CN118303204A - Garden tool with assistance, mower and outdoor assistance equipment - Google Patents

Abstract

The application discloses a garden tool with power assistance, a mower and outdoor power assistance equipment, wherein the garden tool with power assistance comprises: the host machine at least comprises a shell and a walking assembly for supporting the shell; a handle device connected to the host; a driving motor configured to drive the traveling assembly; the gesture detection device is arranged on the host machine to detect the gesture information of the machine body of the gardening tool; a controller provided on the main unit or the handle device, configured to control the driving motor to output a driving force; the controller is configured to: identifying an operation intention of a user to operate the garden tool at least according to the body posture information; the state in which the drive motor provides assistance is controlled at least according to the operation intention.

Description

Garden tool with assistance, mower and outdoor assistance equipment

Technical Field

The present disclosure relates to an outdoor device with assistance, for example, to a garden tool, a mower with assistance.

Background

Some large outdoor tools such as lawnmowers are typically propelled by the user. And because the ground of the outdoor working site is uneven, a user needs to consume larger force when pushing or pulling the equipment to work. For example, when a mower is used for mowing on the ground, the grass can be high or low, the grass can be uneven, the resistance to the mower is variable and large, and the difficulty of pushing the mower to cut the grass is large only by a user.

Disclosure of Invention

In order to solve the defects in the prior art, the application provides electric power assisting equipment capable of identifying the operation intention of a user according to the gesture of a mower and further changing the power assisting state.

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

A power assisted garden tool, comprising: the host machine at least comprises a shell and a walking assembly for supporting the shell; a handle device connected to the host; a drive motor configured to drive the traveling assembly; the gesture detection device is arranged on the host machine to detect the body gesture information of the gardening tool; a controller provided on the main body or the handle device, configured to control the driving motor to output a driving force; the controller is configured to: identifying an operation intention of a user to operate the garden tool at least according to the body posture information; and controlling the state that the driving motor provides power assistance at least according to the operation intention.

In one embodiment, the controller is configured to: acquiring the motion information of the garden tool; and identifying the operation intention according to the motion information and the body posture information.

In one embodiment, the fuselage attitude information includes at least one of a forward leaning attitude, a flush attitude, and a recline attitude.

In one embodiment, the device further comprises a motion sensor arranged on or connected with the walking assembly for detecting the motion information.

In one embodiment, the walking assembly comprises a walking wheel movably connected with the housing.

In one embodiment, the gesture detection means comprises angle detection means.

In one embodiment, the gesture detection means comprises displacement detection means.

In one embodiment, the gesture detection device comprises a pressure detection device.

In one embodiment, the operation intention includes at least a movement direction and a walking speed that a user operates the garden tool to have.

A mower, comprising: the host machine at least comprises a shell and a walking assembly for supporting the shell; a handle device connected to the host; a drive motor configured to drive the traveling assembly; the gesture detection device is arranged on the host machine to detect the body gesture information of the mower; a controller provided on the main body or the handle device, configured to control the driving motor to output a driving force; the controller is configured to: identifying an operation intention of a user to operate the mower at least according to the body posture information; acquiring current motion information of the mower; and controlling the state that the driving motor provides assistance according to the operation intention and the motion information.

An outdoor power assisting apparatus comprising: the host machine at least comprises a shell and a walking assembly for supporting the shell; a handle device connected to the host; a drive motor configured to drive the traveling assembly; the gesture detection device is arranged on the host machine to detect the body gesture information of the outdoor power-assisted equipment; a controller provided on the main body or the handle device, configured to control the driving motor to output a driving force; the controller is configured to: identifying an operation intention of a user to operate the outdoor power assisting equipment at least according to the body posture information; and controlling the state that the driving motor provides power assistance at least according to the operation intention.

An article transport apparatus comprising: an apparatus main body; an article placing section connected to the apparatus body and configured to carry goods; a walking assembly connected to the apparatus body; a drive motor configured to drive the traveling assembly; the power supply interface is connected with a power supply to provide electric energy for the driving motor; posture detecting means provided on the apparatus main body to detect body posture information of the article transporting apparatus; a controller configured to control the driving motor to output a driving force; the controller is configured to: identifying an operation intention of a user to operate the article transport device at least according to the body posture information; and controlling the state that the driving motor provides power assistance at least according to the operation intention.

A tool storage device, comprising: a case body formed with a receiving space for receiving at least one tool device; the connecting rod is fixed on the box body and at least comprises a holding part for holding by a user; a walking assembly connected to the apparatus body; a drive motor configured to drive the traveling assembly; a posture detecting device provided on the case to detect device posture information of the tool storage device; a controller configured to control the driving motor to output a driving force; the controller is configured to: identifying an operation intention of a user to operate the tool storage device based at least on the device posture information; and controlling the state that the driving motor provides power assistance at least according to the operation intention.

