WO2021103548A1 - 割草机及其控制系统 - Google Patents

割草机及其控制系统 Download PDF

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Publication number
WO2021103548A1
WO2021103548A1 PCT/CN2020/100665 CN2020100665W WO2021103548A1 WO 2021103548 A1 WO2021103548 A1 WO 2021103548A1 CN 2020100665 W CN2020100665 W CN 2020100665W WO 2021103548 A1 WO2021103548 A1 WO 2021103548A1
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Prior art keywords
motor
lawn mower
mowing
walking
motor driver
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PCT/CN2020/100665
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English (en)
French (fr)
Inventor
王雷
束力
郑立军
殷荣军
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江苏沃得植保机械有限公司
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Publication of WO2021103548A1 publication Critical patent/WO2021103548A1/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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
    • 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 invention relates to the technical field of electrical control, in particular to a control system of a lawn mower and a lawn mower.
  • Lawn mower is a kind of lawn trimming tool, which is widely used because of its simple and practical characteristics.
  • lawn mowers mainly include oil-powered lawnmowers and electric lawnmowers.
  • oil-powered lawnmower When the oil-powered lawnmower is working, it will produce combustion exhaust gas and make a lot of noise, which will cause serious damage to the operator and the working environment.
  • Multiple pollution, especially the area where the lawn mower works are usually home grass, public green space, etc., which has a serious impact on the quality of life of the public. Therefore, with the development of new energy, electric lawn mowers have gradually replaced oil-powered lawn mowers due to their advantages of non-polluting, low noise, and simple operation.
  • the current electric control system of the electric lawn mower is still in the stage of simple walking and mowing according to the action instructions of the operator, which has low work efficiency and also reduces the service life of the battery of the electric lawn mower.
  • an object of the present invention is to provide a control system for a lawn mower that can control the lawn mower to adaptively mow the lawn, thereby improving the working efficiency of the lawn mower and extending the service life of the lawn mower battery.
  • the second object of the present invention is to provide a lawn mower.
  • an embodiment of the first aspect of the present invention proposes a control system for a lawn mower, comprising: a walking motor driver, the walking motor driver is connected to the walking motor of the lawn mower, and the walking motor driver Used to drive the walking motor, and collect the working state of the walking motor and itself; a mowing motor driver, the mowing motor driver is connected to the mowing motor of the lawn mower, and the mowing motor driver is used for To drive the mowing motor, and collect the working status of the mowing motor and itself; a human-computer interaction module, which is used to obtain the set operating parameters of the lawnmower; operating switches, The operating switch is used to set the running speed state of the lawn mower; the battery management system is used to collect the battery state of the lawn mower; the vehicle controller, the vehicle controller Respectively connected with the walking motor driver, the mowing motor driver, the man-machine interaction module, the manipulation switch and the battery management system, and the vehicle controller is used to start mowing according to the mowing The operating
  • the walking motor is driven by the walking motor driver and the working state of the walking motor and itself is collected
  • the mowing motor is driven by the mowing motor driver and the working status of the mowing motor and itself is collected
  • the running speed status of the lawn mower is given through the operation switch, and the operating parameters and battery status of the lawn mower are obtained respectively through the human-computer interaction module and the battery management system, and then the vehicle controller is used according to the control at the beginning of the mowing stage.
  • the operating parameters and walking speed status of the lawn mower control the speed of the mowing motor and the walking motor, and according to the working status of the mowing motor, the working status of the walking motor, the working status of the mowing motor driver, and the walking motor during the mowing process
  • the working state and battery state of the driver adjust the speed of the mowing motor and the walking motor, thereby controlling the lawn mower to adaptively mow the lawn, thereby improving the work efficiency of the lawn mower and extending the service life of the lawn mower battery .
  • control system of the lawn mower proposed according to the above embodiment of the present invention may also have the following additional technical features:
  • the operating parameters of the lawn mower include the operating mode of the lawn mower, the blade condition of the lawn mower, the grass species and the grass condition of the grass to be trimmed.
  • the running speed state of the lawn mower includes the running direction and the running speed of the lawn mower.
  • the vehicle controller first determines the given component of the walking speed of the walking motor according to the walking direction and the walking speed of the lawn mower, and at the same time according to the knife Condition, the grass seed, the grass condition and the battery status to obtain the tool condition component, the grass seed component, the grass condition component and the battery component respectively, and then the given component, the tool condition component, and the battery component are given according to the walking speed.
  • the grass seed component, the grass condition component and the battery component obtain the target speed control value of the walking motor, and then obtain the target speed control value of the mowing motor according to the target speed control value of the walking motor, and finally By correcting the target speed control value of the walking motor and the target speed control value of the mowing motor, the speeds of the walking motor and the mowing motor during the mowing process are adjusted.
  • the vehicle controller first determines the given component of the walking speed of the walking motor according to the walking direction and the walking speed of the lawn mower, and at the same time according to the battery
  • the battery component is obtained from the state, and then the target speed control value of the walking motor is obtained according to the given component of the walking speed of the walking motor, and then the target speed of the mowing motor is obtained according to the target speed control value of the walking motor
  • the control value and finally by modifying the target speed control value of the walking motor and the target speed control value of the mowing motor to adjust the speed of the walking motor and the mowing motor during the mowing process.
