Self-moving equipment lifting system and self-moving equipment

Abstract

The utility model discloses a self-moving equipment lifting system and self-moving equipment, comprising a lifting motor which is connected with a cutterhead to form a common moving body; the limiting sensors comprise the upper limiting sensor and the lower limiting sensor, the upper limiting sensor is located at the highest ascending point of the lifting motor, and the lower limiting sensor is located at the lowest descending point of the lifting motor; the controller is electrically connected with the limiting sensors and the lifting motor and used for controlling the lifting motor to stop rotating when the signal, recognized by the upper limiting sensor, of the highest point of the lifting motor is obtained. Or the control module is used for controlling the lifting motor to drive the cutter head to continuously descend until the lifting motor is located at the lowest point signal identified by the lower limiting sensor and then controlling the lifting motor to stop rotating, or is used for controlling the position of the lifting motor between the highest point and the lowest point according to the highest point signal identified by the upper limiting sensor. According to the scheme, the position of the lifting motor is accurately determined, the cleaning and cutting work efficiency of the self-moving equipment is improved, and electric energy is saved.

Description

Technical Field

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

[0002] The self-moving device is an automatic lawn mowing tool designed for gardens. It is equipped with a high-speed rotating blade at the bottom, which can quickly and effectively mow the lawn. At the same time, the self-moving device also has a blade lifting function. Driven by the lifting motor, the blade can adapt to herbs of different heights to achieve all-round lawn mowing.

[0003] However, in the prior art, there is a problem of inaccurate grasp of the position of the lifting motor, and the inaccurate position grasp will also cause the lifting motor to be in a state of continuous working when it is at the highest point and the lowest point. In short, it not only affects the cleaning efficiency of the self-moving device, but also causes unnecessary waste of electricity for the self-moving device.

[0004] Therefore, those skilled in the art are in urgent need of finding a new technology to solve the above-mentioned problems. Utility Model Content

[0005] The embodiment of the utility model provides a self-moving device lifting system and 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.

[0006] In order to achieve the above-mentioned purpose, a self-moving equipment lifting system and a self-moving equipment are provided, comprising:

[0007] The lifting motor is connected with the cutter disc to form a common moving body;

[0008] A limit sensor, comprising an upper limit sensor and a lower limit sensor, wherein the upper limit sensor is located at the highest point of the lifting motor, and the lower limit sensor is located at the lowest point of the lifting motor;

[0009] A controller is electrically connected to the limit sensor and the lifting motor, and is used to control the lifting motor to stop rotating when the upper limit sensor obtains a signal that the lifting motor is at the highest point, or to control the lifting motor to drive the cutter disc to continue to descend until the lower limit sensor obtains a signal that the lifting motor is at the lowest point, and then controls the lifting motor to stop rotating, or to control the position of the lifting motor between the highest point and the lowest point according to the highest point signal identified by the upper limit sensor.

[0010] Optionally, the limit sensor includes a first connector, the first connector is provided with a first signal pin, a second signal pin and a third signal pin, the first signal pin is electrically connected to a fuse, the second signal pin is electrically connected to a signal pin of the controller, and the third signal pin is grounded.

[0011] Optionally, the first signal pin is also electrically connected to a first anti-static device, and the second signal pin is also electrically connected to a second anti-static device.

[0012] Optionally, the second signal pin is also electrically connected to a filter for filtering and a pull-up resistor for maintaining a high level state.

[0013] Optionally, the lifting motor includes a second connector, the second connector is provided with a fourth signal pin, a fifth signal pin, a sixth signal pin, a seventh signal pin and an eighth signal pin, and the fourth signal pin, the fifth signal pin, the sixth signal pin, the seventh signal pin and the eighth signal pin are respectively electrically connected to a third anti-static device.

[0014] Optionally, the second connector is further provided with a ninth signal pin, and the ninth signal pin is electrically connected to a current sampling resistor.

[0015] Optionally, the lifting motor further includes a voltage amplifier, the voltage amplifier is provided with a positive input signal pin and a negative input signal pin, and the current sampling resistor is electrically connected to the positive input signal pin and the negative input signal pin, respectively.

[0016] Optionally, the voltage amplifier is further provided with an output amplification signal pin, and the output amplification signal pin is used to amplify the positive input signal in the positive input signal pin and the negative input signal in the negative input signal pin.

[0017] Optionally, the voltage amplifier is further provided with a filter signal pin and a ground signal pin, one end of the filter signal pin is connected to a filter capacitor, the other end of the filter signal pin is grounded, and the ground signal pin is directly grounded.

