WO2018137687A1 - 割草机 - Google Patents

割草机 Download PDF

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Publication number
WO2018137687A1
WO2018137687A1 PCT/CN2018/074177 CN2018074177W WO2018137687A1 WO 2018137687 A1 WO2018137687 A1 WO 2018137687A1 CN 2018074177 W CN2018074177 W CN 2018074177W WO 2018137687 A1 WO2018137687 A1 WO 2018137687A1
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WO
WIPO (PCT)
Prior art keywords
motor
torque
torque threshold
lawn mower
actual output
Prior art date
Application number
PCT/CN2018/074177
Other languages
English (en)
French (fr)
Inventor
特斯托林费德里科
多尔夫达维德
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to EP18744974.9A priority Critical patent/EP3574742B1/en
Publication of WO2018137687A1 publication Critical patent/WO2018137687A1/zh
Priority to US16/521,180 priority patent/US11503761B2/en

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
    • A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
    • A01D34/69—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels with motor driven wheels
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • A01D34/828—Safety devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to the field of power tools, and more particularly to a lawn mower.
  • the safety of the machine itself is generally considered to be a collision detection of the obstacle by the sensor.
  • the collision sensor When the machine encounters the obstacle, the collision sensor is triggered, and the control signal of the main board to the driving motor is changed, so that the running state of the driving wheel is changed.
  • the drive motor maintains the original working state, the fuselage is blocked, the wheels are still moving forward, and the wheel slips and wears the grass when the collision occurs due to the large torque.
  • a lawn mower comprising:
  • a running mechanism that supports and drives the housing to walk, the running mechanism including a driving wheel;
  • a motor mounted to the housing for driving the driving wheel to rotate
  • a control device pre-set with a first torque threshold and a second torque threshold, wherein the at least one motor is activated from a stop state to an operating state, the control device controlling a maximum actual output torque of the at least one motor and the first The difference in torque threshold is within a predetermined range, the control device controlling the actual output torque of the at least one electric machine to increase up to the second torque threshold when the electric machine is in an operating state, wherein the first torque threshold is less than Equal to a maximum output torque of the electric machine, the second torque threshold being less than the first torque threshold.
  • the lawn mower includes at least two motors that respectively drive at least two drive wheels to rotate, and the control device independently controls the at least two motors.
  • the first and/or second torque thresholds of the at least two motors are the same.
  • the first and/or second torque thresholds of the at least two motors are different.
  • the control device when the actual output torque is increased to the second torque threshold when the motor is in an operating state, the control device controls the operating current of the motor to remain unchanged.
  • control device limits the actual output torque of the motor by controlling the operating current of the motor.
  • control device controls the difference between the maximum actual output torque of the motor and the first torque threshold to be within a predetermined range, and specifically includes:
  • the maximum actual output torque that controls the motor does not exceed the first torque threshold.
  • control device controls the difference between the maximum actual output torque of the motor and the first torque threshold to be within a predetermined range, and specifically includes:
  • control device controls the operating current of the motor to remain unchanged when the maximum actual output torque of the motor reaches the first torque threshold.
  • the lawn mower is an autonomous walking mower.
  • the lawn mower further includes a cutting mechanism electrically coupled to the cutting mechanism to control the cutting mechanism to perform a cutting operation.
  • the second torque threshold is adjustable.
  • control module adjusts the second torque threshold based on a change in an operating current of a cutting mechanism of the lawn mower.
  • the control module when the operating current of the cutting mechanism increases, the control module increases the second torque threshold, and when the operating current of the cutting mechanism decreases, the control module lowers the first Two torque thresholds.
  • control module compares an operating current of the cutting mechanism with a preset value, wherein the control module increases the second torque threshold when an operating current of the cutting mechanism is greater than a preset value When the working current of the cutting mechanism is not greater than the preset value, the second torque threshold does not change.
  • FIG. 1 is a block diagram showing the structure of a lawn mower in an embodiment.
  • Fig. 2 is a schematic view showing a collision of a lawn mower in still another embodiment.
  • Fig. 3 is a schematic view showing the phenomenon of no grinding phenomenon when a lawn mower collides in another embodiment.
  • Fig. 4 is a block diagram showing the structure of a lawn mower in still another embodiment.
