Manned mower, control method of manned mower and outdoor walking equipment

Abstract

The invention discloses a manned mower, a control method of the manned mower and outdoor walking equipment. The manned mower comprises a vehicle frame and a supporting part which is installed on the vehicle frame and used for supporting a user. The walking wheel set is connected with and supports the frame, and the walking wheel set is driven by a walking motor; the mowing element is driven by a mowing motor; the controller is configured to apply a driving signal to the driving circuit so as to control the operation of the mowing motor; the controller is configured to receive a first electrical parameter related to the current of the mowing motor, and limit the first electrical parameter within a preset range when the first electrical parameter meets a first preset condition; when the first electrical parameter is limited within a preset range, the controller is further configured to selectively use the first method or the second method to determine the rotor position of the mowing motor, so that the mowing motor does not stop when the first electrical parameter is within the preset range. By optimizing the rotor position detection mode, it is ensured that the mowing motor is heavy-loaded and does not stop, and the working experience of a user is improved.

Description

Technical Field

[0001] The present application relates to an outdoor walking device, and particularly to a manned lawn mower, a control method for a manned lawn mower, and an outdoor walking device. Background Art

[0002] A lawn mower is a mechanical tool for trimming lawns, vegetation, etc. A lawn mower is composed of a mowing element (such as a cutter head), a mowing motor, a traveling mechanism, a control component, a power source, and other parts. Among them, the mowing motor is the main working device; the control component can integrate multiple electronic components required for the operation of the lawn mower by using a printed circuit board. For example, capacitors and transistors.

[0003] The control of the mowing motor mainly adopts a Field-oriented Control (FOC) strategy. In the FOC control strategy, in order to ensure the normal operation of the motor, it is necessary to detect the position of the motor rotor. In the prior art, the methods for detecting the position of the motor rotor usually include a position sensor detection method and a sensorless detection method. The existing sensorless detection method measures the back electromotive force by injecting a high-frequency signal, calculates the rotational speed of the motor by measuring the back electromotive force of the motor, and then determines the rotor position by comparing it with the actual rotational speed. When operating under heavy load, there is a contradiction between ripple and lag in the rotational speed estimation, and the rotor position cannot be accurately obtained, which easily leads to motor shutdown and affects the user experience.

[0004] This section provides background information related to the present application, and these background information are not necessarily prior art. Summary of the Invention

[0005] An object of the present application is to solve or at least alleviate part or all of the above problems. To this end, an object of the present application is to provide a manned lawn mower, a control method for a manned lawn mower, and an outdoor walking device to ensure that the mowing motor operates without shutdown under heavy load.

[0006] To achieve the above object, the present application adopts the following technical solutions:

[0007] In a first aspect, a manned lawn mower is provided, comprising: a frame, and a support part mounted to the frame for supporting a user; a walking wheel set, connecting and supporting the frame, the walking wheel set being driven by a walking motor; a mowing element, driven by a mowing motor; a controller configured to apply a driving signal to a driving circuit to at least control the operation of the mowing motor; the controller being configured to: receive a first electrical parameter related to the current of the mowing motor, and limit the first electrical parameter within a preset range when the first electrical parameter meets a first preset condition; when the first electrical parameter is limited within the preset range, the controller is further configured to: selectively use a first method or a second method to determine the rotor position of the mowing motor, so that the mowing motor does not stop when the first electrical parameter is within the preset range.

[0008] In some embodiments, the controller is configured to: receive a second electrical parameter related to the rotation speed of the mowing motor, and selectively use a first method or a second method to determine the rotor position of the mowing motor according to the second electrical parameter.

[0009] In some embodiments, the controller is configured to: use the first method to determine the rotor position of the mowing motor when the second electrical parameter meets a second preset condition, and use the second method to determine the rotor position of the mowing motor when the second electrical parameter meets a third preset condition; the second preset condition includes: a preset time threshold and a preset lower limit threshold related to the rotation speed of the mowing motor; the third preset condition includes: a preset upper limit threshold related to the rotation speed of the mowing motor, and the value of the preset upper limit threshold is greater than the preset lower limit threshold.

[0010] In some embodiments, the controller is further configured to: use the first method to determine the rotor position of the mowing motor when the mowing motor starts.

[0011] In some embodiments, when the mowing motor starts, the controller is further configured to: receive a second electrical parameter related to the rotation speed of the mowing motor, determine whether to perform a switching of the rotor position detection method according to the second electrical parameter, and control the mowing motor to stop when the switching of the rotor position detection method is not performed.

[0012] Second aspect, a control method for a manned lawn mower is provided. The manned lawn mower includes: a frame, and a support portion mounted to the frame for supporting a user; a walking wheel set connected to and supporting the frame, the walking wheel set being driven by a walking motor; a mowing element driven by a mowing motor. The control method includes: obtaining a first electrical parameter related to the current of the mowing motor, and restricting the first electrical parameter within a preset range when the first electrical parameter meets a first preset condition; when the first electrical parameter is restricted within the preset range, selectively using a first method or a second method to determine the rotor position of the mowing motor, so that the mowing motor does not stop when the first electrical parameter is within the preset range.

[0013] In some embodiments, the control method for the manned lawn mower further includes: obtaining a second electrical parameter related to the rotation speed of the mowing motor; selectively using a first method or a second method to determine the rotor position of the mowing motor according to the second electrical parameter.

[0014] In some embodiments, the control method for the manned lawn mower further includes: when the second electrical parameter meets a second preset condition, using the first method to determine the rotor position of the mowing motor; when the second electrical parameter meets a third preset condition, using the second method to determine the rotor position of the mowing motor. The second preset condition includes: a preset time threshold and a preset lower limit threshold related to the rotation speed of the mowing motor; the third preset condition includes: a preset upper limit threshold related to the rotation speed of the mowing motor, and the value of the preset upper limit threshold is greater than the preset lower limit threshold.

[0015] In some embodiments, the control method for the manned lawn mower further includes: when the mowing motor is started, using the first method to determine the rotor position of the mowing motor.

[0016] In some embodiments, the control method for the manned lawn mower further includes: obtaining a second electrical parameter related to the rotation speed of the mowing motor; determining whether to perform a switching of the rotor position detection method according to the second electrical parameter; when not performing the switching of the rotor position detection method, controlling the mowing motor to stop.

[0017] Third aspect, an outdoor walking device is provided, including: a frame; a walking wheel set connected to and supporting the frame, the walking wheel set being driven by a walking motor; a mowing element driven by a mowing motor; a controller configured to apply a driving signal to a driving circuit to at least control the operation of the mowing motor. The controller is configured to: receive and restrict a first electrical parameter related to the current of the mowing motor, and during the restriction period, receive a second electrical parameter related to the rotation speed of the mowing motor, and selectively use a first method or a second method to determine the rotor position of the mowing motor according to the second electrical parameter.

[0018] In some embodiments, the controller is configured to: receive a second electrical parameter related to the rotational speed of the mowing motor, and selectively use a first method or a second method to determine the rotor position of the mowing motor according to the second electrical parameter.

[0019] In some embodiments, the controller is configured to: when the second electrical parameter meets a second preset condition, use the first method to determine the rotor position of the mowing motor, and when the second electrical parameter meets a third preset condition, use the second method to determine the rotor position of the mowing motor; the second preset condition includes: a preset time threshold and a preset lower limit threshold related to the rotational speed of the mowing motor; the third preset condition includes: a preset upper limit threshold related to the rotational speed of the mowing motor, and the value of the preset upper limit threshold is greater than the preset lower limit threshold.

[0020] In some embodiments, the controller is further configured to: when the mowing motor is started, use the first method to determine the rotor position of the mowing motor.

[0021] In some embodiments, when the mowing motor is started, the controller is further configured to: receive a second electrical parameter related to the rotational speed of the mowing motor, determine whether to perform a switching of the rotor position detection method according to the second electrical parameter, and when not performing the switching of the rotor position detection method, control the mowing motor to stop.

[0022] Advantages of the present application: By obtaining a first electrical parameter related to the current of the mowing motor and limiting it within a preset range when the first electrical parameter meets a first preset condition; when the first electrical parameter is limited within the preset range, selectively use a first method or a second method to determine the rotor position of the mowing motor, so that the mowing motor does not stop when the first electrical parameter is within the preset range. By switching the rotor position detection method according to the rotational speed and current, the problem that the rotor position cannot be accurately obtained during heavy-load operation resulting in the motor stopping is solved, ensuring that the mowing motor operates without stopping under heavy load and improving the user's working experience. Description of the Drawings

[0023] Figure 1 is a perspective view of an electric wheeled vehicle as an embodiment of the present application;

[0024] Figure 2 is a perspective view of the electric wheeled vehicle of

[0025] Figure 3 is Figure 1 the perspective view of the power supply assembly of the electric wheeled vehicle in

[0026] Figure 4 Schematic diagram of a power supply component adapting to different vehicles as an embodiment of the present application;

[0027] Figure 5a Is Figure 3 Stereogram of the first mounting member of the power supply component and the battery pack in ;

[0028] Figure 5b Is Figure 3 Stereogram of the second mounting member of the power supply component and multiple battery packs in ;

[0029] Figure 6 Is Figure 5a Stereogram of the first connecting member in ;

[0030] Figure 7 Is Figure 5a Stereogram of the first connecting member from another perspective in ;

[0031] Figure 8 Stereogram of the power supply component mounted on the vehicle frame;

[0032] Figure 9 Is Figure 5a Stereogram of the terminal assembly of the battery pack in ;

[0033] Figure 10a Schematic diagram of a power supply component as an embodiment of the present application;

[0034] Figure 10b Schematic diagram of a power supply component as another embodiment of the present application;

[0035] Figure 10c Schematic diagram of a power supply component as yet another embodiment of the present application;

[0036] Figure 11 Schematic diagram of a mounting member and a second battery pack as an embodiment of the present application;

[0037] Figure 12 Is Figure 1 Stereogram of the vehicle frame, power supply component, and traveling motor of a ride-on lawn mower in ;