[0018] Optionally, the circuits where the fourth signal pin, the fifth signal pin, the sixth signal pin and the seventh signal pin are located are electrically connected to the signal pins of the controller respectively.

[0019] In order to achieve the above object, a self-moving device is provided, including a self-moving device blade control system.

[0020] The above-mentioned self-moving device lifting system and self-moving device, the system includes: a lifting motor, which forms a common movable body after being connected with the cutter disc; a limit sensor, including an upper limit sensor and a lower limit sensor, the upper limit sensor is located at the highest point of the lifting motor rising, and the lower limit sensor is located at the lowest point of the lifting motor descending; a controller, which is electrically connected to the limit sensor and the lifting motor, and is used to control the lifting motor to stop rotating when the upper limit sensor recognizes that the lifting motor is at the highest point, or to control the lifting motor to drive the cutter disc to continue to descend until the lower limit sensor recognizes that the lifting motor is at the lowest point, and then control the lifting motor to stop rotating. In this way, the lifting position of the cutter disc driven by the lifting motor can be accurately identified by the upper limit sensor and the lower limit sensor, so as to control the start and stop of the lifting motor through the controller, and at the same time, the position of the lifting motor between the highest point and the lowest point can be controlled by the controller, which can not only improve the cleaning efficiency of the self-moving device, but also save electricity. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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.

[0022] Figure 1 It is a schematic diagram of a self-moving equipment lifting system and a self-moving equipment in one embodiment of the utility model;

[0023] Figure 2 It is another schematic diagram of the self-moving equipment lifting system and the self-moving equipment in one embodiment of the utility model.

[0024] In the figure: 1, lifting motor; 101, second connector; 1011, fourth signal pin; 1012, fifth signal pin; 1013, sixth signal pin; 1014, seventh signal pin; 1015, eighth signal pin; 1016, third anti-static device; 1017, ninth signal pin; 1018, current sampling resistor; 102, voltage amplifier; 1021, positive input signal pin; 1022, negative input signal pin; 1023, output amplified signal Pin; 1024, filter signal pin; 1025, ground signal pin; 2, limit sensor; 201 upper limit sensor; 202, lower limit sensor; 203, first connector; 2031, first signal pin; 2032, second signal pin; 2033, third signal pin; 2034, fuse; 2035, first anti-static device; 2036, second anti-static device; 2037, filter; 2038, pull-up resistor; 3, controller. 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-moving device lifting system and a self-moving device, the system comprising:

[0029] The lifting motor 1 is connected with the cutter head (not shown) to form a common movable body;

[0030] The limit sensor 2 includes an upper limit sensor 201 and a lower limit sensor 202, wherein the upper limit sensor 201 is located at the highest point of the lifting motor 1, and the lower limit sensor 202 is located at the lowest point of the lifting motor 1;

[0031] The controller 3 is electrically connected to the limit sensor 2 and the lifting motor 1, and is used to control the lifting motor 1 to stop rotating when the upper limit sensor 201 obtains a signal that the lifting motor 1 is at the highest point, or to control the lifting motor 1 to drive the cutter disc (not shown) to continue to descend until the lower limit sensor 202 obtains a signal that the lifting motor 1 is at the lowest point, and then controls the lifting motor 1 to stop rotating, or to control the position of the lifting motor 1 between the highest point and the lowest point according to the highest point signal recognized by the upper limit sensor 201.

[0032] In this embodiment, the lifting motor 1 and the cutter disc (not shown) act as a common moving body, that is, the lifting motor 1 and the cutter disc (not shown) can move at the same time, wherein the lifting motor 1 and the cutter disc (not shown) can be connected in a variety of ways, the lifting motor 1 can be directly connected to the cutter disc (not shown), the lifting motor 1 can be indirectly connected to the cutter disc (not shown), the lifting motor 1 is connected to the lifting frame, the cutter disc (not shown) is also connected to the lifting frame, the lifting motor 1 can drive the lifting frame to move, so as to drive the cutter disc (not shown) to move, the motor in the lifting motor 1 converts electrical energy into mechanical energy to drive the main shaft to rotate, a pair of gears are installed on the main shaft, one of the gears is connected to the lifting roller, and the other gear is driven by the motor, a plurality of blades are stored in the cutter disc (not shown), and when the blades rotate rapidly, a force for cutting can be generated; the upper limit sensor 201 and the lower limit sensor 202 in the limit sensor 2 can both be Hall sensors, wherein a magnetic field is provided in the Hall sensor, which will generate a Hall potential, and the Hall sensor The device is triggered, which can be confirmed by the Hall potential becoming high or low. In addition, the upper limit sensor 201 and the lower limit sensor 202 are distributed at different positions. The upper limit sensor 201 is set at the highest position where the cutter disc (not shown) can rise, and the lower limit sensor 202 is set at the lowest position where the cutter disc (not shown) can fall; the controller 3 can be an MCU (abbreviation of micro control unit, also called microcontroller 3 or single chip microcomputer), which is an integrated circuit chip that appropriately reduces the frequency and specifications of the central processing unit (CPU) of the computer, has powerful data processing and control capabilities, can execute complex programs, and realize various control functions, such as the control of the start and stop of the lifting motor 1 mentioned in this embodiment, and can obtain the highest point signal and the lowest point signal fed back by the limit sensor 2. More specifically, the controller 3 can obtain various signals, such as PWM is a throttle signal, BREAK is a brake signal, FG is a speed signal fed back by the motor, and CWCCW is a motor direction signal;

