Weeding device with anti-tangling grass and mud cleaning blade assembly

Abstract

This invention discloses a weeding device with an anti-tangling and mud-removing cutter head assembly, relating to the field of weeding technology. It includes a storage groove at the top of the trough, allowing the weed-removing component to move between an avoidance position, a pre-cutting position, and a weed-removing position. When the device load continuously increases, the weed-removing determination module first controls the weed-removing component to descend to the pre-cutting position, and then determines whether to continue descending, rise, shorten the holding time, or stop descending based on changes in the descending load, thereby achieving graded weed-removing control. This invention, by setting a storage groove at the top of the trough, allows the weed-removing component to be stored in the avoidance position during normal operation, without occupying the central area of ​​the cutter head; when the device load continuously increases, the weed-removing component is then controlled to descend to the pre-cutting position. Compared to fixed weed-blocking or scraping structures, this reduces long-term interference and mud clogging, and intervenes promptly when continuous obstruction occurs in the central area.

Description

Technical Field

[0001] This invention relates to the field of weeding technology, and in particular to a weeding device with an anti-weed-tangling and mud-removing blade assembly. Background Technology

[0002] Weeding devices typically include a frame, a drive mechanism, and a cutter head located at the bottom of the frame. The drive mechanism rotates the cutter head at high speed to cut weeds on the ground. To reduce the splashing of soil and grass clippings, the cutter head is usually located in a groove formed at the bottom of the frame. The central area of ​​the cutter head is usually connected to the drive output structure, and a central rotating connection part of the cutter head is formed near the top of the groove.

[0003] In actual weeding operations, the grass stems cut by the blades are easily carried towards the center of the blades as the blades rotate. Compared to the outer edge of the blades, the linear velocity in the center of the blades is lower, making it difficult for the grass stems to be ejected in time. At the same time, there is usually an inner wall obstructing the area near the rotating connection point in the center of the blades, causing the grass stems to become stuck and gradually entangled after entering this area.

[0004] As grass stems gradually entangle at the central rotating connection of the cutter head, the workload of the device continuously increases, the cutter head speed decreases, and in severe cases, it can cause the cutter head to jam, the drive components to overload, and mud and grass to accumulate in the bottom trough. Especially after rain or in wet mud environments, soil will adhere to the grass stems and the central area of ​​the cutter head, making it easier for the grass stems to be pressed and tightened, making it difficult for the entangled material to be shaken off by the rotation of the cutter head itself.

[0005] Existing weeding devices typically address this issue by manually cleaning the device after shutdown. This involves stopping the machine when a significant decrease in the cutter head speed, device vibration, or reduced weeding effectiveness is observed, then flipping or disassembling the bottom area to manually remove the weed stems entangled in the center connection of the cutter head. This method not only affects continuous operation efficiency but also presents inconvenience and safety risks due to the proximity of the cleaning location to the inside of the cutter head and bottom groove. Therefore, we propose a weeding device with an anti-entanglement and mud-removing cutter head assembly. Summary of the Invention

[0006] The purpose of this invention is to provide a weeding device with an anti-weed-tangling and mud-removing blade assembly to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a weeding device with an anti-weed and mud-removing cutter disc assembly, comprising a frame and a cutter disc disposed at its bottom end, including: A bottom groove is formed at the bottom end of the frame, and a storage groove is formed at the top of the bottom groove; The unwinding component is movably disposed within the storage groove and has a clearance position stored within the storage groove, a pre-cut position extending out of the storage groove, and an unwinding position after continuing to descend relative to the pre-cut position. The unwinding determination module is used to obtain the load status of the device during operation and the change of the descent load during the descent of the unwinding component; When the load on the unwinding determination module increases and continues to reach a preset time, the unwinding component is controlled to descend from the avoidance position to the pre-cut position. During the descent of the unwound component to the pre-cut position, when the descent load change is within the preset resistance range, the unwound component is controlled to continue descending to the unwound position; when the descent load change is less than the preset resistance range, the unwound component is controlled to rise back to the avoidance position or the holding time of the unwound component in the pre-cut position and the unwound position is shortened. When the change in the descending load exceeds a preset hard resistance threshold, the unwinding component is controlled to stop descending and rise back to the avoidance position.

[0008] Preferably, the unwinding determination module includes a workload detection unit and a load reduction detection unit. The workload detection unit is used to acquire at least two of the drive current, output torque and cutter head speed when the device is working. The load reduction detection unit is used to acquire the load reduction change during the process of the unwinding part descending from the avoidance position to the pre-cutting position.

[0009] Preferably, the unwinding determination module determines whether the load increase of the device belongs to a continuous blocking state based on at least two of the following states: drive current increase, output torque increase, and cutter head speed decrease. When the drive current or output torque increases and the cutter head speed decreases and continues to decrease for a preset time, the unwinding determination module generates a pre-trigger signal.

[0010] Preferably, before generating the pre-trigger signal, the unwinding determination module continuously samples the drive current, output torque, and cutter head speed, and excludes load mutation signals with a duration shorter than a preset time, so that the pre-trigger signal corresponds to a continuous blocking state.

[0011] Preferably, a lifting actuator is provided inside the frame, and the lifting actuator is connected to the unwinding component for driving the unwinding component to move between the avoidance position, the pre-cutting position and the working position; the load reduction detection unit is used to obtain at least one of the working current, the number of rotations and the lifting stroke deviation of the lifting actuator, and use it as the load reduction change.