A wheeled tool support, comprising: a holder body formed with a support portion configured to support a tool apparatus; a walking assembly connected to the stand body; a drive motor configured to drive the traveling assembly; the gesture detection device is arranged on the bracket main body to detect bracket gesture information of the wheel type tool bracket; a controller configured to control the driving motor to output a driving force; the controller is configured to: identifying an operation intention of a user to operate the wheeled tool holder at least according to the holder posture information; and controlling the state that the driving motor provides power assistance at least according to the operation intention.

A wheeled power supply device comprising: a power supply body configured to output electric power; a walking assembly connected to the power supply body; a drive motor configured to drive the traveling assembly; a posture detecting device provided on the power supply main body to detect device posture information of the wheel type power supply device; a controller configured to control the driving motor to output a driving force; the controller is configured to: identifying an operation intention of a user to operate the wheel type power supply device at least according to the device posture information; and controlling the state that the driving motor provides power assistance at least according to the operation intention.

A wheeled wind power device comprising: a device main body including at least a fan; a walking assembly connected to the device body; a drive motor configured to drive the traveling assembly; attitude detection means provided on the device main body to detect device attitude information of the wheel type wind power device; a controller configured to control the driving motor to output a driving force; the controller is configured to: identifying an operation intention of a user to operate the wheel type wind power device at least according to the device posture information; and controlling the state that the driving motor provides power assistance at least according to the operation intention.

A wheeled multi-function tool comprising: a tool body including an accessory mounting portion configured to mount different functional accessories; a power part provided on the tool body or the functional attachment, the power part including a power motor driving the functional attachment; a walking assembly mounted to the tool body, the walking assembly including at least a walking wheel supporting the tool body and a drive motor driving the walking wheel; a posture detecting device provided on the tool body to detect body posture information of the multifunctional tool; a controller configured to control the driving motor to output a driving force; the controller is configured to: identifying an operation intention of a user to operate the wheeled multifunctional tool at least according to the body posture information; and controlling the state that the driving motor provides power assistance at least according to the operation intention.

An assignable agricultural apparatus comprising: an apparatus main body; a handle device connected to the apparatus body; a job execution assembly mounted on the apparatus body for executing an agronomic job; a walking assembly connected to the apparatus body; a drive motor configured to drive the traveling assembly; posture detecting means provided on the apparatus main body to detect apparatus posture information of the agricultural apparatus; a controller configured to control the driving motor to output a driving force; the controller is configured to: identifying the operation intention of a user to operate the power-assisted agricultural equipment at least according to the equipment posture information; and controlling the state that the driving motor provides power assistance at least according to the operation intention.

An electric assist trailer comprising: a frame body including at least a foldable frame; a handle device connected to the frame body; the walking wheel set at least comprises a driving wheel; a driving motor configured to drive the driving wheel to rotate; the power supply access terminal is connected with a power supply to supply power for the driving motor; a posture detecting device provided on the frame body to detect trailer posture information of the electric power-assisted trailer; the controller is at least electrically connected with the driving motor so as to control the driving motor to rotate; the controller is configured to: identifying an operational intent of a user to operate the electric assist trailer based at least on the trailer pose information; and controlling the state that the driving motor provides power assistance at least according to the operation intention.

The application has the advantages that: the operation intention of a user for operating the machine is identified through the change of the posture of the main body of the power assisting equipment, so that the power assisting state of the driving motor is changed, and the user can obtain a more comfortable follow-up state when operating the machine.

Drawings

FIG. 1 is a perspective view of a garden tool with assistance in an embodiment of the present application;

FIG. 2 is a perspective view of a mower according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a control system for a lawnmower in accordance with an embodiment of the present application;

FIGS. 4 a-4 c are schematic illustrations of various poses of a mower in one embodiment of the present application;

FIG. 5 is a schematic view of a mower mounting groove according to an embodiment of the present application;

FIG. 6 is a schematic flow chart of mower assistance control in an embodiment of the present application;

Fig. 7 is a block diagram of another type of walk-behind power-assisted electric device.

Detailed Description

It will be appreciated by those skilled in the art that in the present disclosure, the terms "upper," "lower," "front," "rear," "left," "right," and the like are used merely as a basis for the orientation or positional relationship shown in the drawings, and are not intended to limit the present disclosure to the specific orientation, configuration and operation of the apparatus or elements referred to, but are not intended to indicate or imply any particular orientation or configuration. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings.

