Background technology
Hay mower is widely used in mowing by the selected mode of hobby of people.Some operation pedestrians likeWhen with custom grass trimmer, slightly larger strength is made on latter half of upper handrail and has a kind of feeling of dependence and pushing, this is with regard to nothingThe hanging possibility of the tilting of front-wheel is increased in shape；And the design of grass trimmer should also look after the comfortable and square of user as far as possibleJust.Also lacked using being stuck up before the grass trimmer of petrol engine, because of engines heavy.But before sticking up especially the near front wheel before also havingThe bad phenomenon stuck up occurs.For power-operated mower, since motor is lighter than engine, and motor axis will driveThe prodigious hay knife of tactical diameter, but cannot too forward installation, therefore the front-wheel of power-operated mower stick up lift phenomenon it is more common.It says again, according to related standard such as GB4706.78-2005；IEC60335-2-77-2002；The standards such as EN836-1997, especiallyIt is EN836/A3-2004/ 4.2.3.2.1~4.2.3.2.3.3, there is the code requirement on 16.7 degree of slope.Add in complete machine frontCounterweight sand pot, installation will change chassis, to add three holes position, also want gaza's stone, cumbersome.Counterweight because heavier, transportation cost also compared withIt is high.Separately there is common grass-mowing machine, do not have to knife, the moving head for having nylon wire is driven by series excited machine.When installing grass-mowing machine, and openIt is dynamic that the nylon wire in reel 25-3 is made to rotate, it can beat the grass.When line in short-term, operator's pier pressure once, reel aluminium head 25-3b touches ground, and reel spring 25-1 is made to compress, and reel 25-3 is made to turn, and the nylon wire 134 in it is made to lead to wire over inserted sheet25-6, and unwrapping wire.The long line released is trimmed by blade 127.Blade sleeve 126 is placed on blade 127 when not used, is had anti-Shield acts on.Moving head effect of beating the grass is good, power saving lighter and handier than knife, but because needing pier to press line, and can not be mounted in the common mowing for having wheelOn machine.
The common widely used engine of hay mower, scope of activities is wide, but wants oil consumption, exhaust pollution environment.SomeOperation pedestrian likes using power-operated mower, but is limited by power supply, and the widely used of this grass trimmer is also restricted.JustNeed gas station the same like automobile, power-operated mower is also required to charging station, and market needs a kind of improved tool automatic charging pin to insertEnter and extracts the intelligent grass-removing of contact chip component so as to reliably automatic plug charging；But how micro plug servo-actuatedly is filledElectricity is a problem, and innovation design is hovered such as ghost for a long time, and Switzerland senior engineer SENI.ENGI. lifetimes experience and the world are borrowedCooperation, charging of sequentially forming into columns, is thousand worries and good fortune has one to obtain, and then improved tool intelligent robot grass trimmer of the invention is mutualThe wisdom garden one station multimachine of networking Internet of Things framework just comes into being, and solves battery and is not durable and frequently need to manually chargeThe problem of problem and the micro reliable plug in servo-actuated ground are charged.Continuously improve and perfect improved tool automatic charging pin be inserted intoAnd on the basis of extracting the intelligent grass-removing of contact chip component, further exploitation tool intelligent robot grass trimmer passes through LANA station multimachine for wisdom garden.Its resultant effect is to expand use scope, reinforces the soil moisture conservation of pressure grass and safety, and saveEnergy and environmental protection.
The present invention relates to a kind of for the hay mower that places cut the grass on a lawn beside garden, park and road etc., is to changeInto tool automatic charging pin be inserted into and extract contact chip component intelligent grass-removing；It is to contain to be located at lawnmower chassis front at itAnticollision safety device and containing equipped with anticollision insure can automatic stop logatithmic spiral brake and equipped with low vibration foliage pressure-vacuum machine andThe dust bag bracket containing installation and tying and bodice upper casing dust mouth add soft, blow impeller and add cutting edge, circuit that insurance is added to be opened with doubleThe material and honeycomb of additional silencing vibration-damping, idler wheel are changed to turn in pass and blower, and single cylinder that stretches out is changed to stretch moreOutlet pipe or flexible folding pipe, it is comprehensive to set pressure-vaccum and moving head and the tube rolling device equipped with the liquid line for pouring and applying fertilizer and spill medicineMulti-functional grass trimmer on the basis of, then set it is improved tool automatic charging pin be inserted into and extract contact chip component intelligence cutCareless machine, so that reliably automatic plug charges；Need gas station the same just like automobile, power-operated mower is also required to charging station, cityA kind of tool automatic charging pin is needed to be inserted into and the intelligent grass-removing of the charging assembly of extracting contact chip, so as to reliably automaticPlug charging；Then it is a kind of it is improved tool automatic charging pin be inserted into and extract contact chip component intelligent grass-removing just meet the tendency of andRaw, solving the problems, such as that battery is not durable frequently need to manually charge；Improved tool automatic charging pin is inserted into and extracts contact chipThe intelligent grass-removing of component is inserted into containing improved tool automatic charging pin and extracts contact chip component；The tool automatic chargingPin is inserted into and extracts contact chip component, the fixed power supply part of the automatic charging pin insertion part containing tool, also machine containing grass trimmerThe tool of body extracts the movable electric component of contact chip；The fixed power supply part of the tool automatic charging pin insertion part, ifHave and is horizontally arranged in the bottom plate of earth's surface, the front wall for standing on front, power supply source, fot screw, the bottom plate for being horizontally arranged in earth's surfaceLeft side and right side are respectively provided with along the symmetrical guided way of axis (233c), so as to the front to grass trimmer fuselage along axisSymmetrical left side and right side are oriented to；And each the be equipped with edge in left side and right side of the bottom plate for being horizontally arranged in earth's surfaceThe curved section of each guided way of the symmetrical guided way of axis (233c) is a cube curve, to slow down impact；The levelFour feet for being laid on the bottom plate of earth's surface are equipped with the fot screw, to fix；The front of the bottom plate for being horizontally arranged in earth's surface is setThere is the front wall for standing on front；The front wall for standing on front is equipped with each along the symmetrical left side of axis and right sideOne the charging pin ((233), the charging pin (root of (233) is equipped with pin ball (233a), so as to micro servo-actuated,(root of (233) is equipped with screw thread to the charging pin, to be connected with the power supply source；Charging pin (the head of (233)Portion is equipped with inserting surface (233b), so that the pin that charges is inserted into and extracts contact chip；The bottom plate for being horizontally arranged in earth's surface is along central axesIt is laid with and draws and be equipped with along earth's surface in working region the conducting wire of leading the way of electromagnetic pulse, will pass through grass trimmer lower frontSensor (234d) and when being charged by circuit board intelligently guiding grass trimmer walking to tool automatic charging pin insertion sectionBeing equipped with for the fixed power supply part of part is horizontally arranged on the bottom plate of earth's surface；It is described to extract the movable by electricity of contact chip containing toolComponent is located at grass trimmer front, described to extract the movable electric component of contact chip containing the grass trimmer lower front containing toolSensor (234d) and be located at the contact chip (234) and tabletting torsional spring (234a) and shaft of grass trimmer front；The contactPiece (234) and tabletting torsional spring (234a) and shaft it is each altogether there are four, each described contact chip (234) and tabletting torsional spring(234a) and shaft form a dodge gate, and each described described contact chip (234) and tabletting torsional spring (234a) andOne dodge gate of shaft composition is formed with each described described contact chip (234) and tabletting torsional spring (234a) and shaftAnother dodge gate formed aspectant split two-door, left and right side respectively has facing for the two-door dodge gateContact surface (the edge that (234b) corresponding described front wall for standing on front is equipped with of each of face contact chip (234)Charging pin (the inserting surface that the head of (233) is equipped in the symmetrical left side of axis and right side each one(233b) leans on the micro servo-actuated insertion of pin ball (233a) by charging pin；Grass trimmer retrogressing can be started when being charged to setting value, make to fillElectricity pin extracts contact chip, then works；Grass trimmer walking the consolidating to the tool automatic charging pin insertion part when charging againFixed power supply part being horizontally arranged on the bottom plate of earth's surface and being inserted by charging pin.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, the left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along the symmetrical guided way of axisThe curved section of (233c) is in mutually toroidal, to be matched with the auxiliary guide rod (234e) of grass trimmer front side edge.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, the left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along the symmetrical guided way of axisThe curved section of each guided way of (233c) is a cube curve, so as to auxiliary guide rod (234e) phase with grass trimmer front side edgeMatch and impact-reducing.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, the fot screw that four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with is swell fixture.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, charging pin (the pin ball (233a) that the root of (233) is equipped with is that cross pin is equipped on spheric seat,So as to micro servo-actuated.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, (there are two nuts for dress on the screw thread that the root of (233) is equipped with, with anti-loosening for the charging pin.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, (orientation device (233a) that the root of (233) is equipped with is packed into thick rubber pad to the charging pin, so as to fine motionImpact resistance.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, (inserting surface (233b) that the head of (233) is equipped with is wedge to the charging pin.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, there are two the close circle torsional springs of the tabletting torsional spring (234a).
