• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a battery-type electric mower comprising: at least one cutting blade (24), - an electric motor (26) for driving the cutting blade, - an electronic control unit (30) of the motor electrical (26), - at least one optical sensor (40) disposed upstream of the cutting blade, according to the invention, - the optical sensor (40) is configured to deliver, during the advancement of the mower at least one predictive signal of a quantity of plants to be cut, the electronic control unit (30) is configured to establish an optimum rotational speed of the driving motor of the cutting blade, said predictive signal of the optical sensor , and a speed of advancement of the mower. Application to walk behind mowers.
    公开号:FR3046023A1
    申请号:FR1563187
    申请日:2015-12-23
    公开日:2017-06-30
    发明作者:Roger Pellenc
    申请人:Pellenc SAS；
    IPC主号:
    专利说明:

    Advance electric mower and method of driving such a mower Technical field
    The present invention relates to an electric clipper of the type powered by an electric battery. Electric mower means a mower whose cutting blade (s) are driven by an electric motor. The invention relates more precisely an anticipatory mower, capable of automatically determining a mowing task, and adapt its operation to this task. It also relates to a driving method of the driving motor of the cutting blade or blades of the mower. The invention finds applications particularly in the field of walk-behind mowers or driver-driven, for the maintenance of public or private green spaces.
    State of the art
    The anticipative mowers known are generally robotic lawnmowers, able to move autonomously on a ground to mow. The anticipatory function of these mowers generally consists of distinguishing grassed surfaces, mowing, and surfaces to avoid. It consists in particular of distinguishing areas already mowed and areas still to be mown.
    Such mowers are known, for example, from the following documents: US 3,924,389, US2008 / 0109126 and DE 199 32 552. They are provided with various sensors arranged at the front of the cutting deck of the mower, or upstream of the area covered by the cutting blade. The sensors are used to determine the presence of grass and, as the case may be, the height of the grass or a density of grass to be mowed.
    These parameters are taken into account to optimize the movement of the mower, in terms of trajectory or speed of advancement,
    DESCRIPTION OF THE INVENTION The object of the invention is to propose an anticipatory mower, and in particular a walk-behind mower, or a driver, to increase both the mowing efficiency and the comfort of use for the driver. . The invention particularly aims to provide a mower capable, to a large extent, to be used at constant forward speed. The invention aims to free the driver of the mower of the concern to constantly vary the speed of advance of the mower according to the height or density of grass that the cutting blade will approach. The invention also aims to provide an electric mower whose mowing autonomy is improved for a given battery capacity. The invention aims to adjust the energy consumed by the mower in the vicinity of what is strictly necessary to mow the vegetation encountered. The invention also aims to provide an electric mower whose operating noise is reduced. The invention aims to reduce as far as possible the noise sources of the mower and, again, the bare minimum necessary to mow the vegetation encountered.
    To achieve these aims, the invention more specifically relates to a battery-type electric mower comprising: at least one cutting blade, an electric motor driving the cutting blade, an electronic drive unit of the electric drive motor. of the cutting blade, and at least one optical sensor disposed upstream of the cutting blade. According to the invention, the optical sensor is oriented towards the ground with an inclination in a running direction of the mower, and configured to deliver, during the progress of the mower, at least one predictive signal that can be used to determine after treatment, at least one of a height of plants to be cut, a density of plants to be cut, and a combination of a height and a density of plants to be cut, the electronic control unit is configured to establishing an optimum rotational speed of the driving motor of the cutting blade, the optimum rotational speed being established according to said predictive signal of the optical sensor, and a forward speed of the mower selected from a speed of standard feedrate, effective feedrate, and desired feedrate.
    The mower is preferably a walk-behind mower.
