Self-moving equipment blade control system and self-moving equipment

Abstract

The utility model discloses a blade control system of a self-moving device and the self-moving device, and the blade control system of the self-moving device comprises a blade motor which is used for controlling a blade to rotate; the blade rotating speed detection sensor is mounted in the blade motor and is used for acquiring the rotating speed of the blade motor; the motor temperature sensor is mounted in the blade motor and is used for acquiring the working temperature of the motor; the electronic speed regulator is electrically connected with the blade motor, the blade rotating speed detection sensor and the motor temperature sensor and used for controlling the blade motor to rotate; and the controller is electrically connected with the electronic speed regulator and is used for acquiring the rotating speed information and the working temperature information transmitted by the electronic speed regulator and controlling the electronic speed regulator to work according to the rotating speed information and / or the working temperature information so as to control a blade in the blade motor to work. According to the technical scheme, state information of the cutter head motor can be detected in time through the blade rotating speed detection sensor and the motor temperature sensor, and the controller controls the blade motor in time according to the state information.

Description

Technical Field

[0001] The utility model relates to the technical field of self-moving equipment, in particular to a self-moving equipment blade control system and the self-moving equipment. Background Art

[0002] As a highly intelligent device, the self-moving device can be applied to the lawn mowing scene in the courtyard scene. The self-moving device is equipped with a cutter disc, and the cutter disc is equipped with a blade and a blade motor. The blade rotates at high speed under the action of the blade motor. At this time, in a complex courtyard environment, the blade may cut hard objects such as stones, or the temperature of the blade motor corresponding to the blade may be abnormal. If the self-moving device cannot detect the above status information in time and take response measures in time, it will affect the normal operation of the self-moving device;

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

[0004] The embodiment of the utility model provides a self-moving device blade control system and a self-moving device to solve the technical problem that the existing self-moving device cannot detect and respond to the status information of the blade motor in a complex environment in a timely manner, thereby affecting the normal operation.

[0005] To achieve the above object, a self-moving device blade control system is provided, the self-moving device blade control system comprising:

[0006] A blade motor, used to control the rotation of the blade;

[0007] The blade speed detection sensor is installed in the blade motor and is used to obtain the speed of the blade motor;

[0008] The motor temperature sensor is installed in the blade motor to obtain the working temperature of the motor;

[0009] An electronic speed regulator, electrically connected to the blade motor, the blade speed detection sensor and the motor temperature sensor, for controlling the rotation of the blade motor;

[0010] A controller is electrically connected to the electronic speed regulator, and is used to obtain the speed information detected by the speed detection sensor and the operating temperature information detected by the motor temperature sensor and transmitted by the electronic speed regulator, and control the operation of the electronic speed regulator according to the speed information and / or the operating temperature information to control the operation of the blade corresponding to the blade motor.

[0011] Optionally, a first communication line and a power line are provided in the electronic speed regulator, and the first communication line and the power line are electrically connected to the controller at the same time.

[0012] Optionally, the controller is arranged at the front of the self-moving device, and the blade control system of the self-moving device also includes a main controller of the vehicle body, and the controller is electrically connected to the main controller via a second communication line and a power line.

[0013] Optionally, the self-moving device blade control system also includes a head lift detection sensor, which is electrically connected to the controller. When the head lift detection sensor is triggered, the controller controls the electronic speed regulator to control the blade corresponding to the blade motor to stop working.

[0014] Optionally, the vehicle head lifting detection sensor is provided with an input pin filter capacitor, an electrostatic protection component and a pull-up resistor.

[0015] Optionally, a series protection resistor is provided between the vehicle head lifting detection sensor and the controller.

[0016] Optionally, the vehicle head lifting detection sensor and the blade rotation speed detection sensor are Hall sensors, and the Hall sensor includes a detection element and a magnet. When the detection element and the magnet are far away from and close to each other, the level signal obtained by the main controller is different.

[0017] To achieve the above purpose, a self-moving device is provided, including a vehicle head and a body, and a self-moving device blade control system arranged on the vehicle head and the body, and a walking wheel is arranged on the side of the vehicle head close to the ground.

