CN110915404A - Mower and control system thereof - Google Patents
Mower and control system thereof Download PDFInfo
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- CN110915404A CN110915404A CN201911177559.0A CN201911177559A CN110915404A CN 110915404 A CN110915404 A CN 110915404A CN 201911177559 A CN201911177559 A CN 201911177559A CN 110915404 A CN110915404 A CN 110915404A
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- mowing
- walking
- motor
- mower
- motor driver
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a mower and a control system thereof, wherein the control system comprises a walking motor driver, a mowing motor driver, a man-machine interaction module, an operating switch, a battery management system and a whole vehicle controller, wherein, the walking motor driver drives the walking motor and collects the working state of the walking motor and the self, the mowing motor driver drives the mowing motor and collects the working state of the mowing motor and the self, the operation switch sets the walking rotating speed state of the mower, the man-machine interaction module and the battery management system respectively and correspondingly acquire the operation parameters and the battery state of the mower, the vehicle control unit respectively acquires the operation parameters and the walking rotating speed state of the mower, and the working states and the battery states of the mowing motor, the walking motor, the mowing motor driver and the walking motor driver are controlled and the rotating speeds of the mowing motor and the walking motor are adjusted. The invention can improve the working efficiency of the mower and prolong the service life of the mower battery.
Description
Technical Field
The invention relates to the technical field of electrical control, in particular to a control system of a mower and the mower.
Background
A lawn mower is a lawn trimming tool, and is widely used due to its simple and practical characteristics. At present, the mower mainly comprises an oil-driven mower and an electric mower, wherein the oil-driven mower can generate combustion waste gas and generate large noise when working, so that serious and multiple pollution is caused to operators and working environment, and particularly, the working area of the mower is usually household grassland, public greenbelt and the like, so that the influence on the living quality of the public is serious. Therefore, with the development of new energy, the electric mower gradually replaces the oil-driven mower due to the advantages of no pollution, low noise, simple operation and the like.
However, the electric control system of the current electric mower is still in a simple walking and mowing stage according to the action instruction of the operator, the working efficiency is low, and the service life of the battery of the electric mower is also reduced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, an object of the present invention is to provide a control system of a lawn mower, which can control the lawn mower to perform adaptive mowing, thereby improving the working efficiency of the lawn mower and prolonging the service life of a battery of the lawn mower.
A second object of the invention is to propose a mower.
In order to achieve the above object, a first embodiment of the present invention provides a control system of a lawn mower, including: the walking motor driver is connected with a walking motor of the mower and used for driving the walking motor and acquiring the working states of the walking motor and the walking motor; the mowing motor driver is connected with a mowing motor of the mower and used for driving the mowing motor and acquiring the working states of the mowing motor and the mowing motor; the human-computer interaction module is used for acquiring the set operation parameters of the mower; an operating switch for giving a walking speed state of the mower; a battery management system for acquiring a battery status of the lawn mower; the whole vehicle controller is respectively connected with the walking motor driver, the mowing motor driver, the human-computer interaction module, the operating switch and the battery management system, and is used for controlling the rotating speeds of the mowing motor and the walking motor according to the operation parameters and the walking rotating speed state of the mowing machine at the mowing starting stage and adjusting the rotating speeds of the mowing motor and the walking motor according to the working state of the mowing motor, the working state of the walking motor, the working state of the mowing motor driver, the working state of the walking motor driver and the battery state in the mowing process.
According to the control system of the mower provided by the embodiment of the invention, the walking motor driver drives the walking motor and acquires the working state of the walking motor and the self, the mowing motor driver drives the mowing motor and acquires the working state of the mowing motor and the self, the walking rotating speed state of the mower is given by the operation switch, the operating parameter and the battery state of the mower are respectively and correspondingly acquired by the man-machine interaction module and the battery management system, then the rotating speeds of the mowing motor and the walking motor are controlled by the whole vehicle controller according to the operating parameter and the walking rotating speed state of the mower at the starting stage of mowing, and the rotating speeds of the mowing motor and the walking motor are adjusted according to the working state of the mowing motor, the working state of the walking motor, the working state of the mowing motor driver, the working state of the walking motor driver and the battery state during mowing, therefore, the self-adaptive mower can be controlled to perform self-adaptive mowing, the working efficiency of the mower can be improved, and the service life of a mower battery is prolonged.
