CN114402789B

CN114402789B - Control method of mower and mower

Info

Publication number: CN114402789B
Application number: CN202210083956.7A
Authority: CN
Inventors: 薛嘉甫; 赵鹏; 韦群力; 王燕强; 徐文伟; 陈辉; 余涛
Original assignee: Globe Jiangsu Co Ltd
Current assignee: Globe Jiangsu Co Ltd
Priority date: 2022-01-24
Filing date: 2022-01-24
Publication date: 2023-06-20
Anticipated expiration: 2042-01-24
Also published as: CN114402789A

Abstract

The invention discloses a control method of a mower and the mower, when the mower is in a dynamic mode, the control method of the mower comprises the following steps: according to the mowing data of the past times, obtaining initial current limiting values and maximum rotating speeds of a cutter motor and a walking motor; monitoring an input current of each motor and determining whether the input current of each motor is less than the current limit value; when the input current of the walking motor or the cutter motor is continuously equal to or greater than the current limiting value, the current limiting value and the maximum rotating speed of the walking motor and the cutter motor are reset according to the gradient of the current mower and the maximum discharging capacity of the battery pack, so that the mower can work normally when encountering faults. The control method of the mower and the mower provided by the invention enable the whole mower to be in an optimal performance state.

Description

Control method of mower and mower

Technical Field

The invention belongs to the technical field of garden tools, and particularly relates to a control method of a mower and the mower.

Background

Along with the continuous improvement of the living standard of human beings, the requirements on environment and greening are also increased year by year. The clean green lawn is an important part of garden construction and urban environment.

Many types of mower devices are currently available on the market, which are relatively single in mode of operation. When the mower leaves the factory, parameters of the travelling mechanism and the cutting knife mechanism are cured. At this time, the mower can cut grass with a given strategy, and the mowing efficiency of the mower cannot be optimized to the maximum extent according to the gradient and the grass condition of the mower, so that the whole mower is in an optimal performance state.

Disclosure of Invention

The invention aims to provide a control method of a mower and the mower, which solve the problems of single working mode and low mowing efficiency of the existing mower.

In order to solve the technical problems, the invention is realized by the following technical scheme:

the invention provides a control method of a mower, which comprises the following steps of:

according to the mowing data of the past times, obtaining initial current limiting values and maximum rotating speeds of a cutter motor and a walking motor;

monitoring an input current of each motor and determining whether the input current of each motor is less than the current limit value;

when the input current of the walking motor is continuously equal to or greater than a current limiting value and the output value of the battery pack is smaller than the maximum discharge capacity, resetting the current limiting value and the maximum rotating speed of the walking motor and the cutter motor according to the gradient of the current mower and the maximum discharge capacity of the battery pack; and

when the input current of the walking motor is continuously smaller than the current limiting value, the input current of the cutter motor is continuously equal to or larger than the current limiting value, and the output value of the battery pack is smaller than the maximum discharge capacity, resetting the current limiting value and the maximum rotating speed of the cutter motor according to the maximum discharge capacity of the battery pack.

In one embodiment of the invention, the initial current limit value and the maximum rotational speed of each motor are average values of a past current limit value and a past maximum rotational speed.

In one embodiment of the invention, the present current limit value and the maximum rotational speed are maintained when the input current of each motor is less than the current limit value.

In one embodiment of the invention, when the input current of the walking motor is continuously equal to or greater than a current limiting value and the output value of the battery pack is equal to or greater than a maximum discharge capacity, the current limiting value and the maximum rotation speed are maintained, and the current gradient is displayed to be overlarge at an output interface.

In one embodiment of the invention, when the input current of the walking motor is continuously smaller than the current limiting value, the input current of the cutter motor is continuously equal to or larger than the current limiting value, and the output value of the battery pack is equal to or larger than the maximum discharging capacity, the current limiting value and the maximum rotating speed are maintained, and the current severe grass condition is displayed on an output interface.

In one embodiment of the present invention, after resetting the current limit value and the maximum rotation speed of the walk motor and/or the cutter motor, the control method of the mower comprises:

judging whether the input current of the walking motor and the cutter motor is smaller than a current limiting value or not; and

and when the input current of the walking motor and/or the walking motor is continuously equal to or greater than the current limiting value, circularly adjusting the current limiting value and the maximum rotating speed of the cutting knife motor and/or the walking motor until the input current of the cutting knife motor and/or the walking motor is less than the current limiting value, or displaying an alarm on an output interface.

