Cutter head load adjusting method, device and equipment and storage medium

Abstract

The invention discloses a cutterhead load adjustment method, device and equipment and a storage medium, and relates to the technical field of load adjustment, and the method comprises the steps: obtaining the current actual power of a cutterhead motor, and determining the current cutterhead actual load of the cutterhead motor based on the current actual power; if the current actual load of the cutterhead is not in the preset load threshold range, load calculation is carried out based on the current actual load of the cutterhead and the load deviation of the preset load threshold range, so that a target cutterhead load corresponding to the cutterhead motor is obtained; and determining a target speed of the mowing vehicle based on the target cutterhead load, and adjusting the power of a walking motor of the mowing vehicle to enable the mowing vehicle to reach the target speed so as to complete the adjustment process of the actual cutterhead load of the cutterhead motor. In this way, the problem that when the mowing vehicle works, due to the fact that the grass density is too large, the working load of the cutterhead is larger than the working load designed by the system, and consequently the cutterhead motor is locked and grass is blocked can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of load adjustment, and in particular to a cutter head load adjustment method, device, equipment and storage medium. Background Art

[0002] When mowing a lawn, the blade motor of a conventional mower is required to work at a significantly increased workload when the lawn is too dense and the height and thickness of the grass exceed the normal range. In this case, the workload of the blade motor may exceed the workload of its system design. Once the workload exceeds the design range, the rotation speed of the blade motor may decrease or even stall.

[0003] In summary, how to solve the problem that when a lawn mower is working, the load on the cutter disc is greater than the system design workload due to excessive grass density, resulting in the cutter disc being blocked by grass, is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a cutter disc load adjustment method, device, equipment and storage medium, which can solve the problem of cutter disc blocking due to excessive grass density causing the cutter disc load to be greater than the system design workload when the mower is working. The specific scheme is as follows:

[0005] In a first aspect, the present application provides a method for adjusting a cutter disc load, which is applied to a lawn mower, comprising:

[0006] Acquire the current actual power of the cutter disc motor, and determine the current actual load of the cutter disc motor based on the current actual power;

[0007] If the current actual load of the cutter disc is not within the preset load threshold range, a load calculation is performed based on a load deviation between the current actual load of the cutter disc and the preset load threshold range to obtain a target cutter disc load corresponding to the cutter disc motor;

[0008] The target speed of the lawn mower is determined based on the target cutter disc load, and the lawn mower reaches the target speed by adjusting the power of the travel motor of the lawn mower, so as to complete the adjustment process of the actual cutter disc load of the cutter disc motor.

[0009] Optionally, the acquiring the current actual power of the cutter disc motor and determining the current actual load of the cutter disc motor based on the current actual power includes:

[0010] If the cutter disc motor is currently in working state, the current actual power of the cutter disc motor collected by the cutter disc motor controller is obtained, and the load corresponding to the current actual power in the preset power-load relationship table is determined as the current cutter disc actual load of the cutter disc motor.

[0011] Optionally, after determining the current actual load of the cutter disc motor based on the current actual power, the method further includes:

[0012] If the current actual load of the cutter disc is within the preset load threshold range, the corresponding adjustment process of the actual load of the cutter disc is terminated, and the process jumps to the step of obtaining the current actual power of the cutter disc motor.

[0013] Optionally, the load calculation is performed based on the load deviation between the current actual cutter head load and the preset load threshold range to obtain a target cutter head load corresponding to the cutter head motor, including:

[0014] Calculating the difference between the current actual load of the cutter head and the preset load threshold range to obtain a corresponding load deviation;

[0015] The load deviation and the current actual load of the cutter disc are calculated by a preset load calculation method to obtain the target cutter disc load corresponding to the cutter disc motor.

[0016] Optionally, the load calculation is performed on the load deviation and the current actual load of the cutter disc by a preset load calculation method to obtain the target cutter disc load corresponding to the cutter disc motor, including:

[0017] The load deviation and the current actual load of the cutter disc are calculated by a proportional-integral-differential control method to obtain the target cutter disc load corresponding to the cutter disc motor.

[0018] Optionally, the adjusting the power of the travel motor of the lawn mower so that the lawn mower reaches the target speed includes:

[0019] Obtaining the current actual speed of the lawn mower and the real-time power of the travel motor;

[0020] The real-time power is adjusted according to the difference between the current actual speed and the target speed so that the speed of the lawn mower is consistent with the target speed.

