WO2020024986A1 - 草坪修剪高度的检测方法、装置及剪草机 - Google Patents

草坪修剪高度的检测方法、装置及剪草机 Download PDF

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WO2020024986A1
WO2020024986A1 PCT/CN2019/098626 CN2019098626W WO2020024986A1 WO 2020024986 A1 WO2020024986 A1 WO 2020024986A1 CN 2019098626 W CN2019098626 W CN 2019098626W WO 2020024986 A1 WO2020024986 A1 WO 2020024986A1
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height
lawnmower
lawn
ground
current
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PCT/CN2019/098626
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English (en)
French (fr)
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刘亿明
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上海七桥机器人有限公司
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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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters

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  • the present specification relates to the technical field of lawnmowers, and in particular, to a method, a device and a lawnmower for detecting the cutting height of a lawn.
  • the cutting height of the lawn is also called the stubble height, which refers to the vertical height of the branches on the ground measured immediately after the cutting of the lawn.
  • the cutting height of the lawn is affected by many factors: one is related to the biological characteristics of the lawn; the other is It is related to the use of the lawn. Third, it is related to the environment in which the lawn is located.
  • the detection of the lawn trimming height when the lawnmower trims the lawn often requires an infrared device or a sensor on the lawnmower, which has a high cost; and its detection accuracy is low, and the judgment of the lawn trimming height is not accurate.
  • the embodiments of the present specification provide a method, a device and a lawnmower for detecting the lawn cutting height, which are used to solve the problem that the lawnmower usually uses an infrared device or a sensor to detect the lawn cutting height in the prior art.
  • An embodiment of the present specification provides a method for detecting a lawn cutting height, including:
  • the height of the lawnmower from the ground is the height of the lawn.
  • obtaining the height of the lawnmower from the ground includes:
  • obtaining the height of the lifting mechanism for controlling the lift of the lawnmower from the ground includes:
  • the height of the lifting mechanism from the ground is calculated according to the linear displacement.
  • obtaining the height of the grass cutter from the ground includes:
  • the lifting mechanism When the lifting mechanism is lowered and the magnitude of the current is increased to be larger than a preset threshold, the height of the lawnmower from the ground is obtained.
  • the method for detecting the lawn cutting height further comprises the step of determining the threshold value according to the humidity of the grass to be trimmed on the lawn, the rotation speed of the lawnmower blade, and the number of the blades.
  • the threshold value is larger than the idling current value of the motor in the idling state, and smaller than the current magnitude of the motor when all the blades of the lawnmower blade contact the lawn to be trimmed.
  • An embodiment of the present specification further provides a device for detecting the height of a lawn trim, including:
  • a detection module for detecting a current of a motor, the motor being configured to control the rotation of the lawnmower;
  • An obtaining module for obtaining the height of the grass cutter from the ground when the magnitude of the current is greater than a preset threshold
  • the height of the lawnmower from the ground is the height of the lawn.
  • the obtaining module obtains the height of the lawnmower from the ground; including:
  • the obtaining module obtains the height of the lifting mechanism that controls the raising and lowering of the lawnmower from the ground, further comprising:
  • the height of the lifting mechanism from the ground is calculated according to the linear displacement.
  • An embodiment of the present specification further provides a lawnmower, including a lawnmower for mowing the lawn, a control device, a motor for controlling the rotation of the lawnmower, and a lift for controlling the lift of the lawnmower Mechanism; the control device is configured to perform the following steps:
  • the height of the lawnmower from the ground is the height of the lawn.
  • the at least one technical solution adopted in the embodiment of the present specification can achieve the following beneficial effects: the method of the present invention first continuously obtains the current magnitude of the motor that controls the rotation of the lawnmower, and then determines whether there is an inflection point in the continuously obtained current magnitude; When an inflection point occurs in the magnitude of the current, the height of the lawnmower from the ground is obtained; the method of the present invention does not require detection by using an infrared device or a sensor, which reduces the detection cost and has a high detection accuracy of the lawn cutting height.