[0038] Figure 13 Is Figure 1 Exploded view of the seat and seat mounting structure of a ride-on lawn mower in ;

[0039] Figure 14a Is Figure 13 Stereogram of the seat bottom plate and the locking assembly in the locked state in ;

[0040] Figure 14b Is Figure 13The perspective view of the seat bottom plate in [description] and the locking component in the unlocked state;

[0041] Figure 15a is Figure 13 The schematic diagram of the locked state of the locking component of the seat in [description];

[0042] Figure 15b is Figure 13 The schematic diagram of the unlocked state of the locking component of the seat in [description];

[0043] Figure 16 is Figure 1 The perspective view of the central control component of the ride-on mower in [description];

[0044] Figure 17 is Figure 1 The perspective view of the central control component of the ride-on mower in [description] from another perspective;

[0045] Figure 18 is Figure 1 The exploded view of the central control component of the ride-on mower in [description];

[0046] Figure 19 is Figure 16 The perspective view of the circuit board component of the central control component in [description];

[0047] Figure 20 is Figure 16 The perspective view of the second seal of the central control component in [description];

[0048] Figure 21 is Figure 1 The perspective view of the anti-tipping device of the ride-on mower in [description];

[0049] Figure 22 is Figure 21 The exploded view of the connection component of the anti-tipping device in [description];

[0050] Figure 23 is Figure 21 The exploded view of the bending component of the anti-tipping device in [description];

[0051] Figure 24 is Figure 1 The perspective view of the frame of the ride-on mower in [description];

[0052] Figure 25 The circuit schematic diagram of the drive circuit of the ride-on mower as an embodiment of this application;

[0053] Figure 26 The structural schematic diagram of the circuit board of the ride-on mower as an embodiment of this application;

[0054] Figure 27aSchematic diagram of the installation structure of the heat dissipation block of the manned lawn mower as an embodiment of the present application;

[0055] Figure 27b Top view of the heat dissipation block of the manned lawn mower as an embodiment of the present application;

[0056] Figure 28a Schematic diagram of the installation structure of the power supply bracket of the manned lawn mower as an embodiment of the present application;

[0057] Figure 28b Schematic diagram of the structure of the power supply bracket of the manned lawn mower as an embodiment of the present application;

[0058] Figure 29a Schematic diagram of the installation structure of the circuit board of the manned lawn mower as an embodiment of the present application;

[0059] Figure 29b Cross-sectional view of the installation structure of the circuit board of the manned lawn mower as an embodiment of the present application;

[0060] Figure 30 Flow chart of a control method for a manned lawn mower as an embodiment of the present application;

[0061] Figure 31 Flow chart of another control method for a manned lawn mower as an embodiment of the present application;

[0062] Figure 32 Control block diagram of the drive motor of the manned lawn mower as an embodiment of the present application;

[0063] Figure 33 Schematic diagram of the structure of the display device of the manned lawn mower as an embodiment of the present application;

[0064] Figure 34 Circuit schematic diagram of the power supply circuit of the manned lawn mower as an embodiment of the present application;

[0065] Figure 35 Stereogram of the mowing element of the manned lawn mower as an embodiment of the present application;

[0066] Figure 36a Schematic diagram of the structure of an auxiliary power supply of the manned lawn mower as an embodiment of the present application;

[0067] Figure 36b Schematic diagram of the structure of another auxiliary power supply of the manned lawn mower as an embodiment of the present application;

[0068] Figure 37It is a schematic structural diagram of the soft start module of a manned lawn mower as an embodiment of the present application;

[0069] Figure 38 It is a schematic diagram of the power supply communication structure of a manned lawn mower as an embodiment of the present application.

[0070] Figure 39a It is a schematic circuit diagram of a power adapter of a manned lawn mower as an embodiment of the present application;

[0071] Figure 39b It is a schematic circuit diagram of another power adapter of a manned lawn mower as an embodiment of the present application;

[0072] Figure 39c It is a schematic circuit diagram of yet another power adapter of a manned lawn mower as an embodiment of the present application;

[0073] Figure 40a It is a flowchart of a power distribution method of a manned lawn mower as an embodiment of the present application;

[0074] Figure 40b It is a flowchart of another power distribution method of a manned lawn mower as an embodiment of the present application;

[0075] Figure 41 It is a schematic diagram of the communication module of a manned lawn mower as an embodiment of the present application;

[0076] Figure 42 It is a three-dimensional view of a walking motor equipped with an eddy current sensor of a manned lawn mower as an embodiment of the present application;

[0077] Figure 43 Is Figure 42 The exploded view of the walking motor equipped with an eddy current sensor in

[0078] Figure 44 Is Figure 42 The exploded view of the walking motor equipped with an eddy current sensor in from another perspective;

[0079] Figure 45 It is a three-dimensional view of a walking motor equipped with an eddy current sensor as another embodiment in the present application;

[0080] Figure 46 Is Figure 45 The exploded view of the walking motor equipped with an eddy current sensor in . Specific embodiments

[0081] Before explaining any embodiments of the present application in detail, it should be understood that the present application is not limited to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0082] In the present application, the terms "comprise", "include", "have" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0083] In the present application, the term "and / or" describes the relationship between associated objects and indicates three possible relationships. For example, A and / or B may represent three cases: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, in the present application, the character " / " generally indicates that the associated objects before and after are in an "and / or" relationship.

[0084] In the present application, the terms "connect", "combine", "couple", "mount" can be direct connection, combination, coupling or mounting, or indirect connection, combination, coupling or mounting. By way of example, direct connection means that two parts or components are connected together without an intermediate member, and indirect connection means that two parts or components are respectively connected to at least one intermediate member, and these two parts or components are connected through the intermediate member. In addition, "connect" and "couple" are not limited to physical or mechanical connection or coupling and may include electrical connection or coupling.

[0085] In the present application, those of ordinary skill in the art will understand that relative terms used in conjunction with a quantity or condition (such as "about", "approximately", "substantially", etc.) are intended to include the stated value and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances resulting from manufacturing, assembly, use, etc. associated with a particular value. Such terms should also be considered to disclose a range defined by the absolute values of two endpoints. Relative terms may refer to a plus or minus a certain percentage (such as 1%, 5%, 10% or more) of the indicated value. A numerical value without a relative term should also be disclosed as a particular value with a tolerance. In addition, when expressing a relative angular positional relationship (such as substantially parallel, substantially perpendicular), "substantially" may refer to a plus or minus a certain number of degrees (such as 1 degree, 5 degrees, 10 degrees or more) based on the indicated angle.

[0086] In this application, those of ordinary skill in the art will understand that the functions performed by components can be performed by one component, multiple components, one part, or multiple parts. Similarly, the functions performed by parts can also be performed by one part, one component, or a combination of multiple parts.

[0087] In this application, the directional terms such as "upper", "lower", "left", "right", "front", and "rear" are described based on the orientation and positional relationship shown in the drawings, and should not be construed as limiting the embodiments of this application. In addition, in the context, it should also be understood that when it is mentioned that one element is connected "above" or "below" another element, it can not only be directly connected "above" or "below" another element, but also be indirectly connected "above" or "below" another element through an intermediate element. It should also be understood that the directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent the positive direction, but can also be understood as the side direction. For example, below can include directly below, lower left, lower right, lower front, and lower rear, etc.

[0088] In this application, the terms "controller", "processor", "central processing unit", "CPU", and "MCU" can be used interchangeably. When using the units "controller", "processor", "central processing unit", "CPU", or "MCU" to perform specific functions, unless otherwise specified, these functions can be performed by a single one of the above units or multiple ones of the above units.

[0089] In this application, the terms "device", "module", or "unit" can be implemented in the form of hardware or software in order to achieve specific functions.

[0090] In this application, the terms "calculate", "judge", "control", "determine", "identify", etc. refer to the operations and processes of a computer system or a similar electronic computing device (such as a controller, a processor, etc.).

[0091] As Figure 1 shown, the outdoor walking device 100 disclosed in this application can specifically be an electric wheeled device, such as a manned lawn mower, which can be used for a user to sit or stand on it to control for trimming lawns and other vegetation, etc. In this specification, the directions of front, rear, left, right, up, and down are described as Figure 1The directions shown in the figure. Specifically, when a user is riding on an outdoor walking device 100 located on the ground, the direction the user is facing is defined as the front, the direction the user has their back to is defined as the rear, the direction to the left hand side is defined as the left, the direction to the right hand side is defined as the right, the direction close to the ground is defined as the bottom, and the direction away from the ground is defined as the top. Of course, the outdoor walking device disclosed in the present application also includes being on an all-terrain vehicle (UTV, Utility Vehicle). In the related art, all-terrain vehicles include four-wheel all-terrain vehicles (ATV, All Terrain Vehicle), multi-functional all-terrain vehicles, and recreational off-road vehicles. In addition, the outdoor walking device disclosed in the present application also includes a manned snow sweeper, a push mower, a push snow sweeper, and an electric motorcycle, etc.

[0092] See Figures 1 to 3 As shown, the outdoor walking device 100 includes: a housing assembly 10, a power supply assembly 20, and a walking assembly 40. Among them, the walking assembly 40 includes a walking wheel set 41 and a walking motor 42 (see Figure 12 ). The walking motor 42 has a drive shaft for driving the walking wheel set 41 to rotate. The power supply assembly 20 is used to supply power to the outdoor walking device 100.

[0093] The power supply assembly 20 includes a battery pack 21 and a connector 22 for mounting the battery pack 21 to connect the battery pack 21 to the outdoor walking device 100. The battery pack 21 is detachably connected to the connector 22, and the connector 22 is detachably mounted to the outdoor walking device 100 so that it can be taken out to be adapted to other electrical devices. Among them, other electrical devices include but are not limited to all-terrain vehicles, push mowers, push snow sweepers, and manned mowers. Specifically, see Figure 4 As shown, the power supply assembly 20 of the outdoor walking device 100 can be removably taken out from the outdoor walking device 100 and then mounted to an all-terrain vehicle 100a, a push mower, a push snow sweeper 100c, a riding mower 100b, and a stand-on mower 100d to supply power to these electrical devices to realize the functions of the above-mentioned power supply devices.

