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 it is stuck up before sticking up especially the near front wheel before also havingBad phenomenon occur.For power-operated mower, since motor is lighter than engine, and motor axis will drive revolutionThe prodigious hay knife of 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, especiallyEN836/A3-2004/ 4.2.3.2.1~4.2.3.2.3.3 have the code requirement on 16.7 degree of slope.Add in complete machine front and matchesWeight sand pot, installation will change chassis, to add three holes position, also want gaza's stone, cumbersome.For counterweight because heavier, transportation cost is also higher.SeparatelyThere 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 start make aroundNylon wire rotation in line wheel 25-3, can beat the grass.When line in short-term, operator's pier pressure once, reel aluminium head 25-3b touch ground,So that reel spring 25-1 is compressed, and reel 25-3 is made to turn, the nylon wire 134 in it is made to lead to wire over inserted sheet 25-6, and putsLine.The long line released is trimmed by blade 127.Blade sleeve 126 is placed on blade 127 when not used, there is protective action.It beats the grassHead 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 has on the common grass trimmer of wheel.
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.Just likeAutomobile needs gas station the same, and power-operated mower is also required to charging station, and market needs a kind of improved tool automatic charging pin to be inserted intoAnd the intelligent grass-removing of contact chip component is extracted so as to reliably automatic plug charging；But how micro charging is plugged servo-actuatedly beA problem, innovation design are hovered such as ghost for a long time, and the high TSENI.ENGI. lifetimes experience of Switzerland and international co-operation are borrowed,Sequentially formation charging is thousand worries and fortunately has one to obtain, then the improved walking electricity consumption magnetic remote control choke that charges of the inventionThe gardens working machine for starting machine operation just come into being, solving the problems, such as that battery is not durable frequently need to manually charge and micro-The problem of servo-actuated ground of amount reliably plugs charging.Continuously improve and perfect improved tool automatic charging pin be inserted into and extract contactOn the basis of the intelligent grass-removing of piece component, further exploitation has the intelligent machine that straight line moving teaches control direction with balancerDevice people's working machine, resultant effect are to expand use scope, and straight line moving is taught control direction to reinforce pressure grass and protected with balancerMoisture in the soil and safety, and save energy and environmental protection.
The working machine to sweep away snow on lawn being repaiied for the places such as beside garden, park and road the present invention relates to a kind of, is to improveTool wisdom garden remote server pass through LAN be remotely controlled choke engine；It is to be located at lawnmower chassis frontAnticollision safety device and containing equipped with anticollision insure can automatic stop logatithmic spiral brake and equipped with low vibration foliage pressure-vacuum machine and containIt installs dust bag bracket and tying additional and bodice upper casing dust mouth adds soft, blow impeller and cutting edge, circuit is added to add insurance and biswitch,And in blower additional silencing vibration-damping material and honeycomb, idler wheel is changed to turn to, and single cylinder that stretches out is changed to more protruded tubesOr flexible folding pipe, the comprehensive more work(for setting pressure-vaccum and moving head and the tube rolling device equipped with the liquid line for pouring and applying fertilizer and spill medicineOn the basis of the grass trimmer of energy, then a station of the improved tool intelligent robot snowplough by LAN for wisdom garden is moreMachine is charged with reliable automatic plug；Need gas station the same just like automobile, power-operated mower is also required to charging station, and market needsThe intelligent grass-removing of a kind of tool automatic charging pin insertion and the charging assembly for extracting contact chip, so that reliably automatic plug fillsElectricity；Then the garden intelligent road snowplough of operation just comes into being when a kind of tool semi-automatic remote work captain, solvesBattery of having determined is not durable the problem of frequently need to manually charging；Improved tool intelligent robot snowplough is used for wisdom by LANThe one station multimachine in garden, working machine are inserted into and extract contact chip component containing improved tool automatic charging pin；The tool is automaticCharging pin is inserted into and extracts contact chip component, and the fixed power supply part of the automatic charging pin insertion part containing tool also contains workThe tool of machine fuselage extracts the movable electric component of contact chip；The fixed power supply of the tool automatic charging pin insertion partPart, equipped with front wall, power supply source, the fot screw in front of being horizontally arranged in the bottom plate of earth's surface, standing on, the bottom for being horizontally arranged in earth's surfaceThe left side and right side of plate are respectively provided with along the symmetrical guided way of axis (233c), so as to the edge of the fuselage of the front to grass trimmerThe symmetrical left side of axis and right side are oriented to；And the bottom plate for being horizontally arranged in earth's surface left side and right side it is each be equipped withCurved section along each guided way of the symmetrical guided way of axis (233c) is a cube curve, to slow down impact；The waterFour feet for being laid in 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 surfaceEquipped with 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 side((233), (root of (233) is equipped with pin ball (233a) to the charging pin to the one charging pin, is servo-actuated so as to micro, institute(root of (233) is equipped with screw thread to the charging pin stated, to be connected with the power supply source；Charging pin (the head of (233)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 spread along central axesIf with the conducting wire of leading the way for drawing and being equipped with along earth's surface in working region electromagnetic pulse, will pass through the biography of grass trimmer lower frontSensor (234d) and when being charged by circuit board intelligently guiding grass trimmer walking to the tool automatic charging pin insertion partBeing equipped with for fixed power supply part is horizontally arranged on the bottom plate of earth's surface；The movable electric component that contact chip is extracted containing tool is setIt is described to extract the movable electric component of contact chip containing the sensor of the grass trimmer lower front containing tool in grass trimmer front(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 activity of one dodge gate and each described described contact chip (234) and tabletting torsional spring (234a) and shaft compositionDoor forms aspectant split two-door, and left and right side respectively has the aspectant each described of the two-door dodge gateContact chip (234) contact surface ((234b) corresponding described front wall for standing on front be equipped with along the symmetrical left side of axis(inserting surface (233b) that the head of (233) is equipped with leans on pin to the charging pin on side and right side each one by charging pinThe micro servo-actuated insertion of ball (233a)；Grass trimmer retrogressing can be started when being charged to setting value, so that charging pin is extracted contact chip, then workMake；Working machine walking being horizontally arranged in the fixed power supply part for having automatic charging pin insertion part when charging againIt is inserted on the bottom plate of earth's surface and 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, to match with the auxiliary guide rod (234e) of grass trimmer front side edgeAnd 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, withJust 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；The charging(orientation device (233a) that the root of (233) is equipped with is packed into thick rubber pad, the impact resistance so as to fine motion to 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, (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 tool automatic charging pin be inserted into and extract on the intelligent grass-removing of contact chip component andHave intelligent robot snowplough to be used for by LAN on the basis of a station multimachine in wisdom garden, further developed with chargingThe gardens working machine for starting machine operation of walking electromagnetic remote controlled choke.
