Drive device, control method of drive device, and program

Abstract

The object of the present invention is to provide a drive device that reduces the burden on the user and is energy efficient. According to one aspect of the present invention, a handheld drive device for trimming or cutting objects is provided. This drive device has a housing, an action part, and a control part. The housing extends from the rear side where the user is located to the front side where the object is located. The action part is disposed on the front side of the housing and is configured to drive so as to impart mechanical action to the object for trimming or cutting. The control part is configured to perform the following steps: In the driving step, the action part is driven by controlling the drive output of the action part to a target value. In the monitoring step, the state or action of the drive output relative to the target value is monitored during the control of the driving step. In the adjustment step, the target value is adjusted based on the monitored state or action.

Description

Technical Field

[0001] This invention relates to a drive device, a control method for the drive device, and a program. Background Technology

[0002] Currently, there are handheld drive devices for trimming or cutting grass and trees. Examples include lawnmowers and chainsaws.

[0003] Patent document 1 discloses a prior art lawnmower as an example of a handheld drive device. Existing technical documents Patent documents

[0004] Patent Document 1: Japanese Utility Model Registration No. 3208014 Summary of the Invention The problem that the invention aims to solve

[0005] However, the prior art represented by the lawnmower disclosed in Patent Document 1 does not consider the burden on the user during use. In particular, this drive device generates noise and vibration during the operation of the actuating part, thus placing a significant burden on the user. Furthermore, since a high mechanical force is applied to the object, a high drive output is required, thus creating a need to suppress energy consumption.

[0006] In view of the above, the object of the present invention is to provide a drive device that can reduce the burden on users and has high energy efficiency. Solution for solving the problem

[0007] According to one aspect of the present invention, a handheld drive device for trimming or cutting an object is provided. The drive device has a housing, an actuating part, and a control unit. The housing extends from the rear side where the user is located towards the front side where the object is located. The actuating part is disposed on the front side of the housing and configured to drive, so as to impart a mechanical action to the object for trimming or cutting. The control unit is configured to perform the following steps: In the driving step, the actuating part is driven by controlling the driving output of the actuating part to a target value. In the monitoring step, the state or action of the driving output relative to the target value is monitored during the control of the driving step. In the adjustment step, the target value is adjusted based on the monitored state or action.

[0008] In this way, the burden on the user can be reduced and the energy efficiency of the drive unit can be improved when using the drive unit. Attached Figure Description

[0009] Figure 1 This is a perspective view showing the external structure of lawnmower 1. Figure 2This is a block diagram representing the electrical hardware structure of lawnmower 1. Figure 3 This is a perspective view showing the appearance of handle 42b. Figure 4 This is a block diagram showing the functions implemented by the control unit 73 and the like in the lawnmower 1. Figure 5 This is an activity diagram representing an example of a control method. Figure 6 This is a graph showing an example of how the time-dependent output DO changes when set to the High level. Figure 7 This is an activity diagram representing another example of a control method. Detailed Implementation

[0010] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The various features shown in the embodiments described below can be combined with each other.

[0011] The program used to implement the software in this embodiment can be provided as a non-transitory computer-readable medium, or it can be downloaded from an external server, or the program can be launched by an external computer to implement the function on a client terminal (i.e., so-called cloud computing).

[0012] In this embodiment, "part" can be a concept that includes, for example, hardware resources implemented in a generalized circuit and software information processing specifically implemented by these hardware resources. Furthermore, this embodiment involves various types of information, which can be represented, for example, by physical values ​​representing signal values ​​of voltage or current, or as high or low signal values ​​of a binary bit set consisting of 0s or 1s, or by quantum superposition (i.e., so-called qubits), and can perform communication and computation on a generalized circuit.

[0013] Furthermore, in a broader sense, a circuit is a circuit implemented by at least appropriately combining circuits, circuitry, processors, and memory. That is, it includes application-specific integrated circuits (ASICs), programmable logic devices (such as simple programmable logic devices (SPLDs) and complex programmable logic devices (CPLDs), and field-programmable gate arrays (FPGAs), etc.

[0014] 1. Hardware Structure In this section, the hardware structure of the drive device of this embodiment will be described. The drive device is a handheld drive device for trimming or cutting objects. The drive device is preferably a lawnmower 1 or a chainsaw (not shown). The following description will use a lawnmower 1 as an example.

