CN107996122A

CN107996122A - Grass-mowing machine and its line-putting method

Info

Publication number: CN107996122A
Application number: CN201610970415.0A
Authority: CN
Inventors: 钱富; 邵陈蔚; 刘芳世; 牟国良; 张士松
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2016-10-28
Filing date: 2016-10-28
Publication date: 2018-05-08
Also published as: WO2018077231A1

Abstract

The present invention provides a kind of line-putting method of grass-mowing machine and grass-mowing machine, including：Extension rod；Casing, arranged on described extension rod one end；Moving head, is connected on the casing, has line outlet；Motor, drives the moving head to enclose and rotates about the axis；Beat the grass line, stretched out by the line outlet, the length of stretching is length of beating the grass；Payingoff mechanism, can selectively discharge the line of beating the grass, length of beating the grass described in increase；Detection module, when the grass-mowing machine carries out cutting work, the special parameter for length of beating the grass described in the detection module detection reflection；Controller, for by the special parameter compared with parameter preset, and then export comparative result；The payingoff mechanism is according to the comparative result selective actuation with line of beating the grass described in discharging.Operator need not interrupt the work of grass-mowing machine during the work time, can realize unwrapping wire automatically, without manual operation and unwrapping wire it is reliable.

Description

Grass-mowing machine and its line-putting method

Technical field

The present invention relates to a kind of garden instrument, more particularly to a kind of grass-mowing machine and a kind of line-putting method of grass-mowing machine.

Background technology

Green vegetation is a kind of essential environmental element of our mankind, and the consciousness of greening becomes more and more popular.Nothing By the courtyard for being golf course, football pitch, villa garden, villa, or common residential area, green turf is ubiquitous, gives The life of people brings life and vigor.But if having left arranging for people, these turfs can become height and rise and fall, be mixed and disorderly Without chapter.

Grass-mowing machine is just favored as a kind of garden instrument for arranging turf be subject to more and more users.Grass-mowing machine is general By driving line rotation of beating the grass to be allowed to beat the grass, line of beating the grass is arranged in work head and extends a free terminal, this is freely last End rotates with the high speed of moving head and carries out circumgyration incision.Since line of beating the grass rotates and beat the grass, line end of beating the grass holds very much Easy to wear, the line of beating the grass after abrasion does not reach required radius of beating the grass, and efficiency of beating the grass substantially reduces.For this reason, need to set on grass-mowing machine Line mechanism is put, with the length for line stretching moving head of beating the grass in the adjustment of suitable opportunity.

Common payingoff mechanism has two kinds, and one kind is switching on and shutting down automatic paying-out mechanism, as its name suggests, switching on and shutting down payingoff mechanism In each startup and shutdown can automatic unwrapping wire, can all be put without extra operation, but just because of each startup and shutdown Line, line loss of beating the grass loss-rate are more serious.Another kind is to tap payingoff mechanism, and tapping payingoff mechanism has the triggering for protruding from lid Part, lid taps and trigger member is triggered unwrapping wire on the ground during use, its major defect be when grass-mowing machine carries out deburring operation, Needing to invert grass-mowing machine enables lid to tap ground so as to unwrapping wire, not only to interrupt deburring and beat the grass work but also cumbersome.

Also a kind of grass-mowing machine, unwrapping wire switch is separately provided at handle and is used for controlling payingoff mechanism, when user perceives Line of beating the grass is worn when causing to beat the grass inefficiency, presses unwrapping wire switch, and payingoff mechanism performs unwrapping wire action, releases one section and beat the grass Line.The grass-mowing machine of said structure needs manual operation, and needs opportunity of the user according to the condition adjudgement unwrapping wire of grass-mowing machine.

In addition there is a kind of grass-mowing machine, it is not necessary to user's operation can realize unwrapping wire, using intelligent unwrapping wire control mechanism, By the wire dispenser to balance each other when setting normal work on moving head with the centrifugal force of the line of beating the grass of setting length, when line of beating the grass During abrasion, wire dispenser is acted to release one section of fine line.Although manual operation is not required in the grass-mowing machine of said structure, but to wire dispenser Required precision it is at a relatively high, unwrapping wire is unreliable.

The content of the invention

The defects of to overcome the prior art, problem to be solved by this invention are to provide a kind of unwrapping wire reliably automatic unwrapping wire Grass-mowing machine.

To solve the above problems, the technical scheme is that：A kind of grass-mowing machine, including：Extension rod；Casing, arranged on institute State extension rod one end；Moving head, is connected on the casing, has line outlet；Motor, drives the moving head to be revolved around axis Turn；Beat the grass line, stretched out by the line outlet, the length of stretching is length of beating the grass；Payingoff mechanism, can selectively discharge described beat Careless line, length of beating the grass described in increase；Detection module, when the grass-mowing machine carries out cutting work, the detection module detection is anti- Reflect the special parameter of the length of beating the grass；Controller, for by the special parameter compared with parameter preset, and then export Comparative result；The payingoff mechanism is according to the comparative result selective actuation with line of beating the grass described in discharging.

Preferably, the special parameter is specially the parameter for reflecting workload.

Preferably, the special parameter includes the operating current of grass-mowing machine, and the parameter preset includes pre-set current value.

Specifically, the controller by the operating current compared with the pre-set current value, if the work is electric Stream is less than the pre-set current value, and the controller output control signal starts payingoff mechanism to discharge the line of beating the grass.

Preferably, the parameter of the detection module detection further includes voltage, and the controller is calculated by the voltage To the pre-set current value.

In another optional embodiment, the special parameter includes the rotating speed of motor, and the parameter preset includes pre- If motor rotary speed value.

Specifically, the controller is compared the rotating speed that detection module detects and the preset motor tachometer value Compared with if the rotating speed of the detection is more than the preset motor tachometer value, the controller output control signal starts unwrapping wire Mechanism is to discharge the line of beating the grass.

Preferably, the parameter of the detection module detection further includes voltage, and the controller is calculated by the voltage To the preset motor tachometer value.

Preferably, the parameter of the actual physics length for length of beating the grass described in the special parameter specially reflection.

Specifically, the special parameter includes the air pressure near length ends of beating the grass, the detection module, which includes air pressure, joins Number detection module, for detecting the air pressure change caused by length difference of beating the grass.

Preferably, the controller by the atmospheric pressure value that detection module detects compared with preset pressure value, if the inspection The atmospheric pressure value of survey is more than the preset pressure value, and the controller output control signal starts payingoff mechanism to discharge described beat the grass Line.

In another optional embodiment, the detection module includes at least a pair of of photoelectric cell, the photoelectric cell One of them be used for launch photosignal, another be used for receive photosignal, the line of beating the grass can influence the photoelectricity The reception of signal.

Grass-mowing machine as claimed in claim 12, it is characterised in that：The photoelectric cell is arranged at intervals, and the interval supplies institute The end for length of beating the grass described in when stating grass-mowing machine work is passed through, when the interval is passed through in the end, the photosignal by every Disconnected, the photoelectric cell for being used to receive photosignal no longer receives the photosignal, and the controller is according to the light The signal of electric device, output control signal start the payingoff mechanism.

Specifically, the photoelectric cell is arranged at intervals, length of beating the grass described in when the interval is for grass-mowing machine work End is passed through, and when the interval is passed through in the end, the photosignal is reflected, the photoelectricity for being used to receive photosignal Element receives the photosignal reflected, and the controller recognizes the signal of the photoelectric cell, output control letter Number start the payingoff mechanism.

The present invention also provides a kind of optional embodiment, the detection module includes Hall sensor, the line of beating the grass With magnetism, when line of beating the grass passes through the induction range of the Hall sensor, the Hall sensor senses the line of beating the grass Magnetism, when beat the grass line abrasion meet or exceed setting length, Hall sensor can't detect the magnetic signal for line of beating the grass, described Controller is according to the signal to the Hall sensor, and output control signal is to start the payingoff mechanism.

The present invention also provides a kind of optional embodiment, the detection module includes Tansducer For Color Distiguishing, the face Color identification sensor can identify the color of the line of beating the grass, and when beating the grass, line abrasion meets or exceeds setting length, the color Identification sensor identifies the color less than the line of beating the grass, and controller is according to the signal of the Tansducer For Color Distiguishing, output control Payingoff mechanism described in signal enabling processed.

Preferably, the payingoff mechanism includes at least one unwrapping wire electronic switch, and the unwrapping wire electronic switch being capable of basis Payingoff mechanism described in the comparative result selective actuation.

Preferably, the payingoff mechanism makes described according to the comparative result selective actuation with line of beating the grass described in discharging Length of beating the grass increases to target length, and the detection module also detects whether length of beating the grass described in reflection reaches the target length Parameter, the controller beat the grass according to the reflection length whether reach the target length parameter output control letter The unwrapping wire for number stopping the payingoff mechanism with selectivity acts.

Preferably, for each comparative result, the payingoff mechanism at most performs a unwrapping wire action.

Preferably, the grass-mowing machine further includes the adjusting mechanism of parameter preset, and the parameter preset can pass through adjustment structure It is adjusted.

Preferably, the payingoff mechanism further includes control device, and the control device includes the control being electrically connected with motor Circuit processed, the control circuit are used to control motor to change between normal operating rate and payingoff speed.

The present invention gives a kind of line-putting method of grass-mowing machine, comprises the following steps：

S1：Detection reflects the special parameter for length of beating the grass；

S2：By the special parameter compared with parameter preset, comparative result is exported；

S3：According to the judging result of S2 steps, payingoff mechanism described in selective actuation is to discharge the line of beating the grass.

Preferably, if the special parameter of S1 steps detection is specially the parameter for reflecting workload.