[0094] In some embodiments, the connector 22 of the power supply assembly 20 includes a first connector 22a and a second connector 22b having different external shape features. Specifically, the first connector 22a is configured to electrically connect one battery pack 21, and the second connector 22b is configured to electrically connect at least two battery packs 21. Figure 5a and Figure 5bA specific embodiment of the first connecting member 22a and the second connecting member 22b is respectively shown. A battery pack 21 is detachably installed inside the first connecting member 22a, and three battery packs 21 are detachably installed inside the second connecting member 22b. The external dimension of the second connecting member 22b is larger than that of the first connecting member 22a. In this way, by providing connecting members 22 with different external dimensions for installing the battery pack 21, the power consumption requirements of different outdoor walking devices can be met. For example, for a push mower 100b or a push snow blower 100c, the power supply assembly can select the first connecting member 22a to install the battery pack. For an all-terrain vehicle 100a, multiple first connecting members 22a each installed with a battery pack 21 can be used, or one or more second connecting members 22b each installed with at least two battery packs 21 can be used, or a combination of the first connecting member 22a and the second connecting member 22b can be used. In this way, by reasonably selecting and arranging the connecting members for installing the battery pack in combination with the power consumption requirements and the spatial characteristics of the outdoor walking device itself, the versatility of the power supply assembly among various electrical devices is improved, so that the application scenarios of the power supply assembly are more extensive and the convenience of the user is provided.

[0095] In some embodiments, the connecting member 22 can be a battery compartment or other types of structures for installing the battery pack to a ride-on mower. Hereinafter, the battery compartment 22 is used to replace the connecting member 22, the first battery compartment 22a is used to replace the first connecting member 22a, and the second battery compartment 22b is used to replace the second connecting member 22b. Of course, the connecting member can also have other external characteristics, for example, it is a base.

[0096] Optionally, referring to Figures 6 to 7 As shown, the battery compartment 22 is formed with a receiving space 221 for receiving the battery pack 21, and the battery pack 21 is detachably disposed in the receiving space 221. Specifically, the connecting member 22 is formed or connected with at least one first engaging portion 222 and at least one second engaging portion. Among them, the first engaging portion 222 is used to achieve detachable electrical connection between the battery compartment 22 and the battery pack 21. The second engaging portion is used to achieve detachable connection between the battery compartment 22 and the outdoor walking device 100. In some embodiments, the first engaging portion 222 is not only used to achieve electrical connection with the battery pack 21, but also can be used to fixedly install the battery pack 21 in the receiving space 221 of the battery compartment 22, so as to prevent the battery pack 21 from shaking relative to the battery compartment 22 due to vibration when the outdoor walking device 100 is running or performing an operation function, thereby causing poor contact at the first engaging portion 222. The second engaging portion can be a screw or a specifically designed mechanism, such as a snap or a quick clip structure, and those skilled in the art can design according to requirements.

[0097] Referring to Figure 6As shown, the battery compartment 22 includes a compartment body 225 and a first engaging portion 222 provided on the compartment body 225. The first engaging portion 222 may include a locking assembly 2221 and a compartment terminal assembly 2222. Among them, the locking assembly 213 is provided on the compartment body 225 of the battery compartment 22 for locking the battery pack 21 within the compartment body 225.

[0098] In some embodiments, the compartment terminal assembly 2222 includes charging positive / negative terminals, discharging positive / negative terminals, and communication terminals provided on a terminal block. Among them, the charging positive / negative terminals, discharging positive / negative terminals, and communication terminals may be cylindrical metal terminals. Optionally, the charging positive terminal and the discharging positive terminal in the compartment terminal assembly 2222 may be the same terminal, or the charging negative terminal and the discharging negative terminal may be the same terminal. The communication terminal can be shared for communication with an adapter or a self-mobile device during charging or discharging. Optionally, the charging positive / negative terminals, discharging positive / negative terminals, and communication terminals are provided on the terminal block. The terminal block is also provided with a guiding structure or the terminal block can form a guiding structure. A corresponding structure matching the guiding structure is provided on the battery pack 21. After the guiding structure is matched with the corresponding structure on the battery pack 21, the compartment terminal assembly 2222 can float within a preset distance range. Thereby, it can be avoided that after the battery pack 21 is installed on the battery compartment, the connection terminals are unstable or damaged due to uncontrollable factors such as vibration. In one embodiment, the guiding structure may be a guiding post, and the corresponding structure on the battery pack for cooperation therewith is a guiding groove.

[0099] See Figure 9 As shown, in order to be adapted to the first engaging portion 222 of the battery compartment 22 in Figure 6 , a battery pack interface 211 for detachably mounting the battery pack 21 to the first engaging portion 222 is provided on the battery pack 21. The cooperation between the battery pack interface 211 and the first engaging portion 222 enables the battery pack 21 to not only form a mechanical connection with the outdoor walking device 100 but also form an electrical connection between the battery pack 21 and the outdoor walking device 100. Specifically, the battery pack interface 211 includes a terminal assembly 2111 that matches the charging and discharging terminals and the communication terminals in the compartment terminal assembly 2222 of the battery compartment 22.

[0100] Optionally, the battery compartment 22 further forms a slide rail 2221 adapted to the battery pack 21 for guiding the sliding installation of the battery pack 21 to the battery compartment 22. Optionally, see Figure 7 As shown, in addition to the first engaging portion 222, the battery compartment 22 further includes a third engaging portion 224 for guiding and limiting the insertion and removal of the battery pack 21. The third engaging portion 224 and the first engaging portion 222 are oppositely arranged on two sides of the battery compartment 22. The advantage of such a design is that the battery pack 21 can be fixed in the battery compartment to the maximum extent, avoiding the unstable connection between the battery pack 21 and the battery compartment 22 due to external shaking.

[0101] The terminal assembly 2222 of the battery compartment 22 and the terminal assembly 2111 of the battery pack 21 adapted in the above form can enable the overall battery pack to meet the IPX7 waterproof and dustproof requirements, and the battery compartment end to meet the IPX5 waterproof requirement. The average discharge current of the battery pack 21 is greater than or equal to 30A, for example, it can be 30A, 35A, 40A, etc. Optionally, the rated current output by the battery pack 21 can be greater than or equal to 120A or the instantaneous peak current is about 350A.

[0102] In some embodiments, the power supply assembly 20 includes a first battery compartment 22a and a second battery compartment 22b. Among them, the first battery compartment 22a and the second battery compartment 22b have different sizes. The number of battery packs that the first battery compartment 22a and the second battery compartment 22b can accommodate is also different. For example, the number of battery packs that the first battery compartment 22a can accommodate is one, and the number of battery packs that the second battery compartment 22b can accommodate is two, three, or more. The difference between the second battery compartment 22b and the first battery compartment 22a disclosed in this application is also that the first battery compartment 22a has a first engaging portion 222 that can be adapted to one battery pack 21, and the second battery compartment 22b has a plurality of first engaging portions 222 for adapting to a plurality of battery packs 21.

[0103] The power supply assembly 20 disclosed in this application can be combined by one or more first battery compartments 22a and second battery compartments 22b according to actual needs. As Figure 10a shown, in some embodiments, the power supply assembly 20 can include a first battery compartment 22a and a second battery compartment 22b. Among them, one battery pack 21 is accommodated in the first battery compartment 22a, and three battery packs 21 are accommodated in the second battery compartment 22b. The first battery compartment 22a is arranged on the front side of the second battery compartment 22b. In other embodiments, as Figure 10b shown, the power supply assembly 20 can also be composed of two second battery compartments 22b, and each second battery compartment 22b accommodates three battery packs 21. In other embodiments, as Figure 10c shown, the power supply assembly 20 can be composed of four first battery compartments 22a, and the four first battery compartments 22a are arranged in a two-row and two-column arrangement. In this way, when designing the power supply assembly for vehicles of different models, the appropriate layout can be selected according to the actual space and energy requirements, without the need to design the battery compartment separately, thus enabling the modular design of the power supply assembly.

[0104] In this embodiment, the weight of the battery pack 21 is greater than or equal to 9 Kg. In one embodiment, the weight of the battery pack is greater than or equal to 10 Kg, or greater than or equal to 11 Kg, or greater than or equal to 12 Kg, or greater than or equal to 13 Kg, or greater than or equal to 14 Kg, or greater than or equal to 15 Kg. For example, the weight of the battery pack is 9 Kg, 10 Kg or 15 Kg, etc. The nominal voltage of the battery pack 21 is about 56 V. For example, it can be 54 V or 58 V, etc. In one embodiment, the nominal voltage of the battery pack 21 is greater than or equal to 56 V, or the nominal voltage of the battery pack is greater than or equal to 50 V, or the nominal voltage of the battery pack is greater than or equal to 48 V, or the nominal voltage of the battery pack is greater than or equal to 40 V. The capacity of the battery pack 100 is greater than or equal to 20 Ah. In one embodiment, the capacity of the battery pack 21 is greater than or equal to 30 Ah, or the capacity of the battery pack 21 is greater than or equal to 40 Ah, or the capacity of the battery pack 21 is greater than or equal to 50 Ah. For example, it can be 20 Ah, 30 Ah, 40 Ah, 50 Ah, etc. The ratio of the capacity to the weight of the battery pack 21 is greater than or equal to 2 Ah / kg. For example, 2 Ah / kg, 4 Ah / kg, 5 Ah / kg, etc. Optionally, the energy of the battery pack 21 is greater than or equal to 2 kW·h. In one embodiment, the energy of the battery pack 21 is greater than or equal to 3 kW·h, or the energy of the battery pack 21 is greater than or equal to 4 kW·h, or the energy of the battery pack 21 is greater than or equal to 5 kW·h. For example, the energy of the battery pack 21 can be 2 kW·h, 3 kW·h, 4 kW·h, 5 kW·h, etc. In some embodiments, the battery pack disclosed in this application may include lithium iron phosphate battery cells. In some embodiments, the battery pack 21 can also be a supercapacitor, also known as an electrochemical capacitor.