It is remotely controlled the gardens working machine for starting machine operation of choke with charging walking electricity consumption magnetic, is filled 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；InstituteState tool automatic charging pin insertion part fixed power supply part, equipped be horizontally arranged in the bottom plate of earth's surface, stand on front front wall,Power supply source, fot screw, the unilateral side of the bottom plate for being horizontally arranged in earth's surface is equipped with right along the preceding inlet wire of unilateral preceding universal wheelThe guided way (233c) of title, to be led along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmerTo；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 axis (233c)The curved section of each guided way is a cube curve, to slow down impact；Four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with instituteFot screw is stated, to fix；The front of the bottom plate for being horizontally arranged in earth's surface is equipped with the front wall for standing on front；It is describedThe front wall for standing on front be equipped with along the symmetrical left side of axis and right side each one the charging pin ((233), it is described(root of (233) is equipped with pin ball (233a) to charging pin, so that (root of (233) is equipped with spiral shell to micro servo-actuated, described charging pinLine, to be connected with the power supply source；(head of (233) is equipped with inserting surface (233b) to the charging pin, and to charge, pin is insertedEnter and extract contact chip；The bottom plate for being horizontally arranged in earth's surface is laid with and draws along central axes and is laid with along earth's surface in working regionThe conducting wire of leading the way for having electromagnetic pulse, will pass through the sensor (234d) of grass trimmer lower front and by circuit board intelligently guidingBeing equipped with for fixed power supply part of walking to the tool automatic charging pin insertion part is horizontally arranged in ground when grass trimmer will chargeOn the bottom plate of table；The movable electric component that contact chip is extracted containing tool is located at grass trimmer front, described to extract contact containing toolSensor (234d) be located at grass trimmer front contact of the movable electric component of piece containing the grass trimmer lower frontPiece (234) and tabletting torsional spring (234a) and shaft；The contact chip (234) and tabletting torsional spring (234a) and shaft are each sharedFour, each described contact chip (234) and tabletting torsional spring (234a) and shaft form a dodge gate, and it is described eachA dodge gate and each described described contact chip for the contact chip (234) and tabletting torsional spring (234a) and shaft composition(234) and another dodge gate of tabletting torsional spring (234a) and shaft composition formed it is aspectant split two-door, left side andRespectively there is contact surface ((234b) correspondence of aspectant each contact chip (234) of the two-door dodge gate on right sideThe charging pin along the symmetrical left side of axis and right side each one that the front wall for standing on front is equipped with(inserting surface (233b) that the head of (233) is equipped with leans on the micro servo-actuated insertion of pin ball (233a) by charging pin；When fillingIt is retreated to grass trimmer can be started when setting value, so that charging pin is extracted contact chip, then work；When charging again, grass trimmer is walkedBeing horizontally arranged on the bottom plate of earth's surface and being inserted by charging pin to the fixed power supply part for having automatic charging pin insertion partEnter；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 every of the symmetrical guided way of axis (233c)The curved section of a guided way is a cube curve, to match and impact-reducing with the auxiliary guide rod (234e) of grass trimmer front side edge；The fot screw that four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with is swell fixture；The charging pin (233)The pin ball (233a) that root is equipped with is that cross pin is equipped on spheric seat, so as to micro servo-actuated；The charging pin(there are two nuts for dress on the screw thread that the root of (233) is equipped with, with anti-loosening；The head of the charging pin (233) is equipped withInserting surface (233b) be wedge；There are two the close circle torsional springs of the tabletting torsional spring (234a)；The contact chip (234)Contact surface (one section of curve of (234b) is logatithmic spiral, because logatithmic spiral, that is, equiangular spiral have pressure angle it is equal everywhereCharacteristic is conducive to contact and is inserted into；The one station multimachine of wisdom garden of tool intelligent robot grass trimmer internet Internet of Things framework, institute(the pin ball (233a) that the root of (233) is equipped with is mounted on recessed half ball seat and a left side for the pin ball for the charging pin being equipped withThe pin of the coaxial line on the right side each one is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；Random delay is usedFunction does the fixation of its tool automatic charging pin insertion part contained of system emulation formation charge control intelligence hay mowerThe unilateral side of the bottom plate for being horizontally arranged in earth's surface that is equipped with of power supply part be equipped with the preceding inlet wire along unilateral preceding universal wheel andSymmetrical narrow guided way (233c), the intermediate groove of the narrow guided way (233c) are only capable of accommodating the unilateral front-wheel of grass trimmerPreceding universal wheel, the left and right width of the narrow guided way (233c) is less than the half of the width of grass trimmer, the narrow guidingEach guided way of rail (233c) is the toroidal of cube curved section of the function curve containing higher mathematics, to slow down impactWith make before a left side of the universal wheel with half of guide groove cooperation and to the fore-body of grass trimmer along the preceding inlet wire of unilateral preceding universal wheelThe right side is oriented to and is expanded mowing area, and avoiding between original two wide guided ways has the half to keep left to be the areas Lou Ge or lean onLeft half is the areas Shang Dao or the half to keep left is to hinder guide rail area；The remote control resistance of tool connection cellphone information and mating station multimachineThe engine of air door, which is characterized in that connected on the bottom plate of the fixed