Generated power real-time control method, system, device and equipment of extended-range electric mowing vehicle and medium

Abstract

The invention discloses a generated power real-time control method, system, device and equipment of an extended-range electric mowing vehicle and a medium, and relates to the technical field of intelligent control, and the method comprises the steps: receiving and calculating the real-time power of a drive motor, the real-time power of a cutterhead motor and the real-time power of the input end of a voltage converter through a generated power control module; reading the preset power compensation value from the memory, and calculating the instantaneous actual total consumed power of the electric mowing vehicle; averaging the actual consumed total power of each historical instantaneous electric mowing vehicle in a preset time period before the current moment obtained by sampling, and obtaining the consumed total power of the target electric mowing vehicle under the current working condition; and obtaining a power compensation grade of the charge state value of the power battery under the current working condition, and determining a corresponding generation power compensation value under the current working condition according to the power compensation grade, so that the range extender outputs generation power based on the generation power compensation value and the total power consumed by the target electric mowing vehicle.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a method, system, device, equipment and medium for real-time control of power generation of an extended-range electric lawn mower. Background Art

[0002] The power generation control of the extended-range electric lawn mower is relatively simple and crude. It simply determines whether the range extender is started and generates electricity at a fixed power based on the power battery SOC (State of Charge). For example, when the SOC is lower than a certain set value, the range extender starts to generate electricity at a fixed power. This method cannot adapt well to the changes in power demand in the actual operation of the vehicle. The power generation power of the existing extended-range electric lawn mower is generally to simply associate the range extender start threshold and power generation with the current SOC of the power battery. When the SOC is lower than a certain value, the range extender is started to generate electricity at a fixed power, without good dynamic control. In this way, when the power battery SOC is slightly lower, the range extender may start to generate electricity at a higher power, which will cause greater noise and vibration, affecting driving comfort; when the vehicle is in a high-load working state (such as high-speed driving and mowing at the same time) and the power battery SOC is low, the fixed power generation may not meet the power demand of the vehicle, resulting in insufficient power. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a method, system, device, equipment and medium for real-time control of power generation of an extended-range electric lawn mower, which can start power generation with corresponding power according to the real-time operating state of the electric lawn mower through the range extender according to the corresponding operating state, so as to ensure the power demand of the electric lawn mower. The specific scheme is as follows:

[0004] In a first aspect, the present application discloses a method for real-time control of power generation of an extended-range electric lawn mower, comprising:

[0005] The power generation control module receives and calculates the real-time power of the drive motor, the real-time power of the blade motor, and the real-time power of the voltage converter input terminal, and reads the preset power compensation value from the memory to calculate the actual total power consumed by the instantaneous electric lawn mower;

[0006] The actual total power consumption of each historical instantaneous electric lawn mower in a preset time period before the current moment obtained by sampling is averaged to obtain the total power consumption of the target electric lawn mower under the current working condition;

[0007] The power compensation level of the state of charge value of the power battery under the current working condition is obtained, so as to determine the corresponding power generation compensation value under the current working condition according to the power compensation level, so that the range extender can output power generation based on the power generation compensation value and the total power consumed by the target electric lawn mower.

[0008] Optionally, the power generation control module receives and calculates the real-time power of the drive motor, the real-time power of the blade motor, and the real-time power of the voltage converter input terminal, and reads a preset power compensation value from the memory to calculate the instantaneous actual total power consumption of the electric lawn mower, including:

[0009] Receiving, through the power generation control module, a first real-time bus voltage and a first real-time bus current reported by the drive motor controller, so as to calculate the real-time power of the drive motor based on the first real-time bus voltage and the first real-time bus current;

[0010] Receiving, through the power generation control module, a second real-time bus voltage and a second real-time bus current reported by the cutter head motor controller, so as to calculate the real-time power of the cutter head motor based on the second real-time bus voltage and the second real-time bus current;

[0011] Receiving, through the power generation control module, a third real-time bus voltage and a third real-time bus current at the input end reported by the voltage converter, so as to calculate the real-time power at the input end of the voltage converter based on the third real-time bus voltage and the third real-time bus current;

[0012] The real-time power of the drive motor, the real-time power of the blade motor, the real-time power of the voltage converter input terminal and the corresponding preset power compensation value read from the memory are accumulated and calculated to obtain the instantaneous total power actually consumed by the electric lawn mower.

[0013] Optionally, the power generation control module communicates data with the drive motor controller, the cutter disc motor controller, and the voltage converter via a CAN bus.

[0014] Optionally, before averaging the actual total power consumption of each historical instantaneous electric lawn mower in a preset time period before the current moment obtained by sampling, the method further includes:

[0015] Setting a sampling rate range of the sampling rate to select a target sampling rate from the sampling rate range according to actual sampling requirements; wherein the sampling rate range is 10 Hz to 100 Hz;

[0016] Setting a time range of a sampling time period to select a target sampling time period from the sampling time period as a preset time period according to actual sampling requirements; wherein the time range is 10 seconds to 30 seconds;

[0017] The actual total power consumed by the instantaneous electric lawn mower in the preset time period before the current moment is sampled and processed according to the target sampling rate to obtain the actual total power consumed by the electric lawn mower at each historical instant.