[0021] Optionally, after adjusting the power of the travel motor of the lawn mower so that the lawn mower reaches the target speed, the method further includes:

[0022] If the actual load of the cutter disc at the current moment is inconsistent with the target cutter disc load, and the actual load of the cutter disc at the current moment is not within the preset load threshold range, jump to the step of calculating the load based on the load deviation between the current actual load of the cutter disc and the preset load threshold range;

[0023] If the actual load of the cutter disc at the current moment is inconsistent with the target cutter disc load, and the actual load of the cutter disc at the current moment is within the preset load threshold range, the corresponding adjustment process of the actual load of the cutter disc is terminated.

[0024] In a second aspect, the present application provides a cutter head load adjustment device, which is applied to a lawn mower, comprising:

[0025] A load calculation module, used to obtain the current actual power of the cutter disc motor, and determine the current actual load of the cutter disc motor based on the current actual power;

[0026] a target load determination module, configured to calculate the load based on the load deviation between the current actual load of the cutter disc and the preset load threshold range if the current actual load of the cutter disc is not within the preset load threshold range, so as to obtain the target cutter disc load corresponding to the cutter disc motor;

[0027] The load adjustment module is used to determine the target speed of the lawn mower based on the target cutter disc load, and to make the lawn mower reach the target speed by adjusting the power of the travel motor of the lawn mower, so as to complete the adjustment process of the actual cutter disc load of the cutter disc motor.

[0028] In a third aspect, the present application provides an electronic device, including:

[0029] Memory, used to store computer programs;

[0030] The processor is used to execute the computer program to implement the aforementioned cutter head load adjustment method.

[0031] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned cutter head load adjustment method is implemented.

[0032] In the present application, the lawn mower first obtains the current actual power of the blade disc motor, and determines the current actual blade disc load of the blade disc motor based on the current actual power; then, if the current actual blade disc load is not within the preset load threshold range, the load calculation is performed based on the load deviation between the current actual blade disc load and the preset load threshold range to obtain the target blade disc load corresponding to the blade disc motor; finally, the target speed of the lawn mower is determined based on the target blade disc load, and the lawn mower reaches the target speed by adjusting the power of the travel motor of the lawn mower to complete the adjustment process of the actual blade disc load of the blade disc motor. As can be seen from the above, the present application determines the actual power of the blade disc motor in real time to determine the actual load of the blade disc motor in real time, and compares it with the preset load threshold. If the load of the blade disc motor is not within the preset load threshold range, the speed of the lawn mower is automatically adjusted to reduce the load of the blade disc motor. In this way, the load of the mower's cutter disc motor can be detected in real time, and the speed of the mower can be dynamically adjusted to reduce the load of the cutter disc motor, thereby avoiding the phenomenon that the cutter disc workload is greater than the system design workload due to excessive grass density during the mowing process, thereby causing the cutter disc motor to stall and block the grass. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] 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.

[0034] Figure 1 A schematic diagram of a system framework applicable to a cutter head load adjustment solution provided in this application;

[0035] Figure 2 A flow chart of a cutter head load adjustment method provided in this application;

[0036] Figure 3 A flow chart of a specific cutter head load adjustment method provided in this application;

[0037] Figure 4 A flow chart of a specific cutter head load adjustment method provided in this application;

[0038] Figure 5 A schematic diagram of the structure of a cutter head load adjustment device provided in this application;

[0039] Figure 6 A structural diagram of an electronic device provided for this application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0041] During the mowing process of a conventional lawn mower, when the lawn is too dense and the height and thickness of the grass exceed the conventional range, the workload required by the blade motor of the lawn mower will increase significantly. In this case, the workload of the blade motor may exceed the workload designed for its system. Once the workload exceeds the design range, the rotation speed of the blade motor may decrease or even stall. To this end, the present application provides a blade load adjustment solution that can solve the problem of blade stalling and grass blocking when the blade load is greater than the system designed workload due to excessive grass density during operation.

[0042] In the cutter head load adjustment scheme of the present invention, the system framework used can be specifically referred to in Figure 1 As shown, it can specifically include: a controller, a cutter head motor controller, a cutter head motor, a travel motor controller, and a travel motor.