power supply part of the tool automatic charging pin insertion partIt photovoltaic generation charging pile and being laid on earth's surface along mowing border has the conducting wire of leading the way of electromagnetic pulse to besiege circle, mow on the edgeMore hay mowers are put in being laid in the conducting wire besieging circle of leading the way for having electromagnetic pulse of earth's surface for working region border, describedEvery hay mower form a line come volume of keeping order by direction in length and breadth in operation equipped with compass compass；It is describedBetween the fixed power supply part and hay mower that have automatic charging pin insertion part, using tool aware circuit multifunctional platformThe remote of the more chargings of sequentially forming into columns of perception of operation when long, artificial semi-automatic mobile phone correction correction sensor wire electromagnetismThe detecting head and multiple video cameras and laser and supersonic sounding device of field are perceived and are remotely controlled by the Big Dipper positioning of internetEach gardens working machine order charges；The working machine is containing intelligentized charge management circuit is taken, according to the practical electricity of battery packAmount situation takes different charging strategies, ensures system work；Different charging plans is taken according to the practical battery condition of battery packSlightly；When the single-unit battery core voltage of battery is less than 2.7V/CELL, since system operating current is larger, battery core remaining capacity is not enough toSystem worked well is maintained, directly to system power supply and is charged the battery by the voltage for base station of charging at this time, specific works are formerReason is as follows：System detectio cell voltage when charging station when machine is linked into, if voltage is less than 2.7V/CELL, at this point,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 prevent battery to system power supply, avoid battery over-discharge, the work of each section circuit as follows：Cell voltageDetection circuit：When system works, the branch pressure voltage of AD input pin detection resistances R142, R146, R147 of MCU, through over-samplingThe voltage value of battery is calculated, 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 TF15 metal-oxide-semiconductor field effect transistors 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, reduce machine without usingIn the case of electric quantity consumption,
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 charging
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 levelIt is flat, 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, TFI0 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 connected therewith,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 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 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 at eachThe turn-on time of switch periods depends on the error amount that output voltage feeds back to the feedback voltage and built-in reference voltage at 4 end of pinSize,
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 defeated
It is constant to go out voltage+12V；
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 cause output voltage and set the error amount of voltage value, and output voltage is made to maintain dynamic flatInput voltage is directly transformed to the voltage needed for system by the stationary value of weighing apparatus because Switching Power Supply is operated on off state, cancels lineProperty power input output voltage difference energy expenditure, therefore, have it is efficient, simultaneity factor calorific value is small, provide system workReliability,
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 has phaseSame 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 controlRequired feedback voltage, without expensive tachometer, U12, you can realize that this function, concrete operating principle are as described below：QuiltPositive or negative saltus step occurs for the Hall sensor output signal that motor drive ic U13 is used as the decoding of electronics rotor position, can be withU12 is set to generate the pulse of an amplitude and duration, parameter is determined by non-essential resistance R101, C48, at the pin 5 of U12Output pulse by U13 error amplifier integrate, to generate a DC level, the level is directly proportional to motor speed, thisVelocity feedback voltage establishes PWM datums at the pin 13 of U13, and is closed into feedback control loop, the control of output driving MOSSignal, meanwhile, the PWM reference voltages at U13 pins 13, which are fed back to MCU, has the pin of analog-digital conversion function, so that MCU is obtainedKnow motor actual motion speed, and control voltage is adjusted according to the difference of actual motion velocity amplitude and setting value, interlock circuit is retouchedIt states 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；
The compass hangs the compass that the horizontal north and south of pulling is directed toward using the suspension of vertical direction, set on compassDeflection angle is transmitted to single board computer processing by some reflective mirrors；The antitheft comprehensive intelligent garden tool wireless telecommunications remote control in plant protection gardens is a variety ofFunction；
Charging pin (233) is set on intelligent robot snowplough；It is set on the intelligent robot snowplough and hobs ice cream screw feeder(235) ；Described hob sets logatithmic spiral slot on ice cream screw feeder, snow is hobbed into ice cream with profit；With charging walking electricity consumption magnetic remote controlThe operation when gardens working machine of machine operation its walk electricity consumption and operation engine being started to be conducive to long of choke.
Specific implementation mode
Pedestrian's working machine 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 situation of safetyIt is lower just to be made of grass trimmer, while notably weather sleet situation.Started a kind of having winder again in existing moving headWhat is grown up on the basis of grass trimmer teaches the intelligent robot working machine of control direction in this way with straight line moving balancerA kind of new technical field.Its usefulness is to solve the problems, such as power supply and all.Described hob sets logatithmic spiral slot on ice cream screw feeder, withSnow is hobbed into ice cream by profit；Have by LAN be remotely controlled the engine of choke snowplough its walk electricity consumption by sweep away snow with startingOperation when machine is conducive to long.