[0018] Optionally, the acquiring the power compensation level of the state of charge value of the power battery under the current working condition, so as to determine the corresponding power generation compensation value under the current working condition according to the power compensation level, includes:

[0019] Obtaining the current remaining battery power of the power battery under the current working condition through the power generation control module to obtain the current state of charge value of the power battery;

[0020] Determine whether the current state of charge value is greater than a first preset state of charge value, and if so, determine that the current state of charge value is at a first power compensation level, and determine that the corresponding power generation compensation value under the current working condition is 0 according to the first power compensation level;

[0021] If not, determining whether the current state of charge value satisfies a first state value requirement that is greater than a second preset state of charge value and less than or equal to the first preset state of charge value; if the current state of charge value satisfies the first state value requirement, determining that the current state of charge value is at a second power compensation level, and determining that the corresponding power generation compensation value under the current operating condition is the first preset power generation compensation value according to the second power compensation level;

[0022] If the current state of charge value does not meet the first state value requirement, determine whether the current state of charge value is greater than a third preset state of charge value and less than or equal to a second state value requirement of the second preset state of charge value; if the current state of charge value meets the second state value requirement, determine that the current state of charge value is at a third power compensation level, and determine that the corresponding power generation compensation value under the current operating condition is the second preset power generation compensation value according to the third power compensation level;

[0023] If the current state of charge value does not meet the second state value requirement, determine whether the current state of charge value is greater than a fourth preset state of charge value and less than or equal to a third state value requirement of the third preset state of charge value; if the current state of charge value meets the third state value requirement, determine that the current state of charge value is at a fourth power compensation level, and determine that the corresponding power generation compensation value under the current operating condition is the third preset power generation compensation value according to the fourth power compensation level;

[0024] If the current state of charge value does not meet the third state value requirement, it is determined that the current state of charge value is at the fifth power compensation level, and the corresponding power generation compensation value under the current working condition is determined to be the fourth preset power generation compensation value according to the fifth power compensation level;

[0025] Correspondingly, the method of outputting power based on the power generation compensation value and the total power consumed by the target electric lawn mower includes:

[0026] Based on the determined corresponding preset power generation compensation value as the power generation compensation value, the power generation compensation value and the total power consumed by the target electric lawn mower are summed to obtain the required actual power consumption, and the power generation power is output according to the required actual power consumption through the range extender.

[0027] Optionally, the method for real-time control of power generation of the extended-range electric lawn mower further includes:

[0028] Set the first preset power compensation value to ;in, Indicates the charging rate. Indicates the battery capacity of the power battery. Indicates the current voltage of the power battery;

[0029] Set the second preset power compensation value to ;

[0030] Set the third preset power compensation value to ;

[0031] Set the fourth preset power compensation value to .

[0032] In the second aspect, the present application discloses a real-time control system for power generation of an extended-range electric lawn mower, comprising: a drive motor controller, a blade motor controller, a power battery management module, a voltage converter, a range extender control module, and a power generation control module; wherein the drive motor controller is used to control and report the real-time electrical signal of the drive motor to the power generation control module, the blade motor controller is used to control and report the real-time electrical signal of the blade motor to the power generation control module, the power battery management module is used to monitor and report the state of charge value of the power battery to the power generation control module; the power generation control module is used to calculate the actual total power consumption required according to the actual electrical signal; the range extender control module is used to control the range extender to generate electricity according to the actual power consumption calculated by the power generation control module, so as to realize dynamic adjustment of the vehicle's power generation.

[0033] In a third aspect, the present application discloses a real-time control device for power generation of an extended-range electric lawn mower, comprising:

[0034] A first power calculation module is used to receive and calculate the real-time power of the drive motor, the real-time power of the cutter motor, and the real-time power of the voltage converter input terminal through the power generation control module, and read the preset power compensation value from the memory to calculate the actual total power consumed by the instantaneous electric lawn mower;

[0035] The second power calculation module is used to average the actual total power consumed by each historical instantaneous electric lawn mower in a preset time period before the current moment obtained by sampling, so as to obtain the total power consumed by the target electric lawn mower under the current working condition;

[0036] The power generation compensation module is used to obtain the power compensation level of the charge state value of the power battery under the current working condition, so as to determine the corresponding power generation compensation value under the current working condition according to the power compensation level, so that the range extender can output power based on the power generation compensation value and the total power consumed by the target electric lawn mower.

[0037] In a fourth aspect, the present application discloses an electronic device, including:

[0038] Memory, used to store computer programs;

[0039] The processor is used to execute the computer program to implement the steps of the above-disclosed method for real-time control of power generation of an extended-range electric lawn mower.

[0040] In a fifth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the steps of the aforementioned disclosed method for real-time control of power generation of an extended-range electric lawn mower are implemented.

