CN108565905A

CN108565905A - A kind of intelligent grass-removing of tool intelligent operation backlight power-saving circuit system

Info

Publication number: CN108565905A
Application number: CN201810075553.1A
Authority: CN
Inventors: 苏克; 朱典悝; 叶晓波; 叶坚泽
Original assignee: Ningbo Daye Garden Equipment Co Ltd
Current assignee: Ningbo Daye Garden Equipment Co Ltd
Priority date: 2018-01-15
Filing date: 2018-01-15
Publication date: 2018-09-21

Abstract

It is a kind of tool intelligent operation backlight power-saving circuit system intelligent grass-removing standby mode under automatically switch to sleep for electricity saving state, about 29 microamperes of complete machine discharge current, battery pack expire under electric condition at this time, are saved in 280 days and are not vented.Close the electric quantity consumption that backlight reduces machine.

Description

A kind of intelligent grass-removing of tool intelligent operation backlight power-saving circuit system

Technical field

The present invention relates to a kind of for the hay mower that places cut the grass on a lawn beside garden, park and road etc., is tool Automatic charging pin is inserted into and extracts the intelligent grass-removing of the charging assembly of contact chip.It is to contain to be located at lawnmower chassis front at it Anticollision safety device and containing equipped with anticollision insure can automatic stop logatithmic spiral brake and equipped with low vibration foliage pressure-vacuum machine and contain It installs dust bag bracket and tying additional and bodice upper casing dust mouth adds soft, blow impeller and cutting edge, circuit is added to add insurance and biswitch, And silencing vibration-damping and honeycomb, idler wheel are changed to turn to, and comprehensive set pressure-vaccum and moving head and equipped with pouring and fertilising and spill medicine Liquid line tube rolling device multi-functional grass trimmer and tool automatic charging pin be inserted into and extract contact chip component intelligence cut On the basis of careless machine, again it is improved it is a kind of tool intelligent operation backlight power-saving circuit system intelligent grass-removing.

Background technology

Hay mower is widely used in mowing by the selected mode of hobby of people.Some operation pedestrians like When with custom grass trimmer, slightly larger strength is made on latter half of upper handrail and has a kind of feeling of dependence and pushing, this is with regard to nothing The hanging possibility of the tilting of front-wheel is increased in shape；And the design of grass trimmer should also look after the comfortable and square of user as far as possible Just.Also lacked using being stuck up before the grass trimmer of petrol engine, because of engines heavy.But it is stuck up before sticking up especially the near front wheel before also having Bad phenomenon occur.For power-operated mower, since motor is lighter than engine, and motor axis will drive revolution The prodigious hay knife of diameter, but cannot too forward installation, therefore the front-wheel of power-operated mower stick up lift phenomenon it is more common.It says again, According to related standard such as GB4706.78-2005；IEC60335-2-77-2002；The standards such as EN836-1997, especially EN836/A3-2004/ 4.2.3.2.1~4.2.3.2.3.3 have the code requirement on 16.7 degree of slope.Add in complete machine front and matches Weight sand pot, installation will change chassis, to add three holes position, also want gaza's stone, cumbersome.For counterweight because heavier, transportation cost is also higher.Separately There is common grass-mowing machine, do not have to knife, the moving head for having nylon wire is driven by series excited machine.When installing grass-mowing machine, and start make around Nylon wire rotation in line wheel 25-3, can beat the grass.When line in short-term, operator's pier pressure once, reel aluminium head 25-3b touch ground, So that reel spring 25-1 is compressed, and reel 25-3 is made to turn, the nylon wire 134 in it is made to lead to wire over inserted sheet 25-6, and puts Line.The long line released is trimmed by blade 127.Blade sleeve 126 is placed on blade 127 when not used, there is protective action.It beats the grass Head effect of beating the grass is good, power saving lighter and handier than knife, but because needing pier to press line, and can not be mounted in has on the common grass trimmer of wheel.

The common widely used engine of hay mower, scope of activities is wide, but wants oil consumption, exhaust pollution environment.Some Operation pedestrian likes using power-operated mower, but is limited by power supply, and the widely used of this grass trimmer is also restricted.Just like Automobile needs gas station the same, and power-operated mower is also required to charging station, and market needs a kind of improved tool automatic charging pin to be inserted into And the intelligent grass-removing of contact chip component is extracted so as to reliably automatic plug charging；But how micro charging is plugged servo-actuatedly be A problem, innovation design are hovered such as ghost for a long time, and Switzerland senior engineer SENI.ENGI. lifetimes experience and international co-operation are borrowed, Sequentially formation charging, is thousand worries and good fortune has one to obtain, then improved a kind of tool intelligent operation backlight power-saving circuit of the invention The intelligent grass-removing of system just comes into being, solve the problems, such as battery be not durable frequently need to manually charge and it is micro servo-actuatedly The problem of reliable plug charging.It is continuously improving and perfect improved tool automatic charging pin is inserted into and extracts contact chip component On the basis of intelligent grass-removing, a kind of intelligent grass-removing of tool intelligent operation backlight power-saving circuit system is further developed.Its is comprehensive It is to expand use scope to close effect, reinforces pressing grass soil moisture conservation and safety, and save energy and environmental protection.

The present invention relates to a kind of for the hay mower that places cut the grass on a lawn beside garden, park and road etc., is to change Into a kind of tool intelligent operation backlight power-saving circuit system intelligent grass-removing；It is to contain to be located at the anti-of lawnmower chassis front at it Hit protector and containing equipped with anticollision insure can automatic stop logatithmic spiral brake and equipped with low vibration foliage pressure-vacuum machine and containing plus Dress dust bag bracket and tying and bodice upper casing dust mouth add soft, blow impeller and cutting edge, circuit is added to add insurance and biswitch, and The material and honeycomb of additional silencing vibration-damping in blower, idler wheel are changed to turn to, and it is single stretch out cylinder be changed to more protruded tubes or Flexible folding pipe, it is comprehensive set pressure-vaccum and moving head and equipped with pour and the tube rolling device of fertilising and the liquid line for spilling medicine it is multi-functional Grass trimmer on the basis of, then set it is improved tool automatic charging pin be inserted into and extract contact chip component intelligent grass-removing, so as to Reliably automatic plug charges；Need gas station the same just like automobile, power-operated mower is also required to charging station, and market needs one kind Has the intelligent grass-removing that automatic charging pin was inserted into and extracted the charging assembly of contact chip, so that reliably automatic plug charges；In Be it is a kind of it is improved tool automatic charging pin be inserted into and extract contact chip component intelligent grass-removing just come into being, solve electricity Pond is not durable the problem of frequently need to manually charging；A kind of intelligence of improved tool intelligent operation backlight power-saving circuit system is mowed Machine is inserted into containing improved tool automatic charging pin and extracts contact chip component；The tool automatic charging pin is inserted into and extracts and connects Contact assemblies, the fixed power supply part of the automatic charging pin insertion part containing tool, the also tool of the fuselage containing grass trimmer extract contact The movable electric component of piece；The fixed power supply part of the tool automatic charging pin insertion part, equipped with being horizontally arranged in earth's surface Bottom plate, stand on front front wall, power supply source, fot screw, the left side and right side of the bottom plate for being horizontally arranged in earth's surface are respectively set Have along the symmetrical guided way of axis (233c), so as to the front to grass trimmer fuselage along the symmetrical left side of axis and Right side is oriented to；And the bottom plate for being horizontally arranged in earth's surface left side and right side it is each be equipped with along the symmetrical guiding of axis The curved section of each guided way of rail (233c) is a cube curve, to slow down impact；The bottom plate for being horizontally arranged in earth's surface Four feet are equipped with the fot screw, to fix；Front is stood in the front of the bottom plate for being horizontally arranged in earth's surface equipped with described Front wall；The front wall for standing on front is equipped with the charging pin along the symmetrical left side of axis and right side each one ((233), (root of (233) is equipped with pin ball (233a) to the charging pin, so as to micro servo-actuated, described charging pin ((233) Root be equipped with screw thread, to be connected with the power supply source；The charging pin (head of (233) is equipped with inserting surface (233b), So that the pin that charges is inserted into and extracts contact chip；The bottom plate for being horizontally arranged in earth's surface is laid with and draws along central axes and in workspace Domain is equipped with the conducting wire of leading the way of electromagnetic pulse along earth's surface, will pass through the sensor (234d) of grass trimmer lower front and pass through electricity Walking setting to the fixed power supply part for having automatic charging pin insertion part when road plate intelligently guiding grass trimmer will charge Have on the bottom plate for being horizontally arranged in earth's surface；The movable electric component that contact chip is extracted containing tool is located at grass trimmer front, described Containing sensor (234d) of the movable electric component for having extraction contact chip containing the grass trimmer lower front and it is located at mowing The contact chip (234) and tabletting torsional spring (234a) and shaft of machine front；The contact chip (234) and tabletting torsional spring (234a) And shaft it is each altogether there are four, each described contact chip (234) and tabletting torsional spring (234a) and shaft form an activity Door, and each described described contact chip (234) and tabletting torsional spring (234a) and shaft composition a dodge gate with it is described It is aspectant right that another dodge gate of each described contact chip (234) and tabletting torsional spring (234a) and shaft composition is formed That opens is two-door, and left and right side respectively has connecing for aspectant each contact chip (234) of the two-door dodge gate Contacting surface (the institute along the symmetrical left side of axis and right side each one that (234b) corresponding described front wall for standing on front is equipped with (inserting surface (233b) that the head of (233) is equipped with leans on pin ball (233a) micro servo-actuated to the charging pin stated by charging pin It is inserted into；Grass trimmer retrogressing can be started when being charged to setting value, so that charging pin is extracted contact chip, then work；When charging again Grass trimmer walking being horizontally arranged on the bottom plate of earth's surface simultaneously to the fixed power supply part for having automatic charging pin insertion part It is inserted by charging pin.

It continuously improves and a kind of perfect improved intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, it is special Sign is that the left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along the symmetrical guided way of axis (233c) Curved section mutually be in toroidal, to be matched with the auxiliary guide rod (234e) of grass trimmer front side edge.

It continuously improves and a kind of perfect improved intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, it is special Sign is that the left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along the symmetrical guided way of axis (233c) The curved section of each guided way be a cube curve, subtract punching to match with the auxiliary guide rod (234e) of grass trimmer front side edge It hits.

It continuously improves and a kind of perfect improved intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, it is special Sign is that the fot screw that four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with is swell fixture.

It continuously improves and a kind of perfect improved intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, it is special Sign is, the charging pin (the pin ball (233a) that the root of (233) is equipped with is that cross pin is equipped on spheric seat, so as to It is micro servo-actuated.

It continuously improves and a kind of perfect improved intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, it is special Sign is that (there are two nuts for dress on the screw thread that the root of (233) is equipped with, with anti-loosening for the charging pin.

It continuously improves and a kind of perfect improved intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, it is special Sign is that (orientation device (233a) that the root of (233) is equipped with is packed into thick rubber pad to the charging pin, resistance to so as to fine motion Impact.

It continuously improves and a kind of perfect improved intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, it is special Sign is that (inserting surface (233b) that the head of (233) is equipped with is wedge to the charging pin.

It continuously improves and a kind of perfect improved intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, it is special Sign is that there are two the close circle torsional springs of the tabletting torsional spring (234a).

It continuously improves and a kind of perfect improved intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, it is special Sign is that (one section of curve of (234b) is logatithmic spiral to the contact surface of the contact chip (234), because of logatithmic spiral, that is, isogonism Helical has pressure angle equal characteristic everywhere, is conducive to contact and is inserted into.

Continuously improve and perfect improved tool automatic charging pin be inserted into and extract contact chip component intelligent grass-removing On the basis of, further exploitation is continuously improved and a kind of perfect improved intelligence of tool intelligent operation backlight power-saving circuit system Grass trimmer.