In a kind of preferred embodiment, if the special parameter of S1 steps detection includes the operating current of grass-mowing machine, The parameter preset includes pre-set current value, the controller by the operating current compared with the pre-set current value, If the operating current is less than the pre-set current value, start the payingoff mechanism in step S3 to discharge the line of beating the grass.

Preferably, if the parameter that detection module detects in S1 steps further includes voltage, the controller will pass through the electricity Pressure calculates the corresponding pre-set current value.

It is described if the special parameter of S1 steps detection includes the rotating speed of the motor in another optional embodiment Parameter preset includes preset motor tachometer value, by the rotating speed compared with the preset motor rotating speed, if the rotating speed is big Start the payingoff mechanism in the preset motor rotating speed, step S3 to discharge the line of beating the grass.

Preferably, the ginseng of the actual physics length for length of beating the grass described in the specially reflection of the special parameter of S1 steps detection Number.

In a kind of preferred embodiment, if the special parameter of S1 steps detection includes photosignal, the parameter preset Including length of beating the grass do not wear or wear not up to set length default photosignal, by the photosignal with it is described Default photosignal is compared, start if the photosignal is different from the default photosignal, in step S3 described in put Line mechanism is to discharge the line of beating the grass.

In another preferred embodiment, if the special parameter of S1 steps detection includes photosignal, the default ginseng Number meets or exceeds the default photosignal of setting length including length abrasion of beating the grass, by the photosignal and the default light Electric signal is compared, if described in the photosignal preset photosignal it is identical, start in step S3 the payingoff mechanism with Beat the grass described in release line.

Compared with prior art, grass-mowing machine of the invention includes payingoff mechanism, and payingoff mechanism is by being separately provided controller Control, the parameter automatic output control that controller is detected according to detection module with selectivity as a result, control unwrapping wire electronic switch Action, so as to start unwrapping wire control mechanism, without manual operation, more intelligently, and is put by detecting special parameter to control Line, payingoff mechanism reliability greatly improve, so as to reduce the loss for line of beating the grass.

Brief description of the drawings

The invention will be further described with embodiment below in conjunction with the accompanying drawings.

Fig. 1 is the complete machine diagrammatic cross-section for the grass-mowing machine that first embodiment of the invention provides.

Fig. 2 is the amplification view at the grass-mowing machine head shown in Fig. 1.

Fig. 3 is the grass-mowing machine unwrapping wire control principle module diagram shown in Fig. 1.

Fig. 4 to Fig. 6 is the control circuit operating diagram of the grass-mowing machine shown in Fig. 1.

Fig. 7 is the motor rotation velocity variations schematic diagram of the grass-mowing machine shown in Fig. 1.

Fig. 8 to Figure 12 be grass-mowing machine shown in Fig. 1 during payingoff mechanism controls unwrapping wire, the state of sliding block and drum The schematic diagram of change procedure.

Figure 13 is the perspective exploded view of payingoff mechanism in grass-mowing machine head shown in Fig. 1.

Figure 14 to Figure 16 be grass-mowing machine shown in Fig. 1 during payingoff mechanism controls unwrapping wire, sliding block and stop device State change process schematic diagram.

Figure 17 is the flow diagram of payingoff mechanism control unwrapping wire in Fig. 1.

Figure 18 is the circuit theory schematic diagram of the grass-mowing machine unwrapping wire control shown in Fig. 1.

Figure 19 is the flow diagram of the unwrapping wire control for the grass-mowing machine that second embodiment of the invention provides.

Figure 20 is the amplification view at the head for the grass-mowing machine that third embodiment of the invention provides.

Figure 21 is the flow diagram of the payingoff mechanism control unwrapping wire of the grass-mowing machine shown in Figure 20.

Figure 22 and Figure 23 be the grass-mowing machine shown in Figure 20 photoelectric cell and moving head relative position relation signal Figure.

Figure 24 is the amplification view at the head for the grass-mowing machine that four embodiment of the invention provides.

Figure 25 is the flow diagram of the payingoff mechanism control unwrapping wire of the grass-mowing machine shown in Figure 24.

Figure 26 is the bottom view at the head for the grass-mowing machine that fifth embodiment of the invention provides.

Figure 27 is the flow diagram of the payingoff mechanism control unwrapping wire of the grass-mowing machine shown in Figure 26.

Figure 28 is the flow diagram for the grass-mowing machine payingoff mechanism control unwrapping wire that sixth embodiment of the invention provides.

Figure 29 is the amplification view at the head for the grass-mowing machine that seventh embodiment of the invention provides.

Figure 30 is the flow diagram of the payingoff mechanism control unwrapping wire of the grass-mowing machine shown in Figure 29.

Figure 31 is the amplification view at the head for the grass-mowing machine that eighth embodiment of the invention provides.

Figure 32 is the flow diagram of the payingoff mechanism control unwrapping wire of the grass-mowing machine shown in Figure 31.

Figure 33 is the flow diagram of grass-mowing machine line-putting method provided by the invention.

Wherein,

100 grass-mowing machine, 33 sliding block, 405 resetting apparatus

20 39 first serrated edge of extension rod, 411 first end

22 65 second tooth of moving head, 409 mounting portion

24 assist handle, 45 sagittal plane, 407 stopper protrusion

23 the 3rd tooth of main handle 67,413 the second end

25 63 first tooth of casing, 417 butting section

26 the 4th tooth of motor 69,415 hollow bulb

21 detection module, 37 serrate slot, 101 photoelectric cell

51 controller, 200 grass-mowing machine, 103 baroceptor

27 main switch, 300 grass-mowing machine, 105 Hall sensor

28 holding seat, 400 grass-mowing machine, 102 shock sensor

38 battery pack, 47 circumferential surface 31 broken string blade

30 lid, 49 projecting teeth, 500 grass-mowing machine

32 drum, 54 bias piece, 600 grass-mowing machine

34 beat the grass 401 stop device of line, 106 Tansducer For Color Distiguishing

403 stop part of 34a free terminals

Embodiment

Fig. 1 to Figure 18 shows the grass-mowing machine 100 that first embodiment of the invention provides.

Fig. 1 is referred to, the grass-mowing machine 100 of the present embodiment includes the extension rod 20 of lengthwise extension, arranged on 20 one end of extension rod Head, head includes casing 25, the motor 26 being arranged in casing 25, is driven around by motor 26 that an axis L is rotating to be beaten Toothed burclover 22 and the battery pack 38 that power is provided for motor 26；Grass-mowing machine 100 is further included on extension rod 20 and between head The main handle 23 and assist handle 24 that set at a certain distance, the line of beating the grass for controlling the main switch 27 of motor, carrying out cutting work. The moving head 22 further includes outlet hole, and the free terminal 34a of the line 34 of beating the grass is stretched out from the outlet hole of moving head 22, in institute It is length of beating the grass to state the length for carrying out cutting work during grass-mowing machine work.Grass-mowing machine further includes the payingoff mechanism of control unwrapping wire, inspection Survey the detection module for the special parameter for reflecting length of beating the grass and the controller for controlling the payingoff mechanism.Grass-mowing machine works During, payingoff mechanism can make length of beating the grass according to the control signal selective actuation that controller exports with line of beating the grass described in discharging Degree increase.

The special parameter of length specifically, detection module detection reflection is beaten the grass, is detection centrifugal force than relatively straightforward method Change, the change of electric current, the change of output power, the change of rotating speed, it is of course possible to by other advanced electronics technology means, The special parameter for reflecting length of beating the grass is transformed into other dimensions to measure, for example is passed using Hall sensor, colour recognition Sensor, baroceptor etc. is measured indirectly.

Specifically, controller is stored with parameter preset, the reflection that controller is detected by detection module is beaten the grass the spy of length Parameter is determined compared with parameter preset, and then exports comparative result, and the comparative result controls unwrapping wire as the controller The control signal of mechanism, payingoff mechanism is according to the comparative result selective actuation with line of beating the grass described in discharging.Whole unwrapping wire mistake Cheng Wuxu manual operations, more intelligently.

Specifically, when grass-mowing machine works normally, start main switch 27, motor powers on, and moving head 22 is enclosed by the driving of motor 26 Rotated around contour L, the free terminal 34a for line 34 of beating the grass rotates to form cut surface, and grass-mowing machine 100 is lifted and made by user by handle The cut surface that line 34 of beating the grass is formed along its rotation is beaten the grass.Grass-mowing machine 100 can beating in 34 free terminal 34a of line horizontal rotations of beating the grass Changed between grass-like state and vertical rotating deburring state, to meet different cutting use demands.

The grip part of handle refers to the part that operator holds with a hand on handle.Refer to Fig. 1, in the present embodiment, handle Main handle 23 and assist handle 24 including setting spaced apart, main switch 27 are arranged on main handle 23.So set, Operator can be worked by more reliable the lifting and operate grass-mowing machine of main handle 23 and assist handle 24.

In the present embodiment, the motor 26 of driving moving head 22 is coaxially disposed with moving head 22, more preferably, the output of motor 26 Axis directly drives moving head 22, i.e. the rotation axis of moving head 22 is motor drive shaft, that is, output shaft of motor 26, simple and compact for structure.This Motor 26 it is contemplated that can be also arranged on the other anywhere and by being specifically driven of extension rod 20 by field technology personnel Mechanism driving moving head 22, which rotates, also may be used.

For convenience of description, " axial direction " of this specification, the relevant description of " circumferential direction " and other and orientation are with moving head 22 rotation axis is reference.If " axial direction " is the extending direction along the rotation axis of moving head 22；" circumferential direction " is around moving head The direction of 22 rotation axis.

Referring to Fig.1 and 2, moving head 22 includes holding seat 28, the lid 30 being coupled with holding seat 28, is arranged on collecting The drum 32 for the inner cavity that seat 28 is formed with lid 30.Drum 32 has and the opposing stationary first state of holding seat 28.When master opens When the control motors 26 of pass 27 rotate, drum 32 is in first state and 28 synchronous rotary of holding seat.

