protection. In this embodiment, the pay-off mechanism is configured to selectively release the grassing line to increase the length of the grass. The payout mechanism includes at least one payoff electronic switch and a control device that selectively closes or opens according to the comparison to activate the control device. Specifically, the control device is selectively activated by the pay-off electronic switch to cause the spool 32 to be in a second state capable of generating a rotational speed difference between the receptacle and the receptacle 28.

The specific parameter detected by the detection module 21 reflects the workload. In this embodiment, the specific parameters detected by the detection module include the operating current of the grass cutter. Under the condition that the driving voltage is constant, the larger the load, the larger the working current is. Under the condition that the grasser is unloaded, the longer the length of the grass, the larger the working current of the grasser, and the shorter the length of the grass is due to the wear and tear. The working current of the grass machine becomes smaller. Therefore, when the lawnmower is under light load or no load, the working current of the wear setting length of the grass line is calculated, and as the preset current value, the working current detected during normal operation is compared with the preset current value, if If the working current detected in real time is less than the preset current value, it can be judged that the wear of the grass line reaches or exceeds the set length. Preferably, the working current of the wear setting length of the grassing line is measured as the preset current value when the grasser is under no load. Referring to FIG. 18, the working current is detected by the current detecting circuit, and then amplified by current sampling, and the controller MCU receives the working current signal, compares it with the preset current value, and outputs the comparison result.

In actual work, deviations in the test data due to complicated working conditions, such as differences in ambient temperature and temperature rise of the motor, cause the measured data to deviate from the true value, wear and wear and motor aging The detection data is biased and the like, which in turn causes the actual wear setting length to be different from the preset parameters. Therefore, it is necessary to adjust the preset parameters.

In this embodiment, the lawnmower 100 is provided with an adjustment unit of preset parameters, and the controller adjusts the preset parameters according to the signal of the adjustment unit. Generally, the working current detected when the set length is worn is not the same as the preset current value. That is, when the operating current is detected to be less than the preset current value, the grassing line is not just worn out by the set length. Therefore, in the lawnmower 100 of the embodiment, it is necessary to provide an adjustment unit with adjustable preset parameters, and the preset parameters can be adjusted or compensated by the adjustment unit provided on the lawnmower, thereby further improving the length of the grass according to the detection. The specific parameters perform the accuracy of the control action, reduce the line-out error, and maintain the length of the grass in a preferred range. Specifically, the adjusting unit includes an external manually operated knob. When the knob is in different positions, corresponding to different compensation values, the controller adjusts the preset parameter according to the position signal of the adjusting unit, and adjusts the specific parameter and the adjusted parameter. The preset parameters are compared, and the pay-off mechanism is controlled to start according to the comparison result. Therefore, the judgment of the length of the grass will be more accurate and will not be affected by disturbance factors such as temperature and aging. That is to say, the user adjusts the starting condition of the pay-off mechanism through the external knob, that is, triggers the threshold of the pay-off line, thereby controlling the length of the grass-line. When the working condition is bad, the valve for triggering the pay-off is appropriately increased by the adjusting unit. The value increases the length of the grass and increases the cutting radius to increase the output power. When the working condition is not bad, the threshold of the triggering line can be reduced by the adjusting unit, the cutting radius is reduced, and the battery life of the single battery pack is improved.

In other implementations, the adjustment unit can determine the degree of wear by detecting the ambient temperature signal, the temperature rise signal of the motor and the circuit, and the length of the operation according to the operation of the whole machine, and automatically compensate the preset parameters to eliminate the measurement error caused by the interference factor. . Since the compensation is in a completely automatic manner, the line of the lawnmower is automatically adjusted according to the outside or its own working conditions, and is more intelligent.

In another embodiment, the lawnmower 100 has a preset parameter adjustment mode, and the lawnmower 100 can selectively enter the preset parameter adjustment mode. When the lawnmower is in the preset parameter adjustment mode, the controller 51 is configured according to the detection module. The specific parameters detected adjust the preset parameters. Specifically, the lawnmower further includes an operation member that selects to enter the preset parameter adjustment mode, and selectively enters the preset parameter adjustment mode through the operation member, and when the mode operation member is triggered, the grass cutter enters the preset parameter adjustment mode, and releases the After the preset operation time or after the preset time, the grass cutter exits the preset parameter adjustment mode. When the lawnmower is in the preset parameter adjustment mode, the controller 51 records the specific parameters of the lawnmower during the current operation detected by the detection module. Of course, the lawnmower can also selectively enter the preset parameter adjustment mode by receiving input such as voice, wifi or Bluetooth. The specific lawnmower is provided with a receiving end, and the receiving end can receive signals such as voice, wifi or Bluetooth, and the receiving end Transmitting the received signal to the controller, and the controller determines whether to enter the preset parameter adjustment mode, When the controller selects to enter the preset parameter adjustment mode, after the preset time, the controller automatically exits the preset parameter adjustment mode, and the controller calculates the preset parameter according to the specific parameter recorded in the preset parameter adjustment mode, and further predicts Set parameters to adjust. In this embodiment, when the preset parameter adjustment is performed, the length of the grass is manually adjusted to the set length, and the grass cutter is brought into the preset parameter adjustment mode when the grass cutter is unloaded.

The controller 51 stores the preset parameters and compares them with the detected specific parameters, thereby outputting a comparison result. In this embodiment, the controller pre-stores the preset current value i _{0 of the} wear setting length of the grassing line, and compares the detected working current i with the preset current value i ₀ during the working of the lawnmower, if i <i ₀ , the output control signal activates the pay-off mechanism.

Preferably, the parameter detected by the detecting module 21 further includes a driving voltage, specifically a voltage outputted across the battery pack 38 or a voltage across the motor 26. In this embodiment, the detecting module detects the driving voltage by means of real-time sampling, and in other embodiments, it may also adopt a periodic, intermittent or other detecting manner. The characteristics of the lithium battery determine that the input voltage is not constant, and the voltage gradually decreases as the discharge time increases. Therefore, under the same load, when the length of the grass line is fixed, the operating current corresponding to different driving voltages is also different, that is, the preset current value will vary with the driving voltage, and the specific one-to-one correspondence The relationship, that is, one driving voltage corresponds to a preset current value i ₀ .

The controller 51 pre-stores a change relationship between the driving voltage value and the operating current value of the wear setting length, and the controller first calculates the preset current value i ₀ by the driving voltage value V detected by the detecting module, and then detects the detected current value. The current i is compared with a preset current value i ₀ . If i < i ₀ , the output control signal activates the payout mechanism. Referring to FIG. 18 together, the driving voltage is detected by the voltage detecting circuit, and the controller MCU receives the driving voltage signal, calculates the preset current value, and compares the detected operating current with the preset current value to output a comparison result.

In other embodiments, the detecting module does not detect the voltage, as long as a voltage stabilizing module is set on the output power source to stabilize the voltage across the motor or the battery pack at a certain value, and the preset current is calculated by the stable voltage. The value compares the working current detected during normal operation with the preset current value. If the detected current is less than the preset current, the controller outputs a control signal to activate the pay-off mechanism.