[0033] In this embodiment, the lifting position of the cutter disc (not shown) driven by the lifting motor 1 can be accurately identified through the upper limit sensor 201 and the lower limit sensor 202, so as to control the start and stop of the lifting motor 1 through the controller 3. At the same time, the controller 3 controls the position of the lifting motor 1 between the highest point and the lowest point through the highest point signal (as the zero reference position point) identified by the upper limit sensor 201 and the number of pulses of the lifting motor (the position point moved relative to the zero reference position point is determined by the number of pulses), which can not only improve the cleaning efficiency of the self-moving equipment, but also save electricity.

[0034] like Figure 2 As shown, as an embodiment, the limit sensor 2 includes a first connector 203, and the first connector 203 is provided with a first signal pin 2031, a second signal pin 2032 and a third signal pin 2033, the first signal pin 2031 is electrically connected to the fuse 2034, the second signal pin 2032 is electrically connected to the signal pin of the controller 3, and the third signal pin 2033 is grounded.

[0035] In this embodiment, the first connector 203 is also called a connector or a connector, which is an important component used in electronic and electrical equipment to achieve circuit connection or signal transmission. Its technical indicators are similar to those of a switch, including contact resistance, insulation resistance, withstand voltage, torque and life, etc. The main function of the fuse 2034 set in the first signal pin 2031 is to cut off the current by fusing itself when a fault or abnormality occurs in the circuit where the first signal pin 2031 of the limit sensor 2 is located, so as to protect the electrical equipment in the circuit where the first signal pin 2031 of the limit sensor 2 is located from being damaged by overcurrent / overheating. Its working principle is based on the thermal effect of current. When the current in the circuit abnormally rises to a certain height and lasts for a period of time, the fuse 2034 will be cut off by the fuse 2034. When the time comes, the fuse 2034 will be blown, thereby cutting off the current and protecting the safe operation of the circuit; the second signal pin 2032 is electrically connected to the controller 3, and is mainly used to transmit the signal recognized by the limit sensor 2 to the controller 3, so as to realize the control of the lifting motor 1 through the controller 3; the third signal pin 2033 is grounded to prevent people from electric shock. When the electrical equipment has leakage or the equipment casing is charged, the grounding can directly introduce the current into the ground through the grounding wire to avoid the current 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 of the equipment into the ground, thereby preventing the equipment from being damaged by voltage shock.

[0036] like Figure 2 As shown, as an embodiment, the first signal pin 2031 is also electrically connected to a first anti-static device 2035 , and the second signal pin 2032 is also electrically connected to a second anti-static device 2036 .

[0037] In this embodiment, the first anti-static device and the second anti-static device 2036 are both ESD (Electrostatic Discharge) devices, 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. This embodiment is provided with an anti-static device for eliminating static electricity. The purpose is to make the controller 3 more susceptible to static electricity interference, and the controller 3 is electrically connected to the limit sensor 2. Therefore, in order to protect the controller 3, the static electricity in the limit sensor 2 needs to be eliminated in advance. In addition, this embodiment needs to eliminate the static electricity of the two signal pins; more specifically, one end of the anti-static device will be electrically connected to the signal pin, and the other end of the anti-static device will be directly grounded.

[0038] like Figure 2 As shown, as an embodiment, the second signal pin 2032 is also electrically connected to a filter 2037 for filtering and a pull-up resistor 2038 for maintaining a high level state.

[0039] In this embodiment, the filter 2037 is a filter circuit composed of a capacitor, an inductor and a resistor, which can remove noise and clutter. In electronic equipment, the power supply signal in the circuit often has noise and clutter. The filter 2037 can filter out the above noise and clutter to ensure the normal operation of the electronic equipment; the pull-up resistor 2038 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 at the limit sensor 2) can be pulled up to a high-level working state through the pull-up resistor 2038; more specifically, one end of the filter 2037 is electrically connected to the second signal pin 2032, and the other end of the filter 2037 is grounded, one end of the pull-up resistor 2038 is electrically connected to the second signal pin 2032, and the other end of the pull-up resistor 2038 is electrically connected to the power supply.

