CN112740893B

CN112740893B - Riding mower

Info

Publication number: CN112740893B
Application number: CN202011124046.6A
Authority: CN
Inventors: 杨德中; 彩记存; 高凡
Original assignee: Nanjing Chervon Industry Co Ltd
Current assignee: Nanjing Chervon Industry Co Ltd
Priority date: 2019-10-29
Filing date: 2020-10-20
Publication date: 2023-09-08
Anticipated expiration: 2040-10-20
Also published as: CN112740893A

Abstract

The invention discloses a riding mower, comprising: a frame; a power supply assembly; the operation assembly is used for outputting a parking signal to trigger the riding mower to enter a parking mode; a power take-off assembly comprising a mowing element and a first motor for driving the mowing element to move; the walking assembly comprises a walking wheel and a second motor for driving the walking wheel to walk; the control module is used for judging whether the rotating speed of the second motor is smaller than or equal to a preset rotating speed threshold value or not in response to the riding mower entering a parking mode; and after judging that the rotating speed of the second motor is less than or equal to the preset rotating speed threshold value, applying a first torque opposite to the rotating trend of the second motor to the second motor. The invention also discloses a control method of the riding mower. The invention can prevent the riding mower from sliding downwards on the ramp.

Description

Riding mower

Technical Field

The present invention relates to a riding mower.

Background

At present, when the riding mower goes up and down a slope, in order to keep the vehicle stationary, a driver needs to keep the action of stepping down a brake pedal or pulling up a hand brake after an operation rod returns to the middle position, the parking mode needs a plurality of steps of manual operation, the parking process is long and complicated, meanwhile, when the riding mower starts up the slope, the riding mower can slide downwards due to untimely reaction of the driver, or the riding mower can slide downwards and then react too much after the riding mower is slid downwards, excessive acceleration is caused, the riding mower can suddenly move forwards, in addition, when the riding mower descends the slope, the driver can mistakenly touch the operation rod, the riding mower is easy to shake due to frequent starting, and the running safety and the user experience of the vehicle are affected.

Disclosure of Invention

In order to solve the defects in the prior art, the invention aims to provide a riding mower capable of avoiding downward sliding on a ramp.

In order to achieve the above object, the present invention adopts the following technical scheme:

a riding lawn mower comprising: the operation assembly is used for sending out a parking signal to trigger the riding mower to enter a parking mode; a power take-off assembly comprising a mowing element and a first motor for driving the mowing element to move; the walking assembly comprises a walking wheel and a second motor for driving the walking wheel to walk; a control module configured to: after the operation component sends the parking signal, judging whether the rotating speed of the second motor is smaller than or equal to a preset rotating speed threshold value; and after judging that the rotating speed of the second motor is less than or equal to a preset rotating speed threshold value, applying a first torque to the second motor, wherein the first torque is used for enabling the riding mower to be stationary at one position, and the first torque is opposite to the rotating trend of the second motor.

Optionally, the first torque is equal and opposite to the external force moment applied to the riding mower, which tends to slide the riding mower.

Optionally, the method further comprises: a power supply assembly for providing electrical energy to the second motor; the control module is configured to: and after judging that the rotating speed of the second motor is less than or equal to a preset rotating speed threshold value, controlling the power supply assembly to output a first current to the second motor, wherein the first current enables the second motor to generate the first torque.

Optionally, the second motor comprises a rotor; the riding mower further comprises: a rotor position detection module for detecting a position of a rotor of the second motor; the control module is configured to: after judging that the rotating speed of the second motor is less than or equal to a preset rotating speed threshold value, selecting the current position of the rotor of the second motor as a reference position; after the rotor deviates from the reference position, the power supply assembly is controlled to output the first current to the second motor so that the second motor generates the first torque, and the first torque is used for returning the rotor of the second motor to the reference position.

Optionally, the operating assembly is further configured to send an acceleration signal to trigger the riding mower to exit the park mode; the control module is configured to: after the operation component sends the acceleration signal, judging whether the direction of the second torque which is required to be generated by the second motor and corresponds to the acceleration signal is the same as the direction of the first torque; if the direction of the second torque is the same as the direction of the first torque, judging whether the second torque is larger than or equal to the first torque or not; if the second torque is larger than or equal to the first torque, controlling the riding mower to exit the parking mode; and if the direction of the second torque is opposite to the direction of the first torque, controlling the riding mower to exit the parking mode.

Optionally, the operation component includes: an operation lever that can be pushed to a parking position to issue the parking signal, and moved away from the parking position to issue the acceleration signal; the control module is configured to: and if the direction of the second torque is opposite to the direction of the first torque and the position change of the operating rod after the operating rod leaves from the parking position reaches a preset threshold value, controlling the riding mower to exit from the parking mode.

Optionally, the method further comprises: the electric quantity detection module is used for detecting the residual electric quantity of the power supply assembly; the control module is capable of receiving a detection signal of the power detection module, the control module being further configured to: and after the residual electric quantity of the power supply assembly is lower than a preset electric quantity threshold value, braking the second motor.

Optionally, the method further comprises: a key receptacle for inserting a key to activate the riding mower; the control module is configured to: when the key is pulled out of the key socket, the electrical connection of the power supply assembly and the second motor is turned off so as to enable the second motor to freely decelerate.

