WO2019206274A1 - 一种自动行走园艺设备 - Google Patents

一种自动行走园艺设备 Download PDF

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Publication number
WO2019206274A1
WO2019206274A1 PCT/CN2019/084531 CN2019084531W WO2019206274A1 WO 2019206274 A1 WO2019206274 A1 WO 2019206274A1 CN 2019084531 W CN2019084531 W CN 2019084531W WO 2019206274 A1 WO2019206274 A1 WO 2019206274A1
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WO
WIPO (PCT)
Prior art keywords
gardening
automatic walking
rotor
storage unit
energy storage
Prior art date
Application number
PCT/CN2019/084531
Other languages
English (en)
French (fr)
Inventor
泰斯托林⋅费德里科
多尔夫⋅达维德
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to CN201980002790.8A priority Critical patent/CN110708950B/zh
Priority to EP19793941.6A priority patent/EP3785520A4/en
Publication of WO2019206274A1 publication Critical patent/WO2019206274A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/08—Means for preventing excessive speed of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/547—Voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present disclosure relates to the field of automatic walking gardening equipment, and in particular to an automatic walking gardening apparatus having an energy recovery function.
  • Non-automatic mobile is mainly divided into hand-push and mount.
  • the driving methods mainly include engine drive, electric drive and lithium.
  • Automated mobile tools are a product that applies robotics to gardening tools. The tool works independently and is mostly powered by a lithium battery.
  • the present disclosure provides an automatic walking gardening apparatus including: a housing, a driving motor disposed in the housing, including a stator and a rotor, the stator including a stator core and a stator iron a winding on the core; a moving component driven by the rotor of the driving motor to drive the automatic walking gardening equipment to walk; the control unit controlling the operation of the driving motor, at least comprising controlling the rotor to run at a target speed; An energy unit that supplies electrical energy to the drive motor and/or the control unit; wherein when the actual rotational speed of the rotor is higher than the target rotational speed, the rotor rotates the cutting winding to generate inductive electrical energy, and the inductive electrical energy transfer To the energy storage unit.
  • the rotor rotates the cutting winding to generate induced electrical energy, and the induced electrical energy is transferred to the energy storage unit, and the process converts the excess kinetic energy of the driving motor into The electrical energy is stored to the energy storage unit.
  • the speed of the driving motor is gradually reduced to the target speed, achieving a steady speed effect, reducing the overturning caused by the excessively high speed caused by the external force of the automatic walking gardening equipment, hitting the obstacle, and rushing.
  • Problems such as the boundary line increase the reliability of the tool.
  • the automatic walking gardening equipment has a large component force along the downhill direction due to its own gravity when descending along a steep slope; and, for example, the automatic walking gardening equipment suddenly suffers an artificial external impact in the moving direction.
  • the rotor when the moving component is driven by an external force in a moving direction, the rotor is rotated, and when the moving component receives an external force greater than a preset external force in a moving direction, the moving component drives the rotor to be high. Rotate at the speed of the target speed.
  • the external force of the moving component in the moving direction is greater than the preset external force.
  • the moving assembly includes a wheel set and/or a moving piece that is in contact with the ground to support and move the automated walking gardening equipment.
  • the rotor is located inside the stator, and the rotor assembly connects the wheel set and/or the moving member.
  • the control unit controls the brake of the driving motor, the rotor continues to rotate under the inertial force, so that the actual rotational speed of the rotor is higher than the target rotational speed.
  • control unit includes a switch circuit, where the switch circuit includes a first switch module and a second switch module connected in series, and the switch circuit converts power provided by the energy storage unit to drive the a driving motor; the first switching module and the second switching module each include a parasitic diode; wherein the parasitic diode is turned on when a voltage of the inductive power generated by the driving motor is higher than a voltage of the energy storage unit The electrical energy generated by the drive motor is transferred to the energy storage unit via the parasitic diode.
  • the switch circuit includes a driving module, configured to drive the first switch module and the second switch module.
  • the driving module further includes a bootstrap circuit, and an output end of the bootstrap circuit is electrically connected to a trigger end of the first switch module and a trigger end of the second switch module, to drive the a first switch module and the second switch module.
  • the energy storage unit is electrically connected to the voltage stabilizing device.
  • the voltage stabilizing device includes a capacitor, one end of which is electrically connected to the positive end of the energy storage unit, and the other end of which is electrically grounded, and the power generated by the voltage stabilizing device in the driving motor is transferred to the storage
  • the unit can be regulated and filtered.
  • control unit controls the operation of the drive motor based on the detected information.
  • the present disclosure also proposes a compact, lightweight, automated walking gardening device that maximizes the use of electrical energy stored in a battery pack. At the same time, in some cases, the electric energy generated by the rotating motor of the rotor assembly is driven to the battery pack by the roller set or the moving member of the device being driven by an external force.
  • an automatic walking gardening apparatus comprising: a casing body, a driving motor and a control unit disposed on the casing body, and being disposed on a surface or an interior of the casing body for storage a power supply connection portion connected to the unit; the energy storage unit is electrically connected to the power supply connection portion for supplying power to the drive motor and the control unit; the drive motor is connected to the mobile component, based on the control unit Directly driving the automatic walking gardening equipment to move; the control unit is electrically connected to the power supply connecting portion and the driving motor; wherein the moving component is driven by an external force to drive the rotating assembly of the rotor assembly of the driving motor When the potential is higher than the voltage of the energy storage unit, the electrical energy generated by the drive motor is stored to the energy storage unit.
  • the drive motor comprises a stator assembly, a rotor assembly; the stator assembly includes a winding wound around the stator core, the rotor assembly connecting the wheel set and/or the moving member.
  • the rotor assembly is located inside the stator assembly, and the rotor assembly connects the wheel set and/or the moving member.
  • the automatic walking gardening device moves downward along the oblique direction. If the driving electric potential generated by the driving motor is higher than the voltage of the energy storage unit, the electric energy generated by the driving motor is stored to the energy storage unit to It inhibits the moving speed of the automatic walking gardening equipment.
  • control unit includes a switch circuit
  • the switch circuit includes a first switch module electrically connected in series, and a second switch module, configured to convert power supplied from the energy storage unit to drive the drive motor
  • the first switch module and the second switch module each include a parasitic diode; wherein the parasitic diode is turned on when the induced electric potential generated by the driving motor is higher than the voltage of the energy storage unit, the driving motor The generated electrical energy is stored to the energy storage unit.
  • the switch circuit includes a driving module for driving the first switch module and the second switch module.
  • the driving module further includes a bootstrap circuit, the output end of the bootstrap circuit is electrically connected to the trigger end of the first switch module and the trigger end of the second switch module, and is configured to drive the first a switch module and the second switch module.
  • the energy storage unit is electrically connected to the voltage stabilizing device.
  • the voltage stabilizing device includes a capacitor, one end of which is electrically connected to the positive end of the energy storage unit, and the other end of which is electrically grounded to stabilize when the electric energy generated by the driving motor is stored to the energy storage unit. Pressure and filtering.
  • the automatic walking gardening device further includes a sensor electrically connected to the control unit, the sensor detecting position information of the automatic walking gardening device and feeding back the detected information to the control unit,
  • the control unit is provided to adjust the action of the automatic walking gardening device based on the information placed in the detection.
  • the automatic walking gardening device is provided with an image recognition device electrically connected to the control unit, the image recognition device detecting environmental information of the automatic walking gardening device and detecting the environmental information Feedback to the control unit, the set control unit adjusts the action of the automatic walking gardening device based on the environmental information placed.
  • the location information includes at least one of location information, moving speed information, and posture information of the automatic walking gardening device.
  • the energy storage unit includes at least one battery pack, and the voltage of the battery pack is between 16V and 60V.
  • the embodiment of the present disclosure further provides a method for controlling an automatic walking gardening device, comprising: a housing body, a driving motor and a control unit disposed on the housing body, and being disposed on a surface or an interior of the housing body a power supply connection portion connected to the energy storage unit; the energy storage unit is electrically connected to the power supply connection portion for supplying power to the drive motor and the control unit; the drive motor is connected to the mobile component, based on the instruction of the control unit Driving the automatic walking gardening equipment movement; the control unit is electrically connected to the power supply connecting portion and the driving motor; the control method comprises the steps of: detecting movement information of the automatic walking gardening device, if the movement information exceeds a set threshold When reducing the power of the drive motor output. In this way, the automatic walking gardening equipment is at a preset speed, and the moving speed of the automatic walking gardening equipment is suppressed.
  • control method includes the following steps: if the power output of the driving motor is zero, the movement information of the automatic walking gardening device is detected, and the electric energy generated by the driving motor is stored to the energy storage unit.
  • control method includes the following steps: if the power output of the driving motor is zero, detecting the movement information of the automatic walking gardening device, and the electric energy generated by the motor when the driving electric potential generated by the driving motor is higher than the voltage of the energy storage unit Store to the energy storage unit.
  • the automatic walking gardening device proposed by the present disclosure can maximize the utilization of electric energy stored by an energy storage unit (eg, a battery pack), and the automatic walking gardening device is subjected to an external force, and is intelligent.
  • the driving force of the output of the driving motor is adjusted, so that the automatic walking gardening device is at a preset speed, and the moving speed of the automatic walking gardening device is suppressed.
  • the magnitude of the driving force that the drive motor reduces is approximately equal to the amount of additional external force that the autonomous walking gardening device is subjected to. If the driving force of the motor output is not required to automatically move the gardening equipment, the electric energy generated by the motor is stored in the energy storage unit through the energy supply circuit.
  • the speed of the self-propelled gardening equipment is accelerated downwards, and the tool is damaged when the automatic walking gardening equipment is downhill due to rapid movement, causing rollover, encountering obstacles, and rushing out of the boundary line.
  • the problem is to improve the reliability of the tool.