  • the complete machine controller first controls the operation of the walking motor driver and the pre-charging circuit of the mowing motor driver, so as to control the operation of the walking motor driver and the pre-charging circuit of the mowing motor driver.
  • the bus of the mowing motor driver is pre-charged, and the pre-charging circuit is disconnected after the bus pre-charging is completed.
  • the working circuit of the walking motor driver and the mowing motor driver is controlled to be connected to The walking motor driver and the mowing motor driver are powered on.
  • control system of the lawn mower further includes a communication module connected to the man-machine interaction module, and the communication module is used for working status information of the lawn mower And the transmission of fault information.
  • control system of the lawn mower further includes an electric push rod, the electric push rod is connected to the complete machine controller, and the electric push rod is used to adjust the lawn mower The height of the header.
  • the vehicle controller is respectively connected to the walking motor driver, the mowing motor driver, the man-machine interaction module, the manipulation switch, and the battery management system through a CAN bus .
  • an embodiment of the second aspect of the present invention proposes a lawn mower, including the control system of the lawn mower proposed in the embodiment of the first aspect.
  • the rotation speed of the mowing motor and the walking motor can be adjusted in real time, so that the lawn can be self-adapted and the work efficiency can be improved.
  • Fig. 1 is a schematic block diagram of a control system of a lawn mower according to an embodiment of the present invention
  • Fig. 2 is a control process of the lawn mower control system controlling the lawn mower to work in an economic mode according to an embodiment of the present invention
  • Fig. 3 is a control process of the lawn mower control system controlling the lawn mower to work in the fast mode according to an embodiment of the present invention
  • Fig. 4 is a circuit diagram of pre-charging the driver in the control system of the lawn mower according to an embodiment of the present invention
  • Fig. 5 is a schematic block diagram of a control system of a lawn mower according to an embodiment of the present invention.
  • Fig. 1 is a schematic block diagram of a control system of a lawn mower according to an embodiment of the present invention.
  • the control system of the lawn mower in the embodiment of the present invention includes a walking motor driver 10, a mowing motor driver 20, a human-machine interaction module 30, a manipulation switch 40, a battery management system 50 and a vehicle controller 60.
  • the walking motor driver 10 is connected with the walking motor of the lawn mower, and the walking motor driver 10 is used to drive the walking motor and collect the walking motor and its own working state;
  • the mowing motor driver 20 is connected with the grass cutting motor of the lawn mower,
  • the mowing motor driver 20 is used to drive the mowing motor and collect the working status of the mowing motor and itself;
  • the man-machine interaction module 30 is used to obtain the set operating parameters of the lawn mower;
  • the manipulation switch 40 is used to give a given mowing The running speed status of the machine;
  • the battery management system 50 is used to collect the battery status of the lawn mower;
  • the vehicle controller 60 is respectively connected with the walking motor driver 10, the mowing motor driver 20, the man-machine interaction module 30, the operation switch 40 and the
  • the walking motor driver 10 can be connected to the walking motor encoder to receive the speed and position signals of the walking motor, and perform closed-loop control of the walking motor. At the same time, the walking motor driver 10 can also pass the first temperature sensor. It is connected with the walking motor to receive the temperature information of the walking motor.
  • the mowing motor driver 20 can be connected to the mowing motor encoder to receive the speed and position signals of the mowing motor, and to perform closed-loop control of the mowing motor. At the same time, the mowing motor driver 20 can also The second temperature sensor is connected to the mowing motor to receive temperature information of the mowing motor.
  • the set operating parameters of the lawn mower acquired by the human-machine interaction module 30 include the operating mode of the lawn mower, the blade condition of the lawn mower, and the grass species and conditions of the grass to be trimmed.
  • the human-computer interaction module 30 can also display status information of the lawn mower.
  • the running speed state of the lawn mower given by the operation switch 40 includes the running direction and the running speed of the lawn mower.
  • the vehicle controller 60 can be connected to the walking motor driver 10, the mowing motor driver 20, the man-machine interaction module 30, the manipulation switch 40, and the battery management system 50 respectively through the CAN bus, and the walking The motor driver 10 and the walking motor of the lawn mower, as well as the mowing motor driver 20 and the lawn mower motor of the lawn mower, can also be connected through the CAN bus.
  • the CANOPEN protocol with a baud rate of 250Kb can be used for communication connection. Connecting through the CAN bus can facilitate the addition of newly-added function controllers, thereby enhancing the scalability of the control system, simplifying the connection relationship of the control system, and reducing the cost.
  • the lawn mower can be controlled to perform the mowing operation, for example, the lawn mower can be controlled to perform the mowing operation in two working modes of the economy mode and the fast mode.
  • the vehicle controller 60 can first determine the given component of the walking speed of the walking motor according to the walking direction and speed of the lawn mower, and at the same time according to the condition of the blade, grass type, and grass condition. Obtain the tool condition component, grass seed component, grass condition component and battery component separately from the battery status, and then obtain the target speed control value of the walking motor according to the given component of the walking speed, the tool condition component, the grass seed component, the grass condition component and the battery component. , And then obtain the target speed control value of the mowing motor according to the target speed control value of the walking motor. Finally, by correcting the target speed control value of the walking motor and the target speed control value of the mowing motor to adjust the walking motor and the mowing motor in the mowing Rotation speed during the process.