  • the lawn mower travels on a lawn to perform mowing work.
  • the lawn mower is an automatic walking mower, and the working area is a lawn.
  • the lawn mower works in the working area, and there is a docking station in the working area.
  • the docking station is provided with a charging module. When the power stored in the energy storage module of the lawn mower is insufficient, the lawn mower returns to the docking station through the charging module. Charging.
  • the lawn mower 100 includes a housing 110, a running gear 120, a motor 130, a control device 140, and a cutting mechanism (not shown).
  • the housing 110 is a mounting carrier for other components.
  • the control device 140 is electrically connected to the cutting mechanism to control the cutting mechanism to perform a cutting operation, so that the mower can perform a cutting operation while walking in the work area.
  • the running mechanism 120 is used to support the housing 110 and drive the housing 110 to walk. It has a plurality of traveling wheels including a driving wheel 122 and a driven wheel 124.
  • the drive wheel 122 is located at the rear of the housing 110, and the driven wheel 124 is located at the front of the housing 110.
  • the housing 110 has a certain width.
  • the number of drive wheels 122 is typically a pair, located on either side of the central axis of the housing 110.
  • a plurality of driven wheels 124 may be disposed on either side of the central axis of the housing 110, or one of them may be disposed on the central axis of the housing 110 and installed at the bottom of the housing 110.
  • all the walking wheels can be used as drive wheels.
  • the motor 130 is mounted to the housing 110 for driving the traveling mechanism 120 to travel.
  • the driving shaft of the motor 130 is directly connected to the driving wheel 122, or the driving wheel 122 is rotated by the transmission mechanism, thereby driving the housing 110 to advance.
  • the motor 130 can also be used to drive the cutting mechanism of the lawn mower.
  • control device 140 is mounted to the housing 110. Referring to Figure 1, control unit 140 is electrically coupled to motor 130. Control device 140 is configured to limit the maximum actual output torque of motor 130. Control device 140 may limit the maximum actual output torque of motor 130 by limiting the maximum operating current of motor 130.
  • the motor 130 When the lawn mower 100 is in operation, the motor 130 is first started, even if the motor 130 is started from a stopped state and enters an operating state. The motor 130 is then caused to transmit power to the drive wheel 122 to drive the mower 100 to travel normally within the work area, i.e., to perform a cutting operation.
  • the control device 140 controls the difference between the maximum actual output torque of the motor 130 and a first torque threshold to be within a predetermined range.
  • the first torque threshold is a torque threshold that is less than or equal to the maximum output torque of the motor 130. The purpose is to give start protection when the motor 130 is started, to avoid damage to the motor 130, and to extend the life of the motor 130.
  • the first torque threshold can be preset by the manufacturer and allows the user to set it in advance according to the operating conditions before use.
  • the control unit 140 controls the difference between the maximum actual output torque of the motor 130 and the first torque threshold within a predetermined range, which may be that the maximum actual output torque when the control motor 130 is started does not exceed the first torque threshold, that is, the starting torque of the motor 130. Less than or equal to the first torque threshold.
  • control device 140 is pre-set with a first torque threshold, such as by circuit design, such that the maximum actual output torque when the motor 130 is started can only reach the first torque threshold.
  • the control device 140 controls the operating current of the motor to remain unchanged.
  • the control device can also disconnect the operating current of the motor 130. The purpose of overload protection.
  • the excess value is within a predetermined range and within a predetermined time, and then the maximum actual output torque of the control motor does not exceed the first torque valve.
  • the maximum actual output torque at the start of the allowable motor 130 is allowed to be greater than the first torque threshold in a short time.
  • the control device 140 controls the operating current of the motor to remain unchanged.
  • the control device can also disconnect the operating current of the motor 130. For the purpose of overload protection.
  • the actual output torque of the motor 130 is reduced, less than the first torque threshold.
  • the drive wheel 122 drives the mower 100 forward against the resistance of the grass on the lawn.
  • the mower 100 will be blocked from moving forward.
  • the lawn mower 100 does not perform an operation command such as back, steering, etc., and the actual output torque of the motor 130 increases due to the increase in resistance, acting on the drive.
  • the torque of the wheel 122 will increase.
  • control device 140 is also configured to have a second torque threshold.
