Self-propelled device and control method thereof

Abstract

The application discloses a self-walking device and a control method thereof. The self-walking device comprises a rack, a power supply assembly for providing power for the self-walking device, a walking assembly comprising a walking wheel and a walking motor for driving the walking wheel to walk, a detection device for detecting a posture parameter or a working parameter of the walking motor when the self-walking device is in an automatic parking mode, and a controller electrically connected with at least the walking motor and the detection device to control the operation of the walking motor. The controller is configured to obtain the working parameter or the posture parameter of the walking motor based on the detection device when the self-walking device is in the automatic parking mode, and exit the automatic parking mode when the working parameter or the posture parameter exceeds a preset range. The technical scheme can protect electronic components and save energy.

Description

Technical Field

[0001] This application relates to the field of electromechanical technology, and in particular to a self-propelled device and its control method. Background Technology

[0002] Ride-on lawnmowers are widely used as garden tools for mowing lawns and vegetation. Compared to push lawnmowers, ride-on lawnmowers are less strenuous to use and more efficient.

[0003] Currently, ride-on lawnmowers often rely on automatic parking systems to keep the vehicle stationary when going uphill or downhill. However, when the slope is too steep, the automatic parking system will increase the parking current in order to continue working, resulting in high heat generation of the corresponding control module. Prolonged parking can lead to damage to electronic components and continuous power consumption. Summary of the Invention

[0004] This application provides a self-propelled device and its control method to avoid the problems of electronic component damage and continuous power consumption caused by prolonged automatic parking when the slope is too steep.

[0005] In a first aspect, embodiments of this application provide a self-propelled device, including:

[0006] frame;

[0007] A power supply component for providing electrical energy to the self-propelled device;

[0008] The walking assembly includes walking wheels and a walking motor that drives the walking wheels to walk;

[0009] A detection device, connected to the controller, is used to detect the attitude parameters of the self-propelled device or the operating parameters of the walking motor.

[0010] A controller is connected at least to the walking motor to control the operation of the walking motor; the controller is also configured to control the self-propelled device to enter an automatic parking mode.

[0011] The controller is configured as follows:

[0012] When the self-propelled device is in the automatic parking mode, it acquires the attitude parameters or the operating parameters of the walking motor based on the detection device, and controls the self-propelled device to exit the automatic parking mode when the attitude parameters or the operating parameters of the walking motor exceed the preset range.

[0013] In some embodiments, the controller is configured to control the self-propelled device to enter an electronic braking mode or a power-off mode when the self-propelled device exits the automatic parking mode.

[0014] In some embodiments, the operating parameters of the walking motor include the operating current of the walking motor.

[0015] In some embodiments, when the operating current of the walking motor exceeds a preset current range, the controller controls the self-propelled device to switch from the automatic parking mode to the electronic braking mode.

[0016] In some embodiments, the operating parameters of the walking motor include the operating time during which the walking motor outputs negative torque after the self-propelled device enters the automatic parking mode.

[0017] In some embodiments, when the operating time of the walking motor outputting negative torque exceeds a preset time range, the controller controls the self-propelled device to switch from the automatic parking mode to the electronic braking mode.

[0018] In some embodiments, the operating parameters of the walking motor include the torque output by the walking motor.

[0019] In some embodiments, when the torque exceeds a preset torque range, the controller controls the self-propelled device to switch from the automatic parking mode to the electronic braking mode.

[0020] In some embodiments, the attitude parameters of the self-propelled device include the tilt angle of the plane on which the self-propelled device's wheels are located relative to the horizontal plane.

[0021] In some embodiments, when the tilt angle exceeds a preset angle range, the controller controls the self-propelled device to switch from the automatic parking mode to the electronic braking mode.

[0022] In some embodiments, the attitude parameters of the self-propelled device include the attitude parameters of the frame and power supply components of the self-propelled device.

[0023] In some embodiments, the self-propelled device further includes a support for supporting a user; the controller is configured to control the self-propelled device to enter the automatic parking mode when the user leaves the support.

[0024] In some embodiments, the self-propelled device further includes an alarm component electrically connected to the controller, which is used to issue an alarm to remind the user when the self-propelled device switches from the automatic parking mode to the electronic braking mode.