In the present embodiment, drum 32 has two states with holding seat 28：It is synchronous with holding seat 28 in first state, drum 32 Rotation, beat the grass line 34 and 28 synchronous rotary of holding seat being wrapped on drum 32, line 34 of beating the grass stretch out the part rotation of holding seat 28 Turn to form cutting planes, for trimming lawn；In the second state, drum 32 departs from holding seat 28, and line 34 of beating the grass revolves The centrifugal force turned drives drum 32 to produce relative motion with holding seat 28, so as to produce, rotary speed is poor, and then line 34 of beating the grass Centrifugal force can pull it outwards to throw away a part and realize unwrapping wire, increase length of beating the grass, i.e., longer 34 free terminal 34a of line of beating the grass Stretch out outside holding seat 28, make grass-mowing machine 100 that there is the radius of beating the grass of bigger.

It refer to Fig. 3, when grass-mowing machine 100 works, reflection that detection module 21 detects is beaten the grass the special parameter of length, is controlled The special parameter of detection compared with parameter preset, is exported comparative result, payingoff mechanism is according to the comparative result by device 51 Selective actuation is to discharge line of beating the grass.In the present embodiment, the detection in real time of detection module 21 reflects the special parameter for length of beating the grass, In other embodiment, detection module 21 also can interval or periodic sampling, as long as its technical spirit is similar with the present invention, should all cover Within the scope of the present invention.In the present embodiment, payingoff mechanism is used for line of beating the grass described in selectivity release, makes the length of beating the grass Degree increase.Payingoff mechanism includes at least one unwrapping wire electronic switch and control device, and unwrapping wire electronic switch is according to the comparison As a result selectivity closure or disconnection, to start the control device.Specifically, control device is selectively opened by unwrapping wire electronic switch It is dynamic drum 32 is in the second state that produce rotary speed difference between holding seat 28.

In the present embodiment, the special parameter for the reflection workload that detection module 21 detects.Specifically, the specific ginseng of detection Number includes the operating current of grass-mowing machine.Under identical operating condition, it is specifically that driving voltage is constant, loads bigger operating current more Greatly,.Specially in the case of grass-mowing machine zero load, length of beating the grass is longer, and grass-mowing machine operating current is bigger, when length of beating the grass is because of mill Damage shortens, and the operating current of grass-mowing machine diminishes.That is, by calculate abrasion setting length beat the grass line operating current make For pre-set current value, by the operating current detected when working normally compared with pre-set current value, if the work detected in real time Electric current is less than pre-set current value, then may determine that the abrasion for line of beating the grass meets or exceeds setting length.Preferably, the present embodiment In, measured under grass-mowing machine no-load condition abrasion setting length beat the grass line operating current as pre-set current value.Please join in the lump According to Figure 18, operating current is detected by current detection circuit, is then amplified by current sample amplification, controller MCU receives operating current signal, compared with pre-set current value, and then exports comparative result.

Preferably, grass-mowing machine 100 is additionally provided with the adjusting mechanism of parameter preset, compensates length-measuring error of beating the grass.In reality In the work of border, since complicated operating mode causes to detect data generation deviation, specifically, the difference and motor temperature rise of environment temperature Cause to detect data deviation actual value, cause to detect data generation deviation etc. using abrasion and motor ages phenomenon, cause Running parameter during actual wear setting length is usually different from parameter preset.In the present embodiment, abrasion setting length is beaten the grass line When the operating current that detects it is usually not identical with pre-set current value, i.e., when detecting that operating current is less than pre-set current value Wait, line of beating the grass not just has worn setting length.Therefore, it is necessary to set adjustable preset in the grass-mowing machine 100 of the present embodiment The compensation mechanism of parameter, parameter preset can be adjusted or compensated by the adjustment structure set on grass-mowing machine, further Improve according to the reflection of detection beat the grass length special parameter perform control action accuracy, reduction unwrapping wire error, make to beat the grass Length maintains a preferable scope.Specifically, adjustment structure includes the knob of an external manual operation, at knob When diverse location, corresponding different offset, controller is compared the parameter preset after the special parameter of detection and adjusting Compared with according to comparative result control payingoff mechanism startup.Therefore the judgement for length of beating the grass will be more accurate, from temperature, aging etc. The influence of disturbing factor.That is, user adjusts the entry condition of payingoff mechanism by external knob, that is, trigger unwrapping wire Threshold values, so as to control the length for line of beating the grass, when operating mode is severe, is suitably increased the threshold values of triggering unwrapping wire by adjusting mechanism, increased Add length of beating the grass, improve cut radius lifting output power；When operating mode is not severe, line of beating the grass can be reduced by adjusting mechanism The threshold values of unwrapping wire is triggered, reduces cut radius, improves the cruising time of single battery bag.

In other implementations, adjustment structure can by detecting the temperature rise signal of ambient temperature signal, motor and circuit, And the time span run according to complete machine judges the degree of abrasion, and parameter preset is compensated automatically, eliminates disturbing factor Caused measurement error.Above-mentioned compensation way uses fully automated mode, makes the unwrapping wire of grass-mowing machine according to extraneous or itself work Condition and adjust automatically, more intelligently.

In the present embodiment, controller 51 is used to store parameter preset and by it compared with the special parameter of detection, into And export a comparative result.Beat the grass the pre-set current value i of line specifically, controller is previously stored with abrasion setting length₀, beat In the careless machine course of work, by the operating current i of detection and pre-set current value i₀It is compared, if i<i₀, output control signal startup Payingoff mechanism.

Preferably, the parameter that detection module 21 detects further includes driving voltage, is specially the electricity of 38 both ends of battery pack output Pressure or the voltage at 26 both ends of motor.Specifically, detection module detects driving voltage by way of real-time sampling, other implementations In example, it can also pass through cycle, interval or other detection modes.Lithium battery characteristic determines that input voltage is not definite value, voltage Gradually reduced with the increase of discharge time.Therefore under the same load, when the timing of line length one of beating the grass, different drivings electricity It is also different to press required operating current, that is to say, that pre-set current value can change with the difference of driving voltage, tool Body is in one-to-one relation, i.e. a driving voltage only corresponds to a pre-set current value i₀。

Controller 51 be previously stored with driving voltage with abrasion setting length beat the grass line operating current variation relation, control Pre-set current value i is calculated in the driving voltage V that device processed is detected by detection module first₀, then by the electric current i of detection and in advance If current value i₀It is compared, if i<i₀, output control signal startup payingoff mechanism.Please with reference to Figure 18, driving voltage passes through Voltage detecting circuit is detected, and controller MCU receives drive voltage signal, calculates pre-set current value, and then will detection Operating current compared with pre-set current value, export comparative result.

In other embodiments, detection module do not detect voltage also can, as long as on out-put supply set a voltage stabilizing mould Block, make motor or the voltage stabilization at battery pack both ends one it is definite numerically, calculated by stable voltage default Current value, by the operating current detected when working normally compared with pre-set current value, if the electric current of detection is less than default electricity Stream, controller output control signal start payingoff mechanism.

In the present embodiment, payingoff mechanism includes at least one unwrapping wire electronic switch and control device, specifically, unwrapping wire is electric Sub switch control device according to the control signal selective actuation that controller exports is in drum can be with the holding seat Between produce rotary speed difference the second state.In the present embodiment, control device includes motor 26, in other embodiments, control Device processed can also include other driving devices, the secondary motor such as electromagnet or independently of motor 26, as long as driving energy makes line The second state in generation rotary speed difference between disk and holding seat all should be within protection scope of the present invention.

In the present embodiment, control device further includes the control circuit being electrically connected with motor 26, which is used to control Rotation speed change when motor 26 processed operates.In present embodiment, unwrapping wire rotating speed V1 is less than working speed V0.Control circuit is preferably adopted With brake switch circuit E2.The motor 26 that alleged motor M is specifically grass-mowing machine provided in this embodiment, main switch is described below K1 is the main switch 27 of grass-mowing machine provided in this embodiment, and unwrapping wire electronic switch K2 is the unwrapping wire of grass-mowing machine provided in this embodiment Electronic switch.

Power with reference to Fig. 4, power supply P to motor M, main switch K1 and motor M is electrically connected.Brake switch circuit E2 includes putting Line electronic switch K2, unwrapping wire electronic switch K2 switch have a NC end and a NO end, and NC ends and a NO end are selectively It is in the close position.Shorten when line of beating the grass is worn in cutting process, the electric current i that controller recognizes detection module detection is less than Pre-set current value i₀, i.e. i<i₀, controller output control signal make unwrapping wire electronic switch K2 act.Specifically, unwrapping wire electronic switch K2 is disconnected from NC ends and closed with NO ends, starts brake switch circuit E2, and motor rotary speed is reduced to V1 from V0, drum be in it is described The second state of rotary speed difference is produced between holding seat.With reference to Fig. 5, during grass-mowing machine works normally, unwrapping wire electronic switch NC ends In the close position, main switch K1 mono- is closed, motor M full speed runnings.

With reference to Fig. 6, during unwrapping wire, unwrapping wire electronic switch K2 is disconnected with NC ends, in the close position with NO ends, motor M short circuits, Motor M rotating speeds are down to zero.

Fig. 4 is referred again to, when unwrapping wire process terminates, unwrapping wire electronic switch K2 is disconnected with NO ends, unwrapping wire electronic switch K2 and NC Hold in the close position, motor M recovery full speed runnings.

K2 electronic switches are not limited to structure type described above, as long as can be under electronic signal or Mechanical course Realize that opening and closing of other electronic components construction of circuit should all be covered in the present invention, such as metal-oxide-semiconductor on-off circuit Deng.