  • the vehicle controller 60 can determine the given component N1 of the walking speed of the walking motor of the lawn mower by rotating a potentiometer or a Hall sensor to generate a voltage signal of 0-5V, and can pass a human
  • the machine interaction module 30 obtains the sharpness of the lawn mower blade to determine the blade condition component N2 of the lawn mower blade, and at the same time, the human-computer interaction module 30 obtains the grass type of the grass to be trimmed to determine the grass species component N3 of the grass to be trimmed.
  • the growth status of the grass to be trimmed can be obtained through the human-computer interaction module 30 to determine the grass condition component N4 of the grass to be trimmed, and then the battery management system 50 can obtain the power status and history of the lawn mower battery, such as mowing
  • the battery charge and discharge times of the machine battery and the deep charge and deep discharge times are used to determine the battery component N5 of the lawn mower battery.
  • the vehicle controller 60 can also determine the tool condition component N2 by automatically acquiring the history value of the lawn mower blade.
  • the given walking speed component N1, the tool condition component N2, the grass species component N3, the grass condition component N4, and the battery component N5 can be weighted according to a certain weight coefficient to obtain the walking motor Target speed control value K1, and then multiply the walking motor target speed control value K1 by the set coefficient by the speed-dependent control method to obtain the mowing motor target speed control value K2, and combine the walking motor target speed control value K1 and the mowing motor target speed
  • the control value K2 is correspondingly sent to the walking motor driver 10 and the mowing motor driver 20 to drive the walking motor and the mowing motor.
  • the target speed control value K2 of the mowing motor specifically by reducing the current speed of the mowing motor, that is, the current speed n, until the torque T is greater than the torque threshold T1, at this time, if the current speed n of the mowing motor has been reduced to mowing At the lowest speed set by the machine, that is, the lowest speed n1, stop reducing the speed of the mowing motor, and then modify the target speed control value K1 of the walking motor upwards, specifically to increase the forward speed of the lawnmower until the lawnmower moves forward.
  • the speed reaches the maximum speed set by the mower; if during the mowing process, the mowing motor's target speed control value K2 drives the torque output by the mowing motor, that is, when the torque T is greater than the torque threshold, that is, the torque threshold T2, then Revise the target speed control value K1 of the walking motor downwards, specifically to reduce the forward speed of the mower, so that the output torque T of the mowing motor is less than the torque threshold T2; if in the process of mowing, pass the target speed control value of the mowing motor K2 drives the mowing motor's output torque, that is, when the torque T is greater than the torque threshold, that is, the torque threshold T3, the mowing motor target speed control value K2 is set to zero, the mowing motor is stopped, and the walking motor target speed is corrected downward.
  • the control value K1 is specifically to reduce the forward speed of the lawn mower.
  • the vehicle controller 60 first determines the given component of the walking speed of the walking motor according to the walking direction and speed of the lawn mower, and then obtains the given component according to the walking speed of the walking motor.
  • the target speed control value of the walking motor, and then the target speed control value of the mowing motor is obtained according to the target speed control value of the walking motor, and finally the walking motor is adjusted by correcting the target speed control value of the walking motor and the target speed control value of the mowing motor And the speed of the mowing motor during mowing.
  • the method of determining the given component N1 of the traveling speed of the walking motor by the vehicle controller 60 is the same as the method of determining the given component N1 of the traveling speed of the traveling motor when the mower is in the economic mode. Go ahead and repeat.
  • the given component N1 of the walking speed can be used as the target speed control value of the walking motor K1, and then the target speed control value K1 of the walking motor is multiplied by the set coefficient to obtain the mowing motor target.
  • the speed control value K2, and the walking motor target speed control value K1 and the mowing motor target speed control value K2 are respectively sent to the walking motor driver 10 and the mowing motor driver 20 to drive the walking motor and the mowing motor.
  • the torque output by the mowing motor is driven by the mowing motor target rotation speed control value K2, for example, when the torque T is greater than the torque threshold T2, then the walking motor target rotation speed control value K1 is revised downward.
  • the torque threshold T2 In order to reduce the forward speed of the lawnmower, so that the output torque T of the lawnmower motor is less than the torque threshold T2; if in the process of mowing, the torque output by the lawnmower motor is driven by the target speed control value K2 of the lawnmower, such as torque T When both are greater than the torque threshold, for example, the torque threshold T3, the walking motor target speed control value K1 and the mowing motor target speed control value K2 are set to zero to stop the operation of the walking motor and the mowing motor.
  • the aforementioned torque thresholds T1, T2, and T3 are all preset in the vehicle controller 60, and T1 ⁇ T2 ⁇ T3; the aforementioned weight coefficients can be dynamically adjusted and optimized through automatic learning of the complete machine controller 60.
  • control system of the lawn mower of the present invention controls the control process of the lawn mower for mowing operations.
  • the following will clarify the driving motor driver and the mowing motor driver in the control system of the lawn mower of the present invention. Pre-charging process.