In this embodiment, the pay-off mechanism includes a pay-off electronic switch and a control device. Specifically, the pay-off electronic switch selectively activates the control device according to a control signal output by the controller to enable the reel to be between the reel and the receiving seat. A second state of difference in rotational speed is produced. In this embodiment, the control device includes a control circuit electrically connected to the motor 26. In other embodiments, the control device may further include other driving devices, such as an electromagnet or a secondary motor independent of the motor 26, as long as the drive enables the line. Between the disc and the receptacle The second state in which the difference in rotational speed is generated should be within the scope of the present invention.

The control circuit is used to control the change in the rotational speed of the motor 26 during operation, specifically the control circuit controls the motor 26 to switch between the normal operating speed V0 and the payout speed V1. In the present embodiment, the payout speed V1 is smaller than the operating speed V0. The control circuit preferably employs a brake switch circuit E2. The motor M is hereinafter referred to as the motor 26 of the lawnmower provided in this embodiment. The main switch K1 is the main switch 27 of the lawnmower provided in this embodiment. The payoff electronic switch K2 is provided by the embodiment. The electric switch of the grass machine.

Referring to FIG. 4, the power source P supplies power to the motor M, and the main switch K1 is electrically connected to the motor M. The brake switch circuit E2 includes a payout electronic switch K2. The payoff electronic switch K2 switch has an NC end and a NO end, and the NC end and a NO end are selectively in a closed position. When the grass line is worn out during the cutting process, the controller recognizes that the current i detected by the detecting module is less than the preset current value i ₀ , that is, i < i ₀ , and the controller outputs a control signal to cause the pay-off electronic switch K2 to operate. Specifically, the payout electronic switch K2 is disconnected from the NC end and the NO end is closed, the brake switch circuit E2 is activated, the motor speed is reduced from the working speed V0 to the payout speed V1, and the reel is rotated between the reel and the receiving seat. The second state of difference. Referring to FIG. 5, in the normal operation of the lawnmower, the NC end of the payout electronic switch is in the closed position, the main switch K1 is closed, and the motor M is running at full speed.

Referring to Fig. 6, when the line is released, the payout electronic switch K2 is disconnected from the NC end, and the NO end is in the closed position, the motor M is short-circuited, and the motor M speed is reduced to zero.

Referring again to FIG. 4, when the pay-off process is completed, the pay-off electronic switch K2 is disconnected from the NO terminal, the pay-off electronic switch K2 and the NC end are in the closed position, and the motor M resumes full-speed operation.

In other embodiments, the payoff electronic switch may be a Mos tube switch, and the controller 51 controls the turn-on or turn-off of the Mos tube switch according to the comparison result, thereby controlling the change in the rotational speed of the motor. The pay-off electronic switch is not limited to the above-described structural form, as long as other electronic component configurations capable of breaking and closing the line under electronic signal or mechanical control should be encompassed by the present invention, such as thyristors, transistors, and fields. Electronic switches such as effect tubes, thyristors or relay tubes.

Referring to Fig. 7, the variation of the operating speed V of the motor M with time T is illustrated. Under normal working conditions, the working speed V0 of the motor M of the lawnmower is between 5,000 and 10,000 rpm, and the preferred operating speed V0 is 8,500 rpm. The take-up speed V1 is approximately 0 to 3000 rpm, preferably 0 rpm, that is, the take-up speed V1 of the motor M is reduced to 0 to 3000 rpm. In this embodiment, on the time axis T, wherein during the time period t1, the operating speed of the motor M is reduced to zero by the working speed V0, the time period t1 is less than 1 second; the zero speed is maintained for the time period t2, after setting After the t2 time period, the discharge electronic switch K2 is closed after the NO end is closed with the NC end; during the t3 time period, After the NC switch of the line electronic switch is closed, the running speed of the motor M is restored from zero to the working speed V0, and the time period t3 is also less than 1 second. It can be seen from the above that the duration of the entire pay-off process is the sum of the times t1, t2 and t3, the pay-off process ends, the pay-off electronic switch K2 is restored to close with the NC end (as shown in FIG. 4), and the motor M runs at full speed.

In this embodiment, if the controller determines i<i ₀ , the control signal output by the controller activates the pay-off mechanism to place the primary line, and during the process of performing the pay-off of the pay-off mechanism, the controller stops outputting the control signal or the pay-off mechanism is executing. The control signal of the controller is no longer responded to during the release process until the end of the payout process. If the last pay-off process is completed, the controller detects i < i ₀ again and starts the pay-off mechanism again to release the line. In this way, the erroneous judgment caused by the unstable current is avoided during the process of releasing the line, and the result of the determination is performed only once, and the waste of the grass line caused by the excessive line is avoided.

The pay-off electronic switch can activate the control circuit to change the rotational speed of the motor 26 during operation, that is, between the pay-off rotational speed V1 and the operating rotational speed V0, so that the coil 32 and the receptacle 28 are in between two states. The transition, that is, the spool 32 and the receptacle 28 are switched between a synchronized rotational state and a relative motion state. The structure in which the spool 32 and the housing 28 are converted in two states will be specifically described below.

Referring to FIG. 8 and FIG. 9 , the receiving seat 28 is provided with a radially extending strip hole (not shown). The slider 33 is disposed in the strip hole and is circumferentially fixed to the receiving seat 28 to be radially movable. Dynamic mating. The slider 33 is moved radially so that the circumferential movement of the reel 32 and the housing 28 produce a difference in rotational speed. The reel 32 is provided with a circumferentially extending toothed groove 37. The toothed groove 37 includes a first toothed edge 39 and a second toothed edge 41, and a first toothed edge 39 and a second toothed edge 41. The number of teeth on the same is circumferentially staggered, and each tooth on the first toothed edge 39 includes a radially extending radial face 45 and a circumferentially obliquely extending circumferential face 47 on the second toothed edge 41 Each of the teeth includes a radially extending radial surface 45 and a circumferentially obliquely extending circumferential surface 47; the slider 33 is provided with protruding teeth 49 that are radially movable within the toothed groove 37, the protruding teeth 49 and the radial direction When the surface 45 abuts, the slider 33 drives the reel 32 to rotate in synchronization with the accommodating seat 28; when the protruding teeth 49 abut against the circumferential surface 47, the slider 33 drives the reel 32 to move relative to the accommodating seat 28, thereby generating a speed difference.

Referring to FIG. 13 together, a biasing member 54 is disposed between the receiving seat 28 and the slider 33. The biasing member 54 biases the slider 33 to keep the slider 33 in the synchronous rotation of the driving reel 32 and the receiving base 28. Therefore, only when the sliding force of the slider 33 is driven against the urging force of the biasing member 54, the circumferential movement of the reel 32 and the accommodating seat 28 generate a difference in rotational speed. The biasing member 54 of this embodiment is a coil spring, and those skilled in the art will appreciate that other biasing members, such as tension springs, can achieve the same effect.

Thus, in the present embodiment, the grass head rotates in the counterclockwise R direction, and the wire reel 32 moves between the three positions under the action of the centrifugal force. In the first position, the reel 32 is in the first state; Location, The reel 32 is in the second state; in the third position, the reel 32 is again in the first state.

