A tree leaf collector and method of movement thereof

Abstract

This application relates to a leaf collector and its moving method, belonging to the field of yard and lawn cleaning equipment. It includes a collector body; a roller, one end of which is rotatably connected to a connecting shaft, the connecting shaft and the roller being coaxially arranged, and the connecting shaft being fixedly connected to the collector body; a collection assembly, including a collection rake and a rotating shaft. The rotating shaft is rotatably connected to the collector body, and the collection rake is fixedly connected to the rotating shaft to collect fallen leaves, lawn mowing debris, and other waste remaining after lawn loosening; a transmission assembly, installed on the collector body, which transmits the rotation of the roller to the rotating shaft to drive the rotating shaft to rotate; and an active assembly, installed on the collector body, which senses the rotational speed of the rotating shaft and provides power feedback. This application has the effect of actively rotating the rotating shaft, thereby assisting the leaf collector in moving forward and improving the efficiency of the leaf collector's movement.

Description

Technical Field

[0001] This application relates to the field of yard and lawn cleaning equipment, and more particularly to a leaf collector and its method of movement. Background Technology

[0002] Autumn is not only the season of vibrant leaves, but also the season for collecting fallen leaves. With lawns outside homes needing to collect fallen leaves, leaf collectors naturally come into play.

[0003] In existing technology, leaf collectors employ a sophisticated collection system that reliably collects all leaves on the ground. This process is virtually noiseless and engine-free; the rotating rake is driven by wheels, which rotate as the rollers are pushed forward, saving energy and promoting sustainable development. Besides collecting fallen leaves from lawns, leaf collectors can also collect grass clippings and debris left after lawn mowing and loosening. For ease of movement, leaf collectors are equipped with an ergonomically shaped handle.

[0004] The existing technology has the following problems: because the leaf collector itself is heavy and is pushed by people throughout the process, it is quite strenuous when going uphill or on muddy grass, and there is still room for improvement. Summary of the Invention

[0005] To address the issue that workers with limited strength may struggle when navigating steep slopes or muddy grasslands, this application provides a leaf collector and its mobility method.

[0006] In the first aspect, this application provides a leaf collecting machine, which adopts the following technical solution:

[0007] A leaf collecting machine, comprising:

[0008] The main body of the collector;

[0009] A roller, one end of which is rotatably connected to a connecting shaft, the connecting shaft and the roller being coaxially arranged, and the connecting shaft being fixedly connected to the collector body;

[0010] The collection assembly includes a collection rake and a rotating shaft, wherein the rotating shaft is rotatably connected to the collection machine body and the collection rake is fixedly connected to the rotating shaft to collect fallen leaves;

[0011] A transmission assembly, mounted on the collector body, transmits the rotation of the rollers to the rotating shaft when the rollers rotate, thereby driving the rotating shaft to rotate; and

[0012] The active component, installed on the collector body, senses the rotational speed of the rotating shaft and provides power feedback.

[0013] By adopting the above technical solution and setting an active component, when the rotation speed of the rotating shaft is insufficient, the active component actively provides feedback to actively rotate the rotating shaft, thereby assisting the leaf collector to move forward, improving the efficiency of the leaf collector's movement, and reducing the impact of the leaf collector's inability to move forward due to limited manpower.

[0014] Optionally, the transmission assembly includes:

[0015] The first gear is fixedly connected to the rotating shaft and coaxially arranged; and

[0016] The second gear is fixedly connected to one side of the roller and is coaxially arranged, and the second gear meshes with the first gear.

[0017] By adopting the above technical solution, the first gear and the second gear drive the roller to roll and collect the fallen leaves when the roller rotates. The two are linked together, eliminating the need for an additional power source, saving a lot of energy and improving the collection efficiency of the collecting rake.

[0018] Optionally, an end cap is fixedly connected to the connecting shaft. One side of the end cap abuts against the roller to cooperate with the roller to form a cavity for placing the first gear and the second gear. The end cap has a through hole for the rotating shaft to extend into the cavity.

[0019] By adopting the above technical solution, the end cap design protects the first and second gears from getting stuck due to mud and weeds in the grass, thus improving the service life and transmission efficiency of the first and second gears.

[0020] Optionally, the active component includes:

[0021] A speed sensor, mounted on the rotating shaft, is used to sense the rotational speed of the rotating shaft;

[0022] The first synchronous belt pulley is located on the rotating shaft to control the unidirectional rotation of the rotating shaft;

[0023] A drive motor is fixedly connected to the collector body, and a second synchronous pulley is fixedly connected to the output shaft of the drive motor; and

[0024] A synchronous belt, one end of which is wound around a first synchronous pulley and meshes with it, and the other end of which is wound around a second synchronous pulley and meshes with it.

[0025] By adopting the above technical solution, the rotational speed of the rotating shaft is sensed by the speed sensor, so that the drive motor can make corresponding feedback according to the speed value given by the speed sensor to actively rotate the rotating shaft, thereby assisting the leaf collector to move forward, improving the efficiency of the leaf collector's movement, and reducing the impact of the leaf collector's inability to move forward due to limited manpower.