Optionally, the method further comprises: a seat; a seat trigger having a first state and a second state, the seat bearing a weight greater than a first preset weight when the seat trigger is in the first state, the seat bearing a weight less than a second preset weight when the seat trigger is in the second state; the control module is configured to: controlling the second motor to brake when the seat trigger changes from the first state to the second state; the first preset weight is greater than or equal to the second preset weight.

Optionally, the control module is configured to: and controlling the second motor to delay braking when the time length of the second state after the seat trigger piece is changed from the first state to the second state is smaller than a preset time length.

The riding mower disclosed by the invention is simple and quick in parking operation, and can avoid the riding mower from sliding downwards when the riding mower is on a slope, so that the driving safety of the riding mower is improved.

Drawings

FIG. 1 is an exterior view of a riding mower;

FIG. 2 is an external view of the riding mower from another perspective and an external view of a power tool;

FIG. 3 is a schematic diagram of a control circuit of the second motor;

FIG. 4 is a flow chart of a method of controlling a riding mower of an embodiment;

fig. 5 is a flowchart of a control method of the riding mower of another embodiment.

Detailed Description

The invention is described in detail below with reference to the drawings and the specific embodiments.

The riding mower 100 shown in fig. 1-3 may be operated by an operator riding thereon to cut lawns, vegetation, etc.

The riding mower 100 includes: a power output assembly 11, a walking assembly 12, an operation assembly 13, a power supply assembly 14, a seat 15, a control module 16 and a frame 17.

Those skilled in the art will appreciate that the term "control module" as used herein may include or relate to software and/or hardware.

The frame 17 is used for bearing the seat 15, and the frame 17 extends at least partially in parallel with the front-rear direction; a seat 15 for seating an operator, the seat 15 being mounted to a frame 17; the power take-off assembly 11 comprises an output for taking off power to perform a mechanical function, which in this embodiment may be, for example, in particular a mowing element 111 for performing a mowing function, the power take-off assembly 11 being further connected to the frame 17. The power take-off assembly 11 further comprises a first motor 112 for driving the mowing member 111 in rotation at high speed. The power take-off assembly 11 may comprise more than one mowing element 111, and the number of first motors 112 may correspond to the number of mowing elements 111.

The walk assembly 12 is used to enable the riding mower 100 to walk on a lawn. The walking assembly 12 may specifically include: the first traveling wheels 121 and the second traveling wheels 122, the number of the first traveling wheels 121 is 2, and the number of the second traveling wheels 122 is 2. The travel assembly 12 further includes a second motor 123 for driving the second travel wheels 142, the number of second motors 123 also being 2. In this way, when the two second motors 123 drive the corresponding second road wheels 122 to rotate at different rotational speeds, a speed difference is generated between the two second road wheels 122, thereby causing the riding mower 100 to steer.

The power supply assembly 14 is configured to provide electrical power to the riding mower 100. Specifically, the power assembly 14 is configured to power the first motor, the second motor, and other electronic components on the riding mower 100. In some embodiments, the power supply assembly 14 is disposed on the rear side of the seat 15 on the frame 17. In some embodiments, the power supply assembly 14 includes a battery pack 141 that provides power to a plurality of power tools 200.

The battery pack 141 is configured to be removably mounted to the riding mower 100 by a user, and the battery pack 141 is mounted and removed by being removably mounted, so that the operation is more convenient and the positioning of the battery pack 141 can be more accurate. Further, the battery pack 141 includes a plurality of battery cells connected in series, parallel, or a combination of series and parallel. The plurality of battery cells are combined in one battery shell, so that a whole is formed, and the battery cells can be lithium battery cells.

Specifically, the electric tool 100 may be a garden tool such as a grass trimmer, a pruner, a blower, a chain saw, or the like, a torque output tool such as an electric drill, an electric hammer, or the like, a saw cutting tool such as an electric circular saw, a jig saw, a reciprocating saw, or the like, or a grinding tool such as a corner grinder, a sander, or the like. Of course, in other embodiments, the battery pack 141 may also be configured to power hand-propelled power tools, such as hand-propelled mowers, hand-propelled snowploughs, and the like. In this way, the battery pack 141 of the present invention adapted to the riding mower can be pulled out by a user to be applied to the above electric tools, and it can be said that the user can use the battery pack 141 of the electric tools as the battery pack 141 capable of supplying power to the riding mower 100, thereby improving the versatility of the riding mower 100 and reducing the use cost.

The riding mower 100 further comprises a control module 16 for controlling the operation of the riding mower 100. The control module 16 is capable of controlling at least the second motor 123 of the travel assembly 12 to control the travel of the riding mower 100.

The operating assembly 13 is at least for outputting a park signal to trigger the riding mower 100 to enter a park mode. Further, the operating assembly 13 is further configured to output an acceleration signal to trigger the riding mower 100 to exit the park mode. Of course, the operating assembly 13 may also be used for a user to set a target speed, direction of travel, etc. of the riding mower 100. That is, the operating assembly 13 is operable for a user to set the walk state of the riding lawn mower 100, and to trigger the riding lawn mower 100 to enter and exit the park mode.