Specifically, as shown in FIG. 8 , in the first position, the protruding teeth 49 on the slider 33 abut against the radial surface 45 of the first toothed edge 39 , and the slider 33 can drive the wire reel 32 to synchronize with the receiving seat 28 . Rotate.

As shown in Fig. 9, in the second position, the protruding teeth 49 on the slider 33 do not abut against the radial faces 45 of any of the teeth on either of the toothed sides, and the second position has two cases: one case The protruding tooth 49 abuts against the circumferential surface 47 of the second toothed edge 41, and the linear movement of the slider 33 drives the reel 32 to rotate relative to the receiving seat 28; in another case, the protruding tooth 49 does not have a circumferential surface. When the 47 is abutted, the rotation of the reel 32 drives the grass line 34 to rotate, and the centrifugal force generated by the free end 34a of the grass line also drives the reel 32 to rotate relative to the receiving seat 28.

As shown in FIG. 10, in the third position, the protruding teeth 49 on the slider 33 abut against the radial faces 45 on the second toothed edges 41, and the slider 33 can drive the wire reels 32 to rotate synchronously with the receiving seats 28.

The biasing member 54 drives the reel 32 to move from the third position to the fourth and fifth positions. In the fourth position, the reel 32 is in the second state, and in the fifth position, the reel 32 is in the first state.

Specifically, as shown in FIG. 11, in the fourth position, the protruding teeth 49 on the slider 33 do not abut against the radial faces 45 of any of the teeth on either of the toothed sides, and the fourth position has two cases: In one case, the protruding teeth 49 abut against the circumferential surface 47 of the first toothed edge 39, the slider 33 drives the reel 32 to rotate relative to the receiving seat 28, and in the other case, the protruding tooth 49 does not have a circumferential surface. When the 47 is abutted, the rotation of the reel 32 drives the grass to rotate, and the centrifugal force generated by the free end 34a of the grass also drives the reel 32 to rotate relative to the holder 28.

As shown in FIG. 12, in the fifth position, the protruding teeth 49 on the slider 33 abut against the radial faces 45 of the first toothed edges 39, and the slider 33 drives the reels 32 to rotate in synchronization with the receiving seats 28.

In the present embodiment, the protruding teeth 49 are two, and the two protruding teeth 49 are disposed at a certain distance in the extending direction of the slider 33, which is the diameter of the center circle of the toothed groove 37, so that the first protruding teeth 49 When the first toothed edge 39 is engaged with the tooth, the second protruding tooth 49 can engage the other end of the toothed groove 37 in the radial direction with the second toothed edge 41, so that the force of the wire reel 232 can be more uniform. It will be appreciated by those skilled in the art that only one protruding tooth may be provided.

In this embodiment, the pay-off electronic switch can automatically control the control circuit according to the control signal of the control mechanism to change the motor between the pay-off speed V1 and the working speed V0, and the coil 32 moves between the three positions under the centrifugal force. That is, the reel 32 and the receiving base 28 are switched between the synchronous rotation state and the relative motion state, thereby realizing automatic payout. The controller controls the action of the pay-off electronic switch according to the specific parameters detected by the detecting module, and the line is placed once for each action, so that the automatic pay-off can be realized and the pay-off line is reliable.

Referring to FIG. 13 , the pay-off mechanism further includes a stopping device 401 disposed on the receiving seat 28 . The set 401 has a first position and a second position, wherein during the transition between the first position and the second position, the slider 33 moves radially relative to the receptacle 28 to move the spool 32 relative to the receptacle 28. Thereby, a relative speed difference is generated between the reel 32 and the accommodating seat 28, thereby realizing the payout.

Further, when the stopping device 401 is in the first position, the stopping device 401 restricts the radial movement of the slider 33 relative to the receiving seat 28, so that the reel 32 and the receiving base 28 remain relatively stationary, and the payout cannot be performed. When the stop device 401 is in the second position, the slider 33 is radially movable relative to the receptacle 28. The radial movement of the slider 33 relative to the receiving seat 28 can push the reel 32 to rotate at a certain angle with respect to the receiving base 28, and a relative speed difference is generated between the reel 32 and the receiving base 28 to perform paying.

The stop device 401 includes a stop member 403 pivotally disposed on the receiving seat 28. When the stop member 403 is in the first position, the stop member 403 stops the slider 33 to limit the radial direction of the slider 33 relative to the receiving seat 28. The movement is made such that the reel 32 is stationary with respect to the holder 28, and the payout cannot be performed. When the stopper 403 is pivoted to the second position, the slider 33 is radially movable relative to the receiving seat 28, so that the wire reel 32 can be rotated by a certain angle with respect to the receiving seat 28 to realize the payout.

Preferably, the pivot axis of the stop 403 overlaps the axis of rotation of the receptacle 28. In this way, the structure of the pay-off mechanism can be made compact, and the size of the lawnmower 400 is small. Of course, the pivot axis of the stopper 403 and the axis of rotation of the receiving seat 28 may also be disposed so as not to overlap, and preferably, may be disposed in parallel with each other.

The stop device 401 further includes a reset device 405 disposed between the stop member 403 and the receptacle 28, the reset device 405 causing the stop member 403 to return from the second position to the first position. In this embodiment, the reset device 405 is provided as a compression spring 405. Of course, the reset device 405 can also be provided as a tension spring, a torsion spring or the like.

As shown in FIG. 13 and FIG. 14, specifically, the stopper 403 has a stopper protrusion 407 and a mounting portion 409, and the slider 33 has a first end portion 411 which can extend out of the outer peripheral portion of the housing seat 28 and the first portion The end portion 411 is opposite to the second end portion 413, and the second end portion 413 is located inside the outer peripheral portion of the receiving seat 28. The biasing member 54 is disposed between the receiving seat 28 and the second end portion 413. The slider 33 further has a hollow portion 415 and an abutting portion 417 between the first end portion 411 and the second end portion 413, and the abutting portion 417 is from the second end portion 413 toward the center of rotation of the receiving seat 28. extend.

In addition, one end of the compression spring 405 is disposed on the mounting portion 409, and the other end of the compression spring 405 abuts against the receiving seat 28, and the direction of the force of the pressing spring 405 against the stopper 407 is opposite to the rotation direction of the receiving seat.

When the stopper 403 is in the first position under the urging force of the compression spring 405, the stopper projection 407 abuts against the abutting portion 417 of the slider 33. Stop when the stop 403 is pivoted from the first position to the second position The protrusion 407 is disengaged from the abutting portion 417 of the slider 33 against the urging force of the compression spring 405, so that the slider 33 moves radially relative to the receiving seat 28 under the action of the biasing member 54, so that the slider 33 extends outward. The direction of the receiving seat 28 is moved, so that the wire reel 32 (see FIG. 13) is rotated by a certain angle with respect to the receiving seat 28 to realize the payout.

As shown in FIG. 14, when the lawnmower 400 is in the non-operating state, the stopper 403 is in the first position that restricts the radial movement of the slider 33 relative to the housing 28 under the urging force of the compression spring 405. At this time, the abutting portion 417 of the slider 33 is kept in contact with the stopper projection 407 of the stopper 403 by the urging force of the biasing member 54.