It will be appreciated that the power assisted outdoor device may be a tool device such as a mower, snowplow, building cart or picnic cart. In the present application, a hand mower will be described as an example.

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

Referring to fig. 1, the present invention provides an outdoor electric power assisting apparatus 100, and the outdoor electric power assisting apparatus 100 is specifically a mower 100, and the mower 100 can walk outdoors and mow. It will be appreciated that the outdoor electric assist device may also be other vehicles that travel outdoors, such as snowploughs, dollies for construction or picnic trailers. In fact, all outdoor walking equipment adopting the technical scheme of the invention described below belongs to the protection scope of the invention.

As shown in fig. 1 and 2, the mower 100 mainly includes a handle device 11, a connecting lever 111, an operating member 112, an operating switch 112a, a main body 12, and a traveling assembly 121. Wherein the host 12 includes at least a walking assembly 121, a housing 122, and a power mechanism (not shown). Optionally, the handle device 11 includes a connecting rod 111 and a handling member 112 for holding. Wherein the operation piece 112 includes a grip portion for a user to grip and an operation switch 112a; the connecting rod 111 has a hollow long rod structure, and the connecting rod 111 connects the operating member 112 and the host 12. The traveling assembly 121 is mounted to the main body 12, and the traveling assembly 121 can be rotated about a rotation axis so that the entire mower 100 can move on the ground. In the present embodiment, the traveling assembly 121 includes a traveling wheel 1211 of the mower 100 and a power mechanism that drives the traveling wheel 1211 to travel. In this embodiment, the road wheels 1211 may include a driving wheel, also referred to as a driving wheel, and a driven wheel, also referred to as a driven wheel, for the rear wheels of the general mower 100.

In this embodiment, the mower 100 has a self-propelled control function, and the power mechanism can drive the walking assembly 121 to rotate, so as to drive the mower 100 to move on the ground. The power mechanism may specifically be a driving motor, which can output a driving force for driving the traveling assembly 121 to rotate. In some embodiments, a power button 112b, a trigger 112c are also integrated into the handle device 11 of the mower 100. Illustratively, the power button 112b, trigger 112c, and operating switch 112a of the mower 100 are all integrated on the operator 112. In addition, the operation switch 112a is not limited to a physical switch or a signal switch, and any device that can control the on and off of the current in the circuit is applicable. In fact, the operation switch 112a is not limited to control of the current, and may be a mechanical means for controlling the on or off of the self-walking function.

In this embodiment, the mower 100 has an electric boosting function, that is, when the user operates the handle device 11 to push or pull the mower to walk, the driving motor can provide driving force for driving the walking wheels 1211 to walk, so as to boost the user, so that the user can operate the mower 100 to walk without applying a large force on the handle device 11.

In one embodiment, the travel control system 200 of the mower 100 is shown in fig. 3 and includes a power device 21, a driving circuit 22, a driving motor 23, a travel wheel 24, a controller 25 and a parameter detection module 26. Wherein the power supply 21 may be one or more battery packs that are removably mounted to the housing 110 of the mower 100. In one embodiment, the battery pack may include a plurality of cells in series, parallel, or a combination of series and parallel, and the cells may be cylindrical cells. The cell unit may include a sodium ion cell or a lithium iron phosphate cell or a capacitive cell, etc. In this embodiment, a battery pack interface that enables the battery pack to be removably mounted to the housing 110 may be provided on the housing of the battery pack, and a host interface corresponding to the battery pack interface is formed on the housing 110. The drive motor 23 may include at least one electric motor for driving the road wheels 121 to walk. In one embodiment, the drive motor 23 may be a brushless DC motor. In one embodiment, the drive motor 23 may be an external rotor motor or the drive motor 23 may be an internal rotor motor, or the drive motor 23 may be an in-wheel motor, or the types of the plurality of drive motors 23 may be different.

The drive circuit 22 may be electrically connected to the stator windings A, B, C of the drive motor 23 for transferring current from the power supply 21 to the stator windings A, B, C to drive the drive motor 23 to rotate. In one embodiment, the driving circuit 22 includes a plurality of switching elements Q1, Q2, Q3, Q4, Q5, Q6. The gate terminal of each switching element is electrically connected to the controller 25 and is configured to receive a control signal from the controller 25. The drain or source of each switching element is connected to the stator winding A, B, C of the drive motor 23. The switching elements Q1 to Q6 receive control signals from the controller 25 to change the respective on states, thereby changing the current applied to the stator windings A, B, C of the drive motor 23 by the power supply device 21. In one embodiment, the drive circuit 22 may be a three-phase bridge driver circuit including six controllable semiconductor power devices (e.g., FETs, BJTs, IGBTs, etc.). It will be appreciated that the switching element may be any other type of solid state switch, such as an Insulated Gate Bipolar Transistor (IGBT), a Bipolar Junction Transistor (BJT), etc.

