CN108781704A - Automatic mower system and its automatic mower - Google Patents
Automatic mower system and its automatic mower Download PDFInfo
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- CN108781704A CN108781704A CN201710294090.3A CN201710294090A CN108781704A CN 108781704 A CN108781704 A CN 108781704A CN 201710294090 A CN201710294090 A CN 201710294090A CN 108781704 A CN108781704 A CN 108781704A
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- boundary line
- energy
- automatic mower
- storage battery
- electric machine
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
A kind of automatic mower, including：Shell；Mowing-apparatus；Driving device；Electric machine；Boundary line signal supervisory instrument；Energy-storage battery, for providing electric power to electric machine；Energy-storage battery includes multiple battery units；The voltage of multiple battery cells in series settings and energy-storage battery unit is higher than safe voltage；And control device, multiple battery units for controlling in the energy-storage battery are sequentially connected in series so that the voltage of the energy-storage battery unit is powered higher than after safe voltage to the electric machine.Above-mentioned automatic mower, control device is used to control multiple battery units in energy-storage battery and is sequentially connected in series so that the voltage of energy-storage battery is powered the operating current for achieving the effect that reduce electric machine higher than after safe voltage to electric machine, and then the interference that electric machine generates boundary line signal supervisory instrument can be effectively reduced, it is ensured that automatic mower can work normally.A kind of automatic mower system is also provided.
Description
Technical field
The present invention relates to power tools technology fields, more particularly to a kind of automatic mower system and its automatic mowing
Machine.
Background technology
It is usually provided with sideband signal detection module in automatic mower, can judge it is in boundary line so as to grass trimmer
Or outside boundary line.Boundary line is used to define the working region of automatic mower.Motor, motor are provided in automatic mower
The phase current for inside having the mechanical periodicity of high frequency will produce the electromagnetic interference toward external radiation.Due to product size limitation relationship,
Sensor in the signal detection module of boundary line is arranged near motor, so that sensor can be interfered by motor, nothing
Method normally judges it itself is and then automatic mower to be caused to can not work normally in boundary line or outside boundary line.
Invention content
Based on this, it is necessary to provide a kind of automatic mower that can effectively reduce motor interference, also provide a kind of automatic
Lawn mower system.
A kind of automatic mower, including：
Shell, hollow formation host cavity in the shell；
Mowing-apparatus, for realizing mowing function；
Driving device, for realizing walking function；
Electric machine is arranged in the host cavity；The electric machine respectively with the mowing-apparatus and the driving
Device is electrically connected, for controlling the mowing-apparatus and driving device work；
Boundary line signal supervisory instrument is arranged in the host cavity；The boundary line signal supervisory instrument is for detecting
Boundary line signal with the determination automatic mower is located in boundary line or outside boundary line；The boundary line is used for boundary
Determine the working region of automatic mower；
Energy-storage battery is arranged in the host cavity；The energy-storage battery and the electric machine are electrically connected, for
The electric machine provides electric power；The energy-storage battery includes multiple battery units；And
Control device, the control device respectively with the charging interface, the energy-storage battery and the boundary line signal
Detection device is electrically connected；Multiple battery units that the control device is used to control in the energy-storage battery be sequentially connected in series so that
The energy-storage battery unit voltage higher than after safe voltage to the electric machine electricity consumption.
Above-mentioned automatic mower can be controlled mowing-apparatus by electric machine and driving device works, to realize certainly
Dynamic mowing function.Multiple battery units that control device is used to control in energy-storage battery are sequentially connected in series the electricity so that energy-storage battery
Pressure after safe voltage to electric machine higher than being powered, to reduce on the basis of electric machine output power is constant
The operating current of electric machine, and then the interference that electric machine generates boundary line signal supervisory instrument can be effectively reduced, really
Protecting automatic mower can work normally.Meanwhile shell can improve the safety of automatic mower using insulation shell.
In one of the embodiments, charging interface is further fixed on the shell；The voltage of the charging interface input
For safe voltage；The control device is also connect with the charging interface；The control device is additionally operable to the charging interface
The safe voltage of input charges after being handled to the energy-storage battery.