As shown in FIG. 15, the main switch 27 is activated, and at this time, the stopper 403 is still in the first position restricting the radial movement of the slider 33 with respect to the housing 28 by the action of the compression spring 405. When the slider 33 rotates with the holder 28, a centrifugal force is generated to the slider 33, and the centrifugal force direction is opposite to the biasing direction of the slider by the biasing member 54 at this time. Therefore, the slider 33 overcomes the urging force of the biasing member 54 under the action of the centrifugal force, away from the rotation axis of the accommodating seat 28, and has a certain gap with the stopper 403. However, the stopper 403 restricts the radial movement of the slider 33 with respect to the housing seat 28 in a direction extending beyond the outer peripheral portion of the housing seat 28. The reel 32 (see Fig. 13) is kept relatively stationary with the holder 28, and the lawnmower 400 cannot perform the payout. Thereby avoiding the loss of the grass line.

Referring to FIG. 16 , when the pay-off electronic switch (not shown) of the pay-off mechanism is activated according to the output signal of the controller, the rotation speed of the receiving seat 28 is rapidly lowered, so that the receiving seat 28 has a certain acceleration, and The direction of the acceleration is opposite to the direction of rotation of the receiving seat 28. At this time, the inertia of the stopper 403 tends to maintain the original motion state, that is, the stopper 403 has a certain inertia force, and Under the action of inertial force, it will rotate in the opposite direction of acceleration. Specifically, while the rotation speed of the receiving seat 28 is rapidly decreased, the inertial force of the stopper 403 is greater than the force of the compression spring 405, so that the stopper 403 overcomes the force of the compression spring 405 under the action of the inertial force, and The receptacle 28 is pivoted from the first position to the second position. At this time, the stopper protrusion 407 of the stopper 403 is disengaged from the abutting portion 417 of the slider 33, and since the stopper of the stopper 403 is not provided, at the same time, since the rotation speed of the holder 28 is greatly lowered, the slider 33 is greatly lowered. The centrifugal force is smaller than the urging force of the biasing member 54. Therefore, the slider 33 moves radially against the receiving seat 28 against the centrifugal force by the biasing member 54, and moves the slider 33 in the direction of extending out of the receiving seat 28. Thereby, the wire reel 32 (see FIG. 13) is rotated by a certain angle with respect to the receiving seat 28 to realize the payout. In this way, the pay-off mechanism can automatically activate the pay-off electronic switch to perform the pay-off according to the need, thereby avoiding the waste of the grass-line.

Referring to Fig. 17, the operation of the pay-off mechanism during the operation of the lawnmower 100 of the present embodiment will be described below. The main switch 27 is activated to rotate the reel 32 and the receiving base 28 synchronously; the detecting module detects the voltage and the current; the controller calculates the preset current value i ₀ according to the detected voltage, and if i<i ₀ , judges that the pay-off condition is satisfied, The pay-off electronic switch K2 is actuated, and the pay-off mechanism is activated to release the line. Specifically, if i<i ₀ , the payout electronic switch K2 and the NO end are closed (see FIG. 6), the motor speed is reduced from V0 to V1, and the slider 33 overcomes the centrifugal force with respect to the receiving seat 28 under the action of the biasing member 54. The radial movement is performed, and the slider 33 is moved in a direction extending out of the receiving seat 28, thereby pushing the reel 32 (see FIG. 13) by a certain angle with respect to the receiving base 28 to realize the payout.

In another embodiment, referring to FIG. 18, the pay-off electronic switch adopts a MOS tube switch, and the control circuit is still a brake switch circuit, and the controller selectively controls the motor to be short-circuited by controlling the MOS tube switch to open or close. Specifically, the pay-off electronic switch uses MOS tube switches Q1 and Q2. When the controller judges that the pay-off condition is satisfied, the controller MCU outputs a control signal to open Q1 and close Q2, the motor is short-circuited, and the pay-off mechanism starts to execute the brake payout.

Referring to FIG. 18, the controller of the lawnmower in this embodiment adopts an MCU, and the detection module is specifically a current detecting circuit and a voltage detecting circuit as illustrated. The controller samples the current and the voltage, calculates the preset current value i ₀ from the sampled voltage, and compares the sampled current i with the preset current value i ₀ . If the discharge condition is satisfied, ie i<i ₀ , The controller MCU output control signal turns off Q1 and closes Q2 to activate the pay-off mechanism to perform the brake payout. Specifically, the main switch K1 is closed, the motor is powered on, the grass cutter is running, and Q1 is in the closed state, and Q2 is in the off state; when the controller determines that the payout condition is satisfied, the output control signal is turned off Q1 and the Q2 is closed, the motor Short circuit, the lawnmower performs the brake release. Among them, Q1 is driven by the running MOS drive circuit, and Q2 is driven by the brake MOS drive circuit.

Since the pay-off mechanism is separately controlled by the controller in the embodiment, the controller automatically outputs the control result according to the parameter detected by the detecting module to selectively control the action of the pay-off electronic switch, thereby selectively starting the pay-off mechanism without manual operation. Make the lawnmower more intelligent.

Fig. 19 is a view showing the working principle of the lawnmower shown in the second embodiment of the present invention.

The lawn mower shown in this embodiment has a similar structure to the lawnmower 100 of the first embodiment, and the differences will be described below in detail, and the same structures are denoted by the same reference numerals and will not be described again.

Referring to FIG. 19, the detecting module is configured to detect a specific parameter of the length of the reaction grass. Specifically, the specific parameter detected includes a motor speed S that reflects the workload. In the case of the same load of the lawnmower, the longer the length of the grass, the smaller the motor speed. That is to say, in the case of no-load, by calculating the motor speed when the wear setting length is used as the preset speed value S ₀ , the motor speed S detected during normal operation and the preset motor speed value S _{0 are} performed. In comparison, if the detected motor speed is greater than the preset motor speed value, that is, S>S ₀ , then it is judged that the grassing line is worn out by the set length, and the controller outputs a control signal to activate the pay-off mechanism.

In this embodiment, the parameter detected by the detecting module further includes a driving voltage V, specifically a voltage outputted at both ends of the battery pack 38 or a voltage across the motor 26. Under the same load, when the length of the grass line is fixed, the motor speed corresponding to different driving voltages is also different, that is to say, the motor speed will change with the driving voltage, which is in a one-to-one correspondence, that is, one The drive voltage corresponds to only one preset speed value S ₀ . The controller pre-stores a change relationship between the driving voltage V and the motor rotation speed S of the wear setting length of the grassing line. The controller first calculates the preset motor rotation speed value S ₀ by detecting the voltage V detected by the module, and then detects the detected motor rotation speed. S is compared with the preset speed value S ₀ . If S>S ₀ , the controller outputs a control signal to activate the pay-off mechanism. In other embodiments, the detecting module does not detect the voltage, as long as a voltage stabilizing module is set on the output power source to stabilize the voltage across the motor or the battery pack at a certain value, and the preset speed is calculated by the stable voltage. The value compares the motor speed detected during normal operation with the preset speed value. If the motor speed detected in real time is less than the preset preset speed value, it is judged that the grassing line is worn out by the set length, and the controller outputs a control signal to start the payoff. mechanism.