[0105] In some embodiments, referring to Figure 11 As shown, the second battery compartment 22b can also be adapted to a second battery pack 21a different from the battery pack 21. Specifically, two second battery packs 21a are installed on the adapter 21b and electrically connected to the adapter 21b, and the adapter 21b is electrically connected to the first engaging portion 222 of the second battery compartment 22b. Among them, the energy of the second battery pack 21a is greater than or equal to 0.1 kW·h and less than 2 kW·h. Optionally, the second battery pack 21a is a battery pack with an energy greater than or equal to 0.1 kW·h. In some embodiments, the second battery pack 21a is a battery pack with an energy greater than or equal to 0.4 kW·h. In some embodiments, the second battery pack 21a is a battery pack with an energy greater than or equal to 0.6 kW·h. In this embodiment, the second battery pack 21a is a lithium battery cell, and it can also be selected from materials such as nickel-cadmium batteries and graphene to achieve different combinations of battery characteristics.

[0106] Continuing to refer to Figure 3As shown, the power supply assembly 20 further includes a power management module 23. The power management module 23 includes a housing 231. All signal interfaces 232 and high-current interfaces 233 are directly made on the housing 231. There is no additional wire harness and the waterproofing of the power management module 23 can be ensured to reach the IPX5 level. Specifically, a wire terminal cap is added to the wire end of the high-current interface 232, and a waterproof rubber sleeve is added to the terminal post.

[0107] Continue to refer to Figures 1 to 3 、 Figure 8 and Figure 12 As shown, when the outdoor walking device 100 is specifically a manned lawn mower, the manned lawn mower includes: a housing assembly 10, a power supply assembly 20, a mowing assembly 30, a walking assembly 40, an operation assembly 50, a frame 11, and a support part. Among them, the frame 11 extends basically in the front-rear direction and forms the main body of the manned lawn mower with the housing assembly 10, and is used to install the power supply assembly 20, the mowing assembly 30, the walking assembly 40, and the support part. The walking assembly 40 is used to support the main body. The operation assembly 50 includes an operation rod assembly 51, and the operation rod assembly 51 is for the user to operate to control the forward, backward, and turning of the manned lawn mower. In some embodiments, the operation assembly 50 may further include a steering wheel assembly. The support part is installed on the frame 11 and is used to support the operator. Optionally, the support part includes a seat 91. The seat 91 is installed on the frame 11 and is for the user to sit on. Optionally, the support part further includes a platform for the user to stand on. The power supply assembly 20 is used to provide energy for the mowing assembly 30, the walking assembly 40, etc., so that the manned lawn mower can be used as an electric tool capable of carrying people. Compared with fuel-powered manned lawn mowers, electric manned lawn mowers are more environmentally friendly and more energy-saving. In some embodiments, the manned lawn mower further includes a grass collection device for collecting the grass clippings cut by the mowing assembly 30. The grass collection device includes a grass collection basket assembly, and the grass collection basket assembly is detachably installed behind the seat 91.

[0108] In some embodiments, the width of the power supply assembly 20 in the left-right direction is greater than or equal to 600 mm and less than or equal to 700 mm. In some embodiments, the width of the power supply assembly 20 in the left-right direction may also be 620 mm, 640 mm, 660 mm or 680 mm. The traveling assembly 40 includes a traveling wheel set 41 and a traveling motor 42. The traveling motor 42 has a drive shaft for driving the traveling wheel set 41 to rotate. The traveling wheel set 41 is connected to the main body to support the main body. The traveling wheel set 41 can at least drive the ride-on mower to travel in the front-rear direction. Optionally, the traveling wheel set 41 includes a first traveling wheel 411 and a second traveling wheel 412. Among them, the first traveling wheel 411 includes a first left traveling wheel 411L and a first right traveling wheel 411R. The second traveling wheel 412 includes a second left traveling wheel 412L and a second right traveling wheel 412R. The traveling motor 42 drives the first traveling wheel 411 or the second traveling wheel 412 to rotate to realize the traveling function of the ride-on mower. Optionally, the number of traveling motors 42 may be one, two, three or four. In this embodiment, the number of traveling motors 42 is two, and the two traveling motors 42 respectively drive the first left traveling wheel 411L and the first right traveling wheel 411R, so that the ride-on mower can turn in other directions deviating from the front-rear direction.

[0109] The power supply assembly 20 is at least used to supply power to the traveling motor 42. The power supply assembly 20 includes at least one battery pack 21. At least one battery pack 21 is detachably mounted to the ride-on mower. The energy of at least one battery pack of the power supply assembly 20 is greater than or equal to and less than or equal to 2 kW·h. The frame 11 includes a left frame portion 11a and a right frame portion 11b for supporting the power supply assembly 20. The power supply assembly 20 is disposed between the left frame portion 11a and the right frame portion 11b. The maximum inner width W1 of the left frame portion 11a and the right frame portion 11b in the left-right direction is less than or equal to 700 mm, and the total energy of a single row of the power supply assembly 20 is greater than or equal to 8 kW·h. Optionally, the maximum inner width W1 of the left frame portion 11a and the right frame portion 11b in the left-right direction is less than or equal to 700 mm, and the total energy of a single row of the power supply assembly 20 is greater than or equal to 9 kW·h. Optionally, the maximum inner width W1 of the left frame portion 11a and the right frame portion 11b in the left-right direction is less than or equal to 660 mm, and the total energy of a single row of the power supply assembly 20 is greater than or equal to 8 kW·h. Optionally, the maximum inner width W1 of the left frame portion 11a and the right frame portion 11b in the left-right direction is less than or equal to 660 mm, and the total energy of a single row of the power supply assembly 20 is greater than or equal to 9 kW·h. It should be noted that the left frame portion 11a and the right frame portion 11b of the frame 11 for supporting the power supply assembly 20 refer to the rear part of the frame 11. In other embodiments, the above-mentioned supporting part may have other forms. In short, the above-mentioned part should be understood as a vehicle frame surrounding the power supply assembly. The vehicle frame body may be integrally formed with the frame or connected to the frame by means of screws or welding.

[0110] In the present application, at least a part of the power supply assembly 20 is disposed behind the supporting portion. The total energy of the power supply assembly 20 is greater than or equal to 8 kW·h. Optionally, the total energy of the power supply assembly 20 is greater than or equal to 10 kW·h, 15 kW·h, 20 kW·h or 25 kW·h, 10 kW·h. The height of the power supply assembly 20 in the up-down direction is greater than or equal to 330 mm. Optionally, the height of the power supply assembly 20 in the up-down direction is greater than or equal to 350 mm.

[0111] Specifically, a single row of the power supply assembly 20 includes one battery pack 21. Optionally, a single row of the power supply assembly 20 includes multiple battery packs. Optionally, the power supply assembly 20 includes multiple single rows, and at least one single row is arranged in a first direction, and the first direction is substantially parallel to the left-right direction.

[0112] The power supply assembly 20 includes at least one battery pack 21, and the battery pack 21 is a battery pack with a large capacity. Of course, the power supply assembly 20 may include multiple battery packs arranged in a specific arrangement. At least one of the multiple battery packs may include lithium iron phosphate battery cells.

[0113] See Figure 1 、 Figures 13 to 15b As shown, the manned lawn mower includes various devices, such as a central control component 70 located in the rear or lower region of the seat 91. The user can conveniently inspect or repair these devices by changing the position of the seat 91. The central control component 70 in this application is applicable to other forms of electric lawn mowers, such as intelligent lawn mowers.

[0114] The seat mounting structure for mounting the seat 91 to the manned lawn mower disclosed in this application includes a bottom plate 92, a connecting plate 93, and a locking component 94. The bottom plate 92 is supported on the vehicle frame 11 by a bracket 96, the seat 91 is integrally mounted on the bottom plate 92, and the connecting plate 93 is located at the front position of the seat 91 and is associated with the vehicle frame 11. Optionally, the connecting plate 93 and the bottom plate 92 are associated by a step bolt 95, so that the seat 91 can be flipped around the step bolt 94. In some embodiments, the maximum angle of flipping of the seat 91 is restricted by a wire rope. The locking component 94 has an unlocked state as shown in Figure 14b and Figure 15b or a locked state as shown in Figure 14a and Figure 15a for allowing or prohibiting the seat 91 from flipping relative to the vehicle frame 11. When the locking component 94 is in the locked state, it can restrict the seat 91 from swinging upward relative to the vehicle frame 11. When the locking component 94 is in the unlocked state, it can allow the seat 91 to swing upward relative to the vehicle frame 11. Optionally, the locking component 94 includes an operating member 941 and a mounting component 942 for mounting the operating member 941 to the vehicle frame 11. The operating member 941 is configured to rotate about a first axis 101 to switch the locking component 94 from the locked state to the unlocked state. The mounting component 942 is mounted below the vehicle frame 11.

[0115] The locking assembly 94 further includes a connecting assembly 943 for connecting the operating member 941 and the mounting assembly 942. Optionally, the connecting assembly 943 is arranged between the operating member 941 and the mounting assembly 942, and the mounting assembly 942 is fixedly mounted to the frame 11 and at least partially located below the seat 91. In some embodiments, the connecting assembly 943 includes a rotating shaft 9431, a clamping ring 9432, a torsion spring 9433 and a locking member 9434. A limiting portion is formed or connected on the bottom plate; the limiting portion is adapted to the locking member so that the locking assembly has an unlocked state or a locked state that allows or prohibits the seat from flipping relative to the frame. Among them, the operating member 941 is connected to the rotating shaft 9431 in a flat position, and the rotating shaft 9431 is connected to the locking member 9434 in a flat position. The torsion spring 9433 and the clamping ring 9432 are sleeved on the rotating shaft 9431 and are located between the operating member 941 and the locking member 9434. When the user rotates the operating member 941 to rotate around the first axis 101, the operating member 941 drives the rotating shaft 9431 to rotate, and the rotating shaft 9431 drives the locking member 9434 to rotate, so that the locking member 9434 is separated from the limiting member 921 on the bottom plate 92. Of course, the limiting member 921 can be a hook or a limiting groove. The locking assembly 94 disclosed in the present application has a limit on the connecting plate 93 to limit the rotational activity area of ​​the locking member 9434 to a desired range. When the seat 91 falls, the bottom plate 92 falls at the same time, and the limiting member 921 on the bottom plate 92 cooperates with the locking member 9434 to complete the locking. The operating member 941 is turned to drive the locking member 9434 to move and disengage from the limiting member 921 to complete the unlocking. After letting go, the locking assembly 94 is reset under the action of the torsion spring 9433. In some embodiments, the limiting member 921 can be integrally formed with the bottom plate 92, and of course, it can also be installed on the bottom plate 92 through a screw connection structure.