[0015] Figure 1 This is a perspective view showing the external structure of lawnmower 1. Figure 2 This is a block diagram representing the electrical hardware structure of lawnmower 1. For example... Figure 1 As shown, the lawnmower 1 includes, for example, an operating lever 11 (as a frame), a rotating blade 2 (as an actuating part), a mounting mechanism 3, a handle unit 4, and an electric unit 6. Furthermore, as... Figure 2 As shown, the lawnmower 1 includes a microcomputer 7 with a control unit 73.

[0016] (Operating lever 11) The control lever 11 of the lawnmower 1 is an example of the housing in the drive unit. The control lever 11 extends from the rear side 1r where the user is located to the front side 1f where the object is located. The length of the control lever 11 is not particularly limited, but since the user is assumed to be an adult, an appropriate length suitable for an adult's height is preferred. In this way, by using a long, tubular control lever 11 as the housing, the user can effectively mow weeds and the like on the ground while walking in a natural posture without having to bend over. In addition, a shaft (not shown) is provided inside the control lever 11, which is configured to connect the rotating blade 2 (described later) to the electric motor 64 in the electric unit 6 and transmit power. However, this is only an example and is not a limitation. For example, the electric motor 64 may also be located near the rotating blade 2, i.e., in front of the control lever 11. In this case, the battery pack 62 (described later) that supplies power to the motor 64, like the motor 64, can be located in front of the operating lever 11, or the battery pack 62 can be located behind the operating lever 11, and the motor 64 located in front of the operating lever 11 can be powered by inserting a power cable for power supply inside the operating lever 11.

[0017] (Rotating Blade 2) The rotating blade 2 in the lawnmower 1 is an example of an action unit in the drive mechanism. The rotating blade 2 is located on the front side 1f of the control lever 11, and is particularly preferably located at the front end of the control lever 11. The rotating blade 2 is configured to drive, so as to impart mechanical action to the object for trimming or cutting. As an example of such an action unit, the rotating blade 2 can be configured to be replaceable as a unit, since the rotating blade 2 will wear or deteriorate with use. Alternatively, it can be configured to be replaceable as a unit, so that an action unit other than the rotating blade 2 can be installed according to the purpose of the operation. In this embodiment, the rotating blade 2 is configured as a rotary drive. In other words, in this embodiment, the target value PV and the drive output DO are the number of rotations of the rotating blade 2. However, this is only the case for the rotating blade 2 and is not limited thereto. The target value PV and the drive output DO will be explained further later.

[0018] The rotation speed of the rotating blade 2 is not particularly limited; for example, it can be from 3000 to 10000 rpm. Specifically, possible rotation speeds include, for example, 3100, 3000, 3300, 3400, 3500, 3600, 3700, 3800, 3900, 4000, 4100, 4200, 4300, 4400, 4500, 4600, 4700, 4800, 4900, 5000, 5100, 5200, 5300, 5400, 5500, 5600, 5700, 5800, 5900, 6000, 6100, 6200, 6300, 6400, 6500, 6600, 6... 700, 6800, 6900, 7000, 7100, 7200, 7300, 7400, 7500, 7600, 7700, 7800, 7900, 8000, 8100, 8200, 8300, 8400, 8500, 8600, 8700, 8800, 8900, 9000, 9100, 9200, 9300, 9400, 9500, 9600, 9700, 9800, 9900, 10000 rpm, or any value between any two of the values ​​shown above.

[0019] (Installation Mechanism 3) The mounting mechanism 3 has holes for inserting the joystick 11 and for inserting the handle unit 4, allowing the handle unit 4 to be cross-mounted onto the linearly extending tubular joystick 11. Here, the shape of the mounting mechanism 3 is merely an example, and the method of mounting the joystick 11 and the handle unit 4 is not particularly limited.

[0020] (Handle Unit 4) The handle unit 4 is the part operated by the user's hand and is configured as a curved tube. The handle unit 4 includes an extension 41, a handle 42, a trigger lever 43, and a locking lever 44.

[0021] like Figure 1 As shown, the extension 41 extends left and right around the mounting mechanism 3, intersecting with the front and rear extending operating lever 11. A portion of the extension 41 extending to the left bends midway, and a handle 42a for direct user grip is provided at its front end. On the other hand, a portion of the extension 41 extending to the right bends gently, and a handle 42b is provided at its front end. The handle 42b is configured to be larger than the handle 42a, and a trigger lever 43 and a locking lever 44 are provided on the handle 42a.