20 and 23 show the lawnmower 200 shown in the third embodiment of the present invention.

The lawn mower 200 shown in this embodiment has a similar structure to the lawnmower 100 of the first embodiment, and the differences will be described below in detail, and the same structures are denoted by the same reference numerals and will not be described again.

In this embodiment, the specific parameter detected by the detecting module is a parameter reflecting the actual physical length of the grassing length. Specifically, the specific parameter detected by the detecting module is a photoelectric signal of the photoelectric element. More specifically, the optoelectronic component includes at least a optoelectronic component that emits a photo-electric signal and a optoelectronic component that receives a photo-electrical signal that can affect the receipt of the optoelectronic component. Specifically, the set length of the grass line can block the photoelectric signal from reaching the photoelectric element for receiving, or the grass line can cause the photoelectric signal that is not originally received to be reflected to the photoelectric element for receiving.

Referring to FIG. 20 and FIG. 21, the cutting radius of the lawnmower of the lawnmower 200 shown in this embodiment is r, the cutting radius r defines a cutting area, and the detecting module includes at least one pair of photoelectric elements 101 arranged at intervals, and photoelectricity. One of the elements is for transmitting a photoelectric signal and the other is for receiving a photoelectric signal, and the free end 34a of the grass line 34 is capable of blocking the reception of the photoelectric signal. Specifically, the photoelectric element is spaced apart from the interval for the end of the grassing line to pass when the grass cutter is in operation, and the photoelectric element for receiving the photoelectric signal is not received when the grassing line passes through the interval. To the photoelectric signal, so that the photoelectric signal detected by the photoelectric element shows that the length of the grass is normal, and when the grass line wear reaches or exceeds the set length, The length of the grass is shortened so that the interval can no longer pass, the signal of the photoelectric element changes, and the controller compares the changed photoelectric signal with the preset parameter to identify the abnormal photoelectric signal that is changed, and controls The output control signal activates the payout mechanism to release the grass. More specifically, the preset parameter includes a preset photoelectric signal whose abrasion length reaches or exceeds a set length, and compares the photoelectric signal with the preset photoelectric signal, if the photoelectric signal is different from the preset photoelectric signal. The actuating mechanism is activated to release the grassing line; the preset parameters include a preset photoelectric signal whose wear length reaches or exceeds the set length, and the photoelectric signal is compared with the preset photoelectric signal, if the photoelectric signal is preset to be photoelectric The signals are the same and the pay-off mechanism is activated to release the grass.

In this embodiment, the photoelectric elements are disposed on the casing at a relatively interval, and the interval d is for the free end 34a of the grassing line 34 to pass when the grass cutter is in operation. Specifically, the photoelectric element 101 is disposed in the vicinity of the path through which the free end 34a passes when the grass length is the maximum value during the normal operation of the grass cutter, and the photoelectric element is disposed in parallel with the axis L, in other embodiments. The optoelectronic component can also be disposed at an oblique angle as long as the spacing thereof provides a gap through which the free end 34a passes when the mower is in operation and affects the reception of the photoelectric signal is within the scope of the present invention. When the end of the grass line is worn, the free end 34a becomes short and cannot pass through the interval between the photoelectric elements, so that the signal reception of the photoelectric element cannot be affected, and the signal detected by the photoelectric element changes. The signal is an abnormal signal, indicating that the length of the grass is shortened, and the controller compares the abnormal signal with the preset parameter, and recognizes that the length of the grass is worn out by the set length, and outputs a control signal to start the release mechanism to perform the release. line.

In other embodiments, the optoelectronic components can also be disposed at angular intervals. Specifically, the optoelectronic components are not on the same straight line, and the signals emitted by the optoelectronic components responsible for transmitting the signals are not directly received by the optoelectronic components responsible for receiving, and only the objects in the interval reflect the transmitted signals to the optoelectronic components responsible for receiving. In this embodiment, the length of the unworn grass is reflected by the interval between the photoelectric elements to reflect the signal of the photoelectric element responsible for transmitting the signal to the photoelectric element receiving the signal, thereby judging that the length of the grass is in a normal state, and the photoelectricity in this state The signal detected by the component is a normal signal; when the grass line is worn, the length of the grass line is insufficient to reflect the photoelectric signal of the photoelectric element that emits the signal, and therefore the photoelectric element for receiving the signal has no signal receiving, and the photoelectric element is not received when the signal is received. The signal is an abnormal signal, the controller compares the normal signal with the preset parameter, and recognizes that the signal is an abnormal signal, thereby determining that the wear of the grass line reaches or exceeds the set length, and the controller outputs a control signal. Start the pay-off mechanism.

Preferably, the photovoltaic element 101 has a center of rotation, and the photovoltaic element 101 has a distance from the center of rotation that is greater than zero. The optoelectronic component can be rotated about the center of rotation to change with the axis L the distance. Specifically, referring to FIG. 22 and FIG. 23, when the photoelectric element 101 is located at a line connecting the center of rotation thereof with the axis of rotation of the grass head (refer to FIG. 22), the cutting radius r of the lawnmower is the shortest; The center of rotation is rotated by an angle (refer to Fig. 23). This angle is greater than zero, and the cutting radius r of the lawn mower becomes longer. When the photoelectric element is rotated 180 degrees from the position shown in Fig. 22, the cutting radius of the lawnmower r is the longest. The cutting radius of the lawnmower changes with the angle of rotation. Therefore, by adjusting the rotation angle of the photoelectric element, the length of the grass can be adjusted within the set range, thereby changing the cutting area of the lawnmower. Specifically, the distance between the photoelectric element 101 and its center of rotation determines the size of the set range. In this way, the cutting area of the lawn mower can be changed by the rotation of the photoelectric element, which makes the application of the lawn mower more flexible.

24 and 25 show a lawnmower 300 according to a fourth embodiment of the present invention.

The lawn mower 300 shown in this embodiment has a similar structure to the lawnmower 200 of the third embodiment, and the differences will be described below in detail, and the same structures are denoted by the same reference numerals and will not be described again.

The detection module of the lawnmower 300 shown in this embodiment includes an air pressure sensor located near the free end 34a. The detecting module directly detects the air pressure reflecting the actual physical length of the grassing length. When the grassing line wears shorter, the free end 34a of the grassing line becomes farther from the air pressure sensor, and the airflow near the air pressure sensor flows due to the rotating grassing line. The free end 34a becomes shorter and becomes slower, and the air pressure value detected by the air pressure sensor rises. The length of the grass is inversely related to the pressure value measured by the air pressure sensor, that is, the shorter the length of the grass, the higher the air pressure detected by the air pressure sensor. Therefore, the preset pressure value P _{0 of the} grassing line with the wear set length is pre-stored in the controller. When the grass wear reaches or exceeds the set length, the controller detects the air pressure P and the preset air pressure detected by the air pressure sensor. Value P ₀ , if P>P ₀ , it is judged that the air pressure signal is not normal, the grass line wear reaches or exceeds the set length, the controller outputs a control signal to activate the pay-off mechanism; if P<P ₀ , the air pressure signal is normal, hit The length of the grass is normal, no need to release the line, and the controller output control signal cannot activate the pay-off mechanism.