  • the complete machine controller 60 may first control the operation of the pre-charging circuit of the walking motor driver 10 and the mowing motor driver 20, so as to control the walking motor driver 10 and cutting
  • the bus of the grass motor driver 20 is pre-charged, and the pre-charging circuit is disconnected after the bus pre-charging is completed, and at the same time, the working circuits of the walking motor driver 10 and the mowing motor driver 20 are controlled to be turned on to connect the walking motor driver 10 and the mowing motor.
  • the motor driver 20 is powered on.
  • the VCU that is, the vehicle controller 60
  • the VCU can first turn on the switch S1, so that the relay K1 is energized, thereby controlling the switch S2 to close, and finally the resistance R and The RC loop formed by the equivalent capacitors of the walking motor driver 10 and the mowing motor driver 20 is turned on to pre-charge the bus bars of the walking motor driver 10 and the mowing motor driver 20.
  • the complete controller 60 will turn off the switch S1, so that the relay K1 is de-energized, thereby controlling the switch S2 to be turned off, and the pre-charging is completed.
  • the whole machine controller 60 turns on the switch S3, so that the relay K2 is energized, thereby controlling the switch S4 to close, and completes the power-on work of the walking motor driver 10 and the mowing motor driver 20.
  • the overall controller 60 can generate an alarm message and stop the operation of the control system.
  • the control system of the lawn mower further includes a communication module 70.
  • the communication module 70 is connected to the man-machine interaction module 30, and the communication module 70 can be used to transmit the working status information and fault information of the lawn mower.
  • the communication module 70 may be connected to the operation and maintenance center of the lawn mower via WIFI, and send the working status and fault information of the lawn mower to the operation and maintenance center in real time. For example, if the lawn mower has a short circuit or open circuit fault, the lawn mower can send the fault information to the operation and maintenance center through the communication module 70, so that the maintenance personnel can find the lawn mower fault in time and repair it in time.
  • control system of the lawn mower may further include an electric push rod, which is connected to the complete machine controller 60 and can be used to adjust the height of the cutting head of the lawn mower.
  • the walking motor is driven by the walking motor driver and the working state of the walking motor and itself is collected