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, (one section of curve of (234b) is logatithmic spiral, i.e. etc. because of logatithmic spiral for the contact surface of the contact chip (234)Angle spread has pressure angle equal characteristic everywhere, is conducive to contact and is inserted into.
Continuously improve and perfect improved tool automatic charging pin be inserted into and extract contact chip component intelligent grass-removingOn the basis of, further exploitation has the one station multimachine of wisdom garden of intelligent robot grass trimmer internet Internet of Things framework.
The one station multimachine of wisdom garden for having intelligent robot grass trimmer internet Internet of Things framework fills automatically containing improved toolElectricity pin is inserted into and extracts contact chip component；The tool automatic charging pin is inserted into and extracts contact chip component, is filled automatically containing toolThe tool of the fixed power supply part of electricity pin insertion part, the also fuselage containing grass trimmer extracts the movable electric component of contact chip；InstituteThe fixed power supply part for stating tool automatic charging pin insertion part, before being horizontally arranged in the bottom plate of earth's surface, standing on frontWall, power supply source, fot screw, the unilateral side of the bottom plate for being horizontally arranged in earth's surface are equipped with the preceding inlet wire along unilateral preceding universal wheelAnd symmetrical guided way (233c), to be given along the left and right of the preceding inlet wire of unilateral preceding universal wheel the fore-body of grass trimmerTo be oriented to；And the bottom plate for being horizontally arranged in earth's surface left side and right side it is each be equipped with along the symmetrical guided way of axisThe curved section of each guided way of (233c) is a cube curve, to slow down impact；The four of the bottom plate for being horizontally arranged in earth's surfaceFoot is equipped with the fot screw, to fix；The front of the bottom plate for being horizontally arranged in earth's surface is equipped with the described front stood onFront wall；The front wall for standing on front is equipped with the charging pin along the symmetrical left side of axis and right side each one((233), (root of (233) is equipped with pin ball (233a) to the charging pin, so as to micro servo-actuated, described charging pin(root of (233) is equipped with screw thread, to be connected with the power supply source；(head of (233) is equipped with inserting surface to the charging pin(233b), so that the pin that charges is inserted into and extracts contact chip；The bottom plate for being horizontally arranged in earth's surface is laid with along central axes and draws simultaneouslyThe conducting wire of leading the way of electromagnetic pulse is equipped with along earth's surface in working region, will pass through the sensor of grass trimmer lower front(234d) and fixation of the walking to tool automatic charging pin insertion part when being charged by circuit board intelligently guiding grass trimmerPower supply part be equipped be horizontally arranged on the bottom plate of earth's surface；The movable electric component that contact chip is extracted containing tool is located atGrass trimmer front, it is described to extract the movable electric component of contact chip containing the sensor of the grass trimmer lower front containing tool(234d) and the contact chip (234) and tabletting torsional spring (234a) and shaft for being located at grass trimmer front；The contact chip (234)And tabletting torsional spring (234a) and shaft it is each altogether there are four, each described contact chip (234) and tabletting torsional spring (234a) andShaft one dodge gate of composition, and what each described described contact chip (234) and tabletting torsional spring (234a) and shaft formedAnother work of one dodge gate and each described described contact chip (234) and tabletting torsional spring (234a) and shaft compositionDynamic door forms aspectant split two-door, and left and right side respectively has aspectant each institute of the two-door dodge gate((234b) corresponding described front wall for standing on front is equipped with symmetrical along central axes the contact surface for the contact chip (234) statedLeft side and right side each one the charging pin (inserting surface (233b) that the head of (233) is equipped with, by chargingPin leans on the micro servo-actuated insertion of pin ball (233a)；Grass trimmer retrogressing can be started when being charged to setting value, charging pin is made to extract contactPiece then works；Fixed power supply part of the grass trimmer walking to the tool automatic charging pin insertion part when charging againBe horizontally arranged on the bottom plate of earth's surface and by charging pin be inserted into；Each institute in left side and right side of the bottom plate for being horizontally arranged in earth's surfaceThe curved section for each guided way along the symmetrical guided way of axis (233c) being equipped with is a cube curve, so as to grass trimmerThe auxiliary guide rod (234e) of front side edge matches and impact-reducing；The institute that four feet of the bottom plate for being horizontally arranged in earth's surface are equipped withIt is swell fixture to state fot screw；The pin ball (233a) that the root of the charging pin (233) is equipped with, is set on spheric seatThere is cross pin, so as to micro servo-actuated；The charging pin (on the screw thread that the root of (233) is equipped with dress there are two nut, withIt is anti-loosening；The inserting surface (233b) that the head of the charging pin (233) is equipped with is wedge；The tabletting torsional springThere are two the close circle torsional springs of (234a)；The contact chip (234) contact surface (one section of curve of (234b) is logatithmic spiral,Because logatithmic spiral, that is, equiangular spiral has pressure angle equal characteristic everywhere, it is conducive to contact and is inserted into；The tool intelligent robot is cutThe one station multimachine of wisdom garden of careless machine internet Internet of Things framework, (root of (233) is equipped with the charging pin being equipped withPin ball (233a) is on recessed half ball seat and the pin of the coaxial line of the left and right each one of the pin ball is respectively seated at around respectivelyIn one U-lag, so that fine motion is servo-actuated and impact resistance；Random delay does system emulation formation charge control intelligence grass with functionWhat the fixed power supply part of its tool automatic charging pin insertion part contained of lawn mower was equipped with described is horizontally arranged in groundThe unilateral side of the bottom plate of table is equipped with the preceding inlet wire along unilateral preceding universal wheel and symmetrical narrow guided way (233c), described narrowThe intermediate groove of guided way (233c) is only capable of accommodating the preceding universal wheel of the unilateral front-wheel of grass trimmer, the narrow guided wayThe left and right width of (233c) is less than the half of the width of grass trimmer, and each guided way of the narrow guided way (233c) is to containThe toroidal of cube curved section of the function curve of higher mathematics, to slow down impact and preceding universal wheel to be made to be oriented to half ofSlot coordinates and is oriented to along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer and expands mowing faceProduct, avoiding having between original two wide guided ways, the half to keep left is the areas Lou Ge or the half to keep left is the areas Shang Dao or leans onLeft half is to hinder guide rail area；Have the one station multimachine of wisdom garden of intelligent robot grass trimmer internet Internet of Things framework, featureBe, it is described tool automatic charging pin insertion part fixed power supply part bottom plate on be connected to photovoltaic generation charging pile andBeing laid on earth's surface along mowing border has the conducting wire of leading the way of electromagnetic pulse to besiege circle, in the paving along grass cutting action region borderIn putting more hay mowers in the conducting wire besieging circle of leading the way for having electromagnetic pulse of earth's surface, described every lawn is mowedMachine is formed a line by direction in length and breadth come volume of keeping order equipped with compass compass in operation；The tool automatic charging pinBetween the fixed power supply part and hay mower of insertion part, using the sense of operation when tool aware circuit Multifunctional flat directorKnow the remote of more chargings of sequentially forming into columns, it is artificial it is semi-automatic with mobile phone rectify a deviation correction sensor wire electromagnetic field detecting head andMultiple video cameras and laser and supersonic sounding device perceive and are remotely controlled each gardens working machine by the Big Dipper positioning of internetOrder charges；The working machine is taken not containing intelligentized charge management circuit is taken according to the practical battery condition of battery packSame charging strategy ensures system work；Different charging strategies is taken according to the practical battery condition of battery pack；When batterySingle-unit battery core voltage is less than 2.7V/CELL, and since system operating current is larger, battery core remaining capacity is being not enough to maintenance system justOften work directly to system power supply and is charged the battery by the voltage for base station of charging at this time, and concrete operating principle is as follows：WhenSystem detectio cell voltage when charging station when machine is linked into, if voltage is less than 2.7V/CELL, at this point, MCU is sent outBD_EN, BT_ctr control signal be all low level, TF14 MOS conducting, charging base station to system power supply, meanwhile, TF10MOS ends, and prevents battery to system power supply, avoids battery over-discharge, the work of each section circuit as follows：Battery voltage detectionCircuit：When system works, the branch pressure voltage of AD input pin detection resistances R142, R146, R147 of MCU are calculated through over-samplingThe voltage value of battery, and compared with the charge threshold of software setting, to control charging modes；