[0026] Optionally, a rotating disk coaxial with the first synchronous pulley is fixedly connected to one side of the first synchronous pulley. The rotating disk is sleeved and rotatably connected to the rotating shaft. The first synchronous pulley has a through-cavity coaxial with the first synchronous pulley. A plurality of anti-reverse blocks are fixedly connected to the inner circumferential sidewall of the through-cavity. One side of each anti-reverse block has a driving surface, which is radially arranged along the through-cavity. The side of the anti-reverse block away from the driving surface has a guide surface. The rotating shaft passes through the rotating shaft radially. A drive bar extends to both sides of the rotating shaft and is disposed within a through-cavity. When the drive motor drives the first synchronous pulley to rotate in the forward direction of the roller, the drive surface abuts against the drive bar to drive the drive bar to rotate the rotating shaft, thereby transmitting power to the roller to rotate. When the drive motor drives the first synchronous pulley to rotate in the backward direction of the roller, the guide surface abuts against the drive bar so that the side abutting against the drive bar moves away from the abutting side and away from the anti-reverse block, thus preventing the rotating shaft from rotating.

[0027] By adopting the above technical solution, and by setting anti-reverse block and drive bar, and setting drive surface and guide surface on the anti-reverse block, the drive motor can drive the rotating shaft to rotate without rotating in the reverse direction when it rotates forward, thereby improving the driving stability of the drive motor.

[0028] Secondly, this application provides a moving method, which adopts the following technical solution:

[0029] A method for moving a leaf collector as described above, comprising:

[0030] Obtain the rotational shaft speed and user identity;

[0031] The system retrieves the optimal forward speed from a pre-defined registration database based on the user's identity.

[0032] When the rotational shaft speed is less than the optimal forward speed, the auxiliary speed is calculated based on the optimal forward speed and the total transmission ratio.

[0033] Control the drive motor to rotate at an auxiliary speed;

[0034] The shaft will not rotate when its rotational speed is greater than or equal to the optimal forward speed.

[0035] By adopting the above technical solution, the rotational speed of the rotating shaft is sensed by the speed sensor, so that the drive motor can make corresponding feedback according to the speed value given by the speed sensor to actively rotate the rotating shaft, thereby assisting the leaf collector to move forward, improving the efficiency of the leaf collector's movement, and reducing the impact of the leaf collector's inability to move forward due to limited manpower.

[0036] Optionally, methods for controlling the drive motor to rotate at an auxiliary speed include:

[0037] The force intensity and the force sensing end number are obtained. The main body of the collector is equipped with a grip handle, and the grip handle is equipped with a brake. Pressure sensors are provided on both the grip handle and the brake. The number of pressure sensors on the grip handle is several and they are arranged along the circumference of the grip handle.

[0038] The corresponding difficult thrust intensity is retrieved from the registration database based on the user's identity;

[0039] When the applied force sensing end is numbered with any one of the preset forward number groups and the applied force intensity is greater than the difficult thrust intensity, the drive motor is controlled to rotate at an auxiliary speed.

[0040] No rotation will occur when the force sensing end is numbered with any forward number and the applied force is less than or equal to the difficult thrust strength.

[0041] When the force sensing terminal is numbered with any of the preset backward number groups, the preset brake number, or when there is no force sensing terminal number, the drive motor is controlled not to rotate.

[0042] By adopting the above technical solution, the user's needs for the entire leaf collector are determined, such as forward movement, deceleration, and backward movement. Then, it is determined whether the forward movement is stable. When the deceleration is due to active reasons, there is no need for the drive motor to drive it, which improves the accuracy of the drive motor's driving judgment.

[0043] Optionally, when the applied force sensing end is numbered as any one of the preset forward number groups and the applied force intensity is greater than the difficult thrust intensity, the method of controlling the drive motor to rotate at an auxiliary speed includes:

[0044] After calculating the auxiliary speed, the auxiliary speed at that time point is defined as the fixed auxiliary speed;

[0045] Obtain the auxiliary time of the drive motor;

[0046] When the drive motor auxiliary time is less than the preset buffer time and the force sensing end number is still the forward number in the forward number group, the preset buffer curve is adjusted according to the fixed auxiliary speed, and the adjusted buffer curve is defined as the corrected buffer curve.

[0047] Control the drive motor to rotate at the speed corresponding to the corrected buffer curve until the drive motor's auxiliary time equals the buffer time;

[0048] After the buffer time, control the drive motor to rotate at a fixed auxiliary speed until the force sensing end number is any one of the backward numbers, brake numbers, or no force sensing end number in the backward number group.

[0049] By adopting the above technical solution, when drive motor assistance is required, assistance is provided according to the current state, and the assistance speed is only readjusted under specific circumstances. This prevents the situation where the rotational shaft speed increases due to drive motor assistance, and then the drive motor speed is reduced in reverse, thus improving the stability of drive motor assistance.

[0050] Optionally, the method of controlling the drive motor to rotate at a fixed auxiliary speed after the buffer time includes:

[0051] Once the applied force intensity stabilizes, the stable applied force intensity is defined as the stable applied force intensity, and the applied force intensity continues to be obtained.