[0025] Secondly, embodiments of this application also provide a control method for a self-propelled device, used in any of the self-propelled devices described in the first aspect of this application, comprising:

[0026] Detect the attitude parameters of the self-propelled device when it is in the automatic parking mode or the operating parameters of the walking motor;

[0027] When the self-propelled device is in the automatic parking mode, based on the acquired posture parameters or the operating parameters of the walking motor, the self-propelled device is controlled to switch from the automatic parking mode to the electronic braking mode or the power-off mode.

[0028] This application provides a self-propelled device, comprising: a frame; a power supply component for providing electrical energy to the self-propelled device; a walking component including walking wheels and a walking motor for driving the walking wheels; an operating device that, when triggered by a user, sends an automatic parking signal to trigger the self-propelled device to enter or exit the automatic parking mode; a detection device for detecting the operating parameters or attitude parameters of the walking motor when the self-propelled device is in the automatic parking mode; and a controller, electrically connected to at least the walking motor and the detection device, for controlling the operation of the walking motor; wherein the controller is configured to: when the self-propelled device is in the automatic parking mode, obtain the operating parameters or attitude parameters of the walking motor based on the detection device, and exit the automatic parking mode when the operating parameters or attitude parameters exceed a preset range. This application, by controlling the three-phase short circuit of its walking motor to exit the automatic parking mode when the operating parameters or attitude parameters of the self-propelled device exceed a preset range while it is in the automatic parking mode, avoids the problems of damage to electronic components and continuous power consumption caused by excessive parking current, protects electronic components, saves energy, and enables the self-propelled device to adaptively exit the automatic parking mode. Attached Figure Description

[0029] Figure 1 This is a three-dimensional structural diagram of a ride-on lawnmower provided in an embodiment of this application;

[0030] Figure 2 This is a three-dimensional structural diagram of a ride-on lawnmower from another perspective;

[0031] Figure 3 yes Figure 1 The diagram shows the control circuit of a ride-on lawnmower.

[0032] Figure 4 This is a structural diagram of a driving circuit provided in this application;

[0033] Figure 5 This is a flowchart of a control method for a riding lawnmower provided in an embodiment of this application;

[0034] Figure 6 This is a flowchart of another riding lawnmower control method provided in the embodiments of this application;

[0035] Figure 7This is a flowchart of another riding lawnmower control method provided in the embodiments of this application;

[0036] Figure 8 This is a flowchart of another riding lawnmower control method provided in the embodiments of this application;

[0037] Figure 9 This is a flowchart of a control method for a ride-on lawnmower provided in an embodiment of this application. Detailed Implementation

[0038] The present application will now be described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present application, not the entire structure.

[0039] The terminology used in the embodiments of this application is for the purpose of describing specific embodiments only and is not intended to limit the application. It should be noted that directional terms such as "upper," "lower," "left," and "right" described in the embodiments of this application are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when referring to an element being formed "upper" or "lower" of another element, it can be formed not only directly "upper" or "lower" of the other element, but also indirectly "upper" or "lower" of the other element through intermediate elements. The terms "first," "second," etc., are used for descriptive purposes only and do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0040] The term "comprising" and its variations as used in this application are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment".

[0041] It should be noted that the concepts of "first" and "second" mentioned in this application are used only to distinguish the corresponding content and are not used to limit the order or interdependence.

[0042] It should be noted that the terms "a" and "a plurality of" used in this application are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0043] This application discloses a riding lawnmower as an example of a self-propelled device. It is understood that the self-propelled device may also be a snowplow, a standing lawnmower, a tractor, etc.

