Driving system and control method of mowing and flattening machine and mowing and flattening machine

Abstract

According to the driving system and the control method of the mowing and flattening machine and the mowing and flattening machine, a novel diesel-electric hybrid power technology is adopted for the whole machine, reasonable distribution of diesel-electric hybrid power energy is achieved, and waste gas emission in the operation process is reduced. The whole machine adopts a distributed hybrid power driving system; the power distribution system adopts a dual-power flow power distribution mode (the walking of the whole machine adopts pure electric drive control, the mowing and flattening assembly adopts an electro-hydraulic drive mode, and the synchronous operation of the walking system and the mowing and flattening assembly can be realized under the condition that an engine is not driven), and the driving walking system can work in a pure electric drive mode and a hybrid drive dual mode; meanwhile, an electronic power-assisted steering system is adopted in the whole machine, various steering modes can be achieved according to the operation intention of a driver, even zero steering radius is achieved, and steering is flexible and convenient; and the dual modes of hydraulic braking and electronic braking are adopted, so that the running operation of the vehicle is safer.

Description

Technical Field

[0001] The present invention relates to the technical field of grass mower and flattener machines, and in particular to a driving system and a control method of a grass mower and flattener machine. Background Art

[0002] The mower and flattener is mainly used for harvesting, flattening and arranging forage grass (alfalfa, oats, etc.). By cutting, bending, fracturing, combing and beating the forage grass, its stems and surface structure are destroyed, which can promote the loss of internal moisture, and make the stems and leaves dry synchronously as much as possible, shorten the field drying time of forage grass, and lock in the nutrients of forage grass. It has high operating efficiency, short drying time, reduced labor costs, and increased user benefits, and has been widely used.

[0003] At present, the travel system and mower and flattening device of the existing domestic mower and flattening machines are all hydrostatically driven, relying entirely on the engine to provide power. A large amount of exhaust gas will be emitted during operation, which cannot meet the urgent demand for green power agricultural machinery in the current new agricultural development format. The steering system relies on the differential of the travel drive gearbox to achieve differential steering, and the size of the turning radius depends on the driver's operating proficiency. Although the turning radius is small, it still cannot fully meet the operation needs in some narrow areas. Summary of the invention

[0004] In order to solve the deficiencies in the prior art, the present invention provides a driving system, a control method and a mower and flattening machine. The whole machine of the present invention adopts a new diesel-electric hybrid power technology to achieve reasonable distribution of diesel-electric hybrid power energy and reduce exhaust gas emissions during operation. The whole machine adopts a distributed hybrid power drive system; the power distribution system adopts a dual power flow power distribution mode (the walking of the whole machine adopts pure electric drive control, and the mower and flattening assembly adopts an electro-hydraulic drive mode, which can realize the synchronous operation of the walking system and the mower and flattening assembly without driving the engine), and the driving walking system can work in a pure electric drive mode and a hybrid drive dual mode; the whole machine adopts electrical power coupling for power coupling, and the power provided by the diesel generator set and the power battery during the operation of the whole machine needs to meet the power requirements of the whole machine's driving drive and operation drive, so as to achieve the electric power balance of the whole machine, reduce the emission of exhaust gas during operation, and help agricultural production achieve the "dual carbon strategy" goal; at the same time, the whole machine adopts an electronic power steering system to achieve a variety of steering modes according to the driver's operating intention, even zero steering radius, and flexible and convenient steering; the "hydraulic brake + electronic brake" dual mode is adopted to make the vehicle driving operation safer.

[0005] In order to achieve the above object, the specific scheme adopted by the present invention is: On the one hand, the present invention provides a driving system of a lawn mower and flattener, including a power system, a hydraulic system, a travel system and a vehicle control system, wherein: The power system includes an engine, an ISG motor, a transfer case and a power battery system, wherein the engine drives the ISG motor to generate electricity, the ISG motor is connected to the transfer case, and the transfer case is connected to the hydraulic system; The travel system is provided on each side, and each travel system includes a wheel-side drive motor, a wheel-side reducer, a drive wheel, and a rear universal wheel; the wheel-side drive motor can drive the wheel-side reducer to move, thereby driving the drive wheel to rotate, and the rear universal wheel follows; The hydraulic system includes a plunger double pump, a gear pump, and a hydraulic actuator. The plunger double pump is connected to the transfer case, the gear pump is connected to the plunger double pump, and the plunger double pump is connected to the wheel side drive motor through a brake solenoid valve; The vehicle control system includes a whole machine controller, a generator controller, a high-voltage control box, a wheel-side drive motor controller, and an electronic power steering system. The whole machine controller is electrically connected to the electronic power steering system, the high-voltage control box, the wheel-side drive motor controller, the generator controller, the power battery system, and the engine. The high-voltage control box is electrically connected to the power battery system, the generator controller, and the wheel-side drive motor controller. The ISG motor is connected to the high-voltage control box through the generator controller, and the wheel-side drive motor controller is electrically connected to the wheel-side drive motor; Among them, the power system, the travel system and the vehicle control system cooperate to realize the travel drive of the whole machine, and the power system and the hydraulic system cooperate to provide power for the front mower and flattening assembly of the mower and flattener.