With reference to shown in Fig. 7, the running speed V of motor M is illustrated with the change procedure of time T.Under normal operative condition, beat The working speed V0 of the motor M of careless machine is between 5000 to 10000 revs/min, it is preferred to use working speed V0 for 8500 turns/ Point.Unwrapping wire rotating speed V1 is about 0 to 3000 rev/min, it is preferred to use 0 rev/min, that is to say, that the payingoff speed V1 of motor M is down to For 0 to 3000 rev/min.In the present embodiment, on time shaft T, wherein within the t1 periods, the running speed of motor M is by working Rotating speed V0 is reduced to zero, which is less than 1 second；Zero-turn speed maintains the t2 periods, after the t2 periods by setting, unwrapping wire electricity Sub switch K2 is closed after disconnecting NO ends with NC ends；Within the t3 periods, the operating speed of motor M after the closure of unwrapping wire electronic switch NC ends Degree recovers to working speed V0, the t3 periods to be similarly less than 1 second by zero.It can be seen from the above, whole unwrapping wire process duration For the sum of t1, t2 and t3 time, unwrapping wire process terminates, and unwrapping wire electronic switch K2 is returned to closes (as shown in Figure 4) with NC ends, horse Up to M full speed runnings.

In the present embodiment, if i<i₀, the control signal of controller output starts payingoff mechanism and puts primary line, in payingoff mechanism During performing unwrapping wire, controller stops output control signal or the payingoff mechanism no longer response control during unwrapping wire is performed The control signal of device, until unwrapping wire process terminates.If last unwrapping wire process terminates, controller detects i again<i₀, again Start payingoff mechanism with unwrapping wire.During unwrapping wire, false judgment caused by electric current is unstable, each judging result Exactly-once unwrapping wire, avoids line waste of beating the grass caused by unwrapping wire is excessive.

Specifically, unwrapping wire electronic switch can start the control circuit, the rotating speed during operating of motor 26 is set to change, Change between unwrapping wire rotating speed V1 and working speed V0, so that drum 32 and holding seat 28 are changed between two states, That is drum 32 and holding seat 28 is changed in synchronous rotary state between relative motion state.Drum 32 is specifically described below with receiving Holder 28 realizes the structure of the conversion of two states.

It refer to shown in Fig. 8, Fig. 9, holding seat 28 is equipped with the bar hole (not shown) radially extended, and sliding block 33 is threaded through The mating circumferentially fixed and radially-displaceable with holding seat 28 in bar hole.Sliding block 33 moves radially, so that drum 32 can be transported circumferentially It is dynamic poor with the generation of holding seat 28 rotary speed.Drum 32 is equipped with the serrate slot 37 of circumferentially extending, and serrate slot 37 includes opposite set The first serrated edge 39 and the second serrated edge 41 put, the first serrated edge 39 are identical and all with the number of the tooth on the second serrated edge 41 To stagger setting, each tooth on the first serrated edge 39 includes the sagittal plane 45 radially extended and the circumferential surface of peripheral, oblique extension 47, each tooth on the second serrated edge 41 includes the sagittal plane 45 radially extended and the circumferential surface 47 of peripheral, oblique extension；Sliding block The projecting teeth 49 that can be moved radially in serrate slot 37 is provided with 33, when projecting teeth 49 is abutted with sagittal plane 45,33 band of sliding block Moving-wire disk 32 and 28 synchronous rotary of holding seat；When projecting teeth 49 is abutted with circumferential surface 47, sliding block 33 drives drum 32 is opposite to house Seat 28 moves, so as to produce speed difference.

Please with reference to Figure 13, bias piece 54 is provided between holding seat 28 and sliding block 33, bias piece 54 applies sliding block 33 Power makes 33 retainer belt moving-wire disk 32 of sliding block and 28 synchronous rotary of holding seat.Thus, the active force of bias piece 54 is only overcome to drive Sliding block 33, which slides, could drive 32 circumferential movement of drum and the generation of holding seat 28 rotary speed poor.The bias piece 54 of the present embodiment is Helical spring, it may occur to persons skilled in the art that, other bias pieces, such as tension spring also can reach same effect.

Thus, in the present embodiment, moving head is rotated along R directions counterclockwise, and drum 32 is at three under the action of the centrifugal force Moved between position, in first position, drum 32 is in first state；In the second place, drum 32 is in the second state； Three positions, drum 32 are again at first state.

Specifically, as shown in figure 8, in first position, the sagittal plane of 49 and first serrated edge 39 of projecting teeth on sliding block 33 45 abut, and sliding block 33 can drive drum 32 and 28 synchronous rotary of holding seat.

As shown in figure 9, in the second place, projecting teeth 49 on the sliding block 33 not radial direction with any tooth on any serrated edge Face 45 abuts, and second is equipped with two kinds of situations：A kind of situation is that projecting teeth 49 is abutted with the circumferential surface 47 on the second serrated edge 41, 33 linear movement of sliding block driving drum 32 is rotated relative to holding seat 28；Another situation is that projecting teeth 49 does not also have and circumferential surface 47 abut, and drum 32 rotates drive line 34 of beating the grass and rotates, and the centrifugal force that line free terminal 34a of beating the grass is produced can equally drive drum 32 rotate relative to holding seat 28.

As shown in Figure 10, the projecting teeth 49 in the third place, sliding block 33 is supported with the sagittal plane 45 on the second serrated edge 41 Connect, sliding block 33 can drive drum 32 and 28 synchronous rotary of holding seat.

Bias piece 54 drives drum 32 to move to the four, the 5th positions from the third place, and in the 4th position, drum 32 is in Second state, in the 5th position, drum 32 is in first state.

Specifically, as shown in figure 11, in the 4th position, projecting teeth 49 on sliding block 33 not with any on any serrated edge The sagittal plane 45 of tooth abuts, and there are two kinds of situations in the 4th position：A kind of situation is the circumferential surface of 49 and first serrated edge 39 of projecting teeth 47 abut, and sliding block 33 drives drum 32 to be rotated relative to holding seat 28, and another situation is, projecting teeth 49 also not with circumferential surface 47 Abut, drum 32 rotate drive beat the grass line rotation, line free terminal 34a of beating the grass produce centrifugal force can equally drive 32 phase of drum Holding seat 28 is rotated.

As shown in figure 12, the projecting teeth 49 on the 5th position, sliding block 33 is abutted with the sagittal plane 45 of the first serrated edge 39, Sliding block 33 drives drum 32 and 28 synchronous rotary of holding seat.

In the present embodiment, projecting teeth 49 is two, and two projecting teeths 49 are spaced a spacing on the extending direction of sliding block 33 From setting, which is the center diameter of a circle of serrate slot 37, so that first projecting teeth 49 is nibbled in the first serrated edge 39 with tooth During conjunction, second projecting teeth 49 can the other end of radial direction of serrate slot 37 engaged with the second serrated edge 41, drum 232 can be made Stress is evenly.It may occur to persons skilled in the art that only a projecting teeth is set also may be used.

In the present embodiment, unwrapping wire electronic switch can automatically control control circuit according to the control signal of control mechanism makes horse Up to changing between unwrapping wire rotating speed V1 and working speed V0, drum 32 moves between three positions under the action of the centrifugal force, i.e., Drum 32 and holding seat 28 are changed in synchronous rotary state between relative motion state, so as to fulfill automatic unwrapping wire.Controller The special parameter control unwrapping wire electronic switch action detected according to detection module, every time action put primary line, it can be achieved that putting automatically Line and unwrapping wire is reliable.

Figure 13 is refer to, payingoff mechanism further includes the stop device 401 for being movably arranged at holding seat 28, and stop device 401 has There are first position and the second place, wherein in the transfer process between first position and the second place, sliding block 33 is relative to collecting Seat 28 moves radially, so that drum 32 and 28 relative motion of holding seat.It is relatively fast so as to be produced between drum 32 and holding seat 28 Degree is poor, and then realizes unwrapping wire.

Further, when stop device 401 is in first position, stop device 401 limits sliding block 33 relative to holding seat 28 move radially, so that drum 32 keeps opposing stationary with holding seat 28, can not carry out unwrapping wire.At stop device 401 When the second place, sliding block 33 is radially movable relative to holding seat 28.Sliding block 33 can relative to moving radially for holding seat 28 Promote drum 32 to turn an angle relative to holding seat 28, relative speed difference is produced between drum 32 and holding seat 28, carry out Unwrapping wire.

Stop device 401 includes pivoting the stop part 403 arranged on holding seat 28, when stop part 403 is in first position, only 403 backstop sliding block 33 of block piece is to limit the moving radially relative to holding seat 28 of sliding block 33, so that drum 32 is relative to collecting Seat 28 is static, can not carry out unwrapping wire.When stop part 403 is switched to the second place, sliding block 33 can be moved radially relative to holding seat 28 It is dynamic, so as to promote drum 32 to turn an angle relative to holding seat 28, realize unwrapping wire.

Preferably, the pivot axis of stop part 403 is overlapping with 28 rotating axis of holding seat.In this way, it can cause unwrapping wire Compact-sized, the small volume of grass-mowing machine 400 of mechanism.Certainly, the pivot axis of stop part 403 and 28 rotating axis of holding seat Line can also be arranged to it is not overlapping, preferably, it can be provided be parallel to each other.

Stop device 401 further includes the resetting apparatus 405 between stop part 403 and holding seat 28, resetting apparatus 405 Stop part 403 is promoted to recover from the second place to first position.In the present embodiment, resetting apparatus 405 is arranged to compression spring 405.When So, resetting apparatus 405 may be set to be other elastic devices such as tension spring, torsional spring.