Multiple battery units in the energy-storage battery are sequentially connected in series in one of the embodiments,；The control device
Safe voltage for being inputted to the charging interface charges after carrying out boosting processing to the energy-storage battery.
The control device is additionally operable to control multiple battery units in the energy-storage battery in one of the embodiments,
After parallel connection, the safe voltage that the charging interface inputs is exported, the energy-storage battery is filled into the energy-storage battery
Electricity；Or the control device is used to control the safe voltage of the charging interface input successively to each in the energy-storage battery
Battery unit charges.
Further include wireless charging module in one of the embodiments,；The wireless charging module is arranged in the receiving
Intracavitary, for realizing the wireless charging function of the automatic mower.
The boundary line signal supervisory instrument includes two sensors, signal amplifier, the in one of the embodiments,
One comparator and the second comparator；Described two sensors are symmetrically disposed on the central shaft both sides of the automatic mower, and lean on
The front end setting of the nearly automatic mower；
The input terminal of the signal amplifier is connect with the sensor；The output end of the signal amplifier respectively with institute
First comparator is stated to connect with second comparator；The signal amplifier to the boundary line signal for being amplified place
Reason；The first comparator with upper threshold by the boundary line signal for relatively and exporting comparison result；Second ratio
Compared with device for the boundary line signal relatively and to be exported comparison result with lower threshold；The control device is used for according to comparing
As a result determine that the automatic mower is located in boundary line or outside boundary line.
The control device is also electrically connected with the boundary line signal supervisory instrument in one of the embodiments,；Institute
It states boundary line signal of the control device for being detected according to the boundary line signal supervisory instrument and adjusts the boundary line signal
The detection sensitivity of detection device.
The control device is used to determine the automatic mowing according to the boundary line signal in one of the embodiments,
The distance between machine and boundary line, and it is described distance reduce when reduce the boundary line signal supervisory instrument detection it is sensitive
Degree improves the detection sensitivity of the boundary line signal supervisory instrument when the distance increases.
A kind of automatic mower, including：
Shell, hollow formation host cavity in the shell；
Mowing-apparatus, for realizing mowing function；
Driving device, for realizing walking function；
Electric machine is arranged in the host cavity；The electric machine respectively with the mowing-apparatus and the driving
Device is electrically connected, for controlling the mowing-apparatus and driving device work；
Boundary line signal supervisory instrument is arranged in the host cavity；The boundary line signal supervisory instrument is for detecting
Boundary line signal with the determination automatic mower is located in boundary line or outside the boundary line or across on boundary line；
The boundary line is used to define the working region of automatic mower；
Energy-storage battery is arranged in the host cavity；The voltage of the energy-storage battery is higher than safe voltage；The energy storage electricity
Pond is electrically connected with the electric machine, for providing electric power to the electric machine；
Wireless charging module is arranged in the host cavity, for carrying out wireless charging to the energy-storage battery；And
Control device, respectively with the electric machine, the boundary line signal supervisory instrument, the energy-storage battery and described
Wireless charging module connects；The control device is used for the electric machine, the boundary line signal supervisory instrument, the storage
Energy battery and the wireless charging module are controlled.
A kind of automatic mower system, including：
Automatic mower as described in aforementioned any embodiment；
Boundary line, the boundary line are used to define the working region of automatic mower；There is pulse current on the boundary line
To form boundary line signal；
Charging station is located on the boundary line；The charging station is used to provide the pulse current to the boundary line；Institute
It states charging station to be additionally operable to receive the safe voltage of adapter output and will be imparted to the automatic mower, to cut automatically to described
Careless machine charges.