[0052] The difference in applied force intensity is calculated based on the applied force intensity and the stable applied force intensity;

[0053] When the difference in applied force intensity falls within the preset controllable range, it continues to rotate at a fixed auxiliary speed;

[0054] When the difference in applied force intensity does not fall within the controllable range, the drive motor is controlled to stop rotating and the applied force intensity is continued to be acquired until the applied force intensity stabilizes. The stable applied force intensity is defined as the reset applied force intensity.

[0055] When the reset applied force intensity is greater than the difficult thrust intensity, the applied force intensity and fixed auxiliary speed are updated according to the reset applied force intensity until the reset applied force intensity is less than the fixed thrust intensity;

[0056] When the reset force intensity is less than the fixed thrust intensity, the drive motor is controlled not to rotate.

[0057] By adopting the above technical solution, when the user changes the applied force intensity at a certain moment after stabilization, the auxiliary speed is updated again, so that adjustments can be made when sudden changes or intentional changes occur, thus improving the timeliness of drive motor assistance.

[0058] Optionally, methods for controlling the drive motor to not rotate when the force sensing end is numbered as the brake include:

[0059] The current angle of the rotating shaft is obtained when the applied force is less than the preset braking force.

[0060] The required angle is determined based on the current angle of the rotating shaft, the preset vertical braking angle, and the forward rotation direction;

[0061] The expected interval time is determined from the preset force application curve based on the braking intensity and the applied force intensity;

[0062] The demand rotation speed is calculated based on the pre-demand perspective and the expected interval time.

[0063] Control the drive motor to rotate at the required speed until the current angle of the rotating shaft is equal to the vertical braking angle.

[0064] By adopting the above technical solution, when braking, the rotating shaft is rotated to the vertical braking angle. At this time, the collecting rake is placed in the vertical direction. Thus, on the one hand, the wind force force area of ​​the collecting rake is maximized, and on the other hand, the collecting rake is closest to the ground, thus maximizing the contact area between the collecting rake and the grass on the ground. The combination of these two factors increases the resistance of the leaf collector and improves the braking efficiency of the leaf collector.

[0065] In summary, this application includes at least the following beneficial technical effects:

[0066] 1. The drive motor provides feedback based on the rotation speed value given by the speed sensor to actively rotate the rotating shaft, thereby assisting the leaf collector to move forward and improving the efficiency of the leaf collector's movement.

[0067] 2. The system provides assistance based on the current state and only readjusts the auxiliary speed under specific circumstances. This prevents the rotating shaft speed from increasing due to the drive motor assistance, which in turn causes the drive motor speed to decrease, resulting in a reciprocating control situation. This improves the stability of the drive motor assistance.

[0068] 3. When braking, rotate the shaft to the vertical braking angle to maximize the wind force area of ​​the collecting rake and the contact area between the collecting rake and the grass on the ground. The combination of these two factors increases the resistance of the leaf collector and improves its braking efficiency. Attached Figure Description

[0069] Figure 1 This is a flowchart of a movement method in an embodiment of this application.

[0070] Figure 2 This is a schematic diagram of the structure of a leaf collector according to an embodiment of this application.

[0071] Figure 3 This is a schematic diagram of the structure of the roller, the collecting component, and the active component in the embodiments of this application.

[0072] Figure 4 This is a partially exploded schematic diagram of the collecting component, roller, end cap, and transmission component in the embodiments of this application.

[0073] Figure 5 This is a schematic diagram of the rotating shaft and the first synchronous belt pulley in an embodiment of this application.

[0074] Figure 6 This is a flowchart of a method for controlling a drive motor to rotate at an auxiliary speed, as described in an embodiment of this application.

[0075] Figure 7 This is a flowchart of a method for controlling a drive motor to rotate at an auxiliary speed when the applied force is applied at any one of the preset forward number groups and the applied force is greater than the difficult thrust strength, according to an embodiment of this application.

[0076] Figure 8 This is a flowchart of a method for controlling a drive motor to rotate at a fixed auxiliary speed after a buffer time, as described in an embodiment of this application.

[0077] Figure 9 This is a flowchart of a method for controlling the drive motor to not rotate when the force sensing end is numbered as the brake in an embodiment of this application.

[0078] Explanation of reference numerals in the attached drawings: 1. Collector body; 11. Handle; 12. Brake; 2. Roller; 21. Connecting shaft; 3. Collecting assembly; 31. Collecting rake; 32. Rotating shaft; 321. Drive bar; 4. Transmission assembly; 41. First gear; 42. Second gear; 5. Drive assembly; 51. First synchronous pulley; 511. Rotating disc; 512. Through cavity; 513. Anti-reverse block; 5131. Drive surface; 5132. Guide surface; 52. Drive motor; 53. Synchronous belt; 54. Second synchronous pulley; 6. End cover; 61. Through hole; 7. Cavity. Detailed Implementation

[0079] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-9 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0080] This application discloses a movement method. (Refer to...) Figure 1 One method of movement includes:

[0081] Step 100: Obtain the rotational speed of the rotating shaft and the user's identity.