The present invention relates to a kind of hay mowers and snowplough for the places such as beside garden, park and road, are to changeInto with charging walking electricity consumption magnetic be remotely controlled choke the gardens working machine for starting machine operation；It is located at the anti-of lawnmower chassis frontHit protector and containing equipped with anticollision insure can automatic stop logatithmic spiral brake and equipped with low vibration foliage pressure-vacuum machine and containing plusDress dust bag bracket and tying and bodice upper casing dust mouth add soft, blow impeller and cutting edge, circuit is added to add insurance and biswitch, andThe material and honeycomb of additional silencing vibration-damping in blower, idler wheel are changed to turn to, and it is single stretch out cylinder be changed to more protruded tubes orFlexible folding pipe, it is comprehensive set pressure-vaccum and moving head and equipped with pour and the tube rolling device of fertilising and the liquid line for spilling medicine it is multi-functionalGrass trimmer on the basis of, then set it is improved tool automatic charging pin be inserted into and extract contact chip component intelligent grass-removing, so as toReliably automatic plug charges；Need gas station the same just like automobile, power-operated mower is also required to charging station, and market needs one kindHas the intelligent work machine that automatic charging pin was inserted into and extracted the charging assembly of contact chip, so that reliably automatic plug charges；InThe garden intelligent road snowplough of operation just comes into being when being a kind of improved tool semi-automatic remote work captain, solvesBattery of having determined is not durable the problem of frequently need to manually charging；Improved tool intelligent robot snowplough is used for wisdom by LANThe one station multimachine in garden is inserted into containing improved tool automatic charging pin and extracts contact chip component；The tool automatic charging pinIt is inserted into and extracts contact chip component, the fixed power supply part of the automatic charging pin insertion part containing tool, also fuselage containing grass trimmerTool extract contact chip movable electric component；The fixed power supply part of the tool automatic charging pin insertion part, is equipped withIt is horizontally arranged in the bottom plate of earth's surface, the front wall for standing on front, power supply source, fot screw, a left side for the bottom plate for being horizontally arranged in earth's surfaceSide 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 central axesSymmetrical left side and right side are 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 axisThe curved section of each guided way of symmetrical guided way (233c) is a cube curve, to slow down impact；It is described to be horizontally arranged inFour feet of 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 equipped with instituteThat states stands on the front wall in front；The front wall for standing on front is equipped with the institute 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 the charging pin stated, and so as to micro servo-actuated, described fills(root of (233) is equipped with screw thread to electricity pin, to be connected with the power supply source；(head of (233) is equipped with inserts the charging pinEnter face (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 and draws along central axesThe conducting wire of leading the way for going out and being equipped with along earth's surface in working region electromagnetic pulse, 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, which is located at, to be cutCareless machine 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 activity of one dodge gate and each described described contact chip (234) and tabletting torsional spring (234a) and shaft compositionDoor forms aspectant split two-door, and left and right side respectively has the aspectant each described of the two-door dodge gateContact chip (234) contact surface ((234b) corresponding described front wall for standing on front be equipped with along the symmetrical left side of axis(inserting surface (233b) that the head of (233) is equipped with leans on pin to the charging pin on side and right side each one by charging pinThe micro servo-actuated insertion of ball (233a)；Grass trimmer retrogressing can be started when being charged to setting value, so that charging pin is extracted contact chip, then workMake；Grass trimmer walking being horizontally arranged in the fixed power supply part for having automatic charging pin insertion part when charging againIt is inserted on the bottom plate of earth's surface and 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, to match with the auxiliary guide rod (234e) of grass trimmer front side edgeAnd 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, withJust 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：It is improved to start the gardens of machine operation to work function certainly with charging walking electricity consumption magnetic remote control chokeIt is characterized in that the charging is sold, (the pin ball (233a) that the root of (233) is equipped with is that ten are equipped on spheric seat for dynamic plug chargingCabinet frame pin solves the problems, such as the reliable plug charging in micro servo-actuated ground.Need gas station the same just like automobile, power-operated mowerCharging station, market is needed to need the intelligent grass-removing that automatic charging pin plugs, solve battery and be not durable and frequently need to manually chargeThe problem of；It is each be equipped with along the symmetrical guided way of axis (233c) 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 is a cube curve, to slow down impact；The contact surface of the contact chip (234) be ((234b's)One section of curve is logatithmic spiral, because logatithmic spiral, that is, equiangular spiral has pressure angle equal characteristic everywhere, is conducive to contact and is inserted into.The contact chip (234) and tabletting torsional spring (234a) and shaft it is each altogether there are four, form aspectant split two-door, left sideRespectively having the contact surface of the aspectant contact chip (234) of the two-door dodge gate with right side, ((234b) is rightThe charging pin along the symmetrical left side of axis and right side each one for answering the front wall for standing on front to be equipped with(inserting surface (233b) that the head of (233) is equipped with, to charge, pin is inserted into, and can be started when being charged to setting value and be cutCareless machine retreats and goes to mow；It is reciprocal with this when charging again in grass trimmer walking to bottom plate.It guided way cube curve and connectsContacting surface is technological progress 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 with charging walking electricity consumption magnetic be remotely controlled choke the gardens working machine for starting machine operation, containing it is improved tool fromDynamic charging pin is inserted into and extracts contact chip component；The tool automatic charging pin is inserted into and extracts contact chip component, certainly containing toolThe tool of the fixed power supply part of dynamic charging pin insertion part, the also fuselage containing grass trimmer extracts the movable power receiving section of contact chipPart；It is described tool automatic charging pin insertion part fixed power supply part, equipped be horizontally arranged in the bottom plate of earth's surface, stand on frontFront wall, 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 ((233)Root be equipped with screw thread, to be connected with the power supply source；The charging pin (head of (233) 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 laid with and draws along central axes and in workspaceDomain is equipped with the conducting wire of leading the way of electromagnetic pulse along earth's surface, will pass through the sensor (234d) of grass trimmer lower front and pass through electricityWalking setting to the fixed power supply part for having automatic charging pin insertion part when road plate intelligently guiding grass trimmer will chargeHave on the bottom plate for being horizontally arranged in earth's surface；The movable electric component that contact chip is extracted containing tool is located at grass trimmer front, describedContaining sensor (234d) of the movable electric component for having extraction contact chip containing the grass trimmer lower front and it is located at mowingThe contact chip (234) and tabletting torsional spring (234a) and shaft of machine front；The contact chip (234) and tabletting torsional spring (234a) withAnd 