[0116] In some embodiments, the locking assembly 94 includes an operating member 941 and a locking member 9434, and the operating member 941 is configured to be operable to switch the locking member 9434 from a locked state to an unlocked state. The locking assembly 94 is separated from the seat 91 in the unlocked state. It can be understood that when the locking assembly 94 is separated from the seat 91 in the unlocked state, the seat 91 can be turned over at will, but the locking assembly 94 does not move, and there is no direct mechanical connection between them.

[0117] The locking assembly 94 disclosed in the present application is fixedly mounted on the frame 11 in both the locked state and the unlocked state, so that it is more convenient to flip the seat. It can be understood that when the locking assembly 94 is in the unlocked state, the locking member 9434 is separated from the seat 91. On the other hand, most of the structures of the locking assembly 94 disclosed in the present application are installed under the frame 11, so that the space in the front-to-back direction or the left-to-right direction near the seat can be fully saved, and the installation space of other devices (such as power supply components) installed near the seat can be avoided.

[0118] During the outdoor operation of a ride-on mower, significant vibrations occur when passing through complex road conditions. These vibrations are further transmitted through the frame 11 to the user sitting on it, resulting in a poor experience for the user. The seat 91 of the ride-on mower disclosed in this application also has a vibration damping function to suppress vibrations and road impacts when the spring rebounds after damping. When passing through rough roads, although the damping spring can buffer road vibrations, the spring itself moves up and down, and the shock absorber is used to suppress this spring bounce. If the shock absorber is too soft, the body will bounce up and down, while if the shock absorber is too hard, it will cause too much resistance, hindering the normal operation of the spring.

[0119] This application also discloses the arrangement and encapsulation of the electronic control system of an electric mower and an electric wheeled device. The electronic control system of a ride-on mower generally includes components from four functional parts, namely the user interface part, the controller part, the system feedback part, and the output part. In this application, a ride-on mower is taken as a specific embodiment. In fact, electric mowers include, but are not limited to, stand-on mowers and ride-on mowers. Electric wheeled devices include, but are not limited to, ride-on mowers, push snow blowers, push mowers, and all-terrain vehicles.

[0120] The central control component 70 is arranged on the lower side of the seat 91 and serves as a control center to control the operation of all components of the ride-on mower that are electrically connected to the central control component 70. Additionally, the central control component 70 can be positioned towards the center of the vehicle to provide further protection against accidental contact with objects that the vehicle may encounter and in a way that protects the wiring harness connected to the central control component 70. Figure 16 The central control component 70 with a housing 71 is shown. Refer to Figures 17 to 19 As shown, the housing 71 forms a sealed compartment 73 for accommodating the circuit board assembly 72. The circuit board assembly 72 can include one or more of the various traction or motor controllers mentioned above, such as Figure 19The traveling control board 721 and the mowing control board 722 shown in the figure. Among them, the number of traveling control boards 721 is two, and the number of mowing control boards 722 is three. It can be understood that the five circuit boards are independent of each other. The two traveling control boards 721 are the same, and the three mowing control boards 722 are the same. The advantage of this is that after the central control component 70 fails, only the housing 71 needs to be opened, and the traveling control board 721 and the mowing control board 722 are inspected and repaired, and the damaged circuit board can be easily replaced. Optionally, the housing 71 of the central control component 70 can be formed into various shapes and have various structures. In some embodiments, the housing 71 is formed of a material having a high thermal conductivity and specific heat capacity, such as aluminum, zinc-aluminum, zinc-aluminum-magnesium, copper, or the like. Optionally, the material of the housing 71 is an aluminum or aluminum alloy casting. The housing 71 should have a strong structure to prevent deformation or damage when an object impacts the cover. In other embodiments, the housing 71 is made of a plastic material. To ensure the heat dissipation effect of the central control component 70 during its operation, a plurality of heat sinks 74 are provided on the surface of the housing 71 to increase the surface area exposed to the ambient air. Specifically, a plurality of through holes for mounting the heat sinks 74 are formed on the housing 71, and a sealing structure, such as a sealing ring, is provided between the heat sinks 74 and the through holes.

[0121] Specifically, the housing 71 includes a first housing 712 and a second housing 713. The circuit board assembly 72 is disposed in the accommodation space formed by the first housing 712 and the second housing 713. The central control component 70 further includes a sealing component 75 and a cable 76 extending out of the accommodation space. Among them, the sealing component 75 is used to achieve the seal between the cable 76 and the first housing 712 or the second housing 713. At least a part of the sealing component 75 can undergo elastic deformation. The cable 76 can be a flexible cable.

[0122] Optionally, the sealing component 75 includes a first seal 751 and a second seal 752. Among them, the first seal 751 is used to achieve the seal between the first housing 712 and the second housing 713, and the second seal 713 is used to achieve the seal between the cable 76 and the second housing 713. Specifically, refer to Figure 20As shown, the second seal 752 is formed with a groove 7521 for fitting with the first seal. The first seal 751 is disposed in the groove 7521 described above and is in a tight fit with the first seal 752. The second seal 752 further includes a through hole 7522 for achieving a seal between the cable 76 and the second housing 713. The cable 76 passes through the through hole 7522 and is in an interference fit with the second seal 752. By providing the first seal and the second seal that abut against each other, the overall sealing performance of the central control assembly 70 is ensured, and it is ensured that its waterproof performance can reach the IPX5 level or even higher. Optionally, the first seal 751 is an O-ring or a foamed sealing strip, and the second seal 752 is a wire harness plug. It should be noted that the special feature of the second seal 752 disclosed in the present application is that while sealing the cable 76, the second seal 752 can also cooperate well with the first seal 751 to achieve the overall sealing performance of the first housing 712, the second housing 713, and the cable 76, with a simple structure and easy assembly.

[0123] Optionally, the first seal 751 and the second seal 752 are integrally formed.

[0124] The cable 76 includes a first cable 761 for controlling the mowing motor and a second cable 762 for controlling the traveling motor 42. The first cable 761 and the second cable 762 respectively emerge from the first side surface 71a and the second side surface 71b of the housing 71. Among them, the first side surface 71a and the second side surface 71b are oppositely arranged. In this way, the first cable 761 for controlling the mowing motor and the second cable 762 for controlling the traveling motor 762 respectively emerge from both sides of the housing 71, thereby ensuring that the shortest wiring distance is formed between the cable outlet and the corresponding motor, making the structure more compact.

[0125] The manned lawn mower disclosed in the present application further includes a braking mechanism 60 for braking the traveling wheel set 41 during traveling or on a slope. Optionally, the parking mechanism includes a first braking component for braking the second left traveling wheel 412L and a second braking component for braking the second right traveling wheel 412R. The operation component 50 further includes a brake pedal for driving the first braking component and the second braking component. The user can control the manned lawn mower to decelerate until it stops by stepping on the brake pedal.

[0126] Specifically, the brake pedal 52 is connected to a drive rod, which is arranged between the brake pedal and the first brake assembly and / or the second brake assembly, and is used to transmit the braking force on the brake pedal to the first brake assembly and / or the second brake assembly. The braking process of the ride-on mower is as follows: The user steps forward on the brake pedal to drive the drive rod to move, and the drive rod drives the first brake assembly to brake the second left running wheel 412L. At the same time, the drive rod drives the second brake assembly to brake the second right running wheel 412R. Optionally, the first brake assembly and the second brake assembly include wire ropes, which can make the parking forces on both sides of the vehicle uniform and have low requirements for spatial arrangement.

[0127] Ride-on mowers, especially zero-turn radius (ZTR) mowers, can achieve in-place turning and have high working efficiency. However, since they are non-road vehicles and the operating environment is complex, they are often used in complex working environments such as slopes and depressions. Due to the uneven technical levels of operators and factors such as the decreased stability of the whole vehicle during operation, rollover accidents often occur, seriously threatening the safety of drivers. To reduce the losses caused by accidents to life and property, the most convenient method is to take passive protection, that is, to install an anti-overturning device that can provide certain safety protection on the vehicle, so that a safe space can be formed under the protection of the anti-overturning device, and it can play a role in protecting the driver after the vehicle rolls over.

[0128] The improvement points of the anti-overturning device of the ride-on mower disclosed in this application mainly lie in the fixing structure and the adjustment and folding method, which can effectively fix the anti-overturning device and can be folded down when passing through a culvert or under a height limit, which is convenient for reducing the height of the whole vehicle and quickly passing through.

[0129] See Figure 1 、 Figures 21 to 23 As shown in

[0130] The anti-overturning device 12 is arranged near the support part and is at least partially fixedly installed on the vehicle frame 11. The anti-overturning device 12 is operable to have at least a first folding position and a second folding position. Optionally, the anti-overturning device 12 includes a first support part 121, a second support part 122, and a third support part 123. Among them, the third support part 123 can be folded relative to the first support part 121 and the second support part 122.

[0131] The connecting component 124 includes a sleeve 1241 fixedly mounted to the vehicle frame 11. The first end 1211 of the first strut portion 121 is disposed within the sleeve 1241 and is fixed by pressing an intermediate sleeve 1243 with a bolt 1242. In this way, by adding the intermediate sleeve 1243, it is possible to prevent the riser of the first end 1211 of the first strut portion 121 from being directly crushed and deformed by the bolt 1242. When it is necessary to remove the anti-overturning device 12, the user only needs to loosen the outer fastening nut and then can quickly disassemble and transport it.