    The mower may include one or more cutting blades driven by an electric motor. Each blade can be rotated about a rotation shaft that can be horizontal (for example for a helical drum) or vertical (cutting blades, cutting disc, ...), but can also be a cutting blade alternative. When the mower comprises several cutting blades, each cutting blade can be associated with an electric motor. A single electric motor can also be coupled to all the cutting blades. In the rest of the text, the reference to a plurality of cutting blades does not prejudge a possible embodiment of a single cutting blade mower.
    The cutting blades are preferably rotary blades, and can be housed in a cutting deck, for example a cutting deck suspended under a frame of the mower. The electronic engine control unit is primarily intended to manage the electric power supply of the blade drive electric motor and to control its speed of rotation. In the case of a plurality of cutting blades each associated with an electric motor, the electronic control unit is provided to manage the power supply of all the engines. In the case of a multi-phase brushless motor, it makes it possible, for example, to supply energy to the various phases of the motor according to sequences making it possible to control the rotation and in particular the speed of rotation of the motor. The electronic engine control unit may comprise one or more electronic cards to which may be dedicated, if necessary, other control functions of the mower, described later.
    The optical sensor or sensors of the mower may be sensitive sensors in wavelengths of the visible spectrum of light, in the infrared spectrum, and in particular in the near-infrared spectrum. The range of wavelengths is, for example, between 400 nm and 1200 nm. In the remainder of the description, and for simplification, reference is made to a single sensor. However, it should be kept in mind that the mower can be equipped with several sensors, and in particular two redundant sensors.
    Advantageously, the sensor may be associated with a lighting source provided for illuminating a target measurement area of the sensor at the front of the cutting blade. It can be integrated in the sensor or be separated from the sensor. It preferably covers all or part of the wavelength range in which the optical sensor is sensitive. The illumination source is preferably a pulsed light source so as to discriminate a response of the optical sensor to the light of the illumination source with respect, for example, to a response of the sensor to continuous daylight.
    The optical sensor may be an advanced sensor such as an image sensor, or even a camera, capable of forming, after treatment, a more or less detailed electronic image of the plants to be mowed. In a more economical version, the sensor may be a simple sensor of the proximity sensor type. By way of illustration, it may be a sensor of the ADPS-9190 type marketed by Avago Technologies. It is an integrated component including both an infrared light emitting diode, capable of illuminating the measurement zone of the sensor, and one or more photodiodes capable of measuring the reflected or backscattered light from the measurement zone .
    The signal delivered by the optical sensor of the mower is used, after treatment, to predictively evaluate a quantity of plants, for example grass, likely to reach the blade or clippers of the mower. This evaluation must take place before the plants reach the blades so as to allow the electric motor and the blades to reach the optimal rotational speed determined in accordance with the invention.
    Two provisions are envisaged to sufficiently anticipate the evaluation of the quantity of plants to be mowed. A first provision consists in placing the optical sensor so as to establish a measurement zone upstream of the blades. The term upstream refers to a direction of advancement of the mower on a surface to be mowed. The measurement zone of the sensor is thus located at the front of a cutting zone of the mower, and, when equipped, at the front of a cutting housing housing the cutting blades. The measurement area of the optical sensor is located at a distance from the cutting deck included, for example, between 10 and 30 cm, and measured parallel to the progress of the mower.
    A second provision intended to anticipate the evaluation of vegetation, consists in giving the sensor an inclination in the direction of advancement of the mower. The direction of advancement is understood as the direction, when using the mower, from an area already mowed on the back of the mower to an area still to be trimmed at the front of the mower. More specifically, the sensor is preferably attached to the mower above a cutting plane of the cutting blades. It is preferably fixed in a position high enough to be above the plants, possibly folded, which enter the cutting deck. It is then oriented towards the ground while having an inclination or at least a tilt component in the direction of advancement. The optical sensor has, for example, a measurement axis inclined in a direction of advance of the mower. An angle of inclination of the sensor with respect to the plane of section in which the cutting blade or blades is arranged is preferably between 15 and 75 degrees of angle, measured under the plane of section.