  • FIG. 1 is a flowchart of a method for detecting a lawn cutting height in an embodiment of the present specification
  • FIG. 2 is a schematic diagram of a lawnmower trimming a lawn in an embodiment of the present specification
  • FIG. 3 is a schematic diagram showing a relationship between a motor current and a lawn cutting height in an embodiment of the present specification
  • FIG. 4 is a schematic structural diagram of a device for detecting a lawn cutting height in an embodiment of the present specification.
  • An embodiment of the present specification provides a detection method for detecting the height of a lawn mower when cutting the lawn, to solve the prior art, because an infrared device or a sensor is usually used to detect the height of the lawn mower, which results in high detection costs and a large amount of time. High degree of inaccuracy.
  • FIG. 1 is a method for detecting a lawn cutting height provided by an embodiment of the present specification. The method is shown below.
  • the main body of the method for detecting the lawn trimming height may be a control device of the lawnmower. It includes the following steps:
  • Step S101 detecting the current of the motor, the motor is configured to control the rotation of the lawnmower;
  • the control device of the lawnmower when the lawnmower is operating normally, can continuously obtain the current magnitude of the motor that controls the rotation of the lawnmower.
  • the motor can be connected to the current detection unit, and then the current detection unit can be connected to the control device.
  • the current detection unit can detect the current of the motor.
  • the control device is obtained by the current detection unit. Test results.
  • the motor is used to control the rotation of the lawnmower, and the lawnmower includes a plurality of blades for cutting the lawn.
  • FIG. 2 is a schematic diagram of the lawnmower trimming lawn in the embodiment of the present specification; wherein, 1 is a lawnmower; 2 is a grass cutter; 3 is a lawn that has been trimmed; The height of the lawn is h1, and the cutting height of the lawn is h2;
  • Step S102 when the magnitude of the current is greater than a preset threshold, obtaining a height of the grass cutter from the ground;
  • the lawnmower includes a plurality of blades; when the motor that controls the rotation of the lawnmower is in an idling state, its current value is constant; when the lawnmower starts to trim the lawn, the control device detects the motor that controls the rotation of the lawnmower The magnitude of the current.
  • control device detects that the magnitude of the current of the motor is greater than a preset threshold, obtaining the height of the grass cutter from the ground, at this time, the height of the grass cutter from the ground is the height of the lawn after being trimmed;
  • FIG. 3 is a schematic diagram showing a relationship between a motor current and a lawn cutting height in the embodiment of the present specification
  • the height of the lawn to be trimmed is h1
  • the control device detects a current of a motor that controls the rotation of the lawnmower blade
  • the control device detects that the current of the motor is greater than a preset threshold I0, the control device obtains the distance of the lawnmower The height of the ground h2; h2 is the height of the lawn;
  • the current of the motor gradually increases; when all the blades of the lawnmower are cutting the lawn, the current of the motor increases to I2 and the current of the motor It tends to be stable; when the lawnmower finishes cutting grass and the motor returns to the idling state, the current of the motor decreases to I1.
  • the method for detecting the lawn cutting height may further include the following steps: determining the threshold value according to the humidity of the grass to be trimmed on the lawn, the speed of the cutting blade, and the number of blades. A step of.
  • the threshold value is M * (grass humidity) / the speed of the blade * the number of blades; M is a natural number; the humidity of the grass is proportional to the threshold size, the speed of the blade and the number of blades Inverse proportion
  • the threshold is also affected by the species of grass and the current season
  • the method for obtaining the height of the grass cutter from the ground may include the following steps:
  • the lawnmower includes a lifting mechanism, and the lifting mechanism is installed in a casing of the lawnmower; the lawnmower is installed in the lifting mechanism, and the lawnmower may include a blade And a cutter head for supporting the blade; the cutter head is mounted on a lifting mechanism, and when the lifting mechanism moves longitudinally, it can drive the lawnmower to move longitudinally.
  • the control device can calculate the height of the cutting blade from the ground according to the positional relationship between the cutting blade and the lifting mechanism. For example: the height of the lifting mechanism from the ground measured by the control device is h3; the distance of the cutting blade from the lower end of the lifting mechanism is h4; at this time, the control device can calculate that the height of the cutting blade from the ground is h3 + h4.