[0012] Preferably, after the unwinding determination module generates a pre-trigger signal, the unwinding determination module controls the lifting execution unit to drive the unwinding component from the avoidance position to the pre-cutting position, and obtains the change in the descent load during the process of the unwinding component moving from the avoidance position to the pre-cutting position; the pre-cutting position is the middle position where the unwinding component extends out of the storage slot but has not yet reached the working position.

[0013] Preferably, during the process of the unwinding component descending to the pre-cut position, if the change in the descending load is within the preset resistance range, the unwinding determination module controls the unwinding component to continue descending to the working position; if the change in the descending load is less than the preset resistance range, the unwinding determination module controls the unwinding component to rise back to the avoidance position or shortens the holding time of the unwinding component in the pre-cut position and the working position.

[0014] Preferably, if the change in the descending load is greater than the preset hard resistance threshold, the unwinding determination module controls the unwinding component to stop descending and rise back to the avoidance position, while reducing the speed of the cutter head or pausing the movement of the device.

[0015] Preferably, after the unwinding component descends to the working position, the unwinding determination module controls the unwinding component to maintain the working position for a preset time, and after maintaining the preset time, acquires at least two of the following: driving current, output torque, and cutter head speed; when the driving current or output torque decreases and the cutter head speed recovers to a preset recovery range, the module controls the unwinding component to rise back to the avoidance position; when the driving current or output torque does not decrease, or the cutter head speed does not recover to the preset recovery range, the module controls the unwinding component to perform the descent confirmation process from the avoidance position to the pre-cutting position again.

[0016] Preferably, the unwinding determination module is used to record the number of times the unwinding component continuously performs the descent confirmation process from the avoidance position to the pre-cutting position; when the unwinding component performs the process a preset number of times and the driving current or output torque still does not decrease, or the cutter head speed still does not recover to the preset recovery range, the unwinding determination module controls the unwinding component to rise back to the avoidance position and outputs a maintenance prompt signal or the control device stops moving.

[0017] The technical effects and advantages of this invention are as follows: (1) This invention provides a storage slot at the top of the bottom trough and places the cleaning component within the storage slot, ensuring that the cleaning component is in an avoidance position during normal weeding operations and does not occupy the working space in the center area of ​​the cutter head. When the load on the cleaning determination module continuously increases, the cleaning component is then controlled to descend to the pre-cutting position. Compared to fixed weed guards or scrapers, this invention avoids interference or clogging caused by the cleaning component being close to the rotating connection part in the center of the cutter head for a long time. At the same time, it can intervene in time when there is a continuous obstruction trend in the center area of ​​the cutter head, providing a controllable initial position for subsequent cleaning actions.

[0018] (2) The present invention obtains at least two of the driving current, output torque and cutter head speed when the device is working through the unwinding judgment module, and determines whether it is a continuous stagnation state based on the load increase state and the cutter head speed decrease state. At the same time, it excludes load change signals with short duration. Thus, it can distinguish between the continuous load abnormality caused by the gradual winding of the central rotating connection part of the cutter head and the instantaneous fluctuation caused by short-term cutting into dense grass, hitting hard objects or ground undulations, reduce the situation of falsely triggering the unwinding part to descend, and improve the device's accuracy in identifying the central winding abnormality.

[0019] (3) During the process of the cleaning component descending from the avoidance position to the pre-cutting position, the present invention further obtains the change of the descent load of the cleaning component, and selects to continue descending, rise, shorten the holding time or stop descending according to the range of the descent load change. This means that the present invention does not directly force the cleaning component to enter the cleaning position after detecting the increase in load, but makes a secondary confirmation through the descent resistance of the pre-cutting position. This can avoid empty operation when there is no entanglement, and can also promptly rise and protect when there is hard resistance or compacted mud and grass clumps, thereby reducing the risk of damage to the cleaning component and the cutter head assembly, and reducing the frequency of machine stoppage and manual cleaning due to grass entanglement at the central rotating connection of the cutter head. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a cross-sectional structural diagram of the present invention; Figure 3 This is a cross-sectional view of the lifting execution unit of the present invention; Figure 4 This is a flowchart illustrating the on-demand intervention process for the untangling component of the present invention. Figure 5 This is a flowchart of the continuous blockage identification process of the present invention; Figure 6 This is a flowchart of the pre-cut confirmation and graded response of the present invention.