The voltage that microcontroller micro control unit chip MCU is sampled：
V=(R146//R147) * (R142+R146//R147) * Vbattery
The effect of wherein TF15MOS field-effect tube is as follows：
When system is under normal power supply state, the poles G of MOS are powered by 12V voltages to the poles G, and G pole tensions are：
VG-S=R127/ (R126+R127) * 12V
This voltage ensures the reliable conducting of TF15 pipes, and battery voltage sampling circuit work, when system cut-off, TF15 is because of G, STerminal voltage is ended for zero, and battery voltage sampling circuit disconnects, and prevents battery by this circuit discharging, reducing machine does not makeElectric quantity consumption in the case of,
When machine be linked into the case of system cut-off charging base station, at this time because the BT_ctr signals of MCU be low level,Triode Q28 cut-offs, and the voltage at the ends B-E of triode Q27 is：
VB-E=VCIN+*R212/ (R210+R212),
This voltage value is more than the on state threshold voltage of triode, and triode Q27 conductings, the ends G-S of TF14MOS pipes are electric at this timePressure is：
VG-S=VCIN* (1-R211/ (R209+R211))
Therefore TF14 is connected, base station voltage VCIN+, to system power supply, system Auto Power On, and is detected whether by TF14Meet charge condition；In charging process, when MCU is detected, charging voltage is more than 2.7V/CELL, control signal BT_ctr,BD_EN is switched to high level by low level, and charged state switches as described below：
When being switched to high level by low level because of BT_ctr signals, triode Q28 is led by cut-off state switched conductive stateThe base voltage of triode Q27 is caused to be reduced to no-voltage and end, TF14 ends therewith,
Base station is disconnected to system power supply channel,
While BT_ctr signals are switched to high level by low level, BD_EN signals are also switched to high electricity by low levelFlat, triode Q16 is switched to conducting state by cut-off state, and the voltage drop at R138 resistance both ends is more than the G-S electric conductions of TF10Pressure, TF10 MOS are connected therewith, at this point, while base station supplying channels disconnect, by battery to system power supply,
The effect of D23A diodes：In the other working conditions of system, the state in addition to charging, to prevent cell voltageCIN+ signal ends are added to by the body diode of TF14, system is made to be judged as, into charged state and maloperation, adding an obstruction twoPole pipe；The effect of D23 diodes：In charged state, charging voltage is prevented to charge the battery by the body diode of TF10；
This system uses intelligentized charging management system, the data in multiple charge data detections and charging process to surveyAmount, provides multiple protection functions, to ensure charging safety；
Chip MCU determines the size of charging, and charge cutoff voltage and electric current according to setting by detecting cell voltageValue, decision when terminate charging, with ensure charging safety and raising battery service life,
MCU controls the size of charging current by controlling the level condition of ChrgEn1, ChrgEN2 signal,
When MCU is detected, cell voltage is less than 2.7V/CELL, charged the battery using low current, at this point,ChrgEn1 signals are low level, meanwhile, ChrgEN2 signals are high level, and triode Q20 is connected, and triode Q19 is led therewithLogical, base station voltage is charged the battery by resistance R164, R164A, R164B, Q19,
The effect of resistance R164, R164A, R164B are as follows：
Metering function is played, charging current is：
IChrg=(VCIN+-Vbattery)/(R164+R164A+R164B)
It avoids cell voltage too low, by base station voltage pull-down, leads to system cisco unity malfunction；
When MCU is detected, cell voltage is higher than 2.7V/CELL, charged the battery using high current, at this point,ChrgEn1 signals are switched to high level, meanwhile, ChrgEN2 signals are switched to low level, triode Q21 conductings, metal-oxide-semiconductor TF12Be connected therewith, base station voltage is charged the battery by resistance TF12MOS pipes, charging current by base station charger current size LaiIt determines, R176, R181 are current sampling resistor, when the voltage that charging current flows through the generation of this resistance is more than MCU setting charging thresholdsWhen threshold voltage, MCU thinks the overcurrent that charges, and stops charging immediately；
Charge cutoff condition：
When battery stagnation pressure is more than 4.15V/CELL or charging current is less than 200mA, stops charging, battery is avoided to occurIt overcharges；System power supply circuit：
This system power-supply service provided by the way of Switching Power Supply and linear stabilized power supply combination 12V needed for system,5V、
3.3V voltages, specific works are described as follows：
Cell voltage or base station supply voltage are added in the input pin 1 of Switching Power Supply transformation chip, when switch control pin 5For low level when, control chip interior connection pin 1 and pin 2 between metal-oxide-semiconductor be on off state, metal-oxide-semiconductor is eachThe turn-on time of a switch periods depends on the mistake that output voltage feeds back to the feedback voltage and built-in reference voltage at 4 end of pinThe size of difference,
MOS conducting states are set in the chip, and input voltage provides energy, while inductance L1 by inductance L1 to output+12VWith capacitance C64 during this period also can storing up electricity energy,
When MOS is disconnected, the electric energy being stored on inductance L1 in a upper turn-on cycle can release, and be supplied to loadElectricity, diode D21 provide current loop to inductance L1, and when energy reduces on L1, C64 supplements provide voltage, maintain outputVoltage+12V is constant；
The operation principle of built-in switch pipe is as described below：
When loading increasing, output voltage reduces, while the voltage of feedback pin 4 decreases, the base with chip interiorThe error amount of quasi- voltage increases, and as a result lengthens the turn-on time of built-in MOS, and more electricity increase output end, keeps output electricThe nearly setting pressure of crimping, maintains output voltage stabilization；
Similarly, when output loading reduces, output voltage rises, therefore feedback voltage reduces with reference voltage error, leadsIt causes built-in MOS switch pipe turn-on time to reduce, reduces the electricity that feeder ear is supplied to load end, output is made to fall after rise to settingVoltage value, the above variation because of load causes output voltage and sets the error amount of voltage value, and output voltage is made to remain dynamicInput voltage is directly transformed to the voltage needed for system by the stationary value of state balance because Switching Power Supply is operated on off state,Cancel the energy expenditure of linear power supply input and output voltage difference, therefore, with efficient, simultaneity factor calorific value is small,
Offer system functional reliability,
U18, U16 are three terminal regulator, provide 5V, 3.3V operating voltage needed for system；
Motor control part principle：
Control principle drawing is as follows：
When collision alarm is sent to MCU by Hall sensor, MCU will control the BLADE_DIR's in motor operation directionSignal is switched to high level by low level, after the processing of following negative circuit, generates low level BLADE_P7 signals to electricityMachine driving chip U13, motor switch inverted status by rotating forward, and machine executes fall back action, and left and right movable motor hasIdentical function；
The electromechanical machine speed control circuit schematic diagram of Figure 20 intelligence gardens work is please referred to below：
Motor speed control principle：
Under different working conditions, motor operation speed also differs machine, it is therefore desirable to feed back the operation speed of motorIt spends signal and drives core U13 to motor, this system design uses dedicated motor speed detection chip, to generate motor speed controlFeedback voltage needed for system, without expensive tachometer, U12, you can realize this function,
Concrete operating principle is as described below：
Be motor driven chip U13 as electronics rotor position decoding Hall sensor output signal occur it is positive or negativeSaltus step can make U12 generate the pulse of an amplitude and duration, and parameter is determined by non-essential resistance R101, C48,Output pulse at the pin 5 of U12 is integrated by the error amplifier of U13, to generate a DC level, the level and motorSpeed is directly proportional, this velocity feedback voltage establishes PWM datums at the pin 13 of U13, and is closed into feedback control loop, defeatedGo out to drive the control signal of MOS, meanwhile, the PWM reference voltages at U13 pins 13, which are fed back to MCU, has analog-digital conversion functionPin, so that MCU learns motor actual motion speed, and control is adjusted according to the difference of actual motion velocity amplitude and setting valueVoltage processed,
Interlock circuit is described as follows：
RMOT_DAC is that the target velocity of MCU outputs controls the voltage value, (amplification factor=1+ after operational amplifier amplifiesR5/R12), send to the pin 11 of right movable motor driving chip, draw the difference of target velocity voltage and actual speed voltageAfter the amplification of chip interior error amplifier, the reference voltage signal RMOT_P6 that above-mentioned PWM is adjusted is exported at pin 13.
