Complete machine control method, device and equipment for extended-range mower and storage medium

Abstract

The invention discloses a whole-machine control method, device and equipment for an extended-range mower and a storage medium, and relates to the technical field of mowers, and the method comprises the steps: obtaining the discharge power of a battery pack in the mower and the electric quantity of the battery pack, and obtaining the current discharge power and the current electric quantity; if the current discharging power is smaller than the rated power of the range extender and the current electric quantity is smaller than the electric quantity threshold value, a generator is controlled to be started to charge a battery pack and supply power to a motor; if the current discharge power is equal to the rated power and the current electric quantity is smaller than the electric quantity threshold, controlling a generator to start to supply power to a motor; if the current discharge power is larger than the rated power or the current electric quantity is not smaller than the electric quantity threshold value, a generator is controlled to be started to supply power to a motor, and meanwhile power is supplied to other electric equipment through a battery pack. According to the invention, overcharging or insufficient charging of the battery can be avoided, the service life of the battery is prolonged, energy waste and insufficient power are avoided, the working cruising ability of the mower is prolonged, and continuous working of the mower is realized.

Description

Technical Field

[0001] The present application relates to the technical field of lawn mowers, and in particular to a whole machine control method, device, equipment and storage medium for an extended-range lawn mower. Background Art

[0002] As the world pays more and more attention to environmental protection, pure electric lawn mowers, as a zero-emission garden tool, have huge market demand and development potential. However, the working endurance of pure electric lawn mowers has always been one of the main problems that bother users. In order to solve this problem, range extender technology came into being. It can automatically start the generator to charge the battery pack or provide power for the whole machine when the battery power is low and the actual working conditions require it, thereby extending the working endurance of the electric lawn mower. In addition, battery management technology and generator control technology are also important components of electric lawn mowers. They are responsible for battery charge and discharge management and generator operation control, respectively, which are crucial to improving the performance and safety of electric lawn mowers.

[0003] At present, the range-extended lawn mower based on the range extender provides an efficient and long-lasting mowing solution by combining electric and fuel power. It is particularly suitable for large-area lawn maintenance work and is an important part of modern gardening and agricultural mechanization. This type of lawn mower is usually equipped with batteries and generators. When the battery is fully charged, it can rely on electric drive to mow the lawn. When the battery is low, the built-in fuel engine starts and charges the battery through the generator, thereby ensuring the continuous mowing operation and meeting the mowing needs of a large area.

[0004] However, for extended-range lawn mowers, the current battery charging strategy often cannot be dynamically adjusted according to the actual state of the battery, which may cause the battery to be overcharged or undercharged, affecting the battery life. Secondly, the current start-stop strategy of the range extender is relatively simple and cannot be flexibly controlled according to the actual state of the battery and load requirements, which may lead to energy waste or insufficient power. In addition, the current operating mode switching mechanism is relatively rough and cannot be finely adjusted according to the actual state of the battery and load requirements, which may cause the battery to be over-discharged or under-charged. Summary of the invention

[0005] In view of this, the purpose of this application is to provide a method, device, equipment and storage medium for controlling a range-extended lawn mower, which can avoid overcharging or undercharging of the battery, increase the battery life, avoid energy waste and insufficient power, extend the working endurance of the lawn mower, and realize continuous operation of the lawn mower. The specific scheme is as follows:

[0006] In a first aspect, the present application discloses a whole machine control method of an extended-range lawn mower, which is applied to a range extender in the extended-range lawn mower, wherein the extended-range lawn mower includes a generator and a battery pack, and the method comprises:

[0007] Obtaining the discharge power of the battery pack in the range-extended lawn mower that is currently powered only by the battery pack and the power level of the battery pack to obtain the current discharge power and the current power level;

[0008] Compare the current discharge power with the rated power of the range extender, and the current power with the first power threshold, to obtain a first comparison result;

[0009] If the first comparison result indicates that the current discharge power is less than the rated power, and the current power is less than the first power threshold, the generator is controlled to start, and the battery pack is charged by the generator, and power is supplied to the mowing motor and the travel motor of the range-extended lawn mower at the same time;

[0010] If the first comparison result indicates that the current discharge power is equal to the rated power, and the current power is less than the first power threshold, the generator is controlled to start, and the generator is used to supply power to the mowing motor and the travel motor of the range-extended lawn mower;

[0011] If the first comparison result indicates that the current discharge power is greater than the rated power, or the current power is not less than the first power threshold, the generator is controlled to start, and the mowing motor and the travel motor of the extended-range lawn mower are powered by the generator, and the other electrical devices in the extended-range lawn mower are powered by the battery pack.

[0012] Optionally, after the generator is controlled to start and the battery pack is charged by the generator and power is supplied to the mowing motor and the travel motor of the range-extended lawn mower, the method further includes:

[0013] Acquire the current power of the battery pack to obtain a first power;

[0014] Determine whether the first power level is greater than a second power level threshold; wherein the second power level threshold is greater than the first power level threshold;

[0015] If the first power level is greater than the second power level threshold, the generator is stopped from supplying power to the mowing motor and the walking motor, and the mowing motor and the walking motor are supplied with power through the battery pack.