  • the mowing motor is driven by the mowing motor driver and the work of the mowing motor and itself is collected.
  • the running speed status of the lawn mower is given by the operation switch, and the operating parameters and battery status of the lawn mower are obtained respectively through the human-computer interaction module and the battery management system, and then the vehicle controller is used at the beginning of the mowing stage.
  • the working state and battery state of the motor driver adjust the speed of the mowing motor and the walking motor, thereby controlling the lawn mower to adaptively mowing the lawn, thereby improving the work efficiency of the lawn mower and extending the use of the lawn mower battery life.
  • the present invention also provides a lawn mower.
  • the lawn mower proposed in the embodiment of the present invention includes the control system of the lawn mower proposed in the above-mentioned embodiment, and the specific implementation mode can refer to the above-mentioned embodiment.
  • the rotational speed of the lawn mower motor and the walking motor can be adjusted in real time, so that the lawn mower can be adaptively cut and the work efficiency can be improved.
  • connection should be understood in a broad sense.
  • it can be a fixed connection, a detachable connection, or a whole; it can be a mechanical connection or an electrical connection. Connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication between two elements or the interaction between two elements.
  • connection can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication between two elements or the interaction between two elements.

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Abstract

一种割草机及其控制系统，控制系统包括行走电机驱动器（10）、割草电机驱动器（20）、人机交互模块（30）、操纵开关（40）、电池管理系统（50）和整车控制器（60），其中，行走电机驱动器（10）驱动行走电机并采集行走电机和自身的工作状态，割草电机驱动器（20）驱动割草电机并采集割草电机和自身的工作状态，操纵开关（40）给定割草机的行走转速状态，人机交互模块（30）和电池管理系统（50）分别对应获取割草机的作业参数和电池状态；整车控制器（60）根据割草机的作业参数和行走转速状态，以及割草电机、行走电机、割草电机驱动器（20）、行走电机驱动器（30）的工作状态及电池状态控制并调整割草电机和行走电机的转速。能够提高割草机的工作效率并延长割草机电池的使用寿命。

Description

割草机及其控制系统 技术领域
本发明涉及电气控制技术领域，具体涉及一种割草机的控制系统和一种割草机。
背景技术
割草机是一种草坪修整工具，因其简单实用的特性使其被广泛应用。目前，割草机主要包括油动割草机和电动割草机，其中油动割草机在工作时，会产生燃烧废气，并且还会发出很大的噪音，对操作者和工作环境造成严重、多重的污染，尤其是割草机工作的区域通常是家庭草地，公共绿地等，对公众的生活质量的影响严重。因此，随着新能源的发展，电动割草机因具有无污染、低噪音、操控简单等优点逐步取代油动割草机。
然而，目前的电动割草机的电控系统还处在根据操作人员的动作指令进行简单的行走、割草的阶段，工作效率较低，并且还会降低电动割草机的电池的使用寿命。
发明内容
本发明旨在至少在一定程度上解决上述技术中的技术问题之一。为此，本发明的一个目的在于提出一种割草机的控制系统，能够控制割草机进行自适应割草，从而能够提高割草机的工作效率，并延长割草机电池的使用寿命。
本发明的第二个目的在于提出一种割草机。