As shown in Figure 13 and Figure 14, specifically, stop part 403 has stopper protrusion 407 and mounting portion 409, sliding block 33 has The second end 413 for having the first end 411 for the peripheral part that can be extended out holding seat 28 and being oppositely arranged with first end 411, And the second end 413 is located within the peripheral part of holding seat 28.Bias piece 54 is arranged between holding seat 28 and the second end 413. Sliding block 33 also has hollow bulb 415 and butting section 417, hollow bulb 415 between first end 411 and the second end 413, and Butting section 417 extends from the second end 413 to the pivot of holding seat 28.

In addition, one end of compression spring 405 is arranged on mounting portion 409, and the other end of compression spring 405 is resisted against holding seat 28, Compression spring 405 is opposite to the force direction of stop part 407 and the direction of rotation of holding seat.

When being in first position under active force of the stop part 403 in compression spring 405, stopper protrusion 407 is supported with sliding block 33 Relying part 417 abuts against.When stop part 403 is switched to the second place from first position, stopper protrusion 407 overcomes compression spring 405 The butting section 417 of active force and sliding block 33 is separated, thus sliding block 33 under the action of bias piece 54 relative to 28 footpath of holding seat To movement, sliding block 33 is set to be moved to the direction for extending holding seat 28, so as to promote drum 32 (referring to Figure 13) relative to collecting Seat 28 turns an angle, and realizes unwrapping wire.

As shown in figure 14, when grass-mowing machine 400 is in off working state, stop part 403 is under the active force of compression spring 405 The first position that limitation sliding block 33 is moved radially relative to holding seat 28.And at this time under the action of the active force of bias piece 54, The butting section 417 of sliding block 33 keeps the stopper protrusion 407 with stop part 403 to abut against.

As shown in figure 15, start main switch 27, at this time stop part 403 under the action of compression spring 405 still in limitation sliding block 33 first positions moved radially relative to holding seat 28.When sliding block 33 is rotated with holding seat 28, centrifugation can be produced to sliding block 33 Power, and it is opposite to the force direction of sliding block with bias piece 54 to centrifuge force direction at this time.Therefore, sliding block 33 is under the influence of centrifugal force Overcome the active force of bias piece 54, the rotation axis away from holding seat 28, has certain interval between stop part 403.But only The limitation sliding block 33 of block piece 403 moving radially to the direction for the peripheral part for extending holding seat 28 relative to holding seat 28.Make Drum 32 (referring to Figure 13) keeps opposing stationary with holding seat 28, and grass-mowing machine 400 can not carry out unwrapping wire.So as to avoid line of beating the grass Loss.

Refer to shown in Figure 16, when payingoff mechanism unwrapping wire electronic switch (not shown) according to the output signal of controller and During startup, since the rotating speed of holding seat 28 quickly reduces, holding seat 28 is set to have certain acceleration, and acceleration direction is with housing The rotation direction of seat 28 since the inertia that stop part 403 has can have stop part 403 on the contrary, keep original motion state at this time Tendency, that is to say, that stop part 403 has certain inertia force, and can be towards the opposite side of acceleration under the action of inertia force To rotation.Specifically, while the rotating speed of holding seat 28 quickly reduces, the inertia force of stop part 403 is more than the work of compression spring 405 Firmly, so that stop part 403 overcomes the active force of compression spring 405 under the action of inertia force, relative to holding seat 28 from One position is switched to the second place.At this time, the stopper protrusion 407 of stop part 403 is separated with the butting section 417 of sliding block 33, by In the backstop without stop part 403, simultaneously as the rotating speed of holding seat 28 substantially reduces, the centrifugal force of sliding block 33 is less than partially The active force of casting die 54, therefore, sliding block 33 overcome centrifugal force to be moved radially relative to holding seat 28 under the action of bias piece 54, And sliding block 33 is moved to the direction for extending holding seat 28, so as to promote drum 32 (referring to Figure 13) relative to 28 turns of holding seat Dynamic certain angle, realizes unwrapping wire.In this way, payingoff mechanism can be automatically according to needing selective actuation unwrapping wire electronic switch to be put Line, avoids the waste for line of beating the grass.

With reference to shown in Figure 17, the operation of the payingoff mechanism in 100 course of work of grass-mowing machine of the present embodiment is described below Journey.Start main switch 27, make drum 32 and 28 synchronous rotary of holding seat；Detection module detects voltage and current；Controller according to Pre-set current value i is calculated in the voltage of detection₀If i<i₀, judge to meet unwrapping wire condition, act unwrapping wire electronic switch K2, open Dynamic payingoff mechanism is with unwrapping wire.If specifically, i<i₀, unwrapping wire electronic switch K2 is with NO ends closure (referring to Fig. 6), and motor rotary speed is by V0 Be down to V1, sliding block 33 overcomes centrifugal force to be moved radially relative to holding seat 28 under the action of bias piece 54, and make sliding block 33 to Extend the direction movement of holding seat 28, so that promote drum 32 (referring to Figure 13) to turn an angle relative to holding seat 28, Realize unwrapping wire.

In the present embodiment, the unwrapping wire electronic switch in brake switch circuit is using metal-oxide-semiconductor switch Q1 and Q2.When controller is sentenced Disconnected to meet unwrapping wire condition, controller MCU output control signals disconnect Q1 and close Q2, motor short circuit, and payingoff mechanism, which starts, to be performed Brake unwrapping wire.

With reference to shown in Figure 18, the controller of the grass-mowing machine in the present embodiment uses MCU, and detection module is specially the electricity illustrated Current detection circuit and voltage detecting circuit.Controller samples electric current and voltage, is calculated by the voltage of sampling default Current value i₀, by the electric current i of sampling and pre-set current value i₀Calculating is compared, if meeting unwrapping wire condition, i.e. i<i₀, controller MCU output control signals disconnect Q1 and close Q2, and brake unwrapping wire is performed to start payingoff mechanism.Specifically, closure main switch K1, Powered on to motor, grass-mowing machine operating, while Q1 is in closure state, Q2 is off；When controller judges to meet unwrapping wire Condition, output control signal disconnect Q1 and close Q2, and motor short circuit, grass-mowing machine performs brake unwrapping wire.Wherein, Q1 is by running MOS Drive circuit drives, and Q2 is driven by brake MOS drive circuit.

Closed please also refer to Fig. 5, main switch K1, unwrapping wire electronic switch K2 is connected with NC ends, that is, main in Figure 18 Switch closure, Q1 are in closure state, and Q2 is off, grass-mowing machine full speed running；When controller judges to meet unwrapping wire bar During part, Fig. 6 is refer to, unwrapping wire electronic switch K2 is disconnected with NC ends and is connected with NO ends, that is, main switch closes in Figure 18 Close, Q1 is off, and Q2 is in closure state, motor M short circuits, grass-mowing machine brake unwrapping wire.It can be seen from the above, unwrapping wire electronics Switch K2 is specially metal-oxide-semiconductor switch Q1 and Q2, and controller is by controlling the closed and disconnected of Q1 and Q2 grass-mowing machine is normally being transported Changed between row and brake unwrapping wire.

Since the payingoff mechanism is by being separately provided controller control, controller according to the parameter that detection module detects from Output control is moved as a result, controlling the action of unwrapping wire electronic switch K2 with selectivity, so that selective actuation payingoff mechanism, without people For operation, make grass-mowing machine unwrapping wire more intelligent.

Figure 19 shows the grass-mowing machine fundamental diagram shown in second embodiment of the invention.

Grass-mowing machine shown in the present embodiment and the grass-mowing machine 100 of first embodiment have a similar structure, under difference Face will be described specifically, convenient for statement, and identical structure is not repeated using expression is identically numbered.

Figure 19 is refer to, detection module is used to detect the special parameter for reacting length of beating the grass, specifically, the specific ginseng of detection Number includes the motor rotary speed S for reflecting workload.It is to beat the grass in the case where grass-mowing machine operating condition is identical, in the present embodiment In the case of machine zero load, length of beating the grass is longer, and motor rotary speed is smaller.That is, under no-load condition, by calculating abrasion Setting length beat the grass line when motor rotary speed as preset rotation speed value S₀, by the motor rotary speed S detected when working normally with presetting Motor rotary speed value S₀It is compared, if the motor rotary speed of detection is more than preset motor tachometer value, i.e. S>S₀, then judge line of beating the grass Setting length is worn, controller output control signal starts payingoff mechanism.

In the present embodiment, the parameter of detection module detection further includes driving voltage V, is specially the output of 38 both ends of battery pack The voltage at 26 both ends of voltage or motor.Under the same load, when the timing of line length one of beating the grass, different driving voltages are corresponding Motor speed is also different, that is to say, that motor speed can change with the difference of driving voltage, specific in one-to-one corresponding Relation, i.e. a driving voltage only correspond to a preset rotation speed value S₀.Controller is previously stored with driving voltage V and is set with abrasion Measured length beat the grass line motor rotary speed S variation relation, controller first by detection module detect voltage V be calculated it is pre- If motor rotary speed value S₀, then by the motor rotary speed S of detection and preset rotation speed value S₀It is compared, if S>S₀, controller output control Signal enabling payingoff mechanism processed.In other embodiments, detection module do not detect voltage also can, as long as being set on out-put supply One Voltage stabilizing module, make motor or the voltage stabilization at battery pack both ends one it is definite numerically, pass through stable voltage Preset rotation speed value is calculated by the motor rotary speed detected when working normally compared with preset rotation speed value, if the horse detected in real time It is less than default preset rotation speed value up to rotating speed, then judgement line of beating the grass has worn setting length, and controller output control signal starts Payingoff mechanism.

Figure 20 and Figure 23 shows the grass-mowing machine 200 shown in third embodiment of the invention.

Grass-mowing machine 200 shown in the present embodiment has similar structure, difference with the grass-mowing machine 100 of first embodiment It will be described specifically below, convenient for statement, identical structure is not repeated using expression is identically numbered.

