Emergency stop system of self-moving equipment

Abstract

The utility model discloses an emergency stop system for self-moving equipment. The emergency stop system comprises an emergency stop switch, a controller and a driving motor, the emergency stop switch is electrically connected with the controller to form a switch circuit; when the emergency stop switch is closed, the switching circuit is in a short-circuit state, the switching circuit does not have working voltage, and the voltage in the switching circuit is zero; when the emergency stop switch is switched off, the switching circuit is in a normal state, the switching circuit has working voltage, the voltage in the switching circuit is the working voltage, and the controller controls the driving motor to stop working according to a signal of the working voltage; and when the emergency stop switch is not triggered, the emergency stop switch is always in a closed state. According to the scheme, the triggering condition of the emergency stop switch can be quickly determined by identifying the voltage condition of the switching circuit corresponding to the emergency stop switch, and after the emergency stop switch is triggered, the controller controls the driving motor to stop working, so that the self-moving equipment or an obstacle can be prevented from being damaged, and potential safety hazards can be completely eradicated.

Description

Technical Field

[0001] The utility model relates to the technical field of self-moving equipment, in particular to an emergency stop system for a self-moving equipment. Background Art

[0002] As a powerful assistant for yard work, self-propelled equipment can move freely in the yard and perform multiple tasks, such as clearing snow or mowing the lawn. However, during the efficient operation of the working device in the self-propelled equipment, if it encounters an obstacle that cannot be identified in advance and the self-propelled equipment fails to stop the movement of the working device immediately, this may cause damage to the working device itself or the obstacle, and even cause safety hazards;

[0003] Therefore, those skilled in the art are in urgent need of finding a new technology to solve the above-mentioned problems. Utility Model Content

[0004] The embodiment of the utility model provides an emergency stop system for a self-moving device, so as to solve the technical problem that the self-moving device is damaged or a safety hazard is caused by not stopping the movement in time in the existing self-moving device.

[0005] To achieve the above-mentioned purpose, an emergency stop system for an electronic device is provided, comprising an emergency stop switch, a controller and a drive motor; the emergency stop switch is electrically connected to the controller to form a switch circuit; when the emergency stop switch is closed, the switch circuit is in a short-circuit state, there is no working voltage in the switch circuit, and the voltage in the switch circuit is zero; when the emergency stop switch is disconnected, the switch circuit is in a normal state, there is a working voltage in the switch circuit, the voltage in the switch circuit is the working voltage, and the controller controls the drive motor to stop working according to the signal of the working voltage; when the emergency stop switch is not triggered, the emergency stop switch is always in a closed state.

[0006] Optionally, the emergency stop switch is provided with a first signal pin and a second signal pin. The first signal pin is electrically connected to the controller to form the switch circuit, and the second signal pin is grounded. When the emergency stop switch is closed, the first signal pin and the second signal pin are short-circuited. When the emergency stop switch is disconnected, the first signal pin and the second signal pin are disconnected.

[0007] Optionally, the switch circuit is connected in series with one end of a pull-up resistor, and the pull-up resistor is used to keep the switch circuit in a high-level working state.

[0008] Optionally, the switch circuit is connected in series to one end of a filter, and the filter is used to filter the switch circuit.

[0009] Optionally, the controller includes a front-end controller and a body controller, the switch circuit includes a first switch circuit and a second switch circuit, the body controller is electrically connected to the first switch circuit, and the front-end controller is electrically connected to the second switch circuit.

[0010] Optionally, the emergency stop system for the self-moving equipment further comprises an electronic speed regulator, which is electrically connected to the locomotive controller, and a second switch circuit is provided between the electronic speed regulator and the locomotive controller.

[0011] Optionally, the first switch circuit is connected in series with a first resistor for preventing static electricity from damaging the vehicle body controller, and the second switch circuit is connected in series with a second resistor for preventing static electricity from damaging the vehicle head controller.

[0012] Optionally, the second switch circuit is further connected in series to one end of an anti-static device, and the anti-static device and the second resistor are used together to prevent static electricity from damaging the vehicle head controller.