The parameter detection module 26 may also be referred to as a detection device or a detection sensor, etc. In this embodiment, the parameter detection module 26 may be provided on the handle device 11 of the mower 100, on the main unit 12, or on both the handle device 11 and the main unit 12. In one embodiment, the types of parameter detection modules 26 at different locations may be different, for example, a detection module capable of detecting an operating parameter of the driving motor 23, for example, a rotation speed of the driving motor 23, is provided on the host 12, and an operating parameter capable of detecting an operating parameter of the handle device 11, for example, a force of holding the handle by a hand, may be provided on the handle device 11.

In one embodiment, the controller 25 may control the drive motor 23 to provide assistance or not to provide assistance or to change the assistance state based on the parameters detected by the parameter detection module 26. For example, the controller 25 may adaptively adjust the assistance of the driving motor 23 according to the force of the hand holding the handle device 11 detected by the parameter detection module 26, so as to obtain a more comfortable following state for the user. In one embodiment, to avoid the detection of forces exerted by the user on the handle device 11 due to the performance of the parameter detection module 26 detection, the force exerted by the user may also be estimated by a software algorithm, which in turn in combination with the motion information of the road wheels controls the drive wheels to provide assistance.

In other embodiments, if a detection module is not provided in the mower 100 that can directly or indirectly detect the force applied by the user to the handle device 11, the controller 25 may adaptively adjust the power assisting state of the driving motor 23 by other parameters. The power-assisted state of the drive motor 23 may include the magnitude and direction of the power assistance, the gradient of the power assistance change, and the like. In the present embodiment, as shown in fig. 3, the parameter detection module 26 includes an attitude detection means 261. The posture detecting device 261 can detect the body posture information of the host 12 of the mower 100, and the controller 25 can identify the operation intention of the user to operate the mower 100 at least according to the body posture information, and can control the state of the driving motor 23 to provide the assistance according to the identified operation intention or in combination with the current movement state of the mower.

In this embodiment, the body attitude information may be a state of the main body 12 of the mower 100 with respect to the ground. As shown in fig. 4a to 4c, the posture information may be at least one of a forward tilting posture, a flush posture, and a reverse posture of the cabinet 122 with respect to the ground. The user operates the handle device 11 to cause the body of the mower 100 to have different body posture information, and the different body postures may reflect a walking state that the user desires the mower 100 to have. For example, when the user operates the handle device 11 to cause the main body 12 to have a forward tilting posture while the mower 100 is stationary, the user may be considered to want to push the mower forward to walk, and when the mower 100 has a backward tilting posture, the user may be considered to want to pull the mower backward to walk.

In the present embodiment, the traveling wheel 1211 is fixedly connected to the lower portion of the host 12, and can support the host 12 of the mower 100. In the present embodiment, in order to enable the host 12 to have different attitudes, the mounting groove 1221a of the casing 122 for mounting the front-end road wheel 1211 or the mounting groove 1221a of the rear-end road wheel 1211 may have a certain movable space. In the present embodiment, the mounting groove 1221a for mounting the front-end traveling wheel 1211 in the mower 100 as shown in fig. 4a to 5 has a certain moving space so that the housing 122 can move up and down with respect to the front-end traveling wheel 1211; the mounting groove 1221a of the rear-end road wheel 1211 fixed to the casing 122 has no moving space, so that the rear-end road wheel 1211 is fixedly mounted to the casing 122. It will be appreciated that if the front road wheel 1211 is a pair of road wheels, the housing 122 also has two opposing mounting slots 1221a. It will be appreciated that the road wheels 1211 are fixed to an axle 1211a, and the axle 1211a can be driven by a drive motor 23 to rotate the road wheels 1211. Illustratively, at least the front traveling wheel 1211 is further provided with a connecting member 1211b connected to the casing 122, and the connecting member 1211b is mounted in the mounting groove 1221, so that if the front end of the casing 122 moves up and down, the relative position between the mounting groove 1221a and the connecting member 1211b changes. In one embodiment, the mounting groove 1221 may have various forms, such as a horizontal waist-shaped hole as shown in fig. 5 or a large circular hole, in addition to the vertical waist-shaped holes as shown in fig. 4a to 4 c. The shape of the mounting groove 1221a is not particularly limited in the present application.

