Calibration method of operating lever and gardening tool
By setting up a parking slot on the rack of the garden tool, the calibration voltage is generated by the swing of the joystick and the median voltage interval is automatically updated, which solves the problem that the median electrical power of the joystick in the garden tool cannot be automatically calibrated, improving production efficiency and reducing maintenance costs.
Patent Information
- Application Number
- CN202311272165.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-09-28
- Publication Date
- 2025-03-28
AI Technical Summary
The electrical median of joysticks in existing garden tools cannot be automatically calibrated manually, resulting in median interval deviations caused by mechanical wear, increasing the needs and costs of later maintenance.
By setting the parking slot on the rack, the calibration voltage is generated by using the swing of the joystick in the parking slot, the current median voltage interval is updated in real time, and a new median voltage interval is set when the joystick leaves the parking slot.
Automatic calibration of the electrical median range of joystick is realized, which improves the production efficiency of garden tools, reduces maintenance costs, and solves the median position deviation caused by mechanical wear locally.
Smart Images
Figure CN119718000A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of garden tools, and in particular to a joystick calibration method and a garden tool. Background Art
[0002] At present, joysticks are often set on both sides of the seat of riding garden tools to facilitate users to control the movement and steering of the garden tools by pushing the joysticks on both sides. In this type of garden tool, the joystick is rotatably mounted on the frame, and an electrical neutral range is set in the middle of the swing path of the joystick. When the joystick swings out of the electrical neutral range, the motor can be driven to rotate forward or reverse. When the joystick is in the electrical neutral range, the drive controller does not respond to the joystick to avoid forward and reverse oscillation of the motor.
[0003] The electrical mid-range of the joystick is very important for the travel and steering of garden tools. Garden tools need to debug the electrical mid-range of the joystick before leaving the factory. However, as long as it is manually debugged, there will be errors and precision problems. As the garden tools are used for a longer time, the deviation of the mid-range caused by mechanical wear will be greater. Although the technical solutions of electric garden tools are more electrified, mechanical deviations are still inevitable. If the system is not designed flexibly, the demand for later maintenance will increase rapidly. Waiting for maintenance after a fault occurs is a waste of time for users and an increase in maintenance costs for manufacturers.
[0004] Therefore, it is necessary to provide a joystick calibration method and a garden tool to achieve automatic calibration of the electrical neutral position of a manually operated joystick, thereby solving the above technical problems. Summary of the invention
[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a joystick calibration method and a garden tool. The joystick calibration method utilizes a parking slot on a frame that overlaps with a preset electrical neutral interval. When the joystick is in the parking slot, the setting neutral voltage interval is automatically updated in response to the swing of the joystick in the parking slot, thereby solving the technical problem that the electrical neutral of the joystick on the garden tool cannot be manually and automatically calibrated in the prior art.
[0006] The present invention provides a joystick calibration method, which is applied to a vehicle. The vehicle is provided with a joystick and a limit slot. When the joystick is inserted into the parking slot, the vehicle is in a parking state. The calibration method comprises:
[0007] When the joystick is located in the parking slot, generating a corresponding calibration voltage in response to the swing of the joystick in the parking slot;
[0008] Based on the current median voltage interval and the calibration voltage, updating the current median voltage interval in real time;
[0009] When the joystick leaves the parking slot, a new mid-voltage interval is set based on the current mid-voltage interval.
[0010] In one embodiment of the present invention, the current median voltage interval is updated in real time based on the current median voltage interval and the calibration voltage, including: obtaining the maximum voltage in the current median voltage interval and the calibration voltage, and using the maximum voltage as the upper limit value to update the upper limit value of the current median voltage interval; obtaining the minimum voltage in the current median voltage interval and the calibration voltage, and using the minimum voltage as the lower limit value to update the lower limit value of the current median voltage interval.
[0011] In one embodiment of the present invention, when the joystick leaves the parking slot, the update setting of the current median voltage range is completed, including: when the joystick leaves the parking slot, stopping the updating of the current median voltage range; setting the latest current median voltage range as the new median voltage range.
[0012] In one embodiment of the present invention, generating a corresponding calibration voltage in response to the swing of the joystick in the parking slot includes: obtaining a swing angle of the joystick in response to the swing of the joystick in the parking slot; and generating the corresponding calibration voltage based on the swing angle.
[0013] In one embodiment of the present invention, the maximum value of the calibration voltage generated is greater than or equal to an upper limit value of a preset median voltage range, and the minimum value of the calibration voltage generated is less than or equal to a lower limit value of the preset median voltage range.