A kind of intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, is inserted into containing improved tool automatic charging pin And extract contact chip component；The tool automatic charging pin is inserted into and extracts contact chip component, and the automatic charging pin containing tool is inserted into The tool of the fixed power supply part of component, the also fuselage containing grass trimmer extracts the movable electric component of contact chip；The tool is automatic Charging pin insertion part fixed power supply part, equipped be horizontally arranged in the bottom plate of earth's surface, stand on front front wall, power supply source, Fot screw, the unilateral side of the bottom plate for being horizontally arranged in earth's surface is equipped with symmetrically to be oriented to along the preceding inlet wire of unilateral preceding universal wheel Rail (233c), to be oriented to along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer；And it is described It is horizontally arranged in each the be equipped with each guiding along the symmetrical guided way of axis (233c) in left side and right side of the bottom plate of earth's surface The curved section of rail is a cube curve, to slow down impact；Four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with the lower margin spiral shell Nail, to fix；The front of the bottom plate for being horizontally arranged in earth's surface is equipped with the front wall for standing on front；It is described stand on before The front wall of side is equipped with charging pin ((233), the charging pin along the symmetrical left side of axis and right side each one (root of (233) is equipped with pin ball (233a), is servo-actuated so as to micro, the charging pin (root of (233) is equipped with screw thread, so as to It is connected with the power supply source；(head of (233) is equipped with inserting surface (233b) to the charging pin, and to charge, pin is inserted into and pulls out Go out contact chip；The bottom plate for being horizontally arranged in earth's surface is laid with along central axes and draws and be equipped with electromagnetism along earth's surface in working region The conducting wire of leading the way of pulse, will pass through the sensor (234d) of grass trimmer lower front and by circuit board intelligently guiding grass trimmer It is walked when charging to the fixed power supply part for having automatic charging pin insertion part equipped with the bottom for being horizontally arranged in earth's surface On plate；The movable electric component that contact chip is extracted containing tool is located at grass trimmer front, the work that contact chip is extracted containing tool Sensor (234d) of the dynamic electric component containing the grass trimmer lower front and the contact chip (234) for being located at grass trimmer front And tabletting torsional spring (234a) and shaft；The contact chip (234) and tabletting torsional spring (234a) and shaft it is each altogether there are four, often One contact chip (234) and tabletting torsional spring (234a) and shaft form a dodge gate, and described connect described in each A dodge gate and each described described contact chip (234) for contact (234) and tabletting torsional spring (234a) and shaft composition And another dodge gate of tabletting torsional spring (234a) and shaft composition forms aspectant split two-door, left and right side is each Having the contact surface of the aspectant contact chip (234) of the two-door dodge gate, ((234b) is corresponding described Stand on the charging pin (head of (233) along the symmetrical left side of axis and right side each one that the front wall in front is equipped with The inserting surface (233b) that portion is equipped with leans on the micro servo-actuated insertion of pin ball (233a) by charging pin；When being charged to setting value Grass trimmer retrogressing can be started, so that charging pin is extracted contact chip, then work；When charging again, grass trimmer walking has certainly to described The fixed power supply part of dynamic charging pin insertion part being horizontally arranged on the bottom plate of earth's surface and being inserted by charging pin；The level It is laid on each the be equipped with each guided way along the symmetrical guided way of axis (233c) in left side and right side of the bottom plate of earth's surface Curved section is a cube curve, to match and impact-reducing with the auxiliary guide rod (234e) of grass trimmer front side edge；The level It is swell fixture to be laid on the fot screw that four feet of the bottom plate of earth's surface are equipped with；The root of the charging pin (233) is equipped with Pin ball (233a), be that cross pin is equipped on spheric seat, so as to micro servo-actuated；(root of (233) is set the charging pin There are two nuts for dress on some screw threads, with anti-loosening；The inserting surface (233b) that the head of the charging pin (233) is equipped with It is wedge；There are two the close circle torsional springs of the tabletting torsional spring (234a)；The contact surface of the contact chip (234) (one section of curve of (234b) is logatithmic spiral, because logatithmic spiral, that is, equiangular spiral has pressure angle equal characteristic everywhere, is conducive to Contact is inserted into；A kind of gardens grass trimmer of tool intelligence booting duration power-saving circuit system, the charging pin being equipped with (the pin ball (233a) that the root of (233) is equipped with is on recessed half ball seat and the coaxial line of the left and right each one of the pin ball Pin is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；A kind of tool intelligent operation backlight power-saving circuit The water that the fixed power supply part of its tool automatic charging pin insertion part contained of the intelligent grass-removing of system is equipped with The unilateral side for being laid in the bottom plate of earth's surface is equipped with preceding inlet wire along unilateral preceding universal wheel and symmetrical narrow guided way (233c), institute The intermediate groove for stating narrow guided way (233c) is only capable of accommodating the preceding universal wheel of the unilateral front-wheel of grass trimmer, the narrow guided way The left and right width of (233c) is less than the half of the width of grass trimmer, and each guided way of the narrow guided way (233c) is containing height The toroidal of cube curved section of the function curve of equal mathematics, to slow down impact and preceding universal wheel to be made to match with half of guide groove It closes and is oriented to and is expanded mowing area along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer, keep away Exempted between original two wide guided ways there is the half to keep left to be the areas Lou Ge or the half to keep left is the areas Shang Dao or keeps left one It is partly to hinder guide rail area；A kind of tool automatic charging pin insertion of the intelligent grass-removing of tool intelligent operation backlight power-saving circuit system It is connected to photovoltaic generation charging pile on the bottom plate of the fixed power supply part of component and is laid on earth's surface along mowing border to have electromagnetism arteries and veins The conducting wire of leading the way of punching besieges circle, in the conducting wire of leading the way for having electromagnetic pulse for being laid on earth's surface along grass cutting action region border It besieges and puts more hay mowers in circle, described every hay mower is equipped with compass compass so as in operation It forms a line come volume of keeping order by direction in length and breadth；The fixed power supply part of the tool automatic charging pin insertion part is cut with lawn Between careless machine, using the remote of the more chargings of sequentially forming into columns of perception of operation when tool aware circuit Multifunctional flat director, people The detecting head and multiple video cameras and laser and supersonic sounding device of the semi-automatic correction sensor wire electromagnetic field of being rectified a deviation with mobile phone of work Perception and positioned by the Big Dipper of internet is charged to be remotely controlled each gardens working machine order；The working machine, which contains, takes intelligence The charge management circuit of change takes different charging strategies according to the practical battery condition of battery pack, ensures system work；According to electricity The practical battery conditions of Chi Bao take different charging strategies；When battery single-unit battery core voltage be less than 2.7V/CELL, due to system Operating current is larger, and battery core remaining capacity is not enough to maintain system worked well, is directly given at this time by the voltage for base station of charging It system power supply and charges the battery, concrete operating principle is as follows：System detectio cell voltage when charging station when machine is linked into, If voltage is less than 2.7V/CELL, at this point, BD_EN, BT_ctr control signal that MCU is sent out all are low level, TF14 MOS is connected, charging base station to system power supply, meanwhile, TF10 MOS cut-off prevents battery to system power supply, avoids battery excessive Electric discharge, the work of each section circuit are as follows：Battery voltage detection circuit：When system works, the AD input pin detection resistances of MCU The branch pressure voltage of R142, R146, R147 calculate the voltage value of battery through over-sampling, and compared with the charge threshold of software setting, To control charging modes；

The voltage that microcontroller micro control unit chip MCU is sampled：

V=(R146//R147) * (R142+R146//R147) * Vbattery

The effect of wherein TF15 metal-oxide-semiconductor field effect transistors is as follows：

When system is under normal power supply state, the poles G of MOS are powered by 12V voltages to the poles G, and G pole tensions are：

VG-S=R127/ (R126+R127) * 12V

This voltage ensures the reliable conducting of TF15 pipes, and battery voltage sampling circuit work, when system cut-off, TF15 is because of G, S Terminal voltage is ended for zero, and battery voltage sampling circuit disconnects, and prevents battery by this circuit discharging, reduce machine without using In the case of electric quantity consumption,

When machine be linked into the case of system cut-off charging base station, at this time because the BT_ctr signals of MCU be low level, Triode Q28 cut-offs, and the voltage at the ends B-E of triode Q27 is：

VB-E=VCIN+*R212/ (R210+R212),

This voltage value is more than the on state threshold voltage of triode, and triode Q27 is connected, at this time the ends G-S of TF14 metal-oxide-semiconductors Voltage is：

VG-S=VCIN* (1-R211/ (R209+R211))

Therefore TF14 is connected, base station voltage VCIN+, to system power supply, system Auto Power On, and is detected whether by TF14 Meet charge condition；In charging process, when MCU is detected, charging voltage is more than 2.7V/CELL, control signal BT_ctr, BD_EN is switched to high level by low level, and charged state switches as described below：

When being switched to high level by low level because of BT_ctr signals, triode Q28 is led by cut-off state switched conductive state The base voltage of triode Q27 is caused to be reduced to no-voltage and end, TF14 ends therewith, and base station is disconnected to system power supply channel,

While BT_ctr signals are switched to high level by low level, BD_EN signals are also switched to high electricity by low level Flat, triode Q16 is switched to conducting state by cut-off state, and the voltage drop at R138 resistance both ends is more than the G-S electric conductions of TF10 Pressure, TF10 MOS are connected therewith, at this point, while base station supplying channels disconnect, by battery to system power supply,

The effect of D23A diodes：In the other working conditions of system, the state in addition to charging, to prevent cell voltage CIN+ signal ends are added to by the body diode of TF14, system is made to be judged as, into charged state and maloperation, adding an obstruction two Pole pipe；

The effect of D23 diodes：In charged state, charging voltage is prevented to be filled to battery by the body diode of TF10 Electricity；

This system uses intelligentized charging management system, the data in multiple charge data detections and charging process to survey Amount, provides multiple protection functions, to ensure charging safety；

Chip MCU determines the size of charging, and charge cutoff voltage and electric current according to setting by detecting cell voltage Value, decision when terminate charging, with ensure charging safety and raising battery service life,

MCU controls the size of charging current by controlling the level condition of ChrgEn1, ChrgEN2 signal,

When MCU is detected, cell voltage is less than 2.7V/CELL, charged the battery using low current, at this point, ChrgEn1 signals are low level, meanwhile, ChrgEN2 signals are high level, and triode Q20 is connected, and triode Q19 is connected therewith, Base station voltage is charged the battery by resistance R164, R164A, R164B, Q19,

The effect of resistance R164, R164A, R164B are as follows：

Metering function is played, charging current is：

IChrg=(VCIN+-Vbattery)/(R164+R164A+R164B)

It avoids cell voltage too low, by base station voltage pull-down, leads to system cisco unity malfunction；

When MCU is detected, cell voltage is higher than 2.7V/CELL, charged the battery using high current, at this point, ChrgEn1 signals are switched to high level, meanwhile, ChrgEN2 signals are switched to low level, triode Q21 conductings, metal-oxide-semiconductor TF12 Be connected therewith, base station voltage is charged the battery by resistance TF12 metal-oxide-semiconductors, charging current by base station charger current size Lai It determines, R176, R181 are current sampling resistor, when the voltage that charging current flows through the generation of this resistance is more than MCU setting charging thresholds When threshold voltage, MCU thinks the overcurrent that charges, and stops charging immediately；

Charge cutoff condition：

When battery stagnation pressure is more than 4.15V/CELL or charging current is less than 200mA, stops charging, battery is avoided to occur It overcharges；

System power supply circuit：

This system power-supply service provided by the way of Switching Power Supply and linear stabilized power supply combination 12V needed for system, 5V, 3.3V voltage, specific works are described as follows：

