Intelligent electric mower control method based on walking efficiency matching

Abstract

The invention relates to the technical field of mower control, in particular to an intelligent electric mower control method based on walking efficiency matching, and the method comprises the steps: carrying out the closed-loop detection of parameters of a walking motor, carrying out the closed-loop detection of parameters of a mower, and analyzing the parameters collected in the mower; the quality and hardness analysis and real-time updating of weeds in the real-time environment are automatically completed, automatic adjustment of push rod lifting control and walking speed reduction / mower torque output control is adopted in the corresponding control mode, optimal efficiency matching of walking and the mower is achieved, and the mower is adaptive to various weed environments, high in adaptability and low in cost. Therefore, the problem of energy consumption waste caused by excessive energy consumption matching due to the fact that the same set of parameter configuration is used for different scenes in an existing mower control method is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of lawn mower control, and in particular to an intelligent electric lawn mower control method based on walking efficiency matching. Background Art

[0002] As a garden tool, lawn mowers are widely used in the fields of lawn and vegetation trimming. Existing lawn mowers generally include handheld lawn mowers and riding lawn mowers, which are mainly divided into electric lawn mowers and fuel lawn mowers according to the energy system.

[0003] At present, the level of intelligence of agricultural equipment is low, and diesel engine tractor mowers are usually the main ones. The existing new energy mowers on the market do not differentiate the actual working conditions. Using the same set of parameter configurations for different scenarios without adaptive adjustment will cause insufficient power and poor mowing effect or excessive energy consumption, resulting in energy waste. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent electric lawn mower control method based on walking efficiency matching, aiming to solve the problem that the existing lawn mower control method uses the same set of parameter configurations for different scenarios, resulting in excessive energy consumption matching and energy waste.

[0005] To achieve the above object, the present invention provides a control method for an intelligent electric lawn mower based on walking efficiency matching, comprising the following steps:

[0006] The S1 mower performs real-time detection of the chassis travel motor while in motion to obtain chassis travel data;

[0007] S2 monitors the mowing motor in real time during the operation of the mowing machine to obtain mowing motor data;

[0008] S3 judges the mowing motor data. If a stall fault occurs or the speed is lower than a threshold, the process goes to S4. If no stall fault occurs, the process increases the walking speed and returns to S1.

[0009] S4: adjusting the speed of the mowing motor based on the stall fault until the stall fault is resolved or a threshold value is restored;

[0010] S5 records the frequency of stall faults. If the frequency exceeds a threshold, the speed of the mowing motor is increased to achieve performance matching. If the speed of the mowing motor reaches the maximum power, the speed of the travel motor is reduced.

[0011] Among them, "real-time detection of the chassis travel motor during the movement of the lawn mower to obtain chassis travel data" includes:

[0012] The lawn mower collects torque data, speed data and current data of the travel motor while it is moving;

[0013] The CAN bus sends the torque data, the speed data and the current data to the control system in real time;

[0014] The control system reads and analyzes the torque data, the rotation speed data and the current data at a frequency of 100 Hz to obtain chassis running data.

[0015] The step of “monitoring the mowing motor in real time during the operation of the mowing machine to obtain the mowing motor data” includes:

[0016] Collecting torque data, speed data and current data during the operation of the lawn mowing motor;

[0017] The CAN bus sends the torque data, the speed data and the current data to the control system in real time;

[0018] The control system reads and analyzes the torque data, the rotation speed data and the current data at a frequency of 100 Hz to obtain the mowing motor data.

[0019] Among them, in "judging the lawn mower motor data, if a stall fault occurs or the speed is lower than a threshold, entering S4, if no stall fault occurs, increasing the walking speed and returning to S1", it includes:

[0020] Based on the lawn mower motor data, if the torque value of the lawn mower motor is greater than 75Nm for 3 seconds or a stall fault is reported, the speed of the walking motor is reduced to enter S4. If the torque of the lawn mower motor is lower than the threshold, the walking speed of the walking motor is increased and returns to S1.