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) and shaft composition a dodge gate with it is described eachAnother dodge gate of a contact chip (234) and tabletting torsional spring (234a) and shaft composition forms aspectant splitTwo-door, left and right side respectively has the contact surface of aspectant each contact chip (234) of the two-door dodge gate((234b) corresponding described front wall for standing on front be equipped with along the described of the symmetrical left side of axis and right side each oneCharging, pin (inserted by charging pin by micro be servo-actuated of pin ball (233a) by the inserting surface (233b) that the head of (233) is equipped withEnter；Grass trimmer retrogressing can be started when being charged to setting value, so that charging pin is extracted contact chip, then work；It is cut when charging againThe walking of careless machine to the tool automatic charging pin insertion part fixed power supply part be horizontally arranged on the bottom plate of earth's surface and byCharging pin is inserted into；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；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 is described to fill(the pin ball (233a) that the root of (233) is equipped with is that cross pin is equipped on spheric seat to electricity pin, so as to micro servo-actuated；It is describedCharging pin (dress is there are two nut on the screw thread that the root of (233) is equipped with, with anti-loosening；The head of the charging pin (233)The inserting surface (233b) that portion is equipped with is wedge；There are two the close circle torsional springs of the tabletting torsional spring (234a)；Described connects(one section of curve of (234b) is logatithmic spiral to the contact surface of contact (234), because logatithmic spiral, that is, equiangular spiral has at pressure angleLocate equal characteristic, is conducive to contact and is inserted into；The Gardener for starting machine operation that choke is remotely controlled with charging walking electricity consumption magneticMake machine, which is characterized in that the pin ball (233a) that the root of the charging pin (233) is equipped with is on recessed half ball seat and describedThe pin of coaxial line of left and right each one of pin ball be respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；Its described tool automatic charging pin contained is inserted into universal wheel with the intelligent grass-removing of half of guide groove cooperation expansion mowing area before havingThe unilateral side for the bottom plate for being horizontally arranged in earth's surface that the fixed power supply part of component is equipped with is equipped with along unilateral preceding universal wheelPreceding inlet wire and symmetrical narrow guided way (233c), the intermediate groove of the narrow guided way (233c) are only capable of accommodating grass trimmerUnilateral front-wheel preceding universal wheel, the left and right width of the narrow guided way (233c) is less than the half of the width of grass trimmer, instituteThe each guided way for stating narrow guided way (233c) is the toroidal of cube curved section of the function curve containing higher mathematics, withJust universal wheel is with half of guide groove cooperation and to the fore-body of grass trimmer along unilateral preceding universal wheel before slowing down impact and makingThe left and right of preceding inlet wire is oriented to and is expanded mowing area, and avoiding between original two wide guided ways has the half to keep left to beThe areas Lou Ge or the half to keep left are the areas Shang Dao or the half to keep left is to hinder guide rail area.
Usefulness：The gardens working machine for starting machine operation of choke is remotely controlled with charging walking electricity consumption magnetic, 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；Has the interconnection of intelligent robot grass trimmerThe fixed power supply part institute of its tool automatic charging pin insertion part contained of the one station multimachine of wisdom garden of net Internet of Things frameworkThe unilateral side for the bottom plate for being horizontally arranged in earth's surface being equipped with is symmetrically narrow equipped with the preceding inlet wire along unilateral preceding universal wheel to leadTo rail (233c), the intermediate groove of the narrow guided way (233c) is only capable of accommodating the preceding universal wheel of the unilateral front-wheel of grass trimmer,The left and right width of the narrow guided way (233c) is less than the half of the width of grass trimmer, the narrow guided way (233c)Each guided way is the toroidal of cube curved section of the function curve containing higher mathematics, to slow down impact and to make preceding universalWheel coordinates with half of guide groove 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 trimmerAnd expand mowing area, avoiding having between original two wide guided ways, the half to keep left is the areas Lou Ge or the half to keep left isThe areas Shang Dao or the half to keep left are to hinder guide rail area.Solves the problems, such as the reliable plug charging in micro servo-actuated ground.It is needed just like automobileGas station is the same, and power-operated mower is also required to charging station, and market needs the intelligent grass-removing that automatic charging pin plugs, solves electricityPond is not durable the problem of frequently need to manually charging；Grass trimmer retrogressing can be started when being charged to setting value, charging pin is made to extract contactPiece goes to mow；It is reciprocal with this when charging again in grass trimmer walking to bottom plate；Two-man act balancer is technological innovation.
Bright spot is：
A kind of improved gardens working machine for starting machine operation that choke is remotely controlled with charging walking electricity consumption magnetic, 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 list of the bottom plate of earth's surfaceSide is equipped with the preceding inlet wire along unilateral preceding universal wheel and the intermediate groove of symmetrical narrow guided way (233c) is only capable of accommodating preceding ten thousandTo wheel, the left and right width of narrow guided way is less than the half of the width of grass trimmer, and each guided way is the function containing higher mathematicsThe toroidal of cube curved section of curve avoids original to slow down impact and to be oriented to and expanded mowing areaThe half to keep left is the areas Lou Ge to having between two wide guided ways or the half to keep left is the areas Shang Dao or the half to keep left is to hinder guide railArea.Solve the problems, such as that the reliable plug charging in micro servo-actuated ground and straight line moving teach the intelligent robot work of control direction to askTopic.
Usefulness：The gardens working machine for starting machine operation of choke is remotely controlled with charging walking electricity consumption magnetic, 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 and half of guide groove before toolCooperation expands the fixed power supply part institute 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 symmetrically narrow equipped with the preceding inlet wire along unilateral preceding universal wheel to leadTo rail (233c), the intermediate groove of the narrow guided way (233c) is only capable of accommodating the preceding universal wheel of the unilateral front-wheel of grass trimmer,The left and right width of the narrow guided way (233c) is less than the half of the width of grass trimmer, the narrow guided way (233c)Each guided way is the toroidal of cube curved section of the function curve containing higher mathematics, to slow down impact and to make preceding universalWheel coordinates with half of guide groove 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 trimmerAnd expand mowing area, avoiding having between original two wide guided ways, the half to keep left is the areas Lou Ge or the half to keep left isThe areas Shang Dao or the half to keep left are to hinder guide rail area.Solves the problems, such as the reliable plug charging in micro servo-actuated ground.It is needed just like automobileGas station is the same, and power-operated mower is also required to charging station, and market needs the intelligent grass-removing that automatic charging pin plugs, solves electricityPond is not durable the problem of frequently need to manually charging；Grass trimmer retrogressing can be started when being charged to setting value, charging pin is made to extract contactPiece goes to mow；It is reciprocal with this when charging again in grass trimmer walking to bottom plate；It is taught and is controlled with balancer with straight line movingDirection is technological innovation.