  • the second torque threshold is less than the first torque threshold, but greater than the actual output torque when the mower 100 is operating normally.
  • the control device 140 is configured to control the actual output torque of the motor 130 not to exceed the second torque threshold when the motor 130 is in an operating state and the actual output torque is increased, to prevent the drive wheel 122 from rotating the grass. In other words, the increase in the actual output torque of the control motor 130 does not exceed the second torque threshold.
  • the second torque threshold is set according to the principle that the driving wheel 122 can overcome the resistance caused by the grass during normal operation, and at the same time can ensure the resistance caused when the obstacle cannot be overcome when encountering an obstacle.
  • the second torque threshold can be preset by the manufacturer and also allows the user to set it according to the operating conditions.
  • the control device 140 turns off the operating current of the motor 130, causing the motor 130 to stop, thereby opening the torque output to the drive wheel 122.
  • the drive wheel 122 is not driven to rotate, thereby achieving the purpose of anti-wearing.
  • the control device 140 may not turn off the operating current of the motor 130, but control the operating current of the motor 130 to remain unchanged, such that the motor
  • the actual output torque of 130 can only reach the second torque threshold.
  • the setting of the second torque threshold ensures that the resistance caused by the obstacle cannot be overcome when an obstacle is encountered. In other words, at this time, the actual output torque of the motor 130 is just at a critical point, and the driving wheel 122 is not rotated to achieve the purpose of preventing grinding.
  • the second torque threshold is adjustable to adapt to different lawn conditions.
  • the control module 140 can adjust the second torque threshold according to the change of the operating current of the cutting mechanism of the lawn mower 100 to adapt to different requirements of the grass condition or the grassing condition.
  • the control module 140 raises the second torque threshold due to the increase of the cutting resistance, so as to avoid the actual output torque of the motor 130 being insufficient to overcome The resistance of the grass makes the mower 100 unable to advance, thus ensuring normal cutting operations.
  • the cutting resistance is reduced, the operating current of the cutting mechanism is reduced, and the control module 140 lowers the second torque threshold.
  • the actual output torque of the motor 130 does not increase to such an extent that the resistance of the obstacle 200 can be overcome to cause the drive wheel 122 to rotate, thereby avoiding grinding.
  • the control module 140 compares the operating current of the cutting mechanism with a predetermined value, wherein when the operating current of the cutting mechanism is greater than a predetermined value, the control module 140 increases the second torque threshold, and vice versa.
  • the control module 140 first increases the second torque threshold and then further adjusts the second torque threshold based on the change in the operating current of the cutting mechanism. If the lawn mower 100 is placed in the grass-sparing area from the beginning, the control module 140 does not raise the second torque threshold temporarily, but adjusts the second torque threshold according to the change of the working current of the cutting mechanism to adapt to the grass-sparing area. The work situation in the dense grass area changes.
  • the control device 140 controls the operating current of the motor 130 to remain unchanged, and the actual output torque is equal to the second torque threshold but does not cause the driving wheel to rotate.
  • the balance state achieves the purpose of anti-wearing, or disconnects the working current of the motor 130 to prevent the grass from being ground.
  • the drive wheel 122 includes two left and right drive wheels 122a and 122b.
  • the motor 130 includes a first drive motor 130a and a second drive motor 130b, wherein the first drive motor 130a is driven.
  • the left drive wheel 122a and the second drive motor 130b drive the right drive wheel 122b.
  • the control device 140 includes a first control module 140a and a second control module 140b, wherein the first control module 140a controls the first drive motor 130a, and the second control module 140b controls the second drive motor 130b to enable each drive motor to be separately driven A drive wheel.
  • the first control module 140a presets a first torque threshold corresponding to the first driving motor 130a to be a1, and a second torque threshold is a2; the second control module 140b presets a second driving motor 130b corresponding to the first One torque threshold is b1 and the second torque threshold is b2.
  • a1 and b1 can be set to be the same or different to meet different scene requirements.
  • a2 and b2 can be set to be the same or different.
  • the lawn mower 100 includes a cutting motor that drives the cutting mechanism to operate and the cutting motor is controlled by the control device 140.
  • the control device 140 is pre-set with a preset torque threshold corresponding to the cutting motor.