26 and 27 show a lawnmower 400 according to a fifth embodiment of the present invention.

The lawnmower 400 of the present embodiment has a similar structure to the lawnmower 100 of the first embodiment, and the differences will be described below in detail, and the same structures are denoted by the same reference numerals and will not be described again.

The lawnmower 400 provided in this embodiment further includes a wire breaking blade 31 disposed on the casing 25. When the grassing line is too long, the wire breaking blade 31 is used to cut off the long grassing line 34 to make the grassing line. The length of the grass is maintained within a safe and reasonable range. Specifically, the maximum length of the grass is the target length. When the length of the grass is the target length, the free end of the grass line just hits the wire breaking blade 31 on the casing, and the wire is broken. The blade 31 maintains the length of the grass within the target length.

In this embodiment, the pay-off mechanism is selectively activated according to the specific parameter detected by the detecting module. Specifically, the pay-off mechanism has a starting condition and a termination condition. If the starting condition is met, the pay-off mechanism will continuously start until the termination condition is detected. At this time, the pay-off mechanism stops the pay-off. Specifically, the continuous start of the pay-off mechanism means that if the termination condition is not met, the pay-off mechanism will be activated again to release the line. The starting condition of the specific pay-off mechanism is the condition that needs to be met when the actuating mechanism is activated in all the foregoing embodiments. The starting condition used in this embodiment is that the detected current i described in the first embodiment is less than the preset current value. i ₀ , the pay-off mechanism is activated to release the line, and of course, the starting conditions described in other embodiments may also be employed. The pay-off method described in this embodiment enables the length of the grass to reach the target length every time the pay-off line is made, so that the use of the lawnmower is more intelligent and flexible. The termination condition of the pay-off mechanism employed by the lawnmower 400 in this embodiment will be described in detail below.

Referring to FIGS. 26 and 27, the lawnmower 400 of the present embodiment further includes a shock sensor 102. Preferably, the shock sensor 102 is disposed at the wire breakage blade 31. When the length of the grass exceeds the target length, the free end 34a of the grass line 34 hits the wire breaking blade 31 and is cut, and the shock sensor 102 senses the vibration when the free end 34a of the grass line is cut, and this vibration signal is targeted. The signal is compared by the controller to the target signal, and it is judged that the termination condition is satisfied, and the output control signal stops the pay-off mechanism to stop the pay-off. In other embodiments, the shock sensor can be disposed at the housing as long as the shock sensor 102 is configured to sense the shock and is encompassed within the scope of the present invention.

Specifically, the controller pre-stores a change relationship between the driving voltage and the operating current of the wear setting length, and the controller first calculates the preset current value i ₀ by the driving voltage V detected by the detecting module, and then performs the detecting work. The current i is compared with the preset current value i ₀ . If i < i ₀ , the start condition is satisfied, the controller outputs a control signal to activate the pay-off mechanism once, and after the pay-off mechanism is activated once, if the controller does not recognize the target signal The controller outputs a control signal to activate the pay-off mechanism once again. If the controller recognizes the target signal and determines that the termination condition is satisfied, the controller outputs a control signal to stop the pay-off mechanism, and the pay-off is stopped. In the above-mentioned pay-off mode, each time the detected signal satisfies the start condition, the pay-off mechanism will be continuously activated until the target signal is detected, until the termination condition is detected, the pay-off mechanism stops the pay-off, so that each pay-off can be Put the longest length of grass, avoiding the short line caused by the detection error and not starting the pay-off mechanism

Figure 28 shows a lawnmower according to a sixth embodiment of the present invention.

The lawnmower shown in this embodiment has a similar structure to the lawnmower 400 provided in the fifth embodiment, and the differences will be specifically described below. For the convenience of description, the same structures are denoted by the same reference numerals. Do not repeat them.

In this embodiment, the termination condition includes a pulse signal of the operating current of the lawnmower. When the grasshopper is in the process of normal grassing, when the length of the grass exceeds the target length, and the free end of the grass line is cut off from the short-line blade, the working current flowing through the motor will suddenly change, specifically, the working current generates a pulse signal. The intensity of the pulse signal is much higher than the interference signal accompanying the normal operation, and this pulse signal is used as the termination condition of the pay-off mechanism. Specifically, the controller compares the pulse signals detected by the detection module, identifies that the pulse signal determines that the termination condition is satisfied, and outputs a control signal to stop the pay-off mechanism.

Since the lawnmower is in the trimming state, the free end of the grassing line collides with the ground, and the current is unstable. Therefore, when the lawnmower is in the trimming working state, the pay-off method described in this embodiment is not adopted. Specifically, the lawn mower sets a mechanism for recognizing the grassing and trimming state. When the lawn mower recognizes that it is in the grassing state, when the payout mechanism is activated, the detecting module detects the pulse signal of the current, and the controller determines the length of the grass. When the target length is exceeded, the output control signal stops the pay-off mechanism, and the pay-off is stopped. When the grass-cutting machine is in the trimming state, the grass-carrying machine switches to the pay-off line according to the first embodiment of the present specification because the grass hitting line collides with the ground. The way, that is, each time the controller outputs a control signal, only the pay-off mechanism is activated once, that is, only one pay-off process is performed. When the start-up condition is detected again, the pay-off mechanism is activated again, thereby avoiding collision of the grass-line with the ground. The effect of current instability on the pay-off mechanism. Specifically, the grass cutter sets a switch at the grass cutting and trimming state conversion mechanism, and when the grass cutter switches to the trimming state, the switch is turned off or off, and the detecting module detects that the switch is turned off or off. The state recognizes that the lawnmower is in the trimming state, thereby switching the pay-off mechanism to the pay-off mode described in the first embodiment, that is, placing the line once each time the start condition is satisfied.

The pay-off mode described in this embodiment enables the target length to be accurately placed every time the pay-off line is placed, thereby avoiding the situation that the pay-off line is not placed due to errors such as detection, so that the grass is hit after each trigger release. The cutting radius of the machine is always at the maximum cutting radius, which improves the grassing efficiency of the lawnmower.

29 and 30 show a lawnmower 500 according to a seventh embodiment of the present invention.

The lawn mower shown in this embodiment has a similar structure to the lawnmower 300 provided in the fourth embodiment. The differences will be described below in detail, and the same structures are denoted by the same reference numerals and will not be described again.

Referring to FIG. 29 and FIG. 30, the lawnmower provided in this embodiment further includes a Hall sensor 105, and a magnetic grassing line. Specifically, the grassing line is doped with a magnetic material. During normal operation, when the free end 34a of the grass line passes through the Hall sensor 105, the Hall sensor 105 senses the magnetic signal of the free end 34a of the grass line, indicating that the grass line is not worn, and the specific parameter detected by the Hall sensor is Normal signal, the controller recognizes the normal signal of the Hall sensor, and the controller controls the pay-off mechanism to stop. When the grass line is worn, the free end 34a cannot pass the sensing range of the Hall sensor, and the Hall sensor 105 does not sense the normal magnetic signal, indicating that the grass line is worn out, and the controller starts the pay line according to the abnormal signal. The organization is putting the line.