[0016] Optionally, after the generator is controlled to start and the generator is used to supply power to the mowing motor and the travel motor of the range-extended lawn mower, the method further includes:

[0017] Acquire the current discharge power of the battery pack and the power of the battery pack to obtain a first discharge power and a second power;

[0018] Comparing the first discharge power with the rated power, and the second electric quantity with the first electric quantity threshold, to obtain a second comparison result;

[0019] If the second comparison result indicates that the first discharge power is less than the rated power and the second power is less than the first power threshold, the step of charging the battery pack through the generator and supplying power to the mowing motor and the travel motor of the extended-range lawn mower is triggered.

[0020] Optionally, obtaining the discharge power of the battery pack in the range-extended lawn mower that is currently powered only by the battery pack and the power of the battery pack to obtain the current discharge power and the current power includes:

[0021] Determining the gear position of the control switch currently used to control the operating mode of the range extender to obtain a target gear position;

[0022] If the target gear is in the automatic start gear, the discharge power of the battery pack and the power of the battery pack in the extended-range lawn mower that is currently powered only by the battery pack are obtained to obtain the current discharge power and the current power.

[0023] Optionally, the range-extended lawn mower whole machine control method further includes:

[0024] If the target gear is in the forced start gear, the generator is controlled to start, and the mowing motor and the travel motor of the extended-range lawn mower are powered by the generator, and the current power of the battery pack is obtained to obtain a third power;

[0025] Determining whether the third power level is less than the first power level threshold;

[0026] If the third power level is less than the first power level threshold, the battery pack is charged until the second power level threshold is reached.

[0027] Optionally, after the generator is used to supply power to the mowing motor and the travel motor of the range-extended lawn mower, and the battery pack is used to supply power to other electrical devices in the range-extended lawn mower, the method further includes:

[0028] Acquire the current power of the battery pack to obtain a fourth power, and determine whether the fourth power is less than a third power threshold; the third power threshold is less than the first power threshold;

[0029] If the fourth power level is less than the third power level threshold, the power supply of the battery pack is stopped, and power is supplied to the mowing motor and the walking motor at different powers.

[0030] Optionally, supplying power to the mowing motor and the travel motor according to different powers includes:

[0031] The mowing motor is powered according to a first preset power, and the walking motor is powered according to a second preset power; wherein the first preset power is greater than the second preset power.

[0032] In a second aspect, the present application discloses a whole machine control device for an extended-range lawn mower, which is applied to a range extender in the extended-range lawn mower, wherein the extended-range lawn mower includes a generator and a battery pack, including:

[0033] An information acquisition module, used to acquire the discharge power of the battery pack in the range-extended lawn mower currently powered only by the battery pack, and the power of the battery pack, to obtain the current discharge power and the current power;

[0034] A comparison module, used for comparing the current discharge power with the rated power of the range extender, and the current power with a first power threshold, to obtain a first comparison result;

[0035] a first control module, configured to control the generator to start if the first comparison result indicates that the current discharge power is less than the rated power and the current power is less than the first power threshold, and to charge the battery pack through the generator, and to supply power to a mowing motor and a travel motor of the range-extended lawn mower at the same time;

[0036] a second control module, configured to control the generator to start if the first comparison result indicates that the current discharge power is equal to the rated power and the current power is less than the first power threshold, and to use the generator to supply power to the mowing motor and the travel motor of the range-extended lawn mower;

[0037] The third control module is used to control the generator to start if the first comparison result shows that the current discharge power is greater than the rated power, or the current power is not less than the first power threshold, and to supply power to the mowing motor and the travel motor of the extended-range lawn mower through the generator, and at the same time supply power to other electrical equipment in the extended-range lawn mower through the battery pack.

[0038] In a third aspect, the present application discloses an electronic device, comprising a processor and a memory; wherein the processor implements the aforementioned extended-range lawn mower whole machine control method when executing a computer program stored in the memory.

[0039] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned extended-range lawn mower whole machine control method is implemented.

[0040] It can be seen that the present application is applied to a range extender in a range-extended lawn mower including a generator and a battery pack. The discharge power of the battery pack in the range-extended lawn mower that is currently powered only by the battery pack and the power of the battery pack are first obtained to obtain the current discharge power and the current power. Then, the current discharge power is compared with the rated power of the range extender, and the current power is compared with a first power threshold to obtain a first comparison result; if the first comparison result shows that the current discharge power is less than the rated power and the current power is less than the first power threshold, the generator is controlled to start, and the battery pack is charged by the generator, and the range extender is charged at the same time. The mowing motor and the travel motor of the extended-range lawn mower are powered by the first comparison result; if the first comparison result shows that the current discharge power is equal to the rated power, and the current power is less than the first power threshold, the generator is controlled to start, and the generator is used to power the mowing motor and the travel motor of the extended-range lawn mower; if the first comparison result shows that the current discharge power is greater than the rated power, or the current power is not less than the first power threshold, the generator is controlled to start, and the mowing motor and the travel motor of the extended-range lawn mower are powered by the generator, and at the same time, the battery pack is used to power other electrical devices in the extended-range lawn mower. The present application first obtains the discharge power and the power of the battery pack in the range-extended lawn mower, and then compares the current discharge power with the rated power of the range extender, and the current power with the preset power threshold, and adopts different control strategies according to the comparison results. Specifically, when the discharge power is less than the rated power and the current power is less than the preset power threshold, the generator is controlled to start to charge the battery pack, and power is supplied to the mowing motor and the travel motor at the same time (that is, the battery pack and the motor are powered at the same time); when the discharge power is equal to the rated power and the current power is less than the preset power threshold, the generator is controlled to start to power the mowing motor and the travel motor (that is, no power is supplied to the battery pack). charging); when the discharge power is greater than the rated power or the current power is not less than the preset power threshold, the generator is controlled to start to supply power to the mowing motor and the walking motor, and at the same time, the battery pack is used to supply power to other electrical equipment (that is, the battery pack and the generator are used together). In the above manner, the battery charging strategy can be dynamically adjusted according to the actual state of the battery to avoid overcharging or undercharging of the battery, thereby increasing the battery life; in addition, the start-up of the generator can be flexibly controlled according to the actual state of the battery and the load demand, thereby avoiding energy waste and insufficient power, extending the working endurance of the lawn mower, and realizing continuous operation of the lawn mower. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application 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 embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0042] Figure 1 This is a flow chart of a whole machine control method for an extended-range lawn mower disclosed in this application;