[0041] It can be seen that the present application discloses a real-time control method for the power generation of an extended-range electric lawn mower, including: receiving and calculating the real-time power of the drive motor, the real-time power of the blade motor, and the real-time power of the voltage converter input terminal through the power generation control module, and reading the preset power compensation value from the memory to calculate the instantaneous actual total power consumption of the electric lawn mower; averaging the actual total power consumption of each historical instantaneous electric lawn mower in the preset time period before the current moment obtained by sampling to obtain the total power consumption of the target electric lawn mower under the current working condition; obtaining the power compensation level of the state of charge value of the power battery under the current working condition, and determining the corresponding power generation compensation value under the current working condition according to the power compensation level, so that the range extender can output power based on the power generation compensation value and the total power consumption of the target electric lawn mower. It can be seen that by obtaining the real-time power value of the current drive motor of the vehicle, the real-time power value of the blade motor, the real-time power value of the voltage converter input terminal and other information, the instantaneous actual total power consumption of the vehicle is calculated. At the same time, the power generation compensation value is determined in combination with the current state of charge of the power battery, and the range extender power generation is dynamically adjusted in different levels according to the current state of charge of the power battery, thereby obtaining the required power generation value, and requesting the range extender to output according to the required power generation value. In this way, dynamic control of power generation is achieved, so that power generation can be adjusted in real time according to the actual working conditions of the vehicle and the battery power status. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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 described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0043] Figure 1 A flow chart of a real-time control method for power generation of an extended-range electric lawn mower disclosed in the present application;

[0044] Figure 2 A flow chart of a method for determining the current state of charge value of a power battery disclosed in the present application;

[0045] Figure 3 This is a schematic diagram of the structure of a real-time control system for power generation of an extended-range electric lawn mower disclosed in the present application;

[0046] Figure 4 This is a schematic structural diagram of a real-time control device for power generation of an extended-range electric lawn mower disclosed in the present application;

[0047] Figure 5 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0049] The power generation control of the extended-range electric lawn mower is relatively simple and crude. It simply determines whether the range extender is started and whether to generate electricity at a fixed power based on the power battery SOC. For example, when the SOC is lower than a certain set value, the range extender starts to generate electricity at a fixed power. This method cannot adapt well to the changes in power demand in the actual operation of the vehicle. The power generation power of the existing extended-range electric lawn mower is generally to simply associate the range extender start threshold and power generation with the current SOC of the power battery. When the SOC is lower than a certain value, the range extender is started to generate electricity at a fixed power, without good dynamic control. In this way, when the power battery SOC is slightly lower, the range extender may start to generate electricity at a higher power, which will cause greater noise and vibration, affecting driving comfort; when the vehicle is in a high-load working state (such as high-speed driving and mowing at the same time) and the power battery SOC is low, the fixed power generation may not meet the power demand of the vehicle, resulting in insufficient power.

[0050] To this end, the present invention provides a real-time control scheme for the power generation of an extended-range electric lawn mower, which can start power generation with corresponding power under the corresponding operating state through the range extender according to the real-time operating state of the electric lawn mower, thereby ensuring the power demand of the electric lawn mower.

[0051] Reference Figure 1 As shown, the embodiment of the present invention discloses a method for real-time control of power generation of an extended-range electric lawn mower, comprising:

[0052] Step S11: Receive and calculate the real-time power of the drive motor, the real-time power of the blade motor, and the real-time power of the voltage converter input terminal through the power generation control module, and read the preset power compensation value from the memory to calculate the actual total power consumed by the instantaneous electric lawn mower.

[0053] In this embodiment, the first real-time bus voltage and the first real-time bus current reported by the drive motor controller are received by the power generation control module to calculate the real-time power of the drive motor based on the first real-time bus voltage and the first real-time bus current; the second real-time bus voltage and the second real-time bus current reported by the blade motor controller are received by the power generation control module to calculate the real-time power of the blade motor based on the second real-time bus voltage and the second real-time bus current; the third real-time bus voltage and the third real-time bus current at the input end reported by the voltage converter are received by the power generation control module to calculate the real-time power of the voltage converter input end based on the third real-time bus voltage and the third real-time bus current; the real-time power of the drive motor, the real-time power of the blade motor, the real-time power of the voltage converter input end and the corresponding preset power compensation value read from the memory are accumulated and calculated to obtain the instantaneous actual total power consumption of the electric lawn mower. The power generation control module communicates data with the drive motor controller, the blade motor controller and the voltage converter through a CAN (Controller Area Network) bus. It can be understood that the power generation control module receives the first real-time bus voltage and the first real-time bus current reported by the main drive motor controller, the slave drive motor controller, the second real-time bus voltage and the second real-time bus current of the cutter motor controller, and the third real-time bus voltage and the third real-time bus current of the input end of the voltage converter DC-DC (Direct Current-Direct Current, DC-DC converter) from the CAN bus, and finally uses the electric power calculation formula The real-time power of the main drive motor, the real-time power of the slave drive motor, the real-time power of the cutter motor, and the real-time power of the voltage converter DC-DC are calculated respectively; wherein, Indicates the real-time bus voltage. Indicates the real-time bus current, Indicates the calculated real-time power, and then reads the preset power compensation value pre-set according to the actual vehicle calibration result from the internal storage , the preset power compensation value is a fixed value ranging from 0 to 0.5kw; the above real-time power and the preset power compensation value are cumulatively calculated to obtain the instantaneous total power actually consumed by the electric lawn mower.