Cell voltage or base station supply voltage are added in the input pin 1 of Switching Power Supply transformation chip, when switch control pin 5 For low level when, control chip interior connection pin 1 and pin 2 between metal-oxide-semiconductor be on off state, metal-oxide-semiconductor is at each The turn-on time of switch periods depends on the error amount that output voltage feeds back to the feedback voltage and built-in reference voltage at 4 end of pin Size,

MOS conducting states are set in the chip, and input voltage provides energy, while inductance L1 by inductance L1 to output+12V With capacitance C64 during this period also can storing up electricity energy,

When MOS is disconnected, the electric energy being stored on inductance L1 in a upper turn-on cycle can release, and be supplied to load Electricity, diode D21 provide current loop to inductance L1, and when energy reduces on L1, C64 supplements provide voltage, maintain output electricity Pressure+12V is constant；

The operation principle of built-in switch pipe is as described below：

When loading increasing, output voltage reduces, while the voltage of feedback pin 4 decreases, the base with chip interior The error amount of quasi- voltage increases, and as a result lengthens the turn-on time of built-in MOS, and more electricity increase output end, keeps output electric The nearly setting pressure of crimping, maintains output voltage stabilization；

Similarly, when output loading reduces, output voltage rises, therefore feedback voltage reduces with reference voltage error, leads It causes built-in MOS switch pipe turn-on time to reduce, reduces the electricity that feeder ear is supplied to load end, output is made to fall after rise to setting Voltage value, the above variation because of load cause output voltage and set the error amount of voltage value, and output voltage is made to maintain dynamic flat Input voltage is directly transformed to the voltage needed for system by the stationary value of weighing apparatus because Switching Power Supply is operated on off state, cancels line Property power input output voltage difference energy expenditure, therefore, have it is efficient, simultaneity factor calorific value is small, provide system work Reliability,

U18, U16 are three terminal regulator, provide 5V, 3.3V operating voltage needed for system；

Motor control part principle：

Control principle drawing is as follows：

When collision alarm is sent to MCU by Hall sensor, MCU will control the BLADE_DIR's in motor operation direction Signal is switched to high level by low level, after the processing of following negative circuit, generates low level BLADE_P7 signals to electricity Machine driving chip U13, motor switch inverted status by rotating forward, and machine executes fall back action, and left and right movable motor has phase Same function；

The electromechanical machine speed control circuit schematic diagram of Figure 20 intelligence gardens work is please referred to below：

Motor speed control principle：

Under different working conditions, motor operation speed also differs machine, it is therefore desirable to feed back the operation speed of motor It spends signal and drives core U13 to motor, this system design uses dedicated motor speed detection chip, to generate motor speed control Required feedback voltage, without expensive tachometer, U12, you can realize this function,

Concrete operating principle is as described below：

Be motor driven chip U13 as electronics rotor position decoding Hall sensor output signal occur it is positive or negative Saltus step can make U12 generate the pulse of an amplitude and duration, and parameter is determined by non-essential resistance R101, C48, in U12 Pin 5 at output pulse by U13 error amplifier integrate, to generate a DC level, the level and motor speed Directly proportional, this velocity feedback voltage establishes PWM datums at the pin 13 of U13, and is closed into feedback control loop, output driving The control signal of MOS, meanwhile, the PWM reference voltages at U13 pins 13, which are fed back to MCU, has the pin of analog-digital conversion function, So that MCU learns motor actual motion speed, and control voltage is adjusted according to the difference of actual motion velocity amplitude and setting value,

Interlock circuit is described as follows：

RMOT_DAC is that the target velocity of MCU outputs controls the voltage value, (amplification factor=1+ after operational amplifier amplifies R5/R12), send to the pin 11 of right movable motor driving chip, draw target velocity voltage and the difference of actual speed voltage passes through After the amplification of chip interior error amplifier, the reference voltage signal RMOT_P6 that above-mentioned PWM is adjusted is exported at pin 13；

A kind of intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, which is characterized in that

Its hardware switch Switch is red button (On/Off), and one end ground connection act as booting and shutdown, software BD_EN is circuit board, and effect makes circuit #defineBD-EN, BIT--ADDR (GPIOD-ODR- when MCU works when being switched on Addr, 1) //, circuit board makes KEY0 be circuit off signal foot (PG0), and On/OFF is followed by a number shutdown of collecting mail, makes #define K11, BIT-ADDR (GPIOG-IDR-Addr, 0) //, process is：

A. start process

Long-press red button, i.e. switch are connected with ground short circuit, at this time TF10, and board power module works on circuit Electricity, MCU work, BD_EN enable high level, triode Q16 conductings.The switch circuit boards that come loose at this time can also work normally；

B. shutdown process

Pressing red button, i.e. switch and ground short circuit have button to loose one's grip detection, do not bleed off button and do not trigger at this time, and three The E electrode potentials of grade Q16 drag down, and KEY0 receives low level, and MCU sends out instruction BD_EN and enables low level, triode shutdown, electricity Road plate power-off；

Power-saving circuit is analyzed：This circuit known to the above process is also boot-strap circuit, and MCU can to the control of BD_EN With the power on/off of free control circuit board, can be powered off when needing power-off；

One, booting duration power-saving circuit systems, referring to Figure 21：

This system controls all kinds of Switching Power Supplies and linear stabilized power supply by controlling the break-make of switching tube at any time, always reaches To the effect for not consuming electricity excessively, battery pack voltage (P+/C+) forms 28V pressure differences with (P-/C-) and enters switch in circuit Button is one one termination FCT84 and the button switch of one end ground connection, and effect is when pressing switch, and FCT84 current potentials are ground, will TF10 pipes in circuit are opened；

The effect of wherein TF10 metal-oxide-semiconductor field effect transistors is as follows：

Under system normal power supply state, the poles G of MOS are powered by 28V voltages to the poles G, and G pole tensions are：

VG-S=R138/ (R138+R141) * 28V

This voltage ensures that TF10 pipes can lead to and can break, power circuit pole battery voltage sampling circuit normal work, when system is disconnected TF15 ends because G and s terminal voltages is 0 when electric, system power supply close, reduce machine without using in the case of electricity disappear Consumption；After TF10 is opened, U17 provides 12V voltages for switching power supply for system, and U18, U16 are that three terminal regulator is system 5V, 3.3V operating voltage are provided

3.3V voltages are received by a series of filter circuit MCU to start to work normally, program after MCU normally starts Into self-check program,

Wherein self-check program detects

1. battery temperature detects

2. battery capacity detects

3.HALL is detected

4.BKP detects+read BKP

5. sideband signal detects

6.MPU9250 is detected

After logical self-test, MCU is judged as normal basic function normally BD_EN (PD1) will be set to 1 and is high level, at this time The poles B of Q16 will form pressure difference with the poles E, and the poles C will be connected with the poles E.Circuit board will not when bleeding off switch again at this time Power down, program normally enter human-computer interaction interface (INTERACTION).

This PIN foot of wherein KEY0 act as power down function at any time and SHUT_DOWN functions, when KEY0 enables high level The C of triode Q16 extremely high level at this time MOS TF10 VG-S be 0, metal-oxide-semiconductor shutdown, it is this at any time close circuit function It can accomplish the function of power saving.

Software code：

For executing shutdown after uncapping more than 7.5 minutes on software, and cuts off circuit and reduce loss.

In manually restarting function, it will shut down more than two minutes and avoid circuit loss

When in starting up, normal operation, once prolonging side can charging station and voltage is less than 2.7 and will close when finding base station Machine, in order to avoid excessive loss；

Another scheme：Stop knife power-saving circuit while cutting；

This system acquires cell voltage by MCU by ADC, and analyzes the stopping side in single-unit voltage 3v and cut function, with It prevents from being excessively lost, machine cannot go back to base station；

Battery voltage sampling circuit：

System work when, MCU AD sampling foot (PC3) and be also ADC sampling input pin detection resistance R142 and The branch pressure voltage of R146, R147 cut threshold value comparison through over-sampling calculated value and with the closed edge of software set, are mowed with control electric The purpose of machine；

The voltage that single-chip microprocessor MCU samples：

V (BATTERY_VOL)=(R146//R147)/(R142+R146//147) * Vbattery (cell voltage)

Software code is：

When system normal power supply, the poles G of metal-oxide-semiconductor are powered by 12V to the poles G, and G pole tensions are：

VG-S=R127/ (R126+R127) * 12V

This voltage ensures that TF15 pipes can lead to and can break, and battery voltage sampling circuit is working properly, works as system cut-off, TF15 because G, S terminal voltages are ended for zero, and battery voltage sampling circuit disconnects, and are prevented battery by this circuit discharging, are reduced machine not Electric quantity consumption in the case of use；

Circuit for controlling motor：

When systems are functioning properly, 24V voltages supply U13, the wherein BLADE_P4 connections of DC brushless motor normal operation The break feet of U13, this PIN is cried with braking function

The motor stalls when break feet are 0；

So after outage threshold is cut relatively in the voltage value of battery voltage sampling circuit acquisition and the side of software set, MCU BLADE_BRK feet electric position 1, at this time triode Q10 be connected, BLADE_P4 sets to 0, and motor sets rotation；

Software code：

This circuit system can detect voltage automatically when side is cut, less than knife is stopped automatically after software threshold value, to reduce circuit Power consumption；

In addition certain scheme：Run backlight power-saving circuit；

Back-light starting circuit：

U1 is three terminal regulator, and when XSP_BL electric positions 1, the VIN voltage of Q1, Q2 conducting, U1 is 5V, is become by U1 3V；So being the PE9 that controllable liquid crystal display backlight XSP_BL is connected to MCU by controlling XSP_BL, using position band Operation Definition PE9

#define XSP_BL BIT_ADDR (GPIOE_ODR_Addr, 9)

Software code：

This case representative function closes backlight and reduces circuit loss with this in run states；

Usefulness：The gardens grass trimmer for stopping knife power-saving circuit system is cut on a kind of tool intelligence side province's electro ultrafiltration.

Description of the drawings

Present invention will be further explained below with reference to the attached drawings and examples.

Fig. 1 is the schematic diagram of the intelligent grass-removing of the charging assembly for the tool automatic charging pin for having auxiliary guide rod (234e).

Fig. 2 is the charging pin (schematic diagram of the guided way (233c) of (233) and bottom plate on front wall.

Fig. 3 be contact chip (234) and tabletting torsional spring (234a) and shaft it is each altogether there are four schematic diagram.

Fig. 4 is the schematic diagram for the intelligent grass-removing for having the charging assembly that automatic charging pin was inserted into and extracted contact chip.

Fig. 5 is the charging pin (schematic diagram of (233) stood on the front wall in front.

Fig. 6 is the charging pin (schematic diagram of the root of (233) stood on the front wall in front.

Fig. 7 is the charging pin (schematic diagram of (233).

Fig. 8 is the schematic diagram of tabletting torsional spring (234a).

Fig. 9 is the signal of the bottom for the intelligent grass-removing for having the charging assembly that automatic charging pin was inserted into and extracted contact chip Figure.

Figure 10 is the contact surface (schematic diagram of (234b) of contact chip (234).

Figure 11 is the schematic diagram of half of guide groove.

Figure 12 is the schematic diagram of the intelligent grass-removing of the preceding universal wheel of tool.

Figure 13 is the flow diagram and circuit diagram of intelligent gardens working machine.

Figure 14 is intelligent gardens working machine charge management circuit schematic diagram.

Figure 15 is intelligent gardens working machine charging voltage detection circuit schematic diagram.

Figure 16 is intelligent gardens working machine system power supply potential circuit schematic diagram.

Figure 17 is the intelligent electromechanical machine control circuit schematic diagram of gardens work.

Figure 18 is the intelligent electromechanical stream operational amplification circuit schematic diagram of gardens work.

Figure 19 is intelligent gardens working machine brake and fall back circuit diagram.

Figure 20 is the intelligent electromechanical machine speed control circuit schematic diagram of gardens work.