[0043] Among them, the controller is the core of the entire system, responsible for the collection and calculation of the cutter disc load and walking speed, and the adjustment and control of the walking speed based on the cutter disc load; the cutter disc motor controller is used to calculate and report the output power of the cutter disc motor and control the movement of the cutter disc motor; the cutter disc motor is used to perform mowing; the walking motor controller is used to calculate and report the walking motor speed and control the movement of the walking motor; the walking motor is used to drag the mower.

[0044] See also Figure 2 As shown, an embodiment of the present invention discloses a method for adjusting a cutter head load, which is applied to a lawn mower and may include:

[0045] Step S11, obtaining the current actual power of the cutter disc motor, and determining the current actual load of the cutter disc motor based on the current actual power.

[0046] In this embodiment, the obtaining of the current actual power of the cutter disc motor and determining the current actual load of the cutter disc motor based on the current actual power may include: if the cutter disc motor is currently in a working state, obtaining the current actual power of the cutter disc motor collected by the cutter disc motor controller, and determining the load corresponding to the current actual power in the preset power-load relationship table as the current actual load of the cutter disc motor. Specifically, after obtaining the current actual power of the cutter disc motor collected by the cutter disc motor controller, traverse the preset power-load relationship table to determine the load corresponding to the current actual power, that is, the current actual load of the cutter disc motor.

[0047] In order to determine the current actual power of the blade disc motor, in a first specific implementation, the current actual power of the blade disc motor can be obtained by reading the blade disc motor controller data. For example, a dedicated communication protocol and instruction can be used to read the current actual power data of the blade disc motor stored in the blade disc motor controller, or the current actual power of the blade disc motor can be read through the monitoring software configured by the blade disc motor controller that can monitor and control the operating status of the blade disc motor in real time. In a second specific implementation, a power sensor can be installed in the blade disc motor controller to monitor the input power and output power of the blade disc motor in real time. If it is determined that the blade disc motor is performing a mowing operation, the blade disc motor controller can obtain the current actual power of the blade disc motor by calculating the difference between the input power and the output power. Or, the blade disc motor controller can calculate the current actual power of the blade disc motor by measuring the torque and speed of the blade disc motor. In a third specific implementation, the blade disc motor controller can calculate the current actual power of the blade disc motor based on the rated voltage, rated current, rated power and other parameters of the blade disc motor, as well as the mathematical model of the blade disc motor.

[0048] It is understandable that different power-load relationship tables can be set for different lawn mowers. The specific setting of the power-load relationship table needs to consider multiple factors, including but not limited to load type, power factor, load variation range, etc. Specifically, when setting the power-load relationship table, data can be collected in real time through sensors, instrumentation equipment, electric meters, etc., or historical data can be obtained from the database, and then the accuracy, completeness and consistency of the data can be checked, duplicate data or abnormal values ​​can be removed, and finally the cleaned data can be filled into the power-load relationship table. After determining the power-load relationship table, it is necessary to collect new data regularly and update the power-load relationship table to ensure the timeliness and accuracy of the power-load relationship table.

[0049] In a specific embodiment, after determining the current actual load of the cutter disc motor based on the current actual power, the method may further include: if the current actual load of the cutter disc is within the preset load threshold range, terminating the corresponding adjustment process of the actual load of the cutter disc, and jumping to the step of obtaining the current actual power of the cutter disc motor. Specifically, in order to reasonably set the preset load threshold range of the cutter disc motor, the maximum load capacity of the cutter disc motor can be evaluated according to the design and configuration of the existing mower, and the historical load data of the cutter disc motor during operation, including key parameters such as power, torque, and speed, can be monitored and recorded. The collected historical load data is analyzed to find the load peaks and troughs, as well as the laws and trends of load changes, so as to reasonably set the preset load threshold range of the cutter disc motor. Afterwards, a real-time monitoring system can be established to continuously monitor and record the load of the cutter disc motor during operation, and according to the monitoring results, the preset load threshold range can be adjusted and optimized in time. If the current actual load of the cutter disc is within the preset load threshold range, the cutter disc motor is in a normal working state, so there is no need to adjust the actual load of the cutter disc, and then the actual power of the cutter disc motor can continue to be obtained in real time.

[0050] Step S12: If the current actual load of the cutter disc is not within the preset load threshold range, a load calculation is performed based on the load deviation between the current actual load of the cutter disc and the preset load threshold range to obtain a target cutter disc load corresponding to the cutter disc motor.

[0051] In this embodiment, if the current actual load of the cutter disc is not within the preset load threshold range, it may cause the cutter disc motor to be blocked and the grass to be blocked, so the cutter disc load needs to be adjusted.