As one embodiment, the operating assembly 13 includes operating levers 131, the operating levers 131 being disposed at both sides or the periphery of the seat 15, and the user controls the riding mower 100 to reach a state corresponding to a target position reached by the operating levers 131 by pushing the operating levers 131 to the target position. As a specific embodiment, the lever 131 includes a left lever 131L and a right lever 131R, and the second motor 123 includes a left motor and a right motor, and the left lever 131L and the right lever 131R are respectively used to control the left motor and the right motor, thereby respectively controlling the two second traveling wheels 122. As another embodiment, the algorithm is set such that the left lever 131L performs speed control of the two second road wheels 122 and the right lever 131R performs steering control of the two second road wheels 122. Optionally, operating assembly 13 includes a brake pedal 132 for a user to provide brake control of riding mower 100. Alternatively, the brake pedal 132, when depressed, can output a park signal to trigger the riding mower 100 to enter a park mode.

In the embodiment employing the lever 131, the riding mower 100 further includes a target state detection module 18 for detecting a position of the lever 131 and transmitting the detected position information of the lever 131 to the control module 16, and the control module 16 obtains the target rotation speed, the rotation direction, and the parking and exit parking instructions of the second motor 123 corresponding to the position by calculating or looking up a table according to the detected position of the lever 131.

Specifically, when the user pushes the lever 131 forward to a certain position, the control module 16 obtains the forward rotation speed of the second motor 123 by means of table look-up according to the position to which the lever 131 moves forward detected by the target state detection module 18; when the user pushes the lever 131 backward to a certain position, the control module 16 obtains the reverse speed of the second motor 123 by a look-up table according to the position to which the lever 131 moves forward detected by the target state detection module 18.

The control module 16 controls the rotation speed and the rotation direction of the second motor 123 according to the position information of the operating lever 131, and the second motor 123 drives the second travelling wheel 122 to rotate, so as to control the running direction and the running speed of the riding mower 100, and enter and exit the parking mode, so as to achieve the purpose of controlling the riding mower 100 to walk by a user. It will be appreciated that the operating assembly 13 may also be implemented as a pedal, switch, handle, or other control device, and provide for the user to operate the riding mower 100. Of course, the operation assembly 13 may also be a control panel, which includes a plurality of switches, and different switches correspond to different control commands, and a user inputs different control commands through the switches to control the second motor 123 of the walking assembly 12.

The control module 16 is used to control the operation of the second motor 123. In some embodiments, the control module 16 employs a dedicated controller, such as some dedicated control chip (e.g., MCU, microcontroller Unit). The power circuit 22 is coupled to the power assembly 14, and the power circuit 22 is configured to receive power from the power assembly 14 and convert the power from the power assembly 14 to power for use by at least the control module 16.

Optionally, the riding mower 100 further comprises a driving circuit 21, the driving circuit 21 being electrically connected to the control module 16 and the second motor 123, which is capable of operating according to a control signal outputted by the control module 16. As one embodiment, the second motor 123 is a three-phase motor having three-phase windings, and the drive circuit 21 is specifically electrically connected to the three-phase windings of the second motor 123. The driving circuit 21 specifically includes a power switch, which can turn on and off the electrical connection between the power supply assembly 14 and the second motor 123, and can adjust the current output from the power supply assembly 14 to the second motor according to different control signals output from the control module 16.

The control module 16 is configured to output a corresponding driving signal to the driving circuit 21 according to the position of the rotor 1231 of the second motor 123, so that the driving circuit 21 switches the driving state, thereby changing the state of the voltage and/or current applied to the windings of the second motor 123, generating an alternating magnetic field to drive the rotor to rotate, and further driving the second motor 123.

The position of the rotor 1231 of the second motor 123 may be obtained by the rotor position detecting module 20, and the rotor position detecting module 20 may include a sensor, for example, a plurality of hall sensors, which are disposed along the circumferential direction of the rotor 1231 of the second motor 123, and when the rotor 1231 is turned into and out of the preset range, the signal of the hall sensor is changed, and the output signal of the rotor position detecting module 20 is changed, so that the position of the rotor 1231 of the motor can be known according to the detection signal output by the rotor position detecting module 20. Of course, the position of the rotor 1231 may also be estimated from the motor current.

The riding mower 100 further comprises a rotational speed detection module 19 associated with said second motor 123 for detecting an actual rotational speed of said second motor 123. Alternatively, the rotation speed detection module 35 includes a speed detection sensor provided near or inside the second motor 123 to acquire the actual rotation speed of the second motor 123, for example, a photoelectric sensor provided near the second motor 123 capable of acquiring the rotation speed of the second motor 123, and for example, a hall sensor provided near the rotor inside the second motor 123 capable of acquiring the actual rotation speed of the second motor 123 according to the speed of the rotor rotation.