[0054] Specifically, through Calculate the real-time power of the drive motor , which is the instantaneous power consumption of the drive motor, where Indicates the first real-time bus voltage of the driving motor, Indicates the first real-time bus current of the driving motor; Calculate the real-time power of the cutter motor , which is the instantaneous power consumption of the cutter motor, where Indicates the second real-time bus voltage of the cutter motor. Indicates the second real-time bus current of the cutter motor; Calculate real-time power of DC-DC , that is, the instantaneous power consumption of DC-DC, where, Indicates the third real-time bus voltage of DC-DC, It represents the third real-time bus current of DC-DC. Therefore, the total power actually consumed by the instantaneous electric lawn mower is .

[0055] Step S12: averaging the actual total power consumption of each historical instantaneous electric lawn mower in a preset time period before the current moment obtained by sampling, so as to obtain the target total power consumption of the electric lawn mower under the current working condition.

[0056] In this embodiment, before averaging the actual total power consumed by each historical instantaneous electric lawn mower in the preset time period before the current moment, the method further includes: setting a sampling rate range of the sampling rate to select a target sampling rate from the sampling rate range according to actual sampling requirements; wherein the sampling rate range is 10 Hz to 100 Hz; setting a time range of the sampling time period to select a target sampling time period from the sampling time period as a preset time period according to actual sampling requirements; wherein the time range is 10 seconds to 30 seconds; sampling the actual total power consumed by the instantaneous electric lawn mower in the preset time period before the current moment according to the target sampling rate to obtain the actual total power consumed by each historical instantaneous electric lawn mower. In this way, presetting the sampling rate means that the corresponding sample points of the actual total power consumed by the instantaneous vehicle can be obtained within a unit time. For example, when the sampling rate is 100 Hz, 100 power samples will be collected per second, so that the changes in vehicle power consumption can be captured more finely. A lower sampling rate (such as the default 10Hz) collects 10 samples per second, which is relatively less precise in capturing power changes, but in some cases it can also meet basic needs and may reduce the amount of calculation and the complexity of data processing. Therefore, in practical applications, the preset sampling rate can be adjusted according to the specific conditions of the vehicle and the requirements for power control accuracy. If the working conditions of the vehicle change frequently, for example, the vehicle often switches between different driving speeds and mowing loads, a higher sampling rate is required to more accurately calculate the average value of the instantaneous vehicle's actual total power consumption, so as to better control the power generation. By setting the sampling rate, the appropriate sampling rate can be selected according to actual needs. Similarly, the setting of the sampling time can calculate the average value of the instantaneous vehicle's actual total power consumption in the preset time period at the preset sampling rate when calculating the total power consumption value of the vehicle in the current working condition, where the preset time period ranges from the first preset time to the current moment. By setting a certain sampling time period to calculate the average value, the inaccuracy caused by only considering the instantaneous power can be avoided. For example, a mowing vehicle may encounter obstacles such as pebbles during driving, causing the blade motor to be instantly overloaded and the power to rise sharply, but this situation is short-lived. By setting the first preset time (such as 20 seconds) to calculate the average power, this instantaneous power fluctuation can be filtered out to obtain a power consumption value that better reflects the actual operating status of the vehicle, that is, the total power consumed by the target electric lawn mower. For example, when the preset sampling rate is 10Hz and the preset time period is 20 seconds, the average value of the actual total power consumed by the instantaneous vehicle within these 20 seconds (a total of 200 sampling points) will be calculated. This average value can reflect the average power consumption of the vehicle over a period of time, avoiding the fluctuations and inaccuracies that may be caused by only considering the instantaneous power.

[0057] Specifically, after determining the target sampling rate and the preset time period, the number of samplings within the preset time period is determined, and then the actual total power consumption of the electric lawn mower in the historical instant under each sampling is obtained, and then the average is calculated. The final processing result is the total power consumption of the target electric lawn mower under the current working condition. The formula for the total power consumption of the target electric lawn mower under the current working condition is as follows:

[0058] ;

[0059] in, Indicates the total power consumed by the target electric lawn mower under the current working conditions, Indicates The actual total power consumed by the electric lawn mower in the historical instantaneous sampling, Indicates the number of sampling times.

[0060] It should be noted that when the start time of the lawn mower is less than the preset time period, the current start time is used as the first preset time. This ensures that the power consumption can be reasonably calculated during the vehicle start phase, and a more realistic power average value is obtained based on the actual running time.