[0006] Furthermore, it also includes an OBC-DC / DC integrated machine, which is connected to the power battery system and the whole machine controller respectively.

[0007] On the other hand, the present invention provides a control method for a driving system of a lawn mower and conditioner, the control method comprising a multi-steering control method, a dual power flow power distribution method, a driving travel method, and a braking method.

[0008] Furthermore, the multi-steering control method includes three modes: Mode 1: When the steering angle of the electronic power steering system is ≤120°, the electronic power steering system communicates with the whole machine controller, and the whole machine controller controls the outer wheel to accelerate, while the inner wheel maintains the original speed or decelerates, so that there is a speed difference between the two driving wheels, and a slow steering with a turning radius of 2-3m is achieved; Mode 2: When the steering angle of the electronic power steering system reaches between 120-240°, the electronic power steering system communicates with the whole machine controller, and the whole machine controller controls the outer wheel to accelerate, while the inner wheel gradually stops, achieving a steering radius of 1-2m; Mode 3: When the steering angle of the electronic power steering system is ≥240°, the electronic power steering system communicates with the whole machine controller. The whole machine controller controls the acceleration of the outer wheels, and the inner wheels gradually decelerate and drive in the opposite direction to achieve a turning radius of less than 1m. When the turning radius is equal to 0, turning on the spot can be achieved.

[0009] Furthermore, the dual power flow power distribution method is divided into two modes: Mode 1: When the engine is running, the electronically controlled clutch of the engine and the ISG motor is engaged, and the engine drives the ISG motor and drives the hydraulic system to work; at the same time, the vehicle control system controls the movement of the travel system, and then drives the left and right drive wheels for travel; Mode 2: When the engine is turned off, the electronically controlled clutch of the ISG motor is in a disengaged state, the engine and the ISG motor are separated, the power battery system is electrically connected to the high-voltage control box and provides electrical energy to the ISG motor through the generator controller, driving the ISG motor to convert electrical energy into mechanical energy, and providing power to the mowing and flattening assembly through the hydraulic system; on the other hand, the vehicle control system controls the movement of the walking system, and then drives the left and right driving wheels for walking drive, thereby realizing the synchronous movement of the walking drive and the mowing and flattening assembly of the whole machine.

[0010] Furthermore, the driving walking method mainly includes two modes: Mode 1: Pure electric drive mode: At this time, the engine is not started, and the electronically controlled clutch of the ISG motor is in a disengaged state. On the one hand, the power battery system provides energy to the ISG motor through the high-voltage control box, driving the transfer case to drive the hydraulic system to work; on the other hand, the power battery system drives the wheel-side drive motor through the high-voltage control box to provide power to the wheel-side reducer, driving the drive wheel to rotate, thereby realizing the movement of the whole machine. When the power of the power battery system is less than ≤30%, a command is issued through the whole machine controller to remind the engine to start the hybrid drive mode; Mode 2, hybrid drive mode: The whole machine controller will issue a start command, the engine and the electronically controlled clutch of the ISG motor will be combined to start the engine, and the ISG motor will drive the hydraulic system to operate. At the same time, the ISG motor is connected to the power battery system, high-voltage control box, wheel-side drive motor, and wheel-side drive motor controller, driving the wheel-side reducer to drive the drive wheel to rotate, so that the whole machine can move.