In some cases, however, the sensor detection accuracy may be compromised, or even the speed detection sensor detection may fail, particularly if the second motor 123 is operated at high speed and/or high temperature, or the second road wheel 122 is operated at high speed and/or high temperature, or the riding mower 100 is operated at high temperature. To solve this problem, as another embodiment, the rotation speed detection module 19 does not include a sensor, but is obtained by electric signal estimation of the output of the second motor 123, for example, by detecting the current of the second motor 123, to obtain zero-crossing points of the back electromotive force of the second motor 123, so that a periodic variation law of the operation of the second motor 123 is obtained, and thus the actual rotation speed of the second motor 123 is obtained according to the periodic variation law. By the mode, a sensor does not need to be arranged to detect the actual rotation speed of the second motor 123, the cost is reduced, and the detection precision is not influenced by high rotation speed and temperature, so that the whole structure is more simplified.

The riding mower 100 has a park mode, and a user triggers the riding mower 100 to enter the park mode by the operating assembly 13 sending a park signal. In embodiments employing lever 131, the user initiates the park mode by pushing lever 131 to the park position to signal park, and target state detection module 18 detects that lever 131 is in the park position and sends the detected information to control module 16, control module 16 controls second motor 1230 to park. In an embodiment in which the two levers control the two second motors 123, respectively, the user issues a parking instruction by pushing both levers 131 to the parking position.

The control module 16 is configured to: when the riding mower 100 enters the parking mode, judging whether the rotation speed of the second motor 123 is less than or equal to a preset rotation speed threshold; after the rotation speed of the second motor 123 is determined to be less than or equal to the preset rotation speed threshold, a first torque opposite to the rotation trend of the second motor 123 is applied to the second motor 123, wherein the first torque is used for enabling the riding mower to be stationary at a position, so that automatic parking of the riding mower is achieved. More specifically, the first torque is used to enable riding mower 100 to rest in a position when the park mode is entered.

For example, when the riding mower 100 walks on a slope, the riding mower 100 receives a vertical downward gravity force, the gravity force makes the riding mower 100 slide down the slope, if the user sends a parking signal through the operation assembly 13, the riding mower 100 enters a parking mode, the second motor 123 performs a mechanical or electronic braking to slow down or the second motor 123 stops freely to slow down, the rotation speed detection module 19 detects the actual rotation speed of the second motor 123 and sends the actual rotation speed to the control module 16, and when the control module 16 determines that the actual rotation speed of the second motor 123 is less than or equal to a preset rotation speed threshold, i.e. the rotation speed of the second motor 123 drops to a certain value, a first torque opposite to the rotation trend of the second motor 123 is applied to the second motor 123. The first torque is equal and opposite to the external force moment applied to the riding mower 100, which tends to slide the riding mower 100. In embodiments where riding mower 100 walks on a hill to enter a park mode, the direction of the first torque is upward along the hill. In this way, due to the moment balance, eventually the second motor 123 will be locked in a position such that the riding mower 100 is stationary in one position. More specifically, the first torque is used to enable riding mower 100 to rest in a position when the park mode is entered.

Specifically, after determining that the rotational speed of the second motor 123 is less than or equal to the preset rotational speed threshold, the control module 16 controls the power supply assembly 14 to output a first current to the second motor 123, where the first current causes the second motor 123 to generate the first torque. As an embodiment, the control module 16 adjusts the magnitude and direction of the first current through the driving circuit 21 by outputting a control signal to the driving circuit 21, so that the second motor 123 generates the first torque.

As a specific embodiment, the control module 16 is configured to: after determining that the rotational speed of the second motor 123 is less than or equal to the preset rotational speed threshold, the rotor position detection module is capable of detecting the current position of the rotor 1231 of the second motor 123, and the control module 16 selects the current position of the rotor 1231 of the second motor 123 as the reference position. In this way, when the rotor 1231 deviates from the reference position, the control module 16 can compare the position of the rotor 1231 after deviation with the reference position to determine the direction in which the rotor 123 deviates from the reference position, to thereby determine the tendency of the second motor 123 to rotate, and the tendency of the riding mower 100 to slide.

After the rotor 1231 deviates from the reference position, the power supply assembly 14 is controlled to output a first current to the second motor 123 to cause the second motor 123 to generate a first torque that is used to return the rotor 1231 of the second motor 123 to the reference position, thereby enabling the riding mower 100 to rest in one position, and more particularly, enabling the riding mower 100 to rest in a position when entering park mode.

The operating assembly 13 is also used to output an acceleration signal to trigger the riding mower to exit the park mode. The control module 16 is configured to: after the operation component 13 sends the acceleration signal, determining whether the direction of the second torque required to be generated by the second motor 123 corresponding to the acceleration signal is the same as the direction of the first torque; if the direction of the second torque is the same as the direction of the first torque, judging whether the second torque is larger than or equal to the first torque or not; if the second torque is determined to be greater than or equal to the first torque, the riding mower 100 is controlled to exit the park mode.

That is, if it is desired that the riding mower 100 starts to walk again, the user needs to operate the operation unit 13 to input an acceleration signal, if the acceleration direction is the same as the current parking torque direction of the second motor 123, the second motor 123 is not directly controlled to operate by the acceleration signal, but the magnitude of the second torque corresponding to the acceleration signal needs to be calculated, and if the second torque is greater than or equal to the first torque for parking the riding mower 100, the parking mode is exited to control the second motor 123 to operate according to the acceleration signal. If the second torque is less than the first torque, the park mode is still maintained. This has the advantage of enabling the riding mower 100 to release the park mode when the acceleration torque is able to overcome the external force that causes it to slide downward, preventing insufficient acceleration torque from causing the riding mower 100 to move downward on the ramp.