[0022] The trigger lever 43 is a lever that the user grips and presses when rotating the rotating blade 2. By gripping the trigger lever 43, the motor 64 (described later) is energized and rotated, and the rotating blade 2 is driven to rotate by this power. On the other hand, the locking lever 44 is a safety mechanism configured to restrict the pressing of the trigger lever 43, for example, electrically, and more preferably mechanically. That is, it is configured such that when the locking lever 44 is not released, the user cannot press the trigger lever 43 and cannot rotate the rotating blade 2. In this way, the accidental rotation of the rotating blade 2 can be prevented, thereby ensuring the user's safety.

[0023] Figure 3 This is a perspective view showing the appearance of the handle 42b. The handle 42b has an operation panel 47, on which a power switch 45 and an output switching button 46 are provided. As shown, the output switching button 46 preferably includes a plus button 46a and a minus button 46b. The power switch 45 is used to switch the main power supply on / off. By turning on the power switch 45, the lawnmower 1 enters a standby state. In the standby state, when the locking lever 44 is released and the trigger lever 43 is pressed, the rotating blade 2 is driven to rotate.

[0024] Additionally, in this embodiment, the user can set or adjust the rotation number of the rotating blade 2 by pressing the output switching button 46. When the user presses the plus button 46a, the rotation number of the rotating blade 2 increases; more specifically, the target value PV used to control the rotating blade 2 increases. When the user presses the minus button 46b, the rotation number of the rotating blade 2 decreases; more specifically, the target value PV used to control the rotating blade 2 decreases. This will be explained further later.

[0025] (Electric Unit 6) The electric unit 6 is located on the rear side 1r of the control lever 11, and is particularly preferably located at the rear end of the control lever 11. For example... Figure 1 and Figure 2 As shown, the electric unit 6 has a housing 61 and a battery pack 62. Inside the housing 61 are an inverter 63 (a precision component), an electric motor 64, and a microcomputer 7 (described separately). The battery pack 62 has a rechargeable battery. The battery may be, for example, a lead-acid battery, and may suitably be a NAS battery, a nickel-metal hydride battery, a lithium-ion battery, etc.

[0026] In this embodiment, the electrical energy stored in the battery pack 62 is converted into mechanical energy for the rotational drive of the so-called rotating blade 2. More specifically, the power from the battery pack 62 is supplied to the motor 64 via an inverter 63 that adjusts the frequency or voltage, etc., under the control of the microcomputer 7 described later. The power of the motor 64 is transmitted to the rotating blade 2 via a shaft (not shown) within the joystick 11, thereby driving the rotating blade 2 to rotate.

[0027] (Microcomputer 7) The microcomputer 7 is configured to control the operation of the lawnmower 1. The microcomputer 7 has a communication unit 71, a storage unit 72, and a control unit 73, which are electrically connected inside the lawnmower 1 via a communication bus 70. Each component will be further explained below.

[0028] The communication unit 71 is configured to transmit various electrical signals from the microcomputer 7 to external components. Furthermore, the communication unit 71 is configured to receive various electrical signals from external components to the microcomputer 7. More preferably, the communication unit 71 has network communication capabilities, thereby enabling communication of various information between the lawnmower 1 and external devices via a network such as the Internet.

[0029] Storage unit 72 stores various information as defined in the above description. It can be implemented, for example, as a storage device such as a solid-state drive (SSD) storing various programs related to the lawnmower 1 executed by control unit 73, or as a memory such as random access memory (RAM) storing temporarily necessary information (independent variables, arrangements, etc.) required for program operation. Storage unit 72 stores various programs and variables related to the lawnmower 1 executed by control unit 73.

[0030] The control unit 73 is, for example, a central processing unit (CPU) not shown. The control unit 73 implements various functions related to the lawnmower 1 by reading predetermined programs stored in the storage unit 72. In other words, information processing via software stored in the storage unit 72 is specifically implemented by the control unit 73, which is a hardware example, and can thus be executed as various functional units included in the control unit 73. This will be explained in more detail in the next section. It should be noted that the implementation is not limited to a single control unit 73; multiple control units 73 can be used for each function. Alternatively, combinations of these are also possible.