  • the method for obtaining the height of the lifting mechanism for controlling the lifting and lowering of the lawnmower blade from the ground may include the following steps:
  • the height of the lifting mechanism from the ground is calculated according to the linear displacement.
  • the stepping motor may be a lead screw motor, and the lead screw motor may be provided with a readable scale; and the readable scale may be set to obtain its reading by a control device;
  • the control device may read the linear displacement and calculate the height of the lifting mechanism from the ground based on the linear displacement, so as to obtain the height of the lawnmower from the ground.
  • obtaining the height of the grass cutter from the ground includes:
  • the lifting mechanism When the lifting mechanism is lowered and the magnitude of the current is increased to be larger than a preset threshold, the height of the lawnmower from the ground is obtained.
  • the threshold value is larger than the idling current value of the motor in the idling state, and smaller than the magnitude of the current when the blade of the lawnmower blade touches the lawn to be trimmed.
  • the embodiment of the present specification further provides a device for detecting the height of lawn trimming, as shown in FIG. 4, including:
  • a detection module S401 detects a current of a motor, and the motor is configured to control the rotation of a lawnmower;
  • An obtaining module S402 when the magnitude of the current is greater than a preset threshold, obtain a height of the grass cutter from the ground;
  • the height of the lawnmower from the ground is the height of the lawn.
  • the obtaining module S402 obtains the height of the grass cutter from the ground; including:
  • the obtaining module S402 obtains the height of the lifting mechanism that controls the lifting of the lawnmower from the ground, further comprising:
  • the height of the lifting mechanism from the ground is calculated according to the linear displacement.