    As mentioned above, the optical sensor signal is representative of a height of plants to cut, a density of plants to cut or a combination of height and density. The angle of inclination allows to play on this combination. Indeed, an orientation of the sensor closer to the horizontal tends, especially for an optical sensor of the proximity sensor type, to favor (taking into account the height of the plants to be cut, in this case indeed, the The intensity of the light sent back to the sensor is all the more important when the vegetation is high, whereas a direction closer to the vertical tends to favor a sensitivity to the density of the vegetation. Plants return light to the sensor more than the ground and therefore the denser the grass, the greater the intensity of light returned to the sensor.
    The signal delivered by the optical sensor may be shaped by an electronic circuit associated with the sensor or by an electronic circuit of an electronic card of the control unit. It is used by the electronic control unit for the determination of the optimum rotation speed.
    Because of the rotational coupling of the drive motor and the cutting blades, the optimum rotational speed is indifferently understood as the optimum rotational speed of the motor or the optimum rotational speed of the blade.
    The optimum rotation speed is determined according to a first parameter which is the quantity of plants to be cut, this parameter being established from the signa! predictive of the optical sensor mentioned above, and according to a second parameter which is the forward speed of the mower. It is understandable that the amount of plants that reaches the cutting blade or blades per unit time, when moving the mower, depends on the speed of advance of the mower.
    The forward speed of the mower taken into account for establishing the optimum speed of rotation may be an effective forward speed. This is the case, for example, when the mower is a push mower. Its speed depends on the speed of its driver. In this case, the mower may include a speed sensor to establish an effective speed signal of the mower. The driving unit is then connected to the speed sensor to establish the optimum rotational speed of the blade drive motor. The optimum rotational speed is established according to the predictive signal of the optical sensor and according to the actual forward speed signal. The speed sensor is, for example, a tachometer or a sensor capable of counting a number of rotations of a wheel of the trimmer per unit of time. When the mower is equipped with a geolocation unit, the speed sensor can also be constituted by this unit delivering a speed indication.
    The forward speed of the mower taken into account for establishing the optimum rotational speed can also be a speed selected by the driver. This is particularly the case when the mower is a mower called "self-propelled". In this case, the mower can be provided with an input interface of a desired forward speed, for the control of at least one electric motor advancement of the mower. The control unit is then connected to the input interface to establish the optimum speed of rotation of the blade drive motor according to the predictive signal of the optical sensor and according to a seizure of the desired forward speed. . In the absence of a speed sensor or input interface, the forward speed taken into account to establish the optimum speed of rotation of the blade drive motor can still be a standard speed. It is a fixed and predetermined speed, for example, between 2 and 5 km / h. The standard speed is entered as a parameter of the computer program of the control unit.
    The optimum rotational speed is preferably determined by respecting one or more of the following constraints: it must be sufficient to impart to the blade a kinetic moment of rotation enabling it to cut the height and density of anticipated plants in a clean manner and without blocking. - it must be sufficient for the evacuation of cut plants to a collection bin, if the mower is equipped with it - it must be minimized to reduce the electrical energy consumption of the blade drive motor, and increase the mowing autonomy - it must be minimized to reduce the noise nuisance of the mowing, knowing that the noise nuisance is an increasing function of the speed of rotation of the blades. - it must be less than a maximum speed of rotation of the motor to avoid an abnormal heating of the motor. it must be able to evolve rapidly, in particular upwards, to absorb vegetation becoming suddenly dense. All of these parameters, and others, can be taken into account in an equation or parametric optimum speed curves programmed in a software of the engine control unit.
    According to another possibility, the control unit may comprise a correspondence table programmed with a plurality of reference speeds of the drive motor, the control unit being configured to select the optimum speed of rotation of the drive motor. driving the blade out of the plurality of reference speeds of the reference table.