After the parking mode is exited, the control module 16 controls the second motor 123 to operate at the target speed according to the target speed set by the operating assembly 13.

As an embodiment, when the direction of the second torque is opposite to the direction of the first torque, that is, the user desires the riding mower 100 to walk down a slope, including two situations of reversing after parking on an uphill slope and advancing after parking on a downhill slope, the direction of the first torque for parking is upward, and the direction of the second torque corresponding to the acceleration signal is downward, that is, the direction of the second torque is opposite to the direction of the first torque, where the control module 16 may control the riding mower 100 to directly exit the parking mode according to the target traveling speed and direction set by the operation assembly.

As another embodiment, in the embodiment using the lever 131, when the direction of the second torque is opposite to the direction of the first torque, the parking mode is not directly exited, and whether the position change after exiting from the parking position reaches the preset threshold is also required to be judged, if yes, the parking mode is exited again, and if no, the parking mode is still maintained, which has the advantage that the situation that the parking mode is released due to misoperation of the driver, so that the riding mower 100 is frequently started to shake, and the user experience and the driving safety are affected is avoided.

The lever 131 may be pushed to a parking position to issue the parking signal and moved away from the parking position to issue the acceleration signal. Alternatively, when the lever 131 is opened outward in the left-right direction of the driver, the state of the lever 131 at this time represents the parking signal. When the lever 131 is returned from the outward opening position to the neutral position or either the forward direction or the backward direction, the state of the lever 131 at this time emits an acceleration signal.

In the present embodiment, when the position change of the lever 131 after the lever is moved away from the parking position reaches a preset threshold, the riding mower 100 is controlled to exit the parking mode. For example, if the lever 131 reaches either one of the forward or backward speed positions from the park position, the riding mower 100 is controlled to exit the park mode if the angular change of the lever 131 reaches a preset threshold, and the riding mower 100 is still kept in the park mode when the angular change of the lever 131 does not reach the preset threshold.

Of course, when riding mower 100 is parked on level ground, parking may still be performed in the above-described parking control manner, where the first torque applied to the second motor is zero.

Referring to fig. 4, a control method of the riding mower 100 includes:

step S10: the riding mower operates;

the control module 16 controls the riding mower 100 to operate normally, e.g., uphill or downhill.

Step S11: determining whether the riding mower needs to enter a parking mode;

specifically, when parking is desired, the user issues a park signal by operating the operating assembly 13 to trigger the riding lawn mower 100 to enter the park mode. As described above, in the embodiment employing the lever 131, the user triggers the parking mode by pushing the lever 131 to the parking position to issue the parking signal, the target state detection module 18 detects that the lever 131 is located at the parking position, and transmits the detected position information to the control module 16, and the control module 16 controls the second motor 1230 to achieve parking. In an embodiment in which the two levers control the two second motors 123, respectively, the user issues a parking instruction by pushing both levers 131 to the parking position. If the target state detection module 18 does not detect a park signal that the riding mower 100 needs to enter the park mode, go to step S11, and the riding mower 100 continues to remain in an operational state.

Step S12: acquiring the rotating speed of the second motor;

upon determining that riding mower 100 needs to enter park mode, rotational speed detection module 20 detects the rotational speed of second motor and sends it to control module 16, which obtains the rotational speed of second motor 123 detected.

Step S13: and judging whether the rotating speed of the second motor is smaller than or equal to a preset rotating speed threshold value.

The control module 16 compares the rotation speed value of the second motor 123 detected by the rotation speed detection module 19 with a preset rotation speed threshold value, and determines whether the rotation speed of the second motor 123 is less than or equal to the preset rotation speed threshold value. If the rotation speed of the second motor 123 is greater than or equal to the preset rotation speed threshold, the process goes to step S12, where the rotation speed of the second motor 123 is continuously obtained and whether the rotation speed is less than or equal to the preset rotation speed threshold is determined.

Step S14: a first torque is applied to the second motor opposite the second motor's rotational tendency for the riding mower to rest in a position.

After determining that the rotational speed of the second motor 123 is less than or equal to the preset rotational speed threshold, a first torque is applied to the second motor that is opposite to the rotational trend of the second motor. Specifically, the control module 16 adjusts the magnitude and direction of the first current through the driving circuit 21 by outputting a control signal to the driving circuit 21, so that the second motor 123 generates the first torque. The first torque is equal and opposite to the external force moment applied to the riding mower 100, which tends to slide the riding mower 100. The first torque is used to enable the riding mower to rest in a position.

Step S15: determining whether the riding mower needs to exit the parking mode;

specifically, when it is desired to advance or retract while releasing the park mode, the user operates the operating assembly 13 to issue an acceleration signal to trigger the riding mower 100 to exit the park mode. In the embodiment using the lever 131, the user triggers the riding mower 100 to exit the trigger parking mode by pushing the lever 131 forward to a certain position or pushing the lever 131 backward to a certain position, when the target state detection module 18 detects that the lever 131 leaves the parking position and is at another position, the detected position information is sent to the control module 16, and the control module 16 obtains the rotation direction and rotation speed of the second motor corresponding to the current position of the lever 131 by looking up a table or calculating according to the detected position information of the lever 131. If no signal is detected that the riding mower 100 needs to exit the park mode, the process goes to step S15 to continue to judge whether the riding mower 100 needs to exit the park mode, while the riding mower 100 remains in the park mode.