[0021] Among them, in "based on the lawn mower motor data, if the torque value of the lawn mower motor is greater than 75Nm for 3 seconds or a jam fault is reported, the speed of the walking motor is reduced to enter S4; if the torque of the lawn mower motor is lower than the threshold, the walking speed of the walking motor is increased and returned to S1", the threshold is 30Nm.

[0022] Among them, in "adjusting the speed of the mowing motor based on the jam fault until the jam fault is resolved or the threshold is restored", the threshold is 60Nm.

[0023] Among them, in "recording the frequency of occurrence of stall faults, if the frequency exceeds a threshold, increasing the speed of the mowing motor to achieve efficiency matching, if the speed of the mowing motor reaches the maximum power, reducing the speed of the walking motor.", the threshold value of the frequency of occurrence of stall faults is 10 times / hour.

[0024] The present invention provides a control method for an intelligent electric lawn mower based on walking efficiency matching, comprising the following steps: S1, performing real-time detection on a chassis walking motor when the lawn mower is moving, and obtaining chassis walking data; S2, performing real-time monitoring on the lawn mower motor during the operation of the lawn mower, and obtaining lawn mower motor data; S3, judging the lawn mower motor data, and if a stall fault occurs or is lower than a threshold, entering S4, and if no stall fault occurs, increasing the walking speed and returning to S1; S4, adjusting the speed of the lawn mower motor based on the stall fault until the stall fault is resolved or the threshold is restored; S5, recording the frequency of the stall fault, and if the frequency exceeds the threshold, increasing the speed of the lawn mower motor to achieve efficiency matching, and if the speed of the lawn mower motor reaches the maximum power, reducing the walking motor speed. The method uses closed-loop detection of walking motor parameters and closed-loop detection of lawn mower parameters, and analyzes the internal parameters collected by the lawn mower to automatically complete the quality and hardness analysis of weeds in the actual environment and update them in real time. The corresponding control mode adopts automatic adjustment of push rod lifting control and walking speed reduction / mower torque output control to achieve the best performance matching between walking and lawn mower, and is self-adaptive to various weed environments with strong adaptability, thereby solving the problem of energy waste caused by excessive energy matching due to the existing lawn mower control method using the same set of parameter configurations for different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 The present invention provides a flow chart of a control method for an intelligent electric lawn mower based on walking efficiency matching.

[0027] Figure 2 The present invention provides an implementation process of an intelligent electric lawn mower control method based on walking efficiency matching.

[0028] Figure 3 This is a flow chart of real-time detection of the chassis travel motor while the S1 lawn mower is moving and obtaining chassis travel data.

[0029] Figure 4 S2 is a flow chart of real-time monitoring of the mowing motor during the operation of the mowing machine to obtain the mowing motor data. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0031] See also Figures 1 to 4 The present invention provides a control method of an intelligent electric lawn mower based on walking efficiency matching, comprising the following steps:

[0032] The S1 mower performs real-time detection of the chassis travel motor while in motion to obtain chassis travel data;

[0033] The S11 mower collects torque data, speed data, and current data of the travel motor during movement;

[0034] Specifically, the sensor detects changes in the physical state of the travel motor (including speed, torque and current output), and then converts these changes into electrical signals, which are processed into a readable data format by a signal conditioning circuit and finally stored in the microprocessor of the lawn mower.

[0035] The S12CAN bus sends the torque data, the speed data and the current data to the control system in real time;

[0036] Specifically, the data is transmitted to the control system in the form of differential signals through the physical layer of the CAN bus to ensure the anti-interference and reliability of the data during transmission.

[0037] S13: The control system reads and analyzes the torque data, the speed data and the current data at a frequency of 100 Hz to obtain chassis running data.

[0038] Specifically, the microprocessor or dedicated controller in the control system periodically reads data frames from the CAN bus at a preset frequency of 100 Hz, and then extracts the actual values ​​of torque, speed and current by parsing the control information and data load in these data frames.

