Lifting motion apparatus and intelligent device

Abstract

A lifting motion apparatus (10) and an intelligent device (1). The lifting motion apparatus (10) comprises: a lifting controller (11), an electric-motor power device (12), an electric angle sensor (13), a magnetic encoder electric motor (14) and a lifting member (15), wherein in response to a lifting instruction, the lifting controller (11) determines a first rotation angle and a first rotation direction of the magnetic encoder electric motor (14); the electric-motor power device (12) controls the magnetic encoder electric motor (14) to rotate in the first rotation direction, so as to drive the lifting member (15) to move in a lifting direction; during the rotation of the magnetic encoder electric motor (14), the electric angle sensor (13) determines, on the basis of a magnetic field change caused by a magnet, a second rotation angle and a second rotation direction of the magnetic encoder electric motor (14); and when the second rotation angle is equal to the first rotation angle, the lifting controller (11) sends a second instruction to the electric-motor power device (12), and the electric-motor power device (12) controls the magnetic encoder electric motor (14) to stop rotating to the first rotation angle, so as to drive the lifting member (15) to move to a lifting height. Thus, the lifting of the lifting member (15) is autonomously controlled, thereby improving the working efficiency of the intelligent device (1).

Description

Lifting motion devices and intelligent equipment

[0001] This application claims priority to Chinese Patent Application No. 2024105026317, filed on April 25, 2024, entitled "Lifting Motion Device and Intelligent Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the technical field of lawnmower robots, and more particularly to a lifting motion device and an intelligent device. Background Technology

[0003] A lawnmower robot is an intelligent device used for automatically mowing lawns, replacing the user's labor in this task. The robot has a rotating blade at its base; during mowing, the robot controls the blade to rotate at high speed, thus achieving the purpose of mowing the grass.

[0004] Currently, in related technologies, the blades of lawnmower robots can only rotate automatically. Users need to manually adjust the height of the blades to achieve different mowing effects, such as creating patterns on the lawn or adjusting the depth of mowing, depending on the type of lawn or mowing needs.

[0005] However, if the height of the blade needs to be adjusted during the mowing process, the robot must be temporarily stopped and the user must manually adjust it before it can continue mowing, which reduces the robot's efficiency. Summary of the Invention

[0006] This application provides a lifting motion device and an intelligent device to solve the problem that the lawn mowing robot needs to wait for the user to manually adjust it before it can continue mowing, which reduces the working efficiency of the lawn mowing robot, and achieves the goal of improving the working efficiency of the intelligent device.

[0007] In a first aspect, this application provides a lifting motion device, including: a lifting controller, a motor power unit, an electrical angle sensor, a magnetic encoder motor, and a lifting component.

[0008] The output terminal of the lifting controller is electrically connected to the input terminal of the motor power unit, the output terminal of the motor power unit is electrically connected to the control terminal of the magnetic encoder motor, the electrical angle sensor is arranged parallel to the magnet in the magnetic encoder motor, and the magnetic encoder motor is also mechanically connected to the lifting component.

[0009] The lifting controller is used to receive lifting commands, which are used to instruct the adjustment of the lifting height and lifting direction of the lifting component. In response to the lifting commands, the controller determines the first rotation angle and the first rotation direction of the magnetic encoder motor and sends a first command to the motor power unit, which is used to instruct the first rotation angle and the first rotation direction.

[0010] The motor power unit is used to control the magnetic encoder motor to rotate along the first rotation direction according to the first instruction, so as to drive the lifting component to move along the lifting direction.

[0011] The electrical angle sensor is used to determine the second rotation angle and the second rotation direction of the magnetic encoder motor based on the change in the magnetic field caused by the magnet during the rotation of the magnetic encoder motor, and to send the second rotation angle and the second rotation direction to the lifting controller.

[0012] The lifting controller is further configured to send a second command to the motor power unit when the second rotation angle is equal to the first rotation angle and the second rotation direction is the same as the first rotation direction. The second command is used to instruct the magnetic encoder motor to stop rotating.

[0013] The motor power unit is also used to control the magnetic encoder motor to stop rotating to the first rotation angle according to the second instruction, so as to drive the lifting component to move to the lifting height.

[0014] The lifting motion device provided in the first aspect allows the lifting controller to respond to lifting commands, determine the first rotation angle and first rotation direction of the magnetic encoder motor, and send a first command to the motor power unit. The motor power unit then controls the magnetic encoder motor to rotate based on the first rotation angle and first rotation direction, thereby driving the lifting component mechanically connected to the magnetic encoder motor to move. An electrical angle sensor detects the magnet on the magnetic encoder motor, monitors the second rotation angle of the magnetic encoder motor in real time, and sends the second rotation angle and second rotation direction to the magnetic encoder motor. This allows the lifting controller to know the angle the magnetic encoder motor has rotated. When the second rotation angle equals the first rotation angle, the lifting component has reached the required height. The lifting controller then sends a second command to the motor power unit, which controls the magnetic encoder motor to stop rotating based on the second command. This achieves automatic control of the lifting component's lifting and lowering, and automatic adjustment of the lifting component's height, eliminating the need for manual intervention and saving time spent adjusting the lifting component's height, thus improving the working efficiency of the intelligent device.