  • FIG. 1 is a schematic structural view of an automatic walking gardening apparatus according to an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram showing the functional structure of a control unit of the automatic walking gardening apparatus of the embodiment shown in FIG. 1;
  • FIG. 3 is a schematic diagram showing the functional structure of another control unit of the automatic walking gardening device of the embodiment shown in FIG. 1;
  • FIG. 4 is a schematic overall structural view of an automatic walking gardening device according to another embodiment of the present disclosure.
  • Figure 5 is a schematic view showing the internal structure of the automatic walking gardening device of the embodiment shown in Figure 4;
  • Figure 6 is a schematic view of the force of the automatic traveling equipment as it descends down the slope.
  • connecting when an element is referred to as "connecting" another element, it can be directly connected to the other element or the central element may be present or may be electrically connected to the other element.
  • the automatic walking gardening equipment referred to in the present disclosure may be a lawn mower.
  • the mower is taken as an example for description below.
  • An automatic walking gardening apparatus includes a housing body, a driving motor and a control unit disposed on the housing body, and a power supply connection connected to the energy storage unit disposed on a surface or inside of the housing body
  • the energy storage unit is electrically connected to the power supply connection portion for supplying power to the driving motor and the control unit;
  • the driving motor is coupled to the moving component, and the moving of the automatic walking gardening device is driven based on an instruction of the control unit;
  • the control unit is electrically connected to the power supply connection portion and the drive motor;
  • the control unit when the automatic walking gardening device is driven by an external force, the control unit reduces the power output by the driving motor. In this way, the automatic walking gardening equipment is at a preset speed, and the moving speed of the automatic walking gardening equipment is suppressed.
  • the drive motor in the above embodiment includes a drive motor for driving the movement of the automatic walking gardening equipment; and may also include a motor (eg, a mowing motor) for driving the operation of the automatic walking gardening equipment.
  • the automatic walking gardening equipment includes moving components such as a roller assembly and a moving member (track).
  • the driving motor uses a DC motor
  • the DC motor includes a stator assembly and a rotor assembly; wherein the stator assembly is a stationary portion of the DC brushless motor, and mainly includes a magnetically conductive stator core, a conductive armature winding, and Some components, insulating materials, lead-out parts, etc. for fixing the core and the winding, and the rotor assembly contains permanent magnets.
  • the armature winding (excitation coil) generates a magnetic field in the motor through the high frequency signal, which interacts with the permanent magnet on the rotor assembly to generate an electromagnetic torque that drives the rotation of the rotor assembly.
  • the rotor assembly is located on the inside of the stator assembly (inner rotor DC motor).
  • the automatic walking gardening equipment is driven by an external force or moved downhill during operation.
  • the automatic walking gardening equipment is subjected to an external force, and the direction of the external force is the same as the moving direction of the automatic walking gardening equipment.
  • the method before the external force is controlled maintaining the driving force, and the moving speed of the automatic walking gardening equipment is increased.
  • the strength of the magnetic field generated by the windings of the stator assembly is reduced, thereby interacting with the permanent magnets on the rotor assembly to produce a reduction in the electromagnetic torque that drives the rotation of the rotor assembly (driving)
  • the driving force of the motor is reduced) such that the rotational speed of the rotor assembly is lowered.
  • the driving speed of the driven automatic walking gardening equipment caused by the driving force of the driving motor is gradually decreased.
  • the driving motor is reduced in the driving current, so that the strength of the magnetic field generated in the winding of the stator assembly is weakened to interact with the permanent magnet on the rotor assembly to generate a reduction in the electromagnetic torque for driving the rotation of the rotor assembly, resulting in a decrease in the rotational speed of the rotor assembly.
  • the automatic walking gardening equipment was not bound by the boundary line, and the path planning could not be performed.
  • the blind opening (such as driving into the puddle) caused damage to the tool. problem.
  • the magnitude of the driving force that the driving motor reduces is substantially equal to the magnitude of the additional external force that the automatic walking gardening device receives.
  • the direction of the external force is at an angle to the moving direction of the autonomous walking gardening device, but by decomposing the external force, the direction of the decomposing force in one direction is the same as the moving direction of the autonomous walking gardening device.
  • the automatic walking gardening equipment does not need to drive the motor to provide the driving force, and only the external force can be moved.
  • the rolling of the rolling wheel set of the device drives the motor rotor assembly to rotate to generate an induced potential on the motor (ie, the motor The induced electromotive force is generated on the rotating motor of the rotor assembly; if the induced potential is higher than the voltage of the energy storage unit, the electrical energy generated by the motor is stored to the energy storage unit. This increases the overall efficiency of the tool.
  • the transfer of electric energy generated by the motor of the present disclosure to the energy storage unit embodiment will be described in detail with reference to the accompanying drawings.
  • FIG. 1 is a schematic structural view of an automatic walking gardening apparatus according to an embodiment of the present disclosure.
  • the rear end portion (lower end portion) of the bottom portion is provided with two driving motors (ie, a left motor, a right motor) which are respectively connected to the corresponding rolling wheel groups; the front end portion of the bottom portion (upper end) Department) Configure two universal wheels (ie, left universal wheel, right universal wheel).
  • the structure can realize the movement of the tool in any posture by adjusting the rotation state of the two driving motors (ie, the left motor and the right motor), for example, when the left and right wheels rotate in the same direction at the same speed, the tool realizes forward or backward, when the left/right motor is the same
  • the tool rotates in place when the speed is reversed.
  • the left/right motor speed is different, the tool runs along a certain arc.
  • the energy storage unit of the automatic walking gardening equipment is equipped with at least one battery pack, and the battery pack is disposed inside the outer casing main body (the battery pack is connected to the power supply connecting portion to provide power to the driving motor and the control unit);
  • the driving part of the walking gardening equipment is composed of a driving motor (left motor, right motor).
  • a motor (not shown) for controlling the work (eg, mowing) in the automatic walking gardening equipment.
  • the motor is used to drive the cutter head, the blade is mounted on the cutter head, and the motor runs at high speed. Work when you cut grass.
  • the drive motor includes a stator assembly, a rotor assembly located inside the stator assembly, and a rotor assembly (via a deceleration structure) coupled to the rolling wheel set.
  • the control unit is controlled by the duty cycle PWM1 motor.
  • the automatic walking gardening equipment is subjected to the external force F1 (same direction as the moving direction of the automatic walking gardening equipment) and is still controlled by the duty ratio of the PWM1
  • the rotational speed of the motor is increased, and the moving speed of the gardening equipment is automatically moved accordingly. Will gradually increase.
  • the duty ratio PWM2 can be controlled at this time, and as the external force increases, the duty ratio is accordingly lowered, so that the motor can maintain the target rotational speed V1. If the external force continues to increase, so that the duty cycle is zero, the motor can still rotate at V1.
  • the duty ratio is zero, and the motor rotates at a speed V2 greater than V1.
  • the moving component will drive the rotor to rotate.
  • the winding of the cutting stator assembly generates an induced potential on the motor (ie, the rotation of the rotor component of the motor generates an induction on the motor).
  • Electromotive force The electrical energy generated by the motor is stored to the energy storage unit.
  • the external force may also be gravity, such as when the automated walking gardening device moves down the slope.
  • the electrical energy generated by the electrical machine is stored by the energy supply circuit to the energy storage unit.
  • the energy supply circuit can be arranged in the control unit (control panel of the control unit) by wiring, and can also be arranged in the form of a wire.
  • the energy storage unit supplies the driving motor energy through the energy supply circuit.
  • the drive motor includes a stator assembly, a rotor assembly located inside the stator assembly, and the rotor assembly (via a deceleration structure) is coupled to the moving member, the external force pushing the device to move quickly or the device working to move downhill down, due to
  • the movement of the moving member eg, the crawler belt
  • causes the rotor assembly to rotate to generate an induced potential on the motor ie, an induced electromotive force is generated on the rotating motor of the rotor assembly of the motor
  • the induced potential is higher than the voltage of the energy storage unit,
  • the electrical energy generated by the motor is stored to the energy storage unit.
  • the battery pack is detachably mounted to the battery pack mounting slot of the housing body, and the power supply connecting portion is disposed in the mounting slot, and the battery pack is connected to the power supply connecting portion to provide the driving motor and the control unit. power.
  • a front wheel drive mode or a four wheel drive mode is employed.
  • the automatic walking gardening device adopts a rear wheel drive mode, and a universal wheel is disposed at a front central position of the bottom portion.
  • the tool further includes a Hall sensor to detect various obstacles or unexpected sudden situations during the running of the tool, such as external lifting, collision signals, etc., may occur, lifting, colliding When it hits the Hall rod or lifts the Hall rod to deform or displace under the action of external force, the Hall sensor generates a Hall signal and sends it to the I/O port of the processor of the control unit, and then The processor makes the processing.
  • a Hall sensor to detect various obstacles or unexpected sudden situations during the running of the tool, such as external lifting, collision signals, etc., may occur, lifting, colliding When it hits the Hall rod or lifts the Hall rod to deform or displace under the action of external force, the Hall sensor generates a Hall signal and sends it to the I/O port of the processor of the control unit, and then The processor makes the processing.
  • the tool further includes a tilt sensor to reduce the possibility of tipping over when the tool is in operation.
  • the tool includes a hardware switch type tilt sensor and a three-axis acceleration sensor when the angle is large.
  • the hardware switch type tilt sensor outputs a high level at a certain fixed value.
  • the I/O port detection of the processor of the control unit can identify whether the lawn mower is overturned, and the three-axis acceleration sensor outputs the three-axis direction.
  • the induced potential is estimated, and the pitch angle and the tumbling angle of the lawn mower can be calculated according to the generated induced potential, thereby realizing system protection.