[0039] S2 monitors the mowing motor in real time during the operation of the mowing machine to obtain mowing motor data;

[0040] S21 collects torque data, speed data and current data during the operation of the lawn mowing motor;

[0041] Specifically, the sensor detects changes in the physical state of the lawn mower motor (including speed, torque and current output), and then converts these changes into electrical signals, which are processed into a readable data format by a signal conditioning circuit and finally stored in the lawn mower's microprocessor.

[0042] S22CAN bus sends the torque data, the speed data and the current data to the control system in real time;

[0043] Specifically, the data is transmitted to the control system in the form of differential signals through the physical layer of the CAN bus to ensure the anti-interference and reliability of the data during transmission.

[0044] S23: The control system reads and analyzes the torque data, the rotation speed data and the current data at a frequency of 100 Hz to obtain the lawn mowing motor data.

[0045] Specifically, the microprocessor or dedicated controller in the control system periodically reads data frames from the CAN bus at a preset frequency of 100 Hz, and then extracts the actual values ​​of torque, speed and current by parsing the control information and data load in these data frames.

[0046] S3 judges the mowing motor data. If a stall fault occurs or the speed is lower than a threshold, the process goes to S4. If no stall fault occurs, the process increases the walking speed and returns to S1.

[0047] Based on the mowing motor data, if the mowing motor torque value is greater than 75 Nm for 3 seconds or a stall fault is reported, the speed of the walking motor is reduced to enter S4, and if the mowing motor torque is lower than the threshold, the walking motor speed is increased and the process returns to S1. The threshold is 30 Nm.

[0048] Specifically, the collected data is analyzed to calculate the operating status parameters of the current mowing motor, such as whether it is within the normal load range and whether there are abnormal fluctuations; by comparing the actual speed with the preset minimum safety speed threshold, and whether the current value is abnormally increased (exceeding the stall current threshold), it is determined whether a stall fault has occurred; check whether the output power or efficiency of the mowing motor is lower than the preset efficiency threshold; if it is determined to be a stall fault or lower than the efficiency threshold, enter step S4; if there is no stall fault and the efficiency is normal, dynamically adjust the speed of the travel motor according to the current working conditions to improve the mowing efficiency, and return to S1 to continue monitoring.

[0049] S4: adjusting the speed of the mowing motor based on the stall fault until the stall fault is resolved or a threshold value is restored;

[0050] The threshold value is 60 Nm.

[0051] Specifically, first try to reduce the speed of the mowing motor to reduce the load, observe whether the jam fault can be resolved or the mower can be restored to normal operation, and continuously monitor the operating status of the mowing motor, including parameters such as speed and current, and observe the effect after adjustment. If the initial adjustment fails to solve the problem, adjust the speed of the mowing motor again according to the feedback results until the jam fault is resolved or the motor recovers to the preset efficiency threshold.

[0052] S5 records the frequency of stall faults. If the frequency exceeds a threshold, the speed of the mowing motor is increased to achieve performance matching. If the speed of the mowing motor reaches the maximum power, the speed of the travel motor is reduced.

[0053] The frequency threshold of the stall fault is 10 times / hour.

[0054] Specifically, each time a stall fault occurs, key information such as the time and location of the fault, and the operating status of the mower motor are recorded. Statistics are collected regularly on the recorded stall faults to calculate the frequency of the faults. If the frequency of stall faults exceeds the preset threshold, it indicates that the efficiency of the current mower motor does not match the working conditions. At this time, try to increase the speed of the mower motor to increase the output power so that it can better adapt to the current working conditions. If the mower motor has reached the maximum power after the speed is increased, but the stall faults are still frequent, it means that the current working conditions are too severe or the motor itself has limits. At this time, the speed of the travel motor should be reduced to reduce the load on the mower motor. According to the adjusted effect, the operating status of the mower should be continuously monitored, and the strategy should be further optimized according to the actual situation.