In one embodiment of the present invention, when the mower is in a basic mode, a control method of the mower includes:

the current limit value and the maximum rotation speed of the motor are set according to the physical properties of each motor.

and setting a current limit value and a maximum rotating speed of the motor according to the information input by the input interface and the physical properties of the motor.

In one embodiment of the present invention, when the input current of the walking motor is continuously equal to or greater than the current limiting value, the current limiting value of the walking motor is adjusted first, so that the current limiting value of the walking motor is smaller than the current limiting value, and then whether the input current of the cutter motor is continuously equal to or greater than the current limiting value is determined.

In one embodiment of the invention, the greater the mowing height, the greater the speed of the mower, and/or the greater the current limit of the cutter motor when having a grass-collecting function.

In one embodiment of the present invention, when it is determined that the input current of the walking motor and/or the input current of the walking motor is continuously equal to or greater than the current limiting value, the time threshold of the continuous current limiting value of the input current of the motor is 180ms-220ms.

The present invention also provides a mower comprising:

a cutter assembly;

a walking assembly;

the information acquisition assembly monitors the input current of each motor in the cutter assembly and the walking assembly; and

the control assembly is electrically connected with the cutting knife assembly, the walking assembly and the information acquisition assembly;

when the mower is in a dynamic mode, the control assembly is used for acquiring initial current limiting values and maximum rotating speeds of a cutter motor and a walking motor according to traditional mowing data and judging whether the input current of each motor is smaller than the current limiting values or not;

when the input current of the walking motor is continuously equal to or greater than a current limiting value and the output value of the battery pack is smaller than the maximum discharge capacity, resetting the current limiting value and the maximum rotating speed of the walking motor and the cutter motor according to the gradient of the current mower and the maximum discharge capacity of the battery pack;

The control method of the mower and the mower provided by the invention have multiple working modes, and different working modes can be selected when the grass condition and the field gradient are different. And when the mower is in a dynamic mode, the output power and the output torque between the walking assembly and the cutting knife assembly can be automatically adjusted. When the gradient of the mower is overlarge, the output power and the output torque of the cutter motor can be sacrificed, and the climbing capacity of the mower is ensured. When the grass condition is bad, the output work and the output torque of the walking motor can be sacrificed, and the mowing effect of the mower when the grass is heavy on the flat ground is ensured. The mower can optimize the mowing efficiency of the mower to the maximum extent according to the gradient and the grass condition of the mower, and the whole mower is in the optimal performance state.

Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a view showing a structure of a mower in the present embodiment.

Fig. 2 is a bottom view of the mower of fig. 1.

FIG. 3 is a schematic view of the power assembly of the mower of FIG. 1.

Fig. 4 is a schematic view of electrical connections of the mower.

FIG. 5 is a flow chart of a control method when the mower is in a basic mode.

FIG. 6 is a flow chart of a control method when the mower is in a preset mode.

FIG. 7 is a flow chart of a control method when the mower is in a dynamic mode.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1 to 4, a mower according to the present invention includes a frame 100, a walking assembly 10, a cutting blade assembly 20, a control assembly 30 and a man-machine interaction assembly 40 fixed on the frame 100. The user inputs the instruction through the man-machine interaction assembly 40, the control assembly 30 transmits the instruction to the cutter assembly 20 and the walking assembly 10, and the cutter assembly 20 and the walking assembly 10 are adjusted to realize the mowing function.

Referring to fig. 1 to 3, in an embodiment of the present invention, a seat 400 is fixed on a frame 100, and a cutter assembly 20 is disposed on the frame 100 and faces the ground. And the particular location of the cutter assembly 20 is not limited in this application, in this embodiment the cutter assembly 20 is located, for example, in the middle of the mower. In other embodiments, the cutter assembly 20 may be located, for example, at the front end of the mower or may be located at the rear of the mower. In the present embodiment, the cutter assembly 20 includes, for example, a cutter capable of performing a mowing function, and includes, for example, a first cutter 203 and a second cutter 204 that are independently operable. In other embodiments, one or more cutters may be provided, and each cutter may operate independently. The cutter is disposed within the hood 205 to prevent grass clippings from flying out when mowing. The carriage 100 is further provided with a cutter motor connected to the cutter, and includes, for example, a first cutter motor 201 for driving the first cutter 203 to rotate and a second cutter motor 202 for driving the second cutter 204 to rotate. The traveling assembly 10 includes a front wheel assembly and a rear wheel assembly provided on the frame 100, the front wheel assembly including a rotating wheel 103 provided to be mounted on a front end of the frame 100, and a steering mechanism (not shown) controlling the rotating wheel 103. In this embodiment, the rotating wheel 103 is, for example, a universal wheel, and is a smooth universal wheel, so that the influence of the rotating wheel 103 on the working floor during rotation can be effectively avoided. The rear wheel assembly is disposed on both sides of the rear end of the frame 100 and includes a first driving wheel 104 and a second driving wheel 105. The frame 100 is further provided with a first travel motor 101 for driving the first drive wheel 104 to travel and a second travel motor 102 for driving the second drive wheel 105 to travel.