It should be noted that, when the height of the cutter head of the mower is fixed, the relative position between the axle 1211a and the connecting member 1211b corresponding to each of the traveling wheels 1211 remains unchanged. That is, the relative position between the axle 1211a and the connector 1211b may be considered to be constant regardless of variations in the height of the mower deck. In the side view of the mower illustrated in fig. 4a to 4C, the center points of the axle 1211a and the connecting member 1211b of the front and rear road wheels 1211 on the same side of the mower body can form four vertexes s1, s2, s3, s4 of a quadrangle C, and the shape of the quadrangle C can be considered to be unchanged when the height of the mower deck is not adjusted. Four sides of the quadrangle C are s1s2, s1s4, s2s3 and s3s4 respectively.

Referring to the schematic side view of the mower illustrated in fig. 4 a-4 c, a line a is defined on the bottom surface of the housing 122 in the side view. In the present embodiment, it is assumed that the line a is approximately a straight line. The connecting piece 1211b of the front road wheel 1211 in fig. 4a is substantially in the middle of the mounting groove 1221a, and the line s1s4 is substantially parallel to the line a, defining the body posture of the mower 100 as a flush posture at this time; in fig. 4b, the connecting piece 1211b of the front-end traveling wheel 1211 is located at the uppermost end of the mounting groove 1221a, and the included angle θ between the line s1s4 and the line a is a positive value, which defines that the body posture of the mower 100 is a forward-leaning posture at this time; in fig. 4c, the connecting piece 1211b of the front traveling wheel 1211 is located at the lowermost end of the mounting groove 1221a, and the angle θ between the line s1s4 and the line a is negative, which defines the posture of the mower 100 as a reclined posture. Here, the positive and negative of the angle θ can be distinguished by the positional relationship of the line s1s4 on the upper side or the lower side of the line a. In other embodiments, the angle between any side of the quadrilateral C and the line a may be differentiated in positive or negative or in size, without limitation.

In the present embodiment, the posture detecting device 261 may be an angle detecting device capable of detecting the magnitude of the above-described angle θ and outputting the detection result to the controller 25. In one embodiment, the angle detection device may be mounted on the housing 122, on the axle 1211a, or on the running wheel 1211.

In one embodiment, the pose detection device 261 may also detect a change in the angle between any one side of the quadrilateral C and the line a to determine pose information of the mower.

In one embodiment, the body attitude information may also be identified by detecting a displacement of the attachment piece 1221b within the mounting groove 1221a or detecting a displacement of the attachment piece 1221b from a reference point such as a bottom or top end of the mounting groove 1221 a. In the present embodiment, the posture detecting device 261 may be a displacement detecting device or a range finder, which can be mounted in the mounting groove 1221a or on the connecting piece 1221 b. For example, the body attitude is indirectly determined by detecting the position/distance of the link 1221b within the mounting groove 1221a by a range finder. When the connector 1221b is in the middle of the mounting groove 1221a, the fuselage is in a flush position; when the connector 1221b is at the bottom of the mounting groove 1221a, the fuselage is in a reclined position; when the connector 1221b is at the top of the mounting groove 1221a, the fuselage is in a forward tilted position.

In one embodiment, the gesture detection device 261 may be a pressure detection device, and may be installed in the installation groove 1221a or on the connection member 1221b, so as to be capable of detecting the magnitude and direction of the pressure of the connection member 1221b relative to the installation groove 1221a, and the controller 25 may determine the gesture information of the airframe according to the detection result of the pressure. For example, the pressure of the connecting member 1221b against the wall of the installation groove 1221a (or other device that may embody the pressure, such as a spring) is detected by a pressure sensor, and the body posture information is indirectly determined. Compared with the mode of recognizing the body posture information through the displacement detection device, the mode can judge the position of the connecting piece 1221b in the mounting groove 1221a, and can judge the strength of the body posture change trend according to the pressure applied to the upper and lower hole walls of the vertical waist-shaped hole, so that the power assisting size is further adjusted.

In one embodiment, the gesture detection device 261 may also be a speed or acceleration sensor that can detect the speed or acceleration of movement between the connector 1221b and the mounting groove 1221a, enabling the controller 25 to indirectly determine the body gesture information.

The mounting grooves 1221a in the embodiment of the present application each refer to a mounting hole of the connecting member 1211b of the front-end mounting road wheel 1211 of the machine body, and the connecting member 1221b refers to a fixing member or a fixing shaft of the front-end road wheel fixed to the machine casing, etc., unless otherwise specified.