    The look-up table may be a multidimensional table having an entry with forward speed ranges, and an entry with mowing crop amount ranges represented by an output value of the signal delivered by the optical sensor. The correspondence table then has at its output optimum rotational speed associated with it. By way of illustration, for an optical sensor of the proximity measurement type as mentioned above, the plant quantity ranges may simply correspond to ranges of intensity of the light received by the photodiodes, or ranges of photoelectric current. generated by these photodiodes.
    The optimum rotational speed of the electric blade drive motor can be reevaluated as the mower is advanced when in use. The reassessment may be continuous or periodic at regular intervals or not.
    According to an improvement, the control unit can be configured to establish an acceleration or deceleration value between a current optimum rotation speed of the drive motor of the blade and a new optimum rotational speed established during the displacement. of the mower. The acceleration is, for example, proportional to the importance of the variation of the quantity of plants to be mowed. The acceleration is preferably chosen to be: - sufficient to allow the motor and the cutting blades to reach the optimum rotation speed in the available time interval between the measurement made by the optical sensor and the moment or plants seen by the optical sensor reach the blades. This time interval depends on a distance along the direction of advance between a measurement zone of the optical sensor and a cutting zone of the cutting blade or blades. The time interval also depends on the forward speed of the mower as described above. - low enough not to cause excessive energy consumption or excessive noise.
    The acceleration or deceleration values can also be programmed in operating software of the control unit or be predetermined values of a look-up table.
    As indicated above, the control unit is preferably configured to establish the acceleration or deceleration value, as a function of the speed of advance of the mower. Indeed a higher speed of advancement requires greater responsiveness and therefore greater acceleration and deceleration. The forward speed is still one of a predetermined standard speed, an actual speed, and a selected target speed.
    According to an interesting feature of the invention, the mower may comprise a signal processing card associated with the optical sensor, the signal processing card being configured to establish a sensor fouling signal. The signal processing board may be in the immediate vicinity of the sensor or be part of the electronic boards of the drive unit of the electric blade drive motor.
    The sensor fouling signal can be used to correct the predictive signal of the optical sensor or to trigger a warning when the fouling becomes excessive. The control interface of the mower may include, for example, a warning light, inviting the user to clean the optical sensor.
    When the mower includes a plurality of optical sensors, the signal processing board can be configured to establish a predictive signal based on a signal. measuring each optical sensor, for example by averaging all the predictive signals of each sensor. The contribution of each sensor for establishing the predictive signal can then be weighted according to the fouling of the sensors, for example, so as to reduce the influence of too dirty sensors. The invention also relates to a method for controlling a driving motor of at least one cutting blade of a battery-type electric mower, comprising: a predictive measurement upstream of the cutting blade, and during a progress of the mower, at least one of a height of plants, a density of plants and a combination of a height and a density of plants likely to reach the cutting blade, - restoration of a forward speed of the mower, - fixing, as the mower is advancing, an optimum speed of rotation of the cutting blade drive motor, the speed of optimum rotation being established according to said predictive measurement, and according to the forward speed of the mower, - the power supply of the motor with sufficient energy to cause a rotation of the drive motor of the cutting blade to the rotational speed opti mum. The electrical energy supplied to the drive motor of the blade is thus variable depending on the amount of plants to mow, in terms of height and density, and the forward speed of the mower. In this case again, the forward speed can be one of an actual speed, a selected target speed or a predetermined standard speed, as previously described.
    Special provisions may be made in a situation where the required rotational speed would exceed the capacity of the electric motor or would require an amount of energy exceeding the capacity of an engine power supply battery, or a remaining capacity of such a partially discharged battery.
    In particular, the determination by the control unit of an overflow situation can be used to: - trigger a warning signal from the driver inviting him to temporarily reduce the speed of travel or select a speed lower feed, - automatically raising a cutting height of the cutting blade (s) - automatically reducing the forward speed, in the case of a "self-propelled" mower. Other features and advantages of the invention emerge from the description which follows, with reference to the figures of the accompanying drawings. This description is given for purely illustrative and non-limiting purposes.
