Intelligent mowing device and control method thereof

Abstract

The application discloses an intelligent mowing device and a control method thereof. The device comprises a walking assembly, a cutting assembly, a data detection module and a control unit. The walking assembly comprises walking wheels and a walking motor driving the walking wheels. The cutting assembly comprises a plurality of cutting blades arranged on a cutting disc and a cutting motor driving the cutting blades to perform a cutting action. The data detection module is used for detecting acceleration data of the intelligent mowing device. The control unit is connected with the data detection module. The control unit is configured to obtain the acceleration data of the intelligent mowing device, calculate a cutting influence factor reflecting the rotational balance of the cutting disc according to the acceleration data, and control the cutting motor to stop rotating when the cutting influence factor is greater than or equal to a preset factor threshold. The intelligent mowing device can accurately detect damage or loss of the cutting blades and ensure mowing effect.

Description

TECHNICAL FIELD

[0001] The present application relates to an electric power tool, in particular to an intelligent mowing device and a control method thereof. BACKGROUND

[0002] With the demand for intelligent mowing machines, small mowing robots have entered thousands of households. The mowing effect is an important evaluation index. The mowing robot usually has multiple blades, for example, three blades. If the mowing operation continues after the blade is damaged or missing, the mowing effect will be poor, and even the service life of the robot will be reduced. SUMMARY

[0003] In order to solve the problems of the prior art, the purpose of the present application is to provide an intelligent mowing device which can accurately detect the damage or loss of the cutting blade and ensure the mowing effect.

[0004] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0005] An intelligent mowing device, comprising: a walking assembly comprising a walking wheel and a walking motor driving the walking wheel to walk; a cutting assembly comprising a plurality of cutting blades arranged on a cutting disc and a cutting motor driving the cutting blades to perform a cutting action; a data detection module for detecting acceleration data of the intelligent mowing device; a control unit connected with at least the data detection module; the control unit is configured to: obtain the acceleration data of the intelligent mowing device, and calculate a cutting influence factor reflecting the rotational balance of the cutting disc according to the acceleration data; when the cutting influence factor is greater than or equal to a preset factor threshold, control the cutting motor to stop rotating.

[0006] Further, the cutting influence factor includes a real-time variance of the acceleration data.

[0007] Further, it further comprises: a parameter detection module for obtaining the working parameters of the cutting motor; the control unit is configured to: when the real-time variance is greater than or equal to a variance threshold, obtain the working parameters of the cutting motor; determine the position information of the target cutting blade according to the working parameters by using dynamic balance detection method, and output the position information.

[0008] Further, the working parameters of the cutting motor include the working current or working voltage of the motor or the motor speed.

[0009] Further, the target cutting blade is a missing blade or a non-working blade.

[0010] Further, the method further comprises: detecting a vibration noise of the intelligent mowing device during rotation of the cutting disc; and controlling the cutting motor to stop rotating when the vibration noise is greater than or equal to a noise threshold.

[0011] Further, the method further comprises: detecting a vibration parameter of the intelligent mowing device during rotation of the cutting disc; and controlling the cutting motor to stop rotating when the vibration parameter is greater than or equal to a parameter threshold.

[0012] An intelligent mowing device, comprising: a walking assembly comprising a walking wheel and a walking motor driving the walking wheel to walk; a cutting assembly comprising a plurality of cutting blades arranged on a cutting disc and a cutting motor driving the cutting blades to perform a cutting action; a data detection module detecting acceleration data of the intelligent mowing device; and a control unit connected to at least the data detection module; the control unit is configured to: obtain the acceleration data of the intelligent mowing device, and calculate a real-time variance of the acceleration data reflecting the rotation balance of the cutting disc according to the acceleration data; and control the cutting motor and the driving motor to stop rotating when the real-time variance is greater than or equal to a variance threshold.

[0013] An intelligent mowing device, comprising: a walking assembly comprising a walking wheel and a walking motor driving the walking wheel to walk; a cutting assembly comprising a plurality of cutting blades arranged on a cutting disc and a cutting motor driving the cutting blades to perform a cutting action; a noise detection module detecting a vibration noise of the intelligent mowing device during rotation of the cutting disc; and a control unit connected to at least the noise detection module; the control unit is configured to: control the cutting motor to stop rotating when the vibration noise is greater than or equal to a noise threshold.