Specific implementation mode
Pedestrian's grass trimmer is operated, safety goggles and mask are preferably put on, power supply is checked, mixes lithium battery or power supply is longLine checks again for insuring, and by operation instructions, runin once, has checked leaf area without cullet and electric wire, in the feelings of safetyIt can just be made of grass trimmer under condition, while notably rain situation.Considerably increase the power-operated mower of common live wireMowing range.Perhaps grow up on the basis of it can be said that having started a kind of grass trimmer having winder again in existing moving headTool intelligent robot grass trimmer by LAN be used for wisdom garden a such a new technical field of station multimachine.It hasBeneficial place is to solve the problems, such as power supply and mow all.
The present invention relates to a kind of for the hay mower that places cut the grass on a lawn beside garden, park and road etc., is to changeInto tool automatic charging pin be inserted into and extract contact chip component intelligent grass-removing；It is to contain to be located at lawnmower chassis front at itAnticollision safety device and containing equipped with anticollision insure can automatic stop logatithmic spiral brake and equipped with low vibration foliage pressure-vacuum machine andThe dust bag bracket containing installation and tying and bodice upper casing dust mouth add soft, blow impeller and add cutting edge, circuit that insurance is added to be opened with doubleThe material and honeycomb of additional silencing vibration-damping, idler wheel are changed to turn in pass and blower, and single cylinder that stretches out is changed to stretch moreOutlet pipe or flexible folding pipe, it is comprehensive to set pressure-vaccum and moving head and the tube rolling device equipped with the liquid line for pouring and applying fertilizer and spill medicineMulti-functional grass trimmer on the basis of, then set it is improved tool automatic charging pin be inserted into and extract contact chip component intelligence cutCareless machine, so that reliably automatic plug charges；Need gas station the same just like automobile, power-operated mower is also required to charging station, cityA kind of tool automatic charging pin is needed to be inserted into and the intelligent grass-removing of the charging assembly of extracting contact chip, so as to reliably automaticPlug charging；Then a kind of one station multimachine of wisdom garden of improved tool intelligent robot grass trimmer internet Internet of Things framework is justIt comes into being, solving the problems, such as that battery is not durable frequently need to manually charge；Improved tool intelligent robot grass trimmer interconnectionThe one station multimachine of wisdom garden of net Internet of Things framework is inserted into containing improved tool automatic charging pin and extracts contact chip component；It is describedTool automatic charging pin be inserted into and extract contact chip component, containing tool automatic charging pin insertion part fixed power supply part,The tool of the also fuselage containing grass trimmer extracts the movable electric component of contact chip；The fixation of the tool automatic charging pin insertion partPower supply part, equipped with being horizontally arranged in the bottom plate of earth's surface, the front wall for standing on front, power supply source, fot screw, the horizontal pavingIt is respectively provided with along the symmetrical guided way of axis (233c), so as to the front to grass trimmer in the left side of the bottom plate of earth's surface and right sideFuselage be oriented to along the symmetrical left side of axis and right side；And the left side and the right side of the bottom plate for being horizontally arranged in earth's surfaceThe curved section of each the be equipped with each guided way along the symmetrical guided way of axis (233c) in side is a cube curve, to subtractBuffer；Four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with the fot screw, to fix；It is described to be horizontally arranged in groundThe front of the bottom plate of table is equipped with the front wall for standing on front；The front wall for standing on front is equipped with along central axes pair((233), (root of (233) is equipped with pin ball to the charging pin to the charging pin in the left side and right side each one of title(233a), so that (root of (233) is equipped with screw thread to micro servo-actuated, described charging pin, to be connected with the power supply source；Institute(head of (233) is equipped with inserting surface (233b) to the charging pin stated, so that the pin that charges is inserted into and extracts contact chip；The horizontal pavingThe conducting wire of leading the way of electromagnetic pulse is laid with and drawn and be equipped with along earth's surface in working region along central axes in the bottom plate of earth's surface, so as toWalking is to described when being charged by the sensor (234d) of grass trimmer lower front and by circuit board intelligently guiding grass trimmerHave being equipped with for the fixed power supply part of automatic charging pin insertion part to be horizontally arranged on the bottom plate of earth's surface；It is described to be extracted containing toolThe movable electric component of contact chip is located at grass trimmer front, and the movable electric component that contact chip is extracted containing tool contains instituteThe sensor (234d) for the grass trimmer lower front stated and the contact chip (234) and tabletting torsional spring for being located at grass trimmer front(234a) and shaft；The contact chip (234) and tabletting torsional spring (234a) and shaft it is each altogether there are four, described in eachContact chip (234) and tabletting torsional spring (234a) and shaft one dodge gate of composition, and each described described contact chip(234) and a dodge gate and each described described contact chip (234) and pressure of tabletting torsional spring (234a) and shaft compositionAnother dodge gate of piece torsional spring (234a) and shaft composition forms aspectant split two-door, and left and right side respectively has((234b) is corresponding described to be stood the contact surface of aspectant each contact chip (234) of the two-door dodge gateFront wall in front be equipped with along the symmetrical left side of axis and the charging pin (head of (233) on right side each oneThe inserting surface (233b) being equipped with leans on the micro servo-actuated insertion of pin ball (233a) by charging pin；The meeting when being charged to setting valueStart grass trimmer to retreat, so that charging pin is extracted contact chip, then work；When charging again, grass trimmer walking has certainly to describedThe fixed power supply part of dynamic charging pin insertion part being horizontally arranged on the bottom plate of earth's surface and being inserted by charging pin.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, the left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along the symmetrical guided way of axisThe curved section of (233c) is in mutually toroidal, to be matched with the auxiliary guide rod (234e) of grass trimmer front side edge.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, the left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along the symmetrical guided way of axisThe curved section of each guided way of (233c) is a cube curve, so as to auxiliary guide rod (234e) phase with grass trimmer front side edgeMatch and impact-reducing.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, the fot screw that four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with is swell fixture.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, charging pin (the pin ball (233a) that the root of (233) is equipped with is that cross pin is equipped on spheric seat,So as to micro servo-actuated.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, (there are two nuts for dress on the screw thread that the root of (233) is equipped with, with anti-loosening for the charging pin.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, (the pin ball (233a) that the root of (233) is equipped with is packed into thick rubber pad to the charging pin, resistance to so as to fine motionImpact.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, (inserting surface (233b) that the head of (233) is equipped with is wedge to the charging pin.
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, there are two the close circle torsional springs of the tabletting torsional spring (234a).
It continuously improves and perfect improved tool automatic charging pin is inserted into and extracts the intelligent grass-removing of contact chip component,It is characterized in that, (one section of curve of (234b) is logatithmic spiral, i.e. etc. because of logatithmic spiral for the contact surface of the contact chip (234)Angle spread has pressure angle equal characteristic everywhere, is conducive to contact and is inserted into.
Usefulness：The one station multimachine of wisdom garden of improved tool intelligent robot grass trimmer internet Internet of Things framework can be certainlyIt is characterized in that the charging is sold, (the pin ball (233a) that the root of (233) is equipped with, is equipped on spheric seat for dynamic plug chargingCross pin solves the problems, such as the reliable plug charging in micro servo-actuated ground.Need gas station the same just like automobile, electric grass-cuttingMachine is also required to charging station, and market needs the intelligent grass-removing that automatic charging pin plugs, and solving that battery is not durable need to be frequently artificialThe problem of charging；It is each be equipped with along the symmetrical guided way of axis that it is horizontally arranged in the left side of the bottom plate of earth's surface and right sideThe curved section of each guided way of (233c) is a cube curve, to slow down impact；The contact surface of the contact chip (234)(one section of curve of (234b) is logatithmic spiral, because logatithmic spiral, that is, equiangular spiral has pressure angle equal characteristic everywhere, profitIt is inserted into contact.The contact chip (234) and tabletting torsional spring (234a) and shaft it is each altogether there are four, formed it is aspectant rightThat opens is two-door, and left and right side respectively has connecing for aspectant each contact chip (234) of the two-door dodge gateContacting surface ((234b) corresponding described front wall for standing on front be equipped with along the symmetrical left side of axis and right side each one(inserting surface (233b) that the head of (233) is equipped with, to charge, pin is inserted into the charging pin, is set when being charged toGrass trimmer can be started when value to retreat and go to mow；It is reciprocal with this when charging again in grass trimmer walking to bottom plate.Guided wayIt is technological progress with cube curve and contact surface with logatithmic spiral.