  • the body of the tool is further configured with a display of induced potential groups (eg, using LCD liquid crystal display) for better human-computer interaction and improved user participation.
  • a display of induced potential groups eg, using LCD liquid crystal display
  • the positioning navigation is implemented by using modules such as (D) GPS and electric compass.
  • the automatic walking gardening device 200 includes a control unit, and the control unit includes a microcontroller 206 to control the first switch module 201 and the second switch module 202 in the switch circuit.
  • the drain terminal of the first switch module 201 is electrically connected.
  • the source terminal of the first switch module 201 is electrically connected to the drain terminal of the second switch module 202, and the source terminal of the second switch module 202 is electrically grounded; the source of the first switch module 201
  • the first output terminal U1 of the motor M is electrically connected to the driving end of the driving motor (not shown); the first switch module 201 is connected to the driving end of the driving motor (not shown);
  • the drain terminal is connected to the source terminal with a diode 203.
  • the positive terminal of the diode 203 is electrically connected to the source terminal of the first switch module 201.
  • the cathode end of the diode 203 is electrically connected to the drain terminal of the first switch module 201.
  • a diode 204 is connected to the drain terminal of the module 202.
  • the anode terminal of the diode 204 is electrically connected to the source terminal of the second switch module 202.
  • the cathode terminal of the diode 204 is electrically connected to the second switch module.
  • the drain terminal of the first switch module is electrically connected to the positive end of the energy storage unit, and the other end is electrically connected to the drain end of the first switch module.
  • the device moves downward due to the action of gravity, and the induced potential of the rotary motor of the rolling wheel set or the moving member that drives the rotor assembly is higher than the voltage of the energy storage unit.
  • the electrical energy generated by the motor is stored to the energy storage unit.
  • the first switch module 201 and the second switch module 202 are electrically connected in series.
  • the microcontroller 206 drives the first switch module in the form of PWM, and the second switch module controls the motor to control the movement or operation of the motor.
  • the energy storage unit includes a battery pack (the inside of which is arranged with a plurality of batteries electrically connected according to a certain rule).
  • a voltage stabilizing device such as a capacitor 205, is further included.
  • One end of the capacitor 205 is electrically connected to the positive terminal of the energy storage unit, and the other end is electrically grounded to filter and store the power generated by the driving motor. When the device is in normal operation, the motor-driven electric energy is supplied by the energy storage unit.
  • the first switch module and the second switch module are respectively connected in parallel by two switch modules, and the circuit is equivalent to a switch module, such as the first switch module, so as to improve the reliability of the switch circuit.
  • the electronic component is an equivalent diagram, and in actual application, the component may be electrically connected according to one or more rules according to a certain rule.
  • control unit controls the device through the drive module.
  • the control unit also includes a drive module (eg, a bootstrap circuit) to drive the switch circuit.
  • the automatic walking gardening device 300 comprises a control unit having a switching circuit 350, a bootstrap circuit 351;
  • the switch circuit 350 includes a first switch module 301 and a second switch module 302.
  • the drain terminal of the first switch module 301 is electrically connected to the positive terminal B+ of the energy storage unit, and the source terminal of the first switch module 301 is electrically connected.
  • the source terminal of the second switch module 302 is electrically grounded; the electrical connection between the source terminal of the first switch module 301 and the drain terminal of the second switch module 302 forms a first output.
  • the first output terminal U1 is electrically connected to the driving end of the driving motor M (not shown); the drain terminal of the first switching module 301 is connected to the source terminal with a diode 303, and the anode (P) terminal of the diode 303 is electrically connected.
  • the cathode (N) terminal of the diode 303 is electrically connected to the drain terminal of the first switch module 301; the drain terminal of the second switch module 302 is connected to the source terminal with a diode 304, the diode
  • the positive terminal of the second switch module 302 is electrically connected to the source terminal of the second switch module 302.
  • the cathode end of the diode 304 is electrically connected to the drain terminal of the second switch module 302.
  • One end of the energy supply circuit is electrically connected to the positive terminal B+ of the energy storage unit.
  • the electric energy generated by the driving motor is driven by the energy supply circuit (for example, when the automatic walking gardening device is downhill, the induced potential generated by the rotation of the rotor assembly of the motor is stored to the energy storage unit due to the action of gravity.
  • the first The switch module 301 and the second switch module 302 are electrically connected in series.
  • the bootstrap circuit 351 includes a circuit 351a that drives the first switch module 301 and a circuit 351b that drives the second switch module 302.
  • the 351a circuit includes a transistor 321 having a collector terminal electrically connected to the resistor 309 and one end of the resistor 310.
  • the emitter is electrically connected to the ground.
  • the other end of the resistor 310 is electrically connected to the base of the transistor 311 and the transistor 312, respectively.
  • the emitter terminal of 311 is electrically connected to the emitter terminal of the extreme grounding transistor 312 and the resistor 313.
  • the collector terminal of the transistor 311 is electrically connected to the other end of the resistor 309 and the cathode (N) terminal of the diode 308.
  • the collector terminal of the transistor 312 is electrically connected.
  • the other end of the resistor 314 is electrically connected to the gate end of the first switch module 301.
  • the anode (P) terminal of the diode 308 is electrically connected to the resistor 307 and electrically connected to the driving terminal Dr+, and the driving terminal Dr+ is connected to the capacitor 320.
  • the first output terminal U1 is electrically connected to the junction of the resistor 314 and the capacitor 306.
  • the 351b circuit includes a transistor 322.
  • the collector terminal of the transistor 322 is electrically connected to one end of the resistor 315 and the resistor 316, and the emitter is electrically grounded.
  • the other end of the resistor 316 is electrically connected to the base of the transistor 317 and the transistor 318, respectively.
  • the emitter terminal of the 317 is electrically connected to the emitter terminal 318 and the terminal of the resistor 319.
  • the collector terminal of the transistor 317 is electrically driven to the terminal Dr+.
  • the collector terminal of the transistor 318 is electrically grounded.
  • the other end of the resistor 319 is electrically connected to the first terminal.
  • the gate end of the second switch module 302; the other end of the resistor 315 is electrically connected to the driving end Dr+.
  • the automatic walking gardening device 300 includes a control unit including a switch circuit 350, a bootstrap circuit 351, a microcontroller (not shown), and a control signal from the microcontroller to the trigger terminals of the transistor 321 and the transistor 322. (base terminal), after the bootstrap circuit 351 drives the switch circuit 350 (at this time, the voltage of the gate terminal of the first switch module 301 is higher than the voltage of the source terminal thereof, and the voltage of the gate terminal of the first switch module 302 is higher than The source terminal U1 is electrically connected to the corresponding driving end of the driving motor.
  • the transistor 321 and the transistor 322 can be a triode or a MOS switch.
  • the first switch module and the second switch module are N-type MOS. In other embodiments, the first switch module and the second switch module may also be N-type MOS or IGBT modules.
  • the controller (not shown) drives the bootstrap circuit in the form of PWM to drive the switching circuit.
  • the voltage at the positive terminal of the voltage storage unit of the driving terminal Dr+ is the same, and may also be lower than the voltage at the positive terminal of the energy storage unit (for example, 3V, 5V, 12V, etc.).
  • the wire is routed to the control board with a conductive layer (eg, copper foil).
  • the electric power generated by the drive motor (back electromotive force) is sent to the energy storage unit through the energy recovery wire.
  • the voltage of the driving terminal U1 of the driving motor M is higher than the voltage of the drain terminal of the first switching module, and the electric energy generated by the driving motor flows through the energy supply circuit through the diode 303 to the energy storage unit.
  • the energy storage unit includes a battery pack (the inside of which is arranged with a plurality of batteries electrically connected according to a certain rule).
  • a capacitor 305 is further included.
  • One end of the capacitor 305 is electrically connected to the positive end of the energy storage unit, and the other end is electrically grounded to filter and store the power generated by the driving motor.
  • the electric energy generated by the rotation of the rotor assembly is transmitted to the energy storage unit, which can suppress the moving speed of the automatic walking gardening equipment when going downhill, and reduce the rapid movement. Security risks.
  • FIG. 3 only shows a schematic diagram of the drive motor being single-phase.
  • the above embodiment corresponds to the drive of one of the three-phase motors (using two switches)
  • the driving topology of the other two phases is the same, and the description will not be repeated here.
  • the driving motor uses a single-phase brushless motor
  • the topology shown in FIG. 2 or FIG. 3 is adopted.
  • the embodiment of the present disclosure further provides a method for controlling an automatic walking gardening device, comprising: a housing body, a driving motor and a control unit disposed on the housing body, and being disposed on a surface or an interior of the housing body a power supply connection portion connected to the energy storage unit; the energy storage unit is electrically connected to the power supply connection portion for supplying power to the drive motor and the control unit; the drive motor is connected to the mobile component, based on the instruction of the control unit Driving the automatic walking gardening equipment to move; the control unit is electrically connected to the power supply connecting portion and the driving motor;
  • the control method includes the following steps:
  • the movement information of the automatic walking gardening device is detected, and if the movement information exceeds the set threshold, the power output by the driving motor is reduced. In this way, the automatic walking gardening equipment is at a preset speed, and the moving speed of the automatic walking gardening equipment is suppressed.
  • the automatic walking gardening device moves by the driving force provided by the driving motor during normal operation; if it is pushed by an external force or moves downhill, it is also maintained in a manner before the external force is maintained (maintaining the driving torque), and automatically walking
  • the moving speed of the gardening equipment will increase, in order to keep the automatic walking gardening equipment at a preset speed, reduce the power output of the driving motor (reducing the current output from the energy storage unit, saving the output of the energy storage unit), and adjusting the driving of the driving motor. force.
  • control method comprises the following steps:
  • the power output of the driving motor is zero, the movement information of the automatic walking gardening device is detected, and the electric energy generated by the driving motor is stored to the energy storage unit.