In addition, the control system of the mower proposed according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the invention, the operating parameters of the lawn mower comprise the operating mode of the lawn mower and the blade condition of the lawn mower, the grass type and the grass condition of the grass to be mowed.
According to one embodiment of the invention, the walking speed state of the mower comprises the walking direction and the walking speed of the mower.
Further, when the mower is in the economic mode, the vehicle control unit firstly determines a walking rotation speed given component of the walking motor according to the walking direction and the walking speed of the mower, and respectively obtaining a blade condition component, a grass seed component, a grass condition component and a battery component according to the blade condition, the grass seed, the grass condition and the battery state, and obtaining a target rotating speed control value of the walking motor according to the walking rotating speed given component, the blade condition component, the grass seed component, the grass condition component and the battery component, and finally, adjusting the rotating speeds of the walking motor and the mowing motor in the mowing process by correcting the target rotating speed control value of the walking motor and the target rotating speed control value of the mowing motor.
Further, when the mower is in the fast mode, the vehicle control unit firstly determines a walking rotation speed given component of the walking motor according to the walking direction and the walking speed of the mower, obtains the battery component according to the battery state, obtains a target rotation speed control value of the walking motor according to the walking rotation speed given component of the walking motor, obtains a target rotation speed control value of the mowing motor according to the target rotation speed control value of the walking motor, and finally adjusts the rotation speeds of the walking motor and the mowing motor in the mowing process by correcting the target rotation speed control value of the walking motor and the target rotation speed control value of the mowing motor.
Further, when the mower is powered on during starting, the complete machine controller firstly controls the pre-charging circuits of the walking motor driver and the mowing motor driver to work so as to pre-charge the buses of the walking motor driver and the mowing motor driver, and turns off the pre-charging circuits after the bus pre-charging is completed, and simultaneously controls the working circuits of the walking motor driver and the mowing motor driver to be switched on so as to power on the walking motor driver and the mowing motor driver.
According to one embodiment of the invention, the control system of the mower further comprises a communication module, wherein the communication module is connected with the human-computer interaction module and is used for transmitting the working state information and the fault information of the mower.
According to one embodiment of the invention, the control system of the mower further comprises an electric push rod, the electric push rod is connected with the overall controller, and the electric push rod is used for adjusting the height of the mower header.
According to one embodiment of the invention, the vehicle control unit is respectively connected with the walking motor driver, the mowing motor driver, the human-computer interaction module, the operating switch and the battery management system through CAN buses.
In order to achieve the above object, a second aspect of the present invention provides a lawn mower, including the control system of the lawn mower provided in the first aspect of the present invention.
According to the mower provided by the embodiment of the invention, the control system of the mower can adjust the rotating speeds of the mowing motor and the walking motor in real time, so that self-adaptive mowing can be realized, and the working efficiency can be improved.
Drawings
FIG. 1 is a block schematic diagram of a control system for a lawn mower in accordance with an embodiment of the present invention;
FIG. 2 is a control process of a control system of a lawn mower controlling the lawn mower to operate in an economy mode according to an embodiment of the present invention;
FIG. 3 is a control process of a control system of a lawn mower according to an embodiment of the present invention controlling the lawn mower to operate in the fast mode;
FIG. 4 is a circuit diagram of a pre-charging of a driver in a control system of a lawn mower in accordance with one embodiment of the present invention;
fig. 5 is a block diagram of a control system of a lawn mower according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a block diagram of a control system of a lawn mower according to an embodiment of the present invention.
As shown in fig. 1, the control system of the lawn mower of the embodiment of the present invention includes a walking motor driver 10, a lawn mowing motor driver 20, a human-machine interaction module 30, an operation switch 40, a battery management system 50, and a vehicle control unit 60. The walking motor driver 10 is used for driving the walking motor and collecting the walking motor and the working state of the walking motor per se; the mowing motor driver 20 is connected with a mowing motor of the mowing machine, and the mowing motor driver 20 is used for driving the mowing motor and acquiring the working states of the mowing motor and the mowing motor; the man-machine interaction module 30 is used for acquiring the set operation parameters of the mower; operating the switch 40 for a given mower walk speed condition; the battery management system 50 is used for collecting the battery state of the mower; the vehicle control unit 60 is connected with the walking motor driver 10, the mowing motor driver 20, the man-machine interaction module 30, the operation switch 40 and the battery management system 50 respectively, and the vehicle control unit 60 is used for controlling the rotating speeds of the mowing motor and the walking motor according to the operation parameters and the walking rotating speed state of the mowing machine at the mowing starting stage and adjusting the rotating speeds of the mowing motor and the walking motor according to the working state of the mowing motor, the working state of the walking motor, the working state of the mowing motor driver, the working state of the walking motor driver and the battery state in the mowing process.