[0040] like Figure 2 As shown, as an embodiment, the lifting motor 1 includes a second connector 101, and the second connector 101 is provided with a fourth signal pin 1011, a fifth signal pin 1012, a sixth signal pin 1013, a seventh signal pin 1014 and an eighth signal pin 1015, and the fourth signal pin 1011, the fifth signal pin 1012, the sixth signal pin 1013, the seventh signal pin 1014 and the eighth signal pin 1015 are respectively electrically connected to a third anti-static device 1016.

[0041] In this embodiment, the principle of the third anti-static device 1016 is consistent with the first anti-static device 2035 and the second anti-static device 2036 mentioned above. In this embodiment, an anti-static device is also provided in the lifting motor 1. The purpose is to make the controller 3 more susceptible to electrostatic interference, and the controller 3 is electrically connected to the lifting motor 1. Therefore, in order to protect the controller 3, the static electricity in the lifting motor 1 needs to be eliminated in advance.

[0042] like Figure 2 As shown, as an embodiment, the second connector 101 is further provided with a ninth signal pin 1017 , and the ninth signal pin 1017 is electrically connected to a current sampling resistor 1018 .

[0043] In this embodiment, the current sampling resistor 1018 refers to a resistor in the lifting motor 1 circuit for detecting the current magnitude, which is usually placed in the load loop of the lifting motor 1 circuit and calculates the current magnitude by measuring the voltage difference at both ends.

[0044] like Figure 2 As shown, as an embodiment, the lifting motor 1 also includes a voltage amplifier 102, and the voltage amplifier 102 is provided with a positive input signal pin 1021 and a positive input signal pin 1022, and the current sampling resistor 1018 is electrically connected to the positive input signal pin 1021 and the positive input signal pin 1022 respectively.

[0045] In this embodiment, the voltage amplifier 102 is based on the basic principle of the amplifier, that is, amplifying the input signal so that the energy and amplitude of the signal are improved, and outputting it to the next level circuit for use. It uses the amplification function of the amplifier to amplify and process the positive input signal pin 1021 and the negative input signal.

[0046] like Figure 2 As shown, as an embodiment, the voltage amplifier 102 is further provided with an output amplification signal pin 1023 , and the output amplification signal pin 1023 is used to amplify the positive input signal in the positive input signal pin 1021 and the negative input signal in the positive input signal pin 1022 .

[0047] In this embodiment, the output amplified signal pin 1023 feeds back the amplified signal to the controller 3, so that the controller 3 can make corresponding control in time according to the amplified signal. For example, it is used to detect the current of the lifting motor 1 during operation. When the current of the lifting motor 1 exceeds the preset current threshold, it can be considered that the lifting motor 1 is overcurrent or blocked, and the lifting motor 1 is stopped from rotating.

[0048] like Figure 2As shown, as an embodiment, the voltage amplifier 102 is further provided with a filter signal pin 1024 and a ground signal pin 1025, one end of the filter signal pin 1024 is connected to a filter capacitor, the other end of the filter signal pin 1024 is grounded, and the ground signal pin 1025 is directly grounded.

[0049] In this embodiment, the filter capacitor has the same function as mentioned above, and the grounding treatment is also the same as mentioned above, and the main difference is the setting position. This embodiment is mainly used to process the circuit conditions in the voltage amplifier 102.

[0050] like Figure 2 As shown, as an embodiment, the circuits where the fourth signal pin 1011 , the fifth signal pin 1012 , the sixth signal pin 1013 and the seventh signal pin 1014 are located are electrically connected to the signal pins of the controller 3 , respectively.

[0051] In this embodiment, the controller 3 needs to receive the signal feedback from the lifting motor 1 in a timely manner. There needs to be an electrical connection between the two. At the same time, the electrical connection of different signal pins may result in different information fed back by the controller 3 and different information exchanged between the two.

[0052] This embodiment provides a self-moving device (not shown), which includes a self-moving device lifting system. In this embodiment, the system is arranged on the self-moving device (not shown) and cooperates with other components of the self-moving device (not shown) to complete the clearing work.