In the present embodiment, the mounting groove 1221a and the connecting member 1221b of the front traveling wheel 1211 can be relatively displaced, and the connecting member at the rear end is fixedly mounted with respect to the housing 122, so that the posture of the housing 122 may be changed when the user applies a force to the handle device 11 and the force applied is insufficient to push or pull the mower 100. For example, when the user wants to push the mower 100 forward, the housing 122 may be pushed so that the mounting groove 1221a moves downward such that the attachment 1221b is positioned at the top end of the mounting groove 1221a, and the posture of the mower body is a forward tilting posture as shown in fig. 4 b. That is, when the user applies a force to change the posture of the main body 12 of the mower, the controller 25 can recognize the movement state of the mower, that is, the movement trend of the mower, which the user wishes to generate, based on the posture information of the main body 12 even if the movement state of the mower has not changed. Therefore, the controller 25 can predict the movement trend of the mower in advance through the gesture change of the mower, so as to control the driving motor 23 to change the power-assisted state in advance, so as to adapt to the impending movement change of the mower, ensure that the operation intention of the user is realized, ensure that the self-adaptive power-assisted changing process of the driving motor 23 is smoother, and enable the user to obtain more comfortable operation feeling.

In one embodiment, the mower 100 may further comprise a motion sensor capable of detecting a current state of motion of the mower, which may include any of forward, reverse, or stationary states. The motion sensor may be a photoelectric sensor, an ultrasonic sensor, a microwave sensor, etc., and the mounting position or mounting manner of the different types of motion sensors on the mower or on the driving wheel may be different, which will not be described in detail herein. In this embodiment, the motion sensor can directly detect the rotational direction, speed or acceleration of the drive wheel. In the present embodiment, the process of the controller 25 recognizing the user's operation intention from the body posture information of the mower is also required to incorporate the current movement state of the mower. That is, even if the controller 25 recognizes the body posture information, if the current movement state of the mower is different, the corresponding user operation intention may be different. Accordingly, the assist strategy or assist scheme provided by the controller 25 based on the user's operational intent is also different.

The following table shows:

As can be seen from the above table, when the mower 100 is at rest in the initial state and the machine body is in the forward tilting posture, the controller 25 can determine that the user operation is intended to be forward pushing when the user starts the self-propelled function, and control the driving motor 23 to provide forward assistance; if the user operates to bring the body of the stationary mower 100 into a flush position, the controller 25 determines that the user operation is intended to be stationary, and controls the driving motor 23 not to provide assistance; if the user operates to put the stationary mower 100 in a reclined position, the controller 23 determines that the user operation is intended to be a pull-back, and controls the drive motor 23 to provide a rearward assistance. When the mower is in a forward movement state, if the user operates to cause the mower 100 body to be in a forward tilting posture, the controller 25 determines that the user operation is intended to accelerate forward pushing, and controls the driving motor 23 to provide forward assistance; if the user operates to make the mower 100 body in a flush posture, the controller 25 determines that the user operation is intended to push forward at a constant speed, and controls the driving motor 23 to maintain the power-assisted state at the previous time; if the user operates to put the mower 100 in the reverse posture, the controller 25 determines that the user operation is intended to slow down the forward/backward pulling, and controls the driving motor 23 not to provide the assist force. When the mower is in a backward movement state, if the user operates to put the mower 100 body in a forward tilting posture, the controller 25 judges that the user operation is intended to be a deceleration backward pulling/forward pushing, and controls the driving motor 23 not to provide a power assistance; if the user operates to make the mower 100 body in a flush posture, the controller 25 determines that the user operation is intended to pull back at a constant speed, and controls the driving motor 23 to maintain the power-assisted state at the previous time; if the user operates to put the mower 100 in the reverse posture, the controller 25 determines that the user operation is intended to accelerate the pull-back, and controls the drive motor 23 to provide the rearward assistance.

Embodiments are described below in relation to a controller in a lawn mower that controls a drive motor to provide assistance based on an identified user's operational intent and a current state of movement of the lawn mower, e.g., the controller can determine a direction of assistance or an output power or an output torque to control the drive motor based on a state of movement of a drive wheel and the user's operational intent. The forward, backward, or push, pull, etc. references herein are all defined in terms of user perspective when the mower is in operation. As shown in fig. 1, when the user holds the handle to push in the direction of the forward arrow in the figure, the user pushes forwards; when the user holds the handle and pulls in the direction of the backward arrow in the figure, the user pulls backward.

In one embodiment, as shown in fig. 6, a flowchart of a power assisting method of the mower is shown, which specifically includes the following steps:

S101, acquiring the current motion state of the mower.