It continuously improves and gradually forms and develop and the perfect engine with charging walking electricity consumption magnetic remote control choke is madeThe gardens working machine of industry, 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, swept on the edgeMore hay mowers, institute are put in being laid in the conducting wire besieging circle of leading the way for having electromagnetic pulse of earth's surface for snow working region borderState sweep away snow working machine equipped with compass and two-man act balancer so as to when operation by direction in length and breadth come layout direction of keeping order；InstituteBetween the fixed power supply part and the working machine that sweeps away snow of stating tool automatic charging pin insertion part, using tool aware circuit Multifunctional flatThe remote of the more chargings of sequentially forming into columns of perception of operation when director, the artificial semi-automatic sensor wire electricity that makes corrections of being rectified a deviation with mobile phoneThe detecting head in magnetic field and multiple video cameras and laser and supersonic sounding device are perceived and are positioned come distant by the Big Dipper of internetControl respectively sweeps away snow working machine order to charge；；The Gardener for starting machine operation that choke is remotely controlled with charging walking electricity consumption magneticMake machine containing intelligentized charge management circuit is taken, different charging strategies is taken according to the practical battery condition of battery pack, ensuresSystem works；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：BatteryVoltage detecting 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, reduce machine without usingFeelings
Electric quantity consumption under condition；
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 ends, 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 by
Low level is switched to high 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 connected therewith,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 TF12It is connected therewith, base station voltage is charged the battery by resistance TF12MOS pipes, and charging current is determined by base station charger current sizeIt is fixed,
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 at eachThe turn-on time of switch periods depends on the error amount that output voltage feeds back to the feedback voltage and built-in reference voltage at 4 end of pinSize,
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 output electricityPressure+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 cause output voltage and set the error amount of voltage value, and output voltage is made to maintain dynamic flatInput voltage is directly transformed to the voltage needed for system by the stationary value of weighing apparatus because Switching Power Supply is operated on off state, cancels lineProperty power input output voltage difference energy expenditure, therefore, have it is efficient, simultaneity factor calorific value is small, provide system workReliability,
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, there is six step of all-wave to driveDynamic 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, are switched by conducting stateFor cut-off state, BLADE_FAULT signals are high level, after MCU receives BLADE_FAULT high level, are stopped immediately allMotor operation；MCU is additionally provided with two level software overcurrent protection function, so that under different load conditions, flexible handling machine is transportedRow
Action, avoids 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 conversion listAfter member processing, analog current signal is converted to 12 digital current signals, the overcurrent threshold signal phase that this signal is arranged with MCUCompare, when current signal value is more than overcurrent threshold value, execute 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 belowAfter negative circuit processing, generates BLADE_P4 high level signals and give motor drive ic U13, actuating motor brake function left and rightMovable 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 has phaseSame 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 controlRequired feedback voltage, 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 motor speedSpend directly proportional, this velocity feedback voltage establishes PWM datums at the pin 13 of U13, and is closed into feedback control loop, and output is drivenThe control signal of dynamic MOS, meanwhile, the PWM reference voltages at U13 pins 13 are fed back into MCU drawing with analog-digital conversion functionFoot so that MCU learns motor actual motion speed, and adjusts control electricity according to the difference of actual motion velocity amplitude and setting valuePressure,
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 1l of right movable motor driving chip, draw target velocity voltage and the difference of actual speed voltage passes throughAfter 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：The gardens working machine for starting machine operation of choke is remotely controlled with charging walking electricity consumption magnetic, 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, in the electromagnetic pulse that has for being laid on earth's surface along grass cutting action region borderConducting wire of leading the way besieges in circle and puts more hay mowers, described every hay mower be equipped with compass compass so as toIt forms a line come volume of keeping order by direction in length and breadth in operation；The fixed power supply part of the tool automatic charging pin insertion partBetween hay mower, using the communication of the more chargings of sequentially forming into columns of perception of operation when tool aware circuit Multifunctional flat directorRemote control, the artificial semi-automatic detecting head of mobile phone correction correction sensor wire electromagnetic field and multiple video cameras and laser and ultrasoundRange finder is perceived and is positioned by the Big Dipper of internet and charged to be remotely controlled each gardens working machine order；The working machine, which contains, to be adoptedIntelligentized charge management circuit is taken, different charging strategies is taken according to the practical battery condition of battery pack, ensures system work；The charging strategy for taking different according to the practical battery condition of battery pack takes different fill according to the practical battery condition of battery packElectric strategy；Photovoltaic generation charging pile has energy-saving effect.The intelligent gardens work implements mowing of multifunctional platform, fertilising, pressure-vaccum, millLight, brush, sowing, pouring are multi-functional；
Intelligent grass-removing realizes that a station multimachine technical need is wished in now developed DYM220601 intelligence by LANOn the basis of robot grass trimmer, realize that a charging station, more grass trimmers can work on a mowing region simultaneously；Has nothingThe compass in the antitheft comprehensive intelligent garden in the plant protection gardens of line remote and multiple functions, using the suspension of vertical directionThe compass that the horizontal north and south of pulling is directed toward is hung, deflection angle is transmitted to single board computer and handled by the reflective mirror that compass is equipped with.