In an embodiment of the present invention, the walking motor driver 10 may be connected to the walking motor encoder to receive the rotation speed and position signals of the walking motor and perform closed-loop control on the walking motor, and the walking motor driver 10 may also be connected to the walking motor via the first temperature sensor to receive the temperature information of the walking motor.
In one embodiment of the present invention, the mowing motor driver 20 may be connected to the mowing motor encoder to receive signals of the rotation speed and the position of the mowing motor and perform closed-loop control on the mowing motor, and the mowing motor driver 20 may be connected to the mowing motor via a second temperature sensor to receive temperature information of the mowing motor.
In one embodiment of the invention, the set operation parameters of the mower acquired by the human-machine interaction module 30 comprise the working mode of the mower, the blade condition of the mower, the grass type and the grass condition of the grass to be trimmed. In addition, the human-computer interaction module 30 may also display state information of the lawn mower.
In one embodiment of the present invention, the walking speed state of the mower given by the operation switch 40 includes the walking direction and walking speed of the mower.
In an embodiment of the present invention, the vehicle control unit 60 may be connected to the walking motor driver 10, the mowing motor driver 20, the human-machine interaction module 30, the manipulation switch 40, and the battery management system 50 through CAN buses, respectively, and the connection between the walking motor driver 10 and the walking motor of the mower, and between the mowing motor driver 20 and the mowing motor of the mower may also be through CAN buses. Specifically, the CANOPEN protocol with the baud rate of 250Kb can be used for communication connection. The controller with the newly added functions CAN be added conveniently by connecting through the CAN bus, so that the expansibility of the control system CAN be enhanced, the connection relation of the control system is simplified, and the cost is reduced.
Based on the structure, the mower can be controlled to carry out mowing operation, for example, the mower can be controlled to carry out mowing operation in two working modes, namely an economic mode and a quick mode.
For example, when the lawn mower is in the economic mode, the vehicle control unit 60 may determine a traveling speed given component of the traveling motor according to the traveling direction and the traveling speed of the lawn mower, and simultaneously obtain a blade condition component, a grass seed component, a grass condition component, and a battery component according to the blade condition, the grass seed, the grass condition, and the battery state, and then obtain a target rotational speed control value of the traveling motor according to the traveling speed given component, the blade condition component, the grass seed component, the grass condition component, and the battery component, and then obtain a target rotational speed control value of the lawn mowing motor according to the target rotational speed control value of the traveling motor, and finally adjust the rotational speeds of the traveling motor and the lawn mowing motor in the lawn mowing process by correcting the target rotational speed control value of the traveling motor and the target rotational speed control value of the lawn.
Specifically, as shown in fig. 2, the vehicle control unit 60 may determine a walking rotation speed given component N1 of a walking motor of the lawn mower by generating a voltage signal of 0-5V by a rotary potentiometer or a hall sensor, determine a blade condition component N2 of the mower blade by acquiring the sharpness of the mower blade by the human-machine interaction module 30, determine a grass seed component N3 of the grass to be mowed by acquiring the kind of the grass to be mowed by the human-machine interaction module 30, determine a grass condition component N4 of the grass to be mowed by acquiring the growth condition of the grass to be mowed by the human-machine interaction module 30, and then determine a battery component N5 of the mower battery by acquiring the battery management system 50, for example, the number of charging and discharging times of the mower battery and the number of deep charging and discharging times of the mower battery. The vehicle control unit 60 may also determine the blade condition component N2 by automatically acquiring a history value of the mower blade.
Further, as shown in fig. 2, the traveling speed given component N1, the blade condition component N2, the grass seed component N3, the grass condition component N4 and the battery component N5 may be weighted by a certain weight coefficient to obtain a traveling motor target speed control value K1, and then the traveling motor target speed control value K1 is multiplied by the set coefficient by a speed-dependent control method to obtain a mowing motor target speed control value K2, and the traveling motor target speed control value K1 and the mowing motor target speed control value K2 are respectively and correspondingly transmitted to the traveling motor driver 10 and the mowing motor driver 20 to drive the traveling motor and the mowing motor.