[0082] Reference Figure 2 and Figure 3 The leaf collector includes a collector body 1, rollers 2, a collection assembly 3, a transmission assembly 4, and an active assembly 5. Rollers 2 are rotatably connected to the collector body 1 to drive its movement. The collection assembly 3 is mounted on the collector body 1 to collect fallen leaves and weeds along its path. The transmission assembly 4 is mounted on the collector body 1 and transmits the rotation of rollers 2 to the collection assembly 3 when rollers 2 rotate. The active assembly 5, mounted on the collector body 1, assists in rotating the rollers when their rotational speed is insufficient.

[0083] Reference Figure 3 The collection component 3 includes a collection rake 31 and a rotating shaft 32. The rotating shaft 32 is rotatably connected to the collection machine body 1, and the collection rake 31 is fixedly connected to the rotating shaft 32. When the rotating shaft 32 rotates, the collection rake 31 rolls, pushing fallen leaves, grass clippings and garbage left after lawn mowing and lawn loosening into the collection box at the rear.

[0084] Reference Figure 3 and Figure 4 The roller 2 is rotatably connected to the side of the collector body 1. The connecting shaft 21 is fixedly connected to the collector body 1 and is coaxial with the roller 2, so that the roller 2 and the collector body 1 are rotatably connected.

[0085] The transmission assembly 4 includes a first gear 41 and a second gear 42. The first gear 41 is fixedly connected to and coaxially arranged on the rotating shaft 32. When the rotating shaft 32 rotates, it drives the first gear 41 to rotate. The second gear 42 is fixedly connected to and coaxially arranged on the roller 2. When the roller 2 rotates, it drives the first gear 41 to rotate. The first gear 41 and the second gear 42 mesh. When the roller 2 rotates, the first gear 41 drives the second gear 42 to rotate, thereby driving the rotating shaft 32 to rotate.

[0086] To prevent the first gear 41 and the second gear 42 from getting dust and dirt while the leaf collector is moving, an end cap 6 is fixedly connected to the connecting shaft 21. The side of the end cap 6 away from the collector body 1 abuts against the roller 2 to form a cavity 7 with the roller 2. The cavity 7 is used to house the first gear 41 and the second gear 42. A through hole 61 is provided on one side of the end cap 6, and the rotating shaft 32 passes through the through hole 61 and extends into and out of the cavity 7, so that the rotating shaft 32 and the end cap 6 do not interfere with each other.

[0087] Reference Figure 3 and Figure 4The active component 5 includes a speed sensor, a first synchronous pulley 51, a drive motor 52, and a synchronous belt 53. The first synchronous pulley 51 is mounted on the rotating shaft 32 and coaxially arranged. The drive motor 52 is mounted on the collector body 1, and a second synchronous pulley 54 is fixedly connected to the output shaft of the drive motor 52. One end of the synchronous belt 53 is wound around the first synchronous pulley 51 and meshes with it, while the other end of the synchronous belt 53 is wound around the second synchronous pulley 54 and meshes with it. This allows the drive motor 52 to drive the second synchronous pulley 54 to rotate, which in turn drives the first synchronous pulley 51 to rotate, thereby causing the rotating shaft 32 to rotate. The speed sensor is mounted on the rotating shaft 32 to sense the rotational speed of the rotating shaft 32. The speed sensor is electrically connected to the drive motor 52. When the speed sensor senses that the rotational speed of the rotating shaft 32 is insufficient, it transmits a signal to the drive motor 52 to control the drive motor 52 to rotate.

[0088] Reference Figure 4 and Figure 5 A rotating disk 511, coaxial with the first synchronous pulley 51, is fixedly connected to one side of the first synchronous pulley 51. The rotating disk 511 is fitted onto and rotatably connected to the rotating shaft 32, so that the first synchronous pulley 51 is rotatably connected to the rotating shaft 32. A through-hole 512, coaxial with the first synchronous pulley 51, is provided on the first synchronous pulley 51. A drive bar 321 is provided radially through the rotating shaft 32, extending to both sides of the rotating shaft 32, and is located inside the through-hole 512. An anti-reverse block 513 is fixedly connected to the inner circumferential side wall of the through-hole 512. One side of the anti-reverse block 513 is a drive surface 5131, which is arranged radially along the through-hole 512. The side of the anti-reverse block 513 away from the drive surface 5131 is a guide surface 5132. Figure 5 When the drive bar 321 is arranged as shown, when it rotates clockwise, one end of the drive bar 321 will first abut against the guide surface 5132 and gradually move towards the other end that is not abutting against the guide surface 5132. To ensure that the side of the drive bar 321 that is not abutting against the guide surface 5132 passes over the drive surface 5131 without interference, the number of anti-reverse blocks 513 needs to be less than four. Here, this number is set to three and they are evenly arranged along the inner circumference of the through-cavity 512. When the drive bar 321 rotates counterclockwise, the longer side of the drive bar 321 abuts against the drive surface 5131, causing the first synchronous pulley 51 to rotate, which in turn drives the drive bar 321 to rotate the rotating shaft 32. Therefore, in order for the drive motor 52 to drive the rotating shaft 32 to rotate and drive the roller 2 forward, if... Figure 3 When moving forward is to the left, then roller 2 is... Figure 3When the rotation is counterclockwise, the first gear 41 rotates clockwise, the rotating shaft 32 rotates clockwise, so the first synchronous pulley 51 rotates clockwise, and the second synchronous pulley 54 rotates clockwise. Therefore, when the drive motor 52 drives the second synchronous pulley 54 to rotate clockwise, it is the forward rotation, and when the drive motor 52 drives the second synchronous pulley 54 to rotate counterclockwise, it is the reverse rotation. When it is in the reverse rotation, the synchronous belt 53 drives the first synchronous pulley 51 to rotate but does not drive the rotating shaft 32 to rotate.