It continuously improves and perfect, in the intelligent grass-removing that improved tool automatic charging pin is inserted into and extracts contact chip componentOn the basis of develop the one station multimachine of wisdom garden of tool intelligent robot grass trimmer internet Internet of Things framework, contain improved toolAutomatic charging pin is inserted into and extracts contact chip component；The tool automatic charging pin is inserted into and extracts contact chip component, containing toolThe tool of the fixed power supply part of automatic charging pin insertion part, the also fuselage containing grass trimmer extracts the movable by electricity of contact chipComponent；The fixed power supply part of the tool automatic charging pin insertion part, before being horizontally arranged in the bottom plate of earth's surface, standing onThe unilateral side of front wall, power supply source, the fot screw of side, the bottom plate for being horizontally arranged in earth's surface is equipped with along unilateral preceding universal wheelPreceding inlet wire and symmetrical guided way (233c), so as to the preceding inlet wire to the fore-body of grass trimmer along unilateral preceding universal wheelLeft and right is oriented to；And the left side of the bottom plate for being horizontally arranged in earth's surface and right side is each be equipped with leads along axis is symmetricalCurved section to each guided way of rail (233c) is a cube curve, to slow down impact；The bottom plate for being horizontally arranged in earth's surfaceFour feet be equipped with the fot screw, to fix；Before the front of the bottom plate for being horizontally arranged in earth's surface is equipped with described stand onThe front wall of side；The front wall for standing on front is equipped with the charging along the symmetrical left side of axis and right side each one((233), (root of (233) is equipped with pin ball (233a) to the charging pin to pin, so as to micro servo-actuated, described charging pin(root of (233) is equipped with screw thread, to be connected with the power supply source；(head of (233) is equipped with inserting surface to the charging pin(233b), so that the pin that charges is inserted into and extracts contact chip；The bottom plate for being horizontally arranged in earth's surface is laid with along central axes and draws simultaneouslyThe conducting wire of leading the way of electromagnetic pulse is equipped with along earth's surface in working region, will pass through the sensor of grass trimmer lower front(234d) and fixation of the walking to tool automatic charging pin insertion part when being charged by circuit board intelligently guiding grass trimmerPower supply part be equipped be horizontally arranged on the bottom plate of earth's surface；The movable electric component that contact chip is extracted containing tool is located atGrass trimmer front, it is described to extract the movable electric component of contact chip containing the sensor of the grass trimmer lower front containing tool(234d) and the contact chip (234) and tabletting torsional spring (234a) and shaft for being located at grass trimmer front；The contact chip (234)And tabletting torsional spring (234a) and shaft it is each altogether there are four, each described contact chip (234) and tabletting torsional spring (234a) andShaft one dodge gate of composition, and what each described described contact chip (234) and tabletting torsional spring (234a) and shaft formedAnother work of one dodge gate and each described described contact chip (234) and tabletting torsional spring (234a) and shaft compositionDynamic door forms aspectant split two-door, and left and right side respectively has aspectant each institute of the two-door dodge gate((234b) corresponding described front wall for standing on front is equipped with symmetrical along central axes the contact surface for the contact chip (234) statedLeft side and right side each one the charging pin (inserting surface (233b) that the head of (233) is equipped with, by chargingPin leans on the micro servo-actuated insertion of pin ball (233a)；Grass trimmer retrogressing can be started when being charged to setting value, charging pin is made to extract contactPiece then works；Fixed power supply part of the grass trimmer walking to the tool automatic charging pin insertion part when charging againBe horizontally arranged on the bottom plate of earth's surface and by charging pin be inserted into；Each institute in left side and right side of the bottom plate for being horizontally arranged in earth's surfaceThe curved section for each guided way along the symmetrical guided way of axis (233c) being equipped with is a cube curve, so as to grass trimmerThe auxiliary guide rod (234e) of front side edge matches and impact-reducing；The institute that four feet of the bottom plate for being horizontally arranged in earth's surface are equipped withIt is swell fixture to state fot screw；(the pin ball (233a) that the root of (233) is equipped with, is set on spheric seat to the charging pinThere is cross pin, so as to micro servo-actuated；The charging pin (on the screw thread that the root of (233) is equipped with dress there are two nut, withIt is anti-loosening；The inserting surface (233b) that the head of the charging pin (233) is equipped with is wedge；The tabletting torsional springThere are two the close circle torsional springs of (234a)；The contact chip (234) contact surface (one section of curve of (234b) is logatithmic spiral,Because logatithmic spiral, that is, equiangular spiral has pressure angle equal characteristic everywhere, it is conducive to contact and is inserted into；The tool intelligent robot is cutThe one station multimachine of wisdom garden of careless machine internet Internet of Things framework, which is characterized in that set by the root of the charging pin (233)Some pin balls (233a) are on recessed half ball seat and the pin of the coaxial line of the left and right each one of the pin ball is respectively seated at left and rightIn each one U-lag, so that fine motion is servo-actuated and impact resistance；Universal wheel expands mowing area with half of guide groove cooperation before toolWhat the fixed power supply part of its tool automatic charging pin insertion part contained of intelligent grass-removing was equipped with described is horizontally arranged inThe unilateral side of the bottom plate of earth's surface is equipped with the preceding inlet wire along unilateral preceding universal wheel and symmetrical narrow guided way (233c), described narrowGuided way (233c) intermediate groove be only capable of accommodate grass trimmer unilateral front-wheel preceding universal wheel, the narrow guided wayThe left and right width of (233c) is less than the half of the width of grass trimmer, and each guided way of the narrow guided way (233c) is to containThe toroidal of cube curved section of the function curve of higher mathematics, to slow down impact and preceding universal wheel to be made to be oriented to half ofSlot coordinates and is oriented to along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer and expands mowing faceProduct, avoiding having between original two wide guided ways, the half to keep left is the areas Lou Ge or the half to keep left is the areas Shang Dao or leans onLeft half is to hinder guide rail area.
Usefulness：Has the one station multimachine of wisdom garden of intelligent robot grass trimmer internet Internet of Things framework, described fillsThe pin ball (233a) that the root of electricity pin (233) is equipped with is mounted in the coaxial of on the recessed half ball seat and left and right each one of the pin ballThe pin of line is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；It is mutual to have intelligent robot grass trimmerThe fixed power supply part for its tool automatic charging pin insertion part contained of the one station multimachine of wisdom garden of Internet of Things framework of networkingThe unilateral side for the bottom plate for being horizontally arranged in earth's surface being equipped with is symmetrical narrow equipped with the preceding inlet wire along unilateral preceding universal wheelGuided way (233c), the intermediate groove of the narrow guided way (233c) are only capable of accommodating the preceding universal of the unilateral front-wheel of grass trimmerWheel, the left and right width of the narrow guided way (233c) are less than the half of the width of grass trimmer, the narrow guided way (233c)Each guided way be the function curve containing higher mathematics cube curved section toroidal, to slow down impact and before makingUniversal wheel coordinates with half of guide groove and gives along the left and right of the preceding inlet wire of unilateral preceding universal wheel the fore-body of grass trimmerIt is oriented to and expands mowing area, avoiding between original two wide guided ways has the half to keep left to be the areas Lou Ge or keep leftHalf is the areas Shang Dao or the half to keep left is to hinder guide rail area.Solves the problems, such as the reliable plug charging in micro servo-actuated ground.Just like vapourVehicle needs gas station the same, and power-operated mower is also required to charging station, and market needs the intelligent grass-removing that automatic charging pin plugs,Solving the problems, such as that battery is not durable frequently need to manually charge；Grass trimmer retrogressing can be started when being charged to setting value, charging is made to sellContact chip is extracted to go to mow；It is reciprocal with this when charging again in grass trimmer walking to bottom plate.With cube curve and use logarithmHelical is technological progress.