  • an embodiment of the present specification further provides a lawnmower, including a lawnmower for trimming a lawn, a control device, a motor for controlling rotation of the lawnmower, and controlling the Lifting mechanism for raising and lowering lawnmower; the control device is configured to perform the following steps:
  • the height of the lawnmower from the ground is the height of the lawn.

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Abstract

提供了一种草坪修剪高度的检测方法、装置及剪草机，该草坪修剪高度的检测方法包括：步骤S101，检测电机的电流大小，电机被设置为可控制剪草刀的旋转；步骤S102，当电流大小大于预设的阈值时,获取剪草刀距离地面的高度；其中，剪草刀距离地面的高度为草坪修剪高度。该检测方法能够解决现有技术中剪草机因通常采用红外设备或者传感器来检测草坪修剪高度，导致检测成本高、对草坪修剪高度判断不准确的问题。

Description

草坪修剪高度的检测方法、装置及剪草机 技术领域
本说明书涉及剪草机技术领域，尤其涉及一种草坪修剪高度的检测方法、装置及剪草机。
背景技术
草坪的修剪高度也称为留茬高度，是指草坪修剪后立即测得的地上的枝条的垂直高度，草坪的修剪高度受众多因素的影响：其一，与草坪的生物学特性有关；其二，与草坪的用途有关；其三，与草坪所处的环境有关。
现有技术中，剪草机修剪草坪时的草坪修剪高度的检测往往需要在剪草机上设置红外设备或者传感器，成本较高；且其检测精度低，对草坪修剪高度的判断不准确。
发明内容
有鉴于此，本说明书实施例提供了一种草坪修剪高度的检测方法、装置及剪草机，用于解决现有技术中剪草机因通常采用红外设备或者传感器来检测草坪修剪高度，导致检测成本高、对草坪修剪高度判断不准确的问题。
本说明书实施例采用下述技术方案：
本说明书实施例提供一种草坪修剪高度的检测方法，包括：
检测电机的电流大小，所述电机被设置为可控制剪草刀的旋转；
当所述电流大小大于预设的阈值时,获取所述剪草刀距离地面的高度；
其中，所述剪草刀距离地面的高度为草坪修剪高度。
优选地，获取所述剪草刀距离地面的高度；包括：
获取控制所述剪草刀升降的升降机构距离地面的高度；
计算所述剪草刀距离地面的高度。
优选地，获取控制所述剪草刀升降的升降机构距离地面的高度，包括：
基于步进电机驱动所述升降机构产生纵向的直线位移；
根据所述直线位移计算所述升降机构距离地面的高度。
优选地，当所述电流大小大于预设的阈值时,获取所述剪草刀距离地面的高度，包括：
当所述升降机构下降，且所述电流大小增大至大于预设的阈值时，获取所述剪草刀距离地面的高度。
优选地，所述草坪修剪高度的检测方法，还包括：根据所述草坪上待修剪的草的湿度、所述剪草刀的转速、以及所述刀片的数量确定所述阈值的步骤。
优选地，所述阈值大于所述电机在空转状态下的空转电流值，且小于所述电机在剪草刀的刀片全部接触到待修剪草坪时的电流大小。
本说明书实施例还提供一种草坪修剪高度的检测装置，包括：
检测模块，检测电机的电流大小，所述电机被设置为可控制剪草刀的旋转；
获取模块，当所述电流大小大于预设的阈值时,获取所述剪草刀距离地面的高度；
其中，所述剪草刀距离地面的高度为草坪修剪高度。
优选地，所述获取模块获取所述剪草刀距离地面的高度；包括：
获取控制所述剪草刀升降的升降机构距离地面的高度；
计算所述剪草刀距离地面的高度。
优选地，所述获取模块获取控制所述剪草刀升降的升降机构距离地面的高度，进一步包括：
基于步进电机驱动所述升降机构产生纵向的直线位移；
根据所述直线位移计算所述升降机构距离地面的高度。
本说明书实施例还提供一种剪草机，包括用于修剪草坪的剪草刀、控制装置、用于控制所述剪草刀的旋转的电机、以及用于控制所述剪草刀升降的升降 机构；所述控制装置被配置为可执行以下步骤：
检测电机的电流大小；
当所述电流大小大于预设的阈值时,获取所述剪草刀距离地面的高度；
其中，所述剪草刀距离地面的高度为草坪修剪高度。
本说明书实施例采用的上述至少一个技术方案能够达到以下有益效果：本发明所述方法首先连续地获取控制剪草刀旋转的电机的电流大小，而后判断连续获取的所述电流大小是否出现拐点；当所述电流大小出现拐点时，获取所述剪草刀距离地面的高度；本发明所述方法不需采用红外设备或者传感器等进行检测，降低了检测成本且对草坪修剪高度的检测精度高。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1为本说明书一实施例中草坪修剪高度的检测方法的流程图；