[0043] Figure 2 A specific control flow chart of a range-extended lawn mower disclosed in this application;

[0044] Figure 3 A specific pure battery pack control flow chart disclosed in this application;

[0045] Figure 4 A specific control flow chart of a range-extended lawn mower disclosed in this application;

[0046] Figure 5 A specific control flow chart of a range-extended lawn mower disclosed in this application;

[0047] Figure 6 A flow chart of a specific method for controlling a range-extended lawn mower disclosed in this application;

[0048] Figure 7 This is a schematic diagram of the structure of a whole machine control device for an extended-range lawn mower disclosed in this application;

[0049] Figure 8 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] The present application discloses a whole machine control method of an extended-range lawn mower, which is applied to a range extender in the extended-range lawn mower, wherein the extended-range lawn mower includes a generator and a battery pack, see Figure 1 As shown, the method includes:

[0052] Step S11: obtaining the discharge power of the battery pack in the range-extended lawn mower that is currently powered only by the battery pack, and the power level of the battery pack, to obtain the current discharge power and the current power level.

[0053] It should be noted that the control scheme for the extended-range lawn mower proposed in this application can be specifically applied to the range extender in the extended-range lawn mower including a generator and a battery pack, wherein the extended-range lawn mower can be a lithium-powered extended-range lawn mower. Moreover, after the extended-range lawn mower is powered on, only the battery pack is used for power supply by default, and the engine is in a stopped state.

[0054] In this embodiment, the discharge power of the battery pack in the range-extended lawn mower that is powered only by the battery pack after power-on is first obtained, and the power of the battery pack is obtained at the same time, so as to obtain the corresponding current discharge power and current power. It can be understood that the discharge power of the battery pack can reflect the current load demand, so the discharge power of the battery pack is the current load power of the lawn mower.

[0055] The power of the battery pack may specifically be the SOC (State of Charge) value of the battery pack, that is, the percentage of the current remaining power of the battery pack to the total capacity. This indicator plays a key role in the performance and service life of the battery.

[0056] Step S12: Compare the current discharge power with the rated power of the range extender, and the current power with a first power threshold to obtain a first comparison result.

[0057] In this embodiment, after obtaining the discharge power of the battery pack and the power of the battery pack in the current extended-range lawn mower, the rated power of the range extender in the extended-range lawn mower is obtained, and the above-mentioned current discharge power is compared with the rated power, and the current power is compared with a first power threshold (such as the remaining power of the battery pack accounts for 20% of the total capacity) to obtain a corresponding comparison result, that is, the first comparison result.

[0058] Step S13: If the first comparison result indicates that the current discharge power is less than the rated power, and the current power is less than the first power threshold, the generator is controlled to start, and the battery pack is charged by the generator, while powering the mowing motor and the travel motor of the extended-range lawn mower.

[0059] In this embodiment, according to the different comparison results between the current discharge power and the rated power of the range extender, and the current power and the first power threshold, the current operating mode of the extended-range lawn mower can be reflected, so that different control strategies can be adopted according to different operating modes, so as to control the working state of the battery pack and / or generator accordingly.

[0060] In a specific embodiment, see Figure 2 As shown, when the first comparison result indicates that the current discharge power is less than the rated power of the range extender (such as discharge power < rated power ZKW), and the current power is less than the first power threshold (such as battery pack power SOC < power threshold Y), the generator can be controlled to automatically start (i.e., start), and then the battery pack is charged through the generator, while powering the mowing motor and travel motor in the range-extended lawn mower.

[0061] Furthermore, after the control of starting the generator and charging the battery pack through the generator, and supplying power to the mowing motor and the walking motor of the extended-range lawn mower, it can also include: obtaining the current power of the battery pack to obtain a first power; judging whether the first power is greater than a second power threshold; wherein the second power threshold is greater than the first power threshold; if the first power is greater than the second power threshold, stopping the generator from supplying power to the mowing motor and the walking motor, and supplying power to the mowing motor and the walking motor through the battery pack.

[0062] In this embodiment, see Figure 2 As shown, the generator is controlled to start, and the generator is used to charge the battery pack and supply power to the mowing motor and the walking motor at the same time, and then the current power of the battery pack is obtained, and it is determined whether the current power of the battery pack is greater than the power threshold value X. If it is greater, power is supplied according to the pure battery pack power supply strategy, wherein the pure battery pack power supply strategy is referred to in Figure 3 As shown, it means that the power is only supplied by the battery pack, and the generator is in a shutdown state, that is, the generator power supply is stopped, and the mowing motor and the travel motor are powered only by the battery pack.