[0015] In one possible design, the lifting component is the blade disc of a lawnmower robot. Alternatively, the lifting component is a robotic arm.

[0016] In one possible design, the first rotation angle is less than 180°.

[0017] In one possible design, the relationship between the rotation angle of the magnetic encoder motor and the lifting height of the lifting component satisfies the following formula:

[0018] Wherein, k·a is the rotation angle of the magnetic encoder motor, k is the count value of the magnetic encoder, a is the angle resolution, h is the height corresponding to each angle resolution, and H is the lifting height of the lifting component.

[0019] In a second aspect, this application provides an intelligent device, including: a main controller and at least one lifting motion device as described in the first aspect and any possible design in the first aspect.

[0020] The main controller is electrically connected to the lifting controller in the lifting motion device.

[0021] The main controller is used to send lifting commands to the lifting controller.

[0022] In one possible design, when the smart device is a lawnmower robot and the lifting component in the lifting motion device is the blade of the lawnmower robot, the main controller is specifically used to determine the lifting command based on the correlation between the position of the lawnmower robot in the mowing area and the height of the blade.

[0023] In one possible design, the lawnmower robot also includes a positioning sensor.

[0024] The main controller is used to determine the position of the lawnmower robot in the mowing area through the positioning sensor.

[0025] In one possible design, when the smart device is a lawnmower robot and the lifting component in the lifting motion device is the blade of the lawnmower robot, the main controller is specifically used to receive the lifting command transmitted by the user.

[0026] In one possible design, when the lifting component in the lifting motion device is a robotic arm, the main controller is specifically used to receive the lifting command transmitted by the user.

[0027] In one possible design, the main controller is also configured to determine the lifting command before determining that the smart device has encountered an obstacle.

[0028] In one possible design, the lifting motion device is used to send first information to the main controller, the first information being used to instruct the lifting component to move to the lifting height.

[0029] The beneficial effects provided in the second aspect and its various possible designs can be found in the first aspect and its various possible implementations, and will not be repeated here. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 is a schematic diagram of the structure of a smart device provided in an embodiment of this application.

[0032] Figure 2 is a schematic diagram of the lifting motion device provided in an embodiment of this application.

[0033] Figure 3 is a schematic diagram of the structure of a lawnmower robot provided in an embodiment of this application.

[0034] Explanation of reference numerals in the attached drawings: 1-Intelligent device; 10-Lifting motion device; 20-Main controller; 11-Lifting controller; 12-Motor power unit; 13-Electrical angle sensor; 14-Magnetic encoder motor; 15-Lifting component. Detailed Implementation

[0035] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c alone can mean: a alone, b alone, c alone, a combination of a and b, a combination of a and c, a combination of b and c, or a, b, and c, where a, b, and c can be single or multiple. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] The terms “center,” “longitudinal,” “lateral,” “up,” “down,” “left,” “right,” “front,” and “rear,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0037] The terms "connected" and "connected" should be interpreted broadly. For example, in circuit structures, "connected" or "connected" can refer not only to physical connections but also to electrical or signal connections. This could be a direct connection (physical connection) or an indirect connection via at least one intermediate component, as long as the circuit is connected. It could also refer to the internal connection between two components. Similarly, a signal connection can refer to a connection via a circuit or a medium, such as radio waves. Those skilled in the art will understand the specific meaning of these terms in this application based on the specific circumstances.

[0038] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of the phrase "embodiment" in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0039] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0040] For example, this application provides a lifting motion device and an intelligent device. The lifting motion device includes a lifting controller, a motor power unit, an electrical angle sensor, a magnetic encoder motor, and a lifting component. The lifting controller determines the rotation angle and rotation direction of the magnetic encoder motor according to the lifting height and lifting direction, thereby enabling the motor power unit to control the rotation of the magnetic encoder motor, driving the lifting component mechanically connected to the magnetic encoder motor to rise or fall to the required height, thereby realizing automatic adjustment of the height of the lifting component without manual intervention to control the height of the lifting component, saving time for adjusting the height of the lifting component, and improving the working efficiency of the intelligent device.

[0041] The intelligent device 1 provided in this application will now be described with reference to Figure 1.

[0042] Please refer to Figure 1, which is a schematic diagram of the structure of a smart device provided in an embodiment of this application. As shown in Figure 1, the smart device 1 includes: at least one lifting motion device 10 and a main controller 20.

[0043] Among them, the intelligent device 1 can be a lawn mowing robot, a sweeping robot, a palletizing robot, or a welding robot, etc.