[0031] 2. Functional Structure In this section, the functional structure of this embodiment will be described. As described above, by implementing the information processing of the software stored in the storage unit 72 specifically by the control unit 73, which is a hardware example, the various functional units included in the control unit 73 can be executed.

[0032] Figure 4This is a block diagram illustrating the functions implemented by the control unit 73 and the like in the lawnmower 1. Specifically, the control unit 73, as a functional unit, includes a reading unit 731, a drive unit 732, a monitoring unit 733, and an adjustment unit 734. Furthermore, the storage unit 72 is associated with the functions of the lawnmower 1 and stores a driver program 721, a monitoring program 722, an up program 723, and a down program 724.

[0033] The reading unit 731 is configured to read various information received from the outside via the communication unit 71 or pre-stored in the storage unit 72. For example, the reading unit 731 can read the driver 721, monitoring program 722, up program 723 or down program 724 pre-stored in the storage unit 72.

[0034] The drive unit 732 is configured to execute drive steps based on the read drive program 721. Specifically, the drive unit 732 drives the rotating blade 2 by controlling the number of rotations of the rotating blade 2 (hereinafter referred to as drive output DO) to a target value PV. The control method in this case is not particularly limited; for example, P control, PD control, PID control, etc., can be appropriately employed. Preferred values ​​can be set for the coefficients related to control as needed. Specific examples will be described in detail later.

[0035] The monitoring unit 733 is configured to perform monitoring steps based on the read monitoring program 722. Specifically, under the control of the drive unit 732, the monitoring unit 733 monitors the state or action of the drive output DO relative to the target value PV. Specifically, for example, the lawnmower 1 may also have an encoder (not shown). The encoder is configured to output the drive output DO of the rotating blade 2 as a physical signal. The monitoring unit 733 detects each state or action of the drive output DO by monitoring the deviation between the signal (e.g., voltage value) output from the encoder and the physical quantity (e.g., voltage value) corresponding to the target value PV. That is, the lawnmower 1 with the adjustment function described below can be implemented with a general control structure. Further specific examples will be described in more detail later.

[0036] The adjustment unit 734 is configured to perform adjustment steps based on the read ascending procedure 723 or descending procedure 724. Specifically, the adjustment unit 734 adjusts the target value PV based on the monitored state or action. Specific examples will be described in more detail later.

[0037] 3. Control methods In this section, a control method for a lawnmower 1, which serves as an example of the drive device, will be described. This control method is for a handheld lawnmower 1 used for trimming or cutting objects. Specifically, the control method includes various steps of the control unit 73 in the lawnmower 1. More specifically, it includes the following steps: In the drive step, the rotating blade 2 is driven by controlling the drive output DO of the rotating blade 2 to a target value PV. In the monitoring step, the state or action of the drive output DO relative to the target value PV is monitored during the control of the drive step. In the adjustment step, the target value PV is adjusted based on the monitored state or action.

[0038] Additionally, the user can use the output switching button 46 to set the target value PV for controlling the rotation number of the rotating blade 2. Preferably, the target value PV can be set by the user by selecting one from multiple levels. The number of levels can be, for example, 2, 3, 4, 5, 6, 7, 8, 9, or 10, or it can be within the range of any two values ​​shown above. Although determining the target value PV is an important parameter affecting the rotation number of the rotating blade 2, this method saves the user the trouble of inputting detailed values ​​one by one and improves usability.

[0039] Furthermore, preferably, when the target value PV is set to a predetermined value or higher, the adjustment unit 734 can adjust the target value PV based on the state or action. The reference for the predetermined value as the threshold is not particularly limited, but it is particularly preferred to determine the predetermined value corresponding to the target value PV based on the drive output DO when the noise perceived by the user exceeds the threshold. By setting the predetermined value of the target value PV to determine whether or not to adjust the target value PV, a product that ergonomically reduces user burden such as noise can be realized.

[0040] Figure 5 This is an activity diagram illustrating an example of a control method. In this activity diagram, the start is considered to be the instant the user presses the trigger lever 43 after turning on the power switch 45 and releasing the locking lever 44.

[0041] Furthermore, assuming the user can set three levels: Low, Middle, and High, as determined in activity A101, when a High level is set, processing proceeds to activities A102 to A106, which are loop processes. When a High level is set, the target value PV is used as the first target value PV1. As mentioned above, when the rotation number of the rotating blade 2 is 3000 to 10000 rpm, examples include a target value PV rotation number of 3500 rpm for the Low level, 6000 rpm for the Middle level, and 10000 rpm for the High level.