[0013] Optionally, the anti-static device and the other end of the filter are both grounded.

[0014] Optionally, the self-propelled equipment emergency stop system further includes an electronic speed regulator, the electronic speed regulator is electrically connected to the vehicle head controller, and the electronic speed regulator is electrically connected to the switch circuit.

[0015] The above-mentioned emergency stop system for a self-moving device includes an emergency stop switch, a controller and a drive motor; the emergency stop switch is electrically connected to the controller to form a switch circuit; when the emergency stop switch is closed, the switch circuit is in a short-circuit state, there is no working voltage in the switch circuit, and the voltage in the switch circuit is zero; when the emergency stop switch is disconnected, the switch circuit is in a normal state, there is a working voltage in the switch circuit, the voltage in the switch circuit is the working voltage, and the controller controls the drive motor to stop working according to the signal of the working voltage; when the emergency stop switch is not triggered, the emergency stop switch is always in a closed state. In this way, the triggering condition of the emergency stop switch can be quickly determined by identifying the voltage condition of the switch circuit corresponding to the emergency stop switch, and after the emergency stop switch is triggered, the controller controls the drive motor to stop working, which can not only ensure that the self-moving device or obstacles will not be damaged, but also prevent safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments of the utility model will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 It is a schematic diagram of an emergency stop system for a self-moving equipment in one embodiment of the utility model;

[0018] Figure 2 It is another schematic diagram of the emergency stop system of the self-moving equipment in one embodiment of the utility model.

[0019] In the figure ( Figure 2 It only indicates that 401 includes 101, 102, 103 and 104. Figure 2 402 in the figure also includes 101, 102, 103 and 104): 1. emergency stop switch; 101. first signal pin; 102. second signal pin; 103. pull-up resistor; 104. filter; 2. controller; 201. front controller; 202. body controller; 3. drive motor; 4. switch circuit; 401. first switch circuit; 4011. first resistor; 402. second switch circuit; 4021. second resistor; 4022. anti-static device; 5. electronic speed regulator. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] It should be understood that the utility model can be implemented in different forms and should not be interpreted as being limited to the embodiments proposed herein. On the contrary, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the utility model to those skilled in the art.

[0022] In order to thoroughly understand the present invention, detailed structures and steps will be presented in the following description to illustrate the technical solution proposed by the present invention. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0023] like Figure 1As shown, the present embodiment provides an emergency stop system for a self-moving equipment, which includes an emergency stop switch 1, a controller 2 and a drive motor 3; the emergency stop switch 1 is electrically connected to the controller 2 to form a switch circuit 4; when the emergency stop switch 1 is closed, the switch circuit 4 is in a short-circuit state, there is no working voltage in the switch circuit 4, and the voltage in the switch circuit 4 is zero; when the emergency stop switch 1 is disconnected, the switch circuit 4 is in a normal state, there is a working voltage in the switch circuit 4, the voltage in the switch circuit 4 is the working voltage, and the controller 2 controls the drive motor 3 to stop working according to the signal of the working voltage; when the emergency stop switch 1 is not triggered, the emergency stop switch 1 is always in a closed state.

[0024] In this embodiment, the emergency stop switch 1 may be a mechanical switch button, which may be arranged at a prominent position on the housing of the self-moving device for easy operation; the controller 2 may be divided into a front controller 201 and a body controller 202, and the controller 2 may obtain information fed back by the device and the sensor in the self-moving device, and may control the device and the sensor; the drive motor 3 may refer to a device that converts electrical energy into mechanical energy, which may be classified according to the function of the self-moving device, such as a mowing motor for mowing, a walking motor for walking, a mowing motor for raising and lowering a mowing blade, a snow rolling motor for sweeping snow, etc.;