  • control device 140 is pre-set with a third torque threshold corresponding to the cutting motor starting state such that the maximum actual output torque when the cutting motor is started can only reach the third torque threshold.
  • the control device 140 is also configured to have a fourth torque threshold corresponding to the operating state of the cutting motor, the fourth torque threshold being less than the third torque threshold, but greater than the actual output torque when the cutting motor is operating normally. Specifically, when the cutting motor is in an operating state and the actual output torque is increased, the control device 140 controls the actual output torque of the cutting motor not to exceed the fourth torque threshold.
  • the fourth torque threshold is set to ensure that the cutting motor can overcome the resistance caused by the grass during normal operation, and at the same time ensure that the cutting mechanism can perform corresponding actions in the event of obstacle or grass blocking to avoid abnormal work.
  • the third torque threshold and the fourth torque threshold may be preset by the manufacturer, and the user is also allowed to set according to the working conditions.
  • the lawn mower 100 is mainly described by taking an automatic walking mower (also called a smart lawn mower) as an example.
  • the lawn mower 100 can also be other types of lawn mowers.
  • the lawn mower 100 may be a push-type lawn mower, and the user controls the forward direction of the lawn mower by operating the handrail, and controls the forward, backward, and steering actions of the lawn mower.
  • Control device 140 may automatically initiate a second torque threshold or give a control command upon observation by the user.
  • the lawn mower 100 can also be a riding lawn mower. Similar to the push mower, the difference is that the riding lawn mower has a seat for the user to ride, and the user sits on the lawn mower to operate.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Harvester Elements (AREA)