Figure 21 is the schematic diagram of booting duration power-saving circuit system.

Figure 22 is the power circuit schematic diagram of power-saving circuit system.

Figure 23 is the partial schematic diagram of the power circuit of power-saving circuit system.

Figure 24 is the schematic diagram of another part of the power circuit of power-saving circuit system.

Figure 25 is that the partial schematic diagram for stopping knife power-saving circuit is cut on side.

Figure 26 is the schematic diagram that the circuit for controlling motor for stopping knife power-saving circuit is cut on side.

Figure 27 is the schematic diagram for the part that the motor circuit for stopping knife power-saving circuit is cut on side.

Figure 28 is the input and output schematic diagram that the motor circuit for stopping knife power-saving circuit is cut on side.

Figure 29 is the schematic diagram for running backlight power-saving circuit.

As shown, in figure：

234e. assists guide rod；233c. guided way；233. be charging pin；233a. sells ball；233b. inserting surfaces (233b)； 234d. sensor；234. contact chip；234a. tabletting torsional springs；234a. tabletting torsional springs；234b. contact surface.

Specific implementation mode

Pedestrian's grass trimmer is operated, safety goggles and mask are preferably put on, power supply is checked, mixes lithium battery, examine again Insurance is looked into, by operation instructions, runin once, has checked that leaf area without cullet and electric wire, just can be used under secure conditions It does, while notably rain situation.The mowing range for increasing power-operated mower, started it is a kind of existing moving head again There is the tool on the basis of the grass trimmer of winder to pass through a kind of tool intelligent operation back of the body that LAN is used for a station multimachine in wisdom garden The new technical field of the intelligent grass-removing of light power-saving circuit system.Its usefulness is that operation is asked when solving power supply and mowing all long Topic.

The present invention relates to a kind of for the hay mower that places cut the grass on a lawn beside garden, park and road etc., is to change Into a kind of tool intelligent operation backlight power-saving circuit system intelligent grass-removing, be to contain to be located at the anti-of lawnmower chassis front at it Hit protector and containing equipped with anticollision insure can automatic stop logatithmic spiral brake and equipped with low vibration foliage pressure-vacuum machine and containing plus Dress dust bag bracket and tying and bodice upper casing dust mouth add soft, blow impeller and cutting edge, circuit is added to add insurance and biswitch, and The material and honeycomb of additional silencing vibration-damping in blower, idler wheel are changed to turn to, and it is single stretch out cylinder be changed to more protruded tubes or Flexible folding pipe, it is comprehensive set pressure-vaccum and moving head and equipped with pour and the tube rolling device of fertilising and the liquid line for spilling medicine it is multi-functional Grass trimmer on the basis of, then set it is improved it is a kind of tool intelligent operation backlight power-saving circuit system intelligent grass-removing, in order to It charges by ground automatic plug；Need gas station the same just like automobile, power-operated mower is also required to charging station, and market needs a kind of tool Automatic charging pin is inserted into and extracts the intelligent grass-removing of the charging assembly of contact chip, so that reliably automatic plug charges；Then It is a kind of it is improved it is a kind of tool intelligent operation backlight power-saving circuit system intelligent grass-removing just come into being, solve battery need Frequently the problem of artificial charging；The intelligent grass-removing of improved a kind of tool intelligent operation backlight power-saving circuit system, containing improvement Tool automatic charging pin be inserted into and extract contact chip component；The tool automatic charging pin is inserted into and extracts contact chip component, Containing tool automatic charging pin insertion part fixed power supply part, also the fuselage containing grass trimmer tool extract contact chip it is movable by Electrical components；The fixed power supply part of the tool automatic charging pin insertion part, before being horizontally arranged in the bottom plate of earth's surface, standing on Front wall, power supply source, the fot screw of side, the left side and right side of the bottom plate for being horizontally arranged in earth's surface are respectively provided with symmetrical along central axes Guided way (233c), be oriented to along the symmetrical left side of axis and right side so as to the fuselage of the front to grass trimmer；And The left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along each of symmetrical guided way of axis (233c) The curved section of guided way is a cube curve, to slow down impact；Four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with describedly Foot screw, to fix；The front of the bottom plate for being horizontally arranged in earth's surface is equipped with the front wall for standing on front；Described is vertical Front wall in front is equipped with charging pin ((233), the charging along the symmetrical left side of axis and right side each one Pin (root of (233) is equipped with pin ball (233a), is servo-actuated so as to micro, the charging pin (root of (233) is equipped with screw thread, with Just it is connected with the power supply source；The charging pin (head of (233) is equipped with inserting surface (233b), be inserted into so as to the pin that charges and Extract contact chip；The bottom plate for being horizontally arranged in earth's surface is laid with along central axes and draws and be equipped with electricity along earth's surface in working region The conducting wire of leading the way of magnetic field impulse, will pass through the sensor (234d) of grass trimmer lower front and be mowed by circuit board intelligently guiding Being equipped with for fixed power supply part of walking to the tool automatic charging pin insertion part is horizontally arranged in earth's surface when confidential charging On bottom plate；The movable electric component that contact chip is extracted containing tool is located at grass trimmer front, described to extract contact chip containing tool Sensor (234d) of the movable electric component containing the grass trimmer lower front and the contact chip for being located at grass trimmer front (234) and tabletting torsional spring (234a) and shaft；The contact chip (234) and tabletting torsional spring (234a) and shaft are each shared Four, each described contact chip (234) and tabletting torsional spring (234a) and shaft form a dodge gate, and it is described each A dodge gate and each described described contact chip for the contact chip (234) and tabletting torsional spring (234a) and shaft composition (234) and another dodge gate of tabletting torsional spring (234a) and shaft composition formed it is aspectant split two-door, left side and Respectively there is contact surface ((234b) correspondence of aspectant each contact chip (234) of the two-door dodge gate on right side The charging pin along the symmetrical left side of axis and right side each one that the front wall for standing on front is equipped with (inserting surface (233b) that the head of (233) is equipped with leans on the micro servo-actuated insertion of pin ball (233a) by charging pin；When filling It is retreated to grass trimmer can be started when setting value, so that charging pin is extracted contact chip, then work；When charging again, grass trimmer is walked Being horizontally arranged on the bottom plate of earth's surface and being inserted by charging pin to the fixed power supply part for having automatic charging pin insertion part Enter.

It continuously improves and the gardens grass trimmer for stopping knife power-saving circuit system is cut on a kind of perfect improved tool intelligence side, it is special Sign is that the fot screw that four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with is swell fixture.

It continuously improves and a kind of perfect improved intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, it is special Sign is that (the pin ball (233a) that the root of (233) is equipped with is packed into thick rubber pad, the resistance to punching so as to fine motion to the charging pin It hits.

Usefulness：A kind of intelligent grass-removing energy automatic plug of improved tool intelligent operation backlight power-saving circuit system fills Electricity it is characterized in that charging pin (the pin ball (233a) that the root of (233) is equipped with is on spheric seat equipped with cross pin, Solves the problems, such as the reliable plug charging in micro servo-actuated ground.Need gas station the same just like automobile, power-operated mower is also required to fill Power station, market need the intelligent grass-removing that automatic charging pin plugs, and solving the problems, such as that battery is not durable frequently need to manually charge； It is horizontally arranged in the left side of the bottom plate of earth's surface and right side is each be equipped with is led along each of symmetrical guided way of axis (233c) It is a cube curve to the curved section of rail, to slow down impact；Contact surface (one section of song of (234b) of the contact chip (234) Line is logatithmic spiral, because logatithmic spiral, that is, equiangular spiral has pressure angle equal characteristic everywhere, is conducive to contact and is inserted into.It is described to connect Contact (234) and tabletting torsional spring (234a) and shaft it is each altogether there are four, form aspectant split two-door, left and right side Respectively there is the contact surface of aspectant each contact chip (234) of the two-door dodge gate (described in (234b) correspondence Stand on front front wall be equipped with along the charging pin on the symmetrical left side of axis and right side each one ((233) The inserting surface (233b) that head is equipped with, to charge, pin is inserted into, and can start grass trimmer retrogressing when being charged to setting value And it goes to mow；It is reciprocal with this when charging again in grass trimmer walking to bottom plate.Guided way use cube curve and contact surface use pair Number helical is technological progress.

It continuously improves and perfect, in the intelligent grass-removing that improved tool automatic charging pin is inserted into and extracts contact chip component On the basis of develop it is a kind of tool intelligent operation backlight power-saving circuit system intelligent grass-removing, contain improved tool automatic charging pin It is inserted into and extracts contact chip component；The tool automatic charging pin is inserted into and extracts contact chip component, the automatic charging pin containing tool The tool of the fixed power supply part of insertion part, the also fuselage containing grass trimmer extracts the movable electric component of contact chip；The tool The fixed power supply part of automatic charging pin insertion part, equipped with the front wall in front of being horizontally arranged in the bottom plate of earth's surface, standing on, power supply Source, fot screw, the unilateral side of the bottom plate for being horizontally arranged in earth's surface is equipped with symmetrical along the preceding inlet wire of unilateral preceding universal wheel Guided way (233c), to be oriented to along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer；And The left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along each of symmetrical guided way of axis (233c) The curved section of guided way is a cube curve, to slow down impact；Four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with describedly Foot screw, to fix；The front of the bottom plate for being horizontally arranged in earth's surface is equipped with the front wall for standing on front；Described is vertical Front wall in front is equipped with charging pin ((233), the charging along the symmetrical left side of axis and right side each one Pin (root of (233) is equipped with pin ball (233a), is servo-actuated so as to micro, the charging pin (root of (233) is equipped with screw thread, with Just it is connected with the power supply source；The charging pin (head of (233) is equipped with inserting surface (233b), be inserted into so as to the pin that charges and Extract contact chip；The bottom plate for being horizontally arranged in earth's surface is laid with along central axes and draws and be equipped with electricity along earth's surface in working region The conducting wire of leading the way of magnetic field impulse, will pass through the sensor (234d) of grass trimmer lower front and be mowed by circuit board intelligently guiding Being equipped with for fixed power supply part of walking to the tool automatic charging pin insertion part is horizontally arranged in earth's surface when confidential charging On bottom plate；The movable electric component that contact chip is extracted containing tool is located at grass trimmer front, described to extract contact chip containing tool Sensor (234d) of the movable electric component containing the grass trimmer lower front and the contact chip for being located at grass trimmer front (234) and tabletting torsional spring (234a) and shaft；The contact chip (234) and tabletting torsional spring (234a) and shaft is each shares four A, each described contact chip (234) and tabletting torsional spring (234a) and shaft form a dodge gate, and each described institute State a dodge gate of contact chip (234) and tabletting torsional spring (234a) and shaft composition and each described described contact chip (234) and another dodge gate of tabletting torsional spring (234a) and shaft composition formed it is aspectant split two-door, left side and Respectively there is contact surface ((234b) correspondence of aspectant each contact chip (234) of the two-door dodge gate on right side The charging pin along the symmetrical left side of axis and right side each one that the front wall for standing on front is equipped with (inserting surface (233b) that the head of (233) is equipped with leans on the micro servo-actuated insertion of pin ball (233a) by charging pin；When filling It is retreated to grass trimmer can be started when setting value, so that charging pin is extracted contact chip, then work；When charging again, grass trimmer is walked Being horizontally arranged on the bottom plate of earth's surface and being inserted by charging pin to the fixed power supply part for having automatic charging pin insertion part Enter；The left side and right side of the bottom plate for being horizontally arranged in earth's surface are each be equipped with along the every of the symmetrical guided way of axis (233c) The curved section of a guided way is a cube curve, to match and impact-reducing with the auxiliary guide rod (234e) of grass trimmer front side edge； The fot screw that four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with is swell fixture；The charging pin be ((233) The pin ball (233a) that root is equipped with is that cross pin is equipped on spheric seat, so as to micro servo-actuated；The charging pin (there are two nuts for dress on the screw thread that the root of (233) is equipped with, with anti-loosening；The head of the charging pin (233) is equipped with Inserting surface (233b) be wedge；There are two the close circle torsional springs of the tabletting torsional spring (234a)；The contact chip (234) Contact surface (one section of curve of (234b) is logatithmic spiral, because logatithmic spiral, that is, equiangular spiral have pressure angle it is equal everywhere Characteristic is conducive to contact and is inserted into；A kind of intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, the charging pin (233) the pin ball (233a) that root is equipped with is mounted on recessed half ball seat and the pin of the coaxial line of the left and right each one of the pin ball It is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；A kind of tool intelligent operation backlight power-saving circuit system The level that the fixed power supply part of its tool automatic charging pin insertion part contained of the intelligent grass-removing of system is equipped with The unilateral side for being laid on the bottom plate of earth's surface is equipped with preceding inlet wire along unilateral preceding universal wheel and symmetrical narrow guided way (233c), described The intermediate groove of narrow guided way (233c) is only capable of accommodating the preceding universal wheel of the unilateral front-wheel of grass trimmer, the narrow guided way The left and right width of (233c) is less than the half of the width of grass trimmer, and each guided way of the narrow guided way (233c) is containing height The toroidal of cube curved section of the function curve of equal mathematics, to slow down impact and preceding universal wheel to be made to match with half of guide groove It closes and is oriented to and is expanded mowing area along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer, keep away Exempted between original two wide guided ways there is the half to keep left to be the areas Lou Ge or the half to keep left is the areas Shang Dao or keeps left one It is partly to hinder guide rail area.