Description of the drawings
Fig. 1 is the structure diagram of the automatic mower in an embodiment；
Fig. 2 is the oscillogram of the pulse current in the boundary line in an embodiment；
Fig. 3 is the structure diagram of the boundary line signal supervisory instrument in an embodiment；
Fig. 4 is the schematic diagram for the tiny signal that the sensor in an embodiment detects；
Fig. 5 is that sensor is located at the position view on automatic mower in an embodiment；
Fig. 6 is the amplified schematic diagram of signal that signal amplifier detects sensor in an embodiment；
Fig. 7 is that there are signal the showing after enhanced processing that sensor when motor interference signal detects in an embodiment
It is intended to；
Fig. 8 is the structural schematic diagram of the automatic mower in another embodiment；
Fig. 9 is the structural schematic diagram of the automatic mower in another embodiment；
Figure 10 is the structural schematic diagram of the automatic mower system in an embodiment；
Figure 11 is the schematic diagram that charging station is when automatic mower is charged in an embodiment.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the structure diagram of the automatic mower in an embodiment.The automatic mower include shell (not shown),
Mowing-apparatus 110, driving device 120, electric machine 130, boundary line signal supervisory instrument 140, energy-storage battery 150 and control dress
Set 160.
Shell is for protecting the equipment in automatic mower.Hollow formation host cavity in shell, to accommodate motor
Device 130, boundary line signal supervisory instrument 140, energy-storage battery 150 and control device 160.Shell is insulation shell, to
The safety in utilization of automatic mower can be improved.Mowing-apparatus 110 is arranged in the bottom of shell, for realizing mowing function.
The structure of mowing-apparatus 110 can be set as needed.
Driving device 120 is similarly disposed at the bottom of shell, for realizing walking function.Driving device 120 can be rolling
Wheel construction.Driving device 120 may include front and back two groups of traveling wheels.In one embodiment, in front and back two groups of traveling wheels, trailing wheel is
Driving wheel, before be driven wheel, driven wheel can be 1 or two universal wheels, flexibly to be changed using the differential of driving wheel
Become the direction of travel of automatic mower.The driven wheel of front can also be wheeled, be linked with trailing wheel by belt or crawler belt.
In another embodiment, front and back two groups of traveling wheels are all driving wheels.
Electric machine 130 is arranged in the host cavity that shell is formed.Electric machine 130 respectively with mowing-apparatus 110 and drive
Dynamic device 120 connects, and works for controlling mowing-apparatus 110 and driving device 120.In one embodiment, it is filled to ensure to mow
110 and the mutual independence of driving device 120 are set, electric machine 130 includes mutually independent mowing motor 132 and driving
Motor 134.Mowing motor 132 is at least one, and driving motor 134 is two or 4.Mowing motor 132 can be arranged certainly
The front end of motor mower, driving motor 134 are then arranged in the rear end of automatic mower.Wherein, mowing motor 132 and mowing-apparatus
110 connections, for controlling the work of mowing-apparatus 110.Driving motor 134 is then connect with driving device 120, with to driving
The work of dynamic device 120 is controlled.In one embodiment, electric machine 130 is controlled using sine-wave current.Sine wave
Electric current is not since electric current is mutated, so as to reduce the interference to boundary line signal supervisory instrument 140.
Boundary line signal supervisory instrument 140 is arranged in host cavity.Boundary line signal supervisory instrument 140 is for detecting boundary
Line signal, to determine that cutting automatic mower is located in boundary line or outside boundary line.Boundary line is for defining automatic mower
Working region.There are the pulse current of certain frequency, oscillogram as shown in Figure 2 in boundary line.There are one mutation for pulse current
Rising edge and and failing edge, the electric current of variation generates changing magnetic field, so that boundary line signal supervisory instrument 140 can
It senses the changing magnetic field and generates corresponding boundary line signal.
In one embodiment, boundary line signal supervisory instrument 140 includes sensor 142, the ratio of signal amplifier 144, first
Compared with device 146 and the second comparator 148, as shown in Figure 3.The changing magnetic field that sensor 142 is used to generate boundary line is felt
The tiny signal (namely boundary line signal) of a similar sine wave should be obtained, as shown in Figure 4.In the present embodiment, sensor
142 include two, is symmetrically disposed on the both sides of the central shaft Z1 of automatic mower, as shown in Figure 5.And sensor 142 is arranged
In the front end of automatic mower.Boundary line signal detection is carried out by two sensors 142, is sensed using sensor 142
The direction of electromotive force, it is in boundary line or outer, so as to judge that machine is in online that can obtain sensor 142
(two sensors are all online interior) or line are outer (two sensors are all online outer), cross-line counterclockwise or cross-line clockwise (one
In pickup wire, outside a pickup wire), to more accurately know the location information of automatic mower.