Abstract

一种割草机（100），包括：壳体（110）；行走机构（120），支撑并驱动壳体（110）行走，行走机构（120）包括驱动轮（122）；电机（130），用以驱动驱动轮（122）转动；控制装置（140），预设有第一扭矩阈值和第二扭矩阈值，电机由停止状态启动至运行状态的过程中，控制装置控制电机的最大实际输出扭矩与第一扭矩阈值的差异在预定范围内，电机处于运行状态时，控制装置控制至少一个电机的实际输出扭矩最多增大至第二扭矩阈值，其中第一扭矩阈值小于等于电机的最大输出扭矩，第二扭矩阈值小于第一扭矩阈值。上述割草机，电机作用于驱动轮的实际扭矩虽然会增大但不会超过第二扭矩阈值，从而驱动轮不会克服阻力转动，避免碰撞时驱动轮出现转动，避免造成磨草现象。

Description

割草机 技术领域
本发明涉及动力工具领域，特别是涉及一种割草机。
背景技术
割草机在运行修正草坪的过程中，对于机器本身的安全性的考虑，一般会通过传感器来实现对障碍物进行碰撞检测。
机器遇障触发碰撞传感器，主板对驱动电机的控制信号改变，以致改变驱动轮的运行状态。然而在碰撞发生而未触发碰撞传感器的短时间内，驱动电机保持原有工作状态运行，机身被阻，轮子依旧前行，因扭矩较大导致碰撞发生时轮子打滑，磨损草地。
发明内容
基于此，有必要提供一种割草机，能够在草坪作业中发生碰撞时避免驱动轮转动导致磨草。
一种割草机，包括：
壳体；
行走机构，支撑并驱动所述壳体行走，所述行走机构包括驱动轮；
电机，安装于所述壳体，用以驱动所述驱动轮转动；
控制装置，预设有第一扭矩阈值和第二扭矩阈值，所述至少一个电机由停止状态启动至运行状态的过程中，所述控制装置控制所述至少一个电机的最大实际输出扭矩与第一扭矩阈值的差异在预定范围内，所述电机处于运行状态时，所述控制装置控制所述至少一个电机的实际输出扭矩最多增大至所述第二扭矩阈值，其中所述第一扭矩阈值小于等于所述电机的最大输出扭矩，所述第二扭矩阈值小于所述第一扭矩阈值。
上述割草机，电机作用于驱动轮的实际扭矩虽然会增大但不会超过第二扭矩阈值，从而驱动轮不会克服阻力转动，避免碰撞时驱动轮出现转动，避免造成磨草现象。
在其中一个实施例中，所述割草机包括至少两个电机，分别驱动至少两个 驱动轮转动，所述控制装置独立的控制所述至少两个电机。
在其中一个实施例中，所述至少两个电机对应的第一和/或第二扭矩阈值相同。
在其中一个实施例中，所述至少两个电机对应的第一和/或第二扭矩阈值不同。
在其中一个实施例中，所述电机处于运行状态时，所述实际输出扭矩增大至所述第二扭矩阈值时，所述控制装置控制电机的工作电流保持不变。
在其中一个实施例中，所述控制装置通过控制电机的工作电流限制所述电机的实际输出扭矩。
在其中一个实施例中，所述控制装置控制所述电机的最大实际输出扭矩与所述第一扭矩阈值的差异在预定范围内，具体包括：
控制所述电机的最大实际输出扭矩不超过所述第一扭矩阈值。
在其中一个实施例中，所述控制装置控制所述电机的最大实际输出扭矩与所述第一扭矩阈值的差异在预定范围内，具体包括：
控制所述电机的最大实际输出扭矩超出所述第一扭矩阈值时超出值在预定范围内且在预定时间内，然后控制所述电机的最大实际输出扭矩不超过所述第一扭矩阈值。
在其中一个实施例中，所述电机的最大实际输出扭矩达到所述第一扭矩阈值时，所述控制装置控制电机的工作电流保持不变。
在其中一个实施例中，所述割草机为自动行走式割草机。
在其中一个实施例中，所述割草机还包括切割机构，所述控制装置与所述切割机构电性连接以控制所述切割机构执行切割作业。
在其中一个实施例中，所述第二扭矩阈值可调。
在其中一个实施例中，所述控制模块根据割草机的切割机构的工作电流的变化调整所述第二扭矩阈值。
在其中一个实施例中，所述切割机构的工作电流增大时，所述控制模块调高所述第二扭矩阈值，所述切割机构的工作电流减小时，所述控制模块调低所述第二扭矩阈值。
在其中一个实施例中，所述控制模块将切割机构的工作电流与预设值对比，其中当所述切割机构的工作电流大于预设值时，所述控制模块调高所述第二扭矩阈值，所述切割机构的工作电流不大于所述预设值时，第二扭矩阈值不变。
附图说明
图1为一实施例中割草机的结构框图。
图2为又一实施例中割草机发生碰撞时的示意图。
图3为又一实施例中割草机发生碰撞时不会发生磨草现象的原理图。