Usefulness：A kind of intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, the charging pin (233) the pin ball (233a) that root is equipped with is mounted on recessed half ball seat and the pin of the coaxial line of the left and right each one of the pin ball It is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；A kind of tool intelligence side, which is cut, stops knife power-saving circuit system The level that the fixed power supply part of its tool automatic charging pin insertion part contained of the gardens grass trimmer of system is equipped with The unilateral side for being laid on the bottom plate of earth's surface is equipped with preceding inlet wire along unilateral preceding universal wheel and symmetrical narrow guided way (233c), described The intermediate groove of narrow guided way (233c) is only capable of accommodating the preceding universal wheel of the unilateral front-wheel of grass trimmer, the narrow guided way The left and right width of (233c) is less than the half of the width of grass trimmer, and each guided way of the narrow guided way (233c) is containing height The toroidal of cube curved section of the function curve of equal mathematics, to slow down impact and preceding universal wheel to be made to match with half of guide groove It closes and is oriented to and is expanded mowing area along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer, keep away Exempted between original two wide guided ways there is the half to keep left to be the areas Lou Ge or the half to keep left is the areas Shang Dao or keeps left one It is partly to hinder guide rail area.Solves the problems, such as the reliable plug charging in micro servo-actuated ground.Need gas station the same just like automobile, it is electronic to cut Careless machine is also required to charging station, and market needs the intelligent grass-removing that automatic charging pin plugs, and solving battery and not being durable needs frequent people The problem of work charges；Grass trimmer retrogressing can be started when being charged to setting value, so that charging pin is extracted contact chip and go to mow；When filling again It is reciprocal with this when electric in grass trimmer walking to bottom plate.It is technological progress with cube curve and with logatithmic spiral.

Bright spot is：

A kind of intelligent grass-removing of improved tool intelligent operation backlight power-saving circuit system, the charging pin (233) The pin ball (233a) that root is equipped with is on recessed half ball seat and the pin of the coaxial line of the left and right each one of the pin ball is sat respectively It falls in the U-lag of left and right each one, so that fine motion is servo-actuated and impact resistance；The unilateral side for being horizontally arranged in the bottom plate of earth's surface is equipped with along unilateral The preceding inlet wire of preceding universal wheel and the intermediate groove of symmetrical narrow guided way (233c) is only capable of accommodating preceding universal wheel, narrow guiding The left and right width of rail is less than the half of the width of grass trimmer, and each guided way is cube curve of the function curve containing higher mathematics The toroidal of section avoids to slow down impact and to be oriented to and expanded mowing area between original two wide guided ways Have that the half to keep left is the areas Lou Ge or the half to keep left is the areas Shang Dao or the half to keep left is to hinder guide rail area.Solve it is micro with The problem of the dynamic reliable plug charging in ground.

Usefulness：A kind of intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, the charging pin (233) the pin ball (233a) that root is equipped with is mounted on recessed half ball seat and the pin of the coaxial line of the left and right each one of the pin ball It is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；Universal wheel expands with half of guide groove cooperation before tool What the fixed power supply part of its tool automatic charging pin insertion part contained of the intelligent grass-removing of big mowing area was equipped with The unilateral side of the bottom plate for being horizontally arranged in earth's surface is equipped with the preceding inlet wire along unilateral preceding universal wheel and symmetrical narrow guided way (233c), the intermediate groove of the narrow guided way (233c) is only capable of accommodating the preceding universal wheel of the unilateral front-wheel of grass trimmer, described The left and right width of narrow guided way (233c) is less than the half of the width of grass trimmer, narrow each of the guided way (233c) Guided way is the toroidal of cube curved section of the function curve containing higher mathematics, so as to slow down impact and before making universal wheel with Half of guide groove coordinates and the fore-body of grass trimmer is oriented to and is expanded along the left and right of the preceding inlet wire of unilateral preceding universal wheel Big mowing area, avoiding having between original two wide guided ways, the half to keep left is the areas Lou Ge or the half to keep left is to hinder knife Area or the half to keep left are to hinder guide rail area.Solves the problems, such as the reliable plug charging in micro servo-actuated ground.It needs to refuel just like automobile It stands the same, power-operated mower is also required to charging station, and market needs the intelligent grass-removing that automatic charging pin plugs, solves battery not Durable the problem of frequently need to manually charging；Grass trimmer retrogressing can be started when being charged to setting value, so that charging pin is extracted contact chip and go It mows；It is reciprocal with this when charging again in grass trimmer walking to bottom plate；Technology with cube curve and with logatithmic spiral into Step.

It continuously improves and gradually forms and develop and a kind of intelligence of perfect tool intelligent operation backlight power-saving circuit system Grass trimmer is connected to photovoltaic generation charging pile and edge on the bottom plate of the fixed power supply part of tool automatic charging pin insertion part Mowing border, which is laid on earth's surface, has the conducting wire of leading the way of electromagnetic pulse to besiege circle, is laid on ground along grass cutting action region border described More hay mowers are put in the conducting wire besieging circle of leading the way for having electromagnetic pulse of table, are set on described every hay mower There is compass compass to form a line come volume of keeping order by direction in length and breadth in operation；The tool automatic charging pin insertion part Fixed power supply part and hay mower between, using tool aware circuit Multifunctional flat director when operation more of perception it is suitable The remote of secondary charging of forming into columns, the artificial semi-automatic detecting head with mobile phone correction correction sensor wire electromagnetic field and multiple camera shootings Machine and laser and the perception of supersonic sounding device and being positioned by the Big Dipper of internet is filled to be remotely controlled each gardens working machine order Electricity；；The working machine takes different chargings containing intelligentized charge management circuit is taken according to the practical battery condition of battery pack Strategy ensures system work；

When the single-unit battery core voltage of battery is less than 2.7V/CELL, since system operating current is larger, battery core remaining capacity is not It is enough to maintain system worked well, directly to system power supply and is charged the battery by the voltage for base station of charging at this time, specific work It is as follows to make principle：

Please refer to Figure 14 intelligence gardens working machine charge management circuit schematic diagram：

System detectio cell voltage when charging station when machine is linked into, if voltage is less than 2.7V/CELL, this When, BD_EN, BT_ctr that MCU is sent out control signal are all low level, TF14 MOS conductings, charging base station to system power supply, Meanwhile TF10 MOS cut-offs, it prevents battery to system power supply, avoids battery over-discharge, the work of each section circuit as follows：

Battery voltage detection circuit：

When system works, the branch pressure voltage of AD input pin detection resistances R142, R146, R147 of MCU, through over-sampling meter The voltage value of battery is calculated, and compared with the charge threshold of software setting, to control charging modes；

The voltage that MCU is sampled：V=(R146//R147) * (R142+R146//R147) * Vbattery

The effect of wherein TF15 metal-oxide-semiconductors is as follows：

VG-S=R127/ (R126+R127) * 12V

This voltage ensures the reliable conducting of TF15 pipes, and battery voltage sampling circuit work, when system cut-off, TF15 is because of G, S Terminal voltage is ended for zero, and battery voltage sampling circuit disconnects, and prevents battery by this circuit discharging, reduce machine without using In the case of electric quantity consumption；

VB-E=VCIN+*R212/ (R210+R212),

VG-S=VCIN* (1-R211/ (R209+R211))

The effect of D23A diodes：

In the other working conditions of system, the state in addition to charging, to prevent body two pole of the cell voltage by TF14 Pipe is added to CIN+ signal ends, and system is made to be judged as, into charged state and maloperation, adding a blocking diode；

The effect of D23 diodes：

In charged state, charging voltage is prevented to charge the battery by the body diode of TF10；

MCU determines the size of charging by detecting cell voltage, and according to the charge cutoff voltage of setting and the value of electric current, When decision terminates charging, to ensure charging safety and improve the service life of battery,

The effect of resistance R164, R164A, R164B are as follows：

Metering function is played, charging current is：

IChrg=(VCIN+-Vbattery)/(R164+R164A+R164B)

When MCU is detected, cell voltage is higher than 2.7V/CELL, charged the battery using high current, at this point, ChrgEn1 signals are switched to high level, meanwhile, ChrgEN2 signals are switched to low level, triode Q21 conductings, metal-oxide-semiconductor TF12 Be connected therewith, base station voltage is charged the battery by resistance TF12 metal-oxide-semiconductors, charging current by base station charger current size Lai It determines,

R176, R181 are current sampling resistor, when the voltage that charging current flows through the generation of this resistance is more than MCU setting chargings When threshold voltage, MCU thinks the overcurrent that charges, and stops charging immediately；

Charge cutoff condition：

System power supply circuit：

The operation principle of built-in switch pipe is as described below：

Motor control part principle：

Control principle drawing is as follows：

Please refer to the electromechanical machine control circuit schematic diagram of Figure 17 intelligence gardens work：

Integrated chip control program, the decoding of built-in chip type rotor-position are purchased in this system Brush-Less DC motor control part Device monitors three motor position sensors, to provide the correct sequential on top, lower part power MOS drivings, there is six step of all-wave to drive Dynamic function, peripheral three-phase drive device are integrated metal-oxide-semiconductor,

Upper power switch is PMOS tube, and lower part power switch is NMOS tube；

It is current of electric sampling resistor, current sampling signal quilt that integrated chip, which has overcurrent protection function, R118 resistance, It is sent to chip current sampling end after R117, R119 partial pressure, when current sampling signal value is more than 0.1V, overcurrent protection function activates, Motor stalls, overcurrent protection set-point are：

Icurrent=0.1* (R117+R119)/(R118*R119)

When overcurrent events occur, the output of driving chip Fault Output pins is low level, and motor is driven and is believed Number OutputEnable signals drag down, and motor shuts down, and avoid machine loading electric current excessive and electronic device damage occurs, When Fault Output are low level, the B-E terminal voltages of triode Q24 are also reduced to zero, and cut-off shape is switched to by conducting state State, BLADE_FAULT signals are high level, after MCU receives BLADE_FAUULT high level, stop all motor fortune immediately Row；

MCU is additionally provided with two level software overcurrent protection function, so that under different load conditions, flexible handling machine is run Action, avoids machine frequent shutdown,