    Brief description of the figures
    Figure 1 is a view substantially in the axis of the optical sensor of an electric mower according to the invention.
    FIG. 2 is a side view of the mower of FIG. 1 with partial cutting and tearing at the front of the mower,
    FIG. 3 is a logic diagram illustrating a method for controlling an electric blade drive motor of a mower according to the invention.
    FIG. 4 is a graph illustrating an example of an evolution of an optimum speed of rotation of the electric blade drive motor as a function of the vegetation to be cut, for a mower according to the invention.
    Detailed description of modes of implementation of the invention.
    Figures 1 and 2 show a walk-behind mower 10 according to the invention.
    The mower comprises a tubular frame 12 on which are mounted a propulsion unit with rear-wheel drive wheels 14, free-wheeling front wheels 16 and a mowing unit 20. The mowing unit 20 comprises a cutting housing 22 housing two cutting blades 24 and an electric motor 26 blade drive 24. The electric motor 26 is visible in Figure 2. The cutting housing is mounted on the frame 12 by a parallelogram fastening system allowing a height adjustment of the cutting deck 22. The cutting blades 24 extend along a cutting plane 28.
    The electric motor 26 is for example a brushless type motor. A driving unit 30 of the electric motor comprises one or more electronic cards housed under an end cap covering the electric motor 26. The control unit comprises in particular power transistors for delivering different power currents to different windings of the motor. It also makes it possible to control the rotational speed of the motor by controlling the supply currents. The power supply of the electric motor 26 is provided by a rechargeable electric battery also fixed to the tubular frame 12. The location 32 of the battery is indicated in FIGS. 1 and 2 but the battery is not shown. The electric battery can also provide an electric current necessary for the supply of electric motors 34 for advancing the mower respectively coupled to the rear-wheel drive wheels 14.
    Finally, the battery can provide a supply current of an electric jack 36, for adjusting the cutting height. The electric jack 36 makes it possible to adjust the height position of the cutting deck 22, and thus of the cutting blades 24 with respect to the frame. Adjusting the height of the cutting deck also makes it possible to fix the height of the cutting plane 28 relative to the ground. The adjustment of the cutting height and / or the speed of advance of the mower can be done via an interface 38 located at the top of a handlebar of the mower, it is an interface allowing the user to control the mower and learn about its operating status. The interface 38 may in fact comprise LEDs or other audible or visual indicators described below. It should be noted that the cutting height and the forward speed can also be determined automatically as accessory functions of the aforementioned driving unit 30.
    A pair of optical sensors 40 is fixed in the upper part of the cutting housing 22, that is to say on the part of the cutting deck facing the frame, so that the sensors are located higher than the plants entering the housing. As an alternative, the optical sensors may also be attached to a tube integral with the frame. Each optical sensor is provided with an infrared receiver, for example a diode or a transistor, and an infrared LED lighting diode of the measurement zone. As shown in Figure 1, the optical sensors are oriented towards the ground with an inclination towards a measurement zone. The measurement zone is substantially between the front wheels 16.
    Figure 2 shows a measurement axis 42 of the optical sensors. This axis forms an angle α with the cutting plane 28. A point of intersection between the measurement axis 42 of the sensors and the cutting plane, is located upstream of the cutting housing by a distance d. It corresponds substantially to the distance between the measurement zone of the optical sensors and the mowing zone of the blades, considered parallel to the progress of the mower. The distance d, as well as the angle a, are chosen as a function of the desired anticipation for the fixation of the optimum rotational speed. They also depend on the dimensions of the mower. In the illustrated example, the distance d is of the order of 15 cm and the angle a is close to 45 degrees of angle.
    The shape and extent of the measurement area of the sensors 40 depends on the sensitivity area of the IR receivers as well as the IR illumination area. It is preferably an elliptical zone. The vegetation, and in particular the blades of grass entering this zone, return a more or less significant fraction of the light of illumination towards the sensors, according to their height and their density. The sensors generate a measurement signal proportional to the intensity of the light returned from the measurement zone. Thus, this signal is representative of the amount of plants that will reach the cutting deck, and is used to anticipate the optimum rotational speed of the blade drive motor.