  • control method comprises the following steps:
  • the output power of the driving motor is zero, the movement information of the automatic walking gardening device is detected, and when the induced electric potential generated by the driving motor is higher than the voltage of the energy storage unit, the electric energy generated by the motor is stored to the energy storage unit.
  • the power output of the driving motor is zero, that is, the driving circuit does not supply electric power to the driving motor. If the switching circuit is not driven, it is considered that the driving circuit does not supply electric power to the driving motor.
  • the disclosure is not limited thereto, as long as it can be determined by the detection that the energy storage unit does not provide driving power to the driving motor.
  • the energy storage unit can be a battery pack or a super capacitor.
  • the movement information of the automatic walking gardening equipment, that is, the moving speed information is obtained by the speed sensor.
  • the automatic walking gardening equipment is equipped with at least one battery pack. It can be implemented in an embodiment built into an automated walking gardening device. For example, a battery pack is used, and the battery pack is placed at the center of gravity of the automatic walking gardening device as much as possible to improve the stability during work. Two battery packs (which can be electrically connected in series or electrically connected in parallel) are used. The battery pack (the tool is projected from the upper part to the ground) is placed in the central area of the automatic walking gardening equipment as much as possible to improve the stability during the work.
  • the automatic walking gardening equipment is equipped with at least one battery pack. It can be pluggably mounted to mobile gardening equipment.
  • a battery pack is used, and the battery pack is placed at the center of gravity of the automatic walking gardening device as much as possible to improve the stability during work.
  • Two battery packs (which can be electrically connected in series or electrically connected in parallel) are used.
  • the battery pack (the tool is projected from the upper part to the ground) is placed in the central area of the automatic walking gardening equipment as much as possible to improve the stability during the work.
  • a three-phase motor eg, a three-phase brushless motor
  • It is used to drive the operation of automatic walking gardening equipment or to drive automatic walking gardening equipment (such as mowing, etc.), which has the characteristics of low noise and high efficiency.
  • the control of the three-phase DC brushless motor adopts three-phase PWM wave control, and there is a phase difference between the PWM waves on each phase, so that only two phases are turned on at each moment, thereby controlling the rotation of the driving motor.
  • the electric machine comprises a stator assembly, a rotor assembly located inside the stator assembly, the rotor assembly is coupled to the wheel set and/or the moving member; when the device is in normal operation, the rotor assembly rotates to drive the wheel set and/or the moving part The movement of the device is realized; when the wheel set and/or the moving member are driven by the external force to drive the rotor assembly, the induced electric potential generated on the rotating motor is higher than the voltage of the energy storage unit, and the electric energy generated by the motor is stored to the energy storage unit.
  • the output stage of the motor that drives the tool can be equipped with a gearbox.
  • the control unit is included in the body of the automatic walking gardening device, including a microcontroller, a detecting module, and a control module; the detecting module can detect the moving speed of the automatic walking gardening device and feed back the detection signal to a microcontroller; the microcontroller modulates the control circuit based on the feedback signal, thereby adjusting the moving speed of the automated walking gardening equipment.
  • the control unit can control the connection/disconnection between the battery pack and other battery packs according to the operating parameters of the battery pack including the temperature, and can reduce (2 or more) battery packs under extreme conditions. Mutual charge leads to problems such as shortened life and hidden dangers.
  • the computer program instructions used by the control unit to perform the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine related instructions, microcode, firmware instructions, state setting data, or Source code or object code written in any combination of one or more programming languages, including object oriented programming languages - such as Smalltalk, C++, etc., and conventional procedural programming languages - such as the "C" language or A similar programming language.
  • the computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer, partly on the remote computer, or entirely on the remote computer or server. carried out.
  • the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or wide area network (WAN), or can be connected to an external computer (eg, using an Internet service provider to access the Internet) connection).
  • the customized electronic circuit such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by utilizing state information of computer readable program instructions.
  • Computer readable program instructions are executed to implement various aspects of the present disclosure.
  • the MAX voltage of the battery pack can be 12V, 16V, 20V, 24V, 40V, 60V, etc., and the specific voltage can be used in the application of the automatic walking gardening equipment, which is not limited herein.
  • the battery chip inside the battery pack can be selected from a lithium-based battery, a fuel battery, and the like.
  • the sensor is electrically connected to the control unit, the sensor detects position information of the automatic walking gardening device and feeds back the detected information to the control unit, and the set control unit is based on the The detected information adjusts the actions of the automatic walking gardening equipment, such as autonomous obstacle avoidance, path planning.
  • the automated walking gardening apparatus includes: a housing 2, a drive motor (5, 25 (including 25a and 25b)), The mobile component 4, the control unit 40, and the energy storage unit.
  • a drive motor (5, 25) is disposed within the housing 2 and includes a stator and a rotor.
  • the stator includes a stator core and windings wound around the stator core.
  • the drive motor includes a left travel motor 25b that drives the left drive wheel, a right travel motor 25a that drives the right drive wheel, and a work motor 5 that drives the cutter head as shown.
  • the drive motor may be a travel motor that includes only one of the left and right drive wheels, or a work motor that drives the work components, such as a cutter head, a cleaning device, and the like.
  • the moving assembly 4 includes a left driving wheel 4b, a right driving wheel 4a, and a universal wheel 4c, 4d.
  • the moving assembly 4 is driven by the drive motor 25 to drive the automatic walking gardening equipment to automatically walk.
  • the control unit 40 controls the operation of the drive motor (5, 25), including at least the rotor controlling the drive motor (5, 25) operating at the target speed.
  • the energy storage unit supplies electrical energy to the drive motor (5, 25) and/or the control unit 40. Wherein, when the actual rotational speed of the rotor is higher than the target rotational speed, the rotor rotates the cutting winding to generate induction energy, and the induced electrical energy is transferred to the energy storage unit.
  • the control unit 40 regularly supplies the electric energy of the energy storage unit to the windings of the drive motor (5, 25) according to the target rotation speed in accordance with the preset rotation speed, thereby driving the rotor to rotate at the target rotation speed. Based on this control process, the actual speed of the rotor is generally the same as the target speed. But in exceptional cases, the actual speed of the rotor will be greater than the target speed. Several exceptions are described below.
  • the automatic walking gardening equipment moves down the ramp.
  • the target speed of the drive motor to V1
  • the corresponding moving speed of the automatic walking equipment is V1'
  • the inclination angle of the ramp to the horizontal plane is ⁇
  • the mass of the automatic walking gardening equipment is M
  • the gravity G
  • the automatic walking gardening equipment The moving direction is X
  • the direction perpendicular to X is Y.
  • the actual moving speed of the autonomous walking device is further increased to V2', V2' > V1'.
  • the driving wheel will drive the rotor to rotate at a speed greater than the target speed V1, and the rotor rotates the cutting winding to generate induction energy, and the induction energy is transferred to the energy storage unit.
  • the actual moving speed of the autonomous running device V' > V1'.
  • the driving wheel will drive the rotor to rotate at a speed greater than the target speed V1, and the rotor rotates the cutting winding to generate induction energy, and the induced energy is transferred to the energy storage unit.
  • the external force received by the moving component in the moving direction is greater than the preset external force, and the moving component drives the rotor to rotate at a speed higher than the target speed.
  • the control unit controls the driving motor brake so that the target speed of the driving motor is zero to stop the driving wheel or the cutting blade.
  • the driving wheel or the cutting blade continues to rotate, and the rotor continues to rotate, so that the actual rotational speed of the rotor is higher than the target rotational speed 0, the rotor rotates the cutting winding to generate induction energy, and the induced electrical energy is transferred to the energy storage unit.
  • the automatic walking gardening device further includes a sensor component.
  • the sensor assembly is electrically connected to the control unit.
  • the sensor assembly detects environmental information of the automated walking gardening equipment and feeds the detected information back to the control unit.
  • the control unit controls the operation of the driving motor based on the detection information of the sensor component to realize the actions of turning, advancing, retreating, stopping walking, stopping the operation, etc. of the automatic walking gardening equipment.
  • control unit in this embodiment is the same as the control unit shown in FIG. 2 or FIG. 3. I will not repeat them here.
  • the automatic walking gardening equipment may be a lawn mower having a self-drive function, a sweeping machine, etc.; in some embodiments, the lawn mower and the sweeping machine also have an obstacle avoidance function and a functional autonomous path planning function. It adopts (D)GPS and power to the compass and other modules to realize positioning and navigation, which can be applied to the occasions with boundary lines and borderless lines.
  • the above features can be arbitrarily arranged and combined, and used for the improvement of the automatic walking gardening equipment.