图4为又一实施例中割草机的结构框图。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但是本发明能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似改进，因此本发明不受下面公开的具体实施例的限制。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本实用新型的技术领域的技术人员通常理解的含义相同。本文中在本实用新型的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本实用新型。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，说明割草机的较佳实施方式。
本发明一实施例中的割草机，行走于草坪上进行割草工作。本实施例中，割草机为自动行走式割草机，工作区域为草坪。割草机在工作区域内行走工作，在工作区域内设置有停靠站，停靠站设置有充电模块，当割草机的储能模块储存的电力不足时，割草机返回停靠站通过充电模块进行充电。
参考图1和图2，割草机100包括壳体110、行走机构120、电机130、控 制装置140、切割机构(未示出)。其中，壳体110是其他元件的安装载体。控制装置140与切割机构电性连接以控制切割机构执行切割作业，使割草机在工作区域内行走时能够进行切割作业。
行走机构120用以支撑壳体110并驱动壳体110行走，其具有若干行走轮，行走轮包括驱动轮122和从动轮124。其中，驱动轮122位于壳体110后部，而从动轮124位于壳体110前部。壳体110具有一定宽度。驱动轮122的数量通常设置一对，分别位于壳体110中轴线的两侧。从动轮124的数量可设置一对，分别位于壳体110中轴线的两侧，也可以设置一个，位于壳体110中轴线上，安装在壳体110底部。当然，所有的行走轮都可以作为驱动轮。
电机130安装于壳体110，用以驱动行走机构120行走。其中，电机130的驱动轴直接与驱动轮122连接，或者通过传动机构来使驱动轮122转动，进而带动壳体110前进。另外，电机130还可以用以驱动割草机的切割机构。当然，也可以是利用专门的切割电机来驱动切割机构工作。
控制装置140安装在壳体110。参图1，控制装置140与电机130电连接。控制装置140被配置为可以限制电机130的最大实际输出扭矩。控制装置140可通过限制电机130的最大工作电流的方式来限制电机130的最大实际输出扭矩。
割草机100工作时，先启动电机130，即使电机130由停止状态启动进入运行状态。然后使电机130向驱动轮122传递动力，驱动割草机100在工作区域内行走正常工作，即执行切割作业。
参图3，一个实施例中，在电机130启动时，控制装置140控制电机130的最大实际输出扭矩与一个第一扭矩阈值的差异在预定范围内。其中，第一扭矩阈值为一个小于或等于电机130的最大输出扭矩的扭矩阈值，目的是在启动电机130时给予启动保护，避免损坏电机130，延长电机130的寿命。第一扭矩阈值可以由制造商预先设置，也允许使用者根据工况在使用前提前自行设定。
利用控制装置140控制电机130的最大实际输出扭矩与第一扭矩阈值的差异在预定范围内，可以是：控制电机130启动时的最大实际输出扭矩不超过第一扭矩阈值，即电机130的启动扭矩小于或等于第一扭矩阈值。
其中，控制装置140预设有第一扭矩阈值，如通过电路设计，使得电机130启动时的最大实际输出扭矩只能达到第一扭矩阈值。
一个实施例中，到控制电机130启动时的实际输出扭矩达到第一扭矩阈值时，控制装置140控制电机的工作电流保持不变，当然，控制装置也可以断开电机130的工作电流，起到过载保护的目的。
还可以是：控制电机130的最大实际输出扭矩超出第一扭矩阈值时超出值在预定范围内且在预定时间内，然后控制电机的最大实际输出扭矩不超过第一扭矩阀。换言之，允许电机130的启动时的最大实际输出扭矩在短时间内大于第一扭矩阈值。
一个实施例中，当电机130启动时的实际输出扭矩超过第一扭矩阈值且超过预定时间时，控制装置140控制电机的工作电流保持不变，当然，控制装置也可以断开电机130的工作电流，起到过载保护的目的。
参图3，割草机100在正常工作过程中，电机130的实际输出扭矩降低，小于第一扭矩阈值。驱动轮122克服草坪上草的阻力驱动割草机100前进。参图2，当遇到障碍200时，割草机100将受阻停止前进。此时，在碰撞发生而未触发碰撞传感器的短时间内，割草机100不会执行后退、转向等动作指令，而由于遇到阻力增加，电机130的实际输出扭矩将增大，作用于驱动轮122的扭矩将增大。