[0014] A control method of an intelligent mowing device, the device comprising: a walking assembly comprising a walking wheel and a walking motor driving the walking wheel to walk; a cutting assembly comprising a plurality of cutting blades arranged on a cutting disc and a cutting motor driving the cutting blades to perform a cutting action; a data detection module detecting acceleration data of the intelligent mowing device; and a control unit connected to at least the data detection module; the method comprising: obtaining the acceleration data of the intelligent mowing device, and calculating a cutting influence factor reflecting the rotation balance of the cutting disc according to the acceleration data; and controlling the cutting motor and the driving motor to stop rotating when the cutting influence factor is greater than or equal to a preset factor threshold.

[0015] The application has the advantages that the acceleration of the mowing device is detected, and an influence factor reflecting the rotation balance of the cutting disc is calculated according to the acceleration data, and whether the cutting blade on the cutting disc is damaged or missing is judged according to the influence factor, so that the accuracy of the judgment is ensured, and the working effect of the mowing device is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a part structure diagram of an intelligent mowing device chassis as an embodiment;

[0017] Figure 2 is a circuit block diagram of an intelligent mowing device as an embodiment;

[0018] Figure 3 is a circuit block diagram of an intelligent mowing device as an embodiment;

[0019] Figure 4 is a circuit block diagram of an intelligent mowing device as an embodiment;

[0020] Figure 5 is a circuit block diagram of an intelligent mowing device as an embodiment;

[0021] Figure 6 is a flowchart of an intelligent mowing device control method as an embodiment. DETAILED DESCRIPTION

[0022] The application will be described in detail below with reference to the drawings and specific embodiments. It can be understood that the specific embodiments described herein are only used to explain the application, and not to limit the application. In addition, it should be noted that, in order to facilitate description, only the parts related to the application are shown in the drawings, not all structures.

[0023] The technical solution of the application can be applied to various types of electric tools, which can be handheld electric tools such as electric hammers, reciprocating saws, electric hammers, etc., or garden electric tools such as mowers, blowers, etc. The present application is mainly directed to handheld electric tools. The electric hammer will be taken as an example for description below.

[0024] Reference is made to Figure 1 the part mechanical structure of the intelligent mowing device shown in Figure 2 the circuit structure of the intelligent mowing device shown in. The intelligent mowing device 100 can at least include a power supply 101, a walking wheel 102, a walking motor 103, a cutting motor 104, a cutting disc 105 and a cutting blade 1051 arranged on the cutting disc 105, a data detection module 106, and a control unit 107. Among them, Figure 1The cutting disc 105 and the cutting blades 1051 are located on the chassis of the mowing device, and the output shaft of the cutting motor 104 is connected to the cutting disc 105 (not shown) to drive the cutting disc to rotate.

[0025] The power supply 101 is configured to provide power to the walking motor 103 and the cutting motor 104. In an embodiment, the power supply 101 can be an alternating current power supply, such as 120V or 220V AC mains. In an embodiment, the power supply 101 can be a battery pack, which can be composed of one or more battery units. For example, the battery units can be connected in series to form a single power branch, thereby forming a 1P battery pack, or can be connected in series to form multiple power branches, thereby forming a multi-P battery pack.

[0026] The walking motor 103 and the cutting motor 104 are configured to output driving force to drive the walking wheels 102 to walk and to drive the cutting disc 105 to rotate, respectively. The walking wheels 102 include driving wheels and passive wheels. In an embodiment, both of the above-mentioned motors are three-phase brushless motors, and the three-phase stator windings are connected in a delta or star configuration.

[0027] The cutting disc 105 is connected to the output shaft of the cutting motor 104 and rotates under the driving of the cutting motor 104, thereby driving the plurality of cutting blades 1051 fixed on the cutting disc 105 to perform cutting. Generally, the cutting disc 105 is a circular sheet. In an embodiment, a plurality of cutting blades 1051 can be fixed on a cutting disc 105, for example, 3, 4, or 5, etc. It can be understood that the cutting blades 1051 on the cutting disc 105 are uniformly distributed. For example, if the number of cutting blades 1051 is odd, all the cutting blades 1051 are distributed at the same distance along the circular path at the same distance from the center of the cutting disc 105; if the number of cutting blades 1051 is even, all the cutting blades 1051 are distributed in a central symmetric manner around the center of the cutting disc 105.

[0028] It can be understood that, since the cutting blades 1051 on the cutting disc 105 are uniformly distributed, the cutting disc 105 can rotate smoothly under the driving of the cutting motor 104 during the mowing process of the mowing device 100, i.e., without generating large vibrations. Thus, a better mowing effect can be achieved. However, if one or more cutting blades 1051 on the cutting disc 105 are missing or damaged (e.g., due to hitting a hard rock and breaking part of the cutting blade), the balance of the distribution of the cutting blades 1051 on the cutting disc 105 will be destroyed, including the positions of the uniform distribution or the quality of the uniform distribution. Further, when the cutting disc 105 rotates, a large centrifugal force will be generated on the cutting disc 105 due to the unbalanced rotation, which will cause the mowing device 100 to generate large vibrations, thereby affecting the mowing effect.