[0021] In the attached diagram: 101, frame; 102, bottom groove; 103, cutter head; 200, lifting actuator; 201, storage groove; 202, unwinding component; 203, slide groove; 204, slider; 205, threaded hole; 206, lead screw; 207, connecting cavity; 208, synchronous pulley; 209, synchronous belt; 210, mounting cavity; 211, servo motor. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] This invention provides, for example Figures 1-6 The weeding device shown, which has an anti-tangle and mud-removing cutter head assembly, includes a frame 101 and a cutter head 103 disposed at its bottom end, and further includes: The bottom groove 102 is located at the bottom end of the frame 101, and the top of the bottom groove 102 is provided with a storage groove 201. Specifically, the frame 101 serves as the main support for the weeding device. Its interior can be used to install drive components, control components, and a weed removal and detection module. The bottom of the frame 101 is recessed upwards to form a groove 102. The cutter head 103 is located below the groove 102, near the groove, so that the cutter head 103 is partially covered by the groove 102 during rotational weeding, reducing the scattering of soil, grass clippings, and debris. The top of the groove 102 refers to the side wall of the groove 102 closest to the interior of the frame 101. This location is near the central rotating connection area of ​​the cutter head 103 and is where long grass, vines, wet mud, and debris easily accumulate. By opening a storage groove 201 at the top of the bottom groove 102, a hidden installation space can be provided for the cleaning component 202, so that the cleaning component 202 can be stored in the storage groove 201 when not performing cleaning action, avoiding the cleaning component 202 being exposed to the rotating working area of ​​the cutter head 103 for a long time, thereby reducing the probability of the cleaning component 202 being directly hit by mud, gravel or grass clippings. The receiving groove 201 is an annular receiving groove, the center of which corresponds to the central rotating connection part of the cutter head 103. This allows the cleaning component 202 to move evenly along the circumference of the central area of ​​the cutter head 103 towards the easily obstructed part when it descends. The opening of the receiving groove 201 is open towards the inside of the bottom groove 102, and the cleaning component 202 can extend downward through the opening. The depth of the receiving groove 201 should be greater than or equal to the receiving height of the cleaning component 202 when it is in the avoidance position. This ensures that when the cleaning component 202 is in the avoidance position, its lower end is not lower than the inner surface of the top wall of the bottom groove 102, or at least does not protrude significantly from the top of the bottom groove 102. This ensures that the rotation of the cutter head 103 and the movement space of the chopped grass and soil are not affected under normal weeding conditions.

[0024] The unwinding component 202 is movably disposed within the storage groove 201 and has a clearance position stored within the storage groove 201, a pre-cut position extending out of the storage groove 201, and an unwinding position after continuing to descend relative to the pre-cut position. In this embodiment, a ring-shaped cleaning component is preferably used. A sliding gap is left between its outer periphery and the groove wall of the receiving groove 201. The inner periphery is oriented towards the central rotating connection part of the cutter head 103. The lower end of the cleaning component 202 can be provided with a toothed edge. The toothed edge or protruding teeth can be arranged at intervals along the circumference of the cleaning component 202. Its specific shape can be triangular teeth, oblique teeth, arc teeth or blunt teeth. A preset safety gap is maintained between the tooth tip and the central rotating connection part of the cutter head 103 to avoid rigid collision with the cutter head 103 or its central connection structure.

[0025] The avoidance position, the pre-cutting position, and the cleaning and wrapping position constitute the three-level movement positions of the cleaning and wrapping component 202. The avoidance position is the position where the cleaning and wrapping component 202 is completely or substantially contained within the receiving groove 201, which is applicable when the device is weeding normally and no continuous obstruction is detected. The pre-cutting position is the position where the cleaning and wrapping component 202 descends from the receiving groove 201 and extends out of the receiving groove 201 but has not yet reached the final working depth, which is applicable to confirming the resistance during the descent of the cleaning and wrapping component 202. The cleaning and wrapping position is the working position after the cleaning and wrapping component 202 continues to descend relative to the pre-cutting position. By dividing the action of the cleaning component 202 into an avoidance position, a pre-cutting position, and a cleaning position, the cleaning component 202 can be prevented from directly entering the final working depth when the load is abnormal. Instead, it first enters the pre-cutting position to confirm the load change during descent. When the cleaning component 202 does not encounter significant resistance during descent, it indicates that the increase in device load may not be caused by continuous obstruction in the central area of ​​the cutterhead. At this time, the cleaning component 202 can be raised to avoid invalid action. When the load change during descent is within the preset resistance range, it indicates that the descent process of the cleaning component 202 conforms to the flexible obstruction characteristics, and it can continue to descend to the cleaning position. When the load change during descent exceeds the preset hard resistance threshold, it indicates that there may be hard objects, compacted mud, or abnormal interference in the descent path. At this time, the descent is stopped and the component is raised to avoid damage to the lifting execution unit 200 and the cleaning component 202.

[0026] The unwinding determination module is used to obtain the load status of the device during operation and the change of the descent load during the descent of the unwinding component; The weed removal determination module can be integrated into the main controller of the weeding device or set as an independent control board inside the frame 101. The weed removal determination module is electrically connected to the main working drive circuit for driving the rotation of the cutter head 103, the lifting execution unit 200 for driving the weed removal component 202 to rise and fall, and the detection element for detecting the rotation speed of the cutter head 103. The weed removal determination module does not determine whether to act based solely on a single load signal. Instead, it first determines whether there is a continuous obstruction trend by checking the load state when the device is working, and then confirms the pre-trigger signal a second time by checking the load change during the descent of the weed removal component 202. This can prevent the device from malfunctioning when it cuts into dense weeds for a short time, when the cutter head 103 hits a hard object, or when the ground undulates and causes a sudden change in load. The load state of the device can include at least two of the following: drive current, output torque, and cutter head speed. The drive current can be obtained by a current sampling resistor, current transformer, or Hall current sensor set in the main working drive circuit. The output torque can be obtained by a torque sensor or estimated by the controller based on the drive current, drive voltage, speed feedback, and motor parameters. The cutter head speed can be obtained by a Hall sensor, magnet, encoder, or photoelectric detection device set in the center connection part of the cutter head 103, the cutter head synchronous rotation component, or the main drive output end. Through the above signal combination, the unwinding determination module can identify the continuous stagnation characteristic of increased load accompanied by decreased cutter head speed.