In the present embodiment, the special parameter of detection module detection is the parameter for reflecting length actual physics length of beating the grass.Tool Body, the special parameter of detection module detection is the photosignal of photoelectric cell.More specifically, photoelectric cell includes at least hair The photoelectric cell one for penetrating photosignal is used for the photoelectric cell for receiving photosignal, and line of beating the grass can influence the photoelectric cell Reception.Line of specially beating the grass can block the photosignal to reach the photoelectric cell for being used to receive, or line of beating the grass The photosignal that can make not to be received originally is reflected onto the photoelectric cell for being used to receive.

Figure 20 and Figure 21 are refer to, the cut radius of the grass-mowing machine of the grass-mowing machine 200 shown in the present embodiment is r, cutting half Footpath r defines cutting area, and detection module includes spaced at least a pair of of photoelectric cell 101, and wherein the one of photoelectric cell A to be used to launch photosignal, another is used to receive photosignal, and the free terminal 34a for line 34 of beating the grass can block the light The reception of electric signal.Specifically, line of beating the grass described in when the photoelectric cell is arranged at intervals the interval for grass-mowing machine work End pass through, when line of beating the grass pass through the interval, the photoelectric cell for receiving photosignal does not receive optical telecommunications Number, so that the photosignal of photoelectric cell detection shows that length of beating the grass is normal, when the line abrasion of beating the grass meets or exceeds setting Length, the line of beating the grass shorten so that it cannot passing through the interval again, and the signal of the photoelectric cell changes, controller According to the photosignal of the change compared with parameter preset, abnormal photosignal of change, output control are recognized Signal enabling payingoff mechanism processed is to discharge the line of beating the grass.More specifically, the parameter preset reaches including length abrasion of beating the grass Or the default photosignal more than setting length, by the photosignal compared with the default photosignal, if photoelectricity Signal is different from default photosignal, starts payingoff mechanism to discharge line of beating the grass；The parameter preset includes length abrasion of beating the grass The default photosignal of setting length is met or exceeded, by photosignal compared with default photosignal, if photosignal Default photosignal is identical, starts the payingoff mechanism to discharge the line of beating the grass.

In the present embodiment, the photoelectric cell relative spacing is set on the housing, and the interval d supplies the grass-mowing machine Beat the grass described in during work line 34 free terminal 34a pass through.Specifically, when photoelectric cell 101 is arranged on grass-mowing machine normal work For length of beating the grass when being maximum near the free terminal 34a paths traversed, the photoelectric cell is parallel with the axis L Set, in other embodiments, also tiltable angle is set photoelectric cell, as long as its interval is capable of providing grass-mowing machine work Free terminal 34a pass through gap and influence photosignal reception it is all within the scope of the present invention.When line end of beating the grass After abrasion, the free terminal 34a shortens the interval that cannot pass through between the photoelectric cell, also just can not be to the photo elements The signal of part is received and had an impact, and the signal of photoelectric cell detection changes, and the signal of this change is abnormal signal, is referred to Show that length of beating the grass shortens, controller compared with parameter preset, recognizes length abrasion of beating the grass according to the abnormal signal Setting length, output control signal perform unwrapping wire to start payingoff mechanism.

In other embodiments, the interval setting that photoelectric cell also can be angled.Specifically, photoelectric cell is not in same On straight line, be responsible for transmitting signal photoelectric cell transmitting signal cannot be directly by responsible reception photoelectric cell receive, only Have in the interval there are object by the signal reflex of transmitting to be responsible for receive photoelectric cell.In the present embodiment, do not wear Length of beating the grass can reflect the signal of the photoelectric cell for being wherein responsible for transmitting signal to connecing by the interval between photoelectric cell The photoelectric cell collected mail number, so that the length that judges to beat the grass be in normal condition, the signal of photoelectric cell detection is under this state Normal signal；When line of beating the grass is worn, line length of beating the grass is not enough to the photosignal of the photoelectric cell of reflected transmitted signals, therefore Photoelectric cell for receiving signal does not have signal reception, and it is abnormal letter that this, which does not have the signal of photoelectric cell during signal reception, Number, controller by it is described than normal signal compared with parameter preset, it is abnormal signal to recognize the signal, so as to sentence Disconnected line abrasion of beating the grass meets or exceeds setting length, and controller output control signal starts payingoff mechanism.

Preferably, photoelectric cell 101 has a pivot, and photoelectric cell 101 has a distance with pivot, This distance is more than zero.Photoelectric cell can be rotated around pivot to change the distance with axis L.

Specifically refer to Figure 22 and Figure 23, when photoelectric cell 101 be located at its pivot and moving head rotation axis away from From on line when (with reference to Figure 22), the cut radius r of grass-mowing machine is most short；When photoelectric cell have rotated one around pivot Angle (with reference to Figure 23), this angle is more than zero, and the cut radius r of grass-mowing machine is elongated；When photoelectric cell is around from such as Figure 22 institutes The position shown rotates 180 degree, and the cut radius r of grass-mowing machine is most long.The cut radius of grass-mowing machine changes with rotational angle, because This can be to adjust length of beating the grass, so as to change the cut surface of grass-mowing machine by adjusting the rotational angle of photoelectric cell in setting range Product.Specifically, photoelectric cell 101 rotates the size of the distance decision setting range at center.So grass-mowing machine is cut Face product can be changed by the rotation of photoelectric cell, make grass-mowing machine application more flexible.

Figure 24 and Figure 25 shows the grass-mowing machine 300 that fourth embodiment of the invention provides.

Grass-mowing machine 300 shown in the present embodiment has similar structure, difference with the grass-mowing machine 200 of 3rd embodiment It will be described specifically below, convenient for statement, identical structure is not repeated using expression is identically numbered.

The detection module of grass-mowing machine 300 shown in the present embodiment includes the air pressure sensing near free terminal 34a Device.The detection module directly detects the air pressure for reflecting length actual physics length of beating the grass, and after line abrasion of beating the grass shortens, beats the grass The free terminal 34a of line becomes remote apart from baroceptor, and the air-flow near baroceptor is flowed due to rotating line of beating the grass Free terminal 34a, which shortens, can become slow, and the atmospheric pressure value of baroceptor detection rises.Length of beating the grass is measured with baroceptor Obtained atmospheric pressure value is negatively correlated, that is, length of beating the grass is shorter, and the air pressure of baroceptor detection is higher.Therefore it is advance in the controller Store the preset pressure value P of the line of beating the grass of abrasion setting length₀, when line abrasion of beating the grass meets or exceeds setting length, control The air pressure P that device processed detects baroceptor and preset pressure value P₀If P>P₀, judge that air pressure signal is abnormal, line of beating the grass mill Damage meets or exceeds setting length, and controller output control signal is to start payingoff mechanism；If P<P₀, judge air pressure signal just Often, length of beating the grass is normal, it is no longer necessary to which unwrapping wire, controller output control signal is to stop payingoff mechanism.

Figure 26 and Figure 27 shows the grass-mowing machine 400 that fifth embodiment of the invention provides.

Grass-mowing machine 400 shown in the present embodiment has similar structure, difference with the grass-mowing machine 100 of first embodiment It will be described specifically below, convenient for statement, identical structure is not repeated using expression is identically numbered.

Grass-mowing machine 400 provided in this embodiment further includes the broken string blade 31 being arranged on housing 25, when line of beating the grass is too long When, broken string blade 31 is used to block long line 34 of beating the grass, and the length of beating the grass for the line that makes to beat the grass maintains one compared with safe and reasonable In the range of.Specifically, the maximum for length of beating the grass is target length, and when length of beating the grass is target length, the freedom for line of beating the grass End is just struck against the broken string blade 31 on housing, and broken string blade 31 length that will beat the grass is maintained within target length.

In the present embodiment, special parameter selective actuation that payingoff mechanism is detected according to detection module, specifically, paying out machine Structure has entry condition and end condition, if meeting entry condition, payingoff mechanism will continuously start, and meets to terminate until detecting During condition, payingoff mechanism just stops unwrapping wire.Refer to specifically, payingoff mechanism continuously starts, if not meeting end condition, unwrapping wire Mechanism will be again started up with unwrapping wire.The entry condition of specific payingoff mechanism is specially that the startup described in foregoing all embodiments is put The condition met is needed during line mechanism, the entry condition used in the present embodiment is that the electric current i of the detection described in embodiment one is small In pre-set current value i₀, start payingoff mechanism with unwrapping wire, naturally it is also possible to using the entry condition described in other embodiment.This Unwrapping wire mode described in embodiment makes each unwrapping wire length that can make to beat the grass reach target length, makes the use more intelligence of grass-mowing machine Can be flexibly.The end condition for the payingoff mechanism that grass-mowing machine 400 in the present embodiment uses, is further explained below.

It refer to Figure 26 and Figure 27, the grass-mowing machine 400 in the present embodiment further includes shock sensor 102, it is preferred that vibrations Sensor 102 is arranged at broken string blade 31.When beating the grass, length has exceeded target length, and the free terminal 34a for line 34 of beating the grass is touched It is cut off to broken string blade 31, shock sensor 102 senses the vibrations when free terminal 34a for line of beating the grass is cut off, this For a vibration signal as echo signal, controller, which is compared, recognizes the echo signal, and judgement meets end condition, exports Control signal stops payingoff mechanism to stop unwrapping wire.In other embodiments, shock sensor can be arranged at housing, as long as The setting of shock sensor 102 can sense that the vibrations should be covered by the protection scope of the present invention.