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 all band 868MHz channel radiosModule, a mating independent gateway GATEWAY are interrogated, which connects upper INTERNET by wired, wireless 2 kinds of modes；IntelligenceIt further includes that charging station connect gateway with 868MHz wireless communication modules, and then is connected to that energy grass trimmer, which is a station multi-computer system,INTERNET；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 serverOneself is built；Or external server is rented, the first step is for European scale country；This mainly sees technical difficulty and operationExpense；It is expected that sales volume is annual 2000-10000 platforms intelligent grass-removing, calculated according to 5 years, market capacity should be in 50,000 intelligenceGrass trimmer；We plan to develop other intelligent garden products in addition to grass trimmer simultaneously, including irrigate timer, garden lampDeng so the server needs while servicing 100,000 intelligent garden products and 50,000 mobile phones, i.e., at least 150,000 IP；According to 5Year sales volume estimation, the IP quantity that server should service register user：50000, intelligent grass-removing：50000；The production of other intelligence gardensProduct：50000；Internet of Things framework uses web interconnection architectures, mobile phone and intelligent grass-removing to be required for the side for being registered and being logged in user nameFormula accesses separate server, and confirms the presence of mobile phone and intelligent grass-removing by server.Mobile phone and intelligent grass-removingAll it is common Internet of Things equipment in server, they in server all there is unique User ID, Internet of Things equipment to step onThe addresses IP of equipment where server can get User ID when the server of land；And cell phone application control intelligent grass-removing be withFamily ID is that foundation is controlled, and User ID, which is first sent to server, can get corresponding IP address.Due to the intelligence of our companyIn energy mower art route, the later stage also plans to have to install camera additional on intelligent grass-removing, and is shown in video on mobile phoneThe function of appearance, so after mobile phone and intelligent grass-removing are by server identification and unicom, subsequent control can by server,It can 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 eachIntelligent 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., moreThe intelligent garden products of kind, but a sequence number can only bind a user；This is that due to safety concerns, i.e., is produced from the intelligence gardenAfter the stolen loss of product, use cannot be bound by other people；Mobile phone user, which registers, to complete, user number and sequence number, i.e. some intelligenceAfter garden products binding success, mobile phone is just communicated by APP and intelligent garden products, and mobile phone can send to grass trimmer and instruct,It mows including beginning/stopping, returning to charging station etc.；Mobile phone reads the information of grass trimmer, including is mowing, charging, mistake occursFalse alarm and the content etc. of alarm；Mobile phone reads Weather information from server, and data are obtained from third party software；It is right on mobile phoneGrass trimmer carries out function setting, containing automatic time cycle setting of mowing, system time setting, change of secret code；And covering takes immediatelyThe former setting data being engaged on device and grass trimmer chip；The a few thing information of grass trimmer mows and adds up total time, error information numberAccording to needing to retain on mobile phone and server；These data are for convenience of market survey and maintenance service；By mobile phone to mowingMachine software is upgraded；The server software provides corresponding Security Assurance Mechanism to the privacy of user；User is connected by APPLong-range maintenance service is sought by company's site；The intelligent grass-removing bluetooth version and charging station system developed need 868MHz wirelessCommunication module is selected, and on the basis of gateway GATEWAY selections and LAN connection design of hardware and software and technology, is providedSoftware and hardwares programming and the technical supports such as INTERNET connections, server；Intelligent irrigation timer and mating humidity sensorThe technical need set product includes 2 parts：The Intelligent fixed time irrigation controller is connected on water source, according to the setting of user,Solenoid valve, water flowing are opened in certain period；Humidity sensor is inserted into the soil in garden, monitors the humidity of soil, and by dataIt is sent to Intelligent fixed time irrigation controller by gateway；When threshold values of the humidity of soil less than setting, Intelligent fixed time irrigates controlDevice processed automatically opens solenoid valve, gives garden watering；Intelligent fixed time irrigation controller and humidity sensor all band 868MHz channel radiosModule is interrogated, LAN connection is realized by gateway；It can realize INTERNET connections by gateway simultaneously；Intelligent fixed time irrigation controlDevice and humidity sensor realize self-energizing, all included 868MHz channel radios of intelligent garden systems equipment using solar panelModule is interrogated, realizes the mutual communication between each product in the system of intelligent garden；To realize the communication between each product andControl function, while INTERNET is connected by gateway, realize the work(of each product in the system of user's remote control intelligence gardenEnergy.
The gardens working machine for starting machine operation of choke is remotely controlled with charging walking electricity consumption magnetic, photovoltaic generation charging pile has sectionEnergy effect, the mowing of multifunctional platform tool, fertilising, pressure-vaccum, polishing, brush, sowing, pouring are multi-functional.Using on hay mowerEquipped with compass and two-man act balancer so as to when operation by direction in length and breadth come layout direction of keeping order, tool communication control perception is advancedRetreat the remote that Multifunctional circuit platform perceives more chargings of sequentially forming into columns, artificial semi-automatic mobile phone correction correction inductionThe detecting head of conducting wire electromagnetic field and multiple video cameras and laser and supersonic sounding device perceive and are determined by the Big Dipper of internetPosition is charged to be remotely controlled each gardens working machine order, containing intelligentized charge management circuit is taken, takes different charging strategies；The compass hangs the compass that the horizontal north and south of pulling is directed toward using the suspension of vertical direction, and compass is equipped with reflectiveDeflection angle is transmitted to single board computer processing by mirror.
The gardens working machine for starting machine operation of choke, tool automatic charging pin insertion section are remotely controlled with charging walking electricity consumption magneticIt 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；Control perception forward-reverse Multifunctional circuit platform is communicated using toolThe remote of more chargings of sequentially forming into columns is perceived, the detecting head of artificial semi-automatic correction sensor wire electromagnetic field of being rectified a deviation with mobile phoneAnd multiple video cameras and laser and the perception of supersonic sounding device and being positioned by the Big Dipper of internet works to be remotely controlled each gardensMachine order charges, and containing intelligentized charge management circuit is taken, different charging strategies, photovoltaic generation charging pile is taken to have sectionEnergy effect, intelligent gardens work implements mowing, fertilising, pressure-vaccum, polishing, brush, sowing, the pouring of multifunctional platform are multi-functional.Teaching the intelligent robot working machine of control direction to use with straight line moving balancer has the balancer (236) of two-man act complementaryStability maintenance front axle in left and right has straight line moving purposes, simple and reliable；The hay mower is equipped with compass and two-man act is flatWeighing apparatus so as to when operation by direction in length and breadth come layout direction of keeping order.The compass hangs drawing using the suspension of vertical directionDeflection angle is transmitted to single board computer and handled by the compass that firmly horizontal north and south is directed toward, the reflective mirror that compass is equipped with.Plant protection gardenThe antitheft comprehensive intelligent garden tool wireless telecommunications of woods are remotely controlled multiple functions.