[0014] The invention also provides a gardening tool, which comprises a frame, a joystick, a driving motor and a driving control system.
[0015] Among them, a parking slot is provided on the frame; the joystick is swingably installed on the frame; the drive motor is arranged on the frame; the drive control system includes a detection device and a drive controller, the detection device collects the swing angle of the joystick relative to the frame and generates a corresponding drive voltage, and the drive controller controls the output shaft of the drive motor to rotate forward, reverse or stop based on the drive voltage; and when the joystick is located in the parking slot, the detection device responds to the swing of the joystick in the parking slot and generates a corresponding calibration voltage; the drive controller updates the current median voltage range in real time based on the current median voltage range and the calibration voltage; when the joystick leaves the parking slot, the drive controller sets a new median voltage range based on the current median voltage range.
[0016] In one embodiment of the present invention, a response switch is provided in the parking slot, and when the joystick is located in the parking slot, the response switch responds to the joystick being pressed to send a calibration signal to the drive controller.
[0017] In one embodiment of the present invention, when the joystick leaves the parking slot, the response switch stops sending the calibration signal to the drive controller in response to the joystick being released.
[0018] In one embodiment of the present invention, the garden tool further comprises a trigger switch, wherein the trigger switch is disposed on the frame, and the trigger switch sends or stops sending a calibration signal to the drive controller in response to a pressing operation.
[0019] In one embodiment of the present invention, after the drive controller receives the calibration signal, it starts the calibration process to set the new median voltage interval; when the drive controller does not receive the calibration signal, it ends the calibration process and determines the new median voltage interval.
[0020] In one embodiment of the present invention, the signal transmission mode between the response switch and the drive controller is an IO command or a communication command, and the communication command is an RS485, RS422, CAN or LIN communication mode.
[0021] In one embodiment of the present invention, the detection device is an angle sensor.
[0022] The present invention provides a joystick calibration method and a garden tool, which utilizes a parking slot that overlaps with a preset electrical mid-range position on a frame, so that when the joystick enters a parking position, a drive controller can respond to the swing of the joystick in the parking slot to collect a calibration voltage without driving a motor, and then update the current mid-voltage range in real time according to the current mid-voltage range and the collected calibration voltage, and finally complete the setting of a new mid-voltage range based on the latest current mid-voltage range when the joystick leaves the parking position.
[0023] The calibration method of the joystick utilizes the mechanical and electrical connection between the joystick and the drive controller for compensation setting, so that the user can quickly complete the automatic calibration of the electrical mid-range of the joystick by pushing the joystick to swing in the parking slot. This effectively improves the production efficiency of the garden tool production line and reduces the subsequent maintenance cost of the garden tool. When the mid-position deviation of the joystick of the garden tool is caused by mechanical wear, it does not need to be returned to the factory for repair, and the problem can be solved by local calibration.
[0024] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work. In the drawings:
[0026] Figure 1 A schematic diagram of an application scenario of a calibration method in an embodiment of the present invention;
[0027] Figure 2 is a logic diagram of a calibration method in one embodiment of the present invention;
[0028] Figure 3 A curve diagram showing a driving voltage generated by a driving control system in response to a swing of a joystick in one embodiment of the present invention;
[0029] Figure 4 is a flow chart of a calibration method in one embodiment of the present invention;
[0030] Figure 5 is a flow chart of step S100 in one embodiment of the present invention;
[0031] Figure 6 is a flow chart of step S200 in one embodiment of the present invention;
[0032] Figure 7 is a flow chart of step S300 in one embodiment of the present invention;
[0033] Figure 8 A schematic diagram of the structure of a garden tool in one embodiment of the present invention;
[0034] Fig. 9 It is a structural schematic diagram of a frame in one embodiment of the present invention;
[0035] Fig.10 It is a schematic diagram of the installation structure of the joystick on the frame in one embodiment of the present invention;
[0036] Fig.11 This is a schematic diagram of the installation structure of the travel wheel on the drive motor in one embodiment of the present invention;
[0037] Fig.12 The figure is a schematic diagram of the control mode of the joystick on the frame in one embodiment of the present invention.