[0018] Optionally, a front-end lifting detection sensor is provided on the traveling wheel, the traveling wheel includes a left traveling wheel and a right traveling wheel, the front-end lifting detection sensor includes a left front-end lifting detection sensor and a right front-end lifting detection sensor, the left front-end lifting detection sensor is arranged on the left traveling wheel, the right front-end lifting detection sensor is arranged on the right traveling wheel, and the left front-end lifting detection sensor and the right front-end lifting detection sensor are electrically connected to the controller.

[0019] The above-mentioned self-moving device blade control system and self-moving device, the self-moving device blade control system includes: a blade motor, used to control the rotation of the blade; a blade speed detection sensor, installed in the blade motor, used to obtain the speed of the blade motor; a motor temperature sensor, installed in the blade motor, used to obtain the working temperature of the motor; an electronic speed regulator, electrically connected to the blade motor, the blade speed detection sensor and the motor temperature sensor, used to control the rotation of the blade motor; a controller, electrically connected to the electronic speed regulator, used to obtain the speed information detected by the speed detection sensor and the working temperature information detected by the motor temperature sensor transmitted by the electronic speed regulator, and control the electronic speed regulator to work according to the speed information and / or the working temperature information, so as to control the blade in the blade motor. In this way, the status information of the cutter motor can be timely detected by the blade speed detection sensor and the motor temperature sensor, and transmitted to the controller through the electronic speed regulator, and the controller controls the blade motor in time according to the acquired information to ensure that the self-moving device can work normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 It is a schematic diagram of a blade control system of a self-moving device in one embodiment of the utility model;

[0022] Figure 2 is another schematic diagram of a blade control system for a self-moving device in one embodiment of the utility model;

[0023] Figure 3 It is a schematic diagram of a self-moving device in one embodiment of the utility model.

[0024] In the figure: 1. Blade motor; 2. Blade speed detection sensor; 3. Motor temperature sensor; 4. Electronic speed regulator; 5. Controller; 6. First communication line; 7. Power line; 8. Main controller; 9. Second communication line; 10. Vehicle head lifting detection sensor; 101. Input pin filter capacitor; 102. Electrostatic protection components; 103. Pull-up resistor; 104. Protection resistor; 105. Left vehicle head lifting detection sensor; 106. Right vehicle head lifting detection sensor; 11. Self-moving device; 12. Travel wheels; 1201. Left travel wheel; 1202. Right travel wheel; 13. Vehicle head; 14. Vehicle body. DETAILED DESCRIPTION

[0025] 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.

[0026] 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.

[0027] 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.

[0028] like Figure 1 As shown, this embodiment provides a self-propelled device blade control system, the system comprising:

[0029] Blade motor 1, used to control the rotation of the blade;

[0030] The blade speed detection sensor 2 is installed in the blade motor 1 and is used to obtain the speed of the blade motor 1;

[0031] The motor temperature sensor 3 is installed in the blade motor 1 and is used to obtain the working temperature of the motor;

[0032] An electronic speed regulator 4, electrically connected to the blade motor 1, the blade speed detection sensor 2 and the motor temperature sensor 3, for controlling the rotation of the blade motor 1;

[0033] The controller 5 is electrically connected to the electronic speed regulator 4, and is used to obtain the speed information detected by the speed detection sensor and the operating temperature information detected by the motor temperature sensor 3 and transmitted by the electronic speed regulator 4, and control the operation of the electronic speed regulator 4 according to the speed information and / or the operating temperature information to control the operation of the blade corresponding to the blade motor 1.

[0034] In this embodiment, the blade motor 1 is installed at a position in the mowing disc, such as the center position, and the mowing disc is provided with a plurality of blades, such as three blades, wherein when the blade motor 1 is in a triggered state, the blades are in a high-speed running state and generate a certain cutting force; the blade speed detection sensor 2 is installed inside the blade motor 1, and a rotating shaft is provided in the blade motor 1, and blade speed detection sensors 2 are provided at intervals of the rotating shaft, and each rotation of the rotating shaft will pass through the blade speed detection sensor 2 and be detected and recorded by the blade speed detection sensor 2; the motor temperature sensor 3 is also installed inside the motor, which is a sensor device for monitoring the motor temperature, and its function is to measure the motor temperature in real time and transmit the temperature data to the control system or monitoring equipment. The working principle of the motor temperature sensor 3 is usually based on the characteristics of thermistors, and common thermistors include thermistors (P TC), thermistor capacitor (PTC), thermistor diode, etc. When the temperature of the motor rises, the resistance, capacitance or voltage value of the thermistor will change accordingly, and the sensor will determine the temperature value by measuring the change; the electronic speed regulator 4 is an electronic device for controlling the speed of the motor, which is usually used to drive a DC motor or a three-phase AC motor, and controls the speed and direction of the motor by adjusting the input voltage, current or pulse width modulation (PWM) signal; the controller 5 is a controller 5 installed on the front of the vehicle 13, which can control the start and stop or speed of the blade motor 1 according to the speed information detected by the speed detection sensor and the working temperature information of the motor temperature sensor 3 (by controlling the electronic speed regulator 4 to control the speed detection sensor and the motor temperature sensor 3 through the electronic speed regulator 4). If the motor temperature is too high, the rotation of the blade motor 1 needs to be stopped, and if the motor speed is too fast, the blade motor 1 needs to be speed-regulated;