[0052] It can be understood that the load calculation based on the load deviation between the current actual cutter disc load and the preset load threshold range to obtain the target cutter disc load corresponding to the cutter disc motor may include: calculating the difference between the current actual cutter disc load and the preset load threshold range to obtain the corresponding load deviation; performing load calculation on the load deviation and the current actual cutter disc load by a preset load calculation method to obtain the target cutter disc load corresponding to the cutter disc motor. Specifically, the load deviation may be the deviation of the current actual cutter disc load relative to the center point of the preset load threshold range, or the degree to which the current actual cutter disc load exceeds the preset load threshold range. The load deviation and the current actual cutter disc load may be load calculated by a preset load calculation method to obtain the target cutter disc load corresponding to the cutter disc motor. Among them, the preset load calculation method includes but is not limited to a proportional-integral-differential control method, a state feedback control method, and an adaptive control method.

[0053] In this embodiment, the load calculation of the load deviation and the current actual load of the cutter disc is performed by a preset load calculation method to obtain the target cutter disc load corresponding to the cutter disc motor, which may include: the load calculation of the load deviation and the current actual load of the cutter disc is performed by a proportional integral differential control method to obtain the target cutter disc load corresponding to the cutter disc motor. Specifically, the deviation signal of the control system can be immediately proportionally reflected by the proportional control method. Once the deviation occurs, the controller immediately generates a control action to reduce the error. The error can be memorized by the integral control method, which is mainly used to eliminate static error and improve the system's non-difference. The strength of the integral action depends on the integral time constant. The larger the integral time constant, the weaker the integral action, and vice versa. The differential control method can reflect the change trend of the deviation signal, that is, the rate of change, and can introduce an effective early correction signal into the system before the deviation signal value becomes too large, thereby speeding up the system's action speed and reducing the adjustment time. By continuously monitoring the actual output load and adjusting the load deviation, the target cutter disc load corresponding to the cutter disc motor is obtained. At the same time, the parameters of proportional-integral-differential control can be adjusted and optimized according to the system response and performance indicators. Commonly used adjustment methods include but are not limited to the trial and error method, critical proportion method, reaction curve method and attenuation method.

[0054] Step S13, determining a target speed of the lawn mower based on the target cutter disc load, and adjusting the power of the travel motor of the lawn mower so that the lawn mower reaches the target speed, thereby completing the adjustment process of the actual cutter disc load of the cutter disc motor.

[0055] In this embodiment, in order to determine the target speed of the mowing vehicle, a mathematical relationship model between the load and speed of the mowing vehicle can be established through experiments or simulation analysis. Based on the relationship model between the load and speed, the maximum speed or optimal speed that the mowing vehicle can reach under different loads can be described. According to the target load and the relationship model between the load and speed, the target speed of the mowing vehicle is determined. This target speed should be able to meet the requirements of the mowing task and ensure the stable operation and efficient operation of the mowing vehicle.

[0056] It can be understood that the method of adjusting the power of the walking motor of the lawn mower so that the lawn mower reaches the target speed may include: obtaining the current actual speed of the lawn mower and the real-time power of the walking motor; adjusting the real-time power according to the difference between the current actual speed and the target speed so that the speed of the lawn mower is consistent with the target speed. Specifically, the walking motor controller calculates and sends the rotation speed of the walking motor to determine the current actual speed of the lawn mower based on the rotation speed of the walking motor, and the walking motor controller determines the real-time power of the walking motor based on the rotation speed of the walking motor and the torque of the walking motor. Thereafter, the difference between the current actual speed and the target speed is calculated, and the rotation speed of the walking motor controller is adjusted based on the difference between the actual speed and the target speed, and then the real-time power of the walking motor is adjusted so that the speed of the lawn mower is consistent with the target speed. Among them, the power formula can be specifically expressed as:

[0057] P = 2πNT / 60;

[0058] In the formula, P represents the power of the walking motor, N represents the speed of the walking motor, and T represents the torque of the walking motor. The power of the walking motor is proportional to the speed of the walking motor and the torque of the walking motor.