Referring to fig. 1 to 4, in an embodiment of the invention, the control assembly 30 is integrated on the frame 100, and the control assembly 30 includes, for example, a first cutter controller 303 electrically connected to the first cutter motor 201, a second cutter controller 304 electrically connected to the second cutter motor 202, a first travel controller 301 electrically connected to the first travel motor 101, and a second travel controller 302 electrically connected to the second travel motor 102. The cutter controller can adjust the rotating speed and the input current of the cutter motor, and then control the rotating speed and the output torque of the cutter. The walking controller can adjust the rotating speed and the input current of the walking motor, and further control the rotating speed and the output torque of the driving wheel. In this embodiment, the control assembly 30 may further include a main controller, where the main controller may adjust the input current and the rotation speed of each motor according to the information collected by the information collection assembly, the information input by the man-machine interaction device, the information in the battery pack management unit, and the parameter information in each controller, so as to control the start, stop, and speed regulation of the motor. The control assembly 30 may also control the display of the human-machine interaction device and the maximum output power of each motor. The main controller can be arranged independently or integrated with other controllers. In the present embodiment, the main controller is integrated within the first travel controller 301, for example.

Referring to fig. 1 to 3, in an embodiment of the invention, the man-machine interaction assembly 40 includes a steering wheel 401 disposed on a machine body. The steering wheel 401 is connected with the rotating wheel 103 through a steering mechanism, and when the steering wheel 401 is rotated, the direction of the rotating wheel 103 can be adjusted, so that the advancing direction of the mower can be adjusted. The man-machine interaction assembly 40 further comprises a starting assembly and a braking assembly, wherein the starting assembly comprises a pedal 402 and a starting mechanism (not shown in the figure), and the pedal can be used for controlling the starting mechanism to generate mechanical action, for example, an accelerator can be used for converting mechanical signals into electric signals, so that the mower can be started and responds to the mechanical action. The brake assembly comprises, for example, a hand brake 403 and/or a foot brake (not shown), by pulling the hand brake 403 and/or the foot brake, emergency braking of the mower is achieved. The mower is further provided with an input interface 404 and an output interface 405, and the input interface 404 may be, for example, a plurality of input buttons or a display screen having an input function. The output interface 405 may be, for example, a plurality of display lamps having different colors, or may be a display screen having an output function. And the input interface 404 and the output interface 405 may be disposed at the same location or may be disposed separately from each other. In the present embodiment, the input interface 404 and the output interface 405 are provided on one side of the seat 400, for example. In other embodiments, the input interface 404 and the output interface 405 are, for example, screens or other operation terminals provided in front of the driver, or the like.

Referring to fig. 1 to 4, in an embodiment of the present invention, the mower further includes an energy supply assembly, where the energy supply assembly includes at least one battery pack 501, and a battery pack management unit 502 corresponding to the battery pack 501. On the frame 100, and be located the seat 400 bottom and be provided with the battery package and hold chamber 503, the battery package 501 sets up in battery package holds chamber 503, and can dismantle the connection in battery package holds chamber 503, makes things convenient for the change of battery package 501. The plurality of battery packs 501 may be divided into different power supply units for supplying power to the electrical components of the mower, such as the cutter assembly 20, the walk assembly 10, and the control assembly 30. In order to ensure management among the electrical units, a battery pack management unit 502 is provided, and the output voltage of different power supply units and the output current can be adjusted to adjust the input current and the input voltage of each electrical element in the mower.