Specifically, controller be previously stored with driving voltage with abrasion setting length beat the grass line operating current change Pre-set current value i is calculated in relation, the driving voltage V that controller is detected by detection module first₀, then by the work of detection Make electric current i and pre-set current value i₀It is compared, if i<i₀, that is, meet entry condition, controller output control signal starts unwrapping wire Mechanism once, after payingoff mechanism is activated once, if controller does not recognize echo signal, controller output control signal It is again started up payingoff mechanism once, if controller recognizes echo signal, judgement meets end condition, controller output control letter Number stop payingoff mechanism, unwrapping wire stop.Above-mentioned unwrapping wire mode, detects that signal meets entry condition every time, is not detecting Before echo signal, payingoff mechanism can continuously start, and until detecting end condition, payingoff mechanism just stops unwrapping wire, make every time Unwrapping wire can be put into longest length of beating the grass, and it is short also without the feelings for starting payingoff mechanism to avoid the line caused by detection error Condition

Figure 28 shows the grass-mowing machine that sixth embodiment of the invention provides.

Grass-mowing machine shown in the present embodiment has similar structure with the grass-mowing machine 400 that the 5th embodiment provides, difference Place will be described specifically below, convenient for statement, and identical structure is not repeated using expression is identically numbered.

In the present embodiment, end condition includes the pulse signal of the operating current of grass-mowing machine.When grass-mowing machine is normally beaten the grass During, when length of beating the grass exceedes target length, and the free terminal for line of beating the grass is cut off with short-term blade hit, flow through motor Operating current can undergo mutation, be specifically that operating current produces a pulse signal, the intensity of the pulse signal is far above just Often interference signal adjoint during work, the end condition using this pulse signal as payingoff mechanism.Specifically, controller will be examined The arteries and veins signal for surveying module detection is compared, and is recognized the pulse signal and is judged to meet end condition, output control letter Number stop payingoff mechanism.

Since grass-mowing machine is in deburring state, free terminal and the ground of line of beating the grass produce collision, and electric current is unstable, therefore, Deburring state does not use the unwrapping wire mode described in the present embodiment again.Specifically, grass-mowing machine sets identification to beat the grass and deburring state Mechanism, when grass-mowing machine recognize in beat the grass state when, after payingoff mechanism starts, detection module detection electric current pulse believe Number, the controller length that judges to beat the grass has exceeded target length, and output control signal stops payingoff mechanism, and unwrapping wire stops；When beating the grass Machine is in deburring state, and since line of beating the grass is violent with collision on the ground, grass-mowing machine is switched to putting described in this specification embodiment one Line mode, i.e., each controller output control signal only start payingoff mechanism once, i.e., a unwrapping wire process are only performed, when again Detect that payingoff mechanism is just again started up when meeting entry condition, it is unstable with electric current caused by collision on the ground to avoid line of beating the grass The fixed influence to payingoff mechanism.Specifically, grass-mowing machine is by switching beating the grass and set at deburring status switching mechanism, when beating the grass Machine is transformed into deburring state, and the switch is closed or disconnected, and detection module detects the state of closing or the disconnection of the switch Recognize grass-mowing machine and be in deburring state, so that payingoff mechanism is switched to the unwrapping wire mode described in embodiment one, i.e., it is full every time Sufficient entry condition puts primary line.

Unwrapping wire mode described in the present embodiment, the target length for making each unwrapping wire to be put into exactly, avoids because of inspection Survey equal error caused by unwrapping wire put situation not in place, make every time triggering unwrapping wire after grass-mowing machine cut radius all the time in maximum Cut radius state, improves the efficiency of beating the grass of grass-mowing machine.

Figure 29 and Figure 30 shows the grass-mowing machine 500 that seventh embodiment of the invention provides.

Grass-mowing machine shown in the present embodiment has similar structure with the grass-mowing machine 300 that fourth embodiment provides, difference Place will be described specifically below, convenient for statement, and identical structure is not repeated using expression is identically numbered.

Figure 29 and Figure 30 are refer to, the grass-mowing machine provided in the present embodiment further includes Hall sensor 105, and has magnetic The line of beating the grass of property, specifically, mixing magnetic material in line of beating the grass.During normal work, when the free terminal 34a for line of beating the grass is by suddenly Your sensor 105, Hall sensor 105 sense the magnetic signal for line free terminal 34a of beating the grass, and the line that illustrates to beat the grass does not occur Abrasion, the special parameter of Hall sensor detection is normal signal, and controller recognizes the normal signal of Hall sensor, control Device control payingoff mechanism is in halted state；When line abrasion of beating the grass, free terminal 34a cannot pass through the sensing model of Hall sensor Enclose, Hall sensor 105 is sensed less than normal magnetic signal, and the line that illustrates to beat the grass is worn, and controller is according to the improper letter Number start payingoff mechanism with unwrapping wire.

Figure 31 and Figure 32 shows the grass-mowing machine 600 that eighth embodiment of the invention provides.

Figure 31 and Figure 32 are refer to, the grass-mowing machine provided in the present embodiment further includes the colour recognition being arranged on housing and passes Sensor, and the line of beating the grass with certain color, specifically, Tansducer For Color Distiguishing can identify red, the face for line of beating the grass Color is arranged to red, hence it is evident that is different from the colors green on lawn, to drop ground background interference, improves the accuracy rate of sensor identification. During normal work, when the free terminal for line of beating the grass passes through Tansducer For Color Distiguishing, Tansducer For Color Distiguishing is quickly captured and beaten the grass The red color signal of line, the line that illustrates to beat the grass are not worn, and the special parameter of Tansducer For Color Distiguishing detection is normal letter Number, controller recognizes the normal signal, and controller control payingoff mechanism is in halted state；It is free when line abrasion of beating the grass End cannot pass through the induction range of Tansducer For Color Distiguishing, and Tansducer For Color Distiguishing is caught to be detected less than normal color signal Special parameter spectral artifacts, illustrate to beat the grass line abrasion, and controller starts payingoff mechanism to put according to the spectral artifacts Line.

Figure 33 shows that invention also provides a kind of line-putting method of grass-mowing machine.

The grass-mowing machine that the line-putting method of grass-mowing machine provided by the present invention is provided based on any of the above-described embodiment, its method Include the following steps：

S1：Detection reflects the special parameter for length of beating the grass.

The detection module of grass-mowing machine is used to detect the special parameter for reflecting length of beating the grass.Specific such as above-mentioned any embodiment The special parameter of described machine testing of beating the grass.In grass-mowing machine course of normal operation, the reflection of detection module detection is beaten the grass length Special parameter, the special parameter is specially to reflect the parameter of workload or reflection is actually beaten the grass the parameter of length.

S2：By the special parameter compared with parameter preset, judging result is exported.

The controller of grass-mowing machine by the reaction of detection beat the grass length special parameter compared with parameter preset.Specifically , parameter preset is the parameter prestored in the controller, can be a fixed value or with operating condition And the parameter changed.Specifically, it can also be other operating conditions that operating condition, which includes driving voltage, the ginseng of detection module detection Number further include driving voltage either other react the parameters of other operating conditions according to driving voltage or other operating conditions Corresponding parameter preset is calculated in parameter.The line-putting method of grass-mowing machine in the present invention, controller beat the grass the reaction of detection The special parameter of length exports judging result compared with parameter preset.

If the special parameter of step S2 detections is operating current i, the parameter of detection module detection further includes driving voltage, controls Device processed calculates pre-set current value i instantly according to driving voltage₀.By the operating current i of detection and pre-set current value i₀Compared Compared with if i<i₀, output control signal startup payingoff mechanism.

If the special parameter of step S2 detections is motor rotary speed S, the parameter of detection module detection further includes driving voltage, controls Device processed calculates preset rotation speed value S instantly according to driving voltage₀.By the motor rotary speed S of detection and preset rotation speed value S₀Compared Compared with if S>S₀, output control signal startup payingoff mechanism.

Detection module do not detect voltage also can, as long as on out-put supply set a Voltage stabilizing module, make motor or electricity The voltage stabilization at Chi Bao both ends one it is definite preset rotation speed value is numerically calculated by stable voltage, by normal work As when the operating current that detects compared with pre-set current value, if the electric current of detection is less than predetermined current, controller output is controlled Signal enabling payingoff mechanism processed.

If the special parameter of step S2 detections is photosignal, the photosignal of detection is transferred to control by detection module Device, controller judge whether photosignal is normal.Specifically, the free terminal 34a, which shortens, can not pass through the photoelectric cell Between interval, photoelectric cell detection signal change, this change signal be abnormal signal, will be described abnormal Signal is sent to controller, and controller is judged as length abrasion of beating the grass, and output control signal is to start payingoff mechanism.

If the special parameter of step S2 detections is air pressure signal, the air pressure signal of detection is transferred to control by detection module Device, controller judge whether air pressure signal is normal.Specifically, the line of beating the grass of abrasion setting length has been prestored in controller Preset pressure value P₀, when line abrasion of beating the grass meets or exceeds setting length, air pressure P that baroceptor detect by controller and Preset pressure value P₀If P>P₀, judge that air pressure signal is abnormal, line of beating the grass abrasion meets or exceeds setting length, controller output Control signal is to start payingoff mechanism.

The parameter of length actual physics length if the special parameter of step S2 detections is beaten the grass for reflection.Photoelectric cell is included extremely Few a pair of spaced photoelectric cell.Specifically, the special parameter of detection module detection is the photosignal of photoelectric cell.More Specifically, the photoelectric cell one that photoelectric cell includes at least transmitting photosignal is used for the photoelectric cell for receiving photosignal, Line of beating the grass can influence the reception of the photoelectric cell.Line of specially beating the grass can block the photosignal to reach described to be used for The photoelectric cell of reception, or the photosignal that line of beating the grass can make not to be received originally are reflected onto the light for being used to receive Electric device.The signal that the luminous point element can not be influenced when line of beating the grass receives, that is, the end of line of beating the grass be no longer pass through it is described between It is abnormal signal every the signal of, photoelectric cell detection, controller is according to the signal-selectivity output control result of photoelectric cell To start the payingoff mechanism.More specifically, the parameter preset meets or exceeds setting length including length abrasion of beating the grass Default photosignal, by the photosignal compared with the default photosignal, if photosignal is different from default light Electric signal, starts payingoff mechanism to discharge line of beating the grass；The parameter preset meets or exceeds setting length including length abrasion of beating the grass The default photosignal of degree, by photosignal compared with default photosignal, if to preset photosignal identical for photosignal, Start the payingoff mechanism to discharge the line of beating the grass.

