Brake control method and mower

Abstract

The invention provides a brake control method and a mower. The brake control method comprises the following steps: acquiring a parking signal; when the parking signal is in an enabling state, timing is started; according to the current rotating speed of the driving motor and / or the timing duration, whether a preset braking condition is met or not is judged; and if the preset braking condition is met, a braking piece is controlled to conduct braking operation. According to the application, the abrasion generated on the brake piece and the friction heat generated on the friction surface in the braking process can be reduced, so that the service life of the brake piece can be prolonged.

Description

Technical Field

[0001] The invention relates to the field of brake control, and in particular to a brake control method and a lawn mower. Background Art

[0002] Braking control refers to the action of stopping or reducing the speed of a running vehicle or other means of transport or machinery. The braking process is completed by the intense friction between the brake parts and the brake drum. When the drive motor directly releases the brake at high speed, a large slip will be generated on the brake parts. During the braking process, the brake parts will be severely worn and more friction heat will be generated on the friction surface, which will significantly reduce the service life of the brake parts, thereby reducing the service life of the brakes. Summary of the invention

[0003] In view of the above shortcomings of the prior art, the present invention provides a brake control method and a lawn mower to improve the technical problem that the brake components are severely worn and the service life of the brake components is reduced during the braking process.

[0004] To achieve the above-mentioned purpose and other related purposes, the present invention provides a braking control method, comprising the following steps: obtaining a parking signal; if the parking signal is in an enabled state, starting timing; judging whether a preset braking condition is met based on the current speed of the drive motor and / or the duration of the timing; if the preset braking condition is met, controlling the brake component to perform a braking operation.

[0005] In an example of the braking control method of the present invention, whether the preset braking condition is met is judged based on the current speed of the drive motor and the timing duration. If the timing duration is equal to or greater than the preset braking duration, it is determined that the preset braking condition is met.

[0006] In an example of the braking control method of the present invention, whether the preset braking condition is met is judged based on the current speed of the drive motor and the timing duration. If the timing duration is less than the preset braking duration and the current speed of the drive motor is less than or equal to the preset speed, it is determined that the preset braking condition is met.

[0007] In an example of the braking control method of the present invention, whether the preset braking condition is met is determined based on the current speed of the drive motor and the timing duration. If the preset braking condition is not met, the drive motor is controlled to continue to perform deceleration action until the preset braking condition is met.

[0008] In an example of the braking control method of the present invention, whether the preset braking condition is met is determined according to the current rotation speed of the driving motor; if the current rotation speed is less than or equal to the preset rotation speed, the brake member is controlled to perform a braking operation.

[0009] In an example of the braking control method of the present invention, whether the preset braking condition is met is determined based on the timing duration; if the timing duration is equal to or greater than the preset braking duration, the brake component is controlled to perform a braking operation.

[0010] In an example of the braking control method of the present invention, if the parking signal is in an enabled state, the current speed of the driving motor is obtained, and it also includes: if the current speed of the driving motor is less than or equal to the preset speed, the brake component is controlled to perform a braking operation.

[0011] In an example of the braking control method of the present invention, after controlling the brake member to perform a braking operation, the method further includes: controlling the duration of the timing to be reset to zero.

[0012] The present invention also provides a lawn mower, comprising: a frame, a walking mechanism and a cutting table assembly, wherein the walking mechanism is installed on the frame to drive the frame to move; the walking mechanism includes at least one first drive motor that drives the walking mechanism to move; the cutting table assembly is installed on the frame to perform mowing operations; wherein the braking control method of the lawn mower comprises: obtaining a parking signal; if the parking signal is in an enabled state, starting timing; judging whether the first drive motor meets a preset braking condition based on the current speed of the first drive motor and the duration of the timing; if the preset braking condition is met, controlling the brake member to perform a braking operation.

[0013] In an example of the lawn mower of the present invention, the parking signal includes: a first parking signal and a second parking signal; the enabling state includes: either one of the first parking signal and the second parking signal is enabled or both are enabled simultaneously.

[0014] In an example of a lawn mower of the present invention, the lawn mower also includes a second drive motor, and the braking control method of the lawn mower also includes: after starting the timing, simultaneously determining whether the current speed of the first drive motor and / or the current speed of the second drive motor meets the preset braking condition; if the preset braking condition is met, controlling the brake component to perform a braking operation.

[0015] In an example of a lawn mower of the present invention, if the timing duration is less than the preset braking duration, and the current speed of the first drive motor is less than or equal to the preset speed, it is determined that the first drive motor meets the preset braking condition; if the timing duration is less than the preset braking duration, and the current speed of the second drive motor is less than or equal to the preset speed, it is determined that the second drive motor meets the preset braking condition.

[0016] In an example of the lawn mower of the present invention, if the timed duration is equal to or greater than the preset braking duration, it is determined that the preset braking condition is met.