[0059] As can be seen from the above, the lawn mower of this embodiment first obtains the current actual power of the blade disc motor, and determines the current actual blade disc load of the blade disc motor based on the current actual power; then, if the current actual blade disc load is not within the preset load threshold range, the load calculation is performed based on the load deviation between the current actual blade disc load and the preset load threshold range to obtain the target blade disc load corresponding to the blade disc motor; finally, the target speed of the lawn mower is determined based on the target blade disc load, and the lawn mower reaches the target speed by adjusting the power of the walking motor of the lawn mower, so as to complete the adjustment process of the actual blade disc load of the blade disc motor. As can be seen from the above, this embodiment determines the actual power of the blade disc motor in real time to determine the actual load of the blade disc motor in real time, and compares it with the preset load threshold. If the load of the blade disc motor is not within the preset load threshold range, the speed of the lawn mower is automatically adjusted to reduce the load of the blade disc motor. In this way, the load of the mower's cutter disc motor can be detected in real time, and the speed of the mower can be dynamically adjusted to reduce the load of the cutter disc motor, thereby avoiding the phenomenon that the cutter disc workload is greater than the system design workload due to excessive grass density during the mowing process, thereby causing the cutter disc motor to stall and block the grass.

[0060] Through the above embodiment, it is possible to determine whether the cutter head load of the lawn mower exceeds the preset load threshold range, and adjust the cutter head load based on the determination result. Next, in order to determine whether the cutter head load needs to be further adjusted after the lawn mower reaches the target speed. Figure 3 As shown, the embodiment of the present invention further discloses a cutter head load adjustment method, which is applied to a lawn mower and may include:

[0061] Step S21: adjusting the power of the travel motor of the lawn mower so that the lawn mower reaches a target speed.

[0062] In this embodiment, if the actual load of the current blade disc is not within the preset load threshold range, it is necessary to adjust the speed of the travel motor controller, and then adjust the real-time power of the travel motor, so that the speed of the mower is consistent with the target speed. During the adjustment process, the speed of the mower should be monitored in real time to ensure that it reaches the target speed. At the same time, sensors and instruments can be used to measure and display the speed value for precise control. According to the results of real-time monitoring, the power of the travel motor is fine-tuned to further optimize the speed and performance of the mower. If it is found that the speed of the mower deviates from the target value, the power setting should be adjusted in time, and re-monitoring and adjustment should be performed.

[0063] Step S22: If the actual load of the cutter disc at the current moment is inconsistent with the target cutter disc load, and the actual load of the cutter disc at the current moment is not within the preset load threshold range, jump to the step of calculating the load based on the load deviation between the current actual load of the cutter disc and the preset load threshold range.

[0064] It can be understood that after the lawn mower reaches the target speed by adjusting the power of the travel motor of the lawn mower, the current actual power of the blade motor can be obtained again, and the current actual blade load of the blade motor can be determined based on the current actual power. If the actual blade load at the current moment is inconsistent with the target blade load, and the actual blade load at the current moment is not within the preset load threshold range, it is necessary to continue to adjust the load of the blade motor.

[0065] Step S23: If the actual load of the cutter disc at the current moment is inconsistent with the target cutter disc load, and the actual load of the cutter disc at the current moment is within the preset load threshold range, then the corresponding adjustment process of the actual load of the cutter disc is terminated.

[0066] It can be understood that after the lawn mower reaches the target speed by adjusting the power of the travel motor of the lawn mower, the current actual power of the blade disc motor is obtained again, and the current actual blade disc load of the blade disc motor is determined based on the current actual power. If the actual blade disc load at the current moment is inconsistent with the target blade disc load, and the actual blade disc load at the current moment is within the preset load threshold range, the blade disc motor is in a normal working state, and therefore the corresponding actual blade disc load adjustment process is terminated, and the actual power of the blade disc motor can continue to be obtained in real time to determine whether the actual blade disc load exceeds the preset load threshold range next.

[0067] See also Figure 4 As shown, in a specific implementation, the cutter disc load adjustment process can be specifically as follows: obtain the current cutter disc power and calculate the cutter disc load; determine whether the current cutter disc load exceeds the design load, and the design load can be adjusted according to actual conditions; if the current cutter disc load exceeds the design load, set the target load to 80% of the system design load, which can be adjusted according to actual conditions to calculate the target vehicle speed; control the travel motor to adjust the vehicle speed; determine whether the current load reaches the target load, if not and the current cutter disc load exceeds the design load, jump to the step of setting the target load to 80% of the system design load and calculating the target vehicle speed; if the target load has been reached, end the vehicle speed adjustment.