[0027] The change in descent load is used to reflect the change in resistance encountered by the unwinding component 202 during its movement from the avoidance position to the pre-cutting position. The change in descent load can be represented by at least one of the following: the change in the operating current of the lifting actuator 200, the change in the number of rotations of the lead screw 206, the deviation between the theoretical descent stroke and the actual descent stroke of the unwinding component 202, the change in the output thrust of the lifting actuator 200, or the change in the axial resistance encountered by the unwinding component 202. In this embodiment, the operating current of the lifting actuator 200, the number of rotations of the lead screw 206, and the deviation in the lifting stroke are preferably used as the basis for judging the change in descent load.

[0028] When the unwinding determination module determines that the load of the device increases and continues to reach the preset time, it controls the unwinding component 202 to descend from the avoidance position to the pre-cutting position. Specifically, the unwinding determination module can collect the drive current, output torque and cutter head speed according to the preset sampling period, and perform sliding average or continuous counting processing on the sampled data. When the drive current or output torque is higher than the corresponding threshold and the cutter head speed is lower than the preset speed threshold, and this state continues for a preset time, the unwinding determination module determines that the device has a continuous blocking state. The preset time can be set according to the rated speed of the cutter head 103, the device travel speed and the working environment. For example, it can be set to any value in the range of 0.5 seconds to 5 seconds. The limitation of continuously reaching the preset time can filter short-term impacts and prevent the unwinding component 202 from decreasing due to a single current spike or short-term speed fluctuation. After determining that the load on the device continues to increase, the unloading judgment module controls the lifting execution unit 200 to drive the unloading component 202 down from the avoidance position to the pre-cutting position. The pre-cutting position is not the final working position of the unloading component 202, but an intermediate position used to obtain the change in the descent load. When the unloading component 202 descends to the pre-cutting position, the unloading component 202 extends out of the receiving groove 201, but has not yet reached the maximum descent depth of the unloading position. By setting this intermediate position, it is possible to determine whether the descent resistance of the unloading component 202 meets the preset resistance characteristics without directly entering the final working depth. During the process of the unwinding component 202 descending to the pre-cut position, when the change in the descending load is within the preset resistance range, the unwinding component 202 is controlled to continue descending to the unwinding position; when the change in the descending load is less than the preset resistance range, the unwinding component is controlled to rise back to the avoidance position or the holding time of the unwinding component 202 in the pre-cut position and the unwinding position is shortened. Specifically, the preset resistance range can be obtained through test calibration. This range corresponds to the load change caused by the unloading component 202 encountering a flexible or yielding object when it descends. If the load change during descent is within the preset resistance range, it indicates that the descent path of the unloading component 202 has not encountered a hard collision, and it is not descending under no-load conditions. Based on this, the unloading determination module allows the unloading component 202 to continue descending to the unloading position. If the load change during descent is less than the preset resistance range, it indicates that the unloading component 202 has not encountered any resistance during descent. The aforementioned increase in the load of the device may come from short-term changes in operating conditions, local changes in the ground, or obstruction in other areas not covered by the unloading component. In this case, the unloading determination module can control the unloading component 202 to rise back to the yielding position, or simply shorten the holding time of the unloading component 202 in the pre-cutting position and the unloading position to reduce unnecessary actions and wear. Shortening the holding time can be understood as follows: when the change in the descending load is less than the preset resistance range, the cleaning and unwinding judgment module no longer controls the cleaning component 202 to hold according to the complete cleaning and unwinding cycle, but instead makes the cleaning component 202 rise quickly, or only stay briefly at the pre-cut position before rising. As a result, the cleaning component 202 will not frequently enter the bottom groove 102 for a long time, thereby reducing the probability of the cleaning component 202 coming into contact with soil, debris, and stones, and reducing the ineffective working time of the lifting and lowering execution unit 200.

[0029] When the change in the descending load exceeds the preset hard resistance threshold, the control clearing component 202 stops descending and rises back to the avoidance position; Specifically, the preset hard resistance threshold is greater than the upper limit of the preset resistance range to identify abnormal hard obstructions that occur during the descent of the cleaning component 202. These abnormal hard obstructions may come from stones, hard branches, compacted mud, or abnormal interference between the cleaning component 202 and other structures. When the descent load changes more than the preset hard resistance threshold, if the descent of the cleaning component 202 is continued, it may cause deformation of the cleaning component 202, excessive force on the lead screw 206, slippage of the synchronous belt 209, or overload of the servo motor 211. Therefore, the cleaning determination module controls the cleaning component 202 to immediately stop descending and rise back to the avoidance position, which can protect the cleaning component 202 and the lifting execution unit 200.