[0044] Figure 1 This is a three-dimensional structural diagram of a ride-on lawnmower provided in an embodiment of this application; Figure 2 This is a three-dimensional structural diagram of a ride-on lawnmower from another perspective; Figure 3 yes Figure 1 The diagram shows the control circuit of a ride-on lawnmower. This ride-on lawnmower allows a user to ride on it and operate it to mow lawns and other vegetation. The ride-on lawnmower includes: a frame 10; a power supply assembly 20; a walking assembly including wheels 31 and a motor 32 driving the wheels 31; an operating device 40; a detection device; and a controller 60. The power supply assembly 20 provides electrical power to the ride-on lawnmower. The operating device 40 sends an automatic parking signal when triggered by the user to trigger the ride-on lawnmower into or out of automatic parking mode. In some embodiments, the ride-on lawnmower also includes a support for supporting the user. The support can be a seat or a support plane. The controller is configured to control the ride-on lawnmower to enter automatic parking mode when the user leaves the support. A detection device is used to detect the operating parameters of the travel motor or the posture parameters of the ride-on lawnmower when it is in automatic parking mode; a controller 60 is electrically connected to at least the travel motor 32 and the detection device to control the operation of the travel motor 32; wherein, the controller 60 is configured to: when the ride-on lawnmower is in automatic parking mode, obtain the operating parameters of the travel motor 32 or the posture parameters of the ride-on lawnmower based on the detection device, and switch from automatic parking mode to electronic braking mode or power-off mode when the operating parameters or posture parameters exceed a preset range.

[0045] The preset range can be understood as the range set at the factory for the ride-on lawnmower, within which operation will not cause damage to electronic components. The power-off mode can be understood as cutting off the electrical connection between the power supply components and the entire machine.

[0046] Specifically, the power supply component 20 provides electrical energy to the ride-on lawnmower. Exemplarily, the power supply component 20 supplies power to the mowing motor, the walk motor 32, and other electronic components or assemblies on the ride-on lawnmower. The power supply component 20 includes multiple battery packs, each electrically connected to an external battery management circuit board. The battery management circuit board filters the output of each battery pack using a Kalman filter, allowing subsequent calculations using predetermined algorithms to estimate the battery pack's state of charge (SOC), state of health (SOH), state of power (SOP), and remaining usable life (RUL), ensuring the safety and reliability of the battery system. In this technical solution, the charging start-up voltage is set to 23V, and the discharge anti-discharge voltage is set to 35V to prevent the battery pack from completely discharging. Furthermore, the settings for both the start-up voltage and the discharge anti-discharge voltage are centrally controlled on the machine's electronic control board, facilitating battery management. After the power supply component 20 supplies power to the walking motor 32, the walking motor 32 drives the walking wheels 31 to move. When the riding mower is moving on a slope, it is subjected to downward gravity and therefore has a tendency to slide downward. If the user operates the operating device 40 to send an automatic parking signal or leaves the support to trigger the riding mower to enter the automatic parking mode, the walking motor 32 will brake or stop to slow down. The speed detection module 53 detects the actual speed of the walking motor 32 and sends it to the controller 60. When the control module 16 determines that the speed of the walking motor 32 has dropped to a certain value, that is, less than or equal to the preset speed threshold, in order to keep the riding mower stationary at the current position, the controller 60 controls the power supply component 20 to output a certain current to the walking motor 32. This current causes the walking motor 32 to generate a certain negative torque. The magnitude of this negative torque is equal to the magnitude and opposite in direction to the external force torque that causes the riding mower to slide. Thus, due to torque balance, the travel motor 32 will eventually be locked in a certain position, keeping the ride-on lawnmower stationary in the position it was in when entering auto-hold mode. In some embodiments, when the angle of the slope on which the ride-on lawnmower is located is large, in order to maintain the auto-hold mode, the travel motor 32 needs to output a larger negative torque, and the corresponding operating current should also increase. This results in high heat generation of the control module, and prolonged parking can lead to damage to electronic components and continuous power consumption. The aforementioned large angle of the slope on which the ride-on lawnmower is located can be understood as a large inclination angle of the plane on which the travel wheels of the ride-on lawnmower are located.

[0047] To address the aforementioned issues, in this embodiment, the controller 60 is configured to: after the ride-on lawnmower is in automatic parking mode, acquire the attitude parameters of the ride-on lawnmower or the operating parameters of the walking motor based on the detection device, and control the ride-on lawnmower to switch from automatic parking mode to electronic braking mode or power-off mode when the attitude parameters or operating parameters exceed a preset range.