[0053] The present invention provides a self-moving device lifting system and a self-moving device, which belong to the technical field of self-moving device, and the system includes: a lifting motor 1, which forms a common movable body after being connected with a cutter disc (not shown); a limit sensor 2, which includes an upper limit sensor 201 and a lower limit sensor 202, wherein the upper limit sensor 201 is located at the highest point of the lifting motor 1, and the lower limit sensor 202 is located at the lowest point of the lifting motor 1; a controller 3, which is electrically connected to the limit sensor 2 and the lifting motor 1, and is used to control the lifting motor 1 to stop rotating when the upper limit sensor 201 identifies that the lifting motor 1 is at the highest point, or to control the lifting motor 1 to drive the cutter disc (not shown) to continue to descend until the lower limit sensor 202 identifies that the lifting motor 1 is at the lowest point, and then controls the lifting motor 1 to stop rotating. The self-moving device includes a self-moving device lifting system. In this way, the upper limit sensor 201 and the lower limit sensor 202 can be used to accurately identify the lifting position of the cutter disc (not shown) driven by the lifting motor 1, so that the start and stop of the lifting motor 1 can be controlled by the controller 3. At the same time, the position of the lifting motor 1 between the highest point and the lowest point can be controlled by the controller 3, which can not only improve the cleaning efficiency of the self-moving equipment, but also save electricity.

[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 self-moving equipment lifting system and a self-moving equipment, characterized in that: include: The lifting motor is connected with the cutter disc to form a common moving body; A limit sensor, comprising an upper limit sensor and a lower limit sensor, wherein the upper limit sensor is located at the highest point of the lifting motor, and the lower limit sensor is located at the lowest point of the lifting motor; A controller is electrically connected to the limit sensor and the lifting motor, and is used to control the lifting motor to stop rotating when the upper limit sensor obtains a signal that the lifting motor is at the highest point, or to control the lifting motor to drive the cutter disc to continue to descend until the lower limit sensor obtains a signal that the lifting motor is at the lowest point, and then controls the lifting motor to stop rotating, or to control the position of the lifting motor between the highest point and the lowest point according to the highest point signal identified by the upper limit sensor.

2. A self-moving equipment lifting system and a self-moving equipment as claimed in claim 1, characterized in that: The limit sensor includes a first connector, which is provided with a first signal pin, a second signal pin and a third signal pin. The first signal pin is electrically connected to a fuse, the second signal pin is electrically connected to a signal pin of the controller, and the third signal pin is grounded.

3. A self-moving equipment lifting system and a self-moving equipment as claimed in claim 2, characterized in that: The first signal pin is also electrically connected to a first anti-static device, and the second signal pin is also electrically connected to a second anti-static device.

4. A self-moving equipment lifting system and a self-moving equipment as claimed in claim 2 or 3, characterized in that: The second signal pin is also electrically connected to a filter for filtering and a pull-up resistor for maintaining a high level state.

5. A self-moving equipment lifting system and a self-moving equipment as claimed in claim 1, characterized in that: The lifting motor includes a second connector, which is provided with a fourth signal pin, a fifth signal pin, a sixth signal pin, a seventh signal pin and an eighth signal pin. The fourth signal pin, the fifth signal pin, the sixth signal pin, the seventh signal pin and the eighth signal pin are respectively electrically connected to a third anti-static device.

6. A self-moving equipment lifting system and a self-moving equipment as claimed in claim 5, characterized in that: The second connector is further provided with a ninth signal pin, and the ninth signal pin is electrically connected to a current sampling resistor.

7. A self-moving device lifting system and a self-moving device as claimed in claim 6, characterized in that: The lifting motor further comprises a voltage amplifier, wherein the voltage amplifier is provided with a positive input signal pin and a negative input signal pin, and the current sampling resistor is electrically connected to the positive input signal pin and the negative input signal pin respectively.

8. A self-moving equipment lifting system and a self-moving equipment as claimed in claim 7, characterized in that: The voltage amplifier is further provided with an output amplification signal pin, and the output amplification signal pin is used to amplify the positive input signal in the positive input signal pin and the negative input signal in the negative input signal pin.

9. A self-moving equipment lifting system and a self-moving equipment as claimed in claim 8, characterized in that: The voltage amplifier is further provided with a filter signal pin and a ground signal pin. One end of the filter signal pin is connected to a filter capacitor, and the other end of the filter signal pin is grounded. The ground signal pin is directly grounded.

10. A self-moving equipment lifting system and a self-moving equipment as claimed in claim 5, characterized in that: The circuits where the fourth signal pin, the fifth signal pin, the sixth signal pin and the seventh signal pin are located are electrically connected to the signal pins of the controller respectively.

11. A self-propelled device, characterized in that: The invention comprises a blade control system for a self-moving device as described in any one of claims 1 to 10.

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