Further, as shown in fig. 2, if the mowing motor is driven by the mowing motor target rotating speed control value K2 to output torques, that is, the torques T are all smaller than the torque threshold, that is, the torque threshold T1, during mowing, the mowing motor target rotating speed control value K2 is corrected downward, specifically, the current rotating speed of the mowing motor, that is, the current rotating speed n, is reduced until the torque T is larger than the torque threshold T1, at this time, if the current rotating speed n of the mowing motor has been reduced to the lowest rotating speed set by the mowing machine, that is, the lowest rotating speed n1, the rotating speed of the mowing motor is stopped being reduced, and the walking motor target rotating speed control value K1 is corrected upward, specifically, the forward speed of the mowing machine is increased until the forward speed of the mowing machine reaches the highest speed set by the mowing machine; if the torque output by the mowing motor is driven by the mowing motor target rotating speed control value K2 in the mowing process, namely the torque T is larger than the torque threshold value, namely the torque threshold value T2, the walking motor target rotating speed control value K1 is corrected downwards, specifically, the forward speed of the mowing motor is reduced, so that the output torque T of the mowing motor is smaller than the torque threshold value T2; if the torque output by the mowing motor is driven by the mowing motor target rotating speed control value K2 in the mowing process, namely the torque T is larger than the torque threshold value, namely the torque threshold value T3, the mowing motor target rotating speed control value K2 is set to be zero, the mowing motor stops running, and meanwhile the walking motor target rotating speed control value K1 is corrected downwards, specifically the forward speed of the mowing machine is reduced.
For example, when the lawn mower is in the fast mode, the vehicle control unit 60 determines a walking rotation speed given component of the walking motor according to the walking direction and the walking speed of the lawn mower, obtains a target rotation speed control value of the walking motor according to the walking rotation speed given component of the walking motor, obtains a target rotation speed control value of the lawn mower according to the target rotation speed control value of the walking motor, and finally adjusts the rotation speeds of the walking motor and the lawn mower in the lawn mowing process by correcting the target rotation speed control value of the walking motor and the target rotation speed control value of the lawn mower.
Specifically, as shown in fig. 3, the method for determining the walking rotation speed given component N1 of the whole vehicle controller 60 is the same as the method for determining the walking rotation speed given component N1 of the walking motor when the lawn mower is in the economy mode, and the detailed description thereof is omitted here.
Further, as shown in fig. 3, the walking rotation speed given component N1 may be used as the walking motor target rotation speed control value K1, then the walking motor target rotation speed control value K1 is multiplied by a set coefficient by a speed-dependent control method to obtain the mowing motor target rotation speed control value K2, and the walking motor target rotation speed control value K1 and the mowing motor target rotation speed control value K2 are respectively and correspondingly transmitted to the walking motor driver 10 and the mowing motor driver 20 to drive the walking motor and the mowing motor.
Further, if the torque output by the mowing motor is driven by the mowing motor target rotating speed control value K2 during mowing, for example, the torque T is all larger than the torque threshold T2, the walking motor target rotating speed control value K1 is corrected downwards, specifically, the forward speed of the mower is reduced, so that the output torque T of the mowing motor is smaller than the torque threshold T2; if the torque output by the mowing motor is driven by the mowing motor target rotating speed control value K2 during mowing, for example, the torque T is larger than a torque threshold value, for example, a torque threshold value T3, the walking motor target rotating speed control value K1 and the mowing motor target rotating speed control value K2 are set to zero, so that the operation of the walking motor and the mowing motor is stopped.
When necessary, the torque thresholds T1, T2 and T3 are all set in the vehicle control unit 60 in advance, and T1 < T2 < T3; the weight coefficients can be dynamically adjusted and optimized through automatic learning by the overall controller 60.
In summary, the control process of the control system of the lawn mower of the present invention for controlling the lawn mower to perform the mowing operation is explained, and the precharge process of the traveling motor driver and the mowing motor driver in the control system of the lawn mower of the present invention will be explained.
In an embodiment of the present invention, when the lawn mower is powered on, the complete machine controller 60 may first control the precharge circuits of the walking motor driver 10 and the mowing motor driver 20 to operate, so as to precharge the bus bars of the walking motor driver 10 and the mowing motor driver 20, and turn off the precharge circuits after the bus bars are precharged, and simultaneously control the operating circuits of the walking motor driver 10 and the mowing motor driver 20 to turn on, so as to power on the walking motor driver 10 and the mowing motor driver 20.