[0029] In order to avoid the influence of the cutting effect due to the loss or damage of the cutting blade 1051, the application adopts the following scheme to solve the problem.

[0030] It can be understood that due to the loss or damage of the cutting blade 1051, the cutting disc 105 produces a large vibration due to a large centrifugal force, which has a certain influence on the acceleration of the mowing device 100, but the average value of the acceleration is still close to zero within a certain time. That is, only through the acceleration data of the mowing device 100 walking, it is impossible to accurately determine whether the cutting blade 1051 is missing or damaged.

[0031] In one embodiment, the data detection module 106 is arranged in the housing of the mowing device 100, and can detect the acceleration data in the operation process of the mower. It can be understood that the data detection module 106 can be a speed sensor, an acceleration sensor or other modules capable of detecting or estimating acceleration data.

[0032] The control unit 107 can obtain the acceleration data detected by the data detection module 106, and calculate a cutting influence factor reflecting the rotation balance of the cutting disc 105 according to the acceleration data. That is, the control unit 107 can detect whether the centrifugal force of the cutting disc 105 is too large when rotating, that is, whether the cutting blade 1051 is missing or damaged, by further processing the acceleration data of the mowing device 100. It can be understood that although the average value of the acceleration data of the mowing device 100 during walking is close to zero, the variance of the acceleration data will change greatly, and therefore the control unit 107 can calculate the variance of the acceleration data and take the variance as the cutting influence factor. Preferably, the control unit 107 can calculate the real-time variance of the acceleration data of the mowing device 100, and compare it with the variance threshold value. When the real-time variance is greater than or equal to the variance threshold value, it is determined that the cutting blade 1051 is damaged or missing, and the cutting motor 104 is controlled to stop rotating. Alternatively, the control unit 107 can also control the cutting motor 104 and the driving motor 103 to stop rotating at the same time.

[0033] It should be noted that other parameters based on acceleration data and capable of reflecting the rotation balance of the cutting disc are also within the protection scope of the application.

[0034] It can be understood that, as shown in Figure 2 The driving motor 103 and the driving motor 104 are respectively connected with driving circuit 1031 and driving circuit 1041, and the control unit 107 controls the motors to stop rotating by outputting different control signals to the two driving circuits.

[0035] In the embodiment of the present application, whether the mower blade is damaged or lost is determined by calculating the variance of the acceleration of the mowing device, so as to avoid the judgment error caused by determining the loss or damage of the blade only by the change of the acceleration, thereby ensuring the mowing effect of the mowing device.

[0036] In one embodiment, as shown in Figure 3 The parameter detection module 108 can detect the working parameters of the cutting motor 104, such as the working current, working voltage or rotating speed of the cutting motor. Further, when the control unit 107 determines that the real-time variance of the acceleration data of the mowing device 100 is greater than or equal to the variance threshold, the working parameters of the cutting motor 104 can be acquired, and the position information of the target cutting blade can be determined by using the dynamic balance detection method according to the parameters, and the position information is output. The target cutting blade is the lost or damaged blade.

[0037] In one embodiment, as shown in Figure 4 The vibration sensor 109 can detect the vibration parameters of the mowing device 100 during the operation of the mowing device 100. It can be understood that the closer the installation position of the vibration sensor 109 to the cutting blade disc 105, the more the detected vibration parameters of the mowing device 100 can reflect whether the cutting blade disc 1051 is lost or damaged when the device vibrates abnormally. Specifically, the vibration sensor 109 can detect the vibration parameters of the device in real time, and transmit the vibration parameters to the control unit 107. When the vibration parameters are greater than or equal to the parameter threshold, the control unit 107 controls the driving motor 103 and the cutting motor 104 to stop rotating at the same time or only controls the cutting motor 104 to stop rotating. It can be understood that after the control unit 107 determines that the cutting blade 1051 is lost or damaged according to the control parameters, the working parameters of the cutting motor 104 can also be acquired, and the position of the target cutting blade which is damaged or lost can be determined accordingly.