[0042] Figure 6 This is a graph showing an example of how the time required to drive the output DO changes when it is set to the High level. Specifically, as shown... Figure 6 As shown, when the adjustment unit 734 detects that the drive output DO follows the first target value PV1, which is the target value PV, for a predetermined time Δt or more, it lowers the target value PV to a second target value PV2. Then, when it detects that the drive output DO has decreased by a predetermined value ΔV or more from the state of following the second target value PV2, it can raise the target value PV back to the first target value PV1. The process will be described in detail below.

[0043] In activities A102 to A106, which are part of a loop process, the monitoring unit 733 continues to perform the monitoring steps. Of course, the user can cut off the power supply to the motor 64 by releasing the press of the trigger lever 43 or turning off the power switch 45, thereby ending the loop process (activity A199).

[0044] In activity A102, the monitoring unit 733 monitors whether the drive output DO is overshooting relative to the first target value PV1. Here, when an overshooting state of the drive output DO relative to the first target value PV1, which is the target value PV, is detected, the drive unit 732 maintains the target value PV.

[0045] For example in Figure 6 In the middle, it is equivalent to the overshoot state of X1, X2, X3, etc. The overshoot state can be judged as the rotation has changed, that is, the rotating blade 2 is in contact with an object such as weeds. Therefore, the target value PV is maintained at the first target value PV1 to maintain a high drive output DO suitable for mowing.

[0046] On the other hand, if no overshoot is detected, the monitoring unit 733 monitors in activity A103 whether the drive output DO stably follows the first target value PV1. The state in which the drive output DO stably follows the target value PV can be determined as a state in which the rotating blade 2 is not in contact with the object and is idling. Furthermore, when it is detected that the state in which the drive output DO follows the first target value PV1, which is the target value PV, is equal to or greater than a predetermined time Δt, the adjustment unit 734 causes the target value PV to decrease as the second target value PV2 (activity A104).

[0047] For example in Figure 6The text indicates how the drive output DO follows the first target value PV1 during the interval Δt [seconds] between time t1 and t1+Δt or between time t2 and t2+Δt. Based on the detection results of the monitoring unit 733, the adjustment unit 734 reduces the target value PV from the original first target value PV1 to the second target value PV2. It should be noted that the target value PV corresponding to the high level is reduced from the first target value PV1 to the second target value PV2, rather than reducing the level that the user can set.

[0048] The value of Δt can be, for example, 0.5 to 10 [seconds], preferably 1 to 3 [seconds], specifically, for example, 0.5, 1, 1.5, 2, 2.5, 3, 3.5, 4, 4.5, 5, 5.5, 6, 6.5, 7, 7.5, 8, 8.5, 9, 9.5, 10 [seconds], or it can be within the range of any two values ​​shown above.

[0049] The ratio of the second target value PV2 to the first target value PV1 is, for example, 80% to 96%, specifically, for example, 80, 80.5, 81, 81.5, 82, 82.5, 83, 83.5, 84, 84.5, 85, 85.5, 86, 86.5, 87, 87.5, 88, 88.5, 89, 89.5, 90, 90.5, 91, 91.5, 92, 92.5, 93, 93.5, 94, 94.5, 95, 95.5, 96%, or it can be within the range of any two values ​​shown above.

[0050] Thus, the drive output DO follows the target value PV differently in idling and mowing situations, allowing for differentiation. Specifically, in the case of overshoot exceeding a certain amplitude, the target value PV is maintained at the first target value PV1 for mowing. Furthermore, in the idling state where no force is applied to the object, by reducing the target value PV from the first target value PV1 to the second target value PV2, noise generated by the rotation drive of the rotating blade 2 can be prevented, reducing the user's workload. Simultaneously, power consumption in the state where no force is applied to the object can be reduced. In other words, both noise burden on the user and workability can be improved.

[0051] Next, when the target value PV drops to the second target value PV2, in activity A105, the monitoring unit 733 monitors whether the drive output DO has dropped by a predetermined value ΔV or more from the second target value PV2. Here, if it is detected that the drive output DO has dropped by a predetermined value ΔV or more from the state following the second target value PV2 (which is the target value PV), the regulator 734 raises the target value PV to the first target value PV1 (activity A106).