Referring to fig. 1 to 4, in an embodiment of the present invention, the mower further includes a plurality of information acquisition components, for example, a plurality of current sensors installed at the input end or the output end of the electrical components, so as to feed back the current of each electrical component in the mower to the battery pack management unit 502. The battery pack management unit 502 can dynamically adjust the output of each motor according to the information fed back by the signal acquisition component, so that the mower can work normally. In the present embodiment, the first current sensor 601 is connected in series to the input terminals of the first traveling motor 101 and the second traveling motor 102, for example, to monitor the input currents of the first traveling motor 101 and the second traveling motor 102 in real time. The first travelling motor 101 and the second travelling motor 102 are motors of driving wheels, and in order to ensure that the rotation speeds of the second driving wheels 105 of the first driving wheels 104 are the same, the electric parameters of the first travelling motor 101 and the second travelling motor 102 are set to be the same. The electric parameters comprise parameters such as phase line current, bus current, output power, rotating speed and the like of the motor. The input end of the first cutter motor 201 is connected with a second current sensor 602 in series, and the input end of the second cutter motor 202 is connected with a third current sensor 603 in series, so as to monitor the input currents of the first cutter motor 201 and the second cutter motor 202 in real time. A fourth current sensor 604 is also provided at the output of the current management unit to monitor the output current of the power supply assembly in real time, avoiding the output value of the battery pack 501 exceeding its maximum discharge capacity.

Referring to fig. 1-4, in an embodiment of the present invention, the information acquisition assembly further includes other sensors disposed on the mower, such as a gradient sensor 605 for measuring a gradient of the vehicle frame 100, a speed sensor 606 for measuring a speed, and the like. The grade sensor 605 may monitor in real time the grade at which the mower is located. When the grade or speed exceeds a threshold, an emergency braking function may be activated and an alarm may be given. The speed sensor 606 may monitor the speed of the mower in real time and communicate speed information to the main controller.

Referring to fig. 1 to 2, in an embodiment of the present invention, a grass collecting bag (not shown) may be further installed at the grass outlet of the mower. The grass collecting bag can be detachably arranged at the tail part of the mower, for example, the grass collecting bag can be hung at the tail part of the mower by using a hook. When the grass collecting bag is not needed, the grass collecting bag is removed. And the grass collecting bag can be communicated through the pipeline so as to collect grass scraps into the grass collecting bag. At the grass outlet, a baffle 206 is also provided, and when the baffle 206 is opened, the grass collecting bag can be communicated with the grass outlet of the mower, and the mower can discharge grass. When the baffle 206 is closed, the mower breaks grass, so that grass scraps can be prevented from flying out during grass breaking.

Referring to fig. 1, the mower provided by the present invention has a plurality of working modes, for example, a basic mode, a preset mode and a dynamic mode. The user may adjust the operating mode of the mower to optimize the performance of the cutter assembly 20 and the walk assembly 10 of the mower based on the condition of the grass and the condition of the grass field.

Referring to fig. 5, in an embodiment of the present invention, when the mower is in a basic mode, the control method of the mower includes the following steps S101 and S102.

S101, setting a current limiting value and a maximum rotating speed of each motor according to the performance of the motor.

S102, starting the mower to mow.

Referring to fig. 1 and 5, in an embodiment of the present invention, when the mower is in a basic mode, the current limit values and the maximum rotation speeds of the cutter motor and the travel motor are fixed values, and the phase line currents and the bus line currents of the cutter motor and the travel motor can be determined according to factors such as temperature rising conditions, rated torque, rated output power and the like of each motor under different currents. The maximum rotational speeds of the cutter motor and the travel motor may be determined, for example, based on factors such as the high efficiency rotational speed region and the energy consumption of each motor. To ensure that the mower travel assembly 10 and cutter assembly 20 are in an efficient condition. Therefore, the current limiting value and the maximum rotating speed of the cutter motor and the walking motor are only set according to the physical properties of the motors, and the current limiting value and the maximum rotating speed of the cutter motor and the walking motor are fixed values in the working process of the mower. And after the mower starts mowing, a user can input an operation instruction to the mower through the man-machine interaction assembly 40, so that the mower works according to the input instruction. And during mowing, if the mower fails, an alarm may be displayed at the output interface 405. The basic mode provided by the application is suitable for a grassland with flat ground and single grass type.

Referring to fig. 1, 3 and 5, in an embodiment of the present invention, when the mower is in the preset mode, a user may input information about the type of grass, the mowing height information, the field type information, the mowing area information, whether grass is collected, etc. in the input interface 404. The mower can set the maximum upper output power, maximum output torque and maximum rotation speed of the walking motor and the cutter motor according to various information provided by the input interface 404. The minimum battery power required for completing the mowing task or the number of required battery packs 501, mowing time, most economical mowing speed and the like can also be obtained according to the information input in the input interface 404. When the mower is in a preset mode, the control method of the mower includes steps S201 and S202.

S201, setting a current limit value and a maximum rotating speed of the motor according to information input by an input interface.

S202, starting the mower to mow.