[0132] The flipping component 125 includes a flipping connecting piece 1251, a rotating pin shaft 1252, and a positioning pin shaft 1253. Among them, the second portion 1212 of the first strut portion 121 is formed with a plurality of positioning holes 1253a adapted to the positioning axis 1253, and the user selects different positioning holes 1253a according to the required bending angle.

[0133] Taking the first strut portion 121 as an example, the fixing method of the first strut portion 121 to the vehicle frame and the connection relationship between the first strut portion 121 and the third strut portion 123 are described above. It can be understood that the installation form of the second strut portion 122 is the same as that of the first strut portion 122, and the present application will not repeat the description.

[0134] The anti-overturning device 12 in the present application is provided with three states, namely a working state, a first folding state, and a second folding state. The folding angles of the first folding state and the second folding state are different. In this way, for different passing scenarios, the different folding positions of the anti-overturning device 2 are adjusted. The third strut portion 123 is flipped by the rotating pin shaft 1252, and after being flipped to a set angle, it is locked by inserting and pulling out the positioning pin shaft 1253. In some embodiments, there are shock-absorbing elastic pieces or shock-absorbing sponges between the third strut portion 123 and the first strut portion 121 and the second strut portion 122, which are used to reduce the vibration of the anti-overturning device 12 during the driving of the whole vehicle.

[0135] See Figure 24As shown, the frame 11 includes a front frame 111 and a rear frame 112, and the front frame 111 and the rear frame 112 are detachably connected. Among them, a first walking wheel 411 is installed on the front frame 111, and a second walking wheel 412 is installed on the rear frame 112. Optionally, the front frame 111 and the rear frame 112 are installed and fixed by connecting bolts 113. The first walking wheel 411 is separately assembled on the front frame 111, and power supply components, a central control component, etc. are assembled on the rear frame 112. When it is necessary to replace cutter discs of different specifications (such as 48 inches, 52 inches, 54 inches, 60 inches) to meet the needs of different users or working conditions, the user can change the front frame 111 adapted to the cutter disc, changing the wheelbase of the manned mower to adapt to cutter discs of different sizes. The overall front frame 111 disclosed in this application adopts a steel plate welded I-beam structure. Binding holes are designed on both sides of the front axle tube, and a towing hole is designed in the middle, which is convenient for hanging front-mounted accessories such as snow plows.

[0136] The manned mower of this application has a relatively large power demand for the whole vehicle. The power of the walking controller and the cutter disc controller is greater than that of the existing manned mowers, and the over-current capacity requirement of the controller will also be greatly improved. Based on the foregoing features, this application provides a manned mower applicable to high-power and high-current manned mowers. See Figure 25 As shown, the manned mower of this application includes: a walking wheel set 41 (see Figure 2 shown), driven by a walking motor 42; a mowing element, driven by a mowing motor M; a power supply component 20 for supplying power to the walking motor 42 and the mowing motor M; a driving circuit 250 for outputting driving signals to drive the walking motor 42 or the mowing motor M to operate; the driving circuit 250 includes a plurality of power tubes (such as Q1, Q2, Q3, Q4, Q5, and Q6), and the power tubes change the on state according to the control signals output by the controller, thereby changing the voltage and / or current state of the power supply component 20 loaded on the windings of the walking motor 42 or the mowing motor M, and driving the walking motor 42 or the mowing motor M to operate.

[0137] See Figure 25 As shown, the manned mower of this application also includes a plurality of capacitors C. In the hardware circuit, the capacitors C can be directly connected in parallel on the power bus, or can be directly connected between the upper and lower tubes of the driving circuit 250. The capacitors C integrated in the battery pack 21 can be supercapacitors for smoothing the power supply and reducing noise and ripple in the power supply. Optionally, the capacitance value of at least one of the plurality of capacitors is 680 uF, and the working voltage of the capacitor is less than or equal to 100V.

[0138] See Figure 26As shown in the figure, the manned lawn mower of the present application further includes: a circuit board 260, including a first surface 260A and a second surface 260B arranged opposite to each other. A plurality of power transistors Q are arranged on the first surface 260A, and a plurality of capacitors C are arranged on the second surface 260B. The first surface 260A is a printed circuit board, and the second surface 260B is an aluminum substrate. In this embodiment, the aluminum substrate does not have a printed wiring layer. The aluminum substrate is only used to fix the capacitors, and the aluminum substrate is insulated from the capacitors. The circuits of the capacitors are integrally arranged on the printed circuit board of the first surface 260A. Thus, the present application solves the problem of high manufacturing cost caused by using two printed circuit boards to separately integrate power transistors and capacitors in the existing control board structure by installing a plurality of power transistors and capacitors on both sides of a single circuit board, simplifies the control board structure, saves costs, and can achieve high-current and high-power drive.

[0139] Optionally, the printed circuit board is provided with a DC bus trace and a power transistor trace. The aluminum substrate is provided with a first through hole, and the capacitor is electrically connected to the DC bus trace or the power transistor trace through the first through hole. The power transistor, capacitor C, DC bus trace, and power transistor trace are connected to each other according to the circuit structure of the manned lawn mower (see the drive circuit shown in Figure 25 .

[0140] In this embodiment, the manned lawn mower further includes: an insulator arranged between the capacitor and the aluminum substrate to insulate the capacitor from the aluminum substrate. In the present application, the insulator includes but is not limited to: a dotting insulation pad and / or an insulation sleeve. Among them, the insulation sleeve is sleeved in the first through hole of the aluminum substrate. The capacitor is fixedly installed on the aluminum substrate through the dotting insulation pad and is installed on different sides of the circuit board 260 from the power transistor.

[0141] See Figure 27a and Figure 27b As shown in the figure, the manned lawn mower further includes: a heat sink 261, which is arranged on the side of the circuit board 260 where a plurality of capacitors C are installed. The heat sink 261 is formed with a plurality of accommodating spaces 261C. At least part of the plurality of capacitors C is arranged in the accommodating spaces 261C. In this embodiment, the accommodating space 261C can be a circular groove in the heat sink, the inner diameter size of the groove matches the outer diameter size of the capacitor, and the depth of the groove can be adjusted according to the height size of the capacitor C. By digging holes in the heat sink 261, the heat dissipation performance is ensured and the capacitors are prevented from catching fire due to heat.

[0142] Optionally, the surface of the heat sink 261 is provided with heat dissipation teeth for increasing the heat dissipation area of the heat sink.

[0143] See Figure 28a and Figure 28bAs shown, the manned lawn mower further includes: a power supply bracket 280, which is arranged on the first surface 260A (i.e., the printed circuit board) or the second surface 260B (i.e., the aluminum substrate) of the circuit board 260. When the power supply bracket 280 is arranged on the second surface 260B of the circuit board 260, the power supply bracket 280 is insulated from the aluminum substrate. When the power supply bracket 280 is arranged on the first surface 260A of the circuit board 260, the printed circuit board is provided with power supply traces, and the power supply bracket 280 is electrically connected to the power supply traces. In this embodiment, the power supply traces include a power supply positive trace and a power supply negative trace, and the trace lengths of the power supply positive trace and the power supply negative trace are basically equal. Among them, the power supply positive trace is used to connect the positive terminal of the power supply component 20, and the power supply negative trace is used to connect the negative terminal of the power supply component 20. The power supply component 20 is used to supply power to the control module of the system. By setting the power supply positive and negative traces to be of equal length, the power supply quality of the system is improved, and the electromagnetic interference of the control module is reduced.

[0144] See Figure 28a and Figure 28b As shown, the power supply bracket 280 is an aluminum alloy structural member. An installation via hole area is provided on the lower surface of the power supply bracket 280, and this installation via hole area protrudes from the structural body to form a boss 281, so as to ensure the reliability of contact. The power supply bracket 280 is welded to the printed circuit board through a metal ring 282. The power supply bracket 280 presses and contacts the upper surface of the metal ring 282 with the lower surface of the boss 281 through screws, so as to achieve large current conduction and also have a heat dissipation effect at the same time.

[0145] See Figure 28a and Figure 28b As shown, the power supply bracket 280 further includes a copper busbar (not shown), a power supply terminal 283 and screws (not shown). The power supply terminal 283 is installed and fastened on the copper busbar through screws, and the copper busbar is welded to the aluminum substrate to achieve large current carrying and also have a heat dissipation effect at the same time.

[0146] See Figure 28a As shown, the manned lawn mower further includes: an independently provided terminal 284 (such as a three-phase power transistor terminal), and the terminal 284 is fixed to the first surface 260A or the second surface 260B of the circuit board 260 through a metal ring 282. In this embodiment, the terminal 284 can be made of an aluminum alloy structural member. The metal ring is independently formed or integrally formed with the terminal 284. The inner diameter size and outer diameter size of the metal ring match the size of the terminal. By setting the metal ring, the flatness of the wiring end is improved.

[0147] See Figure 29a and Figure 29bAs shown, the manned lawn mower further includes: a main control board 290, which is arranged on one side of the first surface 260A of the circuit board 260. The main control board 290 and the circuit board 260 are connected by fasteners to form a control assembly. Refer to Figure 1 As shown, the control assembly can be arranged under the seat 91 of the manned lawn mower. Among them, the fastener can be a fastening bolt or a screw. In this embodiment, a metal ring 282 can be arranged between the main control board 290 and the circuit board 260, and the fastener passes through the mounting hole of the main control board 290 and the metal ring 282 in sequence and is fixedly connected to the circuit board 260. In this application, the main control board 290 is also connected and conducted with the circuit board 260 through a board-to-board connector (such as a pin header or a female header). By setting the metal ring 282 and the board-to-board connector, the connection and fixation between the main control board 290 and the circuit board 260 are realized, and the overcurrent capacity is strong.

[0148] Refer to Figure 3 As shown, the power supply assembly 20 of this application includes at least one battery pack 21. The nominal voltage of at least one battery pack 21 is greater than or equal to 40V and less than or equal to 60V. The total energy of the power supply assembly 20 is greater than or equal to 2kW·h. The battery pack 21 is detachably connected to the connector 22, and the connector 22 is detachably installed on the outdoor walking device 100 so that it can be taken out to adapt to other electrical devices.