为了避免电机130的实际输出扭矩增大导致驱动轮122转动产生磨草现象。参图3，一个实施例中，控制装置140还被配置为具有第二扭矩阈值。第二扭矩阈值小于第一扭矩阈值，但大于割草机100正常工作时的实际输出扭矩。控制装置140配置为：当电机130处于运行状态且实际输出扭矩增大时，控制装置140控制电机130的实际输出扭矩不超过第二扭矩阈值，避免驱动轮122转动磨草。换言之，控制电机130的实际输出扭矩的增大不会超过第二扭矩阈值。
第二扭矩阈值的设置原则为：保证正常工作时驱动轮122能够克服草丛造成的阻力，同时又能保证遇到障碍时不能克服障碍时造成的阻力。类似地，第二扭矩阈值可以由制造商预先设定，也允许使用者根据工况自行设定。
当割草机100遇阻，电机130的实际输出扭矩不断增大。在一个实施例中， 电机130的实际输出扭矩增大到第二扭矩阈值时，控制装置140断开电机130的工作电流，使电机130停止，从而断开对驱动轮122的扭矩输出。自然地，驱动轮122不会被驱动转动，从而达到防磨草的目的。
在另一个实施例中，电机130的实际输出扭矩增大到第二扭矩阈值时，控制装置140也可以不断开电机130的工作电流，而是控制电机130的工作电流保持不变，这样，电机130的实际输出扭矩最大只能达到第二扭矩阈值。而如前所述，第二扭矩阈值的设置能保证遇到障碍时不能克服障碍时造成的阻力。换言之，此时电机130的实际输出扭矩刚好处于一个临界点，不会造成驱动轮122转动，达到防磨草的目的。
参图3，结合图2，当割草机100行走过程中遇到障碍200时，割草机100遇阻使电机130的实际输出扭力不断增大。此时，由于控制装置140还预设有第二扭矩阈值，电机130的实际输出扭矩最多只能增大到第二扭矩阈值，这样驱动轮122不会克服阻力转动，进而不会发生磨草现象。
由于存在密草、疏草等不同工况，而且一些密草工况下，割草机100正常行走时遇到的阻力可能比较接近于遇到障碍时的阻力。因此为了避免误判，保证割草机100在密草工况下仍能够正常切割，在一个实施例中，第二扭矩阈值是可调的，以适应不同草坪的工况。例如，控制模块140可以根据割草机100的切割机构的工作电流的变化调整第二扭矩阈值，以适应密草工况或疏草工况的不同要求。
在一个工作场景中，割草机100由疏草区域行走至密草区域作业时，由于切割阻力增大，故控制模块140调高第二扭矩阈值，避免出现电机130的实际输出扭矩不足以克服密草的阻力使得割草机100不能前进的情况，这样能保证正常的切割作业。
在一个工作场景中，割草机100由密草区域行走至疏草区域作业时，切割阻力减小，切割机构的工作电流减小，控制模块140调低第二扭矩阈值。这样遇到障碍200时，电机130的实际输出扭矩不会增大到能够克服障碍200阻力使驱动轮122转动的程度，避免磨草。
在一个实施例中，控制模块140将切割机构的工作电流与预设值对比，其 中当切割机构的工作电流大于预设值时，控制模块140调高第二扭矩阈值，反之则不变。这样，如果割草机100一开始即被置于密草区域，则控制模块140则先将第二扭矩阈值提高，然后再进一步根据切割机构的工作电流的变化调整第二扭矩阈值。如果割草机100一开始即被置于疏草区域，则控制模块140则暂不调高第二扭矩阈值，只是根据切割机构的工作电流的变化调整第二扭矩阈值，以适应由疏草区域到密草区域的作业情况变化。上述实施例中，当割草机100在行走过程中遇到障碍200时，实际输出扭矩即使增大，但并不会超过第二扭矩阈值。即通过预设最大的工作电流，实际输出扭矩增大到第二扭矩阈值时，控制装置140控制电机130的工作电流保持不变，实际输出扭矩处于等于第二扭矩阈值但不会造成驱动轮转动的平衡状态，达到防磨草的目的，或者断开电机130的工作电流达到防磨草的目的。
在一个实施例中，如图4所示，驱动轮122包括左右两个驱动轮122a和122b，相应的，电机130包括第一驱动电机130a和第二驱动电机130b，其中第一驱动电机130a驱动左驱动轮122a，第二驱动电机130b驱动右驱动轮122b。控制装置140包括第一控制模块140a和第二控制模块140b，其中第一控制模块140a控制第一驱动电机130a，第二控制模块140b控制第二驱动电机130b，以使每一个驱动电机能够单独驱动一个驱动轮。该实施例中，第一控制模块140a中预设第一驱动电机130a对应的第一扭矩阈值为a1，第二扭矩阈值为a2；第二控制模块140b中预设第二驱动电机130b对应的第一扭矩阈值为b1，第二扭矩阈值为b2。可以理解的是，为了满足不同场景需要，a1与b1可以设置为相同，也可以设置为不同。同理，a2与b2可以设置为相同，也可以设置为不同。
在一个实施例中，割草机100包括切割电机，驱动切割机构工作，切割电机由控制装置140控制。控制装置140预设有对应于切割电机的预设扭矩阈值。