[0044] The lifting motion device 10 is electrically connected to the main controller 20. The lifting motion device 10 and the main controller 20 can be connected wirelessly or via wired communication. This application does not limit the connection method between the lifting motion device 10 and the main controller 20.

[0045] Wired communication methods can include coaxial cable, fiber optic cable, or digital subscriber line (DSL). Wireless communication methods can include near field communication (NFC), ZigBee, Bluetooth, infrared, Wi-Fi, microwave, or Near Link.

[0046] The number of lifting motion devices 10 can be one or more, and this application does not limit the number of lifting motion devices 10. For ease of explanation, Figure 1 is shown as an example with one lifting motion device 10.

[0047] The lifting motion device 10 includes a lifting component, which can move in a predetermined direction.

[0048] For example, when the smart device 1 is a lawnmower robot, the lifting component can be the lawnmower robot's blade. The blade can move up and down along the vertical axis. For example, the blade can move upwards (i.e., the blade rises), or the blade can move downwards (i.e., the blade descends). Thus, when the blade rises or falls to different heights, the lawnmower robot can cut lawns to different heights.

[0049] For example, when the intelligent device 1 is a palletizing robot, the lifting component can be a robotic arm. Robotic arms include 4-DOF robotic arms, 6-DOF robotic arms, etc. Taking a 4-DOF robotic arm as an example, the robotic arm can perform lifting movements along the vertical and horizontal axes, and it can also rotate around its rotation axis.

[0050] The lifting motion device 10 is used to adjust the lifting direction and height of the lifting component, so that the lifting component can move in a predetermined direction. The lifting motion device 10 can be, for example, FU6366, FU6332N, etc.

[0051] The main controller 20 is used to send lifting commands to the lifting motion device 10. The main controller 20 can be, for example, an Arduino Mega, a Raspberry Pi, or an STM32F4 Discovery Board.

[0052] The lifting command is used to indicate the lifting direction and height of the lifting component.

[0053] Based on this, the lifting motion device 10 receives the lifting command sent by the main controller 20, and can adjust the lifting direction and lifting height of the lifting component according to the lifting command.

[0054] Based on the above exemplary description, when the smart device 1 is a lawnmower robot and the lifting component in the lifting motion device 10 is the blade of the lawnmower robot, the main controller 20 can determine the lifting command in a variety of ways.

[0055] As a feasible implementation, the main controller 20 determines the lifting command based on the correlation between the position of the mowing robot in the mowing area and the height of the cutter head.

[0056] The location of the lawnmower in the mowing area can be based on the longitude and latitude coordinates of the world coordinate system, or it can be based on the coordinate values ​​of a local coordinate system established for the mowing area.

[0057] Before performing the lawn mowing task, the height of the blade can be set in advance according to the lawn pattern or the lawn height required by the user, at different positions in the mowing area, so as to obtain the correlation between the position of the lawn mowing robot in the mowing area and the height of the blade.

[0058] For example, taking the position of the lawnmower robot in the mowing area as the coordinate value of a local coordinate system established based on the mowing area, the relationship between the position of the lawnmower robot in the mowing area and the height of the blade can be shown in Table 1 below.

[0059] Table 1

[0060] Here, "(1,1)2cm" means that when the lawnmower moves to position (1,1), the height of the blade is 2cm. "(1,4)3cm" means that when the lawnmower moves to position (1,4), the height of the blade is 3cm.

[0061] The main controller 20 can obtain the correlation between the position of the lawn mower robot in the mowing area and the height of the cutter head in a variety of ways.

[0062] Method 11: The relationship between the position of the mowing robot in the mowing area and the height of the blade disc can be stored in the memory of the main controller 20. The main controller 20 can directly retrieve the relationship between the position of the mowing robot in the mowing area and the height of the blade disc from the memory.

[0063] Method 12: The relationship between the position of the mowing robot in the mowing area and the height of the blade can be stored in the cloud, and the main controller 20 can obtain the relationship between the position in the mowing area and the height of the blade from the cloud.

[0064] In method 13, the main controller 20 can receive real-time data from the user regarding the correlation between the position of the lawnmower robot in the mowing area and the height of the cutter head.

[0065] This application does not limit the method by which the main controller 20 obtains the correlation between the position of the lawnmower robot in the mowing area and the height of the cutter head.

[0066] Based on this, when performing a mowing task, the main controller 20 can determine the lifting command according to the position of the mowing robot in the mowing area and the relationship between the position of the mowing robot in the mowing area and the height of the cutter head.

[0067] The main controller 20 can determine the position of the lawnmower robot in the mowing area through positioning sensors.

[0068] Specifically, the lawnmower also includes positioning sensors. The main controller 20 can determine the position of the lawnmower within the mowing area using these sensors.

[0069] Among them, the positioning sensor can be, for example, a multi-satellite, multi-frequency global navigation satellite system (GNSS) sensor.

[0070] Thus, the main controller 20 learns the position of the lawn mower robot in the mowing area, and determines the height of the cutter head corresponding to the position of the lawn mower robot in the mowing area based on the correlation between the position of the lawn mower robot in the mowing area and the height of the cutter head.