[0017] The present invention proposes a control method and a lawn mower. Before controlling the brake member to perform a braking operation, the control method first determines whether a preset braking condition is met according to the current speed of the drive motor and / or the timing duration. If the preset braking condition is met, the brake member is controlled to perform a braking operation. When the parking signal is in an enabled state, the brake member will perform a braking operation after a period of timing. Because the braking deceleration time of the drive motor is extended, the speed of the drive motor is further reduced, thereby reducing the speed difference on the brake member during the braking process, thereby reducing the wear on the brake member and the friction heat generated on the friction surface, thereby increasing the service life of the brake member and extending the service life of the brake. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A flowchart of a braking control method shown as an example of a braking control method of the present invention;

[0020] Figure 2 A flowchart of step S3 is shown as an example of the braking control method of the present invention;

[0021] Figure 3 A flowchart of step S3 is shown as another example of the braking control method of the present invention;

[0022] Figure 4 A flowchart of step S3 is shown as another example of the braking control method of the present invention;

[0023] Figure 5 A flowchart of step S3 under a preset braking condition is shown as an example of the braking control method of the present invention;

[0024] Figure 6 A flowchart of step S3 under another preset braking condition is shown as an example of the braking control method of the present invention;

[0025] Figure 7 It is a schematic axial view of an embodiment of a lawn mower of the present invention;

[0026] Figure 8 for Figure 1 A partial enlarged view of the middle A area;

[0027] Fig. 9 This is a schematic diagram of the installation position of the electromagnetic brake on the second driving wheel in an example of the lawn mower of the present invention;

[0028] Fig.10 This is a schematic diagram of the installation position of the electromagnetic brake on the first driving wheel in an example of the lawn mower of the present invention;

[0029] Fig.11 It is an axial schematic diagram of another embodiment of the lawn mower of the present invention;

[0030] Fig.12 A schematic diagram of the installation position of a first parking switch of an embodiment of a lawn mower of the present invention;

[0031] Fig.13 It is a schematic diagram of the installation position of the second parking switch of an embodiment of the lawn mower of the present invention;

[0032] Fig.14 A schematic diagram of the operating direction of a control handle in an example of a lawn mower of the present invention;

[0033] Fig.15 The following is a logic flow chart of an example of the braking control method of the present invention.

[0034] Component number description

[0035] 100, frame; 200, walking mechanism; 211, first driving wheel; 212, second driving wheel; 221, first driving motor; 222, second driving motor; 230, brake member; 241, first operating handle; 242, second operating handle; 251, first parking switch; 252, second parking switch; 300, header assembly; 700, parking mechanism; 720, pedal assembly. DETAILED DESCRIPTION

[0036] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0037] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0038] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0039] See also Figures 1 to 15 The present invention provides a braking control method and a lawn mower. After obtaining a parking signal, the braking control method can first determine whether a preset braking condition is met according to the current speed of the drive motor and / or the duration of the timing; if the preset braking condition is met, the brake component is controlled to perform a braking operation. This setting can extend the deceleration time of the drive motor during braking and further reduce the speed of the drive motor, thereby reducing the wear of the brake component during braking and the friction heat generated on the friction surface, thereby increasing the service life of the brake component.

[0040] The braking control method provided in the present application is applied to a vehicle-mounted device, which can be set on a target vehicle. The target vehicle can be a lawn mower, a snowplow, or an all-terrain vehicle, etc. The vehicle-mounted device includes, but is not limited to, a controller. Among them, the controller can include a memory and a processor. And the memory and the processor are directly or indirectly electrically connected to realize data transmission or interaction. For example, they can be electrically connected to each other through one or more communication buses or signal lines.

[0041] In an embodiment of the braking control method of the present invention, the controller executes the braking control method to control the brake member to perform a braking operation, thereby achieving braking during the vehicle's travel. Figure 1 , Figure 1 The flowchart of the braking control method is shown as an example of the braking control method of the present invention. The braking control method comprises:

[0042] S1. Obtain parking signal.

[0043] In this embodiment, the parking signal can be an electrical signal emitted by any sensor that can detect distance or pressure changes, such as a proximity sensor, an infrared ranging sensor, a magnetic detection sensor, etc., or it can be an electrical signal generated by a contact switch such as a travel switch or a limit switch; in this embodiment, the parking signal is an electrical signal generated by a limit switch.

[0044] S2. If the parking signal is in the enabled state, the timing starts.