[0061] Step S13: Obtain the power compensation level of the state of charge value of the power battery under the current working condition, and determine the corresponding power generation compensation value under the current working condition according to the power compensation level, so that the range extender can output power generation based on the power generation compensation value and the total power consumed by the target electric lawn mower.

[0062] In this embodiment, the current remaining battery power of the power battery under the current working condition is obtained through the power generation control module to obtain the current state of charge value of the power battery; it is judged whether the current state of charge value is greater than the first preset state of charge value, and if so, it is determined that the current state of charge value is at the first power compensation level, and the corresponding power generation compensation value under the current working condition is determined to be 0 according to the first power compensation level; if not, it is judged whether the current state of charge value meets the first state value requirement that is greater than the second preset state of charge value and less than or equal to the first preset state of charge value, and if the current state of charge value meets the first state value requirement, it is determined that the current state of charge value is at the second power compensation level, and the corresponding power generation compensation value under the current working condition is determined to be the first preset power generation compensation value according to the second power compensation level; if the current state of charge value does not meet the first state value requirement, it is judged whether the current state of charge value is greater than the third preset state of charge value and less than or equal to the second preset state of charge value. The second state value requirement of the value is determined. If the current state of charge value meets the second state value requirement, it is determined that the current state of charge value is at the third power compensation level, and the corresponding power generation compensation value under the current working condition is determined to be the second preset power generation compensation value according to the third power compensation level; if the current state of charge value does not meet the second state value requirement, it is determined whether the current state of charge value is greater than the fourth preset state of charge value and less than or equal to the third preset state of charge value. If the current state of charge value meets the third state value requirement, it is determined that the current state of charge value is at the fourth power compensation level, and the corresponding power generation compensation value under the current working condition is determined to be the third preset power generation compensation value according to the fourth power compensation level; if the current state of charge value does not meet the third state value requirement, it is determined that the current state of charge value is at the fifth power compensation level, and the corresponding power generation compensation value under the current working condition is determined to be the fourth preset power generation compensation value according to the fifth power compensation level. In addition, the preset power generation compensation values ​​of each level are set in advance, wherein the first preset power generation compensation value is set ;in, Indicates the charging rate. Indicates the battery capacity of the power battery. Indicates the current voltage of the power battery; sets the second preset power generation compensation value to ; Set the third preset power compensation value to ; Set the fourth preset power generation compensation value to .like Figure 2As shown, the power generation control module obtains the current remaining battery power of the power battery under the current working condition through the CAN bus. As the battery state of charge of the power battery, it is a key indicator used to describe the remaining battery power, expressed in percentage. For example, SOC of 100% indicates that the power battery is fully charged, and SOC of 0% indicates that the power battery is completely exhausted. Therefore, the first preset state of charge value is set to 70%, the second preset state of charge value is set to 55%, the third preset state of charge value is set to 40%, and the fourth state of charge value is set to 20%. Therefore, it is judged whether the current state of charge value is greater than 70%. If so, it indicates that the current power battery has sufficient power and does not need to generate power. Therefore, the power generation compensation value is 0; if not, it is further judged whether the current state of charge value is within the range of 55%~70%. If it is within this range, it indicates that the current power battery power is insufficient, and the power generation compensation value is required to be small, and appropriate power generation compensation needs to be started to maintain the battery power and vehicle performance. If the current state of charge value is not within the above range, it is further determined whether the current state of charge value is between 40% and 55%. If so, the required power compensation value is At this time, the power of the power battery further decreases, and the power generation compensation needs to be increased to ensure the normal operation of the vehicle. If the current state of charge value is between 20% and 40%, the required power generation compensation value is In this case, the power battery is low and a larger power generation compensation is required to ensure the vehicle's power performance. Finally, when the current state of charge value is less than 20%, the required power generation compensation value is At this time, the battery power is at a low level, and the range extender is required to generate electricity at a higher power to ensure that the lawn mower can drive normally and perform mowing operations.

[0063] In this embodiment, the range extender outputs power based on the required power value obtained by accumulating the power compensation value and the total power consumed by the target electric lawn mower. Specifically, the corresponding preset power compensation value is determined as the power compensation value, and the power compensation value and the total power consumed by the target electric lawn mower are summed to obtain the required actual power consumption, and the range extender outputs power according to the required actual power consumption. The calculation formula for the required actual power consumption is as follows:

[0064] ;

[0065] in, Indicates the actual power consumption required, The power generation compensation value is determined according to the power battery charge state.

[0066] It is understandable that the range extender generates electricity according to the actual power consumption required because this value fully considers the actual needs of vehicle operation. For example, when the vehicle is driving and mowing, its drive motor and blade motor and other equipment consume a certain amount of power. At the same time, the battery SOC value is low and requires a certain amount of power compensation. The required power value combining these two parts is the actual power consumption required to truly meet the continuous and stable operation of the vehicle.