[0071] Therefore, when the mowing robot moves to a position in the mowing area, the main controller 20 determines the height of the cutter head corresponding to that position of the mowing robot in the mowing area based on the correlation between the position of the mowing robot in the mowing area and the height of the cutter head. The main controller 20 obtains the current height of the cutter head of the mowing robot from the lifting motion device 10. Based on the height of the cutter head corresponding to that position of the mowing robot in the mowing area and the current height of the cutter head of the mowing robot, the main controller 20 determines the lifting direction and lifting height of the cutter head.

[0072] Based on Table 1 above, for example, when the main controller 20 determines that the position of the lawnmower robot in the mowing area is (1, 1), the height of the blade is 2cm. The main controller 20 obtains the current height of the lawnmower robot's blade from the lifting motion device 10 as 3cm. Therefore, the main controller 20 determines that the lifting direction of the blade is downward and the lifting height is 1cm.

[0073] Based on this, the main controller 20 determines the lifting command, which is used to indicate the adjustment of the lifting height and lifting direction of the cutter head.

[0074] In summary, the main controller 20 determines the lifting command by the correlation between the position of the lawnmower robot in the mowing area and the height of the blade, so as to inform the lifting motion device 10 to adjust the lifting height and direction of the blade.

[0075] As another feasible implementation, the main controller 20 receives lifting commands transmitted by the user.

[0076] Specifically, users can send lifting commands to the main controller 20 in real time through mini-programs, apps, web pages, or official accounts. After receiving the lifting commands sent by the user, the main controller 20 sends lifting commands to the lifting motion device 10.

[0077] For example, during the process of the lawnmower performing lawnmower work in the lawnmower area, the user can send the required lifting height and lifting direction of the blade to the main controller 20 according to the lawnmower needs, and the main controller 20 sends lifting commands to the lifting motion device 10.

[0078] Based on this, the lifting motion device 10 learns the lifting height and direction of the blade. The lifting motion device 10 can adjust the height of the blade of the lawnmower robot according to the lifting command, so that the user does not need to manually adjust the height of the blade. The user can also adjust the height of the blade of the lawnmower robot in real time, which helps to improve the efficiency of mowing.

[0079] Based on the above exemplary description, when the lifting component in the lifting motion device 10 is a robotic arm, the main controller 20 receives the lifting command transmitted by the user.

[0080] When the lifting component in the lifting motion device 10 is a robotic arm, the user can set the working route of the robotic arm according to the working requirements of the robotic arm, thereby obtaining the lifting direction and lifting height of the robotic arm. The user then sends the lifting direction and lifting height of the robotic arm to the main controller 20.

[0081] The main controller 20 can store the lifting commands transmitted by the user in the memory in advance. When the smart device 1 is working, the main controller 20 reads the lifting commands from the memory and sends the lifting commands to the lifting motion device 10.

[0082] Based on this, the lifting motion device 10 learns the lifting height and lifting direction of the robotic arm, and can then adjust the height of the robotic arm according to the lifting height and lifting direction.

[0083] Based on the above exemplary description, the main controller 20 determines the lifting command before determining that the smart device 1 encounters an obstacle.

[0084] The main controller 20 can determine whether the smart device 1 is about to encounter an obstacle in a variety of ways.

[0085] As a feasible approach, the smart device 1 is equipped with an obstacle avoidance sensor. The obstacle avoidance sensor can detect the surrounding environment of the smart device 1, and the main controller 20 determines whether the smart device 1 is about to encounter an obstacle based on the detection results of the obstacle avoidance sensor.

[0086] As another feasible approach, the main controller 20 can acquire images of the surroundings of the smart device 1 through a visual sensor located on the smart device 1, and determine whether the smart device 1 is about to encounter an obstacle through visual semantic segmentation based on the images of the surroundings of the smart device 1.

[0087] When the intelligent device 1 is a lawnmower robot and the lifting component in the lifting motion device 10 is the blade of the lawnmower robot, the main controller 20 can determine a lifting command before the lawnmower robot is about to encounter an obstacle. The lifting command is used to instruct the blade to be raised to the maximum height and send the lifting command to the lifting motion device 10, so that the lifting motion device 10 can control the blade to be raised to the maximum height, thereby retracting the blade before it encounters an obstacle, protecting the blade, and improving the safety of using the lawnmower robot.

[0088] When the lifting component in the lifting motion device 10 is a robotic arm, the main controller 20 can determine a lifting command before the intelligent device 1 is about to encounter an obstacle. The lifting command is used to instruct the robotic arm to stop lifting and sending the lifting command to the lifting motion device 10, so that the robotic arm stops moving. This can protect the robotic arm before it encounters an obstacle and improve the safety of using the intelligent device 1.

[0089] Based on the above exemplary description, the lifting motion device 10 can also send first information to the main controller 20, the first information being used to instruct the lifting component to move to the lifting height.