[0045] In this embodiment, the enabled state of the parking signal can be the on state of the limit switch or the off state of the limit switch; there is no specific limitation on this; it should be noted that when the parking signal is generated by a distance sensor such as a proximity sensor, an infrared ranging sensor, a magnetic detection sensor, etc., the distance sensor is always in the on state, and when the distance sensor detects a set sensing object within the set sensing distance range, the signal state of the distance sensor will change at this time, corresponding to the enabled state of the parking signal. When the controller detects that the parking signal is in the enabled state, the controller starts timing; there are many options for timing, such as setting a separate timer or a timing program in the controller. In this embodiment, the timing action is performed by the timing program built into the controller.

[0046] It should be noted that when the parking signal is in the enabled state, the drive motor may start to perform the deceleration action, or may have performed the deceleration action for a period of time, as long as it can be ensured that the drive motor is in the deceleration state when the parking signal is in the enabled state. In this embodiment, when the parking signal is in the enabled state, the drive motor has performed the deceleration action for a period of time.

[0047] S3. Determine whether a preset braking condition is met according to the current rotation speed of the driving motor and / or the timing duration; if the preset braking condition is met, control the brake member to perform a braking operation.

[0048] In this embodiment, the current speed of the drive motor may satisfy the preset braking condition, or the timing duration may satisfy the preset braking condition, or the current speed of the drive motor and the timing duration may satisfy the preset braking condition at the same time, and there is no specific restriction on this; but in this embodiment, when the current speed of the drive motor and the timing duration both satisfy the preset braking condition, the controller controls the brake member to perform a braking operation. There are many ways for the brake member to perform a braking operation, for example, the brake member may directly lock the drive motor, or the brake member may directly lock the drive wheel, or other components coaxially connected to the drive motor, as long as the brake member can brake the vehicle. In this embodiment, when the brake member brakes, it directly locks the drive motor. It should be noted that the preset speed refers to the safe speed of the drive motor. In this safe speed range, when the brake member performs a braking operation, the wear of the brake member is minimal; the specific setting of the safe speed is related to the braking performance of the vehicle, and the safe speeds of different vehicles may be the same or different. In this embodiment, the preset braking time is the longest braking waiting time. The size of the preset braking time is related to the vehicle's operating performance and the vehicle's safe braking distance. The preset braking time for each vehicle may be the same or different, and there is no specific restriction on this.

[0049] Please participate Figure 1 and Figure 2 In an example of the braking control method of the present invention, in step S3, whether the preset braking condition is met is determined based on the current speed of the drive motor and the timing duration. If the timing duration is equal to or greater than the preset braking duration, it is determined that the preset braking condition is met.

[0050] In this embodiment, when the parking signal is in the enabled state, the controller starts to execute timing, and compares the timing duration with the preset braking duration of the drive motor in real time; when the timing duration is equal to or greater than the preset braking duration, it is determined that the operation of the drive motor meets the preset braking condition, and the controller controls the brake member to immediately perform a locking action on the drive motor, so that the vehicle enters a braking state and stops running. In this arrangement, although the speed of the drive motor may not meet the preset speed condition when the drive motor performs the locking action, so that the brake member will cause a certain degree of wear during the braking process, and the service life of the brake member is reduced, it can ensure the timeliness and safety of the vehicle's braking control; at the same time, it can also ensure that when an abnormality occurs in the speed detection link, the vehicle can also perform the braking action in time to ensure the safety of vehicle control.

[0051] In addition, please participate Figure 1 and Figure 3In an example of the braking control method of the present invention, in step S3, whether the preset braking condition is met is determined based on the current speed of the drive motor and the timing duration. If the timing duration is less than the preset braking duration and the current speed of the drive motor is less than or equal to the preset speed, it is determined that the preset braking condition is met.

[0052] If the safe speed of the drive motor is set too low, it will take a long time for the drive motor to perform the deceleration action, affecting the timeliness of the braking action, thereby increasing the safety risk of vehicle control; if the safe speed of the drive motor is set too high, it will not be able to effectively reduce the wear of the brake parts. Preferably, in this embodiment, the preset speed is any value within the range of 100 to 300 min / r, for example, it can be 100 min / r, 200 min / r or 300 min / r. Preferably, in this embodiment, the preset speed is 100 min / r. Setting the preset speed of the drive motor to 100 min / r can not only meet the requirements of vehicle braking timeliness, but also effectively reduce the amount of wear on the brake parts during braking, thereby extending the service life of the brake parts. When the controller detects that the current speed of the drive motor is less than or equal to the preset speed, it determines that the preset braking condition is met. At this time, the controller controls the brake components to immediately lock the drive motor to achieve timely vehicle braking. At the same time, the brake components can lock the drive motor when the speed of the drive motor drops to a safe speed. This can effectively reduce the amount of wear on the brake components during braking, thereby effectively extending the service life of the brake components.

[0053] Please participate Figure 1 and Figure 4 In another example of the braking control method of the present invention, in step S3, it is determined whether the preset braking condition is met based on the current speed of the drive motor and the timing duration. If the preset braking condition is not met, the drive motor continues to perform the deceleration action until the preset braking condition is met.