It refer to Figure 33, the line-putting method of grass-mowing machine provided by the present invention, length that detection module detects and reflection is beaten the grass Special parameter, export to controller, controller by the special parameter compared with preset parameter value, output compare knot Fruit, with selective actuation payingoff mechanism with unwrapping wire.Line-putting method provided by the present invention is without manual operation, more intelligently, and Unwrapping wire is reliable.

Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, the scope that this specification is recorded all is considered to be.

It may occur to persons skilled in the art that the present invention can also have other implementations, but as long as it is used Technical spirit and the present invention it is same or like seemingly, or it is any based on the variations and alternatives made of the present invention all the present invention's Within protection domain.

Claims

1. a kind of grass-mowing machine, including：

Extension rod；

Casing, arranged on described extension rod one end；

Moving head, is connected on the casing, has line outlet；

Motor, drives the moving head to enclose and rotates about the axis；

Beat the grass line, stretched out by the line outlet, the length of stretching is length of beating the grass；

Payingoff mechanism, can selectively discharge the line of beating the grass, length of beating the grass described in increase；

Detection module, when the grass-mowing machine carries out cutting work, the spy for length of beating the grass described in the detection module detection reflection Determine parameter；

Controller, for by the special parameter compared with parameter preset, and then export comparative result；

It is characterized in that：The payingoff mechanism is according to the comparative result selective actuation with line of beating the grass described in discharging.

2. grass-mowing machine as claimed in claim 1, it is characterised in that：The special parameter is the parameter of reflection workload.

3. grass-mowing machine as claimed in claim 2, it is characterised in that：The special parameter includes the operating current of grass-mowing machine, institute Stating parameter preset includes pre-set current value.

4. grass-mowing machine as claimed in claim 3, it is characterised in that：The controller is by the operating current and the default electricity Flow valuve is compared, if the operating current is less than the pre-set current value, the controller output control signal starts unwrapping wire Mechanism is to discharge the line of beating the grass.

5. grass-mowing machine as claimed in claim 4, it is characterised in that：The parameter of the detection module detection further includes voltage, institute State controller and the pre-set current value is calculated by the voltage.

6. grass-mowing machine as claimed in claim 2, it is characterised in that：The special parameter includes the rotating speed of motor,

The parameter preset includes preset motor tachometer value.

7. grass-mowing machine as claimed in claim 6, it is characterised in that：The rotating speed that the controller detects detection module with The preset motor tachometer value is compared, if the rotating speed of the detection is more than the preset motor tachometer value, the control Device output control signal processed starts payingoff mechanism to discharge the line of beating the grass.

8. grass-mowing machine as claimed in claim 7, it is characterised in that：The parameter of the detection module detection further includes voltage, institute State controller and the preset motor tachometer value is calculated by the voltage.

9. grass-mowing machine as claimed in claim 1, it is characterised in that：The special parameter is specially length of beating the grass described in reflection The parameter of actual physics length.

10. grass-mowing machine as claimed in claim 9, it is characterised in that：The special parameter includes beating the grass near length ends Air pressure, the detection module include pneumatic parameter detection module, for detecting the air pressure change caused by length difference of beating the grass.

11. grass-mowing machine as claimed in claim 10, it is characterised in that：Atmospheric pressure value that the controller detects detection module with Preset pressure value is compared, if the atmospheric pressure value of the detection is more than the preset pressure value, the controller output control letter Number start payingoff mechanism to discharge the line of beating the grass.

12. grass-mowing machine as claimed in claim 9, it is characterised in that：The detection module includes at least a pair of of photoelectric cell, institute State photoelectric cell one of them be used for launch photosignal, another be used for receive photosignal, the line of beating the grass being capable of shadow Ring the reception of the photosignal.

13. grass-mowing machine as claimed in claim 12, it is characterised in that：The photoelectric cell is arranged at intervals, and the interval supplies institute The end for length of beating the grass described in when stating grass-mowing machine work is passed through, when the interval is passed through in the end, the photosignal by every Disconnected, the photoelectric cell for being used to receive photosignal no longer receives the photosignal, and the controller is according to the light The signal of electric device, output control signal start the payingoff mechanism.

14. grass-mowing machine as claimed in claim 12, it is characterised in that：The photoelectric cell is arranged at intervals, and the interval supplies institute The end for length of beating the grass described in when stating grass-mowing machine work is passed through, and when the interval is passed through in the end, the photosignal is anti- Penetrate, the photoelectric cell for being used to receive photosignal receives the photosignal reflected, and the controller recognizes The signal of the photoelectric cell, output control signal start the payingoff mechanism.

15. grass-mowing machine as claimed in claim 9, it is characterised in that：The detection module includes Hall sensor,

The line of beating the grass has magnetism, when line of beating the grass passes through the induction range of the Hall sensor, the Hall sensor sense The magnetism of the line of beating the grass should be arrived, when beating the grass, line abrasion meets or exceeds setting length,

Hall sensor can't detect the magnetic signal for line of beating the grass, the controller according to the signal to the Hall sensor, Output control signal is to start the payingoff mechanism.

16. grass-mowing machine as claimed in claim 9, it is characterised in that：The detection module includes Tansducer For Color Distiguishing, described Tansducer For Color Distiguishing can identify the color of the line of beating the grass, and when beating the grass, line abrasion meets or exceeds setting length, the face Color identification sensor identifies the color less than the line of beating the grass, and controller is according to the signal of the Tansducer For Color Distiguishing, output Control signal starts the payingoff mechanism.

17. grass-mowing machine as claimed in claim 1, it is characterised in that：The payingoff mechanism includes at least one unwrapping wire electronic cutting Close, the unwrapping wire electronic switch can according to the comparative result selective actuation payingoff mechanism.

18. grass-mowing machine as claimed in claim 1, it is characterised in that：The payingoff mechanism is according to comparative result selectivity Start to discharge the line of beating the grass, the length of beating the grass is increased to target length, the detection module is also detected described in reflection Whether length of beating the grass reaches the parameter of the target length, and whether controller length of beating the grass according to the reflection reaches The unwrapping wire that the parameter output control signal of the target length stops the payingoff mechanism with selectivity acts.

19. grass-mowing machine as claimed in claim 1, it is characterised in that：For each comparative result, the payingoff mechanism is most It is perform a unwrapping wire action more.

20. grass-mowing machine as claimed in claim 1, it is characterised in that：The grass-mowing machine further includes the adjusting mechanism of parameter preset, The parameter preset can be adjusted by adjustment structure.

21. grass-mowing machine as claimed in claim 1, it is characterised in that：The payingoff mechanism further includes control device,

The control device includes the control circuit being electrically connected with motor, and the control circuit is used to control motor normal Changed between operating rate and payingoff speed.

22. a kind of line-putting method of grass-mowing machine, grass-mowing machine as claimed in claim 1, it is characterised in that：Line-putting method include with Lower step：

23. the line-putting method of grass-mowing machine as claimed in claim 22, it is characterised in that：If the specific ginseng of S1 steps detection Number is specially the parameter for reflecting workload.

24. the line-putting method of grass-mowing machine as claimed in claim 23, it is characterised in that：If the specific ginseng of S1 steps detection Number includes the operating currents of grass-mowing machine, and the parameter preset includes pre-set current value, the controller by the operating current and The pre-set current value is compared, if the operating current is less than the pre-set current value, starts the unwrapping wire in step S3 Mechanism is to discharge the line of beating the grass.

25. the line-putting method of grass-mowing machine as claimed in claim 24, it is characterised in that：If detection module detects in S1 steps Parameter further includes voltage, and the controller will calculate the corresponding pre-set current value by the voltage.

26. the line-putting method of grass-mowing machine as claimed in claim 22, it is characterised in that：If the special parameter bag of S1 steps detection The rotating speed of the motor is included, the parameter preset includes preset motor tachometer value, by the rotating speed and the preset motor rotating speed It is compared, if the rotating speed is more than the preset motor rotating speed, starts the payingoff mechanism in step S3 to discharge described beat Careless line.

27. grass-mowing machine as claimed in claim 26, it is characterised in that：The parameter of the detection module detection further includes voltage, The preset motor tachometer value is calculated by the voltage in the controller.

28. the line-putting method of grass-mowing machine as claimed in claim 22, it is characterised in that：The special parameter of S1 steps detection is specific For the parameter of the actual physics length for length of beating the grass described in reflection.

29. the line-putting method of grass-mowing machine as claimed in claim 28, it is characterised in that：If the special parameter bag of S1 steps detection Photosignal is included, the parameter preset does not wear or wear the default optical telecommunications for not up to setting length including length of beating the grass Number, by the photosignal compared with the default photosignal, if the photosignal is different from the default photoelectricity Signal, starts the payingoff mechanism in step S3 to discharge the line of beating the grass.

30. the line-putting method of grass-mowing machine as claimed in claim 28, it is characterised in that：If the special parameter bag of S1 steps detection Photosignal is included, the parameter preset meets or exceeds the default photosignal of setting length including length abrasion of beating the grass, by institute Photosignal is stated compared with the default photosignal, if default photosignal is identical described in the photosignal, step Start the payingoff mechanism in S3 to discharge the line of beating the grass.