[0090] When the lifting motion device 10 controls the lifting component to move to the lifting height, the lifting motion device 10 informs the main controller 20 that the lifting of the lifting component has been completed according to the lifting command sent by the main controller.

[0091] The lifting motion device 10 provided in the embodiments of this application will now be described in detail with reference to FIG2.

[0092] Figure 2 is a schematic diagram of the structure of a lifting motion device provided in an embodiment of this application. As shown in Figure 2, the lifting motion device 10 includes: a lifting controller 11, a motor power unit 12, an electrical angle sensor 13, a magnetic encoder motor 14, and a lifting component 15.

[0093] The output terminal of the lifting controller 11 is electrically connected to the input terminal of the motor power unit 12.

[0094] The output terminal of the motor power unit 12 is electrically connected to the control terminal of the magnetic encoder motor 14.

[0095] In some examples, the output of the motor power unit 12 and the control terminal of the magnetic encoder motor 14 can be connected via the three-phase lines U, V, and W.

[0096] The electrical angle sensor 13 is arranged parallel to the magnet in the magnetic encoder motor 14, so that the electrical angle sensor 13 can monitor the changes in the magnetic field of the magnet in the magnetic encoder motor 14.

[0097] The magnetic encoder motor 14 is also mechanically connected to the lifting component 15. When the magnetic encoder motor 14 rotates, it can drive the lifting component 15 to rise and fall, so that the height of the lifting component 15 changes with the magnetic encoder motor 14.

[0098] The lifting controller 11 is used to receive lifting commands.

[0099] The lifting command is used to indicate the lifting height and lifting direction of the lifting component 15.

[0100] The lifting height of the lifting component 15 represents the change in the height of the lifting component 15.

[0101] The lifting direction of the lifting component 15 can be upward, downward, forward, or backward.

[0102] For example, when the lifting component 15 is the blade of a lawnmower robot, the lifting direction of the lifting component 15 can be upward or downward, where upward means moving away from the ground and downward means moving closer to the ground.

[0103] For example, if the lifting height is 5cm and the lifting direction is upward, and the lifting component 15 is the blade of the lawnmower robot, it means that the blade of the lawnmower robot will be adjusted upward by 5cm.

[0104] The lifting controller 11 responds to the lifting command and determines the first rotation angle and the first rotation direction of the magnetic encoder motor 14.

[0105] The first rotation angle is the rotation angle of the magnetic encoder motor 14.

[0106] The first rotation direction refers to the rotation direction of the magnetic encoder motor 14. The rotation direction of the magnetic encoder motor 14 includes forward and reverse rotation. Forward rotation means that the magnetic encoder motor 14 rotates clockwise, and reverse rotation means that the magnetic encoder motor 14 rotates counterclockwise.

[0107] The lifting controller 11 determines the first rotation angle of the magnetic encoder motor 14 according to the lifting height of the lifting component 15 indicated by the lifting command.

[0108] In some examples, the lifting controller 11 can determine the first rotation angle of the magnetic encoder motor 14 based on the correspondence between the lifting height of the lifting component 15 and the rotation angle of the magnetic encoder motor 14.

[0109] The magnetic encoder motor 14 is mechanically connected to the lifting component 15. When the magnetic encoder motor 14 rotates, it can drive the lifting component 15 to rise and fall, causing the height of the lifting component 15 to change. That is, there is a corresponding relationship between the lifting height of the lifting component 15 and the rotation angle of the magnetic encoder motor 14.

[0110] For example, the relationship between the lifting height of the lifting component 15 and the rotation angle of the magnetic encoder motor 14 can be shown in Table 2 below.

[0111] Table 2

[0112] In this context, "1cm 10°" means that when the magnetic encoder motor 14 rotates 10 degrees, the lifting height of the lifting component 15 changes by 1cm. "2cm 20°" means that when the magnetic encoder motor 14 rotates 20 degrees, the lifting height of the lifting component 15 changes by 2cm.

[0113] In addition, the maximum rotation angle of the magnetic encoder motor 14 can be set according to the maximum lifting height of the lifting component 14.

[0114] For example, when the magnetic encoder motor 14 rotates forward, the cutter head rises. When the magnetic encoder motor 14 rotates 80° forward, the cutter head rises 8cm. If the maximum rising height of the cutter head is 8cm, then the maximum value of the first rotation angle is 80°. Thus, by limiting the value of the first rotation angle, the cutter head can be limited to prevent the rotation angle of the magnetic encoder motor 14 from exceeding the angle corresponding to the maximum rising height of the cutter head.

[0115] For example, when the magnetic encoder motor 14 reverses, the cutter head descends. When the magnetic encoder motor 14 reverses by 20°, the cutter head descends by 2cm. If the maximum descending height of the cutter head is 2cm, then the maximum value of the first rotation angle is 20°. Thus, by limiting the value of the first rotation angle, the cutter head can be limited to prevent the rotation angle of the magnetic encoder motor 14 from exceeding the angle corresponding to the maximum descending height of the cutter head.