[0063] Among them, the specific charging process of the battery pack is: the on and off of the battery pack is managed by the power management system, and the capacity information of each battery pack and the current charge and discharge current and voltage data are sent to the CAN (Controller Area Network) bus. After the range extender obtains the relevant information of each battery pack from the CAN bus, it controls the power generation voltage and current based on this information, so that the charging current of each battery pack will not exceed the maximum allowable value (such as the remaining power of the battery pack accounts for 90% of the total capacity). In this way, by obtaining the capacity information and charge and discharge current data of the battery in real time, combined with the control of the power generation voltage and current, the charging current of each battery pack can be accurately controlled, avoiding the problem of overcharging or undercharging the battery, thereby improving the service life of the battery.

[0064] For more information, see Figure 3As shown, when the extended-range lawn mower is powered by a pure battery pack power supply strategy, certain conditions need to be met, specifically, the current discharge power of the battery pack is less than the rated power of the range extender, and the current battery pack power is less than the power threshold X, where the power threshold X is greater than the power threshold Y.

[0065] Step S14: If the first comparison result indicates that the current discharge power is equal to the rated power and the current power is less than the first power threshold, the generator is controlled to start, and the generator is used to supply power to the mowing motor and the travel motor of the extended-range lawn mower.

[0066] In this embodiment, see Figure 4 As shown, if the above first comparison result shows that the current discharge power of the battery pack is equal to the rated power of the range extender (such as discharge power = rated power ZKW), and the current power of the battery pack is less than the first power threshold (such as battery pack power SOC < power threshold Y), the generator is controlled to automatically start, and the powered-on generator is used to power the mowing motor and travel motor of the range-extended lawn mower, that is, it is considered that the power of the battery pack is low at this time, and the generator can only meet the power supply requirements of the load. It can be understood that the power of the battery pack is not consumed when the power is only supplied by the engine, so the power of the battery pack remains stable.

[0067] Furthermore, after the control of starting the generator and using the generator to supply power to the mowing motor and the travel motor of the extended-range lawn mower, it may also include: obtaining the current discharge power of the battery pack and the power of the battery pack to obtain a first discharge power and a second power; comparing the first discharge power with the rated power, and the second power with the first power threshold to obtain a second comparison result; if the second comparison result indicates that the first discharge power is less than the rated power, and the second power is less than the first power threshold, then triggering the step of charging the battery pack through the generator and supplying power to the mowing motor and the travel motor of the extended-range lawn mower. In this embodiment, refer to Figure 4 As shown, after the generator is used to power the mowing motor and the walking motor of the range-extended lawn mower, the current discharge power of the battery pack and the power of the battery pack can be obtained to obtain a new discharge power and a new power. Then, the new discharge power is compared with the rated power of the range extender and the new power is compared with the first power threshold (power threshold Y) to obtain a corresponding comparison result, that is, the second comparison result; if the second comparison result shows that the first discharge power is less than the rated power (such as the discharge power = rated power ZKW), and the new power is less than the first power threshold (such as the battery pack power SOC < power threshold Y), then trigger Figure 2The generator in the invention simultaneously supplies power to the battery pack, the mowing motor and the travel motor, that is, the battery pack is charged by the generator, and the mowing motor and the travel motor of the extended-range mower are supplied with power at the same time.

[0068] Step S15: If the first comparison result indicates that the current discharge power is greater than the rated power, or the current power is not less than the first power threshold, the generator is controlled to start, and the mowing motor and the travel motor of the extended-range lawn mower are powered by the generator, and the other electrical equipment in the extended-range lawn mower is powered by the battery pack.

[0069] In this embodiment, if the above-mentioned first comparison result indicates that the current discharge power of the battery pack is greater than the rated power of the range extender, or the current power of the battery pack is not less than the above-mentioned first power threshold, the generator is controlled to start automatically, and the mowing motor and travel motor of the extended-range lawn mower are powered by the generator, and at the same time, other electrical equipment in the extended-range lawn mower is powered by the battery pack; the other electrical equipment includes but is not limited to cutter motors, display screens, front and rear lights, turn signals and other equipment.

[0070] For example, see Figure 5 As shown, if the current discharge power of the battery pack is greater than the rated power of the range extender (such as discharge power>rated power ZKW), and the current power of the battery pack is not less than the first power threshold (such as battery pack power SOC>=20%), the generator is controlled to start, and the generator is used to supply power to the mowing motor and travel motor of the range-extended lawn mower, and the battery pack is used to supply power to other electrical equipment in the range-extended lawn mower.

[0071] Furthermore, after the generator is used to supply power to the mowing motor and the travel motor of the extended-range lawn mower, and the battery pack is used to supply power to other electrical devices in the extended-range lawn mower, the method may further include: obtaining the current power of the battery pack, obtaining a fourth power, and determining whether the fourth power is less than a third power threshold; the third power threshold is less than the first power threshold; if the fourth power is less than the third power threshold, stopping the battery pack from supplying power, and supplying power to the mowing motor and the travel motor at different powers. For example, see Figure 5 As shown, if the current battery pack power is less than 10% of the power threshold, the battery pack will stop supplying power, and the generator will operate at limited power, such as supplying power to the mowing motor and the walking motor at different powers.