[0038] Component number description
[0039] 100, frame; 110, parking slot; 200, joystick; 300, detection device; 400, drive motor; 500, travel wheel. DETAILED DESCRIPTION
[0040] The following is an explanation of the embodiments of the present invention by specific examples, and 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 noted that the features in the following embodiments and the embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present invention are intended to describe specific embodiments, rather than to limit the scope of protection of the present invention. The test methods for which specific conditions are not specified in the following examples are usually carried out under conventional conditions or according to the conditions recommended by the manufacturers.
[0041] It should be noted that the terms such as "upper", "lower", "left", "right", "middle" and "one" etc. used in this specification are only for the convenience of description and are not intended to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships, without substantially changing the technical content, should also be regarded as the scope of implementation of the present invention.
[0042] See also Figure 1 and Figure 2 The present invention provides a method for calibrating a joystick. By utilizing the characteristic that the electrical neutral positions of the parking slot 110 and the joystick 200 on the vehicle coincide with each other, when the vehicle is in a parking state (i.e., when the joystick 200 is inserted into the parking slot 110), the vehicle's driving control system can respond to the swing of the joystick 200 in the parking slot 110 and reset the neutral voltage range driven by the joystick 200, thereby solving the technical problem in the prior art that when a neutral deviation occurs in the joystick 200, the vehicle alarms and stops, and the vehicle can only be used again after the joystick 200 is electrically debugged, and the user cannot independently calibrate the neutral voltage range of the joystick 200.
[0043] like Figure 1 , Figure 2 and Fig.12 As shown, the present invention provides a joystick calibration method, which is applied to a vehicle that uses a joystick 200 for driving, such as a lawn mower, a snowplow, an all-terrain vehicle and other garden tools. The above-mentioned application vehicle includes a frame 100, a joystick 200, a drive motor 400 and a drive control system. Among them, the vehicle uses a joystick 200 for drive control, and the joystick 200 is swingably mounted on the frame 100. The drive control system responds to the user's operation of the joystick 200, generates a corresponding drive voltage according to the swing angle of the joystick 200, and controls the drive motor 400 to perform forward drive, reverse drive or stop based on the drive voltage.
[0044] Specifically, based on the control requirements of the above-mentioned application vehicle, the position state of the joystick 200 relative to the frame 100 is preset as a forward position, a middle position and a backward position; the middle position is a preset position of the joystick 200 on the frame 100, and the forward position and the backward position are set on both sides of the middle position along the swing path of the joystick 200. When the joystick 200 is in the middle position on the frame 100, the joystick 200 does not drive the vehicle to move, and the drive control system generates a middle position voltage according to the middle position of the joystick 200, and controls the drive motor 400 to stop based on the middle position voltage; when the joystick 200 is pushed to the forward position, the drive control system generates a corresponding forward voltage according to the swing opening of the joystick 200 in the forward direction relative to the middle position, and controls the drive motor 400 to rotate forward based on the forward voltage; when the joystick 200 is pushed to the backward position, the drive control system generates a corresponding backward voltage according to the swing opening of the joystick 200 in the backward direction relative to the middle position, and controls the drive motor 400 to reverse based on the backward voltage.
[0045] In the above structure, when the user adjusts the joystick 200 to change the rotation direction of the drive motor 400, it must pass through the middle position. In order to prevent the motor from oscillating in the forward and reverse directions and avoid the deviation value of the drive voltage generated in response to the swing of the joystick 200, to ensure that the vehicle can be stationary when the joystick 200 is in the middle position, the drive control system in some embodiments needs to expand the response range of the middle angle corresponding to the middle position of the joystick 200, and set the middle voltage range corresponding to the middle swing range. The middle voltage range can include the output error of the drive control system in response to the drive voltage generated, and can also avoid the forward and reverse oscillation of the drive motor 400 caused by the drive control system responding to the forward and backward swing of the joystick 200.