[0025] A switch circuit 4 is formed between the emergency stop switch 1 and the controller 2, that is, an interface in the emergency stop switch 1 is connected to an interface of the controller 2; wherein, when the emergency stop switch 1 is not triggered manually, the emergency stop switch 1 is always in a normally closed state, in which state, the two interfaces in the emergency stop switch 1 are in a short-circuited state, and the switch circuit 4 is in an abnormal state, at which time the voltage in the switch circuit 4 is 0 volts; when the emergency stop switch 1 is triggered manually, the emergency stop switch 1 is in an open state, in which state, the two interfaces in the emergency stop switch 1 are in an open state, and a conventional working voltage of 3V3 volts exists in the switch circuit 4, that is, the switch circuit 4 is in a normal state, at which time the voltage in the switch circuit 4 is 3V3 volts;

[0026] In this embodiment, the controller 2 can determine whether the emergency stop switch 1 is triggered manually based on the voltage change of the emergency stop switch 1. Once the controller 2 recognizes that the emergency stop switch 1 is triggered manually, the controller 2 directly controls the drive motor 3 to stop working, thereby avoiding damage to the working device of the self-moving equipment itself or obstacles, and reducing safety hazards when the self-moving equipment is working.

[0027] like Figure 2As shown, as an embodiment, the emergency stop switch 1 is provided with a first signal pin 101 and a second signal pin 102, the first signal pin 101 is electrically connected to the controller 2 to form the switch circuit 4, the second signal pin 102 is grounded, when the emergency stop switch 1 is closed, the first signal pin 101 and the second signal pin 102 are short-circuited, when the emergency stop switch 1 is disconnected, the first signal pin 101 and the second signal pin 102 are disconnected.

[0028] In this embodiment, the element corresponding to the emergency stop switch 1 is a socket element, in which multiple signal pins are provided, wherein the first signal pin 101 is connected to the controller 2 and can be connected to the working voltage at the same time, and the second signal pin 102 is a grounded signal pin. When the emergency stop switch 1 is in different states, the access conditions of the first signal pin 101 and the second signal pin 102 will also be different. When the first signal pin 101 and the second signal pin 102 are short-circuited, there is no working voltage in the switch circuit 4. When the first signal pin 101 and the second signal pin 102 are disconnected, there is a working voltage in the switch circuit 4.

[0029] like Figure 2 As shown, as an embodiment, the switch circuit 4 is connected in series with one end of a pull-up resistor 103, and the pull-up resistor 103 is used to keep the switch circuit 4 in a high-level working state.

[0030] In this embodiment, the pull-up resistor 103 is an electronic component, and its working principle is to clamp an uncertain signal at a high level through a resistor, and the resistor also plays a current limiting role. Specifically, the voltage at the input port (located in the switch circuit 4) can be pulled up to a high-level working state through the pull-up resistor 103104.

[0031] like Figure 2 As shown, as an embodiment, the switch circuit 4 is connected in series to one end of a filter 104 , and the filter 104 is used to filter the switch circuit 4 .

[0032] In this embodiment, the filter 104 is a filter circuit composed of a capacitor, an inductor and a resistor, which can remove noise and interference. In electronic equipment, the power supply signal in the circuit often has noise and interference. The filter 104 can filter out the above noise and interference to ensure the normal operation of the electronic equipment.

[0033] like Figure 2 As shown, as an embodiment, the controller 2 includes a front controller 201 and a body controller 202, the switch circuit 4 includes a first switch circuit 401 and a second switch circuit 402, the body controller 202 is electrically connected to the first switch circuit 401, and the front controller 201 is electrically connected to the second switch circuit 402.

[0034] In this embodiment, a plurality of switch circuits 4 may be provided to correspond to the number of controllers 2. The body controller 202 serves as the main controller, and one end thereof may be electrically connected to the first switch circuit 401 first, and the other end thereof may be electrically connected to the front controller 201, and the front controller 201 may be electrically connected to the second circuit finally. The connection between the front controller 201 and the body controller 202 includes a signal line CAN line (for information transmission between the two controllers), a power line (for powering the front controller 201, and a power supply device is provided on the body of the mobile device) and a signal line corresponding to the electronic switch.

[0035] like Figure 2 As shown, as an embodiment, the emergency stop system of the self-moving equipment further includes an electronic speed regulator 5 , which is electrically connected to the locomotive controller 201 , and a second switch circuit 402 is provided between the electronic speed regulator 5 and the locomotive controller 201 .