[0030] The unwinding determination module includes a workload detection unit and a load reduction detection unit. The workload detection unit is used to acquire at least two of the drive current, output torque and cutter head speed when the device is working. The load reduction detection unit is used to acquire the load reduction change during the process of the unwinding part 202 descending from the avoidance position to the pre-cutting position. Specifically, the workload detection unit is set on the main working drive link of the device to reflect the overall load change of the cutter head 103 during weeding operations. The drive current can be obtained from the current sampling terminal of the main drive power supply line, drive control board, or motor controller. The output torque can be obtained from the main drive output terminal, the transmission mechanism output terminal, or calculated by the controller based on the drive parameters. The cutter head speed can be obtained from the central rotating connection part of the cutter head 103, the transmission component that rotates synchronously with the cutter head 103, or the main drive output shaft. The workload detection unit does not need to enter the cleaning component movement area inside the bottom groove 102, so it will not affect the lifting and lowering action of the cleaning component 202. The descent load detection unit is installed on the lifting link of the unwinding component 202 to reflect the load change experienced by the unwinding component 202 as it descends from the avoidance position to the pre-cutting position. The descent load detection unit may include a current detection device installed on the power supply line of the servo motor 211, an encoder or servo motor built-in encoding feedback unit for detecting the number of rotations of the lead screw 206, and a stroke detection device for detecting the actual position of the slider 204 or the unwinding component 202. By comparing the theoretical stroke corresponding to the number of rotations of the lead screw 206 with the actual stroke of the unwinding component 202, the lifting stroke deviation can be obtained. By combining the change in the working current of the servo motor 211, the resistance state of the unwinding component 202 during the descent process can be determined.

[0031] The unwinding determination module determines whether the load increase of the device belongs to a continuous blocking state based on at least two of the following: the drive current increase state, the output torque increase state, and the cutter head speed decrease state. When the drive current or output torque increases and the cutter head speed decreases and continues to reach a preset time, the unwinding determination module generates a pre-trigger signal. Specifically, the unwinding determination module can pre-store drive current threshold, output torque threshold, and cutter head speed threshold. When it detects that the drive current is higher than the drive current threshold, or the output torque is higher than the output torque threshold, while the cutter head speed is lower than the cutter head speed threshold, it indicates that the device is not only in a state of increased load, but also that the rotational capability of the cutter head 103 is affected, which conforms to the characteristics of a continuous stagnation state. To improve the reliability of the determination, the unwinding determination module can also adopt trend judgment, that is, if the drive current or output torque shows an upward trend and the cutter head speed shows a downward trend within multiple consecutive sampling periods, and this trend continues for a preset time, a pre-trigger signal is generated. The pre-trigger signal does not directly indicate that the unwound part 202 must enter the unwound position, but rather that the device has the conditions to enter the pre-cut position confirmation process. In other words, the pre-trigger signal is used to initiate the first stage of the unwound part 202's descent action, causing the unwound part 202 to descend from the avoidance position to the pre-cut position. The descent load detection unit further determines whether to continue descending. By dividing the device's workload abnormality judgment and the unwound part's descent load confirmation into two stages, malfunctions caused by relying solely on the workload signal can be avoided.

[0032] Among them, before generating the pre-trigger signal, the clearing and tangling determination module continuously samples the drive current, output torque and cutter head speed, and excludes load change signals with a duration shorter than the preset time, so that the pre-trigger signal corresponds to the continuous stagnation state. Specifically, a load mutation signal refers to a signal in which the drive current, output torque, or cutter head speed changes significantly within a single sampling period or a few sampling periods, but then recovers rapidly. For example, when the cutter head 103 briefly cuts into dense grass, touches a ground protrusion, passes through local mud, or experiences short-term travel resistance, it may cause a momentary increase in current or a momentary decrease in speed. If this is not eliminated, the unloading determination module may mistakenly identify a continuous blockage in the device, thereby controlling the unloading component 202 to descend. Therefore, the unwinding determination module can use continuous counting, moving average, time window judgment, or abnormal duration judgment to process the signal. When the duration of the abnormal state of the drive current, output torque, or cutter head speed is shorter than the preset time, it is excluded as a load change signal. When the abnormal state exists continuously within the preset time window, or when the number of abnormal sampling points reaches the preset number, it is considered to be a corresponding continuous blocking state. This processing method can improve the accuracy of the pre-trigger signal and make the descent action of the unwinding component 202 more targeted.