Referring to fig. 1, 3 and 5, in an embodiment of the present invention, after obtaining grass condition information and field information, the required electric quantity may be obtained according to the average electric quantity information and mowing area information of the mower in a specific field and grass condition, i.e. the required electric quantity=mowing area×average electric quantity. Where mowing area is calculated in acres and average power consumption is average power consumption per acre. The number of battery packs 501 required, i.e., the number of battery packs 501=the amount of power required/the capacity of each battery pack 501, may be obtained again in accordance with the capacity of each battery pack 501. The current required mowing time can also be input into the input interface 404, and the mower obtains the mowing speed according to the required mowing time, namely, mowing speed=mowing area/required mowing time. In this embodiment, when the grass type, the mowing height, the speed of the mower, and the grass collection requirement are different, the limiting current value of the mower is different, and refer to table 1 specifically.

Table 1 comparison table of current limiting values of cutter motor under different conditions

Referring to table 1, in an embodiment of the invention, the current limiting value of the cutter motor is different when the grass is different. The mower may set a limiting value according to the kind of grass, for example, a limiting value when cutting the gavage Mao Shi is higher than when cutting the evergreen grass. And when having the grass collection function, in order to guarantee to throw grass bits smoothly in the grass collection bag, can improve the current limiting value of cutting knife motor. As shown in table 1, the greater the mowing height, the greater the current limit value of the cutter motor. When the speed of the mower is higher, the current limiting value of the cutter motor is higher. So as to ensure that weeds can be effectively cut when the mowing height is high and the mowing speed is high.

Referring to fig. 1 and 5, in an embodiment of the present invention, when the mower is in a preset mode, the maximum speed and the current limit of the mower can be set according to the information of the type of grass, the mowing height, whether grass is collected, etc., so that the mower is in an economical or efficient mode. At this time, the current limit value and the maximum rotation speed of the cutter motor and the travel motor are obtained in combination with the physical properties of the motor and various information input by the input interface 404, and the current limit value and the maximum rotation speed of the cutter motor and the travel motor do not exceed the limit values in the physical properties. In the working process of the mower, the current limiting value and the maximum rotating speed of the cutter motor and the walking motor are fixed values. After the mower is started, a user can input an operation instruction to the mower through the man-machine interaction assembly 40, so that the mower works according to the input instruction. During mowing, if the mower fails, an alarm may be displayed at the output interface 405. The preset mode provided by the application is suitable for a field flat, and has a single or multiple types of grasslands.

Referring to fig. 1 and 7, in an embodiment of the present invention, when the mower is in a dynamic mode, the cutter motor and the travel motor can flexibly adjust the current limit value and the maximum rotation speed according to the working condition change. Can ensure that the weeding can be flexibly performed when the working conditions such as grass condition, field and the like are changed. For example, during a hill climb, the current limit and rotational speed of the travel motor may be increased to increase the maximum power and output torque of the travel assembly 10. During mowing, the limiting value and the rotating speed of the cutter motor are increased to increase the maximum output power and the output torque of the cutter assembly 20. When the mower is in the dynamic mode, the control method of the mower specifically comprises steps S301 to S311.

S301, acquiring initial current limiting values and maximum rotating speeds of a cutter motor and a walking motor according to mowing data of past times.

Referring to fig. 4 and 7, in an embodiment of the present invention, a plurality of storage units (not shown) are provided in the mower, and the plurality of storage units may be provided in each controller or may be provided independently. When the storage units are independently arranged, the storage units are electrically connected with the corresponding controllers. In the present embodiment, for example, one storage unit is provided in each of the first travel controller 301, the second travel controller 302, the first cutter controller 303, and the second cutter controller 304. The storage unit stores information such as the current limiting value of the corresponding cutter motor and the corresponding running motor, the maximum rotation speed of the corresponding cutter motor and the corresponding running motor. When the mower is in a dynamic mode, average values of current limiting values and maximum rotating speeds of the cutter motor and the walking motor are obtained and used as current values and maximum rotating speeds of the cutter motor and the walking motor, and the current values and the maximum rotating speeds are used as initial current limiting values and maximum rotating speeds.

Referring to fig. 4 and 7, it should be noted that in the present embodiment, the current limit value and the maximum rotation speed of the first traveling motor 101 and the second traveling motor 102 are the same, and the current limit value and the maximum rotation speed of the first cutter motor 201 and the second cutter motor 202 may be different or the same.

Step S302, the input current of each motor is monitored, and whether the input current is smaller than a preset threshold value is judged. When the input current of each motor is smaller than the preset threshold, step S303 is executed to maintain the current state, and maintain the current limit value and the maximum rotation speed. And when the input current of the walking motor or the cutter motor is equal to or greater than a threshold value, entering a working condition dynamic response mode.