The output end of sensor 142 is connect with signal amplifier 144.Signal amplifier 144 is used to detect sensor 142
To tiny signal be amplified processing, obtain exporting after oscillogram as shown in FIG. 6 comparing to first comparator 146 and second
Device 148.When electric machine 130 generates interference signal, which can equally be detected by sensor 142, so that
Its practical signal detected is as shown in Figure 7 after enhanced processing.First comparator 146 be used for by the tiny signal with visit
Limit value relatively and by comparison result is exported to control device 160.Second comparator 148 is then used for the tiny signal and Lower Threshold
Value relatively and by comparison result is exported to control device 160.Control device 160 is then determined according to the comparison result of two comparators
Automatic mower is to be located in boundary line or boundary line is external, cross-line counterclockwise or cross-line clockwise.When two sensors
142 be located at boundary line outside when, it is determined that automatic mower is located at outside boundary line；When two sensors 142 are respectively positioned in boundary,
Then determine that automatic mower is located in boundary line；It, can be with when another is online outer in one in two sensors 142 online
Determine that automatic mower is cross-line counterclockwise or cross-line clockwise.In the present embodiment, upper threshold and lower threshold need
It is determined according to the threshold value of the interference signal of the generation of electric machine 130.Specifically, upper threshold should be more than electric machine
The upper threshold of 130 interference signals generated, and lower threshold should then be less than under the interference signal that electric machine 130 generates
Threshold value, as shown in fig. 6, causing so as to avoid the interference signal that electric machine 130 generates from generating interference to judging result
The problem of position that can not correctly judge automatic mower, occurs.Specifically, when the electric current in boundary line is counterclockwise, two
Comparator exports high level, exports low level all the way all the way, and high level rear, indicates sensor 142 on side in preceding, low level
In boundary line, it is on the contrary then outside boundary line.When the electric current in boundary line is clockwise, low level is in preceding, high level in rear expression
Sensor 142 is on the contrary outside boundary line in boundary line.
In one embodiment, control device 160 is additionally operable to adjust the sensitivity of boundary line signal supervisory instrument 140
It is whole.Specifically, control device 160 is cut automatically in the boundary line signal determination detected according to boundary line signal supervisory instrument 140
Careless machine is when being located in boundary line or being located at outside boundary line, can also to determine automatic mower according to the intensity of boundary line signal
Apart from the distance between boundary line.Wherein, the distance between automatic mower and boundary line and boundary line signal strength is corresponding
Relationship can be stored in advance in the control device 160 of automatic mower or in independent storage device.Therefore, control device
160 can determine the distance between automatic mower and boundary line according to the intensity of the boundary line signal, to according to the distance
Adjust the sensitivity of detection.Control device 160 reduces detection sensitivity when distance reduces, and is carried accordingly when distance increases
High detection sensitivity, so that it is guaranteed that testing result is correctly with the position of accurate judgement automatic mower.
Energy-storage battery 150 is similarly disposed in host cavity.Energy-storage battery 150 connects with electric machine 130, control device 160
It connects, for providing electric power for it.Energy-storage battery 150 includes multiple battery units 152.Each battery unit 152 can be by multiple
Battery core is formed in parallel, and can also be made of single battery core.The number of battery unit 152 can be according to the workspace of automatic mower
Domain determines.The voltage of each battery unit 152 is safe voltage.Control device 160 is used for multiple in energy-storage battery 150
The connection relation of battery unit 152 is controlled, to need to be changed its connection relation according to charge or discharge.Its
In, control device 160 is used to control multiple battery units 152 and is sequentially connected in series so that the voltage of energy-storage battery 150 is higher than safety
After voltage, power to electric machine 130.Safe voltage can be set according to the regulation of country variant.Safe voltage refers to
The safe voltage thresholding of defined electric tool, refers both to 42 volts herein.In other examples, in energy-storage battery 150
Each battery unit 152 be sequentially connected in series after voltage be more than 42V and be less than 240V.For example, each battery list in energy-storage battery 150
Voltage after member 152 is sequentially connected in series can be 60V, 80V or even 120V.