[0054] In this embodiment, failure to meet the preset braking condition means that the timing duration is less than the preset braking duration, and the current speed of the drive motor is greater than the preset speed. During the deceleration process of the drive motor, the controller reads the current speed of the drive motor in real time, and compares the current speed with the preset speed in real time. If the current speed is greater than the preset speed, the controller controls the drive motor to continue to decelerate until the speed of the drive motor is less than or equal to the preset speed, then the drive motor stops decelerating, and the controller controls the brake member to perform a locking action on the drive motor. With this arrangement, the current speed of the drive motor can be judged in real time. Once the speed of the drive motor is less than or equal to the preset speed, the brake member can immediately perform a locking action on the drive motor, thereby improving the timeliness and accuracy of the braking control of the drive motor.

[0055] See also Figure 1 and Figure 5 In another embodiment of the braking control method of the present invention, in step S3, it is determined whether the preset braking condition is met according to the current speed of the drive motor. If the preset braking condition is not met, the drive motor continues to perform the deceleration action until the preset braking condition is met. In this embodiment, determining whether the preset braking condition is met refers to whether the current speed of the drive motor meets the preset speed. If the current speed of the drive motor is greater than the preset speed, it is determined that the preset braking condition is not met, and the drive motor continues to perform the deceleration action.

[0056] See also Figure 1 and Figure 6 In another embodiment of the braking control method of the present invention, in step S3, whether the preset braking condition is met is determined based on the timing duration; if the timing duration is equal to or greater than the preset braking duration, the brake member is controlled to perform a braking operation.

[0057] See also Figure 1 In another embodiment of the braking control method of the present invention, in step S2, if the parking signal is in an enabled state, the current speed of the drive motor is obtained, and it also includes: if the current speed is less than or equal to the preset speed, the brake component performs a locking action on the drive motor.

[0058] When the drive motor is running at a low speed, when the parking signal is in the enabled state, the current speed of the drive motor has dropped to the preset speed, so the brake member can immediately perform a locking action on the drive motor. Therefore, in this embodiment, after the controller reads the current speed of the drive motor, it determines whether the current speed of the drive motor is less than or equal to the preset speed. If the current speed of the drive motor is less than or equal to the preset speed, the controller controls the brake member to directly perform a locking action on the drive motor. This arrangement can improve the timeliness of braking when the vehicle is running at a low speed.

[0059] Please participate Figure 1In another embodiment of the braking control method of the present invention, in step S3, after controlling the brake member to perform the braking operation, it also includes: controlling the timing duration to be cleared. Because in a complete braking process, the controller needs to read the timing duration multiple times and store it, so as to calculate the timing duration and compare it with the preset braking duration. There will be a large number of parking braking processes during the operation of the vehicle, so the storage data of the timing duration will continue to increase, thereby occupying a large memory space. Therefore, in the parking process, each time the brake member performs a locking action on the drive motor, that is, after completing a parking action, the controller directly clears the internally stored timing duration, so that the memory space can be released in time and regularly, which is convenient for the operation of the next parking program, and does not affect the execution of the parking action control. It should be noted that if the parking signal is in the enabled state, the current speed of the drive motor is less than or equal to the preset speed, then after the controller controls the brake member to perform a locking action on the drive motor, the timing duration is zero at this time, and there is no need to clear the timing duration.

[0060] See also Fig.12 and Fig.13 The braking control method provided in this embodiment is applied to a lawn mower. The lawn mower comprises: a frame 100, a walking mechanism 200, a cutting table assembly 300 and a controller; the walking mechanism 200 is installed on the frame 100 and is used to drive the frame 100 to walk. The walking mechanism 200 may include components such as a driving unit and a power supply unit. The power supply unit provides energy for the driving unit. The power unit may be a battery, or an engine such as a diesel engine, a gasoline engine or an oil-electric hybrid engine; the driving unit provides power for the rotation of the walking wheel. The driving unit may be a motor, a motor+reducer, a motor+gear rack transmission mechanism, or a motor+screw nut transmission mechanism, and any transmission mechanism that can meet the requirements. The walking mechanism 200 controls the frame 100 to perform corresponding walking movements; the cutting table assembly is installed on the frame 100 to perform corresponding mowing operations; the installation position of the cutting table assembly on the frame 100 is not limited, for example, it can be installed at the front end of the frame 100, it can also be installed in the middle of the frame 100, it can also be installed at the rear end of the frame 100, etc., as long as it can meet the installation requirements of the mowing operation. The controller can be installed at any position on the lawn mower, and the cutting table assembly 300 and the walking mechanism 200 are both connected to the controller by electrical signals. The electrical signal connection can be connected by wired means such as cables, or by radio signals, which is not limited.