[0011] Furthermore, the hybrid driving mode is divided into two freely switchable modes: Mode 1: When the power of the power battery system is above 70%, the whole machine controller distributes power according to the vehicle's workload; the whole machine controller controls the power battery system to be in a discharge state, and the ISG motor does not charge the power battery system; at this time, the engine runs with a light load, and the ISG motor provides power to the hydraulic system; Mode 2: When the power of the power battery system is below 70%, the whole machine controller distributes power according to the vehicle's workload and the power of the power battery system. The whole machine controller controls the ISG motor to charge the power battery system on the one hand and to provide power to the hydraulic system on the other hand. At this time, the engine is working under heavy load, and the power distribution is controlled by the whole machine controller to optimize the engine's working performance.

[0012] Furthermore, the braking method is a combination of driving electronic braking and parking hydraulic pressure loss protection system braking: After the vehicle starts, the plunger double pump works, the brake solenoid valve is energized, and oil is supplied to the wheel reducers on the left and right sides respectively. Under the action of pressure, the springs of the hydraulic pressure loss protection system brakes in the wheel reducers on the left and right sides are compressed, the brake friction plates are disengaged, the wheels are in an automatic rotation state, and the vehicle can drive normally. When the vehicle needs to slow down or stop during driving, the whole machine controller controls the speed of the wheel motor on the corresponding side through the wheel drive motor controllers on the left and right sides, and achieves the purpose of deceleration and stopping through the wheel reducer; When the vehicle's electronic brake system fails during driving, the hydraulic pressure loss protection system will come into play. At this time, the brake solenoid valve loses power, the oil pressure decreases, and the springs of the hydraulic pressure loss protection system brakes in the wheel-side reducers on both sides extend, pressing the brake friction pads, and the vehicle slows down or stops, ensuring that the vehicle can slow down or even stop, protecting the safety of the driver and the vehicle; at the same time, when the vehicle is parked, press the parking brake button, the brake solenoid valve loses power, the oil pressure decreases, and the springs of the hydraulic pressure loss protection system brakes in the wheel-side reducers on both sides extend, pressing the brake friction pads, and braking the vehicle.

[0013] In yet another aspect, the present invention provides a mower and conditioner, comprising the mower and conditioner drive system described above.

[0014] Beneficial effects: (1) Compared with the prior art, the present invention applies a diesel-electric hybrid drive device to the mower and flattener. The whole vehicle adopts a distributed hybrid drive system with two working modes. It not only takes advantage of the engine's long continuous working time and good power performance to improve the economy of the whole machine, but also takes advantage of the motor's pollution-free and low noise to protect the ecological environment. The two complement each other, and the thermal efficiency of the whole machine is improved, reducing exhaust emissions. Therefore, the system can meet the power requirements of increasing vehicle power while also meeting the environmental protection requirements of improving fuel economy, reducing fuel consumption, and reducing pollution.

[0015] (2) The present invention communicates with the whole machine controller by controlling the electronic power steering system and has three control modes (smooth, fast, and zero steering). When the zero turning radius can be fully achieved, a comprehensive evaluation can be made based on the driver's operating requirements and the operating speed of the whole machine to ensure smooth and flexible steering.

[0016] (3) The whole machine in the present invention is driven by electricity, while the mowing and flattening assembly is driven by hydraulic pressure. Even when the engine is turned off, the mowing and flattening assembly can still work under the action of the drive motor, and the drive system can also move. That is, the travel drive and the mowing and flattening assembly can work normally regardless of the working mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The schematic diagram of the mowing and flattening machine of the present invention is shown in FIG.

[0018] Graphic markings: 1. Engine, 2. ISG motor, 3. Transfer case, 4. Plunger double pump, 5. Gear pump, 6. Right wheel drive motor controller, 7. Right wheel drive motor, 8. Right wheel reducer, 9. Driving wheel, 10. Brake solenoid valve, 11. Left wheel drive motor, 12. Left wheel reducer, 13. Left wheel drive motor controller, 14. Electronic power steering system, 15. High-voltage control box, 16. Whole machine controller, 17. Generator controller, 18. Power battery system, 19. OBC-DC / DC integrated machine, 20. Rear universal wheel. DETAILED DESCRIPTION

[0019] The technical solution of the present invention will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] It should be noted that the terms "include", "comprises" or any other variations 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, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0021] Combined with Figure 1The present invention provides a mower and flattening machine, which includes a drive system, a mower and flattening assembly and a hydraulic actuator of the whole machine. The drive system includes an engine 1, an ISG motor 2, a transfer case 3, a plunger double pump 4, a gear pump 5, a right wheel drive motor controller 6, a right wheel drive motor 7, a right wheel reducer 8, a drive wheel 9, a brake solenoid valve 10, a left wheel drive motor 11, a left wheel reducer 12, a left wheel drive motor controller 13, an electronic power steering system (EPS) 14, a high-voltage control box (PDU) 15, a whole machine controller (VCU) 16, a generator controller 17, a power battery system (BMS) 18, an OBC-DC / DC integrated machine 19 and a rear universal wheel 20.