Above-mentioned automatic mower can improve energy storage after multiple battery units 152 are connected by control device 160
The output voltage of battery 150, to which on the basis of keeping the output power of automatic mower constant, motor can be effectively reduced
The operating current of device, and then the interference that electric machine generates boundary line signal supervisory instrument can be effectively reduced, it is ensured that from
Motor mower can work normally.Meanwhile shell can improve the safety of automatic mower using insulation shell.
In one embodiment, above-mentioned automatic mower further includes charging interface 170, as shown in Figure 1.Charging interface 170 is solid
It is scheduled on shell.Charging interface 170 with charging station for docking, to receive the safe voltage of charging station output, namely charging
The input voltage of interface 170 is safe voltage.Since the charging pole piece of charging interface 170 may be exposed in charging process, because
It is safe voltage that this, which controls its input voltage, it can be ensured that the safety in utilization of automatic mower, while reducing to cutting automatically
The insulating requirements of careless machine can reduce structure design cost.In the present embodiment, each battery unit 152 in energy-storage battery 150
Concatenated connection relation is kept in whole work process.At this point, what control device 160 was used to input charging interface 170
Safe voltage (namely voltage less than 42V) export after boosting processing being powered to energy-storage battery 150.
In another embodiment, control device 150 can close the connection of each battery unit 152 in energy-storage battery 150
System is controlled.That is, when the voltage that charging interface 170 inputs is safe voltage, control device 150 can control the safety
Voltage charges to each battery unit 152 in energy-storage battery 150 successively.Since the voltage of each battery unit 152 is relatively low,
Therefore control device 150 handles the charging that can be realized to each battery unit 152 without carrying out boosting to the safe voltage.
In another embodiment, control device 160 can also charging interface 170 input voltage be safe voltage when,
Each battery unit 152 controlled in energy-storage battery 150 is in parallel, after the voltage to reduce energy-storage battery 150, utilizes the safe voltage
It charges to energy-storage battery 150.Namely in the present embodiment, control device 160 can be in charging interface 170 to energy-storage battery
150 when being charged, and is controlled each battery unit 152 and is arranged in parallel, and needs to power to electric machine 130 in energy-storage battery 150
When, it controls each battery unit 152 and is arranged in series, to achieve the purpose that reduce the operating current of electric machine 130, to reduce electricity
The interference that machine device 130 generates.
In one embodiment, the charging interface 170 in above-mentioned automatic mower can use wireless charging module 210 to replace,
As shown in Figure 8.Wireless charging module 210 be arranged in shell, without on shell setting charging pole piece can be exposed fill
Electrical interface.At this point, the voltage that wireless charging module 210 receives can be safe voltage, safe voltage can also be higher than.Work as nothing
When the voltage that line charging module 210 receives is higher than safe voltage, control device 160 can control more in energy-storage battery 150
A battery unit 152 is constantly in series connection.And when the voltage that wireless charging module 210 receives is safe voltage, control
Device 160 processed can control wireless charging module 210 and power successively to each battery unit 152, or control each battery unit 152
It is charged by wireless charging module 210 after parallel connection.
Fig. 9 be another embodiment in automatic mower structure diagram, the automatic mower include shell (in figure not
Show), mowing-apparatus 310, driving device 320, electric machine 330, boundary line signal supervisory instrument 340, energy-storage battery 350, control
Device 360 and wireless charging module 370 processed.Wherein, control device 360 is filled with electric machine 330, boundary line signal detection respectively
It sets 340, energy-storage battery 350 and wireless charging module 370 is electrically connected, and control it.Electric machine 330 is equally set
It is equipped with mowing motor 332 and driving motor 334, to control mowing-apparatus 310 and driving device 320 respectively.