为达到上述目的，本发明第一方面实施例提出了一种割草机的控制系统，包括：行走电机驱动器，所述行走电机驱动器与所述割草机的行走电机相连，所述行走电机驱动器用于驱动所述行走电机，并采集所述行走电机和自身的工作状态；割草电机驱动器，所述割草电机驱动器与所述割草机的割草电机相连，所述割草电机驱动器用于驱动所述割草电机，并采集所述割草电机和自身的工作状态；人机交互模块，所述人机交互模块用于获取所设置的所述 割草机的作业参数；操纵开关，所述操纵开关用于给定所述割草机的行走转速状态；电池管理系统，所述电池管理系统用于采集所述割草机的电池状态；整车控制器，所述整车控制器分别与所述行走电机驱动器、所述割草电机驱动器、所述人机交互模块、所述操纵开关和所述电池管理系统相连，所述整车控制器用于在割草开始阶段根据所述割草机的作业参数和所述行走转速状态控制所述割草电机和所述行走电机的转速，并在割草过程中根据所述割草电机的工作状态、所述行走电机的工作状态、所述割草电机驱动器的工作状态、所述行走电机驱动器的工作状态和所述电池状态调整所述割草电机和所述行走电机的转速。
根据本发明实施例的割草机的控制系统，通过行走电机驱动器驱动行走电动并采集行走电机和自身的工作状态，并通过割草电机驱动器驱动割草电动并采集割草电机和自身的工作状态，同时通过操作开关给定割草机的行走转速状态，并通过人机交互模块和电池管理系统分别对应获取割草机的作业参数和电池状态，然后通过整车控制器在割草开始阶段根据割草机的作业参数和行走转速状态控制割草电机和行走电机的转速，并在割草过程中根据割草电机的工作状态、行走电机的工作状态、割草电机驱动器的工作状态、行走电机驱动器的工作状态和电池状态调整割草电机和行走电机的转速，由此，能够控制割草机进行自适应割草，从而能够提高割草机的工作效率，并延长割草机电池的使用寿命。
另外，根据本发明上述实施例提出的割草机的控制系统还可以具有如下附加的技术特征：
根据本发明的一个实施例，所述割草机的作业参数包括所述割草机的工作模式及所述割草机的刀况、待修整草地的草种和草况。
根据本发明的一个实施例，所述割草机的行走转速状态包括所述割草机的行走方向和行走速度。
进一步地，在所述割草机处于经济模式时，所述整车控制器先根据所述割草机的行走方向和行走速度确定所述行走电机的行走转速给定分量，同时根据所述刀况、所述草种、所述草况和所述电池状态分别得到刀况分量、草种分量、草况分量和电池分量，再根据所述行走转速给定分量、所述刀况分量、所述草种分量、所述草况分量和所述电池分量得到所述行走电机的目标转速控制值，然后根据所述行走电机的目标转速控制值得到所述割草电机的目标转速控制值，最后通过修正所述行走电机的目标转速控制值和所述割草电机的目标转速控制值以调整所述行走电机和所述割草电机在割草过程中的转速。
进一步地，在所述割草机处于快速模式时，所述整车控制器先根据所述割草机的行走方向和行走速度确定所述行走电机的行走转速给定分量，同时根据所述电池状态得到所述电池分量，再根据所述行走电机的行走转速给定分量得到所述行走电机的目标转速控制值，然后根据所述行走电机的目标转速控制值得到所述割草电机的目标转速控制值，最后通过修正所述行走电机的目标转速控制值和所述割草电机的目标转速控制值以调整所述行走电机和所述割草电机在割草过程中的转速。
进一步地，在所述割草机开机上电时，所述整机控制器先控制所述行走电机驱动器和所述割草电机驱动器的预充电电路工作，以对所述行走电机驱动器和所述割草电机驱动器的母线进行预充电，并在所述母线预充电完成后断开所述预充电电路，同时控制所述行走电机驱动器和所述割草电机驱动器的工作电路接通，以对所述行走电机驱动器和所述割草电机驱动器上电。
根据本发明的一个实施例，所述的割草机的控制系统还包括通信模块，所述通信模块与所述人机交互模块相连，所述通信模块用于所述割草机的工作状态信息和故障信息的传输。
根据本发明的一个实施例，所述的割草机的控制系统还包括电动推杆， 所述电动推杆与所述整机控制器相连，所述电动推杆用于调整所述割草机割台的高度。
根据本发明的一个实施例，所述整车控制器分别通过CAN总线与所述行走电机驱动器、所述割草电机驱动器、所述人机交互模块、所述操纵开关和所述电池管理系统相连。
为实现上述目的，本发明第二方面实施例提出了一种割草机，包括第一方面实施例提出的割草机的控制系统。
根据本发明实施例的割草机，通过采用上述实施例提出割草机的控制系统，能够实时调整割草电机和行走电机的转速，从而能够自适应割草，并能够提高工作效率。
附图说明
图1为本发明实施例的割草机的控制系统的方框示意图；
图2为本发明一个实施例的割草机的控制系统控制割草机在经济模式下工作的控制过程；
图3为本发明一个实施例的割草机的控制系统控制割草机在快速模式下工作的控制过程；
图4为本发明一个实施例的割草机的控制系统中驱动器进行预充电的电路图；
图5为本发明一个实施例的的割草机的控制系统的方框示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
图1为本发明实施例的割草机的控制系统的方框示意图。
如图1所示，本发明实施例的割草机的控制系统包括行走电机驱动器10、割草电机驱动器20、人机交互模块30、操纵开关40、电池管理系统50和整车控制器60。其中，行走电机驱动器10与割草机的行走电机相连，行走电机驱动器10用于驱动行走电机，并采集行走电机和自身的工作状态；割草电机驱动器20与割草机的割草电机相连，割草电机驱动器20用于驱动割草电机，并采集割草电机和自身的工作状态；人机交互模块30用于获取所设置的割草机的作业参数；操纵开关40用于给定割草机的行走转速状态；电池管理系统50用于采集割草机的电池状态；整车控制器60分别与行走电机驱动器10、割草电机驱动器20、人机交互模块30、操作开关40和电池管理系统50相连，整车控制器60用于在割草开始阶段根据割草机的作业参数和行走转速状态控制割草电机和行走电机的转速，并在割草过程中根据割草电机的工作状态、行走电机的工作状态、割草电机驱动器的工作状态、行走电机驱动器的工作状态和电池状态调整割草电机和行走电机的转速。
在本发明的一个实施例中，行走电机驱动器10可与行走电机编码器相连，以接收行走电机的转速和位置信号，对行走电机进行闭环控制，同时行走电机驱动器10还可通过第一温度传感器与行走电机相连，以接收行走电机的温度信息。
在本发明的一个实施例中，割草电机驱动器20可与割草电机编码器相连，以接收割草电机的转速和位置信号，对割草电机进行闭环控制，同时割草电机驱动器20还可通过第二温度传感器与割草电机相连，以接收割草电机的温度信息。
在本发明的一个实施例中，人机交互模块30获取的所设置的割草机的作业参数包括割草机的工作模式及割草机的刀况、待修整草地的草种和草况。此外，人机交互模块30还可显示割草机的状态信息。