[0033] The frame 101 houses a lifting actuator 200, which is connected to the cleaning component 202 for driving the cleaning component 202 to move between an avoidance position, a pre-cutting position, and a working position. The lifting actuator includes a slider 204. A groove 203 is formed at the top of the receiving slot 201. The outer wall of the slider 204 is slidably connected to the inner wall of the groove 203, and the slider 204 is fixedly connected to the top of the cleaning component 202. A threaded hole 205 is formed at the top of the slider 204, and a lead screw 206 is threadedly connected to the inner wall of the threaded hole 205. A connecting cavity 207 is formed inside the frame 101. The top of the screw 206 penetrates the inner wall of the slide groove 203 and is rotatably connected to the top of the connecting cavity 207. The screw 206 is fixedly sleeved with a synchronous pulley 208 on the outer wall of the connecting cavity 207. The outer walls of the two synchronous pulleys 208 are equipped with a synchronous belt 209. The frame 101 has an installation cavity 210 inside. The installation cavity 210 is equipped with a servo motor 211. The output end of the servo motor 211 is connected to one of the screws 206. The descent load detection unit is used to obtain at least one of the following: the working current of the lifting execution unit 200, the number of screw rotations, and the lifting stroke deviation, and use it as the descent load change. Specifically, the lifting execution unit 200 is used to convert the rotational motion of the servo motor 211 into the lifting motion of the cleaning component 202. The slide groove 203 is opened at the top of the receiving groove 201 in the vertical direction. The slider 204 is inserted into the slide groove 203 and can slide up and down along the slide groove 203. Since the slider 204 is fixedly connected to the top of the cleaning component 202, the up and down sliding of the slider 204 can drive the cleaning component 202 to move between the avoidance position, the pre-cut position and the working position. The slide groove 203 plays a guiding and limiting role for the slider 204, so that the cleaning component 202 will not wobble significantly during the descent, thereby ensuring that the cleaning component 202 can extend out of the receiving groove 201 along the predetermined path. The lead screw 206 is threadedly connected to the threaded hole 205 at the top of the slider 204. When the lead screw 206 rotates, the slider 204 cannot rotate with the lead screw 206 due to the restriction of the slide groove 203. It can only move up and down along the slide groove 203. Thus, the forward or reverse rotation of the lead screw 206 can drive the cleaning component 202 to descend or rise, respectively. The top of the lead screw 206 passes through the slide groove 203 and is rotatably connected to the top of the connecting cavity 207, which can ensure that the lead screw 206 maintains axial stability during rotation and reduce the shaking of the cleaning component 202 during the lifting and lowering process. Synchronous pulleys 208 and synchronous belts 209 are used to make multiple lead screws 206 rotate synchronously. The cleaning component 202 is connected to at least two sliders 204 in the circumferential direction. Each slider 204 corresponds to one lead screw 206. The two lead screws 206 are respectively fixedly sleeved on the synchronous pulleys 208. The synchronous belt 209 is wrapped around the outer wall of the two synchronous pulleys 208. When the servo motor 211 drives one of the lead screws 206 to rotate, the lead screw 206 drives the other lead screw 206 to rotate synchronously through the synchronous pulleys 208 and the synchronous belt 209, so that the two sides of the cleaning component 202 rise and fall synchronously. This structure can avoid the cleaning component 202 from tilting and jamming due to unilateral force drop, and improve the smoothness of the lifting action. The mounting cavity 210 is used to mount the servo motor 211, and the connecting cavity 207 is used to accommodate the synchronous pulley 208 and the synchronous belt 209. By placing the servo motor 211, the synchronous pulley 208, and the synchronous belt 209 inside the frame 101, the influence of mud, grass clippings, and dust on the transmission structure can be reduced. The servo motor 211 can be electrically connected to the unwinding judgment module. The unwinding judgment module controls the rotation direction, number of rotations, and rotation speed of the servo motor 211 to realize the controllable movement of the unwinding component 202 between the avoidance position, the pre-cutting position, and the working position.

[0034] When the unwinding determination module generates a pre-trigger signal, the unwinding determination module controls the lifting execution unit to drive the unwinding component 202 from the avoidance position to the pre-cutting position, and obtains the change in the descent load during the process of the unwinding component 202 moving from the avoidance position to the pre-cutting position; the pre-cutting position is the middle position where the unwinding component 202 extends out of the storage slot 201 but has not yet reached the working position; Specifically, after the unwinding judgment module generates a pre-trigger signal, it first controls the servo motor 211 to rotate at a preset low or medium speed, so that the lead screw 206 drives the slider 204 and the unwinding component 202 to descend from the avoidance position. During the process of the unwinding component 202 moving from the avoidance position to the pre-cutting position, the descent load detection unit synchronously collects the working current of the servo motor 211, the number of rotations of the lead screw 206, and the lifting stroke deviation. Since the pre-cutting position has not yet reached the working position, this stage is mainly used to determine whether there is a load change that meets the preset resistance range in the descent path of the unwinding component 202. The pre-cutting position can be determined by the number of rotations of the lead screw 206, the position feedback of the slider 204, or the limit switch. For example, when the unwinding component 202 is in the avoidance position, the encoder count of the servo motor 211 is at its initial value; when the servo motor 211 drives the lead screw 206 to rotate to the first preset number of rotations, the unwinding component 202 reaches the pre-cutting position; when it continues to rotate to the second preset number of rotations, the unwinding component 202 reaches the working position. The first preset number of rotations is less than the second preset number of rotations, thus making the pre-cutting position an intermediate position between the avoidance position and the working position.

[0035] During the process of the unwinding component 202 descending to the pre-cutting position, if the change in the descending load is within the preset resistance range, the unwinding determination module controls the unwinding component 202 to continue descending to the working position; if the change in the descending load is less than the preset resistance range, the unwinding determination module controls the unwinding component 202 to rise back to the avoidance position or shortens the holding time of the unwinding component 202 in the pre-cutting position and the working position. Specifically, when the load change is within the preset resistance range, it can manifest as the working current of the servo motor 211 increasing relative to the no-load descent current but not exceeding the hard resistance current threshold, or as a stroke deviation less than the hard resistance threshold between the theoretical descent stroke corresponding to the number of rotations of the lead screw 206 and the actual descent stroke of the unwinding component 202. In this case, the unwinding determination module considers that the descent process of the unwinding component 202 meets the conditions for continued descent, controls the servo motor 211 to continue rotating, and moves the unwinding component 202 from the pre-cut position to the working position. If the load change is less than the preset resistance range, it indicates that the unwinding component 202 is close to an unloaded state when it descends from the avoidance position to the pre-cutting position. At this time, the unwinding determination module can control the servo motor 211 to rotate in the opposite direction, so that the unwinding component 202 rises back from the pre-cutting position to the avoidance position. Alternatively, it can control the unwinding component 202 to continue to perform a short holding action according to the degree of load increase of the device, but shorten its holding time in the pre-cutting position and the working position. In this way, the device will not completely ignore the load abnormality, nor will it make the unwinding component 202 perform a complete unwinding cycle, thus taking into account both response time and mechanism life.