[0046] For example Figure 3As shown, in one example, the preset middle angle corresponding to the middle position of the joystick 200 is 0°, the swing angle corresponding to the forward position is 0° to 21°, and the swing angle corresponding to the reverse position is -21° to 0°. When the user tries to drive the vehicle forward, it is necessary to push the joystick 200 to increase the opening in the positive direction. The drive control system responds to the swing angle increasing from 0° to 21°, and the generated forward voltage gradually increases from 2.4V to 4.5V. The drive control system controls the output shaft of the drive motor 400 to rotate forward based on the forward voltage, wherein the higher the forward voltage, the higher the output speed of the drive control system controls the drive motor 400; when the user tries to drive the vehicle backward, it is necessary to push the joystick 200 to increase the opening in the reverse direction, and the drive control system responds to the swing angle decreasing from 0° to -21°, and the generated reverse voltage gradually decreases from 2.4V to 0.3V. The drive control system controls the output shaft of the drive motor 400 to reverse based on the reverse voltage, wherein the lower the reverse voltage, the higher the output speed of the drive control system controls the drive motor 400. In this example, it can be seen from the output characteristics of the drive control system that no matter the upper limit of 21°, the lower limit of -21° or the middle position of 0°, there are positive and negative deviations in the output voltage, which is an error that cannot be offset. Therefore, if you want the vehicle to be stationary when the joystick 200 is in the middle position, the drive control system must set a middle voltage range, which must include the output error of the angle-to-voltage conversion. For example, in this example, the minimum value of the middle voltage range is set to 2.4±0.05V; further, in order to facilitate subsequent use and adjustment by the user, the middle voltage range is set to 2.4±0.15V.
[0047] Further, in order to facilitate the user to calibrate the intermediate voltage interval of the joystick 200 of the above-mentioned application vehicle, the vehicle is provided with a parking slot 110 on the frame 100, the position of the parking slot 110 overlaps with the preset intermediate position of the swing of the joystick 200, the slot of the parking slot 110 is set as the vehicle parking position, and when the joystick 200 is inserted into the parking slot 110, the vehicle enters the parking state, and the drive control system does not drive the swing of the joystick 200 to keep the vehicle in a stationary state. The calibration method of the present invention is applied to the drive control system, the drive control system executes the calibration method when the vehicle is in the parking state, the drive control system generates a calibration voltage in response to the swing of the joystick 200 in the parking slot 110, the drive control system updates the current intermediate voltage interval in real time based on the calibration voltage, and completes the calibration setting of the intermediate voltage interval of the joystick 200 when the joystick 200 leaves the parking slot 110 (that is, when the vehicle is not in the parking state). The calibration method does not require software and hardware debugging of the drive control system. The drive control system can reset the response mid-voltage interval of the joystick 200 by the user simply swinging the joystick 200 in the parking slot 110 when the vehicle is in parking state.
[0048] See also Figure 4 , Figure 4 A flow chart of a joystick calibration method provided by an embodiment of the present invention is shown. The joystick calibration method comprises the following steps:
[0049] S100, when the joystick 200 is located in the parking slot 110, in response to the swing of the joystick 200 in the parking slot 110, generating a corresponding calibration voltage;
[0050] S200, updating the current median voltage interval in real time based on the current median voltage interval and the calibration voltage;
[0051] S300 , when the joystick 200 leaves the parking slot 110 , the update setting of the current median voltage range is completed.
[0052] In step S100, when the vehicle is in the parking state, the drive control system generates a corresponding calibration voltage in response to the swing of the joystick 200 in the parking slot 110; wherein the generated calibration voltage is used to update the median voltage range of the corresponding swing joystick 200, and is not used for the drive control of the drive motor 400.
[0053] Specifically, if Figure 5 As shown, in some embodiments, step S100 includes the following steps:
[0054] S110, when the joystick 200 is located in the parking slot 110, responding to the swing of the joystick 200 in the parking slot 110, and acquiring the swing angle of the joystick 200;
[0055] S120 : Generate a corresponding calibration voltage based on the acquired swing angle.
[0056] Next, executing step S200, based on the current median voltage interval and the calibration voltage, updating the current median voltage interval in real time;
[0057] In step S200, when no calibration voltage is detected, the latest updated median voltage interval is maintained as the current median voltage interval; and when it is detected that a calibration voltage is generated, the current median voltage interval is updated based on the current median voltage interval and the calibration voltage; the above steps can start when the application vehicle enters the parking state and continue until the application vehicle leaves the parking state, which effectively ensures the real-time update of the median voltage interval in response to the swing of the joystick 200 in the parking state.
[0058] Specifically, if Figure 2 and Figure 6 As shown, in some embodiments, step S200 includes the following steps:
[0059] S210, obtaining a maximum voltage between the current median voltage interval and the calibration voltage, and using the maximum voltage as an upper limit value to update an upper limit value of the current median voltage interval;
[0060] That is, the calibration voltage is compared with the upper limit value of the current median voltage interval. If the calibration voltage is greater than the upper limit value of the current median voltage interval, the current median voltage interval is updated with the calibration voltage as the upper limit value; if the calibration voltage is less than or equal to the upper limit value of the current median voltage interval, the upper limit value of the current median voltage interval is maintained unchanged;
[0061] S220, obtaining the minimum voltage between the current median voltage interval and the calibration voltage, and using the minimum voltage as the lower limit value to update the lower limit value of the current median voltage interval;
[0062] That is, the calibration voltage is compared with the lower limit value of the current median voltage interval. If the calibration voltage is less than the lower limit value of the current median voltage interval, the current median voltage interval is updated with the calibration voltage as the lower limit value; if the calibration voltage is greater than or equal to the lower limit value of the current median voltage interval, the lower limit value of the current median voltage interval is maintained unchanged.