In the present embodiment, energy-storage battery 350 only includes a battery unit, constitutes entire energy-storage battery 350.The battery
The voltage of unit is higher than safe voltage, and voltage is more than 42V and is less than 240V.For example, battery unit in energy-storage battery 350
Voltage can be 60V, 80V or even 120V.Namely the voltage of energy-storage battery 350 is higher than safe voltage.Control device 360 is used for
Control wireless charging module 370 charges to energy-storage battery 350.Since electrode is not exposed during wireless charging, from
And it makes it possible to and directly charges to energy-storage battery 350 using with 350 matched high voltage of energy-storage battery.By by battery
The voltage of unit namely the voltage of energy-storage battery 350 are set above safe voltage, to keep the defeated of automatic mower
Go out power it is constant on the basis of, the operating current of electric machine can be effectively reduced, and then electric machine pair can be effectively reduced
The interference that boundary line signal supervisory instrument generates, it is ensured that automatic mower can work normally.Meanwhile shell uses insulation shell
The safety of automatic mower can be improved.Also, it will not use during wireless charging and arrive bare electrode, so as into one
Step improves the safety of automatic mower.
Figure 10 is the structural schematic diagram of the automatic mower system in an embodiment.The automatic mower system includes aforementioned
Automatic mower 410 in any embodiment further includes charging station 420 and boundary line 430.Charging station 420 is located at boundary line
On 430, and for providing pulse current to boundary line 430, to form a fence for automatic mower.Charging station
420 are additionally operable to connect with adapter 40, as shown in figure 11.Adapter 40, which is used to be converted to be defeated by after safe voltage by alternating current AC, to be filled
Power station 420.Charging station 420 is docked with the charging interface in automatic mower 410, to export the safe voltage to cutting automatically
Careless machine 410, to power to automatic mower 410.After safe voltage being converted voltages by adapter 40, charging station 420
Voltage is always safe voltage, without doing double insulation to charging station, advantageously reduces structure design cost, and improve whole
The safety in utilization of a system.Charging station 420 can by charging interface or wireless charging module and automatic mower 410 into
Row charging connection.
In one embodiment, wireless charging namely adapter 40 can be carried out between adapter 40 and charging station 420 and are filled
Power station 420 all has wireless charging function.At this point, the output voltage of adapter 40 can be safe voltage, peace can also be higher than
Full voltage.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of automatic mower, which is characterized in that including：
Shell, hollow formation host cavity in the shell；
Mowing-apparatus, for realizing mowing function；
Driving device, for realizing walking function；
Electric machine is arranged in the host cavity；The electric machine respectively with the mowing-apparatus and the driving device
It is electrically connected, for controlling the mowing-apparatus and driving device work；
Boundary line signal supervisory instrument is arranged in the host cavity；The boundary line signal supervisory instrument is for detecting boundary
Line signal with the determination automatic mower is located in boundary line or outside the boundary line or across on boundary line；It is described
Boundary line is used to define the working region of automatic mower；
Energy-storage battery is arranged in the host cavity；The energy-storage battery is electrically connected with the electric machine, is used for described
Electric machine provides electric power；The energy-storage battery includes multiple battery units；And
Control device, the control device respectively with the electric machine, the energy-storage battery and the boundary line signal detection
Device is electrically connected；Multiple battery units that the control device is used to control in the energy-storage battery are sequentially connected in series so that institute
The voltage for stating energy-storage battery unit is powered higher than after safe voltage to the electric machine.
2. automatic mower according to claim 1, which is characterized in that be further fixed on charging interface on the shell；Institute
The voltage for stating charging interface input is safe voltage；The control device is also connect with the charging interface；The control device
It is additionally operable to after handling the safe voltage that the charging interface inputs charge to the energy-storage battery.