[0067] If the power generation is only based on the power compensation value, the actual power consumption of the vehicle will not be taken into account. For example, if the vehicle is driving at high speed and the mowing disc is also working, the actual power consumption is very large. Generating power only according to the compensation value is far from meeting the needs of the vehicle, which will cause the vehicle to be underpowered. The required power generation value takes into account the actual consumption of the vehicle and the need to replenish the battery, so the range extender needs to generate power according to this value.

[0068] It can be seen that the present application discloses a real-time control method for the power generation of an extended-range electric lawn mower, including: receiving and calculating the real-time power of the drive motor, the real-time power of the blade motor, and the real-time power of the voltage converter input terminal through the power generation control module, and reading the preset power compensation value from the memory to calculate the instantaneous actual total power consumption of the electric lawn mower; averaging the actual total power consumption of each historical instantaneous electric lawn mower in the preset time period before the current moment obtained by sampling to obtain the total power consumption of the target electric lawn mower under the current working condition; obtaining the power compensation level of the state of charge value of the power battery under the current working condition, and determining the corresponding power generation compensation value under the current working condition according to the power compensation level, so that the range extender can output power based on the power generation compensation value and the total power consumption of the target electric lawn mower. It can be seen that by obtaining the real-time power value of the current drive motor of the vehicle, the real-time power value of the blade motor, the real-time power value of the voltage converter input terminal and other information, the instantaneous actual total power consumption of the vehicle is calculated. At the same time, the power generation compensation value is determined in combination with the current state of charge of the power battery, and the range extender power generation is dynamically adjusted in different levels according to the current state of charge of the power battery, thereby obtaining the required power generation value, and requesting the range extender to output according to the required power generation value. In this way, dynamic control of power generation is achieved, so that power generation can be adjusted in real time according to the actual working conditions of the vehicle and the battery power status.

[0069] Reference Figure 3As shown, the present invention provides a real-time control system for power generation of an extended-range electric lawn mower, including: a drive motor controller, a blade motor controller, a power battery management module, a voltage converter, a range extender control module, and a power generation control module; wherein the drive motor controller is used to control and report the real-time electrical signal of the drive motor to the power generation control module, the blade motor controller is used to control and report the real-time electrical signal of the blade motor to the power generation control module, and the power battery management module is used to monitor and report the state of charge value of the power battery to the power generation control module; the power generation control module is used to calculate the required actual total power consumption according to the actual electrical signal; the range extender control module is used to control the range extender to generate power output according to the required actual power consumption calculated by the power generation control module, so as to realize dynamic adjustment of the vehicle power generation. It can be understood that the top layer of this system structure is the vehicle control module, which includes the power generation control module. The vehicle control module plays the role of overall control and coordination, while the power generation control module is the core part of the entire power generation control, responsible for acquiring and processing various data related to power generation and making corresponding control decisions. The second layer separated from the vehicle control module includes the main drive motor controller, the slave drive motor controller and the cutter motor controller. These motor controllers are responsible for controlling the operation of the main drive motor, the slave drive motor and the cutter motor respectively. They will report real-time bus voltage, bus current signal and other data to the power generation control module, which is crucial for calculating the actual power of the motor, and thus affects the power consumption calculation of the entire vehicle. In the third layer, there are power battery management system, DC-DC module and range extender control module. The power battery management system is responsible for managing the power battery, including monitoring key parameters such as the battery SOC value, and providing the SOC value to the power generation control module. The power generation control module determines the required power generation compensation value based on the SOC value. The DC-DC module is mainly responsible for voltage conversion, and its input voltage and current signals will be obtained by the power generation control module for calculating the DC-DC actual power value, and then participate in the power consumption calculation of the entire vehicle. The range extender control module controls the range extender to generate power according to the required power generation value calculated by the power generation control module, so as to realize dynamic adjustment of the vehicle power generation. In this system structure, the various modules cooperate with each other to achieve precise control of the power generation of the extended-range electric lawn mower through data transmission and processing, so as to ensure the vehicle's stable performance and energy supply under different operating conditions and battery power states.

[0070] Reference Figure 4 As shown, the embodiment of the present invention discloses a real-time control device for power generation of an extended-range electric lawn mower, comprising:

[0071] The first power calculation module 11 is used to receive and calculate the real-time power of the drive motor, the real-time power of the blade motor, and the real-time power of the voltage converter input terminal through the power generation control module, and read the preset power compensation value from the memory to calculate the actual total power consumed by the instantaneous electric lawn mower;

[0072] The second power calculation module 12 is used to average the actual total power consumed by each historical instantaneous electric lawn mower in a preset time period before the current moment obtained by sampling, so as to obtain the total power consumed by the target electric lawn mower under the current working condition;

[0073] The power generation compensation module 13 is used to obtain the power compensation level of the charge state value of the power battery under the current working condition, so as to determine the corresponding power generation compensation value under the current working condition according to the power compensation level, so that the range extender can output power generation based on the power generation compensation value and the total power consumed by the target electric lawn mower.