[0149] Based on the same concept, this application also provides an outdoor walking device 100. Refer to Figure 2 、 Figure 12 、 Figure 25 and Figure 26 As shown, the outdoor walking device 100 of this application includes: a walking wheel set 41, which is driven by a walking motor 42; a power supply assembly 20, which is used to supply power to the walking motor 42; a drive circuit 250, which outputs a drive signal to drive the walking motor 42 to operate; the drive circuit 250 includes a plurality of power tubes (Q1 to Q6); a circuit board 260, which includes a first surface 260A on which a plurality of power tubes are arranged and a second surface 260B opposite to the first surface 260A; the second surface 260B is set as an aluminum substrate on which a plurality of capacitors are installed; an insulator is arranged between the plurality of capacitors and the aluminum substrate. In this embodiment, the first surface 260A is a printed circuit board; the printed circuit board is provided with a DC bus line and a power tube line; the aluminum substrate is provided with a first through hole; the capacitor is electrically connected to the DC bus line or the power tube line through the first through hole; the capacitance value of at least one capacitor is 680uf, and the working voltage of at least one capacitor is less than or equal to 100V.

[0150] Refer to Figure 28a and Figure 28bAs shown, the outdoor walking device 100 further includes: a power supply bracket 280, which is arranged on the first surface 260A or the second surface 260B of the circuit board 260; the second surface 260B is provided with power supply traces, and the power supply traces are electrically connected to the power supply bracket 280; the power supply traces 280 include a power supply positive trace and a power supply negative trace, and the trace lengths of the power supply positive trace and the power supply negative trace are substantially equal. Among them, the power supply positive trace is used to connect to the positive terminal of the power supply component 20, and the power supply negative trace is used to connect to the negative terminal of the power supply component 20. The power supply component 20 is used to supply power to the control module of the system. By setting the power supply positive and negative traces to be of equal length, the power supply quality of the system is improved, and the electromagnetic interference of the control module is reduced.

[0151] See Figure 28a As shown, the outdoor walking device 100 further includes: an independently provided terminal block 284 (such as a three-phase power transistor terminal block), and the terminal block 284 is fixed to the first surface 260A or the second surface 260B of the circuit board 260 through a metal ring 282. In this embodiment, the terminal block 284 can be made of an aluminum alloy structural member. The metal ring is formed independently or integrally formed with the terminal block 284. The inner diameter size and outer diameter size of the metal ring match the size of the terminal block.

[0152] See Figure 4 As shown, the outdoor walking device 100 includes, but is not limited to: a manned lawn mower (such as a riding lawn mower 100b and a standing lawn mower 100d), an all-terrain vehicle 100a, or a snow sweeper (such as a push snow sweeper 100c).

[0153] This application also provides a manned lawn mower, which solves the problem that the motor stops due to the inability to accurately obtain the rotor position during heavy load by improving the motor rotor position detection method. See Figure 3 、 Figure 8 、 Figure 12 and Figure 25 As shown, the manned lawn mower of this application includes: a frame 11, and a support part installed on the frame 11 for supporting the user; a walking wheel set 41, which is connected to and supports the frame 11, and the walking wheel set 41 is driven by a walking motor 42; a mowing element, which is driven by a mowing motor M; a power supply component 20, including at least one battery pack 21; a drive circuit 250, which is electrically connected to the mowing motor M and is used to supply power to the mowing motor M from the battery pack 21; a controller (not shown), which is configured to apply a drive signal to the drive circuit 250 to at least control the operation of the mowing motor M.

[0154] The controller of the present application is configured to: receive a first electrical parameter related to the current of the mowing motor M, and limit the first electrical parameter within a preset range when the first electrical parameter meets a first preset condition. In this embodiment, the first electrical parameter may be the bus current of the mowing motor M. The first preset condition may be a threshold condition related to the current when the mowing motor M operates in a heavy load state. The preset range is associated with the first preset condition. For example, the first preset condition may be set as the bus current being greater than 150A, and the preset range is to limit the bus current to 150A. When the first electrical parameter is limited within the preset range, the controller is further configured to: selectively use the first method or the second method to determine the rotor position of the mowing motor M, so that the mowing motor M does not stop when the first electrical parameter is within the preset range. Among them, the first method may be to obtain the rotor position by using the high-frequency injection method, and the second method may be to detect the rotor position by using a flux observer.

[0155] Optionally, the controller is configured to: receive a second electrical parameter related to the rotational speed of the mowing motor M, and selectively use the first method or the second method to determine the rotor position of the mowing motor M according to the second electrical parameter. Among them, the second electrical parameter may be the rotational speed of the mowing motor M. When selectively using the first method or the second method to determine the rotor position of the mowing motor M according to the second electrical parameter, the controller is configured to: use the first method to determine the rotor position of the mowing motor M when the second electrical parameter meets a second preset condition, and use the second method to determine the rotor position of the mowing motor M when the second electrical parameter meets a third preset condition. Among them, the second preset condition includes: the duration is less than a preset time threshold (for example, 5S), and the rotational speed of the mowing motor M is less than a preset lower limit threshold (for example, 8% of the rated rotational speed of the mowing motor M); the third preset condition includes: a preset upper limit threshold related to the rotational speed of the mowing motor M (for example, 12% of the rated rotational speed of the mowing motor M), and the value of the preset upper limit threshold is greater than the preset lower limit threshold.

[0156] Specifically, the rotor position detection method (e.g., the first method or the second method) can be switched according to the motor speed and bus current of the mowing motor M, so as to ensure that the blade motor continues to drive without stopping under load. During the operation of the mowing motor M, when the first electrical parameter meets the first preset condition (e.g., the heavy-load bus current is greater than 150 A), the controller limits the bus current to 150 A and monitors the speed of the mowing motor M in real time. When the motor speed is less than the first preset speed (e.g., 12% of the rated speed of the mowing motor M) and greater than or equal to the second preset speed (e.g., 8% of the rated speed of the mowing motor M), high-frequency pulses are injected, but the second method (e.g., the flux observer) is still used to detect the motor rotor angle; when the motor speed is less than the second preset speed (e.g., 8% of the rated speed of the mowing motor M), switch to the first method (e.g., the high-frequency injection method) to obtain the motor rotor angle, and after maintaining the preset time threshold (e.g., 5S) (to prevent load fluctuations from causing the two rotor position acquisition methods to switch back and forth), then determine whether the motor speed can meet the stage of switching to detecting the rotor angle according to the flux observer. If it can be met, execute the above switching strategy again. By switching the rotor position detection method according to the speed and current, the problem that the motor stops due to the inability to accurately obtain the rotor position during heavy-load operation is solved, ensuring that the mowing motor operates without stopping under heavy load and improving the user's working experience.

[0157] Optionally, the controller is further configured to: when the mowing motor M starts, use the first method (e.g., the high-frequency injection method) to determine the rotor position of the mowing motor M. When the mowing motor M starts, the controller is further configured to: receive the second electrical parameter related to the speed of the mowing motor M, determine whether to perform the switching of the rotor position detection method according to the second electrical parameter, and control the mowing motor M to stop when the switching of the rotor position detection method is not performed. Wherein, the second electrical parameter can be the real-time speed of the mowing motor M. Specifically, when the mowing motor M starts, the first method (e.g., the high-frequency injection method) is used to obtain the rotor position, and the speed of the mowing motor M is monitored in real time. When the motor speed is greater than 10% of the rated speed, switch to using the second method (e.g., the flux observer) to detect the motor rotor angle and speed. If the speed never meets the switching condition, stop after running for 15S.

[0158] The present application also provides a control method for a manned mowing machine, which realizes that the mowing machine continues to drive without stopping under load by using the rotor position detection method described in the above embodiment. Refer to Figure 8 and Figure 12 As shown, the manned mowing machine includes: a frame 11, and a support part installed on the frame 11 for supporting the user; a traveling wheel set 41, connected to and supporting the frame 11, and the traveling wheel set 41 is driven by a traveling motor 42; a mowing element, driven by a mowing motor M.

[0159] Refer toFigure 30 As shown, during the operation of the mowing motor M, the control method for the manned mower includes the following steps:

[0160] S301: Obtain a first electrical parameter related to the current of the mowing motor M. Among them, the first electrical parameter can be the bus current.

[0161] S302: When the first electrical parameter meets the first preset condition, limit it within a preset range. Among them, the first preset condition can be a threshold condition related to the current when the mowing motor M operates in a heavy load state. The preset range is associated with the first preset condition. For example, the first preset condition can be set as the bus current being greater than 150A, and the preset range is to limit the bus current to 150A.

[0162] S303: When the first electrical parameter is limited within the preset range, selectively use the first method or the second method to determine the rotor position of the mowing motor M, so that the mowing motor M does not stop when the first electrical parameter is within the preset range. Among them, the first method can be to obtain the rotor position by using the high-frequency injection method, and the second method can be to detect the rotor position by using a flux observer.

[0163] See Figure 31 As shown, in the control method for the manned mower of the present application, selectively using the first method or the second method to determine the rotor position of the mowing motor M includes the following steps:

[0164] S311: Obtain a first electrical parameter related to the current of the mowing motor M.

[0165] S312: When the first electrical parameter meets the first preset condition, limit it within a preset range.

[0166] S313: Obtain a second electrical parameter related to the rotational speed of the mowing motor M.

[0167] After obtaining the sum of the second electrical parameters, selectively using the first method or the second method to determine the rotor position of the mowing motor M according to the second electrical parameter includes the following steps:

[0168] S314: Determine whether the second electrical parameter meets the second preset condition. Among them, the second preset condition includes: the duration is less than a preset time threshold (for example, 5S), and the rotational speed related to the mowing motor M is less than a preset lower limit threshold (for example, 8% of the rated rotational speed of the mowing motor M).

[0169] If the second electrical parameter meets the second preset condition, execute step S315; if the second electrical parameter does not meet the second preset condition, execute step S316.

[0170] S315: Use the first method to determine the rotor position of the mowing motor M.