[0052] For example, in Figure 6 In this case, the state is equivalent to overshoot states such as Y1 and Y2. Thus, starting from the state of falling to the second target value PV2, and when the drive output DO drops by more than a predetermined value ΔV, it is determined that the rotating blade 2 has hit the object. By making the target value PV return to the first target value PV1, a higher mowing function can be achieved when the user is working.

[0053] The ratio of ΔV to the second target value PV2 can be, for example, 0.5% to 5%, specifically, for example, 0.5, 0.6, 0.7, 0.8, 0.9, 1, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2, 2.1, 2.2, 2.3, 2.4, 2.5, 2.6, 2.7, 2.8, 2.9, 3, 3.1, 3.2, 3.3, 3.4, 3.5, 3.6, 3.7, 3.8, 3.9, 4, 4.1, 4.2, 4.3, 4.4, 4.5, 4.6, 4.7, 4.8, 4.9, 5%, or it can be within the range of any two values ​​shown above.

[0054] However, when the user sets a high level, the target value PV shifts between the first target value PV1 and the second target value PV2. But even the relatively low target value PV, i.e., the second target value PV2, is preferably higher than the target value PV corresponding to the middle level. In other words, the adjustment unit 734 can adjust the target value PV within a range below the value corresponding to the set level and above the value corresponding to the next lower level.

[0055] If the target value PV is adjusted too large, the control may become unstable, and power consumption may increase depending on the situation. By adjusting the target value PV within a defined range, control instability caused by the adjustment can be suppressed.

[0056] In this way, when using a drive unit such as a lawnmower 1, the burden on the user can be reduced and energy efficiency can be improved.

[0057] 4. Other The drive mechanism illustrated in lawnmower 1 can also be implemented in the following manner.

[0058] (1) In the above embodiment, the structure of the lawnmower 1 has been described, but a program may also be provided to enable the computer to execute the various steps of the control unit 73 of the lawnmower 1.

[0059] (2) Alternatively, one can also use Figure 7 The loop process shown is used instead Figure 5 The loop process is shown. Figure 7 This is an activity diagram representing another example of a control method. It should be noted that, although in Figure 7 The loop processing shown in the example is the same, but when the High level is set, the initial target value PV is set to a second target value PV2, which is less than the first target value PV1. That is, following activity A201 (equivalent to...) Figure 5 The processing after activity A101 is activity A204 (equivalent to...). Figure 5 (Activity A104 in the text). In this way, the burden on users can also be reduced and energy efficiency can be improved.

[0060] (3) In addition, it can be implemented that when the target value PV is the second target value PV2, the drive output DO stably follows the second target value PV2, so that the power is automatically deactivated after a predetermined time.

[0061] Furthermore, the present invention can also be provided in various other ways. In the drive device, during the adjustment step, when the target value is set above a predetermined value, the target value is adjusted based on the state or action. In the drive device, the predetermined value corresponding to the target value is determined based on the drive output when the noise perceived by the user exceeds a threshold. In the drive unit, the target value is configured to be set by the user by selecting one of multiple levels. In the drive device, during the adjustment step, the target value is adjusted within a range below the value corresponding to the set level and above the value corresponding to the level below it. In the drive device, during the adjustment step, if it is detected that the drive output follows a first target value as the target value for more than a predetermined time, the target value is decreased to a second target value. In the drive device, during the adjustment step, if it is detected that the drive output has decreased by a predetermined value or more from the state following the second target value which is the target value, the target value is increased to the first target value. In the drive device, during the adjustment step, if it is detected that the drive output is following a first target value as the target value for a predetermined time or more, the target value is decreased to a second target value. Then, if it is detected that the drive output has decreased by a predetermined value or more from following the second target value as the target value, the target value is increased back to the first target value. In the driving device, during the driving step, when an overshoot of the driving output relative to a first target value that is the target value is detected, the target value is maintained. The drive device also includes an encoder configured to output the drive output of the actuator as a physical signal. In the monitoring step, the various states or actions of the drive output are detected by monitoring the deviation between the signal output from the encoder and the physical quantity corresponding to the target value. In the driving device, the actuating part is configured as a rotary drive, and the target value and the driving output are the number of rotations of the actuating part. The drive unit is a lawnmower or chainsaw. A control method for a handheld drive device for trimming or cutting objects, characterized by steps comprising a control unit in the drive device. A program characterized in that it causes a computer to execute the various steps of the control unit in the drive device. Of course, it's not limited to this.