[0074] It can be seen that the present application discloses receiving and calculating the real-time power of the drive motor, the real-time power of the blade motor, and the real-time power of the voltage converter input terminal through the power generation control module, and reading the preset power compensation value from the memory to calculate the instantaneous actual total power consumption of the electric lawn mower; averaging the actual total power consumption of each historical instantaneous electric lawn mower in the preset time period before the current moment obtained by sampling to obtain the total power consumption of the target electric lawn mower under the current working condition; obtaining the power compensation level of the state of charge value of the power battery under the current working condition, and determining the corresponding power generation compensation value under the current working condition according to the power compensation level, so that the range extender can output power based on the power generation compensation value and the total power consumption of the target electric lawn mower. It can be seen that by obtaining the real-time power value of the current drive motor of the vehicle, the real-time power value of the blade motor, the real-time power value of the voltage converter input terminal and other information, the instantaneous actual total power consumption of the vehicle is calculated. At the same time, the power generation compensation value is determined in combination with the current state of charge of the power battery, and the range extender power generation is dynamically adjusted in different levels according to the current state of charge of the power battery, thereby obtaining the required power generation value, and requesting the range extender to output according to the required power generation value. In this way, dynamic control of power generation is achieved, so that power generation can be adjusted in real time according to the actual working conditions of the vehicle and the battery power status.

[0075] Furthermore, the present application also discloses an electronic device. Figure 5 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be considered as any limitation on the scope of use of the present application.

[0076] Figure 5A schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the real-time control method of the power generation of the extended-range electric lawn mower disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0077] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0078] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0079] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0080] Among them, the operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, so as to realize the operation and processing of the massive data 223 in the memory 22 by the processor 21, which can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the real-time control method of the power generation of the extended-range electric lawn mower executed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks. In addition to data received by the electronic device and transmitted from an external device, the data 223 can also include data collected by its own input and output interface 25, etc.

[0081] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned disclosed method for real-time control of power generation of an extended-range electric lawn mower is implemented. The specific steps of the method can be referred to the corresponding contents disclosed in the aforementioned embodiments, and will not be repeated here.

[0082] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0083] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application. The steps of the method or algorithm described in conjunction with the embodiments disclosed herein can be implemented directly with hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory RAM (Random Access Memory), memory, read-only memory ROM (Read Only Memory), electrically programmable EPROM (Electrically Programmable Read Only Memory), electrically erasable programmable EEPROM (ElectricErasable Programmable Read Only Memory), register, hard disk, removable disk, CD-ROM (CompactDisc-Read Only Memory), or any other form of storage medium known in the technical field.

[0084] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0085] The scheme provided by the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for real-time control of power generation of an extended-range electric lawn mower, characterized in that: include: The power generation control module receives and calculates the real-time power of the drive motor, the real-time power of the blade motor, and the real-time power of the voltage converter input terminal, and reads the preset power compensation value from the memory to calculate the actual total power consumed by the instantaneous electric lawn mower; The actual total power consumption of each historical instantaneous electric lawn mower in a preset time period before the current moment obtained by sampling is averaged to obtain the total power consumption of the target electric lawn mower under the current working condition; The power compensation level of the state of charge value of the power battery under the current working condition is obtained, so as to determine the corresponding power generation compensation value under the current working condition according to the power compensation level, so that the range extender can output power generation based on the power generation compensation value and the total power consumed by the target electric lawn mower.

2. The method for real-time control of power generation of a range-extended electric lawn mower according to claim 1, characterized in that: The power generation control module receives and calculates the real-time power of the drive motor, the real-time power of the blade motor, and the real-time power of the voltage converter input terminal, and reads the preset power compensation value from the memory to calculate the actual total power consumed by the instantaneous electric lawn mower, including: Receiving, through the power generation control module, a first real-time bus voltage and a first real-time bus current reported by the drive motor controller, so as to calculate the real-time power of the drive motor based on the first real-time bus voltage and the first real-time bus current; Receiving, through the power generation control module, a second real-time bus voltage and a second real-time bus current reported by the cutter head motor controller, so as to calculate the real-time power of the cutter head motor based on the second real-time bus voltage and the second real-time bus current; Receiving, through the power generation control module, a third real-time bus voltage and a third real-time bus current at the input end reported by the voltage converter, so as to calculate the real-time power at the input end of the voltage converter based on the third real-time bus voltage and the third real-time bus current; The real-time power of the drive motor, the real-time power of the blade motor, the real-time power of the voltage converter input terminal and the corresponding preset power compensation value read from the memory are accumulated and calculated to obtain the instantaneous total power actually consumed by the electric lawn mower.

3. The method for real-time control of power generation of a range-extended electric lawn mower according to claim 2, characterized in that: The power generation control module performs data communication with the drive motor controller, the cutter head motor controller and the voltage converter via the CAN bus.