[0072] Specifically, supplying power to the mowing motor and the walking motor at different powers may include: supplying power to the mowing motor at a first preset power, and supplying power to the walking motor at a second preset power; wherein the first preset power is greater than the second preset power. Figure 5 As shown, the generator can allocate 20% to 30% of the power to the travel motor, and 70% to 80% of the power to the mowing motor. That is, in this operating mode, the generator outputs full power ZKW after starting, and the insufficient power is supplemented by the discharge of the battery pack. Under this operating condition, the power of the battery pack will continue to decrease. When the range extender obtains the battery pack SOC <10% from the CAN bus, the generator will operate at limited power: 20%~30% of the power is allocated to the travel motor, and 70%~80% of the power is allocated to the mowing motor.

[0073] It can be seen that the embodiment of the present application is applied to the range extender in the range-extended lawn mower including a generator and a battery pack. The discharge power of the battery pack in the range-extended lawn mower currently powered only by the battery pack and the power of the battery pack are first obtained to obtain the current discharge power and the current power. Then, the current discharge power is compared with the rated power of the range extender, and the current power is compared with the first power threshold to obtain a first comparison result. If the first comparison result shows that the current discharge power is less than the rated power and the current power is less than the first power threshold, the generator is controlled to start, and the battery pack is charged by the generator, and at the same time, the current power is charged to the first power threshold. The mowing motor and the travel motor of the extended-range lawn mower are powered; if the first comparison result shows that the current discharge power is equal to the rated power, and the current power is less than the first power threshold, the generator is controlled to start, and the generator is used to power the mowing motor and the travel motor of the extended-range lawn mower; if the first comparison result shows that the current discharge power is greater than the rated power, or the current power is not less than the first power threshold, the generator is controlled to start, and the mowing motor and the travel motor of the extended-range lawn mower are powered by the generator, and at the same time, the battery pack is used to power other electrical devices in the extended-range lawn mower. The embodiment of the present application first obtains the discharge power and the power of the battery pack in the range-extended lawn mower, and then compares the current discharge power with the rated power of the range extender, and the current power with the preset power threshold, and adopts different control strategies according to the comparison results. Specifically, when the discharge power is less than the rated power and the current power is less than the preset power threshold, the generator is controlled to start to charge the battery pack, and power is supplied to the lawn mowing motor and the travel motor at the same time (that is, the battery pack and the motor are powered at the same time); when the discharge power is equal to the rated power and the current power is less than the preset power threshold, the generator is controlled to start to power the lawn mowing motor and the travel motor (that is, no power is supplied to the battery pack and the travel motor). battery pack charging); when the discharge power is greater than the rated power or the current power is not less than the preset power threshold, the generator is controlled to start to supply power to the mowing motor and the walking motor, and at the same time, power is supplied to other electrical equipment through the battery pack (that is, the battery pack and the generator are supplied together). Through the above method, the battery charging strategy can be dynamically adjusted according to the actual state of the battery to avoid overcharging or undercharging of the battery, thereby increasing the service life of the battery; in addition, the start-up of the generator can be flexibly controlled according to the actual state of the battery and the load demand, thereby avoiding energy waste and insufficient power, extending the working endurance of the lawn mower, and realizing continuous operation of the lawn mower.

[0074] The present application embodiment discloses a specific range-extended lawn mower whole machine control method, which is applied to a range extender in the range-extended lawn mower, wherein the range-extended lawn mower includes a generator and a battery pack, see Figure 6 As shown, the method includes:

[0075] Step S21: determining the gear position of the control switch currently used to control the range extender working mode, and obtaining the target gear position.

[0076] It should be noted that the range extender in this embodiment can be controlled by a three-speed switch to control its working mode, including a forced start gear, an automatic start gear and a stop gear. Users can flexibly set the corresponding gear according to their own needs to avoid energy waste or insufficient power.

[0077] Specifically, when the entire range-extended lawn mower needs to be controlled, the gear position of the control switch currently used to control the range extender working mode may be determined first to obtain the corresponding target gear position.

[0078] Step S22: If the target gear is in the automatic start gear, the discharge power of the battery pack and the power of the battery pack in the extended-range lawn mower that is currently powered only by the battery pack are obtained to obtain the current discharge power and the current power.

[0079] In this embodiment, when the target gear is in the automatic start gear, the corresponding automatic control process is executed to first obtain the discharge power of the battery pack in the extended-range lawn mower that is currently powered only by the battery pack and the power of the battery pack, and obtain the corresponding current discharge power and current power.

[0080] In another specific implementation, if the target gear is in the forced start gear, the generator is controlled to start, and the mowing motor and the travel motor of the extended-range lawn mower are powered by the generator, and the current power of the battery pack is obtained to obtain a third power; it is determined whether the third power is less than the first power threshold; if the third power is less than the first power threshold, the battery pack is charged until the second power threshold is reached. That is, when the gear selected by the user is the forced start gear, no matter how much power the battery pack has, the generator is started and operates according to the battery charging strategy until the battery pack power SOC>power threshold X, the battery pack is no longer charged, but the generator is still running to participate in the power supply of the whole machine.