Bright spot is：
A kind of one station multimachine of wisdom garden of improved tool intelligent robot grass trimmer internet Internet of Things framework, described fillsThe pin ball (233a) that the root of electricity pin (233) is equipped with is mounted in the coaxial of on the recessed half ball seat and left and right each one of the pin ballThe pin of line is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；It is horizontally arranged in the bottom plate of earth's surfaceBefore unilateral side along the intermediate groove of the symmetrical narrow guided way (233c) of the preceding inlet wire of unilateral preceding universal wheel equipped with receiving is only capable ofUniversal wheel, the left and right width of narrow guided way are less than the half of the width of grass trimmer, and each guided way is the letter containing higher mathematicsThe toroidal of cube curved section of number curve avoids original to slow down impact and to be oriented to and expanded mowing areaTwo wide guided ways between have the half to keep left be the areas Lou Ge or the half to keep left be the areas Shang Dao or the half to keep left be wound leadRail area.Solves the problems, such as the reliable plug charging in micro servo-actuated ground.
Usefulness：Has the one station multimachine of wisdom garden of intelligent robot grass trimmer internet Internet of Things framework, described fillsThe pin ball (233a) that the root of electricity pin (233) is equipped with is mounted in the coaxial of on the recessed half ball seat and left and right each one of the pin ballThe pin of line is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；Universal wheel is oriented to half of before toolSlot cooperation expands the fixed power supply part of its tool automatic charging pin insertion part contained of the intelligent grass-removing of mowing areaThe unilateral side for the bottom plate for being horizontally arranged in earth's surface being equipped with is symmetrical narrow equipped with the preceding inlet wire along unilateral preceding universal wheelGuided way (233c), the intermediate groove of the narrow guided way (233c) are only capable of accommodating the preceding universal of the unilateral front-wheel of grass trimmerWheel, the left and right width of the narrow guided way (233c) are less than the half of the width of grass trimmer, the narrow guided way (233c)Each guided way be the function curve containing higher mathematics cube curved section toroidal, to slow down impact and before makingUniversal wheel coordinates with half of guide groove and gives along the left and right of the preceding inlet wire of unilateral preceding universal wheel the fore-body of grass trimmerIt is oriented to and expands mowing area, avoiding between original two wide guided ways has the half to keep left to be the areas Lou Ge or keep leftHalf is the areas Shang Dao or the half to keep left is to hinder guide rail area.Solves the problems, such as the reliable plug charging in micro servo-actuated ground.Just like vapourVehicle needs gas station the same, and power-operated mower is also required to charging station, and market needs the intelligent grass-removing that automatic charging pin plugs,Solving the problems, such as that battery is not durable frequently need to manually charge；Grass trimmer retrogressing can be started when being charged to setting value, charging is made to sellContact chip is extracted to go to mow；It is reciprocal with this when charging again in grass trimmer walking to bottom plate；With cube curve and use logarithmHelical is technological progress.
It continuously improves and gradually forms and develop and the intelligence of perfect tool intelligent robot grass trimmer internet Internet of Things frameworkOne station multimachine of intelligent garden, which is characterized in that connect on the bottom plate of the fixed power supply part of the tool automatic charging pin insertion partThen photovoltaic generation charging pile and along mowing border be laid on earth's surface have electromagnetic pulse lead the way conducting wire besiege circle, on the edgeThe mowing of the lawns Duo Tai is put in being laid in the conducting wire besieging circle of leading the way for having electromagnetic pulse of earth's surface for grass cutting action region borderMachine, described every hay mower equipped with compass compass so as in operation by direction in length and breadth come layout of keeping orderAt team；Between the fixed power supply part and hay mower of the tool automatic charging pin insertion part, using tool aware circuitThe remote of the more chargings of sequentially forming into columns of perception of operation when Multifunctional flat director, artificial semi-automatic rectified a deviation with mobile phone make correctionsThe north that the detecting head of sensor wire electromagnetic field and multiple video cameras and laser and supersonic sounding device perceive and pass through internetBucket positioning is charged to be remotely controlled each gardens working machine order；；The working machine, which contains, takes intelligentized charge management circuit,
Different charging strategies is taken according to the practical battery condition of battery pack, ensures system work；
When the single-unit battery core voltage of battery is less than 2.7V/CELL, since system operating current is larger, battery core remaining capacityIt is not enough to maintain system worked well,
It directly to system power supply and is charged the battery by the voltage for base station of charging at this time, concrete operating principle is as follows：
Please refer to Figure 14 intelligence gardens working machine charge management circuit schematic diagram：
System detectio cell voltage when charging station when machine is linked into, if voltage is less than 2.7V/CELL, thisWhen, BD_EN, BT_ctr that MCU is sent out control signal are all low level, TF14 MOS conductings, charging base station to system power supply,Meanwhile TF10 MOS cut-offs, it prevents battery to system power supply, avoids battery over-discharge, the work of each section circuit as follows：ElectricityCell voltage detection circuit：
When system works, the branch pressure voltage of AD input pin detection resistances R142, R146, R147 of MCU, through over-sampling meterThe voltage value of battery is calculated, and compared with the charge threshold of software setting, to control charging modes；
The voltage that MCU is sampled：V=(R146//R147) * (R142+R146//R147) * Vbattery
The effect of wherein TF15 metal-oxide-semiconductors is as follows：
When system is under normal power supply state, the poles G of MOS are powered by 12V voltages to the poles G, and G pole tensions are：
VG-S=R127/ (R126+R127) * 12V
This voltage ensures the reliable conducting of TF15 pipes, and battery voltage sampling circuit work, when system cut-off, TF15 is because of G, STerminal voltage is ended for zero, and battery voltage sampling circuit disconnects, and prevents battery by this circuit discharging, reducing machine does not makeElectric quantity consumption in the case of；
When machine be linked into the case of system cut-off charging base station, at this time because the BT_ctr signals of MCU be low level,Triode Q28 cut-offs, and the voltage at the ends B-E of triode Q27 is：
VB-E=VCIN+*R212/ (R210+R212),
This voltage value is more than the on state threshold voltage of triode, and triode Q27 is connected, at this time the ends G-S of TF14 metal-oxide-semiconductorsVoltage is：
VG-S=VCIN* (1-R211/ (R209+R211))
Therefore TF14 is connected, base station voltage VCIN+, to system power supply, system Auto Power On, and is detected whether by TF14Meet charge condition；In charging process, when MCU is detected, charging voltage is more than 2.7V/CELL, control signal BT_ctr,BD_EN is switched to high level by low level, and charged state switches as described below：
When being switched to high level by low level because of BT_ctr signals, triode Q28 is led by cut-off state switched conductive stateThe base voltage of triode Q27 is caused to be reduced to no-voltage and end, TF14 ends therewith,
Base station is disconnected to system power supply channel,
While BT_ctr signals are switched to high level by low level, BD_EN signals are also switched to high electricity by low levelFlat, triode Q16 is switched to conducting state by cut-off state, and the voltage drop at R138 resistance both ends is more than the G-S electric conductions of TF10Pressure, TF10 MOS are connected therewith, at this point, while base station supplying channels disconnect, by battery to system power supply,
The effect of D23A diodes：
In the other working conditions of system, the state in addition to charging, to prevent body two pole of the cell voltage by TF14Pipe is added to CIN+ signal ends, and system is made to be judged as, into charged state and maloperation, adding a blocking diode；
The effect of D23 diodes：
In charged state, charging voltage is prevented to charge the battery by the body diode of TF10；
This system uses intelligentized charging management system, the data in multiple charge data detections and charging process to surveyAmount, provides multiple protection functions, to ensure charging safety；
MCU determines the size of charging by detecting cell voltage, and according to the charge cutoff voltage of setting and the value of electric current,When decision terminates charging, to ensure charging safety and improve the service life of battery,
MCU controls the size of charging current by controlling the level condition of ChrgEn1, ChrgEN2 signal,
When MCU is detected, cell voltage is less than 2.7V/CELL, charged the battery using low current, at this point,ChrgEn1 signals are low level, meanwhile, ChrgEN2 signals are high level, and triode Q20 is connected, and triode Q19 is led therewithLogical, base station voltage is charged the battery by resistance R164, R164A, R164B, Q19,
The effect of resistance R164, R164A, R164B are as follows：
Metering function is played, charging current is：