[0061] See also Figures 12 to 15In one embodiment of the lawn mower of the present invention, the walking mechanism 200 also includes a driving wheel. The number of driving wheels is not limited, and can be two or four. The driving wheel can be the front wheel of the lawn mower or the rear wheel of the lawn mower. In this embodiment, the rear wheel of the lawn mower is the driving wheel; the walking mechanism 200 includes a driving motor, which is connected to the driving wheel by transmission. When the driving motor is running, the driving wheel is driven to rotate, thereby realizing the walking of the frame 100; the driving motor can be provided with one, two or more, and the driving wheel can be connected to the same driving motor by transmission through a gear transmission assembly. When the driving motor is running, multiple driving wheels rotate simultaneously; multiple driving motors can also be provided, each driving wheel corresponds to a driving motor, and each driving motor controls the operation of a driving wheel; in other embodiments, a first driving motor 221 can be provided on the walking mechanism, and the first driving motor 221 controls the operation of multiple driving wheels. A limit switch is also provided on the lawn mower. The specific installation position of the limit switch on the lawn mower is not limited. The limit switch is connected to the controller electrical signal, and the state of the limit switch corresponds to the operation state of the first driving motor 221. The controller can control the operating state of the first driving motor 221 by reading the state of the parking signal generated by the limit switch.

[0062] When the lawn mower performs the braking action, the accelerator pedal may be in a released state, the drive motor may enter a deceleration state, or the drive motor may be in a normal operation process, and there is no specific limitation on this; however, in this embodiment, when the lawn mower performs the braking action, the drive motor is already in a deceleration state; the controller obtains the signal of the limit switch, and if the parking signal generated by the limit switch is in an enabled state, the controller determines whether the first drive motor 221 meets the preset braking condition based on the current speed of the first drive motor 221 and the timing duration; if the preset braking condition is met, the controller controls the brake member to perform a braking operation. In this embodiment, the braking operation of the brake member refers to the brake member locking the first drive motor 221 to achieve braking during the walking process of the lawn mower. In other embodiments, the braking operation of the brake member may also refer to the brake member locking the drive wheel.

[0063] In another embodiment of the lawn mower of the present invention, the lawn mower may be provided with a first limit switch 251 and a second limit switch 252. When the controller obtains the parking signal generated by the limit switch, the parking signal generated by the first limit switch 251 and the parking signal generated by the second limit switch 252 are respectively obtained; the enabling state of the limit switch includes: any one of the parking signal generated by the first limit switch 251 and the parking signal generated by the second limit switch 252 is enabled. In other embodiments, the enabling state of the limit switch may also be that the parking signal generated by the first limit switch 251 and the parking signal generated by the second limit switch 252 are in the enabling state at the same time. By providing the first limit switch 251 and the second limit switch 252, when one of the limit switches fails, the other limit switch can still generate the parking signal normally, thereby reducing the probability of the brake component failing to perform the locking action on the first drive motor 221, thereby improving the safety of the braking control during the walking process of the lawn mower.

[0064] See also Figures 13 to 15 In one embodiment of the lawn mower of the present invention, a second drive motor 222 is further provided on the walking mechanism 200. The second drive motor 222 can control the same drive wheel as the first drive motor 221, or can control a different drive wheel from the first drive motor 221. In this embodiment, the first drive motor 221 and the second drive motor 222 control different drive wheels respectively. When the parking signal generated by the limit switch is in an enabled state, the controller simultaneously obtains the current speed of the first drive motor 221 and the second drive motor 222, and starts timing; if one of the first drive motor 221 or the second drive motor 222 meets the preset braking condition, the controller controls the brake member to perform a locking action on the first drive motor 221 and the second drive motor 222 at the same time. In other embodiments, if the current rotational speeds of the first drive motor 221 and the second drive motor 222 are both greater than the preset rotational speeds, the controller controls the first drive motor 221 and the second drive motor 222 to continue to perform the deceleration action; the controller determines whether the first drive motor 221 meets the preset braking condition based on the current rotational speed of the first drive motor 221 and the timing duration; the controller determines whether the second drive motor 222 meets the preset braking condition based on the current rotational speed of the second drive motor 222 and the timing duration; if the first drive motor 221 meets the preset braking condition, the controller controls the brake component to perform a locking action on the first drive motor 221; if the second drive motor 222 meets the preset braking condition, the controller controls the brake component to perform a locking action on the second drive motor 222.