[0048] In some embodiments, the ride-on lawnmower further includes a rotor position detection module 54 for detecting the position of the rotor 321. The rotor position detection module 54 may include sensors, such as multiple Hall sensors, arranged along the circumference of the rotor 321 of the travel motor 32. When the rotor 321 rotates into or out of a preset range, the signal of the Hall sensors changes, and the output signal of the rotor position detection module 54 also changes accordingly. Thus, the position of the rotor 321 of the travel motor 32 can be determined based on the detection signal output by the rotor position detection module 54. Of course, the position of the rotor 321 can also be estimated based on the current of the travel motor 32. The controller 60 is configured such that, after determining that the rotational speed of the travel motor 32 is less than or equal to a preset rotational speed threshold, the rotor position detection module can detect the current position of the rotor 321 of the travel motor 32, and the controller 60 selects the current position of the rotor 321 of the travel motor 32 as a reference position. Thus, when rotor 321 deviates from the reference position, controller 60 can compare the position of rotor 321 after deviation with the reference position to determine the direction of rotor 321's deviation from the reference position, thereby determining the rotation trend of the travel motor 32 and the sliding trend of the ride-on lawnmower. After rotor 321 deviates from the reference position, control power supply component 20 outputs a certain current, which causes the travel motor 32 to generate a certain negative torque, so that the rotor 321 of the travel motor 32 returns to the reference position, allowing the ride-on lawnmower to remain stationary in one position, more specifically, allowing the ride-on lawnmower to remain stationary in the position when entering parking mode.

[0049] In some embodiments, the operating parameters of the walking motor 32 include the operating current of the walking motor 32.

[0050] Optionally, the ride-on lawnmower also includes a drive circuit 70, and a controller 60 controls the ride-on lawnmower to switch from automatic parking mode to electronic braking mode when the operating current of the travel motor 32 exceeds the preset current range.

[0051] Specifically, Figure 5 This is a flowchart illustrating a control method for a ride-on lawnmower provided in an embodiment of this application. (Refer to...) Figure 3 Figure 5After the ride-on lawnmower is started, the user sends an automatic parking signal via the operating device 40 to trigger the ride-on lawnmower to enter automatic parking mode. Once the controller 60 confirms that it has entered automatic parking mode, the current detection module 51 in the detection device acquires the motor's operating current and feeds this current information back to the controller 60. When the operating current exceeds a preset range, the controller 60 sends a control signal to the drive circuit 70. Figure 4 This is a structural diagram of a driving circuit provided in this application, for reference. Figure 3 Figure 4 The drive circuit 70 is electrically connected to the controller 60 and the travel motor 32. It controls the travel motor 32 to operate according to the control signals output by the controller 60. The travel motor 32 is a three-phase motor with three-phase windings, and the drive circuit 70 is specifically electrically connected to the three-phase windings of the travel motor 32. The drive circuit 70 specifically includes power switching transistors. These transistors can turn on and off the electrical connection between the power supply component 20 and the travel motor 32, and can also adjust the current output from the power supply component 20 to the travel motor 32 according to different control signals output by the control module 16. Specifically, the aforementioned electronic braking mode can be understood as follows: the controller outputs a control signal to control the power switching transistors Q1, Q2, and Q3 in the drive circuit 70 to turn on simultaneously, and the power switching transistors Q4, Q5, and Q6 to turn off simultaneously. This disconnects the electrical connection between the travel motor 32 and the power supply component, rapidly dissipating the current in the travel motor windings to achieve short-circuit braking. Of course, the above-mentioned electronic braking mode can also be set as follows: the controller outputs a control signal to control the power switches Q4, Q5, and Q6 in the drive circuit to be turned on simultaneously, while the power switches Q1, Q2, and Q3 are turned off simultaneously. This application does not limit the specific implementation of the electronic braking mode.

[0052] In some embodiments, the operating parameters of the walking motor 32 include the operating time during which the walking motor outputs negative torque after the riding lawnmower enters the automatic parking mode.

[0053] Optionally, after the ride mower is in automatic parking mode, if the travel motor 32 outputs negative torque for a period of time exceeding a preset time range, the controller 60 controls the ride mower to switch from automatic parking mode to electronic braking mode.