In one embodiment, the motion information of the capstan can be detected by a motion sensor to determine the motion state of the mower. For example, when the detected motion signal determines that the drive wheel is traveling in a forward direction, the mower is currently in a forward traveling state; when the detected motion signal determines that the driving wheel is in backward travel, the mower is in a backward pulling travel state currently; when the detected motion signal determines that the driving wheel is stationary, the mower is currently in a parked state.

S102, acquiring the body posture information of the mower.

S103, identifying the operation intention of the user according to the motion state and the body posture information.

S104, selecting a power assisting scheme matched with the operation intention to control the driving motor to provide power assistance.

In one embodiment, any of the hand-propelled power-assisted electric devices or hand-guided work machines may include different types of tool devices in addition to the hand-propelled mowers of the embodiments described above. Such as snowploughs, power-assisted wheeled devices, such as wheeled multi-function tools, power-assisted agricultural devices, wheeled tool holders, riding tool devices, foldable outdoor picnic trucks, site or warehouse trailers, all-terrain vehicles, and the like. Such as snowplow 100a, item transport vehicle 100b, tool storage device 100c, wheel power device 100d, wheel wind power device 100e, and collapsible trailer 100f shown in fig. 7. Wherein, the article transport vehicle can be a hand push/pull assisted cart or a forklift; the tool storage device can be a tool storage box and can store different electric tools; the wheeled tool holder may be a holder for supporting a table-type power tool, or a holder for supporting a photovoltaic device; the wheel type power supply device can be a large battery pack of a travelling wheel or a mobile power supply or an adapter or an inverter and the like; the wheel type wind power device can be a blower or a fan with wheels; the agricultural equipment capable of assisting can be a hand-push/pull type seeder, a fertilizing vehicle and the like; the wheeled multifunctional tool may be a device with wheels that can be pushed or pulled and that is capable of attaching multiple functional accessories; the riding type tool equipment can reserve certain electric quantity to assist the equipment to walk to a destination, such as a charging station, when the electric quantity is low or other faults cannot execute the operation; the ATV may be a UTV or an ATV.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (19)

1. A power assisted garden tool, comprising:

The host machine at least comprises a shell and a walking assembly for supporting the shell;

A handle device connected to the host;

A drive motor configured to drive the traveling assembly;

the gesture detection device is arranged on the host machine to detect the body gesture information of the gardening tool;

a controller provided on the main body or the handle device, configured to control the driving motor to output a driving force;

the controller is configured to:

identifying an operation intention of a user to operate the garden tool at least according to the body posture information;

and controlling the state that the driving motor provides power assistance at least according to the operation intention.

2. The garden tool as recited in claim 1, wherein the controller is configured to: acquiring the motion information of the garden tool; and identifying the operation intention according to the motion information and the body posture information.

3. The garden tool as recited in claim 1, wherein the body attitude information includes at least one of a forward leaning attitude, a flush attitude, and a reverse leaning attitude.

4. A garden tool as claimed in claim 2, further comprising a motion sensor provided on or in connection with the walking assembly for detecting the motion information.

5. A garden tool as claimed in claim 1, wherein the travelling assembly comprises a travelling wheel movably connected to the housing.

6. A garden tool as claimed in claim 1, wherein the gesture detection means comprises angle detection means.

7. A garden tool as claimed in claim 1, wherein the gesture detection means comprises displacement detection means.

8. A garden tool as claimed in claim 1, wherein the gesture detection means comprises pressure detection means.

9. A garden tool, according to claim 1, characterized in that said operational intention comprises at least a direction of movement and a speed of travel which a user operates said garden tool to have.

10. A mower, comprising:

The host machine at least comprises a shell and a walking assembly for supporting the shell;

A handle device connected to the host;

A drive motor configured to drive the traveling assembly;

The gesture detection device is arranged on the host machine to detect the body gesture information of the mower;

a controller provided on the main body or the handle device, configured to control the driving motor to output a driving force;

the controller is configured to:

identifying an operation intention of a user to operate the mower at least according to the body posture information;

acquiring current motion information of the mower;

And controlling the state that the driving motor provides assistance according to the operation intention and the motion information.

11. An outdoor power assisting apparatus comprising:

The host machine at least comprises a shell and a walking assembly for supporting the shell;

A handle device connected to the host;

A drive motor configured to drive the traveling assembly;

the gesture detection device is arranged on the host machine to detect the body gesture information of the outdoor power-assisted equipment;

a controller provided on the main body or the handle device, configured to control the driving motor to output a driving force;

the controller is configured to:

Identifying an operation intention of a user to operate the outdoor power assisting equipment at least according to the body posture information;

and controlling the state that the driving motor provides power assistance at least according to the operation intention.