Referring to fig. 4 and 7, in an embodiment of the present invention, a first current sensor 601 is used to monitor input currents of the first traveling motor 101 and the second traveling motor 102, and the current of the first current sensor 601 is the sum of the input currents of the first traveling motor 101 and the second traveling motor 102. At the time of monitoring, the current value of the first current sensor 601 may be divided by 2 and then compared with the current limit values stored in the first and second travel controllers 301 and 302. The input current to the first blade 203 is monitored using the second current sensor 602 and the input current to the second blade 204 is monitored using the third current sensor 603. And compares the input current of the first cutter 203 with the initial current limit value of the first cutter controller 303, and compares the input current of the second cutter 204 with the initial current limit value of the second cutter controller 304. When the input current of each motor is smaller than the initial current limiting value of each controller, the initial current limiting value and the initial maximum rotating speed are kept unchanged. And when the input current value of a certain motor is equal to or greater than the initial current limiting value, entering a working condition dynamic response mode.

Referring to fig. 7, in an embodiment of the invention, after entering the dynamic response mode, the control method of the mower includes the following steps.

S304, judging whether the input current of the walking motor is continuously equal to or greater than a current limiting value. When the input current of the walk motor is continuously equal to or greater than the current limit value, step S305 is performed. When the input current of the walk motor is not continuously equal to or greater than the current limit value, step S308 is performed.

Referring to fig. 7, in step S304, when it is first determined whether the input current of the walking motor is continuously equal to or greater than the current limit value, the current limit value is the initially set current limit value. When the process is again circulated to step S304, the current limit value is a current limit value reset according to the circulation process.

Referring to fig. 7, in the step S304 and the following steps, it is required to determine whether the input current value of the motor is continuously equal to or greater than the current limit value, i.e. whether the time when the input current value of the motor is equal to or greater than the current limit value is equal to or greater than the threshold value. The time threshold value of the input current value of the motor is equal to or larger than the current limiting value is larger than the filtering time of the system current collection, and is smaller than or equal to the action time of the whole vehicle. In the present embodiment, the time threshold value at which the input current value of the motor is equal to or greater than the initial limit current value is, for example, 180ms to 220ms, specifically, for example, 200ms. When the working condition changes, the system can react quickly, for example, when the grass condition changes, the system can react in time, the maximum current limiting value or the motor rotating speed is adjusted, the maximum output torque is adjusted, and good mowing effect is still achieved when the grass density is increased. The influence of clutter and sudden conditions can also be avoided.

S305, judging whether the output value of the battery pack is equal to or larger than the maximum discharging capability. If the output value of the battery pack is equal to or greater than the maximum discharge capacity, step S306 is executed to maintain the current limit current value and the maximum rotation speed, and the current gradient is displayed as being excessively large at the output interface. If the output value of the battery pack is smaller than the maximum discharge capacity, step S307 is performed.

S307, detecting the current gradient, and resetting the current limiting value and the maximum rotating speed of the walking motor and the cutter motor according to the gradient and the maximum discharging capability of the battery pack.

Referring to fig. 7, in an embodiment of the present invention, when the input current of the walking motor is continuously equal to or greater than the current limit value, it may be determined that the mower is in an uphill or blocked state. At this time, if the output value of the battery pack is equal to or greater than the maximum discharge capacity, the battery pack is in the maximum discharge state, and the output cannot be increased any more. The alarm information can be displayed on the output interface, namely the current gradient is displayed to be overlarge, and mowing and getting rid of poverty are required to be manually assisted. At this time, if the output value of the battery pack is smaller than the maximum discharging capability, the current limiting value and the maximum rotating speed of the walking motor and the cutter motor can be reset according to the current state of the mower. For example, the output power of the walking motor can be increased, the output power of the cutting knife motor is reduced, the mower can get rid of the trouble by itself, and the output of the cutting knife motor and the walking motor can be flexibly adjusted according to the gradient of the current mower and the maximum discharging capacity of the battery pack in the process.

Referring to fig. 7, in an embodiment of the present invention, the current limit value and the maximum rotation speed of each motor when the mower is at different slopes may be set according to the maximum discharging capability of the battery pack and the current limit value and the maximum rotation speed of the walking motor and the physical properties of each motor. In one embodiment of the present invention, the current limiting values of each motor at different gradients are shown in table 2 when the maximum discharge capacity of the battery pack, i.e., the maximum output current, is, for example, 120A and the maximum speed is, for example, 8 mph.