在本发明的一个实施例中，操作开关40给定的割草机的行走转速状态包 括割草机的行走方向和行走速度。
在本发明的一个实施例中，整车控制器60可分别通过CAN总线与行走电机驱动器10、割草电机驱动器20、人机交互模块30、操纵开关40和电池管理系统50相连，并且，行走电机驱动器10和割草机的行走电机之间，以及割草电机驱动器20和割草机的割草电机之间同样可通过CAN总线进行连接。具体可采用波特率为250Kb的CANOPEN协议进行通信连接。通过CAN总线进行连接，能够便于新增功能的控制器的加入，从而能够增强控制系统的扩展性，并且简化了控制系统的连接关系，降低了成本。
基于上述结构，可控制割草机进行割草作业，例如可控制割草机分别在经济模式和快速模式两种工作模式下进行割草作业。
举例而言，在割草机处于经济模式时，整车控制器60可先根据割草机的行走方向和行走速度确定行走电机的行走转速给定分量，同时根据刀况、草种、草况和电池状态分别得到刀况分量、草种分量、草况分量和电池分量，再根据行走转速给定分量、刀况分量、草种分量、草况分量和电池分量得到行走电机的目标转速控制值，然后根据行走电机的目标转速控制值得到割草电机的目标转速控制值，最后通过修正行走电机的目标转速控制值和割草电机的目标转速控制值以调整行走电机和割草电机在割草过程中的转速。
具体地，如图2所示，整车控制器60可通过转动电位计或霍尔传感器产生0-5V的电压信号来确定割草机的行走电机的行走转速给定分量N1，并可通过人机交互模块30获取割草机刀片的锋利程度来确定割草机刀片的刀况分量N2，同时可通过人机交互模块30获取待修整草地的草的种类来确定待修整草地的草种分量N3，以及可通过人机交互模块30获取待修整草地的草的生长状况来确定待修整草地的草况分量N4，然后可通过电池管理系统50获取割草机电池的电量状态和履历，例如割草机电池充放电次数和深充深放电次数来确定割草机电池的电池分量N5。其中，整车控制器60还可通过自动 获取割草机刀片的履历值来确定刀况分量N2。
进一步地，如图2所示，可将上述行走转速给定分量N1、刀况分量N2、草种分量N3、草况分量N4和电池分量N5按一定的权重系数进行加权处理，以得到行走电机目标转速控制值K1，然后通过随速控制法将行走电机目标转速控制值K1乘以设定系数得到割草电机目标转速控制值K2，并将行走电机目标转速控制值K1和割草电机目标转速控制值K2分别对应发送至行走电机驱动器10和割草电机驱动器20，以驱动行走电机和割草电机。
进一步地，如图2所示，若在割草过程中，通过割草电机目标转速控制值K2驱动割草电机输出的扭矩，即扭矩T均小于扭矩阈值，即扭矩阈值T1时，则向下修正割草电机目标转速控制值K2，具体可通过降低割草电机的当前转速，即当前转速n，直到扭矩T大于扭矩阈值T1，此时，若割草电机的当前转速n已经降至割草机设定的最低转速，即最低转速n1时，则停止降低割草电机的转速，转而向上修正行走电机目标转速控制值K1，具体为提高割草机的前进速度，直到割草机的前进速度达到割草机设定的最高速度；若在割草过程中，通过割草电机目标转速控制值K2驱动割草电机输出的扭矩，即扭矩T均大于扭矩阈值，即扭矩阈值T2时，则向下修正行走电机目标转速控制值K1，具体为降低割草机的前进速度，以使割草电机的输出扭矩T小于扭矩阈值T2；若在割草过程中，通过割草电机目标转速控制值K2驱动割草电机输出的扭矩，即扭矩T均大于扭矩阈值，即扭矩阈值T3时，则将割草电机目标转速控制值K2置零，停止割草电机运转，同时向下修正行走电机目标转速控制值K1，具体为降低割草机的前进速度。
举例而言，在割草机处于快速模式时，整车控制器60先根据割草机的行走方向和行走速度确定行走电机的行走转速给定分量，再根据行走电机的行走转速给定分量得到行走电机的目标转速控制值，然后根据行走电机的目标转速控制值得到割草电机的目标转速控制值，最后通过修正行走电机的目标 转速控制值和割草电机的目标转速控制值以调整行走电机和割草电机在割草过程中的转速。
具体地，如图3所示，整车控制器60确定行走电机的行走转速给定分量N1的方法与割草机处于经济模式时确定行走电机的行走转速给定分量N1的方法相同，这里不在进行赘述。
进一步地，如图3所示，可将行走转速给定分量N1作为行走电机目标转速控制值K1，然后通过随速控制法将行走电机目标转速控制值K1乘以设定系数得到割草电机目标转速控制值K2，并将行走电机目标转速控制值K1和割草电机目标转速控制值K2分别对应发送至行走电机驱动器10和割草电机驱动器20，以驱动行走电机和割草电机。
进一步地，若在割草过程中，通过割草电机目标转速控制值K2驱动割草电机输出的扭矩，例如扭矩T均大于扭矩阈值T2时，则向下修正行走电机目标转速控制值K1，具体为降低割草机的前进速度，以使割草电机的输出扭矩T小于扭矩阈值T2；若在割草过程中，通过割草电机目标转速控制值K2驱动割草电机输出的扭矩，例如扭矩T均大于扭矩阈值，例如扭矩阈值T3时，则将行走电机目标转速控制值K1和割草电机目标转速控制值K2置零，以停止行走电机和割草电机的运转。
需要说明的时，上述扭矩阈值T1、T2和T3均预先设置于整车控制器60中，且T1＜T2＜T3；上述权重系数可通过整机控制器60自动学习进行动态调整优化。
综上所述，阐明了本发明的割草机的控制系统控制割草机进行割草作业的控制过程，下面将阐明本发明的割草机的控制系统中行走电机驱动器和割草电机驱动器的预充电过程。
在本发明的一个实施例中，在割草机开机上电时，整机控制器60可先控制行走电机驱动器10和割草电机驱动器20的预充电电路工作，以对行走电 机驱动器10和割草电机驱动器20的母线进行预充电，并在母线预充电完成后断开预充电电路，同时控制行走电机驱动器10和割草电机驱动器20的工作电路接通，以对行走电机驱动器10和割草电机驱动器20上电。
具体地，如图4所示，在割草机开机上电时，VCU，即整车控制器60可先接通开关S1，以使得继电器K1通电，从而控制开关S2闭合，最终使得电阻R和行走电机驱动器10与割草电机驱动器20等效电容组成的RC回路导通，以对行走电机驱动器10与割草电机驱动器20的母线进行预充电。进一步地，当行走电机驱动器10与割草电机驱动器20的母线电压达到电压阈值时，整机控制器60将断开开关S1，以使得继电器K1断电，从而控制开关S2断开，完成预充电工作，同时整机控制器60接通开关S3，以使得继电器K2通电，从而控制开关S4闭合，完成行走电机驱动器10与割草电机驱动器20的上电工作。其中，若在预充电过程中出现异常，整机控制器60可生成报警信息并停止控制系统的运行。通过对行走电机驱动器与割草电机驱动器的预充电，能够避免因母线电压短时间快速升高而造成电路上元器件的损坏，从而提高控制系统的质量。