[0171] S316: Determine whether the second electrical parameter meets the third preset condition. The third preset condition includes: a preset upper limit threshold related to the rotational speed of the mowing motor M (for example, 12% of the rated rotational speed of the mowing motor M), and the value of the preset upper limit threshold is greater than the preset lower limit threshold.

[0172] If the second electrical parameter meets the third preset condition, then execute step S317; if the second electrical parameter does not meet the third preset condition, then return to execute step S313.

[0173] S317: Use the second method to determine the rotor position of the mowing motor M.

[0174] Optionally, the control method of the manned mowing machine of the present application further includes: when the mowing motor M starts, use the first method to determine the rotor position of the mowing motor M. When the mowing motor M starts, the control method of the manned mowing machine further includes: obtaining a second electrical parameter related to the rotational speed of the mowing motor M; determining whether to perform a switching of the rotor position detection method according to the second electrical parameter; when not performing the switching of the rotor position detection method, controlling the mowing motor M to stop.

[0175] Based on the same concept, the present application further provides an outdoor walking device 100, which uses the rotor position detection method described in the above embodiments to achieve non-stop operation of the mowing machine under load, and has the same functional modules and technical effects as the above-mentioned manned mowing machine. Refer to Figure 3 、 Figure 8 、 Figure 12 and Figure 25 As shown, the outdoor walking device 100 of the present application includes: a vehicle frame 11, and a support portion installed on the vehicle frame 11 for supporting the user; a walking wheel set 41, connected to and supporting the vehicle frame 11, and the walking wheel set 41 is driven by a walking motor 42; a mowing element, driven by a mowing motor M; a controller (not shown), configured to apply a driving signal to a driving circuit 250 to control the operation of the mowing motor M. The controller is configured to: receive and limit a first electrical parameter related to the current of the mowing motor M, and receive a second electrical parameter related to the rotational speed of the mowing motor M during the limiting period, and selectively use the first method or the second method to determine the rotor position of the mowing motor M according to the second electrical parameter.

[0176] Optionally, the controller is configured to: receive a second electrical parameter related to the rotational speed of the mowing motor M, and selectively use the first method or the second method to determine the rotor position of the mowing motor M according to the second electrical parameter.

[0177] Optionally, the controller is configured to: when the second electrical parameter meets the second preset condition, use the first method to determine the rotor position of the mowing motor M, and when the second electrical parameter meets the third preset condition, use the second method to determine the rotor position of the mowing motor M; the second preset condition includes: a preset time threshold and a preset lower limit threshold related to the rotational speed of the mowing motor M; the third preset condition includes: a preset upper limit threshold related to the rotational speed of the mowing motor M, and the value of the preset upper limit threshold is greater than the preset lower limit threshold.

[0178] Optionally, the controller is further configured to: when the mowing motor M starts, use the first method to determine the rotor position of the mowing motor M.

[0179] Optionally, when the mowing motor M starts, the controller is further configured to: receive a second electrical parameter related to the rotational speed of the mowing motor M, determine whether to perform a switching of the rotor position detection method according to the second electrical parameter, and when not performing the switching of the rotor position detection method, control the mowing motor M to stop.

[0180] See Figure 1 and Figure 2 As shown, the manned mower of the present application can be provided with left and right sets of joystick assemblies 51, and the steering and straight-line speed of the vehicle are controlled according to the tilting angles of the left and right sets of joystick assemblies 51. Due to hardware inconsistencies or other error factors, there is a problem that the vehicle cannot drive straight when the two joystick assemblies 51 are in the same position. Based on this, the present application provides a manned mower for realizing manual straight-line deviation correction.

[0181] In this embodiment, the traveling wheel set 41 includes left traveling wheels (see the first left traveling wheel 411L and the second left traveling wheel 412L shown in Figure 12 ) and right traveling wheels (see the first right traveling wheel 411R and the second right traveling wheel 412R shown in Figure 12 ); driving motors, including a left driving motor and a right driving motor respectively used to drive the left traveling wheels and the right traveling wheels. The manned mower further includes: a left manipulation control device and a right manipulation control device that can be grasped by the user (see Figure 1 and Figure 2The left and right sets of operating lever assemblies 51) shown; the left drive motor and the right drive motor are independently controlled by operating the corresponding left control device and right control device. The manned mower of the present application further includes: a controller configured to: in response to a request received via a user interface, control the manned mower to enter a calibration mode (i.e., a manual deviation correction mode). Among them, the manual deviation correction mode needs to be triggered and started by the user when the manned mower is in a special state (it cannot drive straight when the left control device and the right control device are in the same state). The user interface can be a network interface accessed by wired or wireless communication methods, or a human-machine interaction interface for the user to operate and trigger.

[0182] In the calibration mode, the controller is configured to: based on a signal from a user input, adjust the corresponding relationship between the relevant parameters of the left control device and the left drive motor or the corresponding relationship between the relevant parameters of the right control device and the right drive motor, so that the rotational speeds of the left and right traveling wheels are the same when the left control device and the right control device are in the same state. Among them, the signal from the user input includes, but is not limited to: the given value of the traveling speed of the left traveling wheel, the given value of the traveling speed of the right traveling wheel, the tilting angle of the left operating lever, the tilting angle of the right operating lever, or other types of signals, and this signal can be used to adjust the corresponding relationship between the left and right control devices and the relevant parameters of the drive motor. The relevant parameters of the left drive motor include, but are not limited to: the rotational speed of the left drive motor; the relevant parameters of the right drive motor include, but are not limited to: the rotational speed of the right drive motor. In the embodiment of the present application, the corresponding relationship between the relevant parameters of the left control device and the left drive motor can be adjusted by a speed deviation correction coefficient K. By adjusting the corresponding relationship between the control device and the relevant parameters of the drive motor, it is ensured that the rotational speeds of the left and right traveling wheels are the same when the left control device and the right control device are in the same state, solving the problem that the two operating lever assemblies 51 cannot drive straight when in the same position due to hardware inconsistencies or other error factors, which is beneficial to improving the user's driving experience and the reliability of the straight-line driving of the mower.

[0183] See Figure 32 As shown, a vector control (field-oriented control, abbreviated as FOC) mode can be used to control the operation of the left drive motor and the right drive motor. The FOC vector control mode includes a current loop and a speed loop. Specifically, the controller is configured to: obtain the three-phase currents (such as Ia, Ib, Ic) of the left drive motor and the right drive motor in the three-phase stationary coordinate system (for example, the current vectors of two of the three-phase coils can be sampled first, and the last phase can be calculated by Kirchhoff's current law). Then, after clark transformation processing, two orthogonal time-varying current vectors I α and I βAfter the Park transformation, the two-phase direct current q-axis current i q and the d-axis current i d can be obtained. The q-axis current i q and the d-axis current i d are perpendicular to each other. Based on the actual current decoupling of the left drive motor and the right drive motor, the q-axis target current and the d-axis target current are obtained. The PI regulation method is used to regulate the deviation between the q-axis current i q and the q-axis target current , and the deviation between the d-axis current i d and the d-axis target current , and the voltage vector is output, that is, the q-axis target voltage U q and the d-axis target voltage U d . Further, the obtained voltage vector is transformed to the two-phase stationary coordinate system through the inverse Park transformation to obtain the two-phase direct current voltages U α and U β . Then, through the space vector pulse width modulation technology, the two-phase alternating current voltage is converted into a three-phase alternating current voltage (U a , U b and U c ). This three-phase alternating current voltage is the target voltage applied to the left drive motor and the right drive motor. The controller can generate a PWM signal according to the obtained target voltage to control the on-off state of the switching elements of the drive circuit, so that the left drive motor and the right drive motor operate according to the set control mode. Among them, the set control mode can include a comfort mode, a sports mode, and a normal mode. In this embodiment, a PI controller is integrated. The PI controller sets a proportional term P and an integral term I, and the proportional term P of the PI controller can be adjusted according to the set control mode.

[0184] Referring to Figure 32 shown, the controller of the present application is further configured to: in the speed loop, a speed and position detection module is used to obtain a speed feedback value ω and a rotor angle feedback θ, and the PI regulation method is used to regulate the difference between the speed feedback value ω and the speed set value ω * . The controller of the present application is further configured to: use a speed correction coefficient K to correct the speed set value ω 0 of the speed loop.

[0185] Referring to Figure 33As shown, the manned lawn mower of the present application further includes: a display device 330 (such as an LCD monitor); in the calibration mode, the display device 330 is configured to: display the rotational speed deviation correction coefficient K of the left and right running wheels using a preset graph. Optionally, the preset graph includes: a power bar 331 for displaying power, and a white icon 332 for indicating the deviation state on both sides. The display device further includes a preset deviation correction button (such as a "turtle" and "rabbit" button) for adjusting the position of the icon, and a function button for adjusting the manual deviation correction mode, such as a lighting button, a mode button MODE, and a setting button SET.

[0186] Optionally, the entry conditions for the manual deviation correction mode include, but are not limited to: when the display device is in the power-only display interface, simultaneously pressing and holding the mode button MODE and the setting button SET for a preset time (such as 3 seconds) to cause the display device to enter the display interface of the manual deviation correction mode.

[0187] See Figure 33As shown, in the interface of the manual deviation correction mode, the display device of the present application is configured to: display a power bar 331, and the power bar 331 can be a rectangular bar with uniform width or a bar with gradually changing width. A flashing white icon 332 is displayed in a certain small grid on the power bar 331. The position where the white icon 332 is located determines the speed deviation correction coefficient K between the left driving wheel and the right driving wheel. By using the preset deviation correction buttons (such as the "turtle" and "rabbit" buttons) on the left side of the display interface, the position of the white icon 332 on the power bar 331 can be adjusted. If the white icon 332 is in the middle state, it means that there is no tilting of the left driving wheel and the right driving wheel, and the lawn mower can be guaranteed to drive straight without performing deviation correction. When the left control device and the right control device are in the same state (such as the tilting positions of the left and right sets of joystick assemblies 51 are the same), if the vehicle deviates to the left, it indicates that the wheel speed of the right driving wheel is fast. It is necessary to press the "