Table 2 comparison of current limit value and speed of motor under different gradients and different maximum discharge capacities

Referring to table 2, when the gradient is different, the current limit value of each motor can be adjusted in combination with the maximum discharging capability of the battery pack. When the gradient is greater, the speed of the mower decreases, i.e. the speed of the travelling motor decreases. The current limiting value of the cutter motor is reduced, and the current limiting value of the walking motor is increased. And then the input current value of the cutter motor is reduced, and the input current value of the walking motor is increased. The output power of the cutter motor is reduced, and the output power of the walking motor is increased. When the rotating speed of the walking motor is also reduced, the torque of the walking motor is further increased, so that when the gradient is increased, the traction force is increased, and the mower can be automatically released. When the maximum discharging capability of the battery pack is low, the current limiting value of the cutter motor can be not limited along with the increase of the gradient. That is, when the gradient is too large, mowing is not performed, and the current limiting value of the walking motor is increased in the maximum range. For example, when the maximum discharge capacity of the battery pack 501 is 50% for example, and the gradient is equal to or greater than 10% for example, the current limit value of the cutter motor is not limited, and the current limit value of the travel motor may reach the maximum.

Referring to fig. 1 and 7, after the completion of step S307, the process returns to step S304, and it is again detected and determined whether the input current of the travel motor is continuously equal to or greater than the current limit value. If the input current of the walking motor is continuously equal to or greater than the reset current limit value, steps S304 to S307 are performed in a circulating manner until the set current limit value meets the walking requirement of the motor, i.e. the input current is continuously less than the reset current limit value, or the mower displays that the current gradient is too large at the output interface 405, and the current gradient needs to be assisted in getting rid of poverty.

Referring to fig. 7, in an embodiment of the present invention, when the input current of the walking motor is continuously smaller than the current limit value in executing step S307, step S308 is executed to determine whether the input current of the cutter motor is continuously equal to or greater than the current limit value. When the input current of the cutter motor is continuously equal to or greater than the current limit value, step S309 is performed. When the input current of the cutter motor is not continuously equal to or greater than the current limit value, step S303 is performed to maintain the current state, and maintain the current limit value and the maximum rotation speed.

Referring to fig. 7, in an embodiment of the present invention, when the mower is in operation, when the input current of the walking motor is continuously smaller than the current limit value and the input current of the cutter motor is continuously smaller than the current limit value, the current limit values of the cutter motor and the walking motor in the mower meet the mowing requirement, and the current limit value is maintained without adjustment. When the input current of the walking motor is continuously smaller than the current limiting value and the input current of the walking motor is continuously equal to or larger than the current limiting value, the current gradient and the current running speed of the whole mower are combined according to the maximum amplifying capacity of the battery pack, the current limiting value and the maximum rotating speed of the cutter motor are increased under the condition that the walking effect is ensured, the output torque of the cutter motor is increased, and the mowing effect of the mower is ensured. Specifically, the steps S309 to S312 are as follows.

S309, it is determined whether the output value of the battery pack at this time is equal to or greater than the maximum discharge capacity. If the output value of the battery pack is equal to or greater than the maximum discharge capacity, step S310 is executed to maintain the current limit current value and the maximum rotation speed, and the output interface is displayed that the grass condition is bad. If the output value of the battery pack is smaller than the maximum discharge capacity, step S311 is performed.

S311, resetting the current limit value and the maximum rotating speed of the cutter motor according to the maximum discharging capability of the battery pack. After step S311 is completed, the flow returns to step S304 again.

Referring to fig. 1 and 7, in an embodiment of the present invention, when the input current of the walking motor is continuously smaller than the current limit value and the input current of the cutter motor is continuously equal to or greater than the current limit value, it can be determined that the grass condition is bad at the moment. At this time, if the output value of the battery pack is equal to or greater than the maximum discharge capacity, the battery pack is in the maximum discharge state, and the output cannot be increased any more. An alarm message can be displayed on the output interface 405, that is, the current grass condition is bad, and the mowing height needs to be manually reduced or the knife bar needs to be cleaned. At this time, if the output value of the battery pack is smaller than the maximum discharging capability, the current limit value and the maximum rotation speed of the cutter motor may be reset according to the maximum discharging capability of the battery pack. For example, the current limiting value of the cutter motor can be increased, and the maximum rotating speed can be reduced, so that the output power and the output torque of the cutter motor can be increased, and the mower can realize the mowing function.