[0089] The rotational speed of the rotating shaft is the rotational speed of the rotating shaft 32 on the leaf collector. This speed is received by a speed sensor. User information refers to the information of the person controlling the leaf collector. This information is usually registered before purchase and regular use to facilitate user retrieval. It is obtained by the user inputting it into the system during use, or it may be pre-existing in the system; the user simply needs to select it before use.

[0090] Step 101: Based on the user's identity, find the corresponding optimal forward speed from the preset registration database.

[0091] The optimal forward rotation speed is the 32 RPM corresponding to the most comfortable and efficient forward speed for the user. At this speed, the user will not feel uncomfortable due to excessive speed, nor will they feel that the leaf collection time is too long due to excessive speed. The database stores a mapping relationship between user identities and optimal forward rotation speeds. This mapping is recorded by the corresponding users based on their initial purchase experience and trial use. When the system receives a user identity, it automatically retrieves the corresponding optimal forward rotation speed from the database and outputs it.

[0092] Step 102: When the rotational speed of the rotating shaft is less than the optimal forward speed, calculate the auxiliary speed based on the optimal forward speed and the total transmission ratio.

[0093] The overall transmission ratio is the transmission ratio between gears, such as the transmission ratio between the first gear 41 and the second gear 42, or the transmission ratio between the first synchronous pulley 51 and the second synchronous pulley 54. The auxiliary speed is the rotational speed of the auxiliary rotating shaft 32 on the output shaft of the drive motor 52. It is calculated by multiplying the optimal forward speed by the overall transmission ratio.

[0094] Step 103: Control the drive motor 52 to rotate at an auxiliary speed.

[0095] Step 104: Do not rotate when the rotational speed of the rotating shaft is greater than or equal to the optimal forward speed.

[0096] When the value is greater than the specified value, the drive motor 52 cannot drive the rotating shaft 32 to reverse, so it will not rotate.

[0097] Reference Figure 6The method for controlling the drive motor 52 to rotate at an auxiliary speed includes:

[0098] Step 200: Obtain the applied force intensity and the force sensing terminal number.

[0099] like Figure 2 As shown, a handle 11 is mounted on the collector body 1. A brake 12 is also mounted on the handle 11 to brake the roller 2. Both the handle 11 and the brake 12 are equipped with pressure sensors to sense the pressure applied by the user's hand at corresponding positions. Several pressure sensors are mounted on the handle 11 and arranged circumferentially along the handle 11, allowing the sensor to detect the pressure magnitude and the angle at which the pressure is received.

[0100] The applied force intensity is the intensity applied to the pressure sensor. It is received by the pressure sensor. The force sensing terminal number is the number of the pressure sensor that receives the applied force intensity, assigned by those skilled in the art during installation. When an applied force intensity is received, the corresponding number is automatically output. Since the user's hand will hold the entire handle 11, pressure will be sensed on multiple pressure sensors. Here, the system filters and selects the intensity corresponding to the highest pressure value as the applied force intensity.

[0101] Step 201: Find the corresponding difficult thrust intensity from the registration database based on the user's identity.

[0102] The difficult thrust intensity is the force applied to the pressure sensor when the user cannot maintain a constant speed and exerts excessive force but still cannot advance at the optimal forward speed. The database also stores a mapping relationship between user identities and difficult thrust intensities, obtained through testing by the user before use. When the system receives the corresponding user identity, it automatically retrieves the corresponding difficult thrust intensity from the database and outputs it.

[0103] Step 202: When the applied force sensing end is numbered with any one of the preset forward number groups and the applied force intensity is greater than the difficult thrust intensity, control the drive motor 52 to rotate at an auxiliary speed.

[0104] The forward number group is a group of pressure sensor numbers that, by default, represent a thrust in the forward direction when force is applied to that group. The forward number is the pressure sensor number that, by default, represents a thrust in the forward direction when force is applied to that number. When the force sensing terminal number is any forward number in the forward number group, it indicates that the user's intention is to push the leaf collector forward. However, if the applied force is greater than the required thrust strength, it means the user cannot push the leaf collector forward, resulting in the rotating shaft rotating too slowly. Therefore, combining these two factors, it indicates that the drive motor 52 is needed to assist in rotation.

[0105] Step 203: Do not rotate when the force sensing end is numbered with any forward number and the applied force intensity is less than or equal to the difficult thrust intensity.