[0022] The power system includes a power system, a hydraulic system, a travel system and a vehicle control system, wherein the power system includes an engine 1, an ISG motor 2, a transfer case 3 and a power battery system 18, wherein the engine 1 drives the ISG motor 2 to generate electricity, the ISG motor 2 is connected to the transfer case 3, and the transfer case 3 is connected to the hydraulic system; The walking system is provided on each side, wherein the left walking system includes a left wheel side driving motor 11, a left wheel side reducer 12, a left driving wheel 9, and a left rear universal wheel 20; the right walking system includes a right wheel side driving motor 7, a right wheel side reducer 8, a right driving wheel 9, and a right rear universal wheel 20; The hydraulic system includes a plunger double pump 4, a gear pump 5, and a hydraulic actuator. The plunger double pump 4 is connected to the transfer case, the gear pump 5 is connected to the plunger double pump 4, and the plunger double pump 4 is connected to the wheel side drive motor through a brake solenoid valve 10; The vehicle control system includes a whole machine controller 16, a generator controller 17, a high-voltage control box 15, a left wheel side drive motor controller 13, a right wheel side drive motor controller 6, and an electronic power steering system 14. The whole machine controller 16 is electrically connected to the electronic power steering system 14, the high-voltage control box 15, the left wheel side drive motor controller 13, the right wheel side drive motor controller 6, the generator controller 17, the power battery system 18, and the engine 1, and the high-voltage control box 15 is connected to the power battery system 18, the generator controller 17, the left wheel side drive motor controller 13, and the right wheel side drive motor controller 6; The ISG motor 2 is connected to the high voltage control box 15 via the generator controller 17 , the left wheel drive motor controller 13 is electrically connected to the left wheel drive motor 11 , and the right wheel drive motor controller 6 is electrically connected to the right wheel drive motor 7 .

[0023] Among them, the power system, the travel system and the vehicle control system cooperate to realize the travel drive of the whole machine, and the power system and the hydraulic system cooperate to provide power for the front mower and flattening assembly of the mower and flattener.

[0024] The right wheel drive motor controller 6, the left wheel drive motor controller 13, the generator controller 17, the power battery system 18, the high voltage control box 15, and the electronic power steering system 14 are all connected to the whole machine controller 16 to provide whole machine control.

[0025] 1. About Multi-Steering Mode There are three control modes for vehicle steering. Take left steering as an example: when the vehicle needs to turn left, the driver manipulates the electronic power steering system 14 to turn left. Mode 1: When the steering angle of the electronic power steering system 14 is ≤120°, the electronic power steering system 14 communicates with the whole machine controller 16, and the whole machine controller 16 controls the right wheel drive motor controller 6 to increase the speed of the right wheel drive motor 7, thereby driving the right wheel reducer 8 to accelerate, and the left wheel drive motor controller 13 makes the left wheel drive motor 11 maintain the original speed or decelerate, thereby driving the left wheel reducer 12 to maintain the original speed or decelerate, so that the left and right drive wheels 9 have a speed difference, and a slow steering with a larger turning radius (turning radius is 2-3m) is achieved; when the steering angle of the electronic power steering system 14 reaches between 120°-240°, the electronic power steering system 14 communicates with the whole machine controller 16, and the whole machine controller 16 controls the right wheel drive motor controller 6 to make the right wheel drive The motor 7 increases speed, thereby driving the right wheel reducer 8 to accelerate, and the left wheel drive motor controller 13 makes the left wheel drive motor 11 gradually stop, thereby controlling the left wheel reducer 12 to gradually stop, and realizes steering with a smaller turning radius (turning radius is 12m); when the steering angle of the electronic power steering system 14 is ≥240°, the electronic power steering system communicates with the whole machine controller 16, and the whole machine controller 16 controls the right wheel drive motor controller 6 to increase the speed of the right wheel drive motor 7, thereby driving the right wheel reducer 8 to accelerate, and the left wheel drive motor controller 13 makes the left wheel drive motor 11 gradually decelerate and gradually rotate in the opposite direction, thereby driving the left wheel reducer 12 to decelerate and drive in the opposite direction, realizing steering with a small turning radius (turning radius is greater than 1m), and can realize turning in situ (turning radius is 0). Vice versa.