[0065] See also Figures 12 to 15In one embodiment of the lawn mower of the present invention, if the controller determines that the timing duration of the first drive motor 221 is less than the preset braking duration of the lawn mower, and the current speed of the first drive motor 221 is less than or equal to the preset speed when the lawn mower is braked, then it is determined that the first drive motor 221 meets the preset braking condition; if the controller determines that the timing duration of the second drive motor 222 is less than the preset braking duration of the lawn mower, and the current speed of the second drive motor 222 is less than or equal to the preset speed when the lawn mower is braked, then it is determined that the second drive motor 222 meets the preset braking condition. In this way, the controller can respectively determine whether the first drive motor 221 and the second drive motor 222 meet the braking conditions, so that the brake member can respectively control the first drive motor 221 and the second drive motor 222 to perform the locking action.

[0066] See also Figure 14 to Figure 15 In another embodiment of the lawn mower of the present invention, the walking mechanism 200 includes a first driving wheel 211 and a second driving wheel 212. The first driving wheel 211 and the second driving wheel 212 are respectively located on both sides of the lawn mower and are coaxially arranged. The first driving wheel 211 and the second driving wheel 212 can be the front wheels on both sides of the lawn mower, or the rear wheels on both sides of the lawn mower. In this embodiment, the first driving wheel 211 and the second driving wheel 212 are the rear wheels on both sides of the lawn mower. The first driving motor 221 corresponds to the first driving wheel 211 and drives the first driving wheel 211 to rotate, and the second driving motor 222 corresponds to the second driving wheel 212 and drives the second driving wheel 212 to rotate. If one of the first driving motor 221 and the second driving motor 222 meets the preset braking condition, the controller controls the brake members, the first driving motor 221 and the second driving motor 222, to perform a locking action. Such an arrangement can improve the consistency of the locking action performed by the first drive motor 221 and the second drive motor 222, reduce the probability of lateral deviation during the braking process of the lawn mower, and thus improve the safety of the lawn mower during braking.

[0067] See also Figure 14 to Figure 15In one embodiment of the lawn mower of the present invention, if the controller determines that the timing duration is equal to or greater than the preset braking duration, it is determined that the preset braking condition is met. The timing duration equal to or greater than the preset braking duration may be that the timing duration corresponding to the first drive motor 221 is equal to or greater than the preset braking duration, or that the timing duration corresponding to the second drive motor 222 is equal to or greater than the preset braking duration, or that the timing durations corresponding to the first drive motor 221 and the second drive motor 222 are both equal to or greater than the preset braking duration. In this embodiment, the timing duration equal to or greater than the preset braking duration means that the timing duration of one of the first drive motor 221 and the second drive motor 222 is equal to or greater than the preset braking duration. This arrangement can improve the timeliness of the braking of the lawn mower, thereby ensuring the safety of braking.

[0068] See also Figure 14 to Figure 15 In one embodiment of the lawn mower of the present invention, if the current speed of the first drive motor 221 is less than or equal to the preset speed, the controller controls the brake member to perform a locking action on the first drive motor 221; if the current speed of the second drive motor 222 is less than or equal to the preset speed, the controller controls the brake member to perform a locking action on the second drive motor 222. In other embodiments, if the current speed of one of the first drive motor 221 and the second drive motor 222 is less than or equal to the preset speed, the controller controls the brake member to perform a locking action on the first drive motor 221 and the second drive motor 222 at the same time.

[0069] See also Figure 14 to Figure 15In one embodiment of the lawn mower of the present invention, a first control device and a second control device are respectively provided on both sides of the lawn mower, the first control device controls the rotation speed of the first driving wheel 211, and the second control device controls the rotation speed of the second driving wheel 212; the first control device includes a first control handle 241 and a first limit switch 251, the first control handle 241 is rotatably mounted on the frame 100, the first limit switch 251 and the first driving motor 221 are both connected to the controller electrical signal, the first limit switch 251 is set on the frame 100, the first control handle 241 has a first position and a second position during the rotation process, when the first control handle 241 is in the first position, the signal of the first limit switch 251 is turned on, and when the first control handle 241 is in the second position, the signal of the first limit switch 251 is turned off. The second control device includes a second control handle 242 and a second limit switch 252. The second control handle 242 is rotatably mounted on the frame 100. The second limit switch 252 and the second drive motor 222 are both connected to the controller by electrical signals. The second limit switch 252 is arranged on the frame 100. The second control handle 242 has a first position and a second position during rotation. When the second control handle 242 is located at the first position, the signal of the second limit switch 252 is turned on. At this time, the second limit switch 252 generates a parking signal in an enabled state. When the second control handle 242 is located at the second position, the signal of the second limit switch 252 is turned off. At this time, the second limit switch 252 generates a parking signal in a disabled state. The first drive motor 221 and the second drive motor 222 are both provided with a brake member 230. The brake member 230 is connected to the first limit switch 251 or the second limit switch 252 by electrical signals. The brake member 230 can be an electromagnetic brake or a mechanical brake. In this embodiment, the brake member 230 is an electromagnetic brake. It should be noted that when the first operating handle is in the second position, the first operating handle is in the middle position, and when the lawn mower is in the forward or backward state, the first operating handle 241 is in the process of returning to the middle position, and the first drive motor 221 is in the deceleration state; when the second operating handle is in the second position, the second operating handle is in the middle position, and when the lawn mower is in the forward or backward state, the second operating handle 241 is in the process of returning to the middle position, and the second drive motor 221 is in the deceleration state.