Specifically, as shown in fig. 4, when the lawn mower is powered on, the VCU, that is, the vehicle control unit 60 may first turn on the switch S1, so as to energize the relay K1, thereby controlling the switch S2 to be closed, and finally turning on an RC loop formed by the resistor R and the equivalent capacitors of the walking motor driver 10 and the mowing motor driver 20, so as to pre-charge the buses of the walking motor driver 10 and the mowing motor driver 20. Further, when the bus voltage of the walking motor driver 10 and the mowing motor driver 20 reaches the voltage threshold, the complete machine controller 60 turns off the switch S1 to disconnect the relay K1, so that the control switch S2 is turned off to complete the pre-charging operation, and simultaneously, the complete machine controller 60 turns on the switch S3 to energize the relay K2, so that the control switch S4 is turned on to complete the power-on operation of the walking motor driver 10 and the mowing motor driver 20. If an abnormality occurs in the precharge process, the complete machine controller 60 may generate alarm information and stop the operation of the control system. Through the pre-charging of the walking motor driver and the mowing motor driver, the damage of components on a circuit caused by the short-time rapid rise of the bus voltage can be avoided, and therefore the quality of a control system is improved.
In one embodiment of the invention, as shown in fig. 5, the control system of the lawn mower further comprises a communication module 70. The communication module 70 is connected with the human-computer interaction module 30, and the communication module 70 can be used for transmitting the working state information and the fault information of the mower. Specifically, the communication module 70 may be connected to an operation and maintenance center of the lawn mower through WIFI, and send the operating state and fault information of the lawn mower to the operation and maintenance center in real time. For example, if the mower has a short circuit or open circuit fault, the mower may send the fault information to the operation and maintenance center through the communication module 70, so that the maintenance personnel can find the fault of the mower in time and perform maintenance in time.
In one embodiment of the present invention, the control system of the lawn mower may further comprise an electric push rod connected to the overall controller 60 for adjusting the height of the cutting deck of the lawn mower.
According to the control system of the mower provided by the embodiment of the invention, the walking motor driver drives the walking motor and collects the working state of the walking motor and the self, the mowing motor driver drives the mowing motor and collects the working state of the mowing motor and the self, the walking rotating speed state of the mower is given by the operation switch, the operating parameter and the battery state of the mower are respectively and correspondingly obtained by the man-machine interaction module and the battery management system, then the rotating speeds of the mowing motor and the walking motor are controlled by the whole vehicle controller according to the operating parameter and the walking rotating speed state of the mower at the starting stage of mowing, and the rotating speeds of the mowing motor and the walking motor are adjusted according to the working state of the mowing motor, the working state of the walking motor, the working state of the mowing motor driver, the working state of the walking motor driver and the battery state during mowing, therefore, the self-adaptive mower can be controlled to perform self-adaptive mowing, the working efficiency of the mower can be improved, and the service life of a mower battery is prolonged.
The invention further provides a mower corresponding to the embodiment.
The embodiment of the invention provides a lawn mower comprising the control system of the lawn mower, and the specific implementation mode of the control system of the lawn mower can refer to the embodiment.
According to the mower provided by the embodiment of the invention, the control system of the mower provided by the embodiment can adjust the rotating speeds of the mowing motor and the walking motor in real time, so that self-adaptive mowing can be realized, and the working efficiency can be improved.
In the present invention, unless otherwise expressly specified or limited, the term "coupled" is to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A control system for a lawn mower, comprising:
the walking motor driver is connected with a walking motor of the mower and used for driving the walking motor and acquiring the working states of the walking motor and the walking motor;
the mowing motor driver is connected with a mowing motor of the mower and used for driving the mowing motor and acquiring the working states of the mowing motor and the mowing motor;
the human-computer interaction module is used for acquiring the set operation parameters of the mower;
an operating switch for giving a walking speed state of the mower;
a battery management system for acquiring a battery status of the lawn mower;
the whole vehicle controller is respectively connected with the walking motor driver, the mowing motor driver, the human-computer interaction module, the operating switch and the battery management system, and is used for controlling the rotating speeds of the mowing motor and the walking motor according to the operation parameters and the walking rotating speed state of the mowing machine at the mowing starting stage and adjusting the rotating speeds of the mowing motor and the walking motor according to the working state of the mowing motor, the working state of the walking motor, the working state of the mowing motor driver, the working state of the walking motor driver and the battery state in the mowing process.