IChrg=(VCIN+-Vbattery)/(R164+R164A+R164B)
It avoids cell voltage too low, by base station voltage pull-down, leads to system cisco unity malfunction；
When MCU is detected, cell voltage is higher than 2.7V/CELL, charged the battery using high current, at this point,ChrgEn1 signals are switched to high level, meanwhile, ChrgEN2 signals are switched to low level, triode Q21 conductings, metal-oxide-semiconductor TF12Be connected therewith, base station voltage is charged the battery by resistance TF12 metal-oxide-semiconductors, charging current by base station charger current size LaiIt determines,
R176, R181 are current sampling resistor, when the voltage that charging current flows through the generation of this resistance is more than MCU setting chargingsWhen threshold voltage, MCU thinks the overcurrent that charges, and stops charging immediately；
Charge cutoff condition：
When battery stagnation pressure is more than 4.15V/CELL or charging current is less than 200mA, stops charging, battery is avoided to occurIt overcharges；System power supply circuit：
This system power-supply service provided by the way of Switching Power Supply and linear stabilized power supply combination 12V needed for system,5V, 3.3V voltage, specific works are described as follows：
Cell voltage or base station supply voltage are added in the input pin 1 of Switching Power Supply transformation chip, when switch control pin 5For low level when, control chip interior connection pin 1 and pin 2 between metal-oxide-semiconductor be on off state, metal-oxide-semiconductor is eachThe turn-on time of a switch periods depends on the mistake that output voltage feeds back to the feedback voltage and built-in reference voltage at 4 end of pinThe size of difference,
MOS conducting states are set in the chip, and input voltage provides energy, while inductance L1 by inductance L1 to output+12VWith capacitance C64 during this period also can storing up electricity energy,
When MOS is disconnected, the electric energy being stored on inductance L1 in a upper turn-on cycle can release, and be supplied to loadElectricity, diode D21 provide current loop to inductance L1, and when energy reduces on L1, C64 supplements provide voltage, maintain outputVoltage+12V is constant；
The operation principle of built-in switch pipe is as described below：
When loading increasing, output voltage reduces, while the voltage of feedback pin 4 decreases, the base with chip interiorThe error amount of quasi- voltage increases, and as a result lengthens the turn-on time of built-in MOS, and more electricity increase output end, keeps output electricThe nearly setting pressure of crimping, maintains output voltage stabilization；
Similarly, when output loading reduces, output voltage rises, therefore feedback voltage reduces with reference voltage error, leadsIt causes built-in MOS switch pipe turn-on time to reduce, reduces the electricity that feeder ear is supplied to load end, output is made to fall after rise to settingVoltage value, the above variation because of load causes output voltage and sets the error amount of voltage value, and output voltage is made to remain dynamicInput voltage is directly transformed to the voltage needed for system by the stationary value of state balance because Switching Power Supply is operated on off state,Cancel the energy expenditure of linear power supply input and output voltage difference, therefore, with efficient, simultaneity factor calorific value is small, provides and isSystem functional reliability,
U18, U16 are three terminal regulator, provide 5V, 3.3V operating voltage needed for system；
Motor control part principle：
Control principle drawing is as follows：
Please refer to the electromechanical machine control circuit schematic diagram of Figure 17 intelligence gardens work：
Integrated chip control program, the decoding of built-in chip type rotor-position are purchased in this system Brush-Less DC motor control partDevice monitors three motor position sensors, to provide the correct sequential on top, lower part power MOS drivings, has six step of all-waveDriving function, peripheral three-phase drive device are integrated metal-oxide-semiconductor,
Upper power switch is PMOS tube, and lower part power switch is NMOS tube；
It is current of electric sampling resistor, current sampling signal quilt that integrated chip, which has overcurrent protection function, R118 resistance,It is sent to chip current sampling end after R117, R119 partial pressure, when current sampling signal value is more than 0.1V, overcurrent protection function activates,Motor stalls, overcurrent protection set-point are：
Icurrent=0.1* (R117+R119)/(R118*R119)
When overcurrent events occur, the output of driving chip Fault Output pins is low level, and motor is driven and is believedNumber OutputEnable signals drag down, and motor shuts down, and avoid machine loading electric current excessive and electronic device damage occurs,When Fault Output are low level, the B-E terminal voltages of triode Q24 are also reduced to zero, and cut-off shape is switched to by conducting stateState, BLADE_FAULT signals are that high level stops all motor operations immediately after MCU receives BLADE_FAULT high level；MCU is additionally provided with two level software overcurrent protection function, so that under different load conditions, flexible handling machine run action is kept awayExempt from machine frequent shutdown,
Software overcurrent protection function can be described as follows：
Current of electric sampled signal BLADE_P8, after 7.8 times of operational amplifier operation amplifier, by amplified samplingCurrent analog signal BLADE_CRT signals are given on pins of the MCU with analog-digital conversion function, by built-in analog-to-digital conversionAfter cell processing, analog current signal is converted to 12 digital current signals, this signal and the overcurrent threshold value of MCU settings are believedIt number compares, when current signal value is more than overcurrent threshold value, executes run action when corresponding overcurrent,
Left and right movable motor overcurrent protection function having the same；
Current operator amplifying circuit：
Please refer to the electromechanical stream operational amplification circuit schematic diagram of Figure 18 intelligence gardens work：
Current amplification factor Counting Formula：
A=1+ (R7/R14) * Icurrent
It is promoted when occurring unusual condition such as machine collision, machine in motor operation course, when machine is overturn, these things occursCoherent signal is fed back to MCU by the perceptron of part, and MCU is immediately performed brake function；
Specific action process is as follows：
When location bias occurs for the Hall sensor for detecting the above event, hall signal is switched to low electricity by high levelFlat, MCU pin is detected to level change, and the BLADE_BRK signals sent out are switched to low level by high level, and process is followingNegative circuit processing after, generate BLADE_P4 high level signals and give motor drive ic U13, actuating motor brake function,Left and right movable motor function having the same；
The upper figure intelligent grass-removing of the working machine brake of Figure 19 intelligence gardens and fall back circuit diagram is please referred to aboveBraking circuit；
Driving chip also have make motor forward/reverse function, when machine operation in collide event when, machine execute afterFunction is moved back, specific action description is as follows：
When collision alarm is sent to MCU by Hall sensor, MCU will control the BLADE_DIR's in motor operation directionSignal is switched to high level by low level, after the processing of following negative circuit, generates low level BLADE_P7 signals to electricityMachine driving chip U13, motor switch inverted status by rotating forward, and machine executes fall back action, and left and right movable motor hasIdentical function；
Figure below intelligent grass-removing of the working machine brake of Figure 19 intelligence gardens and fall back circuit diagram is please referred to aboveRetreat circuit；
The electromechanical machine speed control circuit schematic diagram of Figure 20 intelligence gardens work is please referred to below：
Motor speed control principle：
Under different working conditions, motor operation speed also differs machine, it is therefore desirable to feed back the operation speed of motorIt spends signal and drives core U13 to motor, this system design uses dedicated motor speed detection chip, to generate motor speed controlFeedback voltage needed for system, without expensive tachometer, U12, you can realize this function,
Concrete operating principle is as described below：
Be motor driven chip U13 as electronics rotor position decoding Hall sensor output signal occur it is positive or negativeSaltus step can make U12 generate the pulse of an amplitude and duration, and parameter is determined by non-essential resistance R101, C48,Output pulse at the pin 5 of U12 is integrated by the error amplifier of U13, to generate a DC level, the level and motorSpeed is directly proportional, this velocity feedback voltage establishes PWM datums at the pin 13 of U13, and is closed into feedback control loop, defeatedGo out to drive the control signal of MOS, meanwhile, the PWM reference voltages at U13 pins 13, which are fed back to MCU, has analog-digital conversion functionPin, so that MCU learns motor actual motion speed, and control is adjusted according to the difference of actual motion velocity amplitude and setting valueVoltage processed,
Interlock circuit is described as follows：
RMOT_DAC is that the target velocity of MCU outputs controls the voltage value, (amplification factor=1+ after operational amplifier amplifiesR5/R12), send to the pin 11 of right movable motor driving chip, draw the difference of target velocity voltage and actual speed voltageAfter the amplification of chip interior error amplifier, the reference voltage signal RMOT_P6 that above-mentioned PWM is adjusted is exported at pin 13.