31 and 32 show a lawnmower 600 according to an eighth embodiment of the present invention.

Referring to FIG. 31 and FIG. 32, the lawnmower provided in this embodiment further includes a color recognition sensor disposed on the casing, and a grassing line having a certain color. Specifically, the color recognition sensor can recognize the red color. The color of the grass line is set to red, which is obviously different from the green color of the lawn, which interferes with the background of the ground and improves the accuracy of sensor recognition. During normal operation, when the free end of the grass line passes the color recognition sensor, the color recognition sensor quickly captures the red color signal of the grass line, indicating that the grass line is not worn, and the specific parameter detected by the color recognition sensor is a normal signal, and the control is performed. The device recognizes the normal signal, and the controller controls the pay-off mechanism to be in a stopped state; when the grass line is worn, the free end cannot pass the sensing range of the color recognition sensor, and the color recognition sensor cannot capture the specific parameter of the normal color signal detection. The normal signal indicates that the grass line is worn, and the controller activates the pay-off mechanism to release the line according to the abnormal signal.

Figure 33 shows the invention also provides a method of paying for a lawnmower.

The method for paying the lawnmower of the present invention is based on the lawnmower provided by any of the above embodiments, and the method comprises the following steps:

S1: Detects specific parameters reflecting the length of the grass.

The detection module of the lawnmower is used to detect specific parameters reflecting the length of the grass. Specific parameters detected by the lawnmower as described in any of the above embodiments. During the normal operation of the lawnmower, the detection module detects a specific parameter reflecting the length of the grass, and the specific parameter is specifically a parameter reflecting the workload or a parameter reflecting the actual length of the grass.

S2: comparing the specific parameter with a preset parameter, and outputting the judgment result.

The controller of the lawnmower compares the specific parameters of the detected response length with the preset parameters. Specifically, the preset parameter is a parameter pre-stored in the controller, and may be a fixed value or a parameter that changes according to working conditions. Specifically, the working condition includes the driving voltage or other working conditions, and the parameter detected by the detecting module further includes a driving voltage or other parameters that reflect other working conditions, and the corresponding preset parameter is calculated according to the driving voltage or other working condition parameters. Ben In the in-line method of the lawnmower of the invention, the controller compares the specific parameters of the detected response length with the preset parameters, and outputs the judgment result.

If the specific parameter detected in step S2 is the operating current i, the parameter detected by the detecting module further includes a driving voltage, and the controller calculates the current preset current value i ₀ according to the driving voltage. The detected operating current i is compared with a preset current value i ₀ . If i < i ₀ , the output control signal activates the pay-off mechanism.

If the specific parameter detected in step S2 is the motor speed S, the parameter detected by the detecting module further includes a driving voltage, and the controller calculates the current preset speed value S ₀ according to the driving voltage. The detected motor speed S is compared with a preset speed value S ₀ . If S>S ₀ , the output control signal activates the pay-off mechanism.

The detection module does not detect the voltage. It is only necessary to set a voltage regulator module on the output power supply to stabilize the voltage across the motor or the battery pack at a certain value, and calculate the preset speed value through the stable voltage, which will work normally. The detected working current is compared with the preset current value. If the detected current is less than the preset current, the controller outputs a control signal to activate the pay-off mechanism.

If the specific parameter detected in step S2 is a photoelectric signal, the detecting module transmits the detected photoelectric signal to the controller, and the controller determines whether the photoelectric signal is normal. Specifically, the free end 34a is shortened and cannot pass through the interval between the photoelectric elements, and the signal detected by the photoelectric element changes. The changed signal is an abnormal signal, and the abnormal signal is sent to the controller. The controller determines that the length of the grass is worn, and outputs a control signal to activate the pay-off mechanism.

If the specific parameter detected in step S2 is the air pressure signal, the detecting module transmits the detected air pressure signal to the controller, and the controller determines whether the air pressure signal is normal. Specifically, the preset preset air pressure value P _{0 of the} grassing line with the wear set length is pre-stored in the controller, and when the grass wear wear reaches or exceeds the set length, the controller detects the air pressure P detected by the air pressure sensor and the preset The air pressure value P ₀ , if P>P ₀ , determines that the air pressure signal is abnormal, the grass line wear reaches or exceeds the set length, and the controller outputs a control signal to activate the pay-off mechanism.

If the specific parameter detected in step S2 is a parameter reflecting the actual physical length of the grass length. The photovoltaic element includes at least one pair of spaced apart photovoltaic elements. Specifically, the specific parameter detected by the detecting module is a photoelectric signal of the photoelectric element. More specifically, the photovoltaic element includes at least a photovoltaic element that emits a photoelectric signal, and a photovoltaic element that receives the photoelectric signal, which can affect the reception of the photovoltaic element. Specifically, the grass line can block the photoelectric signal from reaching the photo-electric element for receiving, or the grass line can cause the photoelectric signal that is not originally received to be reflected to the photo-electric element for receiving. When the grass line cannot affect the signal reception of the spot element, the end of the grass line no longer passes through the space, photoelectric The signal detected by the component is an abnormal signal, and the controller selectively outputs the control result according to the signal of the photoelectric component to activate the pay-off mechanism. More specifically, the preset parameter includes a preset photoelectric signal whose abrasion length reaches or exceeds a set length, and compares the photoelectric signal with the preset photoelectric signal, if the photoelectric signal is different from the preset photoelectric signal. The actuating mechanism is activated to release the grassing line; the preset parameters include a preset photoelectric signal whose wear length reaches or exceeds the set length, and the photoelectric signal is compared with the preset photoelectric signal, if the photoelectric signal is preset to be photoelectric The signals are the same and the pay-off mechanism is activated to release the grass.

Referring to FIG. 33, in the method for paying the lawnmower of the present invention, the detecting module detects and reflects a specific parameter of the length of the grass, and outputs the parameter to the controller, and the controller compares the specific parameter with the preset parameter value. The comparison result is output to selectively activate the pay-off mechanism to release the line. The pay-off method provided by the invention does not need human operation, is more intelligent, and has a reliable pay-off line.

The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

It will be appreciated by those skilled in the art that the present invention may have other implementations, but as long as the technical essence employed is the same or similar to the present invention, or any changes and substitutions made based on the present invention are in the present invention. Within the scope of protection.