2. A control system for a lawnmower as claimed in claim 1, wherein the operating parameters of the lawnmower include the mode of operation of the lawnmower and the blade condition of the lawnmower, the type of grass and the condition of the grass to be mowed.
3. The control system of a lawnmower according to claim 2, wherein the walk speed state of the lawnmower comprises a walk direction and a walk speed of the lawnmower.
4. The control system of claim 3, wherein when the lawn mower is in the economy mode, the vehicle controller determines a traveling speed predetermined component of the traveling motor according to a traveling direction and a traveling speed of the lawn mower, and obtains a blade condition component, a grass seed component, a grass condition component, and a battery component according to the blade condition, the grass seed, the grass condition, and the battery status, respectively, and then obtains a target rotational speed control value of the traveling motor according to the traveling speed predetermined component, the blade condition component, the grass seed component, the grass condition component, and the battery component, and then obtains a target rotational speed control value of the lawn mower according to the target rotational speed control value of the traveling motor, and finally adjusts rotational speeds of the traveling motor and the lawn mower during mowing by correcting the target rotational speed control value of the traveling motor and the target rotational speed control value of the lawn mower .
5. The control system of claim 3, wherein when the lawn mower is in the fast mode, the vehicle controller determines a walking rotation speed given component of the walking motor according to a walking direction and a walking speed of the lawn mower, obtains the battery component according to the battery state, obtains a target rotation speed control value of the walking motor according to the walking rotation speed given component of the walking motor, obtains a target rotation speed control value of the lawn mower according to the target rotation speed control value of the walking motor, and adjusts rotation speeds of the walking motor and the lawn mower during the lawn mowing process by correcting the target rotation speed control value of the walking motor and the target rotation speed control value of the lawn mower.
6. The control system of claim 5, wherein when the mower is powered on, the complete machine controller controls the pre-charging circuit of the walking motor driver and the mowing motor driver to operate to pre-charge the bus of the walking motor driver and the mowing motor driver, and turns off the pre-charging circuit after the bus pre-charging is completed, and controls the operating circuit of the walking motor driver and the mowing motor driver to turn on to power on the walking motor driver and the mowing motor driver.
7. The mower control system of claim 1, further comprising a communication module coupled to the human-machine interaction module, the communication module configured to transmit operational status information and fault information of the mower.
8. The mower control system of claim 1, further comprising an electric push rod coupled to the overall controller, the electric push rod configured to adjust a height of the mower header.
9. The mower control system of claim 8, wherein the vehicle control unit is connected to the walking motor driver, the mowing motor driver, the human-computer interaction module, the steering switch and the battery management system via CAN buses, respectively.
10. A lawnmower, characterized by comprising a control system of a lawnmower according to any one of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911177559.0A CN110915404B (en) | 2019-11-27 | 2019-11-27 | Mower and control system thereof |
| PCT/CN2020/100665 WO2021103548A1 (en) | 2019-11-27 | 2020-07-07 | Mower and control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911177559.0A CN110915404B (en) | 2019-11-27 | 2019-11-27 | Mower and control system thereof |
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| CN110915404A true CN110915404A (en) | 2020-03-27 |
| CN110915404B CN110915404B (en) | 2022-09-13 |
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| CN201911177559.0A Active CN110915404B (en) | 2019-11-27 | 2019-11-27 | Mower and control system thereof |
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| WO (1) | WO2021103548A1 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| WO2021103548A1 (en) * | 2019-11-27 | 2021-06-03 | 江苏沃得植保机械有限公司 | Mower and control system thereof |
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| CN114246051A (en) * | 2020-09-25 | 2022-03-29 | 南京德朔实业有限公司 | Mower and control method thereof |
| CN114402789A (en) * | 2022-01-24 | 2022-04-29 | 格力博(江苏)股份有限公司 | Control method of mower and mower |
| WO2022134827A1 (en) * | 2020-12-25 | 2022-06-30 | 浙江三锋实业股份有限公司 | Mowing control method for intelligent mower |
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| WO2021103548A1 (en) | 2021-06-03 |
| CN110915404B (en) | 2022-09-13 |
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