在本发明的一个实施例中，如图5所示，割草机的控制系统还包括通信模块70。通信模块70与人机交互模块30相连，通信模块70可用于割草机的工作状态信息和故障信息的传输。具体地，通信模块70可通过WIFI与割草机的运维中心相连，实时向运维中心发送割草机的工作状态和故障信息。例如，若割草机出现短路或断路故障时，割草机可通过通信模块70将故障信息发送至运维中心，以便于维护人员及时发现割草机的故障，并及时进行维修。
在本发明的一个实施例中，割草机的控制系统还可包括电动推杆，电动推杆与整机控制器60相连，可用于调整割草机割台的高度。
根据本发明实施例提出的割草机的控制系统，通过行走电机驱动器驱动行走电动并采集行走电机和自身的工作状态，并通过割草电机驱动器驱动割 草电动并采集割草电机和自身的工作状态，同时通过操作开关给定割草机的行走转速状态，并通过人机交互模块和电池管理系统分别对应获取割草机的作业参数和电池状态，然后通过整车控制器在割草开始阶段根据割草机的作业参数和行走转速状态控制割草电机和行走电机的转速，并在割草过程中根据割草电机的工作状态、行走电机的工作状态、割草电机驱动器的工作状态、行走电机驱动器的工作状态和电池状态调整割草电机和行走电机的转速，由此，能够控制割草机进行自适应割草，从而能够提高割草机的工作效率，并延长割草机电池的使用寿命。
对应上述实施例，本发明还提出了一种割草机。
本发明实施例提出的割草机，包括上述实施例提出的割草机的控制系统，其具体实施方式可参照上述实施例。
根据本发明实施例提出的割草机，通过采用上述实施例提出割草机的控制系统，能够实时调整割草电机和行走电机的转速，从而能够自适应割草，并能够提高工作效率。
在本发明中，除非另有明确的规定和限定，术语“相连”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域 的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (10)

  1. 一种割草机的控制系统，其特征在于，包括：
    行走电机驱动器，所述行走电机驱动器与所述割草机的行走电机相连，所述行走电机驱动器用于驱动所述行走电机，并采集所述行走电机和自身的工作状态；
    割草电机驱动器，所述割草电机驱动器与所述割草机的割草电机相连，所述割草电机驱动器用于驱动所述割草电机，并采集所述割草电机和自身的工作状态；
    人机交互模块，所述人机交互模块用于获取所设置的所述割草机的作业参数；
    操纵开关，所述操纵开关用于给定所述割草机的行走转速状态；
    电池管理系统，所述电池管理系统用于采集所述割草机的电池状态；
    整车控制器，所述整车控制器分别与所述行走电机驱动器、所述割草电机驱动器、所述人机交互模块、所述操纵开关和所述电池管理系统相连，所述整车控制器用于在割草开始阶段根据所述割草机的作业参数和所述行走转速状态控制所述割草电机和所述行走电机的转速，并在割草过程中根据所述割草电机的工作状态、所述行走电机的工作状态、所述割草电机驱动器的工作状态、所述行走电机驱动器的工作状态和所述电池状态调整所述割草电机和所述行走电机的转速。
  2. 根据权利要求1所述的割草机的控制系统，其特征在于，所述割草机的作业参数包括所述割草机的工作模式及所述割草机的刀况、待修整草地的草种和草况。
  3. 根据权利要求2所述的割草机的控制系统，其特征在于，所述割草机的行走转速状态包括所述割草机的行走方向和行走速度。
  4. 根据权利要求3所述的割草机的控制系统，其特征在于，其中，在所述割草机处于经济模式时，所述整车控制器先根据所述割草机的行走方向和 行走速度确定所述行走电机的行走转速给定分量，同时根据所述刀况、所述草种、所述草况和所述电池状态分别得到刀况分量、草种分量、草况分量和电池分量，再根据所述行走转速给定分量、所述刀况分量、所述草种分量、所述草况分量和所述电池分量得到所述行走电机的目标转速控制值，然后根据所述行走电机的目标转速控制值得到所述割草电机的目标转速控制值，最后通过修正所述行走电机的目标转速控制值和所述割草电机的目标转速控制值以调整所述行走电机和所述割草电机在割草过程中的转速。
  5. 根据权利要求3所述的割草机的控制系统，其特征在于，其中，在所述割草机处于快速模式时，所述整车控制器先根据所述割草机的行走方向和行走速度确定所述行走电机的行走转速给定分量，同时根据所述电池状态得到所述电池分量，再根据所述行走电机的行走转速给定分量得到所述行走电机的目标转速控制值，然后根据所述行走电机的目标转速控制值得到所述割草电机的目标转速控制值，最后通过修正所述行走电机的目标转速控制值和所述割草电机的目标转速控制值以调整所述行走电机和所述割草电机在割草过程中的转速。
  6. 根据权利要求5所述的割草机的控制系统，其特征在于，其中，在所述割草机开机上电时，所述整机控制器先控制所述行走电机驱动器和所述割草电机驱动器的预充电电路工作，以对所述行走电机驱动器和所述割草电机驱动器的母线进行预充电，并在所述母线预充电完成后断开所述预充电电路，同时控制所述行走电机驱动器和所述割草电机驱动器的工作电路接通，以对所述行走电机驱动器和所述割草电机驱动器上电。
  7. 根据权利要求1所述的割草机的控制系统，其特征在于，还包括通信模块，所述通信模块与所述人机交互模块相连，所述通信模块用于所述割草机的工作状态信息和故障信息的传输。
  8. 根据权利要求1所述的割草机的控制系统，其特征在于，还包括电动 推杆，所述电动推杆与所述整机控制器相连，所述电动推杆用于调整所述割草机割台的高度。
  9. 根据权利要求8所述的割草机的控制系统，其特征在于，所述整车控制器分别通过CAN总线与所述行走电机驱动器、所述割草电机驱动器、所述人机交互模块、所述操纵开关和所述电池管理系统相连。
  10. 一种割草机，其特征在于，包括根据权利要求1-9中任一项所述的割草机的控制系统。
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