[0106] When the force sensing end is any forward number and the applied force is less than or equal to the difficult thrust strength, it means that although force is still being applied, the user is not actually exerting much force. Therefore, it means that the reduction in the rotation speed of the rotating shaft 32 is a subjective behavior of the user, so there is no need for the drive motor 52 to assist in rotation.

[0107] Step 204: When the force sensing end is numbered with any of the preset backward number groups, the preset brake number, or no force sensing end number, control the drive motor 52 not to rotate.

[0108] The reverse number group is a group formed by the numbers of pressure sensors that apply force to the device in the reverse direction by default. The reverse number is the number of the pressure sensor that applies force to the device in the reverse direction by default. The brake number is the number of the pressure sensor that applies force to the brake.

[0109] When the force sensor number is any one of the preset backward number groups, the brake number, or there is no force sensor number, it means that the user intends to stop or prevent forward movement or give up applying force. In essence, the user does not want to move forward, so there is no need for the drive motor 52 to assist in rotation.

[0110] Reference Figure 7 The method for controlling the drive motor 52 to rotate at an auxiliary speed when the force sensing end is numbered as any one of the preset forward number groups and the applied force intensity is greater than the difficult thrust intensity includes:

[0111] Step 300: After calculating the auxiliary speed, define the auxiliary speed at this time point as the fixed auxiliary speed.

[0112] The purpose of this definition is to fix the auxiliary rotation speed. Once auxiliary rotation begins, the rotational speed of the rotating shaft 32 will inevitably increase. When this increase reaches the optimal forward rotation speed, the auxiliary rotation speed will decrease to zero. Conversely, if the auxiliary rotation speed is low, the overall rotational speed of the rotating shaft 32 will decrease again, resulting in an unstable auxiliary rotation speed. Therefore, to ensure overall speed stability, the auxiliary rotation speed must not change. Thus, this calculated value is defined before auxiliary rotation begins.

[0113] Step 301: Obtain the auxiliary time of the drive motor.

[0114] The auxiliary time of the drive motor is the time during which the drive motor 52 begins to rotate at the auxiliary speed. This time is obtained by timing the start of the drive motor 52.

[0115] Step 302: When the drive motor auxiliary time is less than the preset buffer time and the force sensing terminal number is still the forward number in the forward number group, adjust the preset buffer curve according to the fixed auxiliary speed, and define the adjusted buffer curve as the corrected buffer curve.

[0116] The buffer time is designed to prevent sudden speed changes from overwhelming the user. Instead of instantly reaching the corresponding auxiliary speed, the speed is gradually increased until it is reached. This time is set manually based on natural laws and normal speed increase. The buffer curve represents the speed at which the drive motor 52 begins to rotate, driving the rotating shaft 32 to rotate at the optimal forward speed. Since each optimal forward speed is different, the corresponding buffer curve is different, but they all conform to a certain rule. The curve corresponding to this rule is defined as the buffer curve. The corrected buffer curve is one that meets the requirements of the buffer curve but has endpoints of 0 and a fixed auxiliary speed. The correction method is to keep the horizontal axis unchanged (i.e., the time axis unchanged), while reducing the corresponding speed proportionally to the fixed auxiliary speed and the speed corresponding to the buffer curve, thus compressing the entire curve longitudinally.

[0117] Step 303: Control the drive motor 52 to rotate at the speed corresponding to the corrected buffer curve until the drive motor auxiliary time equals the buffer time.

[0118] The purpose here is to allow the overall speed to increase gradually so that the user can adapt to it more easily.

[0119] Step 304: After the buffer time, control the drive motor 52 to rotate at a fixed auxiliary speed until the force sensing end number is any one of the backward numbers, brake numbers, or no force sensing end number in the backward number group.

[0120] Reference Figure 8 The method of controlling the drive motor 52 to rotate at a fixed auxiliary speed after the buffer time includes:

[0121] Step 400: After the applied force intensity stabilizes, define the stable applied force intensity as the stable applied force intensity and continue to obtain the applied force intensity.

[0122] Step 401: Calculate the difference in applied force intensity based on the applied force intensity and the stable applied force intensity.

[0123] The force intensity difference is the difference between the force applied by the user to the handle and the stable force intensity.

[0124] Step 402: When the difference in applied force intensity falls within the preset controllable range, continue to rotate at a fixed auxiliary speed.

[0125] The controllable range refers to the range within which the applied force intensity can be controlled. That is, if it falls within this range, it means that the user may have deviated from the stable applied force intensity due to some external reasons or control deviations, but the deviation is not significant and does not indicate that the user's subjective intention requires a change in the fixed auxiliary speed. Therefore, it can still be operated at the fixed auxiliary speed.

[0126] Step 403: When the difference in applied force intensity does not fall within the controllable range, control the drive motor 52 to stop rotating and continue to acquire the applied force intensity until the applied force intensity stabilizes, and define the stable applied force intensity as the reset applied force intensity.

[0127] If the force does not fall within the range, it indicates that the user's subjective intention requires a change in rotation speed or applied force intensity. Therefore, the applied force intensity needs to be re-determined at this point. The purpose of this re-assessment is to determine the user's subsequent needs. Here, the user's subjective intention is to apply a force with a significant deviation if they want to change the current situation.