[0068] As can be seen from the above, after adjusting the power of the travel motor of the lawn mower so that the lawn mower reaches the target speed, the embodiment of the present application determines whether the actual load of the cutter disc at the current moment is consistent with the target cutter disc load, and determines whether to terminate the corresponding cutter disc actual load adjustment process based on the judgment result. In this way, after adjusting the cutter disc load, the actual load of the cutter disc motor of the lawn mower continues to be detected. If the actual load of the cutter disc motor is greater than the target cutter disc load, the speed of the lawn mower continues to be dynamically adjusted to reduce the load of the cutter disc motor, so as to avoid the cutter disc workload being greater than the system design workload due to excessive grass density during the mowing process, thereby causing the cutter disc motor to be blocked and blocked by grass.

[0069] Accordingly, see Figure 5 As shown, the embodiment of the present application also provides a cutter head load adjustment device, which is applied to a lawn mower and may include:

[0070] The load calculation module 11 is used to obtain the current actual power of the cutter disc motor and determine the current actual load of the cutter disc motor based on the current actual power;

[0071] a target load determination module 12, configured to calculate the load based on the load deviation between the current actual load of the cutter disc and the preset load threshold range if the current actual load of the cutter disc is not within the preset load threshold range, so as to obtain the target cutter disc load corresponding to the cutter disc motor;

[0072] The load adjustment module 13 is used to determine the target speed of the mower based on the target cutter disc load, and adjust the power of the travel motor of the mower to make the mower reach the target speed, so as to complete the adjustment process of the actual cutter disc load of the cutter disc motor.

[0073] As can be seen from the above, the present application can detect the load of the cutter disc motor of the lawn mower in real time, and dynamically adjust the speed of the lawn mower to reduce the load of the cutter disc motor, thereby avoiding the phenomenon that the cutter disc workload is greater than the system design workload due to excessive grass density during the mowing process, thereby causing the cutter disc motor to stall and block the grass.

[0074] In some specific implementations, the load calculation module 11 may include:

[0075] The load calculation unit is used to obtain the current actual power of the cutter disc motor collected by the cutter disc motor controller if the cutter disc motor is currently in working state, and determine the load corresponding to the current actual power in the preset power-load relationship table as the current cutter disc actual load of the cutter disc motor.

[0076] In some specific implementations, the load calculation module 11 may further include:

[0077] The load adjustment termination unit is used to terminate the corresponding cutter disc actual load adjustment process if the current cutter disc actual load is within a preset load threshold range, and jump to the step of obtaining the current actual power of the cutter disc motor.

[0078] In some specific implementations, the target load determination module 12 may include:

[0079] a deviation calculation unit, used to calculate the difference between the current actual load of the cutter head and the preset load threshold range to obtain a corresponding load deviation;

[0080] The target load determination submodule is used to perform load calculation on the load deviation and the current actual load of the cutter disc by a preset load calculation method to obtain the target cutter disc load corresponding to the cutter disc motor.

[0081] In some specific implementations, the target load determination submodule may include:

[0082] The target load determination unit is used to perform load calculation on the load deviation and the current actual load of the cutter disc by a proportional integral differential control method to obtain the target cutter disc load corresponding to the cutter disc motor.

[0083] In some specific implementations, the load adjustment module 13 may include:

[0084] A power acquisition unit, used to acquire the current actual speed of the lawn mower and the real-time power of the travel motor;

[0085] The power regulating unit is used to regulate the real-time power according to the difference between the current actual speed and the target speed so that the speed of the lawn mower is consistent with the target speed.

[0086] In some specific embodiments, the cutter head load adjustment device may further include:

[0087] The cutter disc load adjustment module is used to jump to the step of calculating the load based on the load deviation between the current actual cutter disc load and the preset load threshold range when the actual cutter disc load at the current moment is inconsistent with the target cutter disc load and the actual cutter disc load at the current moment is not within the preset load threshold range; if the actual cutter disc load at the current moment is inconsistent with the target cutter disc load and the actual cutter disc load at the current moment is within the preset load threshold range, the corresponding cutter disc load adjustment process is terminated.

[0088] Furthermore, the present application also discloses an electronic device. Figure 6 It is a structural diagram of an electronic device 20 shown according to an exemplary embodiment, and the content in the figure cannot be regarded as any limitation on the scope of use of this 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. Among them, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the cutter head load adjustment method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0089] 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.

[0090] In addition, the memory 22 as a carrier for resource storage may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include an operating system 221, a computer program 222, etc., and the storage method may be temporary storage or permanent storage.