[0116] In some examples, the correspondence between the lifting height of the lifting component 15 and the rotation angle of the magnetic encoder motor 14 can be pre-stored in the memory of the lifting controller 11. Thus, the lifting controller 11 can directly obtain the correspondence between the lifting height of the lifting component 15 and the rotation angle of the magnetic encoder motor 14 from the memory.

[0117] Based on this, after the lifting controller 11 obtains the lifting height adjustment of the lifting component 15 through the lifting command, it can determine the first rotation angle of the magnetic encoder motor 14 according to the correspondence between the lifting height of the lifting component 15 and the rotation angle of the magnetic encoder motor 14.

[0118] The lifting controller 11 determines the first rotation direction of the magnetic encoder motor according to the lifting direction of the lifting component 15 indicated by the lifting command.

[0119] The magnetic encoder motor 14 is mechanically connected to the lifting component 15. When the magnetic encoder motor 14 rotates forward, it drives the lifting component 15 to rise. When the magnetic encoder motor 14 rotates in reverse, it drives the lifting component 15 to fall. Alternatively, when the magnetic encoder motor 14 rotates forward, it drives the lifting component 15 to fall. When the magnetic encoder motor 14 rotates in reverse, it drives the lifting component 15 to rise.

[0120] Based on this, after obtaining the lifting direction of the lifting component 15 through the lifting command, the lifting controller 11 can determine the first rotation direction of the magnetic encoder motor 14 according to the correspondence between the lifting direction of the lifting component 15 and the rotation angle of the magnetic encoder motor 14.

[0121] Therefore, the lifting controller 11 sends a first instruction to the motor power unit 12, which indicates a first rotation angle and a first rotation direction, so that the motor power unit 12 can drive the magnetic encoder motor 14 to rotate according to the first rotation angle and the first rotation direction.

[0122] The motor power unit 12 is used to control the magnetic encoder motor 14 to rotate along the first rotation direction according to the first instruction, so as to drive the lifting component 15 to move along the lifting direction.

[0123] The motor power unit 12 can convert the first rotation angle and first rotation direction indicated by the first command into encoder values. By controlling the changes in current, voltage and power of the magnetic encoder motor 14 through the encoder values, the magnetic encoder motor 14 moves in the direction and angle indicated in the first command. The movement of the magnetic encoder motor 14 drives the lifting component 15, which is mechanically connected to the magnetic encoder motor 14, to move in the lifting direction.

[0124] Among them, the electric angle sensor 13 is used to determine the second rotation angle and the second rotation direction of the magnetic encoder motor 14 based on the change of magnetic field caused by the magnet during the rotation of the magnetic encoder motor 14, and send the second rotation angle and the second rotation direction to the lifting controller 11.

[0125] The second rotation angle is used to indicate the angle that the magnetic encoder motor 14 has rotated, and the second rotation direction is used to indicate the current rotation direction of the magnetic encoder motor 14.

[0126] The changes in the magnetic field include both the direction and magnitude of the magnetic field.

[0127] A magnet is mounted on the magnetic encoder motor 14, and the electrical angle sensor 13 is arranged parallel to the magnet in the magnetic encoder motor 14. When the magnetic encoder motor 14 rotates, the magnet moves with the magnetic encoder motor 14, and the magnetic field of the magnet changes, so the electrical angle sensor 13 can detect the change in the magnetic field of the magnet.

[0128] Based on this, the electric angle sensor 13 determines the second rotation angle and the second rotation direction of the magnetic encoder motor 14 according to the detected changes in the magnetic field of the magnet, thereby enabling real-time monitoring of the rotation of the magnetic encoder motor 14.

[0129] The electric angle sensor 13 monitors the rotation angle of the magnetic encoder motor 14 by measuring changes in the magnetic field. Since the magnetic field of the magnet is relatively stable, the error in the magnetic field changes measured by the electric angle sensor 13 is small, thus making the electric angle sensor 13 highly accurate in monitoring the rotation angle of the magnetic encoder motor 14.

[0130] After the electric angle sensor 13 determines the second rotation angle and the second rotation direction of the magnetic encoder motor 14, the electric angle sensor 13 can send the second rotation angle and the second rotation direction to the lifting controller 11 to provide real-time feedback on the rotation status of the magnetic encoder motor 14.

[0131] The lifting controller 11 is also used to send a second command to the motor power unit 12 when the second rotation angle is equal to the first rotation angle and the second rotation direction is the same as the first rotation direction. The second command is used to instruct the magnetic encoder motor 14 to stop rotating.