Software overcurrent protection function can be described as follows：

Current of electric sampled signal BLADE_P8, after 7.8 times of operational amplifier operation amplifier, by amplified sampling Current analog signal BLADE_CRT signals are given on pins of the MCU with analog-digital conversion function, by built-in analog-to-digital conversion list After member processing, analog current signal is converted to 12 digital current signals, the overcurrent threshold signal phase that this signal is arranged with MCU Compare, when current signal value is more than overcurrent threshold value, executes run action when corresponding overcurrent, left and right movable motor has Identical overcurrent protection function；

Current operator amplifying circuit：

Please refer to the electromechanical stream operational amplification circuit schematic diagram of Figure 18 intelligence gardens work：

Current amplification factor Counting Formula：

A=1+ (R7/R14) * Icurrent

It is promoted when occurring unusual condition such as machine collision, machine in motor operation course, when machine is overturn, these things occurs Coherent signal is fed back to MCU by the perceptron of part, and MCU is immediately performed brake function；

Specific action process is as follows：

When location bias occurs for the Hall sensor for detecting the above event, hall signal is switched to low electricity by high level Flat, MCU pin is detected to level change, and the BLADE_BRK signals sent out are switched to low level by high level, and process is below After negative circuit processing, generates BLADE_P4 high level signals and give motor drive ic U13, actuating motor brake function left and right Movable motor function having the same；

The upper figure intelligent grass-removing of the working machine brake of Figure 19 intelligence gardens and fall back circuit diagram is please referred to above Braking circuit；

Driving chip also have make motor forward/reverse function, when machine operation in collide event when, machine execute after Function is moved back, specific action description is as follows：

Figure below intelligent grass-removing of the working machine brake of Figure 19 intelligence gardens and fall back circuit diagram is please referred to above Retreat circuit；

Motor speed control principle：

Concrete operating principle is as described below：

Be motor driven chip U13 as electronics rotor position decoding Hall sensor output signal occur it is positive or negative Saltus step can make U12 generate the pulse of an amplitude and duration, and parameter is determined by non-essential resistance R101, C48, Output pulse at the pin 5 of U12 is integrated by the error amplifier of U13, to generate a DC level, the level and motor speed Spend directly proportional, this velocity feedback voltage establishes PWM datums at the pin 13 of U13, and is closed into feedback control loop, and output is driven The control signal of dynamic MOS, meanwhile, the PWM reference voltages at U13 pins 13 are fed back into MCU drawing with analog-digital conversion function Foot so that MCU learns motor actual motion speed, and adjusts control electricity according to the difference of actual motion velocity amplitude and setting value Pressure,

Interlock circuit is described as follows：

RMOT_DAC is that the target velocity of MCU outputs controls the voltage value, (amplification factor=1+ after operational amplifier amplifies R5/R12), send to the pin 11 of right movable motor driving chip, draw target velocity voltage and the difference of actual speed voltage passes through After the amplification of chip interior error amplifier, the reference voltage signal RMOT_P6 that above-mentioned PWM is adjusted is exported at pin 13.

Usefulness：A kind of intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, tool automatic charging pin are inserted into It is connected to photovoltaic generation charging pile on the bottom plate of the fixed power supply part of component and is laid on earth's surface along mowing border to have electromagnetism arteries and veins The conducting wire of leading the way of punching besieges circle, in the conducting wire of leading the way for having electromagnetic pulse for being laid on earth's surface along grass cutting action region border It besieges and puts more hay mowers in circle, described every hay mower is equipped with compass compass so as in operation It forms a line come volume of keeping order by direction in length and breadth；The fixed power supply part of the tool automatic charging pin insertion part is cut with lawn Between careless machine, using the remote of the more chargings of sequentially forming into columns of perception of operation when tool aware circuit Multifunctional flat director, people The detecting head and multiple video cameras and laser and supersonic sounding device of the semi-automatic correction sensor wire electromagnetic field of being rectified a deviation with mobile phone of work Perception and positioned by the Big Dipper of internet is charged to be remotely controlled each gardens working machine order；The working machine, which contains, takes intelligence The charge management circuit of change takes different charging strategies according to the practical battery condition of battery pack, ensures system work；According to electricity The practical battery conditions of Chi Bao take different charging strategies to take different charging strategies according to the practical battery condition of battery pack；Light Volt generating-charging stake has energy-saving effect.The intelligent gardens work implements mowing of multifunctional platform, fertilising, pressure-vaccum, polishing, brush, Sow, pour it is multi-functional；Intelligent grass-removing realizes a station multimachine technical need by LAN,

Wish on the basis of our company shows developed DYM220601 intelligent robots grass trimmer, one charging station of realization, More grass trimmers can work on a mowing region simultaneously；

Automatic mower host and charging station all band 868MHz wireless communication modules；A mating gateway, GATEWAY；

Grass trimmer and charging station are mutually communicated by gateway, have grass trimmer in charging above charging station, other mowings Machine is in running order or wait state；When charging station frees out, by etc. grass trimmer to be charged or minimum electricity return Charging station charges；The intelligent grass-removing bluetooth version and charging station system need 868MHz wireless communication modules to select, gateway GATEWAY is selected and LAN connection software and hardware；Intelligent grass-removing is passing through gateway and nothing by WIFI connection INTERNET After line communication module realizes LAN connection, further realize by the way that intelligent grass-removing is connected to INTERNET by WIFI, The long-range connection to intelligent grass-removing is realized by INTERNET；Automatic mower host and charging station all band 868MHz channel radios Module, a mating independent gateway GATEWAY are interrogated, which connects upper INTERNET by wired, wireless 2 kinds of modes；Intelligence It further includes that charging station connect gateway with 868MHz wireless communication modules, and then is connected to that energy grass trimmer, which is a station multi-computer system, INTERNET；The server of the INTERNET connections is required；Intelligent grass-removing mainly sells to European ＆ American Market, due to Internet control problems, future, server can be located at American-European countries；We have the office of oneself in Germany, so server Oneself is built；Or external server is rented, the first step is for European scale country；This mainly sees technical difficulty and operation Expense；It is expected that sales volume is annual 2000-10000 platforms intelligent grass-removing, calculated according to 5 years, market capacity should be in 50,000 intelligence Grass trimmer；We plan to develop other intelligent garden products in addition to grass trimmer simultaneously, including irrigate timer, garden lamp Deng so the server needs while servicing 100,000 intelligent garden products and 50,000 mobile phones, i.e., at least 150,000 IP；According to 5 Year sales volume estimation, the IP quantity that server should service register user：50000, intelligent grass-removing：50000；The production of other intelligence gardens Product：50000；Internet of Things framework uses web interconnection architectures, mobile phone and intelligent grass-removing to be required for the side for being registered and being logged in user name Formula accesses separate server, and confirms the presence of mobile phone and intelligent grass-removing by server.Mobile phone and intelligent grass-removing All it is common Internet of Things equipment in server, they in server all there is unique User ID, Internet of Things equipment to step on The addresses IP of equipment where server can get User ID when the server of land；And cell phone application control intelligent grass-removing be with Family ID is that foundation is controlled, and User ID, which is first sent to server, can get corresponding IP address.Due to the intelligence of our company In energy mower art route, the later stage also plans to have to install camera additional on intelligent grass-removing, and is shown in video on mobile phone The function of appearance, so after mobile phone and intelligent grass-removing are by server identification and unicom, subsequent control can by server, It can directly be carried out around server.To facilitate the video data transmission of big flow；

Requirement to server, each intelligent garden products all can there are one sequence number (Serial No), hands For machine user in registration by the APP software scans sequence number, which could control the intelligence garden products.So each Intelligent garden products are all that the user name registered with mobile phone user is bound, and a user can bind multiple sequence numbers, i.e., more The intelligent garden products of kind, but a sequence number can only bind a user；This is that due to safety concerns, i.e., is produced from the intelligence garden After the stolen loss of product, use cannot be bound by other people；Mobile phone user, which registers, to complete, user number and sequence number, i.e. some intelligence After garden products binding success, mobile phone is just communicated by APP and intelligent garden products, and mobile phone can send to grass trimmer and instruct, It mows including beginning/stopping, returning to charging station etc.；Mobile phone reads the information of grass trimmer, including is mowing, charging, mistake occurs False alarm and the content etc. of alarm；Mobile phone reads Weather information from server, and data are obtained from third party software；It is right on mobile phone Grass trimmer carries out function setting, containing automatic time cycle setting of mowing, system time setting, change of secret code；And covering takes immediately The former setting data being engaged on device and grass trimmer chip；The a few thing information of grass trimmer mows and adds up total time, error information number According to needing to retain on mobile phone and server；These data are for convenience of market survey and maintenance service；By mobile phone to mowing Machine software is upgraded；The server software provides corresponding Security Assurance Mechanism to the privacy of user；User is connected by APP Long-range maintenance service is sought by company's site；The intelligent grass-removing bluetooth version and charging station system developed need 868MHz wireless Communication module is selected, and on the basis of gateway GATEWAY selections and LAN connection design of hardware and software and technology, is provided Software and hardwares programming and the technical supports such as INTERNET connections, server；Intelligent irrigation timer and mating humidity sensor The technical need set product includes 2 parts：The Intelligent fixed time irrigation controller is connected on water source, according to the setting of user, Solenoid valve, water flowing are opened in certain period；Humidity sensor is inserted into the soil in garden, monitors the humidity of soil, and by data It is sent to Intelligent fixed time irrigation controller by gateway；When threshold values of the humidity of soil less than setting, Intelligent fixed time irrigates control Device processed automatically opens solenoid valve, gives garden watering；Intelligent fixed time irrigation controller and humidity sensor all band 868MHz channel radios Module is interrogated, LAN connection is realized by gateway；It can realize INTERNET connections by gateway simultaneously；Intelligent fixed time irrigation control Device and humidity sensor realize self-energizing, all included 868MHz channel radios of intelligent garden systems equipment using solar panel Module is interrogated, realizes the mutual communication between each product in the system of intelligent garden；To realize the communication between each product and Control function, while INTERNET is connected by gateway, realize the work(of each product in the system of user's remote control intelligence garden Energy.

A kind of intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, has the fixation of automatic charging pin insertion part Power supply part bottom plate on be connected to photovoltaic generation charging pile and being laid on earth's surface along mowing border has leading the way for electromagnetic pulse to lead Line besieges in circle and puts the gardens Duo Tai working machine；Control perception forward-reverse Multifunctional circuit platform is communicated using tool and perceives more Sequentially form into columns the remote of charging, it is artificial it is semi-automatic with mobile phone rectify a deviation correction sensor wire electromagnetic field detecting head and multiple take the photograph Camera and laser and the perception of supersonic sounding device and positioned by the Big Dipper of internet be remotely controlled each gardens working machine order come Charging, containing intelligentized charge management circuit is taken, takes different charging strategies, photovoltaic generation charging pile to have energy-saving effect, Intelligent gardens work implements mowing, fertilising, pressure-vaccum, polishing, brush, sowing, the pouring of multifunctional platform are multi-functional.