[0063] It should be noted that, in the above embodiment, the order in which steps S210 and S220 are executed is not limited, wherein step S200 may execute step S210 first and then step S220; or, step S200 may execute step S220 first and then step S210; or, step S200 may execute step S210 and step S220 simultaneously.
[0064] Next, step S300 is executed, and when the joystick 200 leaves the parking slot 110 , the update setting of the current middle voltage range is completed.
[0065] In step S300 , when the application vehicle is not in the parking state (ie, the joystick 200 leaves the parking slot 110 ), the calibration response to the joystick 200 is terminated, and the latest updated current median voltage interval during the calibration process is set as the new median voltage interval of the joystick 200 .
[0066] Specifically, if Figure 7 As shown, in some embodiments, step S300 includes the following steps:
[0067] S310, when the joystick 200 leaves the parking slot 110, stop updating the current median voltage range;
[0068] S320: Set the latest current median voltage interval as a new median voltage interval.
[0069] In some embodiments, the parking slot 110 allows the joystick 200 to swing at an angle greater than or equal to a preset median range, and the calibration method generates a calibration voltage range in response to the joystick 200 swinging in the parking slot 110 that is greater than or equal to a voltage range of a preset median voltage interval, wherein the maximum value of the generated calibration voltage is greater than or equal to an upper limit value of the preset median voltage interval, and the minimum value of the generated calibration voltage is less than or equal to a lower limit value of the preset median voltage interval. Specifically, when the joystick 200 swings in the forward direction and contacts the side wall edge of the parking slot 110, the swing angle of the joystick 200 relative to the frame 100 is numerically greater than or equal to the upper limit of the preset median angle, and the calibration voltage generated by the drive control system in response to the swing angle of the joystick 200 is greater than or equal to the upper limit of the preset median voltage range of the vehicle; when the joystick 200 swings in the backward direction and contacts the side wall edge of the parking slot 110, the swing angle of the joystick 200 relative to the frame 100 is numerically less than or equal to the lower limit of the preset median angle, and the calibration voltage generated by the drive control system in response to the swing angle of the joystick 200 is less than or equal to the lower limit of the preset median voltage range of the vehicle. For example, the preset median angle range of the joystick 200 is -21° to 21°, and the corresponding median voltage range of the joystick 200 is 2.25V to 2.55V; wherein, when the joystick 200 swings in the forward direction and contacts the side wall edge of the parking slot 110, the swing angle of the joystick 200 relative to the frame 100 is numerically greater than or equal to 21°, and the calibration voltage generated by the drive control system is greater than or equal to 2.55V; when the joystick 200 swings in the backward direction and contacts the side wall edge of the parking slot 110, the swing angle of the joystick 200 relative to the frame 100 is numerically less than or equal to -21°, and the calibration voltage generated by the drive control system is less than or equal to 2.35V.
[0070] In addition, in the present invention, the driving signal or calibration signal generated by the driving control system in response to the joystick 200 can be the voltage signal in the above embodiment, or can be other types of digital signals, for example, an analog digital signal generated by analog processing of the generated voltage signal.
[0071] like Figures 8 to 12As shown, the present invention also provides a garden tool, which includes a frame 100, a joystick 200, a drive motor 400, a running wheel 500 and a drive control system. The joystick 200 is rotatably mounted on the frame 100, and the joystick 200 swings relative to the frame 100. The swinging direction of the joystick 200 on the frame 100 includes a first direction from the front of the vehicle to the rear of the vehicle. The drive control system and the drive motor 400 are mounted on the frame 100, and the running wheel 500 is connected to the output end of the drive motor 400. The drive control system includes a detection device 300 and a drive controller. The detection device 300 is installed on the joystick 200 and / or the frame 100. The detection device 300 is located at the rotation center of the joystick 200 on the frame 100. The detection device 300 can swing with the joystick 200 to collect the swing angle of the joystick 200 and generate a corresponding drive voltage. The drive controller is electrically connected to the detection device 300 and the drive motor 400 respectively. The drive controller controls the output shaft of the drive motor 400 to rotate forward, reverse or stop based on the received drive voltage, thereby responding to the swing of the joystick 200 to realize drive control of the movement of the garden tool.