Step S16: judging whether the acceleration direction is the same as the first torque direction;

The user controls the riding mower 100 to operate according to the set target direction and target speed of the second motor 123 by setting the target direction and target speed of the second motor 123 by an acceleration signal emitted from the operation assembly 13. The acceleration signal corresponds to a second torque that the second motor 123 is required to generate, which enables the riding mower 100 to quickly reach the travel speed of the second motor 123 that the user is required to set. The control module 16 can acquire the state of the operating component 13, so as to determine the acceleration direction of the riding mower 100 according to the state of the operating component, and determine whether the acceleration direction of the riding mower 100 is the same as the direction of the first torque, if so, go to step S17, otherwise go to step S18 to directly exit the parking mode. In the embodiment employing the lever 131, the control module 16 acquires the target speed and the target direction corresponding to the second motor 123 where the position is located by the current position of the lever 131 detected by the target state detection module 18, and determines the acceleration direction based on the target speed and the target direction.

Step S17: judging whether the acceleration torque is greater than or equal to the first torque;

The control module 16 may calculate the acceleration torque, which is the second torque, by the above-described target speed of the second motor 123 set by the operating assembly 13. The control module 16 determines whether the acceleration torque is greater than or equal to the second torque. If it is determined that the acceleration torque is greater than or equal to the first torque, the process goes to step S19, otherwise, the process goes to step S18, and the riding mower 100 is kept in the parking mode.

Step S18: the park mode continues to be maintained.

If the acceleration torque is determined to be less than the first torque, the riding mower 100 is caused to continue to maintain the park mode.

Step S19: the riding mower exits the park mode.

If the acceleration torque is determined to be greater than or equal to the first torque, the riding mower exits the park mode, and the control module 16 controls the second motor 123 to operate at the target speed and direction according to the target speed and direction of the second motor 123 set by the operating assembly 13.

Referring to fig. 5, in another embodiment, the control unit 13 of the riding mower 100 includes a lever 131, and the lever 131 may be a push lever as shown in fig. 1-2, or may be a foot accelerator pedal, or a forward pedal and a backward pedal.

The control method of the riding mower of the present embodiment includes the following steps, wherein steps S20 to S25 are the same as or similar to the previous embodiments, and are not repeated here. The difference is that, in the present embodiment, when it is determined that the acceleration direction is different from the direction of the first torque, that is, when the direction of the second torque corresponding to the acceleration signal is opposite to the direction of the first torque, the parking mode is not directly exited, but it is necessary to determine whether the change of the operating lever from the parking position exceeds a preset threshold. The method comprises the following specific steps:

step S20 to step 25:

the steps S10 to S25 are the same, and are not repeated here.

Step S26: it is determined whether the acceleration direction is the same as the first torque direction.

The user sends an acceleration signal through the operating assembly 13, which corresponds to a second torque that needs to be generated by a second motor 123, which enables the riding mower 100 to quickly reach the travel speed of the second motor 123 that the user needs to set. The control module 16 can acquire the state of the operating component 13, so as to determine the acceleration direction of the riding mower 100 according to the state of the operating component, and determine whether the acceleration direction of the riding mower 100 is the same as the direction of the first torque, if so, go to step S27, otherwise go to step S28.

Step S27: judging whether the acceleration torque is greater than or equal to the first torque;

the control module 16 determines whether the acceleration torque is greater than or equal to the second torque. If the acceleration torque is greater than or equal to the first torque, go to step S30, otherwise go to step S29, causing riding mower 100 to continue to remain in park mode.

Step S28: judging whether the position change of the operating rod exceeds a preset threshold value or not;

when it is determined that the acceleration direction is different from the direction of the first torque, that is, the direction of the second torque corresponding to the acceleration signal is opposite to the direction of the first torque, it is determined whether the change of the parking position of the lever 131 exceeds the preset threshold, if so, the process goes to step S30, exits the parking mode, and if not, the process goes to step S29, and the parking mode is continuously maintained.

Step S29: the park mode continues to be maintained.

Step S30: the riding mower exits the park mode.

The riding mower 100 exits the park mode and the control module 16 controls the second motor 123 to operate at a target speed and direction based on the target speed and direction of the second motor 123 set by the operating assembly 13.

The riding mower 100 can slide downwards when the hill starts upwards, so that the driving safety of the riding mower is improved, frequent starting caused by mistaken touching of the operating rod when the hill starts downwards can be avoided, shake is reduced, and the user experience and the driving safety are improved.

In some cases, riding mower 100 need only brake to slow down, and not park, in other cases, an automatic park function is triggered upon reaching a certain speed threshold by brake to slow down. The riding mower 100 provided by the invention has at least two different braking modes, can adapt to different conditions, and has good user experience and better safety.