4. The method for real-time control of power generation of a range-extended electric lawn mower according to claim 1, characterized in that: Before averaging the actual total power consumption of each historical instantaneous electric lawn mower in a preset time period before the current moment obtained by sampling, the method further includes: Setting a sampling rate range of the sampling rate to select a target sampling rate from the sampling rate range according to actual sampling requirements; wherein the sampling rate range is 10 Hz to 100 Hz; Setting a time range of the sampling time period to select a target sampling time period from the sampling time period as a preset time period according to actual sampling requirements; wherein the time range is 10 seconds to 30 seconds; The actual total power consumed by the instantaneous electric lawn mower in the preset time period before the current moment is sampled and processed according to the target sampling rate to obtain the actual total power consumed by the electric lawn mower at each historical instant.

5. The method for real-time control of power generation of a range-extended electric lawn mower according to claim 1, characterized in that: The obtaining of the power compensation level of the state of charge value of the power battery under the current working condition, so as to determine the corresponding power generation compensation value under the current working condition according to the power compensation level, includes: Obtaining the current remaining battery power of the power battery under the current working condition through the power generation control module to obtain the current state of charge value of the power battery; Determine whether the current state of charge value is greater than a first preset state of charge value, and if so, determine that the current state of charge value is at a first power compensation level, and determine that the corresponding power generation compensation value under the current working condition is 0 according to the first power compensation level; If not, determining whether the current state of charge value satisfies a first state value requirement that is greater than a second preset state of charge value and less than or equal to the first preset state of charge value; if the current state of charge value satisfies the first state value requirement, determining that the current state of charge value is at a second power compensation level, and determining that the corresponding power generation compensation value under the current operating condition is the first preset power generation compensation value according to the second power compensation level; If the current state of charge value does not meet the first state value requirement, determine whether the current state of charge value is greater than a third preset state of charge value and less than or equal to a second state value requirement of the second preset state of charge value; if the current state of charge value meets the second state value requirement, determine that the current state of charge value is at a third power compensation level, and determine that the corresponding power generation compensation value under the current operating condition is the second preset power generation compensation value according to the third power compensation level; If the current state of charge value does not meet the second state value requirement, determine whether the current state of charge value is greater than a fourth preset state of charge value and less than or equal to a third state value requirement of the third preset state of charge value; if the current state of charge value meets the third state value requirement, determine that the current state of charge value is at a fourth power compensation level, and determine that the corresponding power generation compensation value under the current operating condition is the third preset power generation compensation value according to the fourth power compensation level; If the current state of charge value does not meet the third state value requirement, it is determined that the current state of charge value is at the fifth power compensation level, and the corresponding power generation compensation value under the current working condition is determined to be the fourth preset power generation compensation value according to the fifth power compensation level; Correspondingly, the method of outputting power based on the power generation compensation value and the total power consumed by the target electric lawn mower includes: Based on the determined corresponding preset power generation compensation value as the power generation compensation value, the power generation compensation value and the total power consumed by the target electric lawn mower are summed to obtain the required actual power consumption, and the power generation power is output according to the required actual power consumption through the range extender.

6. The method for real-time control of power generation of a range-extended electric lawn mower according to claim 5, characterized in that: Also includes: Set the first preset power generation compensation value to ;in, Indicates the charging rate. Indicates the battery capacity of the power battery. Indicates the current voltage of the power battery; Set the second preset power compensation value to ; Set the third preset power compensation value to ; Set the fourth preset power generation compensation value to .

7. A real-time control system for power generation of an extended-range electric lawn mower, comprising: A drive motor controller, a cutter disc motor controller, a power battery management module, a voltage converter, a range extender control module, and a power generation control module; wherein the drive motor controller is used to control and report the real-time electrical signal of the drive motor to the power generation control module, the cutter disc motor controller is used to control and report the real-time electrical signal of the cutter disc motor to the power generation control module, the power battery management module is used to monitor and report the state of charge value of the power battery to the power generation control module; the power generation control module is used to calculate the actual total power consumption required according to the actual electrical signal; the range extender control module is used to control the range extender to generate electricity and output according to the actual power consumption required calculated by the power generation control module, so as to realize dynamic adjustment of the vehicle power generation power.

8. A real-time control device for power generation of an extended-range electric lawn mower, characterized in that: include: A first power calculation module is used to receive and calculate the real-time power of the drive motor, the real-time power of the cutter motor, and the real-time power of the voltage converter input terminal through the power generation control module, and read the preset power compensation value from the memory to calculate the actual total power consumed by the instantaneous electric lawn mower; The second power calculation module is used to average the actual total power consumed by each historical instantaneous electric lawn mower in a preset time period before the current moment obtained by sampling, so as to obtain the total power consumed by the target electric lawn mower under the current working condition; The power generation compensation module is used to obtain the power compensation level of the charge state value of the power battery under the current working condition, so as to determine the corresponding power generation compensation value under the current working condition according to the power compensation level, so that the range extender can output power based on the power generation compensation value and the total power consumed by the target electric lawn mower.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the steps of the real-time control method of the power generation of the extended-range electric lawn mower as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: Used to store computer programs; wherein, when the computer program is executed by the processor, the steps of the real-time control method of the power generation power of the extended-range electric lawn mower as described in any one of claims 1 to 6 are implemented.

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