[0081] In another specific implementation, if the target gear is at the stop gear, the generator will not start regardless of the amount of power in the battery pack.

[0082] Step S23: Compare the current discharge power with the rated power of the range extender, and the current power with the first power threshold to obtain a first comparison result.

[0083] Step S24: If the first comparison result indicates that the current discharge power is less than the rated power, and the current power is less than the first power threshold, the generator is controlled to start, and the battery pack is charged by the generator, while powering the mowing motor and the travel motor of the extended-range lawn mower.

[0084] Step S25: If the first comparison result indicates that the current discharge power is equal to the rated power and the current power is less than the first power threshold, the generator is controlled to start, and the generator is used to supply power to the mowing motor and the travel motor of the extended-range lawn mower.

[0085] Step S26: If the first comparison result indicates that the current discharge power is greater than the rated power, or the current power is not less than the first power threshold, the generator is controlled to start, and the mowing motor and the travel motor of the extended-range lawn mower are powered by the generator, and the other electrical equipment in the extended-range lawn mower is powered by the battery pack.

[0086] For more specific processing procedures of the above steps S23 to S26, reference may be made to the corresponding contents disclosed in the above embodiments, which will not be described in detail here.

[0087] It can be seen that the embodiment of the present application first determines the gear position of the control switch currently used to control the working mode of the range extender, obtains the target gear position, and if the target gear position is in the automatic start gear position, obtains the discharge power of the battery pack in the range-extended lawn mower that is currently powered only by the battery pack and the power of the battery pack, obtains the current discharge power and the current power, and executes different control strategies based on the current discharge power and the current power. The embodiment of the present application provides a control switch with multiple different working modes for the range extender, so that the user can flexibly set the corresponding gear position according to their own needs, thereby executing different control strategies, avoiding energy waste or insufficient power, and meeting diverse control needs. At the same time, not only the actual state of the battery is taken into consideration, but also the load demand is taken into consideration, so that more flexible control can be achieved, which can not only ensure the battery power but also avoid energy waste. In addition, in the present application, the operating mode of the range extender can be set by the user according to his own needs. It can not only be fine-tuned according to the actual state of the battery pack and the load demand, but also can reduce energy (gasoline) consumption and exhaust emissions while ensuring the normal operation of the lawn mower. It can also prevent the battery pack from being over-discharged and protect the safety of the battery pack, thereby realizing refined control of battery pack charging, range extender start and stop, and operating mode switching, thereby improving the performance and safety of the electric lawn mower.

[0088] Correspondingly, the embodiment of the present application also discloses a range-extended lawn mower whole machine control device, which is applied to a range extender in the range-extended lawn mower, wherein the range-extended lawn mower includes a generator and a battery pack, see Figure 7 As shown, the device comprises:

[0089] The information acquisition module 11 is used to acquire the discharge power of the battery pack in the range-extended lawn mower that is currently powered only by the battery pack, and the power of the battery pack, to obtain the current discharge power and the current power;

[0090] A comparison module 12 is used to compare the current discharge power with the rated power of the range extender, and the current power with the first power threshold, to obtain a first comparison result;

[0091] A first control module 13 is configured to control the generator to start if the first comparison result indicates that the current discharge power is less than the rated power and the current power is less than the first power threshold, and to charge the battery pack through the generator, and to supply power to the mowing motor and the travel motor of the range-extended lawn mower at the same time;

[0092] A second control module 14 is configured to control the generator to start if the first comparison result indicates that the current discharge power is equal to the rated power and the current power is less than the first power threshold, and to use the generator to supply power to the mowing motor and the travel motor of the range-extended lawn mower;

[0093] The third control module 15 is used to control the generator to start if the first comparison result shows that the current discharge power is greater than the rated power, or the current power is not less than the first power threshold, and to supply power to the mowing motor and the travel motor of the extended-range lawn mower through the generator, and at the same time supply power to other electrical equipment in the extended-range lawn mower through the battery pack.

[0094] Among them, the specific working processes of the above-mentioned modules can refer to the corresponding contents disclosed in the aforementioned embodiments, which will not be repeated here.