在一个实施例中，控制装置140预设有对应于切割电机启动状态的第三扭矩阈值，使得切割电机启动时的最大实际输出扭矩只能达到第三扭矩阈值。控制装置140还被配置为具有与切割电机运行状态对应的第四扭矩阈值，第四扭矩阈值小于第三扭矩阈值，但大于切割电机正常工作时的实际输出扭矩。具体的，当切割电机处于运行状态且实际输出扭矩增大时，控制装置140控制切割 电机的实际输出扭矩不超过第四扭矩阈值。
一般的，第四扭矩阈值的设置为：保证正常工作时切割电机能够克服草丛造成的阻力，同时又能保证切割机构遇障或堵草状态下能够作出相应的动作，避免非正常工作。类似地，第三扭矩阈值和第四扭矩阈值可以由制造商预先设定，也允许使用者根据工况自行设定。
上述实施例中，割草机100主要以自动行走式割草机(又称智能割草机)为例进行说明。然而，割草机100也可以是其他类型的割草机。
例如，割草机100可以是手推式割草机，由使用者通过操作扶手来控制割草机的前进方向，及控制割草机的前进、后退、转向等动作。控制装置140可以自动地启动第二扭矩阈值或由使用者观察后给予控制指令。
又如，割草机100还可以是骑乘式割草机。与手推式割草机类似，区别在于，骑乘式割草机具有供使用者乘坐的座椅，使用者是坐在割草机上进行操作。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (15)

  1. 一种割草机，其特征在于，包括：
    壳体；
    行走机构，支撑并驱动所述壳体行走，所述行走机构包括驱动轮；
    电机，安装于所述壳体，用以驱动所述驱动轮转动；
    控制装置，预设有第一扭矩阈值和第二扭矩阈值，所述至少一个电机由停止状态启动至运行状态的过程中，所述控制装置控制所述至少一个电机的最大实际输出扭矩与第一扭矩阈值的差异在预定范围内，所述电机处于运行状态时，所述控制装置控制所述至少一个电机的实际输出扭矩最多增大至所述第二扭矩阈值，其中所述第一扭矩阈值小于等于所述电机的最大输出扭矩，所述第二扭矩阈值小于所述第一扭矩阈值。
  2. 根据权利要求1所述的割草机，其特征在于，包括至少两个电机，分别驱动至少两个驱动轮转动，所述控制装置独立的控制所述至少两个电机。
  3. 根据权利要求2所述的割草机，其特征在于，所述至少两个电机对应的第一和/或第二扭矩阈值相同。
  4. 根据权利要求2所述的割草机，其特征在于，所述至少两个电机对应的第一和/或第二扭矩阈值不同。
  5. 根据权利要求1所述的割草机，其特征在于，所述电机处于运行状态时，所述实际输出扭矩增大至所述第二扭矩阈值时，所述控制装置控制电机的工作电流保持不变。
  6. 根据权利要求1所述的割草机，其特征在于，所述控制装置通过控制电机的工作电流限制所述电机的实际输出扭矩。
  7. 根据权利要求1所述的割草机，其特征在于，所述控制装置控制所述电机的最大实际输出扭矩与所述第一扭矩阈值的差异在预定范围内，具体包括：
    控制所述电机的最大实际输出扭矩不超过所述第一扭矩阈值。
  8. 根据权利要求1所述的割草机，其特征在于，所述控制装置控制所述电机的最大实际输出扭矩与所述第一扭矩阈值的差异在预定范围内，具体包括：
    控制所述电机的最大实际输出扭矩超出所述第一扭矩阈值时超出值在预定范围内且在预定时间内，然后控制所述电机的最大实际输出扭矩不超过所述第 一扭矩阈值。
  9. 根据权利要求7所述的割草机，其特征在于，所述电机的最大实际输出扭矩达到所述第一扭矩阈值时，所述控制装置控制电机的工作电流保持不变。
  10. 根据权利要求1所述的割草机，其特征在于，所述割草机为自动行走式割草机。
  11. 根据权利要求1所述的割草机，其特征在于，所述割草机还包括切割机构，所述控制装置与所述切割机构电性连接以控制所述切割机构执行切割作业。
  12. 根据权利要求1所述的割草机，其特征在于，所述第二扭矩阈值可调。
  13. 根据权利要求12所述的割草机，其特征在于，所述控制模块根据割草机的切割机构的工作电流的变化调整所述第二扭矩阈值。
  14. 根据权利要求13所述的割草机，其特征在于，所述切割机构的工作电流增大时，所述控制模块调高所述第二扭矩阈值，所述切割机构的工作电流减小时，所述控制模块调低所述第二扭矩阈值。
  15. 根据权利要求13所述的割草机，其特征在于，所述控制模块将切割机构的工作电流与预设值对比，其中当所述切割机构的工作电流大于预设值时，所述控制模块调高所述第二扭矩阈值，所述切割机构的工作电流不大于所述预设值时，第二扭矩阈值不变。
PCT/CN2018/074177 2017-01-25 2018-01-25 割草机 WO2018137687A1 (zh)

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