[0072] Based on the control requirements of the garden tool, the position state of the joystick 200 relative to the frame 100 is preset as the forward position, the middle position and the backward position; the middle position is the preset position of the joystick 200 on the frame 100, and the forward position and the backward position are set on both sides of the middle position along the swing path of the joystick 200. Based on the above structure, when the user drives the garden tool to move, the position of the joystick 200 can be adjusted forward and backward along the swing direction on the frame 100, the detection device 300 collects the swing angle of the joystick 200 relative to the frame 100 to generate a corresponding driving voltage, and the driving controller controls the driving motor 400 to perform forward driving, reverse driving or stop based on the driving voltage. Among them, when the joystick 200 is in the middle position, the swing angle of the joystick 200 relative to the frame 100 is the middle angle, the detection device 300 generates a middle voltage according to the currently collected swing angle, and the drive controller controls the drive motor 400 to stop based on the middle voltage; when the joystick 200 is pushed to the forward position, the swing opening of the joystick 200 relative to the middle position increases in the forward direction, the detection device 300 generates a forward voltage according to the currently collected swing angle, and the drive controller controls the drive motor 400 to rotate forward based on the forward voltage; when the joystick 200 is pushed to the backward position, the swing opening of the joystick 200 relative to the middle position increases in the reverse direction of the backward direction, the detection device 300 generates a backward voltage according to the currently collected swing angle, and the drive controller controls the drive motor 400 to reverse based on the backward voltage.
[0073] In addition, if Figure 8 and Fig. 9As shown, the frame 100 is still provided with a parking slot 110, the position of the parking slot 110 overlaps with the preset electrical middle position of the swing of the joystick 200, the slot of the parking slot 110 is set as the vehicle parking position, when the joystick 200 is inserted into the parking slot 110, the vehicle enters the parking state, and the drive control system does not drive the swing of the joystick 200 to keep the garden tool in a stationary state.
[0074] It should be noted that the types of working components used in the above-mentioned garden tools are not limited, and the above-mentioned working components can be working parts such as cutting components, snow blowing components, blowers, and sowing components.
[0075] In the above structure, when the user adjusts the joystick 200 to change the rotation direction of the drive motor 400, it must pass through the middle position. In order to avoid the deviation of the drive control system in generating the drive voltage in response to the swing of the joystick 200 and the forward and reverse oscillation of the drive motor 400 caused by the forward and backward steering of the joystick 200, and thereby ensure that the garden tool can be stationary when the joystick 200 is in the middle position, the drive control system needs to expand the swing angle response range to the middle position of the joystick 200, and set the middle voltage range corresponding to the middle swing range. The middle voltage range can include the output error of the drive control system in response to generating the drive voltage, and can also avoid the forward and reverse oscillation of the drive motor 400 caused by the drive control system in response to the forward and backward swing of the joystick 200.
[0076] In order to facilitate the user to calibrate the median voltage interval of the joystick 200 of the above-mentioned garden tool, the drive control system can also execute the joystick calibration method to help the user independently set the median voltage interval of the drive control system in response to the joystick 200. Specifically, when the joystick 200 is inserted into the parking slot 110, the garden tool is in the parking state, and the detection device 300 responds to the swing of the joystick 200 in the parking slot 110 in real time to generate a corresponding calibration voltage; after receiving the calibration voltage, the drive controller does not drive and control the drive motor 400 according to the calibration voltage, but updates the current median voltage interval in real time based on the current median voltage interval and the received calibration voltage; when the joystick 200 leaves the parking slot 110, the garden tool leaves the parking state, the drive controller stops updating the current median voltage interval, and determines to set the latest current median voltage interval as the new median voltage interval.