[0054] Specifically, Figure 6 This is a flowchart of another riding lawnmower control method provided in an embodiment of this application, see reference. Figure 3 Figure 6After the ride-on lawnmower is started, the user sends an automatic parking signal via the operating device 40 or leaves the support to trigger the ride-on lawnmower to enter automatic parking mode. After the controller 60 confirms that it has entered automatic parking mode, the detection device detects the working time during which the travel motor outputs negative torque after the ride-on lawnmower enters automatic parking mode and feeds the time information back to the controller 60. When the working time exceeds the preset range, the controller 60 sends a control signal to the drive circuit 70 to switch the ride-on lawnmower from automatic parking mode to electronic braking mode.

[0055] In some embodiments, the operating parameters of the walking motor 32 include the output torque of the walking motor 32.

[0056] Specifically, when the riding lawnmower is in automatic parking mode, the controller 60 controls the riding lawnmower to switch from automatic parking mode to electronic braking mode when the output torque of the travel motor 32 exceeds the preset torque range.

[0057] Specifically, Figure 7 This is a flowchart illustrating another control method for a ride-on lawnmower provided in this application embodiment. (Refer to...) Figure 3 Figure 7 After the ride-on lawnmower is started, the user can send an automatic parking signal through the operating device 40 or leave the support to trigger the ride-on lawnmower to enter the automatic parking mode. After the controller 60 confirms that it has entered the automatic parking mode, the detection device detects the output torque of the travel motor 32 and feeds the torque information back to the controller 60. When the torque exceeds the preset range, the controller 60 sends a control signal to the drive circuit 70 to switch the ride-on lawnmower from the automatic parking mode to the electronic brake mode.

[0058] In some embodiments, the attitude parameters of the riding lawnmower include the tilt angle of the plane containing the riding lawnmower's wheels relative to the horizontal plane. Specifically, those skilled in the art can determine the current attitude of the riding lawnmower by detecting the tilt angles of different components of the riding lawnmower. In some embodiments, a detection device can be used to detect components such as the riding lawnmower's wheels, seat, battery pack, frame, and housing.

[0059] Specifically, the ride-on lawnmower includes a drive circuit 70, and the controller 60 controls the ride-on lawnmower to switch from automatic parking mode to electronic braking mode when the tilt angle of the plane where the walking wheels are located exceeds the preset angle range.

[0060] Specifically, Figure 8 This is a flowchart illustrating another control method for a ride-on lawnmower provided in an embodiment of this application. (Refer to...) Figure 3 Figure 8After the ride-on lawnmower is started, the user can trigger the ride-on lawnmower to enter the automatic parking mode by sending an automatic parking signal through the operating device 40 or leaving the support. After the controller 60 confirms that it has entered the automatic parking mode, the angle sensor 52 in the detection device obtains the tilt angle of the plane where the ride-on lawnmower's wheels are located in real time and feeds the angle information back to the controller 60. When the tilt angle exceeds the preset range, the controller 60 sends a control signal to the drive circuit 70 to switch the ride-on lawnmower from the automatic parking mode to the electronic brake mode.

[0061] In some embodiments, the operating device 40 may take the form of, but is not limited to, buttons, toggle switches, rotary switches, touchscreens, or external devices.

[0062] For example, in some embodiments, the user can trigger the operating device 40 to issue an automatic parking signal or leave the support to trigger the ride-on lawnmower to enter or exit the automatic parking mode by pressing a button, toggling a toggle switch, or touching an option on the touchscreen.

[0063] In some embodiments, the ride mower also includes an alarm component 80 for alerting the user when the ride mower switches from auto hold mode to electronic brake mode.

[0064] For details, please refer to Figure 3 The alarm component 80 and the controller 60 are electrically connected. The alarm component 80 can be a buzzer or other type of device. When the ride-on lawnmower enters the automatic parking mode, the controller 60 obtains the operating current of the travel motor 32, the working time of the travel motor 32 outputting negative torque, the torque output by the travel motor 32, and the tilt angle of the plane where the travel wheels of the ride-on lawnmower are located relative to the horizontal plane. The controller compares these parameters with a preset range. If the controller determines that the posture parameters of the ride-on lawnmower or the operating parameters of the travel motor 32 exceed the preset range, it sends a control signal to the alarm component 80. The corresponding alarm component 80 then issues an alarm to remind the user.