[0026] 2. Dual power flow power distribution mode The mower and flattener in the present invention adopts a dual power flow power distribution mode. The engine 1, ISG motor 2, right wheel drive motor controller 6, right wheel drive motor 7, right wheel reducer 8, left wheel drive motor 11, left wheel reducer 12, left wheel drive motor controller 13, high-voltage control box 15, whole machine controller 16, generator controller 17, power battery system 18, etc. are electrically connected to form an electric drive system to realize the walking drive of the whole machine. At the same time, the engine 1, ISG motor 2, transfer case 3, plunger double pump 4, gear pump 5, and brake solenoid valve 10 are mechanically and hydraulically connected to form a mechanical hydraulic system to provide power for the mower and flattening assembly located at the front end.

[0027] When the engine 1 is running, the engine 1 is combined with the electronically controlled clutch of the ISG motor 2, and the engine 1 drives the ISG motor 2 and drives the hydraulic actuator of the whole machine to move through the mechanical connection of the transfer case 3, the plunger double pump 4 and the gear pump 5. At the same time, the ISG motor 2 is electrically connected to the generator controller 17 and the high-voltage control box 15, and the high-voltage control box 15 is electrically connected to the power battery system 18, the whole machine controller 16, the left wheel side drive motor controller 13 and the left wheel side drive motor 11, the right wheel side drive motor controller 6 and the right wheel side drive motor 7, respectively driving the left wheel side reducer 12 and the right wheel side reducer 8 and then driving the left and right drive wheels 9 for walking drive.

[0028] When the engine 1 is turned off, the electronically controlled clutch of the ISG motor 2 is in a disengaged state, and the engine 1 and the ISG motor 2 are separated. The power battery system 18 is electrically connected to the high-voltage control box 15 to provide electrical energy to the ISG motor 2 through the generator controller 17, driving the ISG motor 2 to convert electrical energy into mechanical energy, and driving the transfer case 2 and the plunger double pump 4 and the gear pump 5 and the brake solenoid valve 10 through mechanical and hydraulic connections to provide power for the mowing and flattening assembly. On the other hand, the power battery system 18 is electrically connected to the high-voltage control box 15 to control the left wheel drive motor controller 13 and the left wheel drive motor 11, the right wheel drive motor controller 6 and the right wheel drive motor 7 through the whole machine controller 16, and respectively drive the left wheel reducer 12 and the right wheel reducer 8 to drive the left and right drive wheels 9 to drive the whole machine, thereby realizing the synchronous movement of the whole machine's walking drive and the mowing and flattening assembly.

[0029] 3. About the "Hydraulic Brake + Electronic Brake" Mode The whole machine adopts a braking method that combines driving electronic braking and parking hydraulic pressure loss protection system braking. After the vehicle starts, the plunger double pump 4 works, the brake solenoid valve 10 is energized, and oil is supplied to the left wheel side reducer 12 and the right wheel side reducer 8 respectively. Under the action of pressure, the springs of the hydraulic pressure loss protection system brakes in the left wheel side reducer 12 and the right wheel side reducer 8 are compressed, the brake friction pads are disengaged, the wheels are in an automatic rotation state, and the vehicle can drive normally. When the vehicle needs to slow down or stop during driving, the whole machine controller 16 controls the speed of the left wheel motor 11 and the right wheel motor 7 through the left wheel drive motor controller 13 and the right wheel drive motor controller 6 respectively to achieve the purpose of deceleration and stopping through the left wheel reducer 8 and the right wheel reducer 12; when encountering an emergency during driving, such as: the engine 1 and the ISG motor 2 are damaged, the vehicle electronic brake system fails, the hydraulic pressure loss protection system will play a role, at this time the brake solenoid valve 10 loses power, the oil pressure decreases, the spring of the hydraulic pressure loss protection system brake in the left wheel reducer 12 and the right wheel reducer 8 extends, presses the brake friction plate, the vehicle slows down or stops rotating, ensures that the vehicle can slow down or even stop, and protects the safety of the driver and the vehicle. At the same time, in the parking state, press the parking brake button, the brake solenoid valve 10 loses power, the oil pressure decreases, the spring of the hydraulic pressure loss protection system brake in the left wheel reducer 12 and the right wheel reducer 8 extends, presses the brake friction plate, and brakes the vehicle.