[0077] Further, in some embodiments, the driving controller updates the current median voltage interval in real time based on the current median voltage interval and the calibration voltage, including the following steps:
[0078] Obtain the maximum voltage between the current median voltage interval and the calibration voltage, and use the maximum voltage as the upper limit value to update the current median voltage interval; that is, compare the calibration voltage with the upper limit value of the current median voltage interval. If the calibration voltage is greater than the upper limit value of the current median voltage interval, update the current median voltage interval with the calibration voltage as the upper limit value; if the calibration voltage is less than or equal to the upper limit value of the current median voltage interval, maintain the upper limit value of the current median voltage interval unchanged;
[0079] Obtain the minimum voltage between the current median voltage interval and the calibration voltage, and use the minimum voltage as the lower limit value to update the current median voltage interval; that is, compare the calibration voltage with the lower limit value of the current median voltage interval. If the calibration voltage is less than the lower limit value of the current median voltage interval, update the current median voltage interval with the calibration voltage as the lower limit value; if the calibration voltage is greater than or equal to the lower limit value of the current median voltage interval, maintain the lower limit value of the current median voltage interval unchanged.
[0080] In some embodiments, a response switch is provided in the parking slot 110. When the joystick 200 is inserted into the parking slot 110, the response switch responds to the pressing of the joystick 200 and sends a calibration signal to the drive controller. After receiving the calibration signal, the drive controller starts the calibration process and updates and sets a new median voltage range. When the joystick 200 leaves the parking slot 110, the response switch responds to the releasing of the joystick 200 and stops sending the calibration signal to the drive controller. When the drive controller fails to receive the calibration signal, it ends the calibration process and determines a new median voltage range corresponding to the joystick 200.
[0081] In addition, in some embodiments, a trigger switch is also provided on the garden tool. The trigger switch can be set on the control panel on the frame 100. The trigger switch can continuously send a calibration signal to the drive controller in response to a pressing operation, and stop sending the calibration signal to the drive controller in response to the next pressing operation.
[0082] In the above embodiment, the response switch and the trigger switch are in the same communication control network as the drive controller, and the signal transmission mode between the response switch and the trigger switch and the drive controller is IO command or communication command, and the communication command is RS485, RS422, CAN or LIN communication mode.
[0083] like Fig.10 As shown, the detection device 300 can be any conventional rotation opening detection sensor device in the art. For example, in some embodiments, the detection device 300 uses a position sensor. Optionally, the detection device 300 uses an angle sensor.
[0084] It should be noted that the number of joysticks 200 provided on the garden tool is not limited. Figure 8 and Fig.12As shown, in some embodiments, the garden tool includes two drive motors 400 and a joystick 200, which are respectively arranged on both sides of the frame 100, and the output shafts of the two drive motors 400 are respectively connected with running wheels 500; and a parking slot 110 is respectively arranged on both sides of the frame 100 at the preset middle position corresponding to the joystick 200. The drive control system drives and controls the running wheels 500 on both sides of the frame 100 in response to the swinging of the two joysticks 200 on the frame 100, so as to help the user realize the control of the garden tool forward, backward, steering and parking through the two joysticks 200.
[0085] When the two operating levers 200 are pushed into the parking slots 110 at the same time ( Fig.12 The drive control system stops driving the drive motors 400 on both sides of the frame 100 to put the garden tool in a parking state; when the two joysticks 200 are pushed to the same opening of the forward position ( Fig.12 The driving control system responds to the output shafts of the driving motors 400 on both sides of the frame 100 to output forward rotation at the same speed, so as to drive the walking wheels 500 on both sides of the frame 100 to rotate forward, thereby driving the garden tool forward; when the two joysticks 200 are in the middle position at the same time ( Fig.12 The drive control system responds to the output shafts of the drive motors 400 on both sides of the control frame 100 to stop rotating, so that the garden tool is stationary; when the two joysticks 200 are pushed to the same opening of the retreat position ( Fig.12 When the two joysticks 200 are pushed to the forward position or the backward position with different openings, the drive control system responds to the corresponding swing angles of the two joysticks 200 and respectively outputs the output shafts of the drive motors 400 on both sides at the corresponding speeds, so as to drive the garden tool to turn forward or backward toward the side of the running wheel 500 with a slower speed.
[0086] In the above embodiment, the drive control system responds independently to the multiple joysticks 200 in the parking state to perform independent mid-voltage interval calibration settings for the multiple joysticks 200, and the drive control system does not interfere with each other in the calibration settings of the mid-voltage intervals of the joysticks 200. For example, in one example, two joysticks 200 are provided on the garden tool. When the two joysticks 200 are mounted in the corresponding parking slots 110 on both sides of the frame 100, the drive control system simultaneously receives calibration signals corresponding to the two joysticks 200, and then independently responds to the swing of the two joysticks in the corresponding parking slots 110, thereby updating and setting the median voltage intervals corresponding to the two joysticks 200 respectively. If one of the two joysticks 200 leaves the parking slot 110, the drive control system still maintains the response calibration of the median voltage interval of the joystick 200 mounted in the parking slot 110 based on the received calibration signal, and completes the update setting of the median voltage interval of the joystick 200 leaving the parking slot 110; if both joysticks 200 leave the parking slot 110, the drive control system completes the update setting of the median voltage interval of the two joysticks 200.