[0036] If the change in the descending load is greater than the preset hard resistance threshold, the unwinding judgment module controls the unwinding component 202 to stop descending and rise back to the avoidance position, while reducing the speed of the cutter head 103 or pausing the movement of the device. Specifically, a change in the decreasing load exceeding a preset hard resistance threshold can manifest as the servo motor 211's operating current exceeding the preset hard resistance current threshold, the lead screw 206 rotating more revolutions but the actual displacement of the slider 204 being significantly insufficient, the lifting stroke deviation exceeding the preset hard resistance stroke deviation, or the servo motor 211 exhibiting a stalling trend. In this case, the unwinding determination module no longer controls the unwinding component 202 to continue descending, but instead controls the servo motor 211 to immediately stop rotating in the current direction and rotate in the opposite direction, causing the unwinding component 202 to rise back to the avoidance position. Simultaneously reducing the rotational speed of the cutter head 103 or pausing the movement of the device is to reduce the possibility of soil, grass clippings, or hard debris continuing to enter the bottom trough 102. Reducing the rotational speed of the cutter head 103 can be achieved by reducing the output of the main working drive; pausing the movement of the device can be achieved by controlling the walking mechanism to stop, issuing a stop command, or outputting an alarm signal. This protective action can be interrupted in time when the cleaning component 202 encounters hard resistance, avoiding further damage to the lifting execution unit 200, the cleaning component 202, and the central area structure of the cutter head 103.

[0037] The unwinding determination module controls the unwinding component 202 to remain in the working position for a preset time after it descends to the working position. After the preset time, it acquires at least two of the following: drive current, output torque, and cutter head 103 rotation speed. When the drive current or output torque decreases and the cutter head 103 rotation speed recovers to a preset recovery range, the module controls the unwinding component 202 to rise back to the avoidance position. When the drive current or output torque does not decrease, or the cutter head 103 rotation speed does not recover to the preset recovery range, the module controls the unwinding component 202 to perform the descent confirmation process from the avoidance position to the pre-cutting position again. Specifically, after the unwound part 202 reaches the working position, the unwound determination module controls it to maintain the position for a preset time. The preset time can be from 0.5 seconds to 10 seconds, and can be determined according to the rotation speed of the cutter head 103, the structural dimensions of the unwound part 202, and the working environment of the device. After maintaining the preset time, the unwound determination module reads at least two of the drive current, output torque, and rotation speed of the cutter head 103 when the device is working, and compares them with the corresponding values ​​or preset recovery range before the unwound part 202 descends. When the drive current or output torque decreases and the speed of the cutter head 103 returns to the preset recovery range, it indicates that the continuous obstruction state of the device has been relieved. The unwinding judgment module controls the servo motor 211 to rotate in the opposite direction, so that the unwinding component 202 rises back to the avoidance position. The preset recovery range can be a certain percentage range of the rated speed of the cutter head 103, such as 80% to 100% of the rated speed, or it can be pre-calibrated according to different working modes. When the drive current or output torque does not decrease, or the speed of the cutter head 103 does not recover to the preset recovery range, it indicates that the device is still in a continuous blocking state. At this time, the unwinding judgment module does not directly and continuously force the unwinding component 202 to stay in the working position, but controls the unwinding component 202 to perform the descent confirmation process from the avoidance position to the pre-cutting position again. This can re-judge the change in descent load and avoid the unwinding component 202 from staying in the working position for a long time due to local hard resistance, temporary obstruction of the mechanism or changes in working conditions, thereby improving the safety of the control process.

[0038] The unwinding determination module is used to record the number of times the unwinding component 202 continuously performs the descent confirmation process from the avoidance position to the pre-cutting position; when the unwinding component 202 performs the process for a preset number of times and the driving current or output torque still does not decrease, or the rotation speed of the cutter head 103 still does not recover to the preset recovery range, the unwinding determination module controls the unwinding component 202 to rise back to the avoidance position and outputs a maintenance prompt signal or the control device stops moving. Specifically, the unwinding judgment module can be set with a counter to record the number of times the unwinding component 202 continuously performs the descent confirmation process. Each time the unwinding component 202 descends from the avoidance position to the pre-cutting position and completes a descent load change judgment, the counter increments by one. When the unwinding component 202 rises back to the avoidance position and the working load of the device returns to normal, the counter is reset to zero. If the counter accumulates to a preset number of times, such as 2 to 5 times, and the drive current or output torque still does not decrease, or the speed of the cutter head 103 still does not return to the preset recovery range, it indicates that the current abnormality may exceed the automatic unwinding range. In the above situation, the unwinding judgment module controls the unwinding component 202 to rise back to the avoidance position, so that the unwinding component 202 exits the working area in the bottom groove 102, and outputs a maintenance reminder signal. The maintenance reminder signal can be output through a buzzer, indicator light, display screen, wireless communication module or control panel to remind the operator to check the inside of the bottom groove 102, the central area of ​​the cutter head 103 and the lifting path of the unwinding component 202. If the device has a walking drive function, the unwinding judgment module can also control the device to stop moving to avoid the device from continuing to work if the abnormality is not resolved. This setting can prevent the unwinding component 202 from repeatedly performing invalid actions and reduce the wear and tear of the servo motor 211, lead screw 206, synchronous belt 209 and unwinding component 202.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A weeding device with an anti-tangle and mud-removing cutter disc assembly, comprising a frame (101) and a cutter disc (103) disposed at its bottom end, characterized in that, include: A bottom groove (102) is provided at the bottom end of the frame (101), and a storage groove (201) is provided at the top of the bottom groove (102). The unwinding component (202) is movably disposed within the receiving groove (201) and has a clearance position within the receiving groove (201), a pre-cut position extending out of the receiving groove (201), and an unwinding position after continuing to descend relative to the pre-cut position; The unwinding determination module is used to obtain the load status of the device during operation and the change of the descent load during the descent of the unwinding component; When the load on the unwinding determination module increases and continues to reach a preset time, the unwinding component (202) is controlled to descend from the avoidance position to the pre-cut position; During the process of the unwinding component (202) descending to the pre-cut position, when the change in the descending load is within the preset resistance range, the unwinding component (202) is controlled to continue descending to the unwinding position; when the change in the descending load is less than the preset resistance range, the unwinding component is controlled to rise back to the avoidance position or the holding time of the unwinding component (202) in the pre-cut position and the unwinding position is shortened. When the change in the descending load exceeds the preset hard resistance threshold, the control clearing component (202) stops descending and rises back to the avoidance position.