[0132] The lifting controller 11 receives a second rotation angle and a second rotation direction from the electrical angle sensor 13. When the lifting controller 11 determines that the second rotation angle is equal to the first rotation angle and the second rotation direction is the same as the first rotation direction, it indicates that the magnetic encoder motor 14 has rotated to the required angle according to the first rotation angle and the first rotation direction, that is, the lifting component 15 has reached the required height. Therefore, the lifting controller 11 can send a second command to the motor power unit 12, which instructs the magnetic encoder motor 14 to stop rotating, thus stopping the magnetic encoder motor 14 from rotating.

[0133] The motor power unit 12 is also used to control the magnetic encoder motor 14 to stop rotating to the first rotation angle according to the second instruction, so as to drive the lifting component 15 to move to the lifting height.

[0134] Based on this, the motor power unit 12 stops inputting current and voltage to the magnetic encoder motor 14, causing the magnetic encoder motor 14 to stop rotating.

[0135] In this embodiment, the lifting controller responds to a lifting command by determining the first rotation angle and first rotation direction of the magnetic encoder motor, and then sends a first command to the motor power unit. This allows the motor power unit to know the first rotation angle and first rotation direction. Based on these parameters, the motor power unit controls the magnetic encoder motor to rotate, thereby driving the lifting component mechanically connected to the magnetic encoder motor to move. An electrical angle sensor detects the magnet on the magnetic encoder motor, monitors the second rotation angle of the magnetic encoder motor in real time, and sends the second rotation angle and second rotation direction to the magnetic encoder motor. This allows the lifting controller to know the angle the magnetic encoder motor has rotated. When the second rotation angle equals the first rotation angle, the lifting component has reached the required height. The lifting controller then sends a second command to the motor power unit, which controls the magnetic encoder motor to stop rotating based on the second command. This achieves automatic control of the lifting component's lifting and lowering, and automatic adjustment of its height. No manual intervention is required to adjust the height of the lifting component, saving time and improving the efficiency of the intelligent device.

[0136] Furthermore, the magnetic encoder motor in this application is an absolute encoder, which does not need to be zeroed after each power-on, further improving the working efficiency of intelligent devices.

[0137] Based on the above exemplary description, the first rotation angle is less than 180°.

[0138] When the magnetic encoder motor 14 rotates forward, the angle by which it can rotate forward is less than 180°. When the magnetic encoder motor 14 rotates in reverse, the angle by which it can rotate in the opposite direction is less than 180°.

[0139] Based on the above exemplary description, the correspondence between the rotation angle of the magnetic encoder motor 14 and the lifting height of the lifting component 15 satisfies the following formula 1:

[0140] Wherein, k·a is the rotation angle of the magnetic encoder motor 14, k is the count value of the magnetic encoder, a is the angle resolution, h is the lifting height corresponding to each angle resolution, and H is the lifting height of the lifting component 15.

[0141] The angular resolution can be 0.02197°. Mapping the 180° reverse rotation to the 180° forward rotation of the magnetic encoder motor 14 to -8192 to 8192, the angular resolution of the magnetic encoder motor 14 is 0.02197 degrees. Based on this, one revolution of the magnetic encoder motor 14 can be divided into 16384 parts, each part being a count value of a magnetic encoder, and each part corresponding to a lifting height. This allows for precise control of the rotation angle of the magnetic encoder motor 14, thereby improving the accuracy of adjusting the lifting height of the lifting component 15 through the lifting controller 11.

[0142] For example, when the count value of the magnetic encoder is 1000, the rotation angle of the magnetic encoder motor 14 is 21.97°.

[0143] The lifting height corresponding to each angle resolution is related to the mechanical connection between the magnetic encoder motor 14 and the lifting component 15. This application does not impose any restrictions on this. For example, the lifting height corresponding to each angle resolution can be: 1 angle resolution, the lifting component 15 lifts 0.01mm.

[0144] For example, when the rotation angle of the magnetic encoder motor 14 is 21.97°, the lifting component 15 is raised or lowered by 10mm.

[0145] Based on this, when the lifting controller 11 learns the lifting height of the lifting component 15, it can calculate the rotation angle of the magnetic encoder motor 14 according to the above formula 1, thereby determining the first rotation angle.

[0146] The following description, using the smart device 1 as a lawnmower robot and the lifting component 15 in the lifting motion device 10 as the blade disc in the lawnmower robot, is based on Figure 3.

[0147] Figure 3 is a schematic diagram of the structure of an intelligent device provided in an embodiment of this application. As shown in Figure 3, the intelligent device 1 includes a lifting motion device 10 and a main controller 20. The lifting motion device 10 includes a lifting controller 11, a motor power unit 12, an electrical angle sensor 13, a magnetic encoder motor 14, and a lifting component 15.

[0148] Among them, smart device 1 is a lawn mowing robot, and lifting component 15 is a blade disc.

[0149] The main controller 20 sends lifting commands to the lifting controller 11 via the control bus. The lifting commands are used to indicate the adjustment of the lifting height and lifting direction of the cutter head.

[0150] The control bus can be a Controller Area Network (CAN) bus or an Ethernet control automation technology (EtherCAT) bus, etc.