[0036] In this embodiment, the electronic speed regulator 5 can be a device that uses electronic components to control the rotation speed of the motor. The other parts are composed of power electronic devices, control circuits, sensors and user interfaces. The working principle of the electronic speed regulator 5 is to control the rotation speed of the drive motor 3 by changing the power supply voltage and frequency of the drive motor 3 according to the characteristics and load requirements of the drive motor 3. To further understand, one end of the electronic speed regulator 5 is electrically connected to the head controller 201, and the other end of the electronic speed regulator is electrically connected to the drive motor 3, and a second switch circuit 402 is provided between the electronic speed regulator 5 and the head controller 201. The switch circuit 4 can immediately stop the drive motor 3.

[0037] like Figure 2 As shown, as an embodiment, the first switch circuit 401 is connected in series with a first resistor 4011 for preventing static electricity from damaging the body controller 202 , and the second switch circuit 402 is connected in series with a second resistor 4021 for preventing static electricity from damaging the head controller 201 .

[0038] In this embodiment, a first resistor 4011 is provided in the first switch circuit 401 to prevent static electricity from damaging the body controller 202, and a second resistor 4021 is provided in the second switch circuit 402 to prevent static electricity from damaging the head controller 201. Each circuit can provide an anti-static interference to the circuit in which it is located. In other embodiments, an anti-static resistor can be provided on one of the signal pins of the head controller 201 and the body controller 202, respectively, and the anti-static resistor can achieve a better anti-static effect together with the first resistor 4011 and the second resistor 4021.

[0039] like Figure 2As shown, as an embodiment, the second switch circuit 402 is further connected in series with one end of an anti-static device 4022 , and the anti-static device 4022 and the second resistor 4021 are used together to prevent static electricity from damaging the vehicle head controller 201 .

[0040] In this embodiment, the anti-static device 4022 is an ESD (Electrostatic Discharge) device, which refers to electrostatic discharge, that is, the charge transfer caused by objects with different electrostatic potentials approaching each other or directly contacting each other. In this embodiment, an anti-static device 4022 is also provided near the head controller 201, and is used together with the first resistor 4011 to eliminate static electricity. The purpose is to make the head controller 201 more susceptible to electrostatic interference. The head controller 201 is connected to components such as the electronic speed regulator 5.

[0041] like Figure 2 As shown, as an embodiment, the anti-static device 4022 and the other end of the filter 104 are both grounded.

[0042] In this embodiment, the anti-static device 4022 and the filter 104 are both grounded to prevent electric shock. When electrical equipment leaks or the equipment casing is charged, grounding can introduce the current directly into the ground through the grounding wire to prevent the current from returning to the power supply through the human body, thereby protecting personal safety and preventing equipment damage. Grounding can effectively introduce abnormal voltages such as static electricity in the equipment into the ground, thereby preventing the equipment from being damaged by voltage shock.

[0043] like Figure 2 As shown, as an embodiment, the emergency stop system of the self-moving equipment further includes an electronic speed regulator 5 , the electronic speed regulator 5 is electrically connected to the vehicle head controller 201 , and the electronic speed regulator 5 is electrically connected to the switch circuit 4 .

[0044] In this embodiment, the electronic speed regulator 5 is a device for controlling the speed of the motor. The speed of the drive motor 3 is controlled by adjusting the input voltage and frequency of the motor. The drive motor 3 for walking and working is provided on the front of the self-moving device. Therefore, the electronic speed regulator 5 is electrically connected to the front controller 201. The switch circuit 4 in this embodiment is directly electrically connected to the electronic speed regulator 5 (the switch circuit 4 does not need to be electrically connected to the controller 2 first, and the controller 2 is then connected to the drive motor 3 through the corresponding circuit), so that after the emergency stop switch 1 is manually triggered, the electronic speed regulator 5 can be quickly controlled, thereby quickly controlling the start and stop of the drive motor 3.