3. automatic mower according to claim 2, which is characterized in that multiple battery units in the energy-storage battery according to
Secondary series connection；The control device is used to give energy storage electricity after carrying out boosting processing to the safe voltage that the charging interface inputs
It charges in pond.
4. automatic mower according to claim 2, which is characterized in that the control device is additionally operable to control the energy storage
After multiple battery units in parallel in battery, it is right into the energy-storage battery that the safe voltage that the charging interface inputs is exported
The energy-storage battery charges；Or the control device be used to control the safe voltage of charging interface input successively to
Each battery unit charging in the energy-storage battery.
5. automatic mower according to claim 1, which is characterized in that further include wireless charging module；The wireless charging
Electric module is arranged in the host cavity, for realizing the wireless charging function of the automatic mower.
6. automatic mower according to claim 1, which is characterized in that the boundary line signal supervisory instrument includes two
Sensor, signal amplifier, first comparator and the second comparator；Described two sensors are symmetrically disposed on the automatic mowing
The central shaft both sides of machine, and be arranged close to the front end of the automatic mower；
The input terminal of the signal amplifier is connect with the sensor；The output end of the signal amplifier is respectively with described
One comparator is connected with second comparator；The signal amplifier to the boundary line signal for being amplified processing；
The first comparator with upper threshold by the boundary line signal for relatively and exporting comparison result；Second comparator
For the boundary line signal relatively and to be exported comparison result with lower threshold；The control device is used for according to comparison result
Determine that the automatic mower is to be located in boundary line or be located at outside boundary line or across on boundary line.
7. automatic mower according to claim 1, which is characterized in that the control device also with the boundary line signal
Detection device is electrically connected；The boundary line signal that the control device is used to be detected according to the boundary line signal supervisory instrument
Adjust the detection sensitivity of the boundary line signal supervisory instrument.
8. automatic mower according to claim 7, which is characterized in that the control device is used for according to the boundary line
Signal determines the distance between the automatic mower and boundary line, and reduces the boundary line signal when the distance reduces
The detection sensitivity of detection device improves the detection sensitivity of the boundary line signal supervisory instrument when the distance increases.
9. a kind of automatic mower, which is characterized in that including：
Shell, hollow formation host cavity in the shell；
Mowing-apparatus, for realizing mowing function；
Driving device, for realizing walking function；
Electric machine is arranged in the host cavity；The electric machine respectively with the mowing-apparatus and the driving device
It is electrically connected, for controlling the mowing-apparatus and driving device work；
Boundary line signal supervisory instrument is arranged in the host cavity；The boundary line signal supervisory instrument is for detecting boundary
Line signal with the determination automatic mower is located in boundary line or outside the boundary line or across on boundary line；It is described
Boundary line is used to define the working region of automatic mower；
Energy-storage battery is arranged in the host cavity；The voltage of the energy-storage battery is higher than safe voltage；The energy-storage battery with
The electric machine is electrically connected, for providing electric power to the electric machine；
Wireless charging module is arranged in the host cavity, for carrying out wireless charging to the energy-storage battery；And
Control device, respectively with the electric machine, the boundary line signal supervisory instrument, the energy-storage battery and described wireless
Charging module connects；The control device is used for the electric machine, the boundary line signal supervisory instrument, energy storage electricity
Pond and the wireless charging module are controlled.