2. The weeding device with an anti-tangling and mud-removing blade assembly according to claim 1, characterized in that, The unwinding determination module includes a workload detection unit and a load reduction detection unit. The workload detection unit is used to acquire at least two of the drive current, output torque and cutter head speed when the device is working. The load reduction detection unit is used to acquire the load reduction change of the unwinding component (202) during the process of descending from the avoidance position to the pre-cutting position.

3. The weeding device with an anti-tangling and mud-removing blade assembly according to claim 2, characterized in that, The unwinding determination module determines whether the load increase of the device belongs to a continuous blocking state based on at least two of the following: the drive current increase state, the output torque increase state, and the cutter head speed decrease state. When the drive current or output torque increases and the cutter head speed decreases and continues to reach a preset time, the unwinding determination module generates a pre-trigger signal.

4. The weeding device with an anti-tangling and mud-removing blade assembly according to claim 3, characterized in that, Before generating the pre-trigger signal, the unwinding determination module continuously samples the drive current, output torque, and cutter head speed, and excludes load mutation signals with a duration shorter than a preset time, so that the pre-trigger signal corresponds to a continuous blocking state.

5. The weeding device with an anti-tangling and mud-removing blade assembly according to claim 2, characterized in that, The frame (101) is provided with a lifting actuator (200), which is connected to the cleaning component (202) for driving the cleaning component (202) to move between the avoidance position, the pre-cut position and the working position; the load reduction detection unit is used to obtain at least one of the working current, the number of rotations and the lifting stroke deviation of the lifting actuator (200) and use it as the load reduction change.

6. The weeding device with an anti-tangling and mud-removing blade assembly according to claim 5, characterized in that, When the unwinding determination module generates a pre-trigger signal, the unwinding determination module controls the lifting execution unit to drive the unwinding component (202) down from the avoidance position to the pre-cutting position, and obtains the change in the descent load during the process of the unwinding component (202) moving from the avoidance position to the pre-cutting position; the pre-cutting position is the middle position where the unwinding component (202) extends out of the storage slot (201) but has not yet reached the working position.

7. The weeding device with an anti-tangling and mud-removing blade assembly according to claim 6, characterized in that, During the process of the unwinding component (202) descending to the pre-cut position, if the change in the descending load is within the preset resistance range, the unwinding determination module controls the unwinding component (202) to continue descending to the working position; if the change in the descending load is less than the preset resistance range, the unwinding determination module controls the unwinding component (202) to rise back to the avoidance position or shortens the holding time of the unwinding component (202) in the pre-cut position and the working position.

8. The weeding device with an anti-tangling and mud-removing blade assembly according to claim 7, characterized in that, If the change in the descending load is greater than the preset hard resistance threshold, the unwinding determination module controls the unwinding component (202) to stop descending and rise back to the avoidance position, while reducing the speed of the cutter head (103) or pausing the movement of the device.

9. The weeding device with an anti-tangle weed-removing blade assembly according to claim 7, characterized in that, After the unwinding component (202) descends to the working position, the unwinding determination module controls the unwinding component (202) to maintain the working position for a preset time, and after maintaining the preset time, acquires at least two of the following: driving current, output torque, and cutter head (103) speed; when the driving current or output torque decreases and the cutter head (103) speed recovers to the preset recovery range, the unwinding component (202) is controlled to rise back to the avoidance position; when the driving current or output torque does not decrease, or the cutter head (103) speed does not recover to the preset recovery range, the unwinding component (202) is controlled to perform the descent confirmation process from the avoidance position to the pre-cutting position again.

10. The weeding device with an anti-tangling and mud-removing blade assembly according to claim 9, characterized in that, The unwinding determination module is used to record the number of times the unwinding component (202) continuously performs the descent confirmation process from the avoidance position to the pre-cutting position; when the unwinding component (202) continuously performs the preset number of times, if the driving current or output torque still does not decrease, or the speed of the cutter head (103) still does not recover to the preset recovery range, the unwinding determination module controls the unwinding component (202) to rise back to the avoidance position and outputs a maintenance prompt signal or the control device stops moving.

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