[0045] The present invention provides an emergency stop system for a self-moving device, which belongs to the technical field of self-moving device, and includes an emergency stop switch 1, a controller 2 and a drive motor 3; the emergency stop switch 1 is electrically connected to the controller 2 to form a switch circuit 4; when the emergency stop switch 1 is closed, the switch circuit 4 is in a short-circuit state, there is no working voltage in the switch circuit 4, and the voltage in the switch circuit 4 is zero; when the emergency stop switch 1 is disconnected, the switch circuit 4 is in a normal state, there is a working voltage in the switch circuit 4, and the voltage in the switch circuit 4 is the working voltage, and the controller 2 controls the drive motor 3 to stop working according to the signal of the working voltage; when the emergency stop switch 1 is not triggered, the emergency stop switch 1 is always in a closed state. In this way, by identifying the voltage condition of the switch circuit 4 corresponding to the emergency stop switch 1, the triggering condition of the emergency stop switch 1 can be quickly determined, and after the emergency stop switch 1 is triggered, the controller 2 controls the drive motor 3 to stop working, which can not only ensure that the self-moving device or obstacles will not be damaged, but also prevent safety hazards.

[0046] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. An emergency stop system for a self-propelled equipment, characterized in that: It includes an emergency stop switch, a controller and a drive motor; the emergency stop switch is electrically connected to the controller to form a switch circuit; when the emergency stop switch is closed, the switch circuit is in a short-circuit state, there is no working voltage in the switch circuit, and the voltage in the switch circuit is zero; when the emergency stop switch is disconnected, the switch circuit is in a normal state, there is a working voltage in the switch circuit, the voltage in the switch circuit is the working voltage, and the controller controls the drive motor to stop working according to the signal of the working voltage; when the emergency stop switch is not triggered, the emergency stop switch is always in a closed state.

2. The emergency stop system for a self-propelled equipment according to claim 1, characterized in that: The emergency stop switch is provided with a first signal pin and a second signal pin. The first signal pin is electrically connected to the controller to form the switch circuit. The second signal pin is grounded. When the emergency stop switch is closed, the first signal pin and the second signal pin are short-circuited. When the emergency stop switch is disconnected, the first signal pin and the second signal pin are disconnected.

3. The emergency stop system for a self-propelled equipment as claimed in claim 2, characterized in that: The switch circuit is connected in series with one end of a pull-up resistor, and the pull-up resistor is used to keep the switch circuit in a high-level working state.

4. The emergency stop system for a self-propelled equipment as claimed in claim 3, characterized in that: The switch circuit is connected in series with one end of a filter, and the filter is used to filter the switch circuit.

5. The emergency stop system for a self-propelled equipment as claimed in claim 4, characterized in that: The controller includes a front-end controller and a body controller, the switch circuit includes a first switch circuit and a second switch circuit, the body controller is electrically connected to the first switch circuit, and the front-end controller is electrically connected to the second switch circuit.

6. The emergency stop system for a self-propelled equipment according to claim 5, characterized in that: The self-moving equipment emergency stop system also includes an electronic speed regulator, which is electrically connected to the locomotive controller, and a second switch circuit is provided between the electronic speed regulator and the locomotive controller.

7. An emergency stop system for a self-propelled equipment as claimed in claim 6, characterized in that: The first switch circuit is connected in series with a first resistor for preventing static electricity from damaging the vehicle body controller, and the second switch circuit is connected in series with a second resistor for preventing static electricity from damaging the vehicle head controller.

8. The emergency stop system for a self-propelled equipment according to claim 7, characterized in that: The second switch circuit is also connected in series with one end of an anti-static device, and the anti-static device and the second resistor are used together to prevent static electricity from damaging the vehicle head controller.

9. An emergency stop system for a self-propelled equipment as claimed in claim 8, characterized in that: The other ends of the anti-static device and the filter are both grounded.

10. The emergency stop system for a self-propelled equipment according to claim 5, characterized in that: The self-moving equipment emergency stop system also includes an electronic speed regulator, which is electrically connected to the vehicle head controller and electrically connected to the switch circuit.

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