[0055] The present invention provides an intelligent electric lawn mower control method based on walking efficiency matching, which has the following advantages:

[0056] Beneficial effects:

[0057] 1. A control method for an intelligent electric lawn mower based on walking efficiency matching provided by the present invention. This control method automatically completes the quality hardness analysis of weeds in the actual environment and updates it in real time through closed-loop detection of walking motor parameters and closed-loop detection of lawn mower parameters, and analysis of internal acquisition parameters of the lawn mower. The corresponding control method adopts automatic adjustment of push rod lifting control and walking speed reduction / mower torque output control.

[0058] 2. The intelligent electric lawn mower control method based on walking efficiency matching provided by the present invention realizes the best efficiency matching between walking and the lawn mower, and is adaptive to various weed environments and has strong adaptability.

[0059] The above disclosure is only a preferred embodiment of the intelligent electric lawn mower control method based on walking efficiency matching of the present invention. Of course, this cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A control method for an intelligent electric lawn mower based on walking efficiency matching, characterized in that: The following steps are involved: The S1 mower performs real-time detection of the chassis travel motor while in motion to obtain chassis travel data; S2 monitors the mowing motor in real time during the operation of the mowing machine to obtain mowing motor data; S3 judges the mowing motor data. If a stall fault occurs or the speed is lower than a threshold, the process goes to S4. If no stall fault occurs, the process increases the walking speed and returns to S1. S4: adjusting the speed of the mowing motor based on the stall fault until the stall fault is resolved or a threshold value is restored; S5 records the frequency of stall faults. If the frequency exceeds a threshold, the speed of the mowing motor is increased to achieve performance matching. If the speed of the mowing motor reaches the maximum power, the speed of the travel motor is reduced.

2. The intelligent electric lawn mower control method based on walking efficiency matching according to claim 1, characterized in that: In "real-time detection of chassis travel motor while the mower is moving to obtain chassis travel data", it includes: The lawn mower collects torque data, speed data and current data of the travel motor while it is moving; The CAN bus sends the torque data, the speed data and the current data to the control system in real time; The control system reads and analyzes the torque data, the rotation speed data and the current data at a frequency of 100 Hz to obtain chassis running data.

3. The intelligent electric lawn mower control method based on walking efficiency matching according to claim 1, characterized in that: In “monitoring the mowing motor in real time during the operation of the mowing machine to obtain mowing motor data”, it includes: Collecting torque data, speed data and current data during the operation of the lawn mowing motor; The CAN bus sends the torque data, the speed data and the current data to the control system in real time; The control system reads and analyzes the torque data, the rotation speed data and the current data at a frequency of 100 Hz to obtain the mowing motor data.

4. The intelligent electric lawn mower control method based on walking efficiency matching according to claim 1, characterized in that: In "judging the lawn mower motor data, if a stall fault occurs or the speed is lower than a threshold, entering S4, if no stall fault occurs, increasing the travel speed and returning to S1", it includes: Based on the lawn mower motor data, if the torque value of the lawn mower motor is greater than 75Nm for 3 seconds or a stall fault is reported, the speed of the walking motor is reduced to enter S4. If the torque of the lawn mower motor is lower than the threshold, the walking speed of the walking motor is increased and returns to S1.

5. The intelligent electric lawn mower control method based on walking efficiency matching according to claim 4, characterized in that: In "making a judgment based on the lawn mower motor data, if the torque value of the lawn mower motor is greater than 75Nm for 3 seconds or a stall fault is reported, the speed of the walking motor is reduced to enter S4; if the torque of the lawn mower motor is lower than the threshold, the walking speed of the walking motor is increased and the process returns to S1", the threshold value is 30Nm.

6. The intelligent electric lawn mower control method based on walking efficiency matching according to claim 1, characterized in that: In "adjusting the speed of the mowing motor based on the jam fault until the jam fault is resolved or the threshold is restored", the threshold is 60Nm.

7. The intelligent electric lawn mower control method based on walking efficiency matching according to claim 1, characterized in that: In "recording the frequency of occurrence of stall faults, if the frequency exceeds a threshold, increasing the speed of the mowing motor to achieve efficiency matching, if the speed of the mowing motor reaches the maximum power, reducing the speed of the travel motor.", the threshold of the frequency of occurrence of the stall fault is 10 times / hour.

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