[0128] Step 404: When the reset applied force intensity is greater than the difficult thrust intensity, update the applied force intensity and fixed auxiliary speed according to the reset applied force intensity until the reset applied force intensity is less than the fixed thrust intensity.

[0129] The steps here are the same as the previous calculations for force intensity and fixed auxiliary speed, and will not be repeated here.

[0130] Step 405: When the reset force intensity is less than the fixed thrust intensity, control the drive motor 52 not to rotate.

[0131] If the value here is greater than the value here, it means that the user may not need to mow the grass or move forward at the optimal speed, so the drive motor 52 can be controlled not to rotate.

[0132] Reference Figure 9 The methods for controlling the drive motor 52 to not rotate when the force sensing end is numbered as the brake include:

[0133] Step 500: Obtain the current angle of the rotating shaft when the applied force is less than the preset braking force.

[0134] The braking intensity is the intensity at which the leaf collector is fully braked, i.e., the intensity when the brake is fully depressed by default. The current angle of the rotating shaft is the angle of the rotating shaft 32 at the instant when the force sensor number is obtained from the brake number.

[0135] Step 501: Determine the pre-required angle based on the current angle of the rotating shaft 32, the preset vertical braking angle, and the forward rotation direction.

[0136] The vertical braking angle is the angle at which the collecting rake 31 is placed vertically. The purpose of placing the collecting rake 31 vertically here is not to prevent it from colliding with the ground, but rather to prevent it from colliding with the grass on the ground. Additionally, it increases the wind-receiving area during movement to increase resistance. The forward rotation direction is the direction of rotation of the rotating shaft 32 when the leaf collector moves forward. The pre-required angle is the angle required to rotate from the current angle of the rotating shaft in the forward rotation direction until the vertical braking angle is reached. It is calculated by subtracting the vertical braking angle from the current angle of the rotating shaft. If the subtraction direction is reversed, 360° needs to be added.

[0137] Step 502: Determine the expected interval time from the preset force application curve based on the braking intensity and the applied force intensity.

[0138] The force application curve represents the force applied to the brakes manually. Although the amount of force applied varies from person to person, the process is generally fast, so the default curve is the same for all users. Alternatively, the curve can be determined based on user identity and retrieved from a database. The estimated interval is the time required from the applied force intensity to the braking intensity. This is determined because the force application curve itself is a curve of time and applied force intensity; therefore, once the two endpoints of the applied force intensity are known, the time difference between them is also known, and this time difference is the estimated interval.

[0139] Step 503: Calculate the required rotational speed based on the pre-demand angle and the expected interval time.

[0140] The required rotational speed is the time required to rotate the rotating shaft 32 by the desired angle within the expected interval.

[0141] Step 504: Control the drive motor 52 to rotate at the required speed until the current angle of the rotating shaft 32 is equal to the vertical braking angle.