In some embodiments, the control module 16 of the riding mower 100 is also used to control the braking of the second motor 123. Specifically, when the control module 16 receives a braking signal for triggering braking, the second motor 123 is controlled to brake. The brake signals are various, and the brake modes are also various.

In some embodiments, riding mower 100 includes a brake pedal 132 for triggering the braking of second motor 123 of the riding mower. As one embodiment, the user presses the brake pedal to trigger the braking mode, specifically, the brake pedal is provided with a sensor capable of sensing the user's pressing, when the user presses the brake pedal 132 to ride-on the mower 100, the riding mower 100 enters the braking mode, the control module 16 controls the second motor 123 to brake and decelerate, specifically, the control module 16 controls the winding 242 of the second motor 123 to short circuit to realize braking. As another embodiment, the brake pedal 132 is directly connected to the second motor 123, specifically, a friction member is connected to the brake pedal 132, and when the brake pedal 132 is pressed, the friction member is driven to abut against the second motor 123, so that the second motor 123 is decelerated.

In some embodiments, the brake pedal 132 is associated with a signal switch, where the signal switch is disposed at the bottom of the brake pedal 132, and when the brake pedal 132 is depressed to the bottom, the signal switch disposed at the bottom of the brake pedal 132 is triggered to change state, so as to generate a parking signal, and after receiving the parking signal, the control module 16 controls the second motor 123 to park according to the above-mentioned parking method. Alternatively, when the brake pedal 132 is depressed to enter the braking mode, the parking mode is triggered when the speed of the second motor 123 approaches zero, and the riding mower 100 enters the parking mode.

Alternatively, the riding mower 100 includes a sensor for detecting the amount of change in position or angle of the brake pedal 132 before and after being depressed or a sensor for the position after being depressed, for example, the pivot angle of the brake pedal 132. The riding mower 100 further comprises a friction plate and a third motor for driving the friction plate, wherein the friction plate is arranged near the second motor 123, and the friction plate can move under the driving of the third motor so as to rub the second motor to reduce the speed of the second motor to realize braking. Alternatively, the amount of change in position or angle of the brake pedal 132 before and after being depressed is proportional to the rotational speed or torque of the third motor. The third motor drives the friction plate to move according to the change amount of the position or angle of the brake pedal 132 before and after being stepped on, which is detected by the position sensor, thereby decelerating the second motor 123.

In some embodiments, riding mower 100 includes a power detection module (not shown) for detecting a remaining power of power supply assembly 14, generating a braking signal when the remaining power is detected to be lower than a preset power threshold, riding mower 100 enters a braking mode, control module 16 controls second motor 123 to brake down, and in particular control module 16 controls windings 242 of second motor 123 to short to achieve braking. According to the braking mode, braking torque is generated by utilizing short-circuit current without the electric quantity of a power supply assembly, so that electric energy can be saved, and braking can be reliably realized.

In some embodiments, riding mower 100 includes a key receptacle (not shown) for inserting a key to activate riding mower 100. Alternatively, when the key is pulled out of the key receptacle, the second motor 16 starts decelerating, in particular the control module 16 controls the drive circuit 21 to switch off the electrical connection of the power supply assembly 14 with the second motor 123 in such a way that the second motor 123 is free to decelerate to a stop. Optionally, at this point, the control module 16 remains in the powered state and enters a low power mode.

In some embodiments, the riding mower 100 includes a seat trigger (not shown), which may be specifically a signal switch, a capacitive sensor, a photoelectric switch, etc., disposed near the seat 15 for sensing whether the user is getting up off the seat 15, and which can be triggered to change state when the user gets up off the seat 15, thereby triggering the riding mower 100 to enter a braking mode.

A seat trigger having a first state in which the seat 15 is subjected to a weight greater than a first preset weight and a second state in which the seat 15 is subjected to a weight less than a second preset weight. The first preset weight is greater than or equal to the second preset weight. Alternatively, the first preset weight may be a weight of a person, and the second preset weight is one fifth of the first preset weight. When the seat 15 is subjected to a weight greater than a first preset weight, this indicates that the operator is sitting on the seat 15, and when the seat 15 is subjected to a weight less than a second preset weight, this indicates that the operator is rising off the seat 15.

The control module 16 is configured to: the second motor 123 is controlled to brake when the seat trigger is changed from the first state to the second state. That is, when the user gets up and leaves the seat, the second motor 123 is braked to slow down the second motor 123, thereby enabling the riding mower 100 to stop. Specifically, the control module 16 controls the winding shorting of the second motor 123 or controls the driving circuit 21 to control the braking current and the braking time.

Optionally, the control module 16 is capable of receiving information of a seat trigger state change, the control module 16 being configured to: when the time period of the seat trigger changing from the first state to the second state and being in the second state is less than the preset time period, the second motor 123 is controlled to brake in a delayed manner, and particularly the second motor 123 can be controlled to brake in a delayed manner through a delay circuit or the like, so that the situation that the state of the seat trigger changes due to jolt or body movement of an operator can be avoided, and the control module 16 controls the second motor 123 to brake undesirably. Of course, the preset weight may be other weight set by the user, in such a way that it is possible to distinguish whether the operator sits on the seat, whether only one article is placed, or the like.