[0062] Finally, although various embodiments of the present invention have been described, these embodiments are merely illustrative and are not intended to limit the scope of the invention. The present invention can also be implemented through various other embodiments, and any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention. Related embodiments or variations should not only be included within the scope or spirit of the present invention, but also within the scope of the invention as described in the claims and their equivalents.

[0063] 1: Lawn mower 1f: Front side 1r: Rear side 11: Control lever 2: Rotating Blade 3: Installation mechanism 4: Handle Unit 41: Extension 42: Handle 42a: Handle 42b: Handle 43: Trigger lever 44: Locking lever 45: Power switch 46: Output switching button 46a: Plus button 46b: Minus button 47: Control Panel 6: Electric unit 61: Outer shell 62: Battery pack 63: Inverter 64: Electric motor 7: Microcomputer 70: Communication bus 71: Ministry of Communications 72: Storage Department 721: Driver 722: Monitoring Program 723: Ascent Procedure 724: Descent Procedure 73: Control Department 731: Reading Department 732: Drive Unit 733: Surveillance Department 734: Adjustment Department DO: Drive Output PV: Target value PV1: First target value PV2: Second target value ΔV: Preset value Δt: scheduled time

Claims

1. A handheld drive device for trimming or cutting objects, characterized in that, have: Housing, functional parts, and control parts; The housing extends from the rear side where the user is located to the front side where the object is located; The actuating part is disposed on the front side of the housing and configured to drive, so as to impart a mechanical action to the object for trimming or cutting the object; and The control unit is configured to perform the following steps. In the driving step, the actuator is driven by controlling its drive output to a target value. In the monitoring step, the state or action of the drive output relative to the target value is monitored during the control of the driving step. In the adjustment step, the target value is adjusted based on the state or action monitored. If the state of the drive output following the first target value as the target value is detected after a predetermined time, the target value is reduced to a second target value.

2. The driving device according to claim 1, characterized in that, In the driving step, the target value is maintained during the period when the driving output continuously oscillates above and below the target value with an amplitude greater than a certain value.

3. The driving device according to claim 1, characterized in that, In the monitoring step, the state in which the drive output follows the first target value is detected by monitoring the deviation of the drive output relative to the first target value, and the duration of this following state is determined.

4. The driving device according to claim 1, characterized in that, In the adjustment step, when the target value is set above a predetermined value, the target value is adjusted based on the state or action.

5. The driving device according to claim 4, characterized in that, The predetermined value corresponding to the target value is determined based on the drive output when the noise perceived by the user exceeds a threshold.

6. The driving device according to claim 1, characterized in that, The target value is set by the user by selecting one of multiple levels.

7. The driving device according to claim 6, characterized in that, In the adjustment step, the target value is adjusted within a range below the value corresponding to the set level and above the value corresponding to the level below it.

8. The driving device according to any one of claims 1 to 7, characterized in that, In the adjustment step, if it is detected that the drive output has decreased by a predetermined value or more from the state following the second target value which is the target value, the target value is increased to the first target value.

9. The driving device according to any one of claims 1 to 7, characterized in that, In the adjustment step, If, after a predetermined time period, the drive output is detected to be following a first target value (which is the target value), the target value is decreased to a second target value. Next, if it is detected that the drive output has decreased by a predetermined value from the state following the second target value which is the target value, the target value is raised back to the first target value.

10. The driving device according to any one of claims 1 to 7, characterized in that, It also has an encoder. The encoder is configured to output the drive output of the actuator as a physical signal. In the monitoring step, the various states or actions of the drive output are detected by monitoring the deviation between the signal output from the encoder and the physical quantity corresponding to the target value.

11. The driving device according to any one of claims 1 to 7, characterized in that: The actuating part is configured as a rotary drive. The target value and the drive output are the number of rotations of the actuator.

12. The driving device according to any one of claims 1 to 7, characterized in that, It's a lawnmower or chainsaw.

13. A control method for a handheld drive device for trimming or cutting objects, characterized in that, Each step of the control unit in the drive device having any one of claims 1 to 12.

14. A program, characterized in that, The computer executes each step of the control unit in the drive device according to any one of claims 1 to 12.

Images