    The flow chart of Figure 3 illustrates the method of setting the optimum rotational speed.
    A measurement signal from the sensors 40 is shaped by an electronic circuit that can be integrated with the sensors. The shaping is indicated in FIG. 3 with the reference 100. It makes it possible to deliver a signal 101 that predicts a quantity of plants that will reach the blades 24 during the advancement of the mower. The shaping of the measurement signal can still be used for the establishment of a signal 102 for clogging the sensors. The fouling signal 102 may be directed to an indicator of the interface 38 of the mower. For example, when the fouling exceeds a preset setpoint, an audible or visual warning can be issued. The fouling signal of the sensors can also be used to correct the signal of the sensors during their shaping 100. The signal 101 that predicts the quantity of plants that will reach the blades is used as a parameter in a step 104a, of fixing an optimum rotational speed of the blade drive electric motor, it is also used as a parameter in a combined step 104b for fixing an acceleration, respectively a deceleration of the speed of rotation. The acceleration and deceleration are between a previous optimum rotation speed and an optimum next rotational speed during the movement of the mower.
    Steps 104a and 104b correspond to operations of the drive unit 30 of the blade drive motor 26. The control also takes into account a forward speed parameter of the mower, indicated by an arrow 106. This is a standard reference speed 108a, a desired forward speed 108b selected by the user. on the control interface 38 of the mower, or an effective forward speed 108c measured by a not shown sensor of the propulsion unit.
    The control further takes into account the data of a correspondence table 110 or a corresponding program, for the selection of the optimum speed of the electric blade drive motor 26 among a plurality of predetermined values. The look-up table relates the plant quantity and feed rate parameters to an optimum blade drive speed. The acceleration and deceleration values can also be read in the correspondence table 110.
    In the case of optimum rotational speed values exceeding the capacities of the electric motor 26 for driving the blade or the supply battery, the control unit 30, or a dedicated electronic card, can incidentally control the actuation of the actuator 36 for a temporary lifting of the cutting height, or the issuing of a warning by the interface 38. The establishment of an optimum speed which exceeds the capacities can also be used to act on the control of the power unit of the mower and cause a temporary reduction in the forward speed of the mower. These measures then make it possible to reduce the optimum speed of rotation of the blade drive motor to values compatible with the capabilities of the mower.
    The graph of Fig. 4 gives an illustration of an example of variations in the optimum rotational speed of the blade drive motor as a function of the signal of the optical sensors over a period of one minute.
    The graph indicates on the ordinate the intensity of the signal delivered by the optical sensors on a scale 400 ranging from 0 to 1000, as well as the optimum speed of rotation of the blades, expressed in revolutions per minute on a scale 500. The time, expressed in seconds, is plotted on abscissa 300. A curve 200, in broken lines, indicates the evolution of the optimum speed of rotation as a function of time.
    The graph also shows the evolution of a signal 202 delivered by the optical sensors over time.
    Finally, a rim 204 on the abscissa gives an illustration of the vegetation seen by the optical sensors over time.
    It is worth emphasizing the particularly free nature of the representation of one-dimensional vegetation, knowing that the measurement zone of the optical sensor or sensors is a three-dimensional zone.
    It can be observed that different vegetation zones of increasing height and density seen by the optical sensors, especially in the first 30 seconds of the graph, successively change the optimum rotation speed to values 210, 212, 214, 216 and 218. These optimum speed values are reached at the end of strong accelerations translated by a steeply increasing slope of the curve 200. They correspond to high amplitudes of the signal 202 of the optical sensor.