[0142] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for moving a leaf collector, characterized in that, The leaf collector includes: Collector body (1); Roller (2), one end of which is rotatably connected to a connecting shaft (21), the connecting shaft (21) and the roller (2) are coaxially arranged, and the connecting shaft (21) is fixedly connected to the collector body (1); The collection component (3) includes a collection rake (31) and a rotating shaft (32). The rotating shaft (32) is rotatably connected to the collector body (1), and the collection rake (31) is fixedly connected to the rotating shaft (32) to collect fallen leaves. The transmission assembly (4), mounted on the collector body (1), transmits the rotation of the roller (2) to the rotating shaft (32) when the roller (2) rotates, thereby driving the rotating shaft (32) to rotate; and Active component (5), installed on the collector body (1), senses the rotation speed of the rotating shaft (32) and provides power feedback; The transmission assembly (4) includes: The first gear (41) is fixedly connected to the rotating shaft (32) and coaxially arranged; and The second gear (42) is fixedly connected to one side of the roller (2) and is coaxially arranged. The second gear (42) meshes with the first gear (41). An end cap (6) is fixedly connected to the connecting shaft (21). One side of the end cap (6) abuts against the roller (2) to cooperate with the roller (2) to form a cavity (7) for the first gear (41) and the second gear (42) to be placed. The end cap (6) has a through hole (61) for the rotating shaft (32) to extend into the cavity (7). The active component (5) includes: A speed sensor is mounted on the rotating shaft (32) to sense the rotational speed of the rotating shaft (32); The first synchronous pulley (51) is located on the rotating shaft (32) to control the unidirectional rotation of the rotating shaft (32); A drive motor (52) is fixedly connected to the collector body (1), and a second synchronous pulley (54) is fixedly connected to the output shaft of the drive motor (52); and Synchronous belt (53), one end of which is wound around the first synchronous pulley (51) and meshes with it, and the other end of which is wound around the second synchronous pulley (54) and meshes with it; A rotating disk (511) coaxial with the first synchronous pulley (51) is fixedly connected to one side of the first synchronous pulley (51). The rotating disk (511) is sleeved and rotatably connected to the rotating shaft (32). The first synchronous pulley (51) is provided with a through-hole (512) coaxial with the first synchronous pulley (51). A plurality of anti-reverse blocks (513) arranged along the inner circumferential sidewall of the through-hole (512) are fixedly connected to the inner circumferential sidewall. A driving surface (5131) is provided on one side of the anti-reverse block (513). The driving surface (5131) is arranged radially along the through-hole (512). A guide surface (5132) is provided on the side of the anti-reverse block (513) away from the driving surface (5131). The rotating shaft (32) is provided with a driving surface along the radial direction of the rotating shaft (32). The drive bar (321) extends to both sides of the rotating shaft (32). The drive bar (321) is located in the through-hole (512). When the drive motor (52) drives the first synchronous pulley (51) to rotate in the forward direction of the roller (2), the drive surface (5131) abuts against the drive bar (321) to drive the drive bar (321) to drive the rotating shaft (32) to rotate, thereby transmitting power to the roller (2) to rotate. When the drive motor (52) drives the first synchronous pulley (51) to rotate in the backward direction of the roller (2), the guide surface (5132) abuts against the drive bar (321) so that the side abutting against the drive bar (321) moves away from the side abutting and away from the anti-reverse block (513) so that the rotating shaft (32) cannot be driven to rotate. The movement method includes: Obtain the rotational shaft speed and user identity; The system retrieves the optimal forward speed from a pre-defined registration database based on the user's identity. When the rotational shaft speed is less than the optimal forward speed, the auxiliary speed is calculated based on the optimal forward speed and the total transmission ratio. Control the drive motor (52) to rotate at an auxiliary speed; The shaft will not rotate when its rotational speed is greater than or equal to the optimal forward speed. Methods for controlling the drive motor (52) to rotate at an auxiliary speed include: The force intensity and the force sensing end number are obtained. The main body (1) of the collector is provided with a grip handle. The grip handle is provided with a brake. Both the grip handle and the brake are provided with pressure sensors. The number of pressure sensors provided on the grip handle is several and arranged along the circumference of the grip handle. The corresponding difficult thrust intensity is retrieved from the registration database based on the user's identity; When the applied force sensing end is numbered as any one of the preset forward number groups and the applied force intensity is greater than the difficult thrust intensity, the drive motor (52) is controlled to rotate at an auxiliary speed. No rotation will occur when the force sensing end is numbered with any forward number and the applied force is less than or equal to the difficult thrust strength. When the force sensing end number is any one of the preset backward number groups, the preset brake number, or there is no force sensing end number, the drive motor (52) is controlled not to rotate.

2. The moving method according to claim 1, characterized in that, The method of controlling the drive motor (52) to rotate at an auxiliary speed when the applied force sensing end is numbered as any one of the preset forward number groups and the applied force intensity is greater than the difficult thrust intensity includes: After calculating the auxiliary speed, the auxiliary speed at the time point in which the auxiliary speed is calculated is defined as the fixed auxiliary speed; Obtain the auxiliary time of the drive motor; When the drive motor auxiliary time is less than the preset buffer time and the force sensing end number is still the forward number in the forward number group, the preset buffer curve is adjusted according to the fixed auxiliary speed, and the adjusted buffer curve is defined as the corrected buffer curve. Control the drive motor (52) to rotate according to the speed corresponding to the corrected buffer curve until the drive motor auxiliary time equals the buffer time; After the buffer time, control the drive motor (52) to rotate at a fixed auxiliary speed until the force sensing end number is any one of the backward numbers, brake numbers, or no force sensing end number in the backward number group.

3. The moving method according to claim 2, characterized in that, The method of controlling the drive motor (52) to rotate at a fixed auxiliary speed after the buffer time includes: Once the applied force intensity stabilizes, the stable applied force intensity is defined as the stable applied force intensity, and the applied force intensity continues to be obtained. The difference in applied force intensity is calculated based on the applied force intensity and the stable applied force intensity; When the difference in applied force intensity falls within the preset controllable range, it continues to rotate at a fixed auxiliary speed; When the difference in applied force intensity does not fall within the controllable range, the drive motor (52) is controlled not to rotate and the applied force intensity is continued to be acquired until the applied force intensity is stable. The stable applied force intensity is defined as the reset applied force intensity. When the reset applied force intensity is greater than the difficult thrust intensity, the applied force intensity and fixed auxiliary speed are updated according to the reset applied force intensity until the reset applied force intensity is less than the fixed thrust intensity; When the reset force intensity is less than the fixed thrust intensity, the drive motor (52) is controlled not to rotate.

4. The moving method according to claim 2, characterized in that, The methods for controlling the drive motor (52) to not rotate when the force sensing end is numbered as the brake include: The current angle of the rotating shaft is obtained when the applied force is less than the preset braking force. The required angle is determined based on the current angle of the rotating shaft, the preset vertical braking angle, and the forward rotation direction; The expected interval time is determined from the preset force application curve based on the braking intensity and the applied force intensity; The demand rotation speed is calculated based on the pre-demand perspective and the expected interval time. Control the drive motor (52) to rotate at the required speed until the current angle of the rotating shaft is equal to the vertical braking angle.

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