[0030] 4. About driving walking mode The whole machine has two driving modes: pure electric driving mode and hybrid driving mode. The whole machine controller 16 controls the driving mode of the whole machine.

[0031] When the whole machine is started, the whole machine controller 16 will issue a start command: whether to start the engine 1. When the power of the power battery system 18 is above 70%, the system detects that the engine 1 can be selected not to start. The power battery system 18 directly supplies power to the right wheel drive motor 6 and the left wheel drive motor 11 to directly drive the drive wheel 9 to move; when the power of the power battery system 16 is ≤30%, the system detects that the engine 1 must be started for the whole machine hybrid drive. At this time, the electronically controlled clutch of the ISG motor 2 is combined with the engine 1 to start the engine 1 to work. The two modes are described in detail below.

[0032] The first mode: pure electric drive travel mode, this working condition is mainly used for transfer operations. At this time, the engine 1 is not started, and the electronically controlled clutch of the ISG motor 2 is in a disengaged state. On the one hand, the power battery system 18 provides energy to the ISG motor 2 through the high-voltage control box 15, driving the transfer case 3 to drive the plunger double pump 4 and the gear pump 5 to perform the hydraulic system. On the other hand, the power battery system 18 drives the right wheel drive motor 7 and the left wheel drive motor 11 through the high-voltage control box 15 to provide power to the right wheel reducer 8 and the left wheel reducer 12 respectively, driving the drive wheel 9 to rotate, thereby realizing the whole machine to travel. When the power of the power battery system 11 is less than ≤30%, a command is issued through the whole machine controller 16 to remind the start of the engine 1.

[0033] The second mode: hybrid drive mode, the whole machine controller 16 will issue a start command, the engine 1 and the electronically controlled clutch of the ISG motor 2 are combined, the engine 1 is started, and the output end of the ISG motor 2 is connected to the transfer case 3, the plunger double pump 4 and the gear pump 5, driving the whole machine hydraulic actuator to move. At the same time, the ISG motor 2 is connected to the power battery system 18, the high-voltage control box 15, the right wheel drive motor 6, the right wheel drive motor controller 11, the left wheel drive motor 7, and the left wheel drive motor 11, driving the right wheel reducer 8 and the left wheel reducer 12 to drive the left and right drive wheels 9 to rotate, so that the whole machine can move.

[0034] Specifically, the hybrid driving mode is divided into two freely switchable modes.

[0035] Mode 1: When the power of the power battery system 18 is above 70%, the whole machine controller 16 will distribute power according to the vehicle's workload; the whole machine controller 16 controls the power battery system 18 to be in a discharge state, and the ISG motor 2 does not charge the power battery system 18. At this time, the engine 1 runs with a light load, and the ISG motor 2 provides power to the hydraulic actuator through the gear box 3, the plunger double pump 4 and the gear pump 5, which can reduce fuel consumption and power loss.

[0036] Mode 2: When the power of the power battery system 18 is below 70%, the whole machine controller 16 will distribute power according to the vehicle's workload and the power of the power battery system 18. The less power the power battery system 18 has, the more power will be distributed. The whole machine controller 16 controls the ISG motor 2 to charge the power battery system 18 on the one hand, and on the other hand, provides power to the hydraulic actuator through the gear box 3, the plunger double pump 4 and the gear pump 5. At this time, the engine 1 is working under heavy load, and the whole machine controller 16 controls the power distribution to optimize the working performance of the engine 1.

[0037] At the same time, the whole machine can charge the power battery system 18 through the OBC-DC / DC integrated machine 19. When the vehicle is seriously low on power (≤10%), or the power is insufficient after operation, the OBC-DC / DC integrated machine 19 can be used to charge the power battery system 18 at a designated location in the garage.