图2为本说明书一实施例中剪草机修剪草坪的示意图；
图3为本说明书一实施例中电机电流大小与草坪修剪高度的关系示意图；
图4为本说明书一实施例中草坪修剪高度的检测装置的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
以下结合附图，详细说明本说明书各实施例提供的技术方案。
本说明书一实施例提供了一种剪草机在修剪草坪时检测草坪修剪高度的检测方法，以解决现有技术因通常采用红外设备或者传感器来检测草坪修剪高度，导致检测成本高、对草坪修剪高度判断不准确的问题。
图1为本说明书实施例提供的一种草坪修剪高度的检测方法，该方法如下所示。该草坪修剪高度的检测方法的执行主体可以是剪草机的控制装置。包括以下步骤：
步骤S101：检测电机的电流大小，所述电机被设置为可控制剪草刀的旋转；
需要说明的是，本说明书一个或多个实施例中，当剪草机正常运转时，所述剪草机的控制装置可连续地获取控制剪草刀旋转的电机的电流大小。
其中，检测电机电流的方法可以有多种，例如：可将电机与电流检测单元连接，而后将电流检测单元连接控制装置，电流检测单元可检测电机的电流大小，控制装置由电流检测单元的获取检测结果。
所述电机用于控制剪草刀的旋转，所述剪草刀包括多个用于切割草坪的刀片。
如图2所示，图2为本说明书实施例中剪草机修剪草坪的示意图；其中，1为剪草机；2为剪草刀；3为已修剪草坪；4为待修剪草坪；待修剪草坪的高度为h1，草坪的修剪高度为h2；
步骤S102：当所述电流大小大于预设的阈值时,获取所述剪草刀距离地面的高度；
所述剪草刀包括多个刀片；当控制剪草刀旋转的所述电机在空转状态时，其电流值恒定；剪草机开始修剪草坪时，所述控制装置检测控制剪草刀旋转的电机的电流的大小。
当剪草刀的一个刀片开始切割草坪上的草时，所述电机的电流开始增大，随着越来越多的刀片开始处于切割状态，电机电流逐渐增大；当所述剪草刀的所有刀片均处于割草状态时，所述电机的电流趋于稳定；
当控制装置检测到电机的电流大小大于预设的阈值时,获取所述剪草刀距 离地面的高度，此时，剪草刀距离地面的高度即为修剪后的草坪的高度；
如图3所示，图3为本说明书实施例中电机电流大小与草坪修剪高度的关系示意图；
其中，待修剪草坪的高度为h1,剪草机开始修剪草坪时，所述控制装置检测控制剪草刀旋转的电机的电流的大小；
所述剪草刀包括N个刀片，N>＝1；当控制剪草刀旋转的所述电机在空转状态时，其电流值为恒定值I1；
当剪草刀的一个刀片开始切割草坪上的草时，所述电机的电流开始增大，当所述控制装置检测到电机的电流大小大于预设的阈值I0时，控制装置获取剪草刀距离地面的高度h2；h2即为草坪的修剪高度；
随着越来越多的刀片开始切割草坪，电机的电流大小逐渐增大；当所述剪草刀的所有刀片均处于切割草坪的状态时，电机的电流大小增大至I2且电机的电流大小趋于稳定；待剪草机剪草完毕后且电机回归空转状态时，电机的电流大小减小至I1。
本说明书一个或多个实施例中，所述草坪修剪高度的检测方法还可以包括以下步骤：根据所述草坪上待修剪的草的湿度、剪草刀的转速、以及刀片的数量确定所述阈值的步骤。
例如：阈值大小为M*(草的湿度)/剪草刀的转速*刀片的数量；M为自然数；草的湿度与阈值大小成正比例，剪草刀的转速、以及刀片的数量与阈值大小成反比例；
此外，所述阈值还受草的品种、当前的季节的影响；
本说明书一个或多个实施例中，获取所述剪草刀距离地面的高度的方法可以包括以下步骤：
获取控制所述剪草刀升降的升降机构距离地面的高度；
计算所述剪草刀距离地面的高度。
本说明书一个或多个实施例中，所述剪草机包括升降机构，升降机构安装 于所述剪草机的壳体内；所述剪草刀安装于所述升降机构，剪草刀可包括刀片和用于支撑刀片的刀盘；刀盘安装于升降机构，当升降机构纵向移动时，可带动剪草刀纵向移动。
所述控制装置获取升降机构距离地面的高度以后，可根据剪草刀与升降机构的位置关系计算所述剪草刀距离地面的高度。例如：控制装置测得升降机构距离地面的高度为h3；剪草刀距离升降机构的下端的距离为h4；此时，控制装置经计算可得出所述剪草刀距离地面的高度为h3+h4。
本说明书一个或多个实施例中，获取控制所述剪草刀升降的升降机构距离地面的高度的方法，可以包括以下步骤：
基于步进电机驱动所述升降机构产生纵向的直线位移；
根据所述直线位移计算所述升降机构距离地面的高度。
本说明书一个或多个实施例中，所述步进电机可以为丝杠电机，所述丝杠电机可以设置有可读刻度盘；且可读刻度盘可被设置为由控制装置获取其读数；当所述升降机构带动剪草刀产生纵向的直线位移时，控制装置可读取所述直线位移并基于所述直线位移计算升降机构距离地面的高度，从而可以得到剪草刀距离地面的高度。