[0151] In response to the lifting command, the lifting controller 11 determines the first rotation angle and the first rotation direction of the magnetic encoder motor 14, and sends a first command to the motor power unit 12. The first command is used to indicate the first rotation angle and the first rotation direction.

[0152] According to the first instruction, the motor power unit 12 controls the magnetic encoder motor 14 to rotate along the first rotation direction, so as to drive the cutter head to move along the lifting direction.

[0153] During the rotation of the magnetic encoder motor 14, the electric angle sensor 13 determines the second rotation angle and the second rotation direction of the magnetic encoder motor 14 based on the change in the magnetic field caused by the magnet, and sends the second rotation angle and the second rotation direction to the lifting controller 11.

[0154] When the second rotation angle is equal to the first rotation angle and the second rotation direction is the same as the first rotation direction, the lifting controller 11 sends a second command to the motor power unit 12. The second command is used to instruct the magnetic encoder motor 14 to stop rotating.

[0155] According to the second instruction, the motor power unit 12 controls the magnetic encoder motor 14 to stop rotating to the first rotation angle, so as to drive the cutter head to move to the lifting height.

[0156] Based on this, the lifting motion device described above can automatically control the lifting and lowering of the cutter head and automatically adjust the height of the cutter head without the need for manual intervention to control the height of the cutter head, saving time in adjusting the height of the cutter head and improving the working efficiency of the lawn mowing robot.

[0157] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0158] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A lifting motion device, characterized in that, The lifting motion device includes: a lifting controller, a motor power unit, an electrical angle sensor, a magnetic encoder motor, and lifting components; The output terminal of the lifting controller is electrically connected to the input terminal of the motor power unit, the output terminal of the motor power unit is electrically connected to the control terminal of the magnetic encoder motor, the electrical angle sensor is arranged parallel to the magnet in the magnetic encoder motor, and the magnetic encoder motor is also mechanically connected to the lifting component. The lifting controller is used to receive lifting commands, which are used to instruct the adjustment of the lifting height and lifting direction of the lifting component, and in response to the lifting commands, to determine the first rotation angle and the first rotation direction of the magnetic encoder motor, and to send a first command to the motor power unit, which is used to instruct the first rotation angle and the first rotation direction. The motor power unit is used to control the magnetic encoder motor to rotate along the first rotation direction according to the first instruction, so as to drive the lifting component to move along the lifting direction; The electrical angle sensor is used to determine the second rotation angle and the second rotation direction of the magnetic encoder motor based on the change in the magnetic field caused by the magnet during the rotation of the magnetic encoder motor, and to send the second rotation angle and the second rotation direction to the lifting controller. The lifting controller is further configured to send a second command to the motor power unit when the second rotation angle is equal to the first rotation angle and the second rotation direction is the same as the first rotation direction. The second command is used to instruct the magnetic encoder motor to stop rotating. The motor power unit is also used to control the magnetic encoder motor to stop rotating to the first rotation angle according to the second instruction, so as to drive the lifting component to move to the lifting height.

2. The lifting motion device according to claim 1, characterized in that, The lifting component is the blade disc in a lawnmower robot; or, the lifting component is a robotic arm.

3. The lifting motion device according to claim 1 or 2, characterized in that, The first rotation angle is less than 180°.

4. The lifting motion device according to claim 1 or 2, characterized in that, The relationship between the rotation angle of the magnetic encoder motor and the lifting height of the lifting component satisfies the following formula: Wherein, k·a is the rotation angle of the magnetic encoder motor, k is the count value of the magnetic encoder, a is the angle resolution, h is the height corresponding to each angle resolution, and H is the lifting height of the lifting component.

5. A smart device, characterized in that, The intelligent device includes: a main controller and at least one lifting motion device as described in any one of claims 1-4; The main controller is electrically connected to the lifting controller in the lifting motion device; The main controller is used to send lifting commands to the lifting controller.

6. The intelligent device according to claim 5, characterized in that, When the intelligent device is a lawnmower robot and the lifting component in the lifting motion device is the blade of the lawnmower robot, the main controller is specifically used to determine the lifting command based on the correlation between the position of the lawnmower robot in the mowing area and the height of the blade.

7. The intelligent device according to claim 5, characterized in that, When the intelligent device is a lawnmower robot, and the lifting component in the lifting motion device is the blade disc in the lawnmower robot, the main controller is specifically used to receive the lifting command transmitted by the user.

8. The intelligent device according to claim 5, characterized in that, When the lifting component in the lifting motion device is a robotic arm, the main controller is specifically used to receive the lifting command transmitted by the user.

9. The intelligent device according to any one of claims 5-8, characterized in that, The main controller is also configured to determine the lifting command before determining that the smart device has encountered an obstacle.

10. The intelligent device according to any one of claims 5-8, characterized in that, The lifting motion device is used to send first information to the main controller, the first information being used to instruct the lifting component to move to the lifting height.

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