[0038] The main purpose of the present invention is to apply a self-propelled mower and flattener with multiple steering modes, dual power flows, and hybrid power drive systems to a mower and flattener. The whole machine adopts an electronic power steering system 14 to achieve multiple steering and flexible steering; the "hydraulic brake + electronic" braking dual mode is adopted to make the vehicle driving operation safer; the driving walking system adopts a pure electric drive mode and a hybrid drive dual mode; the whole machine has a clear electro-hydraulic power distribution mode (the walking of the whole machine adopts a pure electric drive control, and the action of the mower and flattening assembly adopts an electro-hydraulic drive mode), which not only takes advantage of the engine 1's long continuous working time and good power, and improves the fuel economy of the whole machine, but also takes advantage of the ISG motor's pollution-free and low noise, and protects the ecological environment. The two complement each other, and the thermal efficiency of the whole machine is improved, reducing exhaust emissions. Therefore, the system can meet the environmental protection requirements of increasing vehicle power requirements while also meeting the requirements of improving fuel economy, reducing fuel consumption, and reducing pollution.

[0039] The whole machine is equipped with a charging port and an OBC-DC / DC integrated device 19, and users can charge the lawn mower and conditioner through a charging pile.

[0040] Furthermore, the whole machine's autonomous driving system retains a communication interface and can achieve autonomous driving level requirements.

[0041] The parts not described in detail in this invention are prior art.

[0042] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any equivalent changes or modifications made according to the essence of the present invention should be included in the protection scope of the present invention.

Claims

1. A drive system for a lawn mower and conditioner, characterized in that: It includes power system, hydraulic system, travel system and vehicle control system, including: The power system includes an engine, an ISG motor, a transfer case and a power battery system, wherein the engine drives the ISG motor to generate electricity, the ISG motor is connected to the transfer case, and the transfer case is connected to the hydraulic system; The travel system is provided on each side, and each travel system includes a wheel-side drive motor, a wheel-side reducer, a drive wheel, and a rear universal wheel; the wheel-side drive motor can drive the wheel-side reducer to move, thereby driving the drive wheel to rotate, and the rear universal wheel follows; The hydraulic system includes a plunger double pump, a gear pump, and a hydraulic actuator. The plunger double pump is connected to the transfer case, the gear pump is connected to the plunger double pump, and the plunger double pump is connected to the wheel side drive motor through a brake solenoid valve; The vehicle control system includes a whole machine controller, a generator controller, a high-voltage control box, a wheel-side drive motor controller, and an electronic power steering system. The whole machine controller is electrically connected to the electronic power steering system, the high-voltage control box, the wheel-side drive motor controller, the generator controller, the power battery system, and the engine. The high-voltage control box is electrically connected to the power battery system, the generator controller, and the wheel-side drive motor controller. The ISG motor is connected to the high-voltage control box through the generator controller, and the wheel-side drive motor controller is electrically connected to the wheel-side drive motor; Among them, the power system, the travel system and the vehicle control system cooperate to realize the travel drive of the whole machine, and the power system and the hydraulic system cooperate to provide power for the front mower and flattening assembly of the mower and flattener.

2. The driving system of a lawn mower and conditioner according to claim 1, characterized in that: It also includes an OBC-DC / DC integrated machine, which is connected to the power battery system and the whole machine controller respectively.

3. The control method of the driving system of a lawn mower and conditioner according to claim 1, characterized in that: The control method includes a multi-steering control method, a dual power flow power distribution method, a driving walking method, and a braking method.

4. The control method of the driving system of the lawn mower and conditioner according to claim 3, characterized in that: The multi-steering control method includes three modes: Mode 1: When the steering angle of the electronic power steering system is ≤120°, the electronic power steering system communicates with the whole machine controller, and the whole machine controller controls the outer wheel to accelerate, while the inner wheel maintains the original speed or decelerates, so that there is a speed difference between the two driving wheels, and a slow steering with a turning radius of 2-3m is achieved; Mode 2: When the steering angle of the electronic power steering system reaches between 120-240°, the electronic power steering system communicates with the whole machine controller, and the whole machine controller controls the outer wheel to accelerate, while the inner wheel gradually stops, achieving a steering radius of 1-2m; Mode 3: When the steering angle of the electronic power steering system is ≥240°, the electronic power steering system communicates with the whole machine controller. The whole machine controller controls the acceleration of the outer wheels, and the inner wheels gradually decelerate and drive in the opposite direction to achieve a turning radius of less than 1m. When the turning radius is equal to 0, turning on the spot can be achieved.