[0065] In some embodiments, when a ride-on lawnmower is mowing, it may become stuck due to rocks or dense grass, preventing it from moving. Even though the travel motor 32 is still operating, the current increases rapidly after stalling, causing a corresponding temperature rise and posing a risk of burning out the travel motor 32. The current detection module 51 detects that the operating current of the travel motor 32 exceeds the protection threshold for a period of time. Simultaneously, the rotor position detection module 54 detects that the rotor 321's rotational position is less than a certain angle within a certain time, or the speed detection module 53 detects that the speed is less than a certain value. Upon receiving this information, the controller 60 initiates stall protection. The controller 60 sends a control signal to the drive circuit 70, which then short-circuits the three-phase transmission lines of the travel motor 32, initiating a three-phase short-circuit brake. If the machine restarts shortly after stopping, the current protection threshold is lowered to prevent damage to the travel motor 32 due to high temperature caused by unresolved stalling after restarting.

[0066] In some embodiments, the ride-on lawnmower also includes a power supply circuit 90 connected to the power supply component 20. The power supply circuit 90 is used to receive electrical energy from the power supply component 20 and convert the electrical energy from the power supply component 20 into electrical energy at least suitable for use by the controller 60.

[0067] Figure 9 This is a flowchart illustrating a control method for a ride-on lawnmower according to an embodiment of this application. This method can be executed by the ride-on lawnmower, such as... Figure 9 As shown, the method includes:

[0068] S110, detects the posture parameters or the operating parameters of the walking motor of the riding lawnmower when it is in automatic parking mode.

[0069] Specifically, the detection device detects the posture parameters or the operating parameters of the walking motor 32 when the riding lawnmower is in automatic parking mode, and sends the detected parameters to the controller 60.

[0070] S120. When the riding lawnmower is in automatic parking mode, based on the acquired posture parameters or the working parameters of the walking motor, control the riding lawnmower to switch from automatic parking mode to electronic brake mode or power-off mode.

[0071] Specifically, when the ride-on lawnmower is in automatic parking mode, the controller 60 compares the working parameters or posture parameters of the walking motor 32 detected by the detection device with a preset range, and exits the automatic parking mode when the posture parameters or working parameters of the walking motor 32 exceed the preset range.

[0072] This application provides a control method for a ride-on lawnmower. After the ride-on lawnmower is started and determined to have entered the automatic parking mode, the method detects the posture parameters or the operating parameters of the travel motor when the ride-on lawnmower is in the automatic parking mode. Then, it determines whether the posture parameters or the operating parameters of the travel motor exceed a preset range. If the parameters exceed the preset range, the method controls the ride-on lawnmower to exit the automatic parking mode. This avoids the problem of electronic device damage and continuous power consumption caused by excessive parking current, protects electronic components, saves energy, and enables the ride-on lawnmower to adaptively exit the automatic parking mode.

[0073] Before step S110 above, which involves detecting the attitude parameters or the operating parameters of the travel motor when the riding lawnmower is in automatic parking mode, the following steps are also included:

[0074] S101, Start the riding lawnmower.

[0075] Specifically, users can start the ride-on lawnmower by inserting the key into the keyhole or pressing the start button. After starting, the power supply component 20 provides power to the various components of the ride-on lawnmower so that it can operate normally.

[0076] S102. Confirm that the ride-on lawnmower has entered the automatic parking mode.

[0077] Specifically, when automatic parking is required, the user can send an automatic parking signal by operating the device 40 or leaving the support. After receiving the parking signal, the controller 60 controls the ride-on lawnmower to enter the automatic parking mode.

[0078] In step S120 above, when the ride-on lawnmower is in automatic parking mode, based on the acquired posture parameters or the operating parameters of the travel motor, the ride-on lawnmower is controlled to switch from automatic parking mode to electronic brake mode or power-off mode, including:

[0079] S103. Determine whether the posture parameters or the working parameters of the walking motor exceed the preset range.

[0080] Specifically, the controller 60 compares the posture parameters detected by the detection device or the working parameters of the walking motor 32 with the preset range to determine whether they exceed the preset range. If it is determined that they exceed the preset range, it proceeds to step S104 and controls the riding lawnmower to exit the automatic parking mode; if it is determined that they do not exceed the preset range, it proceeds to step S105 and controls the riding lawnmower to continue to maintain the automatic parking mode.