In some embodiments, the operating assembly 13 of the riding mower 100 includes left and right levers 131L and 132R, and a position sensor (not shown) for sensing the position of the left and right levers 131L and 132R. Alternatively, the levers 131 have different braking effects when they are located on the inner side and the outer side in the left-right direction, specifically, when the user sits on the seat 15 and pushes the two levers 131 outwards simultaneously on the left-right side to the maximum inner side position, the riding mower is triggered to enter the parking mode, i.e. the control module 156 controls the second motor 123 to brake and slow down or to freely slow down and then enter the parking mode; when the user pushes the lever 131 from the forward position or the backward position to the maximum inward position in the left-right direction, that is, the forward and backward neutral positions, the riding mower 100 enters the braking mode to perform deceleration, and the control module 156 controls the second motor 123 to perform braking deceleration or free deceleration without entering the parking mode.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be appreciated by persons skilled in the art that the above embodiments are not intended to limit the invention in any way, and that all technical solutions obtained by means of equivalent substitutions or equivalent transformations fall within the scope of the invention.

Claims

1. A riding lawn mower comprising:

the operation assembly is used for sending out a parking signal to trigger the riding mower to enter a parking mode;

a power take-off assembly comprising a mowing element and a first motor for driving the mowing element to move;

the walking assembly comprises a walking wheel and a second motor for driving the walking wheel to walk;

a control module configured to:

responding to the parking signal, judging whether the rotating speed of the second motor is smaller than or equal to a preset rotating speed threshold value;

applying a first torque to the second motor opposite the second motor rotational trend in response to the rotational speed of the second motor being less than or equal to a preset rotational speed threshold, the first torque being for enabling the riding mower to rest in a position;

further comprises:

a power supply assembly for providing electrical energy to the second motor;

The electric quantity detection module is used for detecting the residual electric quantity of the power supply assembly;

the control module is capable of receiving a detection signal of the power detection module, the control module being further configured to:

and responding to the residual electric quantity of the power supply assembly being lower than a preset electric quantity threshold value, and enabling the second motor to brake.

2. The riding mower of claim 1, wherein the riding mower is configured to provide a riding mower,

the first torque is equal to and opposite to the external force moment which is applied to the riding mower and causes the riding mower to have a sliding trend.

3. The riding mower of claim 1, wherein the riding mower is configured to provide a riding mower,

further comprises:

a power supply assembly for providing electrical energy to the second motor;

the control module is configured to:

and controlling the power supply assembly to output a first current to the second motor in response to the rotating speed of the second motor being less than or equal to a preset rotating speed threshold value, wherein the first current enables the second motor to generate the first torque.

4. The riding mower of claim 3, wherein the riding mower is configured to move,

the second motor includes a rotor;

the riding mower further comprises:

A rotor position detection module for detecting a position of a rotor of the second motor;

the control module is configured to:

responding to the rotating speed of the second motor being less than or equal to a preset rotating speed threshold value, and selecting the current position of the rotor of the second motor as a reference position;

in response to the rotor deviating from the reference position, the power supply assembly is controlled to output the first current to the second motor to enable the second motor to generate the first torque, and the first torque is used for enabling the rotor of the second motor to return to the reference position.

5. The riding mower of claim 1, wherein the riding mower is configured to provide a riding mower,

the operating assembly is also used for sending an acceleration signal to trigger the riding mower to exit the parking mode;

the control module is configured to:

responding to the acceleration signal, and judging whether the direction of the second torque which is required to be generated by the second motor and corresponds to the acceleration signal is the same as the direction of the first torque;

if the direction of the second torque is the same as the direction of the first torque, judging whether the second torque is larger than or equal to the first torque or not;

if the second torque is larger than or equal to the first torque, controlling the riding mower to exit the parking mode;

And if the direction of the second torque is opposite to the direction of the first torque, controlling the riding mower to exit the parking mode.

6. The riding mower of claim 5, wherein the riding mower is configured to move,

the operating assembly includes:

an operation lever that can be pushed to a parking position to issue the parking signal, and moved away from the parking position to issue the acceleration signal;

the control module is configured to:

and controlling the riding mower to exit the parking mode in response to the direction of the second torque and the direction of the first torque being opposite, and the position change of the operating lever after the operating lever leaves from the parking position reaching a preset threshold value.

7. The riding mower of claim 1, wherein the riding mower is configured to provide a riding mower,

further comprises:

a key receptacle for inserting a key to activate the riding mower;

the control module is configured to:

in response to the key being pulled out of the key receptacle, the electrical connection of the power supply assembly to the second motor is turned off to free slow down the second motor.

8. The riding mower of claim 1, wherein the riding mower is configured to provide a riding mower,

further comprises:

A seat;

a seat trigger having a first state and a second state, the seat bearing a weight greater than a first preset weight when the seat trigger is in the first state, the seat bearing a weight less than a second preset weight when the seat trigger is in the second state;

the control module is configured to:

controlling the second motor to brake in response to the seat trigger changing from the first state to the second state;

the first preset weight is greater than or equal to the second preset weight.

9. The riding mower of claim 8, wherein the riding mower is configured to move,

the control module is configured to:

and controlling the second motor to delay braking in response to the time length of the second state after the seat trigger piece is changed from the first state to the second state being less than a preset time length.