[0035] The specific working process is as follows: after the controller 5 is powered on, the power supply of the electronic speed regulator 4 is turned on, and the controller 5 detects whether the electronic speed regulator 4 is short-circuited. If so, the electronic speed regulator 4 is turned off. If not, during the process of the electronic controller 5 controlling the operation of the blade motor 1, the controller 5 obtains the values ​​detected by the blade speed detection sensor 2 and the motor temperature sensor 3, and after comparing the values ​​with the pre-stored thresholds, determines whether to control the speed and / or start and stop of the blade motor 1.

[0036] like Figure 1 As shown, as an embodiment, the electronic speed regulator 4 is provided with a first communication line and a power line, and the first communication line 6 and the power line 7 are electrically connected to the controller 5 at the same time.

[0037] In this embodiment, the communication line mainly transmits various information to the controller 5, including the information detected by the above-mentioned blade speed detection sensor 2 and the motor temperature sensor 3, and the power line 7 mainly transmits the power from the battery in the mobile device 11 to the blade motor 1 and the electronic speed regulator 4.

[0038] like Figure 1 As shown, as an embodiment, the controller 5 is arranged on the front 13 of the self-moving device 11, and the blade control system of the self-moving device also includes a main controller 8 of the vehicle body. The controller 5 is electrically connected to the main controller through a second communication line 9 and a power line 7.

[0039] In this embodiment, the controller 5 is located on the front of the vehicle 13, and can obtain sensor information on the front of the vehicle 13 and control the equipment on the front of the vehicle 13 to work. The main controller 8 is located on the front of the vehicle 14, and can control all sensor information on the entire self-mobile device 11 and control all equipment on the self-mobile device 11 to work. The controller 5 is electrically connected to the main controller through a CAN communication line, and obtains power transmitted from the battery in the self-mobile device 11 through a power line 7.

[0040] like Figure 1 As shown, as an embodiment, the self-moving device blade control system also includes a head lift detection sensor 10, and the head lift detection sensor 10 is electrically connected to the controller 5. When the head lift detection sensor 10 is triggered, the controller 5 controls the electronic speed regulator 4 to control the blade corresponding to the blade motor 1 to stop working.

[0041] In this embodiment, the vehicle head lifting detection sensor 10 is a sensor for detecting that the vehicle head 13 is lifted. The situations in which the vehicle head 13 is lifted include that the running wheels 12 on the vehicle head 13 are directly lifted by a hard object, causing the vehicle head 13 to be lifted, or the vehicle head 13 is directly lifted by humans or obstacles, etc., wherein the vehicle head lifting detection sensor 10 can be a Hall sensor, which is composed of a sensing element and a magnet. In the working state in which the vehicle head 13 is not lifted, the sensing element senses with the magnet and generates a high-level signal. In the working state in which the vehicle head 13 is lifted, the sensing distance between the sensing element and the magnet becomes longer, generating a low-level signal. The signal can also be generated when the head 13 is not lifted, the sensing element and the magnet sense and generate a low-level signal, and when the head 13 is lifted, the sensing distance between the sensing element and the magnet becomes longer, generating a high-level signal; in addition, a signal pin in the head lifting detection sensor 10 is electrically connected to the controller 5, and the signal pin is used to transmit the information detected by the sensor to the controller 5. The controller 5 can determine that the head 13 is lifted according to the detected information, and suspend the operation of the blade motor 1. A signal pin of the head lifting detection sensor 10 is connected to the power supply, and a signal pin is grounded.