Referring to fig. 7, after the completion of step S311, the process returns to step S304. And judging the state of the mower in real time according to the current input current condition of each motor. When the gradient of the mower is overlarge, the output power and the output torque of the cutter motor can be sacrificed, and the climbing capacity of the mower is ensured. When the grass condition is bad, the output work and the output torque of the walking motor can be sacrificed, and the mowing effect of the mower when the grass is heavy on the flat ground is ensured.

Referring to fig. 1 and 7, when the mower is in a dynamic mode, the control method of the mower provided by the invention can increase the maximum bus limiting value of the traveling motor, reduce the output power of the cutter motor and ensure the climbing capacity of the whole mower if the slope of the mower is detected to be obviously changed or the actual current value of the traveling motor is continuously close to the bus maximum limiting value. If the actual value of the travel motor continues to approach the maximum limit value, then a need to consider the getting stuck is displayed on the output interface 405. If the actual current of the walking motor is always lower than the maximum set value, and the actual current of the bus of the cutter motor is continuously close to the maximum limit value, the maximum rotating speed and the maximum output torque of the cutter are continuously improved until the maximum set value of the cutter motor is close to the maximum residual output capacity of the battery pack. If the actual value continues to approach the maximum limit value, the mower may be prompted to lower the height of the mower or to clear the grass of the mower via the output interface 405. And finally, when the input current values of the walking motor and the cutter motor are detected to be continuously lower than the maximum set value, the main controller can maintain the current limiting value and the maximum rotating speed of each motor.

The above disclosed alternative embodiments of the invention are merely intended to help illustrate the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.

Claims

1. A control method of a lawn mower, characterized in that when the lawn mower is in a dynamic mode, the control method of the lawn mower comprises the steps of:

when the input current of the walking motor is continuously equal to or greater than a current limiting value and the output value of the battery pack is smaller than the maximum discharge capacity, resetting the current limiting value and the maximum rotating speed of the walking motor and the cutting knife motor according to the gradient of the current mower and the maximum discharge capacity of the battery pack, wherein resetting the current limiting value of the walking motor comprises increasing the maximum bus current limiting value of the walking motor; and

2. The control method of a lawn mower according to claim 1, wherein the initial current limit value and the maximum rotation speed of each motor are average values of a past current limit value and a past maximum rotation speed.

3. The control method of a lawn mower according to claim 1, wherein a present current limit value and a maximum rotation speed are maintained when the input current of each motor is smaller than the current limit value.

4. The control method of a lawn mower according to claim 1, wherein when the input current of the travel motor is continuously equal to or greater than a current limit value and the output value of the battery pack is equal to or greater than a maximum discharge capacity, a current limit value and a maximum rotation speed are maintained, and a current gradient is displayed to be excessively large at an output interface.

5. The control method of a lawn mower according to claim 1, wherein when the input current of the walk motor is continuously smaller than the current limit value, the input current of the cutter motor is continuously equal to or larger than the current limit value, and the output value of the battery pack is equal to or larger than the maximum discharge capacity, the current limit value and the maximum rotation speed are maintained, and the current grass condition is displayed as bad at the output interface.

6. The control method of a lawn mower according to claim 1, wherein after resetting a current limit value and a maximum rotation speed of a walk motor and/or a cutter motor, the control method of the lawn mower comprises:

7. The control method of a lawn mower according to claim 1, wherein when the lawn mower is in a basic mode, the control method of the lawn mower comprises:

8. The control method of a lawn mower according to claim 1, wherein when the lawn mower is in a basic mode, the control method of the lawn mower comprises:

9. The method according to claim 1, wherein when the input current of the travel motor is continuously equal to or greater than the current limit value, the current limit value of the travel motor is adjusted so that the current limit value of the travel motor is smaller than the current limit value, and then whether the input current of the cutter motor is continuously equal to or greater than the current limit value is determined.

10. The method of claim 1, wherein the greater the mowing height, the greater the speed of the mower, and/or the greater the current limit of the cutter motor when the mower is functioning to collect grass.

11. The control method of a mower according to claim 1, wherein when the input current of the walking motor and/or the input current of the motor is judged to be continuously equal to or greater than a current limiting value, the time threshold of the continuously limiting value of the input current of the motor is 180ms-220ms.

12. A mower, comprising:

a cutter assembly;

a walking assembly;

when the input current of the walking motor is continuously equal to or greater than a current limiting value and the output value of the battery pack is smaller than the maximum discharge capacity, resetting the current limiting value and the maximum rotating speed of the walking motor and the cutting knife motor according to the gradient of the current mower and the maximum discharge capacity of the battery pack, wherein resetting the current limiting value of the walking motor comprises increasing the maximum bus current limiting value of the walking motor;