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Abstract

一种自动行走园艺设备（200），包括：壳体（2）；驱动电机（5，25），设置在壳体（2）内，包括定子和转子，定子包括定子铁芯和绕在定子铁芯上的绕组；移动组件（4），由驱动电机（5，25）的转子驱动，带动自动行走园艺设备（200）行走；控制单元（40），控制驱动电机（5，25）的运行，至少包括控制转子在目标转速下运行；储能单元，向驱动电机（5，25）和/或控制单元（40）提供电能；其中，当转子的实际转速高于目标转速时，转子旋转切割绕组产生感应电能，感应电能转移至储能单元。

Description

一种自动行走园艺设备
本公开要求在2018年4月26日提交中国专利局、申请号为201810387518.3、发明名称为“一种可移动园艺设备”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及自动行走园艺设备领域，具体的涉及一种具有能量回收功能的自动行走园艺设备。
背景技术
近些年来，随着绿化面积和家庭庭院花园的大幅增加，对绿化进行维护的园艺工具的市场正逐渐变大，尤其在欧美等发达地区，绿化的占地面积很大，无论在公共场合还是家庭绿化都需要大量园艺工具对绿化进行维护。
目前市场上园艺工具种类很多，按其操作方式可以分为自动移动式和非自动移动式，非自动移动式主要分为手推式和坐骑式，其驱动方式主要包括发动机驱动、电力驱动、锂电池驱动、太阳能驱动等；自动移动式工具是将机器人技术应用到园艺工具的一种产品，该工具能够自主工作，大多采用锂电池驱动。
发明内容
本公开提供一种自动行走园艺设备，所述自动行走园艺设备包括：壳体，驱动电机，设置在所述壳体内，包括定子和转子，所述定子包括定子铁芯和绕在所述定子铁芯上的绕组；移动组件，由所述驱动电机的转子驱动，带动所述自动行走园艺设备行走；控制单元，控制所述驱动电机的运行，至少包括控制所述转子在目标转速下运行；储能单元，向所述驱动电机和/或所述控制单元提供电能；其中，当所述转子的实际转速高于所述目标转速时，所述转子旋转切割绕组产生感应电能，所述感应电能转移至所述储能单元。
本公开中，由于转子的实际转速高于所述目标转速时，所述转子旋转切割绕组产生感应电能，所述感应电能转移至所述储能单元，这一过程使得驱动电机多余的动能转化为了电能存储至储能单元。在逐步将动能转换为电能的过程中，驱动电机的速度逐步降低至目标速度，实现稳速的效果，降低自动行走园艺设备由于外力作用下引发速度过高导致的翻车、碰到障 碍物、冲出边界线等问题，提高了工具的可靠性。例如，自动行走园艺设备在沿陡峭的斜坡下坡时由于自身重力沿下坡方向的分力过大；再如自动行走园艺设备在沿移动方向上突然遭受人为的外力冲击等。
可选的，所述移动组件沿移动方向受到外力驱动时，带动所述转子旋转，当所述移动组件在移动方向上受到的外力大于预设外力时，所述移动组件驱动所述转子以高于目标转速的速度旋转。
可选的，自动行走园艺设备沿高于预设角度的斜面向下移动时，所述移动组件在移动方向上的外力大于预设外力。
可选的，所述移动组件包括与地面接触以支撑和移动自动行走园艺设备的轮组和/或移动件。
可选的，所述转子位于所述定子的内侧，所述转子组件连接轮组和/或移动件。
可选的，当所述控制单元控制所述驱动电机刹车时，所述转子在惯性力作用下继续旋转，使得所述转子的实际转速高于目标转速。
可选的，所述控制单元包含开关电路，所述开关电路包含串联连接的第一开关模块、第二开关模块，所述开关电路将从所述储能单元提供的电能进行转换以驱动所述驱动电机；所述第一开关模块及所述第二开关模块皆包含寄生二极管；其中，所述驱动电机产生的感应电能的电压高于所述储能单元的电压时所述寄生二极管导通，所述驱动电机产生的电能经所述寄生二极管转移至所述储能单元。
可选的，所述开关电路包含驱动模块，用以驱动所述第一开关模块、所述第二开关模块。
可选的，所述驱动模块还包含自举电路，所述自举电路的输出端电性连接所述第一开关模块的触发端及所述第二开关模块的触发端，用以驱动所述第一开关模块及所述第二开关模块。
可选的，所述储能单元电性连接有稳压器件。
可选的，所述稳压器件包含电容，其一端电性连接所述储能单元的正极端，另一端电性接地，所述稳压器件在所述驱动电机产生的电能转移至所述储能单元时稳压及滤波。
可选的，还包括传感器组件，所述传感器组件电性连接至所述控制单元，所述传感器组件检测所述自动行走园艺设备的环境信息并将检测的信息反馈至所述控制单元，所述控制单元基于所述检测的信息控制所述驱动电机的运转。
本公开还提出一种体积小巧紧凑、重量轻的自动行走园艺设备，其可最大化的利用电池包存储的电能。同时在某些场合由于设备的滚轮组或移动件受外力驱动带动转子组件转动电机产生的电能储存至电池包。
为实现上述目的，本公开采用如下方案：一种自动行走园艺设备，具备，外壳主体，设置于所述外壳主体的驱动电机、控制单元，设置于所述外壳主体表面或内部的用以与储能单元连接的供电连接部；储能单元电性连接至所述供电连接部，用以向所述驱动电机及所述控制单元提供动力；所述驱动电机连接移动组件，基于所述控制单元的指令驱动所述自动行走园艺设备移动；所述控制单元电性连接所述供电连接部及所述驱动电机；其中，所述移动组件受到外力带动所述驱动电机的转子组件旋转切割绕组产生的感应电势高于所述储能单元的电压时，所述驱动电机产生的电能存储至所述储能单元。
可选的，该驱动电机包含定子组件、转子组件；所述定子组件包含有绕在定子铁芯的绕组，所述转子组件连接轮组和/或移动件。
可选的，该所述转子组件位于所述定子组件的内侧，所述转子组件连接轮组和/或移动件。
可选的，该自动行走园艺设备沿斜面向下移动，若所述驱动电机产生的感应电势高于所述储能单元的电压，所述驱动电机产生的电能存储至所述储能单元，以抑制自动行走园艺设备的移动速度。
可选的，该控制单元，包含开关电路，所述开关电路包含电性串联的第一开关模块、第二开关模块，用以将从所述储能单元提供的电能转换以驱动所述驱动电机；所述第一开关模块及所述第二开关模块皆包含寄生二极管；其中，所述驱动电机产生的感应电势高于所述储能单元的电压时所述寄生二极管导通，所述驱动电机产生的电能存储至所述储能单元。
可选的，该开关电路包含驱动模块，用以驱动所述第一开关模块、所述第二开关模块。
可选的，该驱动模块还包含自举电路，所述自举电路的输出端电性连接所述第一开关模块的触发端及所述第二开关模块的触发端，用以驱动所述第一开关模块及所述第二开关模块。
可选的，该储能单元电性连接有稳压器件。
可选的，该稳压器件包含电容，其一端电性连接所述储能单元的正极端，另一端电性接地，用以在所述驱动电机产生的电能存储至所述储能单元时稳压及滤波。
可选的，该自动行走园艺设备还包括传感器，所述传感器电性连接至所述控制单元，所述传感器检测所述自动行走园艺设备的位置信息并将检测的信息反馈至所述控制单元，所设控制单元基于置于所述检测的信息调整所述自动行走园艺设备的动作。
可选的，该自动行走园艺设备具备，图像识别装置，所述图像识别装置电性连接至所述控制单元，所述图像识别装置检测所述自动行走园艺设备的环境信息并将检测的环境信息反馈至所述控制单元，所设控制单元基于置于所述环境信息调整所述自动行走园艺设备的动作。
可选的，该位置信息至少包含，自动行走园艺设备的位置信息，移动速度信息，姿势信息中的一种。
可选的，该储能单元，包含至少一个电池包，所述电池包的电压介于16V～60V。
本公开的实施方式还提供一种自动行走园艺设备的控制方法，该自动行走园艺设备具备，外壳主体，设置于该外壳主体的驱动电机、控制单元，设置于所述外壳主体表面或内部的用以与储能单元连接的供电连接部；储能单元电性连接至该供电连接部，用以向该驱动电机及该控制单元提供动力；该驱动电机连接移动组件，基于所述控制单元的指令驱动所述自动行走园艺设备移动；该控制单元电性连接所述供电连接部及该驱动电机；该控制方法包含如下步骤：检测自动行走园艺设备的移动信息，若该移动信息超出设定的阈值时，减小驱动电机输出的功率。这样使得自动行走园艺设备处在预设的速度，实现抑制自动行走园艺设备的移动速度。
可选的，该控制方法包含如下步骤：若驱动电机输出的功率为零时，检测出自动行走园艺设备的移动信息，驱动电机产生的电能存储至储能单元。
可选的，该控制方法包含如下步骤：若驱动电机输出的功率为零时，检测出自动行走园艺设备的移动信息，驱动电机产生的感应电势高于储能单元的电压时，电机产生的电能存储至储能单元。
与现有技术相比，本公开的有益效果：本公开提出的自动行走园艺设备，可最大化的利用储能单元(如，电池包)存储的电能，自动行走园艺设备受到外力时，智能的调整驱动电机输出的驱动力，这样使得自动行走园艺设备处在预设的速度，实现抑制自动行走园艺设备的移动速度。驱动电机减小的驱动力的大小大致等于自动行走园艺设备受到的额外的外力的大小。若无须驱动电机输出的驱动力自动行走园艺设备移动时，电机产生的电能通过能量供给电路存储至储能单元。
在某些场合(如在下坡时)抑制自动行走园艺设备向下加速移动的速度，降低自动行走园艺设备下坡时由于快速移动引发翻车、碰到障碍物、冲出边界线等引发工具损坏的问题，提高了工具的可靠性。
附图说明
图1为本公开一种实施例的自动行走园艺设备的结构示意图；
图2为图1所示实施例的自动行走园艺设备的控制单元的功能结构示意图；
图3为图1所示实施例的自动行走园艺设备的另一控制单元的功能结构示意图；
图4为本公开另一种实施例的自动行走园艺设备的整体结构示意图；
图5为图4所示实施例的自动行走园艺设备的内部结构示意图；