[0095] It can be seen that the embodiment of the present application is applied to the range extender in the range-extended lawn mower including a generator and a battery pack. The discharge power of the battery pack in the range-extended lawn mower currently powered only by the battery pack and the power of the battery pack are first obtained to obtain the current discharge power and the current power. Then, the current discharge power is compared with the rated power of the range extender, and the current power is compared with the first power threshold to obtain a first comparison result. If the first comparison result shows that the current discharge power is less than the rated power and the current power is less than the first power threshold, the generator is controlled to start, and the battery pack is charged by the generator, and at the same time, the current power is charged to the first power threshold. The mowing motor and the travel motor of the extended-range lawn mower are powered; if the first comparison result shows that the current discharge power is equal to the rated power, and the current power is less than the first power threshold, the generator is controlled to start, and the generator is used to power the mowing motor and the travel motor of the extended-range lawn mower; if the first comparison result shows that the current discharge power is greater than the rated power, or the current power is not less than the first power threshold, the generator is controlled to start, and the mowing motor and the travel motor of the extended-range lawn mower are powered by the generator, and at the same time, the battery pack is used to power other electrical devices in the extended-range lawn mower. The embodiment of the present application first obtains the discharge power and the power of the battery pack in the range-extended lawn mower, and then compares the current discharge power with the rated power of the range extender, and the current power with the preset power threshold, and adopts different control strategies according to the comparison results. Specifically, when the discharge power is less than the rated power and the current power is less than the preset power threshold, the generator is controlled to start to charge the battery pack, and power is supplied to the lawn mowing motor and the travel motor at the same time (that is, the battery pack and the motor are powered at the same time); when the discharge power is equal to the rated power and the current power is less than the preset power threshold, the generator is controlled to start to power the lawn mowing motor and the travel motor (that is, no power is supplied to the battery pack and the travel motor). battery pack charging); when the discharge power is greater than the rated power or the current power is not less than the preset power threshold, the generator is controlled to start to supply power to the mowing motor and the walking motor, and at the same time, power is supplied to other electrical equipment through the battery pack (that is, the battery pack and the generator are supplied together). Through the above method, the battery charging strategy can be dynamically adjusted according to the actual state of the battery to avoid overcharging or undercharging of the battery, thereby increasing the service life of the battery; in addition, the start-up of the generator can be flexibly controlled according to the actual state of the battery and the load demand, thereby avoiding energy waste and insufficient power, extending the working endurance of the lawn mower, and realizing continuous operation of the lawn mower.

[0096] In some specific embodiments, after the first control module 13, the following may also be included:

[0097] A first power acquisition unit, used to acquire the current power of the battery pack to obtain a first power;

[0098] A first judging unit, configured to judge whether the first power level is greater than a second power level threshold; wherein the second power level threshold is greater than the first power level threshold;

[0099] The first control unit is used to stop the generator from supplying power to the mowing motor and the walking motor if the first power level is greater than the second power level threshold, and supply power to the mowing motor and the walking motor through the battery pack.

[0100] In some specific embodiments, after the second control module 14, the following may also be included:

[0101] A first information acquisition unit, used to acquire the current discharge power of the battery pack and the power of the battery pack to obtain a first discharge power and a second power;

[0102] a comparing unit, configured to compare the first discharge power with the rated power, and the second electric quantity with the first electric quantity threshold, to obtain a second comparison result;

[0103] A trigger unit is used to trigger the step of charging the battery pack through the generator and supplying power to the mowing motor and the travel motor of the extended-range lawn mower if the second comparison result indicates that the first discharge power is less than the rated power and the second power is less than the first power threshold.

[0104] In some specific embodiments, the information acquisition module 11 may specifically include:

[0105] a determination unit, configured to determine a gear position of a control switch currently used to control the operating mode of the range extender, and obtain a target gear position;

[0106] The second information acquisition unit is used to acquire the discharge power of the battery pack and the power of the battery pack in the extended-range lawn mower that is currently powered only by the battery pack if the target gear is in the automatic start gear, so as to obtain the current discharge power and the current power.

[0107] In some specific embodiments, the range-extended lawn mower whole machine control device may further include:

[0108] a second control unit, configured to control the generator to start if the target gear is in the forced start gear, and to supply power to the mowing motor and the travel motor of the range-extended lawn mower through the generator, and to obtain the current power of the battery pack to obtain a third power;

[0109] A second judging unit, configured to judge whether the third power level is less than the first power level threshold;

[0110] A charging unit is used to charge the battery pack until the second power threshold is reached if the third power threshold is less than the first power threshold.

[0111] In some specific embodiments, after the third control module 15, the following may also be included:

[0112] A second power acquisition unit, used to acquire the current power of the battery pack to obtain a fourth power;

[0113] A third judging unit, configured to judge whether the fourth power level is less than a third power level threshold; the third power level threshold is less than the first power level threshold;

[0114] The third control unit is used to stop the power supply of the battery pack if the fourth power level is less than the third power level threshold, and supply power to the mowing motor and the walking motor at different powers.

[0115] In some specific embodiments, the third control unit may specifically include:

[0116] The motor power supply unit is used to supply power to the mowing motor according to a first preset power, and to supply power to the walking motor according to a second preset power; wherein the first preset power is greater than the second preset power.

[0117] Furthermore, the present application also discloses an electronic device. Figure 8 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be considered as any limitation on the scope of use of the present application.

[0118] Figure 8 A schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the extended-range lawn mower control method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0119] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0120] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0121] The operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the extended-range lawn mower control method executed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include computer programs that can be used to complete other specific tasks.

[0122] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the above-disclosed extended-range lawn mower control method is implemented. The specific steps of the method can be referred to the corresponding contents disclosed in the above-disclosed embodiments, and will not be repeated here.

[0123] Furthermore, an embodiment of the present application also discloses a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the extended-range lawn mower control method disclosed above.