    The steering of a strong acceleration responds to the need to reach the optimum speed of the blades before the blades reach the denser vegetation zone which has resulted in the selection of a higher optimum speed. Conversely, zones of lower vegetation, separating the zones of higher vegetation from the rim 204, correspond to deceleration phases 222, 224, 226, 228 and to smaller amplitudes of the signal of the optical sensors. It can be observed that the deceleration slope of the optimum speed is lower than the acceleration slope. In the example shown, this avoids too sudden and too frequent variations in the speed of rotation of the blades, as well as a discomfort sound for the driver and / or an overconsumption of electrical energy of the battery.
    权利要求:
    Claims (19)
    [1" id="c-fr-0001]
    1) Battery-type electric mower comprising: at least one cutting blade (24), an electric motor (26) driving the cutting blade, an electronic control unit (30) of the electric motor. (26), - at least one optical sensor (40) arranged upstream of the cutting blade, characterized in that - the optical sensor (40) is oriented towards the ground with an inclination in a direction of advance of the mower , and configured to deliver, during the advancement of the mower, at least one predictive signal (101) usable for determining, after treatment, at least one of a height of plants to be cut, a density of plants to be cut , and a combination of a height and a density of plants to be cut, - the electronic control unit (30) is configured to establish an optimum rotational speed of the cutting blade drive motor, the speed of optimum rotation being established ion of said predictive signal of the optical sensor, and a forward speed of the mower selected from a standard forward speed (108a), a desired forward speed (108b), and an effective forward speed (108c). ).
    [0002]
    2) A mower according to claim 1, wherein the optical sensor (40) has a sensitivity in a wavelength range of light between 400 and 1200 nm.
    [0003]
    3) mower according to one of claims 1 or 2, comprising a lighting source of a measurement zone of the optical sensor located at the front of the cutting blade.
    [0004]
    4) The mower of claim 3, wherein the light source is integrated in the optical sensor.
    [0005]
    A trimmer according to claim 4, wherein the light source is a pulsed light source,
    [0006]
    6) A mower according to one of claims 1 to 5, further comprising a speed sensor for establishing an effective forward speed signal (108c) of the mower, and wherein the control unit is connected to the sensor. speed for setting the optimum rotational speed of the blade drive motor according to the predictive signal (101) of the optical pickup (40) and in accordance with the actual feed speed signal,
    [0007]
    7) mower according to one of claims 1 to 5 comprising an interface (38) for capturing a desired forward speed (108b), for the control of at least one electric motor for advancing the mower, and wherein the control unit (30) is connected to the interface (38) to establish the optimum speed of rotation of the blade drive motor according to the predictive signal of the optical sensor and as a function of the speed of rotation. desired advancement (108b).
    [0008]
    8) A mower according to one of the preceding claims wherein the control unit is associated with a correspondence table (110) with a plurality of reference speeds of the drive motor, the control unit being configured to selecting the optimum rotational speed of the blade drive motor from the plurality of reference speeds of the correspondence table.
    [0009]
    9) A mower according to claim 8, wherein the control unit (30) is configured to establish an acceleration value, respectively deceleration, between a current optimum rotation speed of the drive motor of the blade and a new optimum rotational speed when moving the mower.
    [0010]
    10) A mower according to claim 8, wherein the control unit (30) is configured to establish the value of acceleration or deceleration, depending on the forward speed of the mower.
    [0011]
    11) A mower according to any one of the preceding claims, comprising a signal processing card associated with the optical sensor, the signal processing processing card being configured to establish a signal (102) fouling of the sensor.
    [0012]
    The mower of claim 11, comprising a plurality of optical sensors (40), the signal processing board being configured to establish the predictive signal based on a measurement signal of each optical sensor.
    [0013]
    13) A mower according to any preceding claim, wherein the cutting blade is arranged in a cutting plane (28), and wherein the optical sensor has a measurement axis (42) inclined in a direction of advancement of the mower, with an angle of inclination to the cutting plane between 15 and 75 degrees of angle.