图6为自动行走设备沿坡道下坡时的受力示意图。
具体实施方式
为使本公开的上述目的、特征和优点能够更加明显易懂，下面结合附图对本公开的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本公开。但是本公开能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本公开内涵的情况下做类似改进，因此本公开不受下面公开的具体实施方式的限制。
需要说明的是，当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件或者可能电性连接到另一个元件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本公开的技术领域的技术人员通常理解的含义相同。本文中在本公开的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本公开。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。本公开提及的自动行走园艺设备可为割草机。下面以割草机为例进行描述。
本公开实施方式的一种自动行走园艺设备，具备，外壳主体，设置于所述外壳主体的驱动电机、控制单元，设置于所述外壳主体表面或内部的用以与储能单元连接的供电连接部；储能单元电性连接至该供电连接部，用以向该驱动电机及该控制单元提供动力；该驱动电机连接移动组件，基于所述控制单元的指令驱动所述自动行走园艺设备移动；该控制单元电性连接所述供电连接部及该驱动电机；
其中，该自动行走园艺设备受外力驱动移动时，控制单元减小驱动电机输出的功率。这样使得自动行走园艺设备处在预设的速度，实现抑制自动行走园艺设备的移动速度。
上述实施方式中驱动电机包含用于驱动自动行走园艺设备移动的驱动电机；还可包含用于驱动自动行走园艺设备工作的电机(如，割草电机)。自动行走园艺设备包含有移动组件如滚轮组件、移动件(履带)。
上述实施方式中，驱动电机采用直流电机，直流电机包含有定子组件，转子组件；其中，定子组件是直流无刷电机的静止部分，主要包含有导磁的定子铁芯、导电的电枢绕组及固定铁芯和绕组用的一些零部件、绝缘材料、引出部分等，转子组件包含有永磁体。电机通电后电枢绕组(励磁线圈)通过高频信号会在电机内产生一个磁场，与转子组件上的永磁体相互作用从而产生驱动转子组件旋转的电磁力矩。在一实施方式中，转子组件位于定子组件的内侧(内转子直流电机)。
上述实施方式中，自动行走园艺设备在运行时若受到外力推动或在下坡移动，这时自动行走园艺设备由于受到外力的作用，该外力的方向与自动行走园艺设备的移动方向相同，若维持受外力前的方式进行控制(维持驱动力不变)，自动行走园艺设备的移动速度会增大。通过减小驱动电机输出的功率如降低储能单元输出的电流，这样定子组件的绕组产生的磁场强 度减弱，进而与转子组件上的永磁体相互作用产生驱动转子组件旋转的电磁力矩减小(驱动电机的驱动力减小)这样转子组件的旋转速度下降。由驱动电机驱动力引发的驱动自动行走园艺设备移动速度逐渐下降。通过这样的设计调整驱动电机的驱动力抑制自动行走园艺设备的移动速度。这样可保持自动行走园艺设备处于预设的速度(预设的速度范围)。这时驱动电机由于驱动电流减小这样在定子组件的绕组产生的磁场强度减弱进而与转子组件上的永磁体相互作用产生驱动转子组件旋转的电磁力矩减小，导致转子组件的旋转速度下降。降低自动行走园艺设备受到外力(如下坡时或外力推动移动时)由于快速移动引发翻车、碰到障碍物等引发工具损坏的问题，提高了工具的可靠性或者自动行走园艺设备下坡时由于快速移动冲出了边界线导致不能完成预定的任务，冲出边界线后由于自动行走园艺设备不受边界线的约束，无法进行路径的规划，盲开(如驶入水坑)等引发工具损坏的问题。本实施方式中，驱动电机减小的驱动力的大小大致等于自动行走园艺设备受到的额外的外力的大小。在一实施方式中该外力的方向与自动行走园艺设备的移动方向呈一夹角，但通过对该外力进行分解，其一个方向上的分解力的方向与自动行走园艺设备的移动方向相同。
上述实施方式中，在某些场合自动行走园艺设备无须驱动电机提供驱动力仅依靠外力即可移动，这时设备的滚动轮组的滚动带动电机转子组件转动在电机上产生感应电势(即，电机的转子组件的转动电机上产生感应电动势)；若该感应电势高于储能单元的电压时，电机产生的电能存储至储能单元。这样提高工具的整体效率。接下来结合附图，详细的描述本公开的电机产生的电能转移至储能单元实施方式。
如图1所示，为本公开实施方式的自动行走园艺设备的结构示意图。本实施例中，沿Y轴方向，其底部的后端部(下端部)配置2个驱动电机(即左电机，右电机)，其分别连接至相应的滚动轮组；底部的前端部(上端部)配置2个万向轮(即左万向轮，右万向轮)。该结构通过调节2个驱动电机(即左电机，右电机)的转动状态能够实现工具任意姿态的运动，如，当左右轮同速同向转动时工具实现前进或者后退，当左/右电机同速反向转动时工具原地转动，当左/右电机转速不同时工具沿一定弧线运行。
上述实施方案中，自动行走园艺设备的储能单元搭载有至少一个电池包，该电池包配置在外壳主体的内部(电池包连接至供电连接部进而给向驱动电机及控制单元提供动力)；自动行走园艺设备驱动部分由驱动电机组成(左电机，右电机)。除了驱动电机，自动行走园艺设备中还有配置一个用于控制工作(如，割草)的电机(图未示)，该电机用来带动刀盘运转，刀盘上安装刀片，在电机高速运行时进行工作如割草。驱动电机包含定子组件、位于所述定子组件内侧的转子组件，转子组件(通过减速结构)连接至滚动轮组。
假定电机的目标转速为V1，此时控制单元以占空比PWM1电机进行控制。若此时自动行走园艺设备受到外力F1(与自动行走园艺设备的移动方向相同)的作用，且仍以PWM1占空比进行控制，则导致电机的转速增加，相应地自动行走园艺设备的移动速度会逐渐增加。为维持电机的目标转速V1，这时可以以降低的占空比PWM2进行控制，并且随着外力的增大，相应地降低占空比，从而使得电机能维持目标转速V1。若外力继续增大，以致占空比为零时，电机仍能以V1转动。此时，若外力继续增大，则仅外力作用，占空比为零，电机也会以大于V1的速度V2进行转动。此时，在外力的作用下，移动组件会带动转子旋转，该转子组件上的永磁体旋转时切割定子组件的绕组在电机上产生感应电势(即，电机的转子组件的转动在电机上产生感应电动势)；电机产生的电能存储至储能单元。
在一实施方式中，外力也可为重力，如自动行走园艺设备在斜面向下移动时。在一实施方式中，电机产生的电能通过能量供给电路存储至储能单元。能量供给电路其可通过布线配置在控制单元(控制单元的控制板)，还可设置成导线的形式。自动行走园艺设备在正常移动，工作(如割草)时，由储能单元通过能量供给电路供给驱动电机能量。
在一实施方式中，驱动电机包含定子组件、位于所述定子组件内侧的转子组件，转子组件(通过减速结构)连接至移动件，外力推动设备快速移动或设备工作在下坡向下移动时，由于移动件(如，履带)的移动带动所述转子组件转动在电机上产生感应电势(即，电机的转子组件的转动电机上产生感应电动势)；若该感应电势高于储能单元的电压时，电机产生的电能存储至储能单元。
在一实施方式中，电池包采用可插拔的方式安装于外壳主体的电池包安装槽，安装槽内配置有供电连接部，电池包连接至该供电连接部进而给向驱动电机及控制单元提供动力。
在一实施方式中，采用前轮驱动的方式或四轮驱动的方式。在一实施方式中，自动行走园艺设备采用后轮驱动的方式，底部的前部中央位置配置1个万向轮。
在一实施方式中，工具还包含有霍尔传感器，以检测工具在运行过程中会遇到各种障碍物或者意外的突发状况如，外部抬起，碰撞信号，等可能发生抬起、碰撞、翻倒等情况；当碰撞霍尔杆或者抬起霍尔杆在外力作用下发生形变或者位移时，霍尔传感器产生霍尔信号并送入控制单元的处理器的I/O端口，再由处理器作出处理。
在一实施方式中，工具还包含有设有倾斜传感器，以减少工具运行时还可能发生翻倒的情况，具体的，工具中包含一个硬件开关型倾斜传感器和一个三轴加速度传感器，当角度大十某一固定值时硬件开关型倾斜传感器输出一个高电平，由控制单元的处理器的I/O端口检测能识别割草机是否被翻倒，三轴加速度传感器则输出三轴方向的产生的感应电势拟量，根据该产生的感应电势拟量能够计算出割草机的俯仰角和翻滚角，从而实现系统保护。
在一实施方式中，工具的本体上还配置有显示产生的感应电势组(如，采用LCD液晶显示)，以更好的人机交互，提高用户的参与感。
在一实施方式中，为了实现工具具有智能路径规划功能，其采用(D)GPS以及电予罗盘等模块实现定位导航。
接下来以单相电机为例结合图2及3来详细的描述本公开实施方式的一种自动行走园艺设备的驱动电机的驱动电路；该实施方式中电机产生的电能被回收至储能单元(如电池包)。