10. a kind of automatic mower system, which is characterized in that including：
Automatic mower as described in claim 1~9 is any；
Boundary line, the boundary line are used to define the working region of automatic mower；There is pulse current with shape on the boundary line
At boundary line signal；
Charging station is located on the boundary line；The charging station is used to provide the pulse current to the boundary line；It is described to fill
Power station is additionally operable to receive the safe voltage of adapter output and will be imparted to the automatic mower, with to the automatic mower
It charges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710294090.3A CN108781704B (en) | 2017-04-28 | 2017-04-28 | Automatic mower system and automatic mower thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710294090.3A CN108781704B (en) | 2017-04-28 | 2017-04-28 | Automatic mower system and automatic mower thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108781704A true CN108781704A (en) | 2018-11-13 |
| CN108781704B CN108781704B (en) | 2021-08-10 |
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| CN201710294090.3A Active CN108781704B (en) | 2017-04-28 | 2017-04-28 | Automatic mower system and automatic mower thereof |
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| CN109871012A (en) * | 2019-01-29 | 2019-06-11 | 宁波大叶园林设备股份有限公司 | A kind of forward method of intelligent grass-removing in boundary |
| CN111179568A (en) * | 2019-12-25 | 2020-05-19 | 中电海康集团有限公司 | Mowing robot communication method and system based on boundary electromagnetic signals |
| CN112087027A (en) * | 2020-08-26 | 2020-12-15 | 深圳市杉川机器人有限公司 | Charging station, automatic working system and charging method of self-moving equipment |
| WO2021004484A1 (en) * | 2019-07-09 | 2021-01-14 | 南京德朔实业有限公司 | Riding lawn mower and control method therefor |
| WO2021047068A1 (en) * | 2019-09-12 | 2021-03-18 | 苏州宝时得电动工具有限公司 | Automatic working system and control method therefor |
| CN112567959A (en) * | 2019-09-12 | 2021-03-30 | 南京德朔实业有限公司 | Self-walking mowing system and method for supplementing operation of missed cutting area of self-walking mowing system |
| CN112806149A (en) * | 2019-11-15 | 2021-05-18 | 南京德朔实业有限公司 | Intelligent mowing system |
| WO2021093856A1 (en) * | 2019-11-15 | 2021-05-20 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN113552873A (en) * | 2020-04-03 | 2021-10-26 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN113552874A (en) * | 2020-04-03 | 2021-10-26 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN115622208A (en) * | 2021-07-12 | 2023-01-17 | 南京泉峰科技有限公司 | Self-driven equipment system and charging station thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109871012A (en) * | 2019-01-29 | 2019-06-11 | 宁波大叶园林设备股份有限公司 | A kind of forward method of intelligent grass-removing in boundary |
| WO2021004484A1 (en) * | 2019-07-09 | 2021-01-14 | 南京德朔实业有限公司 | Riding lawn mower and control method therefor |
| WO2021047068A1 (en) * | 2019-09-12 | 2021-03-18 | 苏州宝时得电动工具有限公司 | Automatic working system and control method therefor |
| CN112567959A (en) * | 2019-09-12 | 2021-03-30 | 南京德朔实业有限公司 | Self-walking mowing system and method for supplementing operation of missed cutting area of self-walking mowing system |
| CN112824993A (en) * | 2019-11-15 | 2021-05-21 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN112806149A (en) * | 2019-11-15 | 2021-05-18 | 南京德朔实业有限公司 | Intelligent mowing system |
| WO2021093856A1 (en) * | 2019-11-15 | 2021-05-20 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN112824993B (en) * | 2019-11-15 | 2024-04-30 | 南京泉峰科技有限公司 | Intelligent mowing system |
| CN111179568A (en) * | 2019-12-25 | 2020-05-19 | 中电海康集团有限公司 | Mowing robot communication method and system based on boundary electromagnetic signals |
| CN111179568B (en) * | 2019-12-25 | 2021-08-10 | 中电海康集团有限公司 | Mowing robot communication method and system based on boundary electromagnetic signals |
| CN113552873A (en) * | 2020-04-03 | 2021-10-26 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN113552874A (en) * | 2020-04-03 | 2021-10-26 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN113552874B (en) * | 2020-04-03 | 2024-01-23 | 南京泉峰科技有限公司 | Intelligent mowing system |
| CN113552873B (en) * | 2020-04-03 | 2024-03-26 | 南京泉峰科技有限公司 | Intelligent mowing system |
| CN112087027A (en) * | 2020-08-26 | 2020-12-15 | 深圳市杉川机器人有限公司 | Charging station, automatic working system and charging method of self-moving equipment |
| CN115622208A (en) * | 2021-07-12 | 2023-01-17 | 南京泉峰科技有限公司 | Self-driven equipment system and charging station thereof |
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