[0091] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the cutter head load adjustment method performed 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.

[0092] 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 cutter head load adjustment method 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.

[0093] 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.

[0094] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0095] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0096] 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.

[0097] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for adjusting a cutter head load, characterized in that: Applicable to lawn mowers, including: Acquire the current actual power of the cutter disc motor, and determine the current actual load of the cutter disc motor based on the current actual power; If the current actual load of the cutter disc is not within the preset load threshold range, a load calculation is performed based on a load deviation between the current actual load of the cutter disc and the preset load threshold range to obtain a target cutter disc load corresponding to the cutter disc motor; The target speed of the lawn mower is determined based on the target cutter disc load, and the lawn mower reaches the target speed by adjusting the power of the travel motor of the lawn mower, so as to complete the adjustment process of the actual cutter disc load of the cutter disc motor.

2. The cutter head load adjustment method according to claim 1, characterized in that: The obtaining of the current actual power of the cutter disc motor and determining the current actual load of the cutter disc motor based on the current actual power includes: If the cutter disc motor is currently in working state, the current actual power of the cutter disc motor collected by the cutter disc motor controller is obtained, and the load corresponding to the current actual power in the preset power-load relationship table is determined as the current cutter disc actual load of the cutter disc motor.

3. The cutter head load adjustment method according to claim 1, characterized in that: After determining the current actual load of the cutter disc motor based on the current actual power, the method further includes: If the current actual load of the cutter disc is within the preset load threshold range, the corresponding adjustment process of the actual load of the cutter disc is terminated, and the process jumps to the step of obtaining the current actual power of the cutter disc motor.

4. The cutter head load adjustment method according to claim 1, characterized in that: The load calculation is performed based on the load deviation between the current actual load of the cutter head and the preset load threshold range to obtain the target cutter head load corresponding to the cutter head motor, including: Calculating the difference between the current actual load of the cutter head and the preset load threshold range to obtain a corresponding load deviation; The load deviation and the current actual load of the cutter disc are calculated by a preset load calculation method to obtain the target cutter disc load corresponding to the cutter disc motor.

5. The cutter head load adjustment method according to claim 4, characterized in that: The load calculation is performed on the load deviation and the current actual load of the cutter disc by a preset load calculation method to obtain the target cutter disc load corresponding to the cutter disc motor, including: The load deviation and the current actual load of the cutter disc are calculated by a proportional-integral-differential control method to obtain the target cutter disc load corresponding to the cutter disc motor.

6. The cutter head load adjustment method according to claim 1, characterized in that: The method of adjusting the power of the travel motor of the lawn mower so that the lawn mower reaches the target speed includes: Obtaining the current actual speed of the lawn mower and the real-time power of the travel motor; The real-time power is adjusted according to the difference between the current actual speed and the target speed so that the speed of the lawn mower is consistent with the target speed.

7. The cutter head load adjustment method according to any one of claims 1 to 6, characterized in that: After the lawn mower reaches the target speed by adjusting the power of the travel motor of the lawn mower, the method further includes: If the actual load of the cutter disc at the current moment is inconsistent with the target cutter disc load, and the actual load of the cutter disc at the current moment is not within the preset load threshold range, jump to the step of calculating the load based on the load deviation between the current actual load of the cutter disc and the preset load threshold range; If the actual load of the cutter disc at the current moment is inconsistent with the target cutter disc load, and the actual load of the cutter disc at the current moment is within the preset load threshold range, the corresponding adjustment process of the actual load of the cutter disc is terminated.

8. A cutter head load adjustment device, characterized in that: Applicable to lawn mowers, including: A load calculation module, used to obtain the current actual power of the cutter disc motor, and determine the current actual load of the cutter disc motor based on the current actual power; a target load determination module, configured to calculate the load based on the load deviation between the current actual load of the cutter disc and the preset load threshold range if the current actual load of the cutter disc is not within the preset load threshold range, so as to obtain the target cutter disc load corresponding to the cutter disc motor; The load adjustment module is used to determine the target speed of the lawn mower based on the target cutter disc load, and to make the lawn mower reach the target speed by adjusting the power of the travel motor of the lawn mower, so as to complete the adjustment process of the actual cutter disc load of the cutter disc motor.

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 cutter head load adjustment method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program; wherein, when the computer program is executed by a processor, the cutter head load adjustment method according to any one of claims 1 to 7 is implemented.

Images