本说明书一个或多个实施例中，当所述电流大小大于预设的阈值时,获取所述剪草刀距离地面的高度，包括：
当升降机构下降，且所述电流大小增大至大于预设的阈值时，获取所述剪草刀距离地面的高度。
本说明书一个或多个实施例中，所述阈值大于所述电机在空转状态下的空转电流值，且小于所述电机在剪草刀的刀片全部接触到待修剪草坪时的电流大小。
基于同一个发明构思，本说明书实施例还提供一种草坪修剪高度的检测装置，如图4所示，包括：
检测模块S401，检测电机的电流大小，所述电机被设置为可控制剪草刀的 旋转；
获取模块S402，当所述电流大小大于预设的阈值时,获取所述剪草刀距离地面的高度；
其中，所述剪草刀距离地面的高度为草坪修剪高度。
优选地，所述获取模块S402获取所述剪草刀距离地面的高度；包括：
获取控制所述剪草刀升降的升降机构距离地面的高度；
计算所述剪草刀距离地面的高度。
优选地，所述获取模块S402获取控制所述剪草刀升降的升降机构距离地面的高度，进一步包括：
基于步进电机驱动所述升降机构产生纵向的直线位移；
根据所述直线位移计算所述升降机构距离地面的高度。
基于同一个发明构思，本说明书实施例还提供一种剪草机，包括用于修剪草坪的剪草刀、控制装置、用于控制所述剪草刀的旋转的电机、以及用于控制所述剪草刀升降的升降机构；所述控制装置被配置为可执行以下步骤：
检测电机的电流大小；
当所述电流大小大于预设的阈值时,获取所述剪草刀距离地面的高度；
其中，所述剪草刀距离地面的高度为草坪修剪高度。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于***实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (10)

  1. 一种草坪修剪高度的检测方法，其特征在于，包括：
    检测电机的电流大小，所述电机被设置为可控制剪草刀的旋转；
    当所述电流大小大于预设的阈值时,获取所述剪草刀距离地面的高度；
    其中，所述剪草刀距离地面的高度为草坪修剪高度。
  2. 根据权利要求1所述的草坪修剪高度的检测方法，其特征在于，获取所述剪草刀距离地面的高度；包括：
    获取控制所述剪草刀升降的升降机构距离地面的高度；
    计算所述剪草刀距离地面的高度。
  3. 根据权利要求2所述的草坪修剪高度的检测方法，其特征在于，获取控制所述剪草刀升降的升降机构距离地面的高度，包括：
    基于步进电机驱动所述升降机构产生纵向的直线位移；
    根据所述直线位移计算所述升降机构距离地面的高度。
  4. 根据权利要求3所述的草坪修剪高度的检测方法，其特征在于，当所述电流大小大于预设的阈值时,获取所述剪草刀距离地面的高度，包括：
    当所述升降机构下降，且所述电流大小增大至大于预设的阈值时，获取所述剪草刀距离地面的高度。
  5. 根据权利要求1所述的草坪修剪高度的检测方法，其特征在于，还包括：根据所述草坪上待修剪的草的湿度、所述剪草刀的转速、以及所述刀片的数量确定所述阈值的步骤。
  6. 根据权利要求1或5所述的草坪修剪高度的检测方法，其特征在于，所述阈值大于所述电机在空转状态下的空转电流值，且小于所述电机在剪草刀的刀片全部接触到待修剪草坪时的电流大小。
  7. 一种草坪修剪高度的检测装置，其特征在于，包括：
    检测模块，检测电机的电流大小，所述电机被设置为可控制剪草刀的旋转；
    获取模块，当所述电流大小大于预设的阈值时,获取所述剪草刀距离地面 的高度；
    其中，所述剪草刀距离地面的高度为草坪修剪高度。
  8. 根据权利要求7所述的草坪修剪高度的检测装置，其特征在于，所述获取模块获取所述剪草刀距离地面的高度；包括：
    获取控制所述剪草刀升降的升降机构距离地面的高度；
    计算所述剪草刀距离地面的高度。
  9. 根据权利要求8所述的草坪修剪高度的检测装置，其特征在于，所述获取模块获取控制所述剪草刀升降的升降机构距离地面的高度，进一步包括：
    基于步进电机驱动所述升降机构产生纵向的直线位移；
    根据所述直线位移计算所述升降机构距离地面的高度。
  10. 一种剪草机，包括用于修剪草坪的剪草刀、控制装置、用于控制所述剪草刀的旋转的电机、以及用于控制所述剪草刀升降的升降机构；所述控制装置被配置为可执行以下步骤：
    检测电机的电流大小；
    当所述电流大小大于预设的阈值时,获取所述剪草刀距离地面的高度；
    其中，所述剪草刀距离地面的高度为草坪修剪高度。
PCT/CN2019/098626 2018-08-03 2019-07-31 草坪修剪高度的检测方法、装置及剪草机 WO2020024986A1 (zh)

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