[0070] Electromagnetic brakes are also called power-off brakes. When not powered, they fit tightly with the connected mechanical device and generate torque through friction to prevent mechanical rotation or movement. Electromagnetic brakes are composed of a yoke, an excitation coil, a spring, a brake disc, an armature, a spline sleeve, and mounting screws. The electromagnetic brake is installed on the flange of the equipment or the rear end of the motor, and the drive shaft and the spline sleeve are connected to the brake disc. When the excitation coil is connected to the rated DC voltage, the electromagnetic force attracts the armature to separate the armature from the brake disc. At this time, the drive shaft operates or starts normally with the brake disc. When the transmission system is separated or powered off, the electromagnetic brake is also powered off at the same time. At this time, the spring applies pressure to the armature, forcing the friction torque between the brake disc, the armature and the flange to stop the drive shaft quickly. Based on the power and volume of the electromagnetic brake, and the fact that the lawn mower drive motor is generally equipped with a reduction box, the braking torque provided by the electromagnetic brake is lower than the torque value at the output end of the reduction box, so the electromagnetic brake needs to be installed at the output shaft end of the drive motor. The torque at this position is small, but the speed is high. If the brake is performed at high speed, the life of the brake component will inevitably be reduced. In other embodiments, the electromagnetic brake can also be directly installed on the drive wheel.

[0071] When electromagnetic brakes are applied to the drive motor of a lawn mower, they can prevent the lawn mower from sliding down a slope or gliding in the event of a power outage or malfunction. Therefore, they can be used as a safety device. They can also be used as a parking device because of their power-off braking characteristics. As lawn mowers are becoming more electrified, they can make the vehicle more intelligent and convenient.

[0072] See also Figure 12 to Figure 14 In another embodiment of the lawn mower of the present invention, a parking mechanism 700 is provided on the frame 100 of the lawn mower, and the parking mechanism 700 includes a pedal assembly 720 and a first limit switch 251. The pedal assembly 720 is rotatably mounted on the frame 100, and the first limit switch 251 is mounted on the frame 100; the pedal assembly 720 has a first position and a second position. When the pedal assembly 720 is in the first position, the signal of the first limit switch 251 is turned on, and when the pedal assembly 720 is in the second position, the signal of the first limit switch 251 is turned off. A brake member 230 is provided on the driving motor, and the brake member 230 is electrically connected to the first limit switch 251. The brake member 230 can be an electromagnetic brake or a mechanical brake. In this embodiment, the brake member 230 is an electromagnetic brake, and when the signal of the first limit switch 251 is turned off, at this time, the parking signal generated by the first limit switch 251 is in an enabled state. It should be noted that before the signal of the first limit switch 251 is disconnected, the accelerator pedal may be in a released state, and the drive motor may be running in a deceleration state.

[0073] by Fig.11Taking the lawn mower as an example, the user can adjust the speed and direction of the corresponding first drive wheel 211 and second drive wheel 212 by adjusting the front and rear opening of the first control handle 241 and the second control handle 242 relative to the frame 100. When the speeds of the first drive wheel 211 and the second drive wheel 212 are inconsistent, a turning effect is generated. The specific actions are as follows:

[0074] Push the control handle to the FORWARD direction and the mower moves forward;

[0075] Push the control handle to the REVERSE direction, and the mower will move backwards;

[0076] The control handle is in the NEUTRAL position and the mower is stationary;

[0077] Push the control handle from the NEUTRAL position to the OPEN direction, and the mower will enter the parking position.

[0078] In the OPEN direction, i.e., the left and right parking positions, the frame 100 is provided with a first limit switch 251 and a second limit switch 252. Fig.14 When the parking signal of the limit switch is turned on, it means that the corresponding control handle is already in the parking position. At this time, the lawn mower should stop running, and the electromagnetic brake is powered off, and the whole vehicle is in the parking brake state.

[0079] See also Figures 11 to 15 ,by Fig.11 Taking a lawn mower as an example, the parking control method of the lawn mower is described.