[0038] In one embodiment, as shown in Figure 5 The noise detection module 110 can detect the vibration noise of the intelligent mowing device during the rotation of the cutting blade disc 105. Further, the control unit 107 can control the driving motor 103 and the cutting motor 104 to stop rotating at the same time or only control the cutting motor 104 to stop rotating when the vibration noise is greater than or equal to the noise threshold. It can be understood that after the control unit 107 determines that the cutting blade 1051 is lost or damaged according to the control parameters, the working parameters of the cutting motor 104 can also be acquired, and the position of the target cutting blade which is damaged or lost can be determined accordingly.

[0039] In one embodiment, the data detection module 106, the vibration sensor 109 and the noise detection module 110 are installed at any position in the housing of the mowing device 100, preferably at the periphery of the cutting motor or on the cutting motor or on the cutterhead.

[0040] In one embodiment, the absence or damage of the blade 1051 on the cutterhead 105 can be determined in combination with the parameters collected by one or more of the above-mentioned acceleration sensor 106, vibration sensor 109 and noise sensor 110, so as to further increase the accuracy of the judgment.

[0041] The control method for detecting the absence or damage of the blade in the intelligent mowing device will be described below. Figure 6 The control method for detecting the absence or damage of the blade in the intelligent mowing device will be described below.

[0042] S101, obtaining acceleration data of the device.

[0043] S102, calculating a cutting influence factor reflecting the rotation balance of the cutting cutterhead according to the acceleration data.

[0044] In this embodiment, the cutting influence factor reflecting the rotation balance of the cutting cutterhead is the real-time variance of the acceleration of the device.

[0045] S103, controlling the cutting motor to stop rotating when the cutting influence factor is greater than or equal to a preset factor threshold.

[0046] It can be understood that, since the mean value of the acceleration data in a certain period of time is close to zero, it cannot accurately reflect whether the cutting blade is lost or damaged, but the real-time variance of the acceleration data will change greatly when the blade is lost or damaged.

[0047] It should be noted that the above is only a preferred embodiment of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1.An intelligent mowing device, comprising: a walking assembly including a walking wheel and a walking motor driving the walking wheel to walk; a cutting assembly including a plurality of cutting blades and a cutting motor driving the cutting blades to perform a cutting action; a data detection module configured to detect acceleration data of the intelligent mowing device; a control unit connected to at least the data detection module; wherein the plurality of cutting blades are evenly distributed on a cutting disc, and if one or more of the cutting blades are missing or damaged, a rotational balance of the plurality of cutting blades on the cutting disc is destroyed; the control unit is configured to: obtain the acceleration data of the intelligent mowing device, and calculate a real-time variance of the acceleration data reflecting the rotational balance of the cutting disc according to the acceleration data; control the cutting motor to stop rotating when the real-time variance is greater than or equal to a variance threshold. 2.The intelligent mowing device of claim 1, further comprising: a parameter detection module configured to obtain a working parameter of the cutting motor; the control unit is configured to: obtain the working parameter of the cutting motor when the real-time variance is greater than or equal to the variance threshold; determine position information of a target cutting blade according to the working parameter by using a dynamic balance detection method, and output the position information. 3.The intelligent mowing device of claim 2, wherein the working parameter of the cutting motor includes a working current or a working voltage of the motor or a motor speed. 4.The intelligent mowing device of claim 2, wherein the target cutting blade is a missing blade or a damaged blade. 5.The intelligent mowing device of claim 1, further comprising: a noise detection module configured to detect a vibration noise of the intelligent mowing device during rotation of the cutting disc; the control unit is configured to: control the cutting motor to stop rotating when the vibration noise is greater than or equal to a noise threshold. 6.The intelligent mowing device of claim 1, further comprising: a vibration sensor configured to detect a vibration parameter of the intelligent mowing device during rotation of the cutting disc; the control unit is configured to: control the cutting motor to stop rotating when the vibration parameter is greater than or equal to a parameter threshold. a walking assembly including a walking wheel and a walking motor driving the walking wheel to walk; a cutting assembly including a plurality of cutting blades and a cutting motor driving the cutting blades to perform a cutting action; a data detection module configured to detect acceleration data of the intelligent mowing device; a control unit connected to at least the data detection module; the method comprising: obtaining the acceleration data of the intelligent mowing device, and calculating a real-time variance of the acceleration data reflecting the rotational balance of the cutting disc according to the acceleration data; 7. A control method of an intelligent mowing device, the device comprising: controlling the cutting motor and the walking motor to stop rotating when the real-time variance is greater than or equal to a variance threshold; wherein the plurality of cutting blades are evenly distributed on a cutting disc, and if one or more of the cutting blades are missing or damaged, a rotational balance of the plurality of cutting blades on the cutting disc is destroyed. ​ ​ ​ ​ ​

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