Continuously improve the perfect snowplough regulated and controled using drawstring newly changed, it is characterised in that：Left trigger and the right side is set to pullMachine links, the cylinder self-locking block phase interaction being equipped with the face of two parallel surfaces of the right trigger self-locking plate (158) to keep leftThe thick 2mm long 220mm wide 42.5mm high 89.5mm's of the snowplough right hand operation part regulated and controled using drawstringThe self-locking female hook that keep left a face for coaxial through-hole is equipped with there are two being set on two parallel surfaces of right trigger (162)One section of curve of female hook edge be the logatithmic spiral for having pressure angle properties equivalent everywhere.
Continuously improve the perfect snowplough regulated and controled using drawstring, it is characterised in that：The snow throwing blade(18a) is the blade face of the tool pressure angle logatithmic spiral of properties equivalent everywhere of function curve shape.Or the snow throwing blade(18a) is the blade face that the tool of function curve shape slows down cube curve of impact characteristics.
Usefulness is self-evident：So that left trigger and right trigger is linked using drawstring, is pulled when holding a left side with left handWhen machine, it can make the right trigger pressed that can automatically link after the right hand takes away and keep pressing, the face of stirring is gone to vacate the right handOther handles of plate operation part；Right trigger and the public self-locking drawstring (141) of left trigger, are connected to right trigger self-locking plate(158) in the self-locking drawstring hole of the end of crotch, the face of two parallel surfaces of right trigger self-locking plate (158) to keep left is equipped withCylinder self-locking block and the self-locking female hook of right trigger work, so that left trigger and right trigger is linked, self-locking female hook is tool pressure angleThe logatithmic spiral of properties equivalent everywhere.Snow throwing blade (18a) is that the logatithmic spiral of properties equivalent or tool slow down tool pressure angle everywhereThe blade face of cube curve of impact characteristics.Ice shoveling plate and preceding crawler belt and preceding jockey pulley use poly- maple plastics.The light panel(153) light is utilized in polarised light of the dominant wavelength irradiated in haze at 588 nanometers.Synthesis improvement hot cooling, difficultyNoise-reducing, skid not before, counterweight is anti-skidding, waste suction is healthy, secondary mixed gas, heat-insulating and shock-absorbing, deicing function, snow throwing function.
The gardens working machine for starting machine operation of choke is remotely controlled with charging walking electricity consumption magnetic, which is characterized in that describedThe front of snowplough is equipped with contact chip (234), to coordinate tabletting torsional spring, tabletting torsional spring, contact surface to go to charge；236. balanceDevice.
The compass hangs the compass that the horizontal north and south of pulling is directed toward using the suspension of vertical direction, set on compassDeflection angle is transmitted to single board computer processing by some reflective mirrors；The antitheft comprehensive intelligent garden tool wireless telecommunications remote control in plant protection gardens is a variety ofFunction；
Usefulness is：
Set on intelligent robot snowplough charging pin (233), walk electricity consumption and sweep away snow with engine be conducive to charging andOperation when long；It is set on the intelligent robot snowplough and hobs ice cream screw feeder (235), snow is hobbed into ice cream in snow output spot(237).It is disorderly flown upward to prevent Snow dritf, ice cream can be used for laying in, and be used as cold storing and fresh-keeping.
Required according to different clients, can optionally various improved plans combine, can also increase snowplough pattern and kind.
Bright spot is：Electricity consumption walking power consumption control and the gardens for starting machine operation that choke is remotely controlled with charging walking electricity consumption magneticThe garden intelligent road snowplough working machine of operation, photovoltaic generation charging pile when the semi-automatic remote work captain of working machineHave energy-saving effect, equipped with compass and two-man act balancer so as to when operation by direction in length and breadth come layout direction of keeping order, tool is logicalNews control perception forward-reverse Multifunctional circuit platform perceives the remote of more chargings of sequentially forming into columns, manually semi-automatic to use mobile phoneThe detecting head and multiple video cameras and laser and supersonic sounding device of correction correction sensor wire electromagnetic field perceive and by mutualThe Big Dipper positioning of networking carrys out remote control work machine order and charges, containing taking intelligentized charge management circuit；Using vertical directionSuspension hang the compass that the horizontal north and south of pulling is directed toward, deflection angle is transmitted to single board computer processing by the reflective mirror on compass.IntelligenceCharging pin can be set on robot snowplough；It is set on snowplough and hobs ice cream screw feeder (235), hobbed and set logatithmic spiral on ice cream screw feederSnow is hobbed into ice cream by slot with profit, and snow is hobbed into ice cream (237), is disorderly flown upward for windproof blowing snow, and ice cream can be used for laying in, and is madeCold storing and fresh-keeping is used.Described hob sets logatithmic spiral slot on ice cream screw feeder, snow is hobbed into ice cream with profit；With charging walking electricity consumption magneticThe operation when gardens working machine of machine operation its walk electricity consumption and operation engine being started to be conducive to long of remote control choke.LogarithmHelical has pressure angle equal characteristic everywhere.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is completeVarious changes and amendments can be carried out in the range of without departing from technical thought of the invention entirely.The technical model of the present inventionIt encloses and is not limited to the contents of the specification, it is necessary to which its technical scope is determined according to right.