A kind of intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, which is characterized in that its hardware switch Switch is red button (On/Off), and one end ground connection act as booting and shutdown, and software BD_EN is circuit board, and effect is opened Make when MCU works when machine circuit #defineBD-EN, BIT--ADDR (GPIOD-ODR-Addr, 1) //, circuit board makes KEY0 is circuit off signal foot (PG0), and On/OFF is followed by a number shutdown of collecting mail, makes #define K11, BIT-ADDR (GPIOG- IDR-Addr, 0) //, process is：A. start process, long-press red button, i.e. switch are connected with ground short circuit, at this time TF10, electricity Road plate power module works to be powered on to circuit, MCU work, and BD_EN enables high level, triode Q16 conductings.It comes loose at this time Switch circuit boards can also work normally；

B. shutdown process, presses red button, i.e. switch and ground short circuit, has button to loose one's grip detection at this time, do not bleed off by Key does not trigger, and the E electrode potentials of three-level Q16 drag down, and KEY0 receives low level, and MCU, which is sent out, instructs the enabled low levels of BD_EN, and three Pole pipe turns off, circuit board power-off；Power-saving circuit is analyzed：This circuit known to the above process is also boot-strap circuit, and MCU is to BD_ EN control can free control circuit board power on/off, need power off when power off；Be switched on duration power-saving circuit system System：

VG-S=R138/ (R138+R141) * 28V

This voltage ensures that TF10 pipes can lead to and can break, power circuit pole battery voltage sampling circuit normal work, when system is disconnected TF15 ends because G and s terminal voltages is 0 when electric, system power supply close, reduce machine without using in the case of electricity disappear Consumption；After TF10 is opened, U17 provides 12V voltages for switching power supply for system, and U18, U16 are that three terminal regulator is system 5V, 3.3V operating voltage are provided,

3.3V voltages are received by a series of filter circuit MCU to start to work normally, program after MCU normally starts Into self-check program；

Wherein self-check program detects,

1. battery temperature detects,

2. battery capacity detects,

3.HALL is detected,

4.BKP detects+BKP is read,

5. sideband signal detects,

6.MPU9250 is detected,

After logical self-test, MCU is judged as normal basic function normally BD_EN (PD1) will be set to 1 and is high level, at this time The poles B of Q16 will form pressure difference with the poles E, and the poles C will be connected with the poles E；Circuit board will not when bleeding off switch again at this time Power down, program normally enter human-computer interaction interface INTERACTI0N；

This PIN foot of wherein KEY0 act as power down function at any time and SHUT_DOWN functions, when KEY0 enables high level The C of triode Q16 extremely high level at this time MOS TF10 VG-S be 0, metal-oxide-semiconductor shutdown, it is this at any time close circuit function It can accomplish the function of power saving；

Software code：

For executing shutdown after uncapping more than 7.5 minutes on software, and cuts off circuit and reduce loss；

In manually restarting function, it will shut down more than two minutes and avoid circuit loss；

Run backlight power-saving circuit；

Back-light starting circuit：

#define XSP_BL BIT_ADDR (GPIOE_ODR_Addr, 9)

Software code：

This case representative function closes backlight and reduces circuit loss with this in run states.

Usefulness：Sleep for electricity saving state is automatically switched under standby mode, at this time about 29 microamperes of complete machine discharge current, electricity Chi Bao expires under electric condition, is saved in 280 days and is not vented.Close the electric quantity consumption that backlight reduces machine.

Claims

1. it is a kind of tool intelligent operation backlight power-saving circuit system intelligent grass-removing, containing improved tool automatic charging pin insertion and Extract contact chip component；The tool automatic charging pin is inserted into and extracts contact chip component, the insertion section of the automatic charging pin containing tool The tool of the fixed power supply part of part, the also fuselage containing grass trimmer extracts the movable electric component of contact chip；The tool fills automatically Electricity pin insertion part fixed power supply part, equipped be horizontally arranged in the bottom plate of earth's surface, stand on front front wall, power supply source, Foot screw, the unilateral side of the bottom plate for being horizontally arranged in earth's surface are equipped with the preceding inlet wire along unilateral preceding universal wheel and symmetrical guided way (233c), to be oriented to along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer；And the water It is laid in each the be equipped with each guided way along the symmetrical guided way of axis (233c) in left side and right side of the bottom plate of earth's surface Curved section be a cube curve, so as to slow down impact；Four feet of the bottom plate for being horizontally arranged in earth's surface are equipped with the fot screw, To fix；The front of the bottom plate for being horizontally arranged in earth's surface is equipped with the front wall for standing on front；Described stands on front Front wall be equipped with along the symmetrical left side of axis and right side each one charging pin ((233), the charging pin (root of (233) is equipped with pin ball (233a), is servo-actuated so as to micro, the charging pin (root of (233) is equipped with screw thread, so as to It is connected with the power supply source；(head of (233) is equipped with inserting surface (233b) to the charging pin, and to charge, pin is inserted into and pulls out Go out contact chip；The bottom plate for being horizontally arranged in earth's surface is laid with along central axes and draws and be equipped with electromagnetism along earth's surface in working region The conducting wire of leading the way of pulse, will pass through the sensor (234d) of grass trimmer lower front and by circuit board intelligently guiding grass trimmer It is walked when charging to the fixed power supply part for having automatic charging pin insertion part equipped with the bottom for being horizontally arranged in earth's surface On plate；The movable electric component that contact chip is extracted containing tool is located at grass trimmer front, the work that contact chip is extracted containing tool Sensor (234d) of the dynamic electric component containing the grass trimmer lower front and the contact chip (234) for being located at grass trimmer front And tabletting torsional spring (234a) and shaft；The contact chip (234) and tabletting torsional spring (234a) and shaft it is each altogether there are four, often One contact chip (234) and tabletting torsional spring (234a) and shaft form a dodge gate, and described connect described in each A dodge gate and each described described contact chip (234) for contact (234) and tabletting torsional spring (234a) and shaft composition And another dodge gate of tabletting torsional spring (234a) and shaft composition forms aspectant split two-door, left and right side is each Having the contact surface of the aspectant contact chip (234) of the two-door dodge gate, ((234b) is corresponding described Stand on the charging pin (head of (233) along the symmetrical left side of axis and right side each one that the front wall in front is equipped with The inserting surface (233b) that portion is equipped with leans on the micro servo-actuated insertion of pin ball (233a) by charging pin；When being charged to setting value Grass trimmer retrogressing can be started, so that charging pin is extracted contact chip, then work；When charging again, grass trimmer walking has certainly to described The fixed power supply part of dynamic charging pin insertion part being horizontally arranged on the bottom plate of earth's surface and being inserted by charging pin；The level It is laid on each the be equipped with each guided way along the symmetrical guided way of axis (233c) in left side and right side of the bottom plate of earth's surface Curved section is a cube curve, to match and impact-reducing with the auxiliary guide rod (234e) of grass trimmer front side edge；The level It is swell fixture to be laid on the fot screw that four feet of the bottom plate of earth's surface are equipped with；The root of the charging pin (233) is equipped with Pin ball (233a), be that cross pin is equipped on spheric seat, so as to micro servo-actuated；(root of (233) is set the charging pin There are two nuts for dress on some screw threads, with anti-loosening；The inserting surface (233b) that the head of the charging pin (233) is equipped with is Wedge；There are two the close circle torsional springs of the tabletting torsional spring (234a)；The contact surface ((234b) of the contact chip (234) One section of curve be logatithmic spiral, because logatithmic spiral, that is, equiangular spiral has pressure angle equal characteristic everywhere, be conducive to contact and insert Enter；A kind of intelligent grass-removing of tool intelligent operation backlight power-saving circuit system, the charging pin being equipped with (the pin ball (233a) that the root of (233) is equipped with is on recessed half ball seat and the coaxial line of the left and right each one of the pin ball Pin is respectively seated in each one U-lag around, so that fine motion is servo-actuated and impact resistance；A kind of tool intelligent operation backlight power-saving circuit The water that the fixed power supply part of its tool automatic charging pin insertion part contained of the intelligent grass-removing of system is equipped with The unilateral side for being laid in the bottom plate of earth's surface is equipped with preceding inlet wire along unilateral preceding universal wheel and symmetrical narrow guided way (233c), institute The intermediate groove for stating narrow guided way (233c) is only capable of accommodating the preceding universal wheel of the unilateral front-wheel of grass trimmer, the narrow guided way The left and right width of (233c) is less than the half of the width of grass trimmer, and each guided way of the narrow guided way (233c) is containing height The toroidal of cube curved section of the function curve of equal mathematics, to slow down impact and preceding universal wheel to be made to match with half of guide groove It closes and is oriented to and is expanded mowing area along the left and right of the preceding inlet wire of unilateral preceding universal wheel to the fore-body of grass trimmer, keep away Exempted between original two wide guided ways there is the half to keep left to be the areas Lou Ge or the half to keep left is the areas Shang Dao or keeps left one It is partly to hinder guide rail area；Photovoltaic generation is connected on the bottom plate of the fixed power supply part of the tool automatic charging pin insertion part to fill Electric stake and along mowing border be laid on earth's surface have electromagnetic pulse lead the way conducting wire besiege circle, described along grass cutting action region border Be laid on earth's surface have electromagnetic pulse lead the way conducting wire besiege circle in put more hay mowers, described every lawn is cut Careless machine is formed a line by direction in length and breadth come volume of keeping order equipped with compass compass in operation；The tool automatic charging pin Between the fixed power supply part and hay mower of insertion part, using the sense of operation when tool aware circuit Multifunctional flat director Know the remote of more chargings of sequentially forming into columns, it is artificial it is semi-automatic with mobile phone rectify a deviation correction sensor wire electromagnetic field detecting head and Multiple video cameras and laser and supersonic sounding device perceive and are remotely controlled each gardens working machine by the Big Dipper positioning of internet Order charges；The working machine is taken not containing intelligentized charge management circuit is taken according to the practical battery condition of battery pack Same charging strategy ensures system work；Different charging strategies is taken according to the practical battery condition of battery pack；When the list of battery The core voltage that economizes on electricity is less than 2.7V/CELL, and since system operating current is larger, battery core remaining capacity is not enough to the normal work of maintenance system Make, directly to system power supply and is charged the battery by the voltage for base station of charging at this time, concrete operating principle is as follows：When machine connects System detectio cell voltage when entering then charging station, if voltage be less than 2.7V/CELL, at this point, MCU send out BD_EN, BT_ctr controls signal and is low level, TF14 MOS conducting, charging base station to system power supply, meanwhile, TF10 MOS cut-offs, resistance Only battery avoids battery over-discharge, the work of each section circuit as follows to system power supply：Battery voltage detection circuit：System work When making, the branch pressure voltage of AD input pin detection resistances R142, R146, R147 of MCU calculate the voltage of battery through over-sampling Value, and compared with the charge threshold of software setting, to control charging modes；

The voltage that microcontroller micro control unit chip MCU is sampled：

V=(R146//R147) * (R142+R146//R147) * Vbattery

VG-S=R127/ (R126+R127) * 12V

This voltage ensures the reliable conducting of TF15 pipes, and battery voltage sampling circuit work, when system cut-off, TF15 is because of the end G, S electricity Pressure is ended for zero, and battery voltage sampling circuit disconnects, and prevents battery by this circuit discharging, reduce machine without using feelings Electric quantity consumption under condition,

When machine be linked into the case of system cut-off charging base station, at this time because the BT_ctr signals of MCU be low level, three poles Pipe Q28 cut-offs, and the voltage at the ends B-E of triode Q27 is：VB-E=VCIN+*R212/ (R210+R212),

This voltage value is more than the on state threshold voltage of triode, and triode Q27 is connected, at this time the G-S terminal voltages of TF14 metal-oxide-semiconductors For：

VG-S=VCIN* (1-R211/ (R209+R211))

Therefore TF14 is connected, base station voltage VCIN+, to system power supply, system Auto Power On, and detects whether to meet by TF14 Charge condition；In charging process, when charging voltage is more than 2.7V/CELL when MCU is detected, signal BT_ctr, BD_EN are controlled High level is switched to by low level, charged state switches as described below：

When being switched to high level by low level because of BT_ctr signals, triode Q28 leads to three by cut-off state switched conductive state The base voltage of pole pipe Q27 is reduced to no-voltage and ends, and TF14 ends therewith,

Base station is disconnected to system power supply channel,

While BT_ctr signals are switched to high level by low level, BD_EN signals are also switched to high level by low level, and three Pole pipe Q16 is switched to conducting state by cut-off state, and the voltage drop at R138 resistance both ends is more than the G-S conducting voltages of TF10, TF10 MOS are connected therewith, at this point, while base station supplying channels disconnect, by battery to system power supply,