Claims

A lawnmower comprising:

Extension rod

a casing disposed at one end of the extension rod;

a grass head connected to the casing and having an outlet;

a motor that drives the grass head to rotate about an axis;

a grass line extending from the outlet opening, the length of the extension is the length of the grass;

a pay-off mechanism capable of selectively releasing the grassing line and increasing the length of the grass;

a detecting module, when the grass cutter performs a cutting work, the detecting module detects a specific parameter reflecting the length of the grassing;

a controller, configured to compare the specific parameter with a preset parameter, and output a comparison result;

The feature is that the pay-off mechanism is selectively activated according to the comparison result to release the grassing line.
The lawnmower of claim 1 wherein said specific parameter is a parameter that reflects a workload.
The lawnmower according to claim 2, wherein said specific parameter comprises an operating current of the lawnmower, and said preset parameter comprises a preset current value.
The lawnmower according to claim 3, wherein said controller compares said operating current with said preset current value, and said control if said operating current is less than said predetermined current value The output control signal activates the payout mechanism to release the grass.
The lawnmower according to claim 4, wherein the parameter detected by the detecting module further comprises a voltage, and the controller calculates the preset current value by the voltage.
A lawnmower according to claim 2, wherein said specific parameter comprises a rotational speed of the motor, and said predetermined parameter comprises a preset motor rotational speed value.
The lawnmower according to claim 6, wherein the controller compares the rotational speed detected by the detecting module with the preset motor rotational speed value, if the detected rotational speed is greater than the pre-test A motor speed value is set, and the controller outputs a control signal to activate a pay-off mechanism to release the grass line.
The lawnmower according to claim 7, wherein the parameter detected by the detecting module further comprises a voltage, and the controller calculates the preset motor speed value by the voltage.
A lawnmower according to claim 1, wherein said specific parameter is specifically reflecting said The parameter of the actual physical length of the length of the grass.
A lawnmower according to claim 9, wherein said specific parameter comprises air pressure near the end of the length of the grass, said detection module comprising a gas pressure parameter detecting module for detecting the air pressure caused by the different length of the grass Variety.
The lawnmower according to claim 10, wherein the controller compares the air pressure value detected by the detecting module with a preset air pressure value, and if the detected air pressure value is greater than the preset air pressure value, The controller output control signal activates the payout mechanism to release the grass line.
A lawnmower according to claim 9, wherein said detecting module comprises at least one pair of photovoltaic elements, one of said photoelectric elements being for transmitting a photoelectric signal and the other for receiving a photoelectric signal, said playing The grass line can affect the reception of the photoelectric signal.
A lawnmower according to claim 12, wherein said photoelectric elements are spaced apart, said spacing for said end of said grassing length to pass when said lawnmower is in operation, said end passing said interval The photoelectric signal is blocked, the photoelectric element for receiving the photoelectric signal no longer receives the photoelectric signal, and the controller outputs a control signal to activate the pay-off mechanism according to the signal of the photoelectric element.
A lawnmower according to claim 12, wherein said photoelectric elements are spaced apart, said spacing for said end of said grassing length to pass when said lawnmower is in operation, said end passing said interval And the photoelectric signal is reflected, the photoelectric element for receiving the photoelectric signal receives the photoelectric signal reflected, the controller recognizes the signal of the photoelectric element, and the output control signal activates the pay-off mechanism .
A lawnmower according to claim 9, wherein said detecting module comprises a Hall sensor, said grassing line being magnetic, said gate being passed through said sensing range of said Hall sensor, said Hall The sensor senses the magnetic force of the grassing line. When the grass line wear reaches or exceeds the set length, the Hall sensor does not detect the magnetic signal of the grass line, and the controller according to the signal to the Hall sensor, A control signal is output to activate the payout mechanism.
A lawnmower according to claim 9, wherein said detecting module comprises a color recognition sensor, said color recognition sensor being capable of recognizing the color of said grassing line, when the grass line wear reaches or exceeds a set length The color recognition sensor does not recognize the color of the grassing line, and the controller outputs a control signal to activate the pay-off mechanism according to the signal of the color recognition sensor.
A lawnmower according to claim 1, wherein said pay-off mechanism comprises at least one pay-off electronic switch, said pay-off electronic switch being capable of selectively activating said release based on said comparison result Line agency.
A lawnmower according to claim 1, wherein said pay-off mechanism is selectively activated according to said comparison result to release said grassing line to increase said grass length to a target length, said detecting The module further detects a parameter reflecting whether the length of the grass is up to the target length, and the controller outputs a control signal according to the parameter reflecting whether the length of the grass reaches the target length to selectively stop the payout The action of the mechanism.
A lawnmower according to claim 1, wherein said pay-off mechanism performs a take-off action at most once for each of said comparison results.
The lawnmower according to claim 1, wherein the lawnmower further has a preset parameter adjustment mode, and the lawnmower can selectively enter the preset parameter adjustment mode when the grass is driven. The machine is in a preset parameter adjustment mode, and the controller adjusts the preset parameter according to the specific parameter detected by the detection module.
The lawnmower according to claim 20, wherein the lawnmower further comprises an operating member for selecting a preset parameter adjustment mode, the operating member is triggered, and the lawnmower enters a preset parameter adjustment mode. After the operation member is released or after a preset time elapses, the grass cutter exits the preset parameter adjustment mode.
The lawnmower according to claim 1, wherein the lawnmower further comprises a preset parameter adjustment unit, and the controller adjusts the preset parameter according to a signal of the adjustment unit.
A lawnmower according to claim 1, wherein said pay-off mechanism further comprises control means, said control means comprising a control circuit electrically connected to the motor, said control circuit for controlling the motor to be in a normal state The conversion between working speed and pay-off speed.
A method of paying for a lawnmower, the lawnmower according to claim 1, wherein the method of releasing the wire comprises the following steps:

S1: detecting a specific parameter reflecting the length of the grass;

S2: comparing the specific parameter with a preset parameter, and outputting a comparison result;

S3: Selecting the pay-off mechanism to release the grassing line according to the comparison result of the step S2.
The method of paying for a lawnmower according to claim 24, wherein the specific parameter detected in the step S1 is specifically a parameter reflecting a workload.
The method of claim 25, wherein the specific parameter detected by the step S1 comprises an operating current of the lawnmower, and the preset parameter comprises a preset current value. The controller compares the operating current with the preset current value. If the operating current is less than the preset current value, the pay-off mechanism is activated in step S3 to release the grassing line.
The method of paying for a lawnmower according to claim 26, wherein if the parameter detected by the detecting module in the step S1 further comprises a voltage, the controller calculates the corresponding preset current value by using the voltage. .
The method of paying for a lawnmower according to claim 24, wherein if the specific parameter detected in the step S1 comprises the rotational speed of the motor, the preset parameter comprises a preset motor rotational speed value, and the rotational speed is The preset motor speed is compared. If the speed is greater than the preset motor speed, the pay-off mechanism is activated in step S3 to release the grassing line.
The lawnmower according to claim 28, wherein the parameter detected by the detecting module further comprises a voltage, and the controller calculates the preset motor speed value by the voltage.
The method of paying for a lawnmower according to claim 24, wherein the specific parameter detected by the step S1 is specifically a parameter reflecting an actual physical length of the grass length.
The method of claim 30, wherein if the specific parameter detected by the step S1 comprises a photoelectric signal, the preset parameter comprises that the length of the grass does not wear or the wear does not reach the set length. Presetting the photoelectric signal, comparing the photoelectric signal with the preset photoelectric signal, if the photoelectric signal is different from the preset photoelectric signal, starting the pay-off mechanism to release the grassing line in step S3 .
The method of claim 30, wherein if the specific parameter detected in the step S1 comprises a photoelectric signal, the preset parameter comprises a preset photoelectricity in which the length of the grass is worn to meet or exceed a set length. a signal, comparing the photoelectric signal with the preset photoelectric signal, and if the predetermined photoelectric signal of the photoelectric signal is the same, the pay-off mechanism is activated in step S3 to release the grassing line.