12. An article transport apparatus comprising:

An apparatus main body;

An article placing section connected to the apparatus body and configured to carry goods;

A walking assembly connected to the apparatus body;

A drive motor configured to drive the traveling assembly;

the power supply interface is connected with a power supply to provide electric energy for the driving motor;

Posture detecting means provided on the apparatus main body to detect body posture information of the article transporting apparatus;

A controller configured to control the driving motor to output a driving force;

the controller is configured to:

Identifying an operation intention of a user to operate the article transport device at least according to the body posture information;

and controlling the state that the driving motor provides power assistance at least according to the operation intention.

13. A tool storage device, comprising:

a case body formed with a receiving space for receiving at least one tool device;

The connecting rod is fixed on the box body and at least comprises a holding part for holding by a user;

A walking assembly connected to the apparatus body;

A drive motor configured to drive the traveling assembly;

a posture detecting device provided on the case to detect device posture information of the tool storage device;

A controller configured to control the driving motor to output a driving force;

the controller is configured to:

Identifying an operation intention of a user to operate the tool storage device based at least on the device posture information;

and controlling the state that the driving motor provides power assistance at least according to the operation intention.

14. A wheeled tool support, comprising:

a holder body formed with a support portion configured to support a tool apparatus;

a walking assembly connected to the stand body;

A drive motor configured to drive the traveling assembly;

the gesture detection device is arranged on the bracket main body to detect bracket gesture information of the wheel type tool bracket;

A controller configured to control the driving motor to output a driving force;

the controller is configured to:

identifying an operation intention of a user to operate the wheeled tool holder at least according to the holder posture information;

and controlling the state that the driving motor provides power assistance at least according to the operation intention.

15. A wheeled power supply device comprising:

a power supply body configured to output electric power;

a walking assembly connected to the power supply body;

A drive motor configured to drive the traveling assembly;

a posture detecting device provided on the power supply main body to detect device posture information of the wheel type power supply device;

A controller configured to control the driving motor to output a driving force;

the controller is configured to:

identifying an operation intention of a user to operate the wheel type power supply device at least according to the device posture information;

and controlling the state that the driving motor provides power assistance at least according to the operation intention.

16. A wheeled wind power device comprising:

a device main body including at least a fan;

a walking assembly connected to the device body;

A drive motor configured to drive the traveling assembly;

attitude detection means provided on the device main body to detect device attitude information of the wheel type wind power device;

A controller configured to control the driving motor to output a driving force;

the controller is configured to:

Identifying an operation intention of a user to operate the wheel type wind power device at least according to the device posture information;

and controlling the state that the driving motor provides power assistance at least according to the operation intention.

17. A wheeled multi-function tool comprising:

A tool body including an accessory mounting portion configured to mount different functional accessories;

A power part provided on the tool body or the functional attachment, the power part including a power motor driving the functional attachment;

A walking assembly mounted to the tool body, the walking assembly including at least a walking wheel supporting the tool body and a drive motor driving the walking wheel;

a posture detecting device provided on the tool body to detect body posture information of the multifunctional tool;

A controller configured to control the driving motor to output a driving force;

the controller is configured to:

identifying an operation intention of a user to operate the wheeled multifunctional tool at least according to the body posture information;

and controlling the state that the driving motor provides power assistance at least according to the operation intention.

18. An assignable agricultural apparatus comprising:

An apparatus main body;

a handle device connected to the apparatus body;

a job execution assembly mounted on the apparatus body for executing an agronomic job;

A walking assembly connected to the apparatus body;

A drive motor configured to drive the traveling assembly;

posture detecting means provided on the apparatus main body to detect apparatus posture information of the agricultural apparatus;

A controller configured to control the driving motor to output a driving force;

the controller is configured to:

identifying the operation intention of a user to operate the power-assisted agricultural equipment at least according to the equipment posture information;

and controlling the state that the driving motor provides power assistance at least according to the operation intention.

19. An electric assist trailer comprising:

A frame body including at least a foldable frame;

a handle device connected to the frame body;

The walking wheel set at least comprises a driving wheel;

a driving motor configured to drive the driving wheel to rotate;

the power supply access terminal is connected with a power supply to supply power for the driving motor;

A posture detecting device provided on the frame body to detect trailer posture information of the electric power-assisted trailer;

the controller is at least electrically connected with the driving motor so as to control the driving motor to rotate;

the controller is configured to:

Identifying an operational intent of a user to operate the electric assist trailer based at least on the trailer pose information;

and controlling the state that the driving motor provides power assistance at least according to the operation intention.