图2为自动行走园艺设备的控制单元的功能结构示意图。自动行走园艺设备200，包含控制单元，该控制单元包含微控制器206，以控制开关电路中的第一开关模块201、第二开关模块202，其中，第一开关模块201的漏极端电性连接至所述储能单元的正极端，第一开关模块201的源极端电性连接至第二开关模块202的漏极端，第二开关模块202的源极端电性接地；第一开关模块201的源极端与第二开关模块202的漏极端的电性连接端形成电机M的第一输出端U1；该第一输出端U1电性连接驱动电机的驱动端(图未示)；第一开关模块201的漏极端与源极端连接有二极管203，该二极管203的正极端电性连接第一开关模块201的源极端，该二极管203的阴极端电性连接第一开关模块201的漏极端；第二开关模块202的漏极端与源极端连接有二极管204，该二极管204的正极端电性连接第二开关模块202的源极端，该二极管204的阴极端电性连接第二开关模块202漏极端；能量供给电路的一端电性连接储能单元的正极端，另一端电性连接第一开关模块的漏极端。外力的作用滚动轮组的滚动带动转子组件转动在电机上产生感应电势高于储能单元的电压，二极管203导通，驱动电机产生的电能存储至所述储能单元。在一应用场合如设备在下坡向下移动时，由于重力的作用，设备向下移动，滚动轮组或移动件的带动转子组件旋转电机产生的感应电势高于储能单元的电压，二极管203导通，电机产生的电能存储至所述储能单元。本实施方式中，第一开关模块201，第二开关模块202电性串联。
图2所示的实施方式中，微控制器206以PWM的形式驱动第一开关模块，第二开关模块，实现对电机的控制，进而控制电机的移动或工作。储能单元，包含电池包(其内部配置有若干按一定规则电性连接的电芯)。本实施方式中，还包含稳压器件如，电容205，该电容205的一端电性连接所述储能单元的正极端，另一端电性接地，用以滤波及储存驱动电机产生的电力。设备在正常工作时，由储能单元提供电机驱动电能。
在一实施方式中，第一开关模块，第二开关模块分别采用2个开关模块并联的方式连接，其电路等效为一个开关模块，如第一开关模块，这样可提高开关电路的可靠性。本实施方式中电子元器件为等效图，在实际应用时该元器件可能是一个或多个按照一定的规则电性连接。
在一实施方式中如图3所示，控制单元通过驱动模块进而控制设备。控制单元还包含驱动模块(如，自举电路)来驱动开关电路。自动行走园艺设备300包含控制单元，其具有开关电路350，自举电路351；
开关电路350，包含第一开关模块301，第二开关模块302，其中，第一开关模块301的漏极端电性连接至所述储能单元的正极端B+，第一开关模块301的源极端电性连接至第二开关模块302的漏极端，第二开关模块302的源极端电性接地；第一开关模块301的源极端与第二开关模块302的漏极端的电性连接端形成第一输出端U1；该第一输出端U1电性连接驱动电机M的驱动端(图未示)；第一开关模块301的漏极端与源极端连接有二极管303，该二极管303的正极(P)端电性连接第一开关模块301的源极端，该二极管303的阴极(N)端电性连接第一开关模块301的漏极端；第二开关模块302的漏极端与源极端连接有二极管304，该二极管304的正极端电性连接第二开关模块302的源极端，该二极管304的阴极端电性连接第二开关模块302漏极端；能量供给电路的一端电性连接储能单元的正极端B+，另一端电性连接第一开关模块301的漏极端。通过能量供给电路将驱动电机产生的电能(如，自动行走园艺设备在下坡时，由于重力的作用，电机的转子组件旋转产生的感应电势存储至所述储能单元。本实施方式中，第一开关模块301，第二开关模块302电性串联。
自举电路351，包含驱动第一开关模块301的电路351a及驱动第二开关模块302的电路351b。
351a电路，包含晶体管321，该晶体管321的集电极端电性连接电阻309及电阻310的一端，发射极端电性接地；电阻310的另一端分别电性连接晶体管311及晶体管312的基极；晶体管311的发射极端电性接地晶体管312的发射极端及电阻313的一端，晶体管311的集电极端电性连接电阻309的另一端及二极管308的负极(N)端，晶体管312的集电极端电性连接电阻314的一端，电阻313及电阻314的另一端连接后电性连接至第一开关模块301的栅极端；电阻314的一端电性连接至电容306的一端，电容306的另一端电性连接至晶体管311的集电极端；二极管308的正极(P)端电性连接电阻307并电性连接驱动端Dr+，驱动端Dr+连接有电容320。第一输出端U1电性连接至电阻314与电容306的连接处。
351b电路，包含晶体管322，该晶体管322的集电极端电性连接电阻315及电阻316的一端，发射极端电性接地；电阻316的另一端分别电性连接晶体管317及晶体管318的基极；晶体管317的发射极端电性接地晶体管318的发射极端及电阻319的一端，晶体管317的集电极端电性驱动端Dr+，晶体管318的集电极端电性接地，电阻319的另一端电性连接至第二开关模块302的栅极端；电阻315的另一端电性连接至驱动端Dr+。
本实施方式中自动行走园艺设备300，包含控制单元，其包含开关电路350，自举电路351，微控制器(图未示)，微控制器发出的控制信号至晶体管321及晶体管322的触发端(基极端)，经自举电路351后驱动开关电路350(这时，第一开关模块301的栅极端的电压高于其源极端的电压，第一开关模块302的栅极端的电压高于其源极端的电压)，开关电路350输出端U1电性连接至驱动电机相应的驱动端。本实施方式中，晶体管321,晶体管322可为三极管,MOS开关。本实施方式中第一开关模块、第二开关模块为为N型MOS，在其它的实施方式中第一开关模块、第二开关模块还可为N型MOS或IGBT模块。控制器(图未示)，以PWM的形式驱动自举电路进而驱动开关电路。驱动端Dr+的电压储能单元的正极端的电压一样，也可低于储能单元的正极端的电压(如，选用3V，5V，12V等)。在一实施方式中，该导线以导电层(如，铜箔)布线在控制板上。这样的设计，在下坡时或外力推动机器移动时，驱动电机产生的电力(反向电动势)通过该能量回收导线被输送至储能单元。这时驱动电机M的驱动端U1的电压高于第一开关模块漏极端的电压，驱动电机产生的电能经过二极管303流经能量供给电路至储能单元。储能单元，包含电池包(其内部配置有若干按一定规则电性连接的电芯)。本的实施方式中，还包含电容305，该电容305的一端电性连接所述储能单元的正极端，另一端电性接地，用以滤波及储存驱动电机产生的电力。这样的设计，自动行走园艺设备在下坡向下移动时，由转子组件转动驱动电机产生的电能被输送至储能单元，能抑制下坡时自动行走园艺设备的移动速度，减小快速移动引发的安全隐患。
图2，图3的实施方式中仅示出了驱动电机为单相的示意，若采用三相电机时，这时上述实施方式相当于三相电机中的某一相的驱动(采用2个开关模块的)；另外两相的驱动拓扑与此相同，在此不再重复描述。
在一实施方式中，若驱动电机采用单相无刷电机时，采用图2或图3示拓扑。
本公开的实施方式还提供一种自动行走园艺设备的控制方法，该自动行走园艺设备具备，外壳主体，设置于该外壳主体的驱动电机、控制单元，设置于所述外壳主体表面或内部的用以与储能单元连接的供电连接部；储能单元电性连接至该供电连接部，用以向该驱动电机及该控制单元提供动力；该驱动电机连接移动组件，基于所述控制单元的指令驱动所述自动行走园艺设备移动；该控制单元电性连接所述供电连接部及该驱动电机；
该控制方法包含如下步骤：
检测自动行走园艺设备的移动信息，若该移动信息超出设定的阈值时，减小驱动电机输出的功率。这样使得自动行走园艺设备处在预设的速度，实现抑制自动行走园艺设备的移动速度。本实施方式中，自动行走园艺设备在正常运行时依靠驱动电机提供的驱动力移动；若受到外力推动或在下坡移动，还维持受外力前的方式进行控制(维持驱动力矩不变)，自动行 走园艺设备的移动速度会增大，为保持自动行走园艺设备处于预设的速度，减小驱动电机输出的功率(降低储能单元输出的电流，节省储能单元的输出)，调整驱动电机的驱动力。
在一实施方式中，该控制方法包含如下步骤：
若驱动电机输出的功率为零时，检测出自动行走园艺设备的移动信息，驱动电机产生的电能存储至储能单元。
在一实施方式中，该控制方法包含如下步骤：
若驱动电机输出的功率为零时，检测出自动行走园艺设备的移动信息，驱动电机产生的感应电势高于储能单元的电压时，电机产生的电能存储至储能单元。
驱动电机输出的功率为零即驱动电路没有向驱动电机提供电能，如开关电路未被驱动，即认为驱动电路没有向驱动电机提供电能。本公开未对此作限定，只要能通过检测判断储能单位没有向驱动电机提供驱动电能即可。
储能单元可为电池包，超级电容。自动行走园艺设备的移动信息即移动速度信息通过速度传感器获得。
需要提醒注意的是，在一实施方式中，对于一自动行走园艺设备而言，在“电机”、“控制单元”、“传感器”可以只包括其中的一个或多个技术特征。其中关于“电机”的内容系可选自于包含有实施方式中其相关技术特征的其中之一或其组合，其中关于“控制单元”的内容系可选自于包含有实施方式中其相关技术特征的其中之一或其组合，其中关于“传感器”的内容系可选自于包含有实施方式中其相关技术特征的其中之一或其组合。
在自动行走园艺设备的设计中，自动行走园艺设备搭载至少一个电池包。其可采用内置于自动行走园艺设备的实施方式。如，采用1个电池包，该电池包尽量设置于自动行走园艺设备的重心位置，以提高工作过程中的稳定性。采用2个电池包(其可采用电性串联或电性并联)，该电池包(工具从上部投影至地面看)尽量设置于自动行走园艺设备的中央区域，以提高工作过程中的稳定性。
在自动行走园艺设备的设计中，自动行走园艺设备搭载至少一个电池包。其可采用可插拔的方式安装至移动园艺设备。如，采用1个电池包，该电池包尽量设置于自动行走园艺设备的重心位置，以提高工作过程中的稳定性。采用2个电池包(其可采用电性串联或电性并联)，该电池包(工具从上部投影至地面看)尽量设置于自动行走园艺设备的中央区域，以提高工作过程中的稳定性。
在电机的设计中，采用三相电机(如，三相无刷电机)。应用于驱动自动行走园艺设备的移动运行或驱动自动行走园艺设备的作业(如，割草等)，具有噪音小，效率高的特点。三 相直流无刷电机的控制采用三相PWM波控制，每一相上的PWM波之间存在相位差，使得每一时刻仅有两相导通，由此来控制驱动电机转动。