[0081] S104, Exit automatic parking mode.

[0082] Specifically, after the controller 60 determines that the posture parameters of the riding lawnmower or the operating parameters of the walking motor 32 exceed the preset range, it sends a control signal to the drive circuit 70 to switch the riding lawnmower from the automatic parking mode to the electronic brake mode or the power-off mode.

[0083] S105, Maintain automatic parking mode.

[0084] Note that the above description is merely a preferred embodiment and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the appended claims.

Claims

1. A self-propelled device, characterized in that, include: frame; A power supply component for providing electrical energy to the self-propelled device; The walking assembly includes walking wheels and a walking motor that drives the walking wheels to walk; A detection device, connected to the controller, is used to detect the attitude parameters of the self-propelled device or the operating parameters of the walking motor; A controller is connected at least to the walking motor to control the operation of the walking motor; the controller is also configured to control the self-propelled device to enter an automatic parking mode. The controller is configured as follows: When the self-propelled device is in the automatic parking mode, the device acquires the posture parameters or the operating parameters of the walking motor based on the detection device, and controls the self-propelled device to exit the automatic parking mode when the posture parameters or the operating parameters of the walking motor exceed a preset range; wherein, the preset range is a range that will not cause damage to electronic components; The controller is configured to control the self-propelled device to enter the electronic braking mode when the self-propelled device exits the automatic parking mode. The self-propelled device also includes a drive circuit; the drive circuit includes a power switch; the electronic braking mode is that the controller outputs a control signal to control the power switch in the drive circuit, so that the electrical connection between the walking motor and the power supply component is disconnected, and the current in the winding of the walking motor is quickly consumed to achieve short-circuit braking.

2. The self-propelled device according to claim 1, characterized in that, The operating parameters of the walking motor include the operating current of the walking motor.

3. The self-propelled device according to claim 2, characterized in that, When the operating current of the walking motor exceeds the preset current range, the controller controls the self-propelled device to switch from the automatic parking mode to the electronic braking mode.

4. The self-propelled device according to claim 1, characterized in that, The operating parameters of the walking motor include the operating time during which the walking motor outputs negative torque after the self-propelled device enters the automatic parking mode.

5. The self-propelled device according to claim 4, characterized in that, When the operating time of the walking motor outputting negative torque exceeds a preset time range, the controller controls the self-propelled device to switch from the automatic parking mode to the electronic braking mode.

6. The self-propelled device according to claim 1, characterized in that, The operating parameters of the walking motor include the torque output by the walking motor.

7. The self-propelled device according to claim 6, characterized in that, When the torque exceeds the preset torque range, the controller controls the self-propelled device to switch from the automatic parking mode to the electronic braking mode.

8. The self-propelled device according to claim 1, characterized in that, The attitude parameters of the self-propelled device include the tilt angle of the plane where the self-propelled device's wheels are located relative to the horizontal plane.

9. The self-propelled device according to claim 8, characterized in that, When the tilt angle exceeds a preset angle range, the controller controls the self-propelled device to switch from the automatic parking mode to the electronic braking mode.

10. The self-propelled device according to claim 1, characterized in that, The attitude parameters of the self-propelled device include the attitude parameters of the frame and power supply components of the self-propelled device.

11. The self-propelled device according to claim 1, characterized in that, The self-propelled device also includes a support unit for supporting the user; the controller is configured to control the self-propelled device to enter the automatic parking mode when the user leaves the support unit.

12. The self-propelled device according to claim 1, characterized in that, The self-propelled device also includes an alarm component, which is electrically connected to the controller and is used to issue an alarm to remind the user when the self-propelled device switches from the automatic parking mode to the electronic braking mode.

13. A control method for a self-propelled device, used in the self-propelled device according to any one of claims 1-12, characterized in that, include: Detect the attitude parameters of the self-propelled device when it is in the automatic parking mode or the operating parameters of the walking motor; When the self-propelled device is in the automatic parking mode, based on the acquired posture parameters or the operating parameters of the walking motor, the self-propelled device is controlled to switch from the automatic parking mode to the electronic braking mode or the power-off mode.

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