[0080] During the mowing process, when the lawn mower needs to park, the control handle is pushed from the NEUTRAL position to the OPEN direction, and the controller starts to detect whether the parking signal generated by the first limit switch 251 and the second limit switch 252 is in the enabled state. During this detection process, as long as it is detected that the parking signal generated by one of the first limit switch 251 and the second limit switch 252 is in the enabled state, the first drive motor and the second drive motor continue to perform the deceleration action, and the controller starts timing and compares the timing duration with the preset braking duration. In this embodiment, the preset braking duration is set to 3 seconds; when the timing duration is less than the preset braking duration, the controller controls the first drive motor and the second drive motor to continue to perform the deceleration action, and the first drive motor The speed of the motor and the second drive motor continues to decrease; when the controller detects that the speed of one of the first drive motor 221 and the second drive motor 222 is lower than the preset speed, in this embodiment, the preset speed is 100r / min, the controller controls the electromagnetic brake to cut off the power immediately, that is, the first drive motor 221 and the second drive motor 222 are locked by the electromagnetic brake at the same time; at the same time, when the controller starts timing, if the controller detects that the timing duration is equal to the preset braking duration setting value of 3 seconds, at this time, regardless of whether the speed of the first drive motor 221 and the second drive motor 222 drops to the preset speed of 100r / min, the controller directly controls the electromagnetic brake to cut off the power immediately, that is, the first drive motor 221 and the second drive motor 222 are locked by the electromagnetic brake at the same time.

[0081] The present invention effectively overcomes some practical problems in the prior art and thus has high utilization value and use significance. The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A braking control method, characterized in that: The following steps are involved: Get the parking signal; If the parking signal is in an enabled state, the timing starts; According to the current rotation speed of the driving motor and / or the duration of the timing, it is determined whether the preset braking condition is met; if the preset braking condition is met, the brake member is controlled to perform a braking operation.

2. The braking control method according to claim 1, characterized in that: According to the current rotation speed of the drive motor and the timing duration, it is determined whether the preset braking condition is met. If the timing duration is equal to or greater than the preset braking duration, it is determined that the preset braking condition is met.

3. The braking control method according to claim 1, characterized in that: Based on the current speed of the drive motor and the timing duration, it is determined whether the preset braking condition is met. If the timing duration is less than the preset braking duration and the current speed of the drive motor is less than or equal to the preset speed, it is determined that the preset braking condition is met.

4. The braking control method according to claim 1, characterized in that: According to the current rotation speed of the drive motor and the timing duration, it is determined whether the preset braking condition is met. If the preset braking condition is not met, the drive motor continues to perform the deceleration action until the preset braking condition is met.

5. The braking control method according to claim 1, characterized in that: According to the current rotation speed of the driving motor, it is determined whether the preset braking condition is met; if the current rotation speed is less than or equal to the preset rotation speed, the brake member is controlled to perform a braking operation.

6. The braking control method according to claim 1, characterized in that: According to the timing duration, it is determined whether the preset braking condition is met; if the timing duration is equal to or greater than the preset braking duration, the brake member is controlled to perform a braking operation.

7. The brake control method according to claim 1, characterized in that: If the parking signal is in an enabled state, the current rotation speed of the driving motor is obtained, and the method further includes: if the current rotation speed of the driving motor is less than or equal to a preset rotation speed, controlling a brake member to perform a braking operation.

8. The brake control method according to claim 1, characterized in that: After controlling the brake member to perform a braking operation, the method further includes: controlling the timing duration to be reset to zero.

9. A lawn mower, characterized in that: include: frame; A walking mechanism is installed on the frame to drive the frame to walk; The walking mechanism comprises at least one first driving motor that drives the walking mechanism to walk; A cutting table assembly is installed on the frame to perform mowing operations; Wherein, the braking control method of the lawn mower comprises: Get the parking signal; If the parking signal is in an enabled state, the timing starts; According to the current rotation speed of the first drive motor and / or the timing duration, it is determined whether the first drive motor meets the preset braking condition; if the preset braking condition is met, the brake member is controlled to perform a braking operation.

10. The lawn mower according to claim 9, characterized in that The parking signal includes: a first parking signal and a second parking signal; the enabling state includes: either one of the first parking signal and the second parking signal is enabled or both are enabled at the same time.

11. The lawn mower according to claim 9, characterized in that The lawn mower further includes a second drive motor, and the brake control method of the lawn mower further includes: After the timing starts, it is determined whether the current rotation speed of the first drive motor and / or the current rotation speed of the second drive motor meets the preset braking condition. If the preset braking condition is met, the brake member is controlled to perform a braking operation.

12. The lawn mower according to claim 11, characterized in that If the timing duration is less than the preset braking duration, and the current speed of the first drive motor is less than or equal to the preset speed, it is determined that the first drive motor meets the preset braking condition; If the timing duration is less than the preset braking duration, and the current rotation speed of the second drive motor is less than or equal to the preset rotation speed, it is determined that the second drive motor meets the preset braking condition.

13. The lawn mower according to claim 9, characterized in that If the timed duration is equal to or greater than the preset braking duration, it is determined that the preset braking condition is met.

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