Usefulness：Has the intelligent gardens working machine of aware circuit multifunctional platform operation when lawn is long, tool fills automaticallyIt is connected to photovoltaic generation charging pile on the bottom plate of the fixed power supply part of electricity pin insertion part and is laid on earth's surface along mowing borderThere is the conducting wire of leading the way of electromagnetic pulse to besiege circle, it is described along grass cutting action region border be laid on earth's surface have electromagnetic pulseConducting wire of leading the way besiege in circle and put more hay mowers, described every hay mower is equipped with compass compassTo form a line come volume of keeping order by direction in length and breadth in operation；The fixed confession of the tool automatic charging pin insertion partBetween electrical components and hay mower, is sequentially formed into columns and filled using more of the perception of operation when tool aware circuit Multifunctional flat directorThe remote of electricity, it is artificial semi-automatic with the detecting head of mobile phone correction correction sensor wire electromagnetic field and multiple video cameras and sharpLight device and the perception of supersonic sounding device and being positioned by the Big Dipper of internet is charged to be remotely controlled each gardens working machine order；InstituteWorking machine is stated containing intelligentized charge management circuit is taken, different charging strategies is taken according to the practical battery condition of battery pack,Guarantee system works；Take different charging strategies according to the practical battery condition of battery pack according to the practical battery condition of battery packTake different charging strategies；Photovoltaic generation charging pile has energy-saving effect.The intelligent gardens work implements of multifunctional platform are cutGrass, fertilising, pressure-vaccum, polishing, brush, sowing, pouring are multi-functional；
Intelligent grass-removing realizes a station multimachine technical need by LAN
Wish on the basis of our company shows developed DYM220601 intelligent robots grass trimmer, realizes a charging station, more grass trimmers can work on a mowing region simultaneously；
Automatic mower host and charging station all band 868MHz wireless communication modules；A mating gateway, GATEWAY；
Grass trimmer and charging station are mutually communicated by gateway, have grass trimmer in charging above charging station, other mowingsMachine is in running order or wait state；When charging station frees out, by etc. grass trimmer to be charged or minimum electricity returnCharging station charges；The intelligent grass-removing bluetooth version and charging station system need 868MHz wireless communication modules to select, gatewayGATEWAY is selected and LAN connection software and hardware；Intelligent grass-removing is passing through gateway and nothing by WIFI connection INTERNETAfter line communication module realizes LAN connection, further realize by the way that intelligent grass-removing is connected to INTERNET by WIFI,The long-range connection to intelligent grass-removing is realized by INTERNET；Automatic mower host and charging station band 868MHz are wirelessCommunication module, a mating independent gateway GATEWAY, the gateway connect upper INTERNET by wired, wireless 2 kinds of modes；Intelligent grass-removing is that a station multi-computer system further includes that charging station connect gateway with 868MHz wireless communication modules, and then is connected toINTERNET；The server of the INTERNET connections is required；Intelligent grass-removing mainly sells to European ＆ American Market, due toInternet control problems, future, server can be located at American-European countries；We have the office of oneself in Germany, so serviceDevice oneself is built；Or external server is rented, the first step is for European scale country；This mainly see technical difficulty andOperating cost；It is expected that sales volume is annual 2000-10000 platforms intelligent grass-removing, calculated according to 5 years, market capacity should be 50,000Platform intelligent grass-removing；We plan to develop other intelligent garden products in addition to grass trimmer simultaneously, including irrigate timer,Garden lamp etc., so 100,000 intelligent garden products of server needs while service and 50,000 mobile phones, i.e., at least 150,000IP；Estimate according to 5 years sales volumes, the IP quantity that server should service registers user：50000, intelligent grass-removing：50000；Other intelligenceIt can garden products：50000；Internet of Things framework uses web interconnection architectures, and mobile phone and intelligent grass-removing are required for registering with user nameSeparate server is accessed with the mode that logs in, and confirms the presence of mobile phone and intelligent grass-removing by server.Mobile phone andIntelligent grass-removing is all common Internet of Things equipment in server, they all have unique User ID in server,The addresses IP of equipment where server can get User ID when Internet of Things equipment game server；And cell phone application control intelligence is cutIt is that foundation is controlled that careless machine, which is with User ID, and User ID, which is first sent to server, can get corresponding IP address.ByIn the intelligent grass-removing technology path of our company, the later stage also plans to have to install camera additional on intelligent grass-removing, and on mobile phoneShow the function of video content, so after mobile phone and intelligent grass-removing are by server identification and unicom, subsequent control can lead toServer is crossed, can also directly be carried out around server.To facilitate the video data transmission of big flow；
Requirement to server, each intelligent garden products all can there are one sequence number (Serial No), handsFor machine user in registration by the APP software scans sequence number, which could control the intelligence garden products.So eachPlatform intelligence garden products are all that the user name registered with mobile phone user is bound, and a user can bind multiple sequence numbers, i.e.,A variety of intelligence garden products, but a sequence number can only bind a user；This is that due to safety concerns, i.e., this is intelligently spentAfter the stolen loss of garden product, use cannot be bound by other people；Mobile phone user, which registers, to complete, user number and sequence number, i.e., someAfter intelligent garden products binding success, mobile phone is just communicated by APP and intelligent garden products, and mobile phone can be sent to grass trimmerInstruction, including beginning/stopping are mowed, and charging station etc. is returned；Mobile phone reads the information of grass trimmer, including mowing, charging,The content etc. of false alarm and alarm occurs；Mobile phone reads Weather information from server, and data are obtained from third party software；Function setting is carried out to grass trimmer on mobile phone, containing automatic time cycle setting of mowing, system time setting, change of secret code；And i.e.When covering server and grass trimmer chip on former setting data；The a few thing information of grass trimmer, accumulative total time of mowing,Error information data need to retain on mobile phone and server；These data are for convenience of market survey and maintenance service；It is logicalMobile phone is crossed to upgrade grass trimmer software；The server software provides corresponding Security Assurance Mechanism to the privacy of user；WithLong-range maintenance service is sought in family by APP Connected Corp. website；The intelligent grass-removing bluetooth version and charging station system developed868MHz wireless communication modules are needed to select, gateway GATEWAY is selected and the base of LAN connection design of hardware and software and technologyOn plinth, software and hardwares programming and the technical supports such as INTERNET connections, server are provided；Intelligent irrigation timer and matingThe humidity sensor technical need set product includes 2 parts：The Intelligent fixed time irrigation controller is connected on water source, according toThe setting at family opens solenoid valve, water flowing in certain period；Humidity sensor is inserted into the soil in garden, monitors the wet of soilDegree, and data are sent to Intelligent fixed time irrigation controller by gateway；When threshold values of the humidity of soil less than setting, intelligenceEnergy timing irrigation controller automatically opens solenoid valve, gives garden watering；Intelligent fixed time irrigation controller and humidity sensor all bands868MHz wireless communication modules realize LAN connection by gateway；It can realize INTERNET connections by gateway simultaneously；IntelligenceEnergy timing irrigation controller and humidity sensor realize self-energizing using solar panel, and intelligent garden systems equipment is allIncluded 868MHz wireless communication modules realize the mutual communication between each product in the system of intelligent garden；It is each to realizeCommunication between product and control function, while INTERNET is connected by gateway, realize user's remote control intelligence garden bodyThe function of each product in system.
Have the one station multimachine of wisdom garden of intelligent robot grass trimmer internet Internet of Things framework, tool automatic charging pin insertion sectionIt is connected to photovoltaic generation charging pile on the bottom plate of the fixed power supply part of part and is laid on earth's surface along mowing border to have electromagnetic pulseLead the way conducting wire besiege circle in put the gardens Duo Tai working machine；It is flat that control perception forward-reverse Multifunctional circuit is communicated using toolPlatform perceives the remote of more chargings of sequentially forming into columns, the spy of artificial semi-automatic correction sensor wire electromagnetic field of being rectified a deviation with mobile phoneGauge head and multiple video cameras and laser and supersonic sounding device perceive and are remotely controlled each gardens by the Big Dipper positioning of internetWorking machine order charges, and containing taking intelligentized charge management circuit, takes different charging strategies, photovoltaic generation chargingStake has energy-saving effect, intelligent gardens work implements mowing, fertilising, pressure-vaccum, polishing, brush, sowing, the pouring of multifunctional platformIt is multi-functional.