[0042] like Figure 2 As shown, as an embodiment, the vehicle head lift detection sensor 10 is provided with an input pin filter capacitor 101 , an electrostatic protection component 102 and a pull-up resistor 103 .

[0043] In this embodiment, the input pin filter capacitor 101 is usually installed near the input pin of the circuit board, and is used to filter high-frequency noise and interference in the input signal. It mainly absorbs and suppresses high-frequency noise by introducing a low-impedance path between the input signal and the ground, thereby protecting the circuit from external interference. The input pin filter capacitor 101 usually selects a capacitor with high-frequency attenuation characteristics, and selects an appropriate capacitance and type according to the characteristics and requirements of the circuit. The size of the input pin filter capacitor 101 selected in this embodiment can be 100nF; the electrostatic protection component 102 is intended to protect electronic equipment from electrostatic discharge and ESD (Electrostatic Discharge). The electrostatic protection component 102 usually includes a diode, a TVS (Transient Voltage The pull-up resistor 103 is a resistor used in circuit design, which is usually used in input ports or switch signal lines in digital circuits. Its function is to ensure that the signal line remains in a high level state when it is not pulled down by an external signal. Specifically, when no external signal is applied to the input port, the pull-up resistor 103 pulls up the level of the input port by connecting to a high level (usually a power supply voltage), which can ensure that the input port remains in a high level state when in an idle state, avoiding undefined states or interference.

[0044] To be more specific, the pull-up resistor 103 and the input pin filter capacitor 101 are arranged between the power supply and the ground line, and the electrostatic protection component 102 is connected in parallel with the input pin filter capacitor 101, and the connection lines of the three components are electrically connected to the chip pins of the vehicle head lifting detection sensor 10.

[0045] like Figure 2 As shown, as an embodiment, a series protection resistor 104 is provided between the vehicle head lift detection sensor 10 and the controller 5 .

[0046] In this embodiment, the protection resistor 104 is a component used in circuit design. Its function is to protect other components in the circuit from damage by overcurrent or overvoltage. It usually limits the magnitude of the current or voltage to protect other components from damage. In this embodiment, the protection resistor 104 is selected to protect the microcontroller pins between the vehicle head lift detection sensor 10 and the controller 5.

[0047] like Figure 1As shown, as an embodiment, the vehicle head lifting detection sensor and the blade rotation speed detection sensor 2 are Hall sensors, and the Hall sensor includes a detection element and a magnet. When the detection element and the magnet are far away from and close to each other, the level signal obtained by the main controller is different.

[0048] In this embodiment, the head lift detection sensor and the blade rotation speed detection sensor 2 are Hall sensors, which determine the situation detected by the sensor through the detected high and low level signals, as described above.

[0049] like Figure 3 As shown, this embodiment provides a self-moving device 11, which includes a front 13 and a body 14, and a self-moving device blade control system arranged on the front 13 and the body 14, and a walking wheel 12 is provided on the side of the front 13 close to the ground.

[0050] In this embodiment, the front of the vehicle 13 is provided with running wheels 12 for running.

[0051] like Figure 3 As shown, as an embodiment, a front-end lifting detection sensor 10 is provided on the traveling wheel 12, and the traveling wheel 12 includes a left traveling wheel 1201 and a right traveling wheel 1202. The front-end lifting detection sensor 10 includes a left front-end lifting detection sensor 105 and a right front-end lifting detection sensor 106. The left front-end lifting detection sensor 105 is arranged on the left traveling wheel 1201, and the right front-end lifting detection sensor is arranged on the right traveling wheel 1202. The left front-end lifting detection sensor 105 and the right front-end lifting detection sensor 106 are electrically connected to the controller 5.

[0052] In this embodiment, the front end lifting detection sensor transmits the sensed signal to the controller 5, and the controller 5 determines the current horizontal condition of the self-moving device 11 based on the information that the front end 13 is lifted; running wheels 12 with a certain interval can be provided on the front end 13 of the self-moving device 11, and a Hall sensor is provided on each running wheel 12, so that the running conditions of the left and right running wheels can be judged, and then the controller 5 can determine whether one of the running wheels 12 is lifted or both running wheels 12 are lifted together.