5. The control method of the driving system of the lawn mower and conditioner according to claim 3, characterized in that: The dual power flow power distribution method is divided into two modes: Mode 1: When the engine is running, the electronically controlled clutch of the engine and the ISG motor is engaged, and the engine drives the ISG motor and drives the hydraulic system to work; at the same time, the vehicle control system controls the movement of the travel system, and then drives the left and right drive wheels for travel; Mode 2: When the engine is turned off, the electronically controlled clutch of the ISG motor is in a disengaged state, the engine and the ISG motor are separated, the power battery system is electrically connected to the high-voltage control box and provides electrical energy to the ISG motor through the generator controller, driving the ISG motor to convert electrical energy into mechanical energy, and providing power to the mowing and flattening assembly through the hydraulic system; on the other hand, the vehicle control system controls the movement of the walking system, and then drives the left and right driving wheels for walking drive, thereby realizing the synchronous movement of the walking drive and the mowing and flattening assembly of the whole machine.

6. The control method of the driving system of the mower and conditioner according to claim 3, characterized in that: The driving walking method mainly includes two modes: Mode 1: Pure electric drive mode: At this time, the engine is not started, and the electronically controlled clutch of the ISG motor is in a disengaged state. On the one hand, the power battery system provides energy to the ISG motor through the high-voltage control box, driving the transfer case to drive the hydraulic system to work; on the other hand, the power battery system drives the wheel-side drive motor through the high-voltage control box to provide power to the wheel-side reducer, driving the drive wheel to rotate, thereby realizing the movement of the whole machine. When the power of the power battery system is less than ≤30%, a command is issued through the whole machine controller to remind the engine to start the hybrid drive mode; Mode 2, hybrid drive mode: The whole machine controller will issue a start command, the engine and the electronically controlled clutch of the ISG motor will be combined to start the engine, and the ISG motor will drive the hydraulic system to operate. At the same time, the ISG motor is connected to the power battery system, high-voltage control box, wheel-side drive motor, and wheel-side drive motor controller, driving the wheel-side reducer to drive the drive wheel to rotate, so that the whole machine can move.

7. The control method of the driving system of the mower and conditioner according to claim 6, characterized in that: The hybrid driving mode is divided into two freely switchable modes: Mode 1: When the power of the power battery system is above 70%, the whole machine controller distributes power according to the vehicle's workload; the whole machine controller controls the power battery system to be in a discharge state, and the ISG motor does not charge the power battery system; at this time, the engine runs with a light load, and the ISG motor provides power to the hydraulic system; Mode 2: When the power of the power battery system is below 70%, the whole machine controller distributes power according to the vehicle's workload and the power of the power battery system. The whole machine controller controls the ISG motor to charge the power battery system on the one hand and to provide power to the hydraulic system on the other hand. At this time, the engine is working under heavy load, and the power distribution is controlled by the whole machine controller to optimize the engine's working performance.

8. The control method of the driving system of a lawn mower and conditioner according to claim 3, characterized in that: The braking method is a combination of driving electronic braking and parking hydraulic pressure loss protection system braking: After the vehicle starts, the plunger double pump works, the brake solenoid valve is energized, and oil is supplied to the wheel reducers on the left and right sides respectively. Under the action of pressure, the springs of the hydraulic pressure loss protection system brakes in the wheel reducers on the left and right sides are compressed, the brake friction plates are disengaged, the wheels are in an automatic rotation state, and the vehicle can drive normally. When the vehicle needs to slow down or stop during driving, the whole machine controller controls the speed of the wheel motor on the corresponding side through the wheel drive motor controllers on the left and right sides, and achieves the purpose of deceleration and stopping through the wheel reducer; When the vehicle's electronic brake system fails during driving, the hydraulic pressure loss protection system will come into play. At this time, the brake solenoid valve loses power, the oil pressure decreases, and the springs of the hydraulic pressure loss protection system brakes in the wheel-side reducers on both sides extend, pressing the brake friction pads, and the vehicle slows down or stops, ensuring that the vehicle can slow down or even stop, protecting the safety of the driver and the vehicle; at the same time, when the vehicle is parked, press the parking brake button, the brake solenoid valve loses power, the oil pressure decreases, and the springs of the hydraulic pressure loss protection system brakes in the wheel-side reducers on both sides extend, pressing the brake friction pads, and braking the vehicle.

9. A grass mower and flattener, characterized in that: A drive system comprising the lawn mower and conditioner according to any one of claims 1-2.

Images