The effect of D23A diodes：In the other working conditions of system, the state in addition to charging, to prevent cell voltage from passing through The body diode of TF14 is added to CIN+ signal ends, and system is made to be judged as, into charged state and maloperation, adding a blocking diode；

The effect of D23 diodes：In charged state, charging voltage is prevented to charge the battery by the body diode of TF10；

This system uses intelligentized charging management system, the DATA REASONING in multiple charge data detections and charging process to carry For multiple protection functions, to ensure charging safety；

Chip MCU determines the size of charging by detecting cell voltage, and according to the charge cutoff voltage of setting and the value of electric current, When decision terminates charging, to ensure charging safety and improve the service life of battery,

It when MCU is detected, cell voltage is less than 2.7V/CELL, is charged the battery using low current, at this point, ChrgEn1 believes Number it is low level, meanwhile, ChrgEN2 signals are high level, triode Q20 conducting, and triode Q19 is connected therewith, base station voltage It is charged the battery by resistance R164, R164A, R164B, Q19,

The effect of resistance R164, R164A, R164B are as follows：

Metering function is played, charging current is：

IChrg=(VCIN+-Vbattery)/(R164+R164A+R164B)

It when MCU is detected, cell voltage is higher than 2.7V/CELL, is charged the battery using high current, at this point, ChrgEn1 believes Number it is switched to high level, meanwhile, ChrgEN2 signals are switched to low level, triode Q21 conductings, and metal-oxide-semiconductor TF12 is connected therewith, Base station voltage is charged the battery by resistance TF12 metal-oxide-semiconductors, and charging current is determined by base station charger current size,

R176, R181 are current sampling resistor, when the voltage that charging current flows through the generation of this resistance is more than MCU setting charge thresholds When voltage, MCU thinks the overcurrent that charges, and stops charging immediately；

Charge cutoff condition：

When battery stagnation pressure is more than 4.15V/CELL or charging current is less than 200mA, stops charging, battery is avoided to overcharge；

System power supply circuit：

This system power-supply service provided by the way of Switching Power Supply and linear stabilized power supply combination 12V, 5V needed for system, 3.3V voltages, specific works are described as follows：

Cell voltage or base station supply voltage are added in the input pin 1 of Switching Power Supply transformation chip, when switch control pin 5 is low When level, the metal-oxide-semiconductor between control chip interior connection pin 1 and pin 2 is on off state, and metal-oxide-semiconductor is switched at each The turn-on time in period depends on output voltage and feeds back to the big of the feedback voltage at 4 end of pin and the error amount of built-in reference voltage It is small,

MOS conducting states are set in the chip, and input voltage provides energy, while inductance L1 and electricity by inductance L1 to output+12V Hold C64 during this period also can storing up electricity energy,

When MOS is disconnected, the electric energy being stored on inductance L1 in a upper turn-on cycle can release, powering load, Diode D21 provides current loop to inductance L1, when energy reduces on L1, C64 supplement offer voltages, maintenance output voltage+ 12V is constant；

The operation principle of built-in switch pipe is as described below：

When loading increasing, output voltage reduces, while the voltage of feedback pin 4 decreases, the benchmark electricity with chip interior The error amount of pressure increases, and as a result lengthens the turn-on time of built-in MOS, more electricity increase output end, and output voltage is made to connect Nearly setting pressure, maintains output voltage stabilization；

Similarly, when output loading reduces, output voltage rises, therefore feedback voltage reduces with reference voltage error, causes interior The MOS switch pipe turn-on time set reduces, and reduces the electricity that feeder ear is supplied to load end, output is made to fall after rise to the voltage of setting Value, the above variation because of load cause output voltage and set the error amount of voltage value, output voltage is made to maintain dynamic equilibrium Input voltage is directly transformed to the voltage needed for system by stationary value because Switching Power Supply is operated on off state, cancels linear electricity The energy expenditure of source input and output voltage difference, therefore, have it is efficient, simultaneity factor calorific value is small, provides system reliable operation Property,

Motor control principle is as follows：

Integrated chip control program, built-in chip type rotor-position decoder, prison are purchased in this system Brush-Less DC motor control part Three motor position sensors are controlled, to provide the correct sequential on top, lower part power MOS drivings, there is six step of all-wave to drive work( Can, peripheral three-phase drive device is integrated metal-oxide-semiconductor,

Upper power switch is PMOS tube, and lower part power switch is NMOS tube；

Integrated chip have overcurrent protection function, R118 resistance be current of electric sampling resistor, current sampling signal by R117, It is sent to chip current sampling end after R119 partial pressures, when current sampling signal value is more than 0.1V, overcurrent protection function activation, motor stops Rotation stop is dynamic, and overcurrent protection set-point is：

Icurrent=0.1* (R117+R119)/(R118*R119)

When overcurrent events occur, the output of driving chip Fault Output pins is low level, by motor drive signal OutputEnable signals drag down, and motor shuts down, and avoid machine loading electric current excessive and electronic device damage occurs, when When Fault Output are low level, the B-E terminal voltages of triode Q24 are also reduced to zero, and cut-off state is switched to by conducting state, BLADE_FAULT signals are that high level stops all motor operations immediately after MCU receives BLADE_FAULT high level；MCU It is additionally provided with two level software overcurrent protection function, so that under different load conditions, flexible handling machine run action avoids machine Device frequent shutdown；Software overcurrent protection function is described as follows：

Current of electric sampled signal BLADE_P8, after 7.8 times of operational amplifier operation amplifier, by amplified sample rate current Analog signal BLADE_CRT signals are given on pins of the MCU with analog-digital conversion function, at built-in AD conversion unit After reason, analog current signal is converted to 12 digital current signals, this signal is compared with the overcurrent threshold signal that MCU is arranged Compared with, when current signal value be more than overcurrent threshold value when, execute run action when corresponding overcurrent；

Left and right movable motor overcurrent protection function having the same；The current amplification factor of current operator amplifying circuit counts public Formula：

A=1+ (R7/R14) * Icurrent

It is promoted when occurring unusual condition such as machine collision, machine in motor operation course, when machine is overturn, these events occurs Coherent signal is fed back to MCU by perceptron, and MCU is immediately performed brake function；Specific action process is as follows：

When location bias occurs for the Hall sensor for detecting the above event, hall signal is switched to low level, MCU by high level Pin is detected to level change, and the BLADE_BRK signals sent out are switched to low level by high level, by reverse phase below electricity After the processing of road, generates BLADE_P4 high level signals and give motor drive ic U13, actuating motor brake function, left and right walking electricity Machine function having the same；Driving chip also have make motor forward/reverse function, when machine operation in collide event when, Machine executes fallback function, and specific action description is as follows：When collision alarm is sent to MCU by Hall sensor, MCU will be controlled The signal of the BLADE_DIR in motor operation direction is switched to high level by low level, after the processing of following negative circuit, generates Low level BLADE_P7 signals give motor drive ic U13, motor to switch inverted status by rotating forward, and machine executes fall back Action, left and right movable motor function having the same；Motor speed control principle：Machine is under different working conditions, motor The speed of service also differs, it is therefore desirable to which the running speed signal for feeding back motor drives core U13, this system design to use to motor Dedicated motor speed detection chip, to generate the feedback voltage needed for motor speed control, without expensive tachometer U12, you can realize this function；Concrete operating principle is as described below：

It is motor driven Hall sensor output signals of the chip U13 as the decoding of electronics rotor position and positive or negative jump occurs Become, U12 can be made to generate the pulse of an amplitude and duration, parameter is determined by non-essential resistance R101, C48, U12's Output pulse at pin 5 is integrated by the error amplifier of U13, to generate one DC level, the level and motor speed at Direct ratio, this velocity feedback voltage establishes PWM datums at the pin 13 of U13, and is closed into feedback control loop, output driving The control signal of MOS, meanwhile, the PWM reference voltages at U13 pins 13, which are fed back to MCU, has the pin of analog-digital conversion function, So that MCU learns motor actual motion speed, and control voltage is adjusted according to the difference of actual motion velocity amplitude and setting value,

Interlock circuit is described as follows：

RMOT_DAC is that the target velocity of MCU outputs controls the voltage value, (amplification factor=1+R5/ after operational amplifier amplifies R12), send to the pin 11 of right movable motor driving chip, draw target velocity voltage with the difference of actual speed voltage through core After the amplification of piece internal error amplifier, the reference voltage signal RMOT__P6 that above-mentioned PWM is adjusted is exported at pin 13；

Its hardware switch Switch is red button

(On/Off), one end is grounded, and act as being switched on and shutdown, software BD_EN are circuit board, MCU works are worked as when effect is switched on As when make circuit

#defineBD-EN,

BIT--ADDR (GPIOD-ODR-Addr, 1) //, circuit board makes

KEY0 is circuit off signal foot (PG0), and On/OFF is followed by a number shutdown of collecting mail, makes

#define K11,

BIT-ADDR (GPIOG-IDR-Addr, 0) //,

Process is：

A. start process

Long-press red button, i.e. switch are connected with ground short circuit, at this time TF10, and board power module works to be powered on to circuit, MCU works, BD_EN

Enabled high level, triode Q16 conductings；The switch circuit boards that come loose at this time can also work normally；

B. shutdown process,

Pressing red button, i.e. switch and ground short circuit have button to loose one's grip detection, do not bleed off button and do not trigger at this time,

The E electrode potentials of three-level Q16 drag down, and KEY0 receives low level, and MCU sends out instruction BD_EN and enables low level, and triode closes It is disconnected, circuit board power-off；

Power-saving circuit is analyzed：This circuit known to the above process is also boot-strap circuit, and MCU can be certainly to the control of BD_EN By the power on/off of control circuit board, can be powered off when needing power-off；

Be switched on duration power-saving circuit system：

This system controls all kinds of Switching Power Supplies and linear stabilized power supply by controlling the break-make of switching tube at any time, always reaches not Consume the effect of electricity excessively, battery pack voltage (P+/C+) forms 28V pressure differences with (P-/C-) and enters in circuit

Switch buttons are one one termination FCT84 and the button switch of one end ground connection, and effect is FCT84 when pressing switch Current potential is ground, and the TF10 pipes in circuit are opened；

VG-S=R138/ (R138+R141) * 28V

This voltage ensures that TF10 pipes can lead to and can break, power circuit pole battery voltage sampling circuit normal work, when system cut-off TF15 ends because G and s terminal voltages is 0, system power supply close, reduce machine without using in the case of electric quantity consumption；

After TF10 is opened, U17 provides 12V voltages for switching power supply for system, and U18, U16 are that three terminal regulator is system 5V, 3.3V operating voltage are provided

3.3V voltages are received by a series of filter circuit MCU to start to work normally, program enters after MCU normally starts Self-check program,

Wherein self-check program detects,

1. battery temperature detects,

2. battery capacity detects,

3.HALL is detected,

4.BKP detects+BKP is read,

5. sideband signal detects,

6.MPU9250 is detected,

After logical self-test, MCU is judged as normal basic function normally BD_EN (PD1) will be set to 1 and is high level, at this time Q16 The poles B will form pressure difference with the poles E, and the poles C will be connected with the poles E；When bleeding off switch again at this time circuit board will not power down, journey Sequence normally enters human-computer interaction interface INTERACTION；

This PIN foot of wherein KEY0 act as power down function at any time and SHUT_DOWN functions, three pole when KEY0 enables high level The VG-S of the C of pipe Q16 extremely high level MOS TF10 at this time is 0, and metal-oxide-semiconductor shutdown, this function of closing circuit at any time can be with Accomplish the function of power saving；

Software code：

When in starting up, normal operation, once prolong side can charging station and voltage is less than 2.7 and will shut down when finding base station, with Exempt from excessive loss.