[0053] The present solution provides a self-moving device blade control system and a self-moving device, which belong to the technical field of self-moving device, and the self-moving device blade control system includes: the self-moving device blade control system includes: a blade motor 1, used to control the rotation of the blade; a blade speed detection sensor 2, installed in the blade motor 1, used to obtain the speed of the blade motor 1; a motor temperature sensor 3, installed in the blade motor 1, used to obtain the working temperature of the motor; an electronic speed regulator 4, electrically connected to the blade motor 1, the blade speed detection sensor 2 and the motor temperature sensor 3, used to control the rotation of the blade motor 1; a controller 5, electrically connected to the electronic speed regulator 4, used to obtain the speed information detected by the speed detection sensor and the working temperature information detected by the motor temperature sensor 3 transmitted by the electronic speed regulator 4, and control the electronic speed regulator 4 to work according to the speed information and / or working temperature information, so as to control the operation of the blade corresponding to the blade motor 1; the self-moving device 11 includes the above-mentioned self-moving device blade control system. In this way, the status information of the cutter motor can be timely detected by the blade speed detection sensor and the motor temperature sensor 3, and transmitted to the controller 5 through the electronic speed regulator 4. The controller 5 controls the blade motor in time according to the acquired information to ensure that the self-moving equipment can work normally.

[0054] 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. A blade control system for a self-propelled device, characterized in that: include: A blade motor, used to control the rotation of the blade; The blade speed detection sensor is installed in the blade motor and is used to obtain the speed of the blade motor; The motor temperature sensor is installed in the blade motor to obtain the working temperature of the motor; An electronic speed regulator, electrically connected to the blade motor, the blade speed detection sensor and the motor temperature sensor, for controlling the rotation of the blade motor; A controller is electrically connected to the electronic speed regulator, and is used to obtain the speed information detected by the speed detection sensor and the operating temperature information detected by the motor temperature sensor and transmitted by the electronic speed regulator, and control the operation of the electronic speed regulator according to the speed information and / or the operating temperature information to control the operation of the blade corresponding to the blade motor.

2. A self-propelled device blade control system as claimed in claim 1, characterized in that: The electronic speed regulator is provided with a first communication line and a power line, and the first communication line and the power line are electrically connected to the controller at the same time.

3. A blade control system for a self-propelled device as claimed in claim 2, characterized in that: The controller is arranged on the front of the self-moving device. The blade control system of the self-moving device also includes a main controller of the vehicle body. The controller is electrically connected to the main controller via a second communication line and a power line.

4. A blade control system for a self-propelled device as claimed in claim 3, characterized in that: The self-moving device blade control system also includes a head lift detection sensor, which is electrically connected to the controller. When the head lift detection sensor is triggered, the controller controls the electronic speed regulator to control the blade corresponding to the blade motor to stop working.

5. A blade control system for a self-propelled device as claimed in claim 4, characterized in that: The vehicle head lifting detection sensor is provided with an input pin filter capacitor, an electrostatic protection component and a pull-up resistor.

6. A blade control system for a self-propelled device as claimed in claim 4, characterized in that: A series protection resistor is arranged between the vehicle head lifting detection sensor and the controller.

7. A blade control system for a self-propelled device as claimed in claim 5 or 6, characterized in that: The vehicle head lifting detection sensor and the blade rotation speed detection sensor are Hall sensors, and the Hall sensors include a detection element and a magnet. When the detection element and the magnet are far away from and close to each other, the level signal obtained by the main controller is different.

8. A self-propelled device, characterized in that: The invention comprises a vehicle head and a body, and a blade control system of a self-moving device as claimed in any one of claims 1 to 7 arranged on the vehicle head and the body, wherein a walking wheel is arranged on the side of the vehicle head close to the ground.

9. A self-moving device as claimed in claim 8, characterized in that: The traveling wheels are provided with a front-end lifting detection sensor, the traveling wheels include a left traveling wheel and a right traveling wheel, the front-end lifting detection sensor includes a left front-end lifting detection sensor and a right front-end lifting detection sensor, the left front-end lifting detection sensor is arranged on the left traveling wheel, the right front-end lifting detection sensor is arranged on the right traveling wheel, and the left front-end lifting detection sensor and the right front-end lifting detection sensor are electrically connected to a controller.

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