    [0014]
    A mower as claimed in any one of the preceding claims, including a cutting housing (22) housing the cutting blade (24), and wherein the optical sensor (40) has a measurement zone located at a distance from the crankcase. cut between 10 and 30 cm, and measured parallel to the progress of the mower.
    [0015]
    15) mower according to any one of the preceding claims characterized in that it is a walk-behind mower.
    [0016]
    A method of driving a drive motor (26) of at least one cutting blade (24) of a battery-type electric mower (10), comprising: - a predictive measurement (101) upstream of the cutting blade, and during advancement of the mower, at least one of a height of plants, a density of plants and a combination of a height and a density of plants likely to to reach the cutting blade, - restoring a forward speed of the mower (108a, 108b, 108c), - the attachment (104a), as the mower advances, a optimum rotation speed (210, 212, 214, 216, 218) of the cutting blade drive motor, the optimum rotational speed being set according to said predictive measurement, and as a function of the forward speed of the the mower, - the power supply of the drive motor (26) with sufficient energy to cause rotation of the motor the cutting blade at the optimum rotational speed.
    [0017]
    The method of claim 16, wherein the setting of the optimum rotational speed of the blade drive motor is periodic.
    [0018]
    18) A method according to claim 16 or 17, comprising a transient and automatic lifting of the cutting blade, in case of setting an optimum rotational speed exceeding a capacity of one of the electric motor and a battery of power supply of the electric motor.
    [0019]
    19) Method according to one of claims 16 to 18, comprising issuing a warning signal when setting an optimum rotational speed exceeding a capacity of one of the electric motor and a battery power supply of the electric motor.
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    同族专利:
    公开号 | 公开日
    WO2017109318A1|2017-06-29|
    KR20180095934A|2018-08-28|
    FR3046023B1|2017-12-22|
    EP3393228A1|2018-10-31|
    CN108471709B|2022-03-04|
    US10617058B2|2020-04-14|
    BR112018010022A8|2019-02-26|
    US20180303026A1|2018-10-25|
    EP3393228B1|2019-10-02|
    JP2019506148A|2019-03-07|
    BR112018010022A2|2018-11-21|
    CN108471709A|2018-08-31|
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    法律状态:
    2016-12-02| PLFP| Fee payment|Year of fee payment: 2 |
    2017-06-30| PLSC| Publication of the preliminary search report|Effective date: 20170630 |
    2017-12-27| PLFP| Fee payment|Year of fee payment: 3 |
    2019-12-26| PLFP| Fee payment|Year of fee payment: 5 |
    2021-09-10| ST| Notification of lapse|Effective date: 20210806 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1563187A|FR3046023B1|2015-12-23|2015-12-23|ANTICIPATING ELECTRIC MOWER AND METHOD FOR CONTROLLING SUCH MOWER.|FR1563187A| FR3046023B1|2015-12-23|2015-12-23|ANTICIPATING ELECTRIC MOWER AND METHOD FOR CONTROLLING SUCH MOWER.|
    BR112018010022A| BR112018010022A8|2015-12-23|2016-12-06|predictive electric mower and piloting method of such mower|
    KR1020187021266A| KR20180095934A|2015-12-23|2016-12-06|Predictable electric mowers and control methods of such mowers|
    PCT/FR2016/053226| WO2017109318A1|2015-12-23|2016-12-06|Anticipative electric mower and method of piloting such a mower|
    CN201680075547.5A| CN108471709B|2015-12-23|2016-12-06|Electric lawn mower of the intended type and method for guiding such a lawn mower|
    US15/767,324| US10617058B2|2015-12-23|2016-12-06|Anticipative electric mower and method of piloting such a mower|
    EP16825803.6A| EP3393228B1|2015-12-23|2016-12-06|Anticipative electric mower and method of piloting such a mower|
    JP2018533236A| JP2019506148A|2015-12-23|2016-12-06|Predictive electric mower and control method of such a mower|
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