在电机的设计中，电机包含定子组件、位于所述定子组件内侧的转子组件，该转子组件连接至轮组和/或移动件；设备正常工作时，转子组件旋转带动轮组和/或移动件实现设备的移动；轮组和/或移动件受到外力驱动带动转子组件转动电机上产生的感应电势高于储能单元的电压时，电机产生的电能存储至所述储能单元。
在电机的设计中，驱动工具移动的电机的输出级可自带减速箱。
在控制单元的设计中，该控制单元包含在自动行走园艺设备的本体内，包括微控制器、检测模块、控制模块；所述检测模块可检测自动行走园艺设备的移动速度并将检测信号反馈至微控制器；微控制器基于该反馈的信号调制控制电路，进而调整自动行走园艺设备的移动速度。该控制单元通过检测电池包的包括温度在内的工作参数，根据其工作参数来控制该电池包与其他电池包间的连接/断开，可以减少(2个及以上)电池包在极限条件下的互充导致寿命缩短、安全隐患等问题。
在控制单元的设计中，控制单元用于执行本公开操作的计算机程序指令可以是汇编指令、指令集架构(ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA)，该电子电路可以执行计算机可读程序指令，从而实现本公开的各个方面。
在电池包的设计中，电池包的MAX电压可为12V，16V，20V，24V，40V，60V等，具体的电压可视自动行走园艺设备的应用场合，在此不作限定。电池包内部的电池芯片可选用锂基电池，燃料电池等。
在传感器的设计中，传感器电性连接至所述控制单元，所述传感器检测所述自动行走园艺设备的位置信息并将检测的信息反馈至所述控制单元，所设控制单元基于置于所述检测的信息调整所述自动行走园艺设备的动作，如自主避障，路径规划。
本公开还提供自动行走园艺设备的第二种实施例，具体地，如图4和5所示，自动行走园艺设备包括：壳体2，驱动电机(5，25(包括25a和25b))，移动组件4，控制单元40，以及储能单元。驱动电机(5，25)设置在壳体2内，包括定子和转子。定子包括定子铁芯和绕在定子铁芯上的绕组。本实施例中，驱动电机包括如图所示的驱动左驱动轮的左行走电机25b、驱动右驱动轮的右行走电机25a、以及驱动切割刀盘的工作电机5。在其他实施例中，驱动电机可以为仅包括一个同时驱动左右两个驱动轮的行走电机，或包括驱动工作部件的工作电机，工作部件如切割刀盘，清洁设备等。移动组件4包括左驱动轮4b，右驱动轮4a，以及万向轮4c,4d。移动组件4由驱动电机25驱动，从而带动自动行走园艺设备自动行走。控制单元40控制驱动电机(5，25)的运行，至少包括控制驱动电机(5，25)的转子在目标转速下运行。储能单元向驱动电机(5，25)和/或控制单元40提供电能。其中，当转子的实际转速高于目标转速时，转子旋转切割绕组产生感应电能，且感应电能转移至储能单元。
控制单元40基于目标转速，按照预设程序有规律地将储能单元的电能输送到驱动电机(5，25)的绕组，从而驱动转子以目标转速旋转。基于此控制过程，通常情况下，转子的实际速度与目标转速基本相同。但在例外情况下，转子的实际速度会大于目标转速。以下对几种例外情况进行介绍。
第一种情形如图6所示，自动行走园艺设备沿坡道向下移动。设定驱动电机的目标转速为V1，对应的自动行走设备的移动速度为V1’，坡道与水平面的倾斜角度为θ，自动行走园艺设备的质量为M，重力为G，自动行走园艺设备的移动方向为X，与X垂直的方向为Y。基于此，重力G沿X方向的分量Fx＝G*sin(θ),重力G沿Y方向的分量Fy＝G*cos(θ)，即移动组件受到沿移动方向的外力大小为Fx＝G*sin(θ)。根据物理学原理可知，当θ逐渐增大时，Fx逐渐增大，为维持驱动电机的目标转速V1，控制单元需降低占空比，以使驱动电机从储能单元获取的电能逐渐减少。当θ达到预设值θ1时，会出现Fx达到预设外力F1＝M*V1’的情形。此时，控制单元将占空比降至为零，仅凭借F1的作用，也能维持驱动电机以目标转速V1运转，自动行走设备以V1’进行移动。当θ进一步增大，达到θ>θ1时，Fx>F1，即移动组件沿移动方向受到的外力大于预设外力。在外力Fx的作用下，自动行走设备的实际移动速度会进一步增大到V2’，V2’>V1’。此时驱动轮会带动转子以大于目标转速V1的速度进行转动，转子旋转切割绕组产生感应电能，且感应电能转移至储能单元。
第二种情形为，自动行走园艺设备在水平地面上受到人为的推力Fx，该推力Fx大于F1。由于F＝M*V。此时，自动行走设备的实际移动速度V’>V1’。对应地，驱动轮会带动转子以大于目标转速V1的速度进行转动，转子旋转切割绕组产生感应电能，且感应电能转移至储能单元。
上述两种情形为：移动组件在移动方向上受到的外力大于预设外力，此时移动组件驱动转子以高于目标转速的速度旋转
第三种情形为，自动行走园艺设备需要停止行走或停止工作时，控制单元控制驱动电机刹车，以使驱动电机的目标速度为零，以停止驱动轮或切割刀盘。在惯性力作用下，驱动轮或切割刀盘继续旋转，带动转子继续旋转，使得所述转子的实际转速高于目标转速0，转子旋转切割绕组产生感应电能，且感应电能转移至储能单元。
本实施例中，可选地，自动行走园艺设备还包括传感器组件。传感器组件电性连接至控制单元。传感器组件检测自动行走园艺设备的环境信息并将检测的信息反馈至控制单元。控制单元基于传感器组件的检测信息控制驱动电机的运转，以实现自动行走园艺设备的转弯，前进，后退，停止行走，停止工作等动作。
可选的，本实施例中的控制单元同图2或图3所示的控制单元。在此不再赘述。
上述的实施例中，自动行走园艺设备可为具有自驱功能的割草机、清扫机等；在有的实施方式中割草机、清扫机，还具有避障功能，功能自主路径规划功能，其采用(D)GPS以及电予罗盘等模块实现定位导航，可应用于有边界线及无边界线的场合。
也就是说，可以将上述特征作任意的排列组合，并用于自动行走园艺设备的改进。
以上描述的实施方式仅表达了本公开的几种实施方式，由于文字表达得有限性，而在客观上存在无限的可能结构，对于本领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以作出若干改进和润饰，这些改进和润饰也应视为本公开的保护范围。因此，本公开专利的保护范围应以所附权利要求为准。

Claims (12)

  1. 一种自动行走园艺设备，其特征在于，所述自动行走园艺设备包括:
    壳体，
    驱动电机，设置在所述壳体内，包括定子和转子，所述定子包括定子铁芯和绕在所述定子铁芯上的绕组；
    移动组件，由所述驱动电机的转子驱动，带动所述自动行走园艺设备行走；
    控制单元，控制所述驱动电机的运行，至少包括控制所述转子在目标转速下运行；
    储能单元，向所述驱动电机和/或所述控制单元提供电能；
    其中，当所述转子的实际转速高于所述目标转速时，所述转子旋转切割绕组产生感应电能，所述感应电能转移至所述储能单元。
  2. 如权利要求1所述的自动行走园艺设备，其特征在于，所述移动组件沿移动方向受到外力驱动时，带动所述转子旋转，当所述移动组件在移动方向上受到的外力大于预设外力时，所述移动组件驱动所述转子以高于目标转速的速度旋转。
  3. 如权利要求2所述的自动行走园艺设备，其特征在于，自动行走园艺设备沿高于预设角度的斜面向下移动时，所述移动组件在移动方向上的外力大于预设外力。
  4. 如权利要求2所述的自动行走园艺设备，其特征在于，所述移动组件包括与地面接触以支撑和移动自动行走园艺设备的轮组和/或移动件。
  5. 如权利要求4所述的自动行走园艺设备，其特征在于，所述转子位于所述定子的内侧，所述转子组件连接轮组和/或移动件。
  6. 如权利要求1所述的自动行走园艺设备，其特征在于，当所述控制单元控制所述驱动电机刹车时，所述转子在惯性力作用下继续旋转，使得所述转子的实际转速高于目标转速。
  7. 如权利要求1‐6中任一项所述的自动行走园艺设备，其特征在于，所述控制单元包含开关电路，所述开关电路包含串联连接的第一开关模块、第二开关模块，所述开关电路将从所述储能单元提供的电能进行转换以驱动所述驱动电机；所述第一开关模块及所述第二开关模块皆包含寄生二极管；其中，所述驱动电机产生的感应电能的电压高于所述储能单元的电压时所述寄生二极管导通，所述驱动电机产生的电能经所述寄生二极管转移至所述储能单元。
  8. 如权利要求7所述的自动行走园艺设备，其特征在于，所述开关电路包含驱动模块，用以驱动所述第一开关模块、所述第二开关模块。
  9. 如权利要求8所述的自动行走园艺设备，其特征在于，所述驱动模块还包含自举电路，所述自举电路的输出端电性连接所述第一开关模块的触发端及所述第二开关模块的触发端，用以驱动所述第一开关模块及所述第二开关模块。
  10. 如权利要求1所述的自动行走园艺设备，其特征在于，所述储能单元电性连接有稳压器件。
  11. 如权利要求10所述的自动行走园艺设备，其特征在于，所述稳压器件包含电容，其一端电性连接所述储能单元的正极端，另一端电性接地，所述稳压器件在所述驱动电机产生的电能转移至所述储能单元时稳压及滤波。
  12. 如权利要求1所述的自动行走园艺设备，其特征在于，还包括传感器组件，所述传感器组件电性连接至所述控制单元，所述传感器组件检测所述自动行走园艺设备的环境信息并将检测的信息反馈至所述控制单元，所述控制单元基于所述检测的信息控制所述驱动电机的运转。
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