[0124] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0125] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0126] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0127] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0128] The above is a detailed introduction to the control method, device, equipment and storage medium of an extended-range lawn mower provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for controlling a range-extended lawn mower, characterized in that: A range extender used in a range-extended lawn mower, wherein the range-extended lawn mower includes a generator and a battery pack, including: Obtaining the discharge power of the battery pack in the range-extended lawn mower that is currently powered only by the battery pack and the power level of the battery pack to obtain the current discharge power and the current power level; Compare the current discharge power with the rated power of the range extender, and the current power with the first power threshold, to obtain a first comparison result; If the first comparison result indicates that the current discharge power is less than the rated power, and the current power is less than the first power threshold, the generator is controlled to start, and the battery pack is charged by the generator, and power is supplied to the mowing motor and the travel motor of the range-extended lawn mower at the same time; If the first comparison result indicates that the current discharge power is equal to the rated power, and the current power is less than the first power threshold, the generator is controlled to start, and the generator is used to supply power to the mowing motor and the travel motor of the range-extended lawn mower; If the first comparison result indicates that the current discharge power is greater than the rated power, or the current power is not less than the first power threshold, the generator is controlled to start, and the mowing motor and the travel motor of the extended-range lawn mower are powered by the generator, and the other electrical devices in the extended-range lawn mower are powered by the battery pack.

2. The method for controlling a range-extended lawn mower according to claim 1, characterized in that: After the generator is controlled to start, and the battery pack is charged by the generator, and power is supplied to the mowing motor and the travel motor of the range-extended lawn mower, the method further includes: Acquire the current power of the battery pack to obtain a first power; Determine whether the first power level is greater than a second power level threshold; wherein the second power level threshold is greater than the first power level threshold; If the first power level is greater than the second power level threshold, the generator is stopped from supplying power to the mowing motor and the walking motor, and the mowing motor and the walking motor are supplied with power through the battery pack.

3. The method for controlling a range-extended lawn mower according to claim 1, characterized in that: After the generator is started and the generator is used to supply power to the mowing motor and the travel motor of the range-extended lawn mower, the method further includes: Acquire the current discharge power of the battery pack and the power of the battery pack to obtain a first discharge power and a second power; Comparing the first discharge power with the rated power, and the second electric quantity with the first electric quantity threshold, to obtain a second comparison result; If the second comparison result indicates that the first discharge power is less than the rated power and the second power is less than the first power threshold, the step of charging the battery pack through the generator and supplying power to the mowing motor and the travel motor of the extended-range lawn mower is triggered.

4. The method for controlling a range-extended lawn mower according to claim 2, characterized in that: The obtaining of the discharge power of the battery pack in the range-extended lawn mower currently powered only by the battery pack and the power of the battery pack to obtain the current discharge power and the current power includes: Determining the gear position of the control switch currently used to control the operating mode of the range extender to obtain a target gear position; If the target gear is in the automatic start gear, the discharge power of the battery pack and the power of the battery pack in the extended-range lawn mower that is currently powered only by the battery pack are obtained to obtain the current discharge power and the current power.

5. The method for controlling a range-extended lawn mower according to claim 4, characterized in that: Also includes: If the target gear is in the forced start gear, the generator is controlled to start, and the mowing motor and the travel motor of the extended-range lawn mower are powered by the generator, and the current power of the battery pack is obtained to obtain a third power; Determining whether the third power level is less than the first power level threshold; If the third power level is less than the first power level threshold, the battery pack is charged until the second power level threshold is reached.

6. The method for controlling a range-extended lawn mower according to any one of claims 1 to 5, characterized in that: After the generator is used to supply power to the mowing motor and the travel motor of the range-extended lawn mower, and the battery pack is used to supply power to other electrical devices in the range-extended lawn mower, the method further includes: Acquire the current power of the battery pack to obtain a fourth power, and determine whether the fourth power is less than a third power threshold; the third power threshold is less than the first power threshold; If the fourth power level is less than the third power level threshold, the power supply of the battery pack is stopped, and power is supplied to the mowing motor and the walking motor at different powers.

7. The method for controlling a range-extended lawn mower according to claim 6, characterized in that: The method of supplying power to the mowing motor and the walking motor according to different powers includes: The mowing motor is powered according to a first preset power, and the walking motor is powered according to a second preset power; wherein the first preset power is greater than the second preset power.

8. A control device for a range-extended lawn mower, characterized in that: A range extender used in a range-extended lawn mower, wherein the range-extended lawn mower includes a generator and a battery pack, including: An information acquisition module, used to acquire the discharge power of the battery pack in the range-extended lawn mower currently powered only by the battery pack, and the power of the battery pack, to obtain the current discharge power and the current power; A comparison module, used for comparing the current discharge power with the rated power of the range extender, and the current power with a first power threshold, to obtain a first comparison result; a first control module, configured to control the generator to start if the first comparison result indicates that the current discharge power is less than the rated power and the current power is less than the first power threshold, and to charge the battery pack through the generator, and to supply power to a mowing motor and a travel motor of the range-extended lawn mower at the same time; a second control module, configured to control the generator to start if the first comparison result indicates that the current discharge power is equal to the rated power and the current power is less than the first power threshold, and to use the generator to supply power to the mowing motor and the travel motor of the range-extended lawn mower; The third control module is used to control the generator to start if the first comparison result shows that the current discharge power is greater than the rated power, or the current power is not less than the first power threshold, and to supply power to the mowing motor and the travel motor of the extended-range lawn mower through the generator, and at the same time supply power to other electrical equipment in the extended-range lawn mower through the battery pack.

9. An electronic device, characterized in that: It comprises a processor and a memory; wherein, when the processor executes the computer program stored in the memory, the method for controlling the entire range-extended lawn mower as claimed in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: Used to store computer programs; wherein, when the computer program is executed by a processor, the method for controlling a range-extended lawn mower as described in any one of claims 1 to 7 is implemented.

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