[0087] In summary, the calibration method of the joystick utilizes the mechanical and electrical connection between the joystick and the drive controller for compensation setting, so that the user can quickly complete the automatic calibration of the electrical mid-range of the joystick by pushing the joystick to swing in the parking slot. This effectively improves the production efficiency of the garden tool production line and reduces the subsequent maintenance cost of the garden tool. When the mid-position deviation of the joystick of the garden tool is caused by mechanical wear, it does not need to be returned to the factory for repair, and local calibration can solve the problem.
[0088] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.
Claims
1. A method for calibrating a joystick, characterized in that: In the parking state, the joystick is inserted into the parking slot; the calibration method includes: When the joystick is located in the parking slot, generating a corresponding calibration voltage in response to the swing of the joystick in the parking slot; Based on the current median voltage interval and the calibration voltage, updating the current median voltage interval in real time; When the joystick leaves the parking slot, the update setting of the current median voltage interval is completed.
2. The joystick calibration method according to claim 1, characterized in that: The updating of the current median voltage interval in real time based on the current median voltage interval and the calibration voltage includes: Acquire a maximum voltage in a current median voltage interval and the calibration voltage, and update the current median voltage interval using the maximum voltage as an upper limit value; The minimum voltage between the current median voltage interval and the calibration voltage is obtained, and the current median voltage interval is updated by taking the minimum voltage as a lower limit value.
3. The joystick calibration method according to claim 1, characterized in that: When the joystick leaves the parking slot, completing the update setting of the current median voltage range includes: When the joystick leaves the parking slot, stopping updating the current median voltage interval; The latest current median voltage interval is set as the new median voltage interval.
4. The joystick calibration method according to claim 1, characterized in that: The step of generating a corresponding calibration voltage in response to the swing of the joystick in the parking slot comprises: In response to the swing of the joystick in the parking slot, obtaining a swing angle of the joystick; Based on the swing angle, the corresponding calibration voltage is generated.
5. The joystick calibration method according to claim 1, characterized in that: The maximum value of the calibration voltage generated is greater than or equal to an upper limit value of a preset median voltage interval, and the minimum value of the calibration voltage generated is less than or equal to a lower limit value of the preset median voltage interval.
6. A garden tool, characterized in that: include: A frame, wherein a parking slot is provided on the frame; A joystick, the joystick being swingably mounted on the frame; A driving motor, which is arranged on the frame; A drive control system, the drive control system comprising a detection device and a drive controller, the detection device collects the swing angle of the joystick relative to the frame and generates a corresponding drive voltage, and the drive controller controls the output shaft of the drive motor to rotate forward, reverse or stop based on the drive voltage; Among them, when the joystick is located in the parking slot, the detection device responds to the swing of the joystick in the parking slot to generate a corresponding calibration voltage; the drive controller updates the current median voltage interval in real time based on the current median voltage interval and the calibration voltage; when the joystick leaves the parking slot, the drive controller sets the new median voltage interval based on the current median voltage interval.
7. The garden tool according to claim 6, characterized in that: A response switch is arranged in the parking slot. When the joystick is located in the parking slot, the response switch responds to the joystick being pressed to send a calibration signal to the drive controller.
8. The garden tool according to claim 7, characterized in that: When the operating lever leaves the parking slot, the response switch responds to the release of the operating lever to stop sending the calibration signal to the driving controller.
9. The garden tool according to claim 6, characterized in that: The garden tool further comprises a trigger switch, which is arranged on the frame and which responds to a pressing operation to send or stop sending a calibration signal to the drive controller.
10. The garden tool according to claim 8 or 9, characterized in that: After receiving the calibration signal, the drive controller starts the calibration process to set the new median voltage interval; when the drive controller does not receive the calibration signal, the calibration process is ended and the new median voltage interval is determined.
11. The garden tool according to claim 7, characterized in that: The signal transmission mode between the response switch and the drive controller is an IO command or a communication command, and the communication command is an RS485, RS422, CAN or LIN communication mode.
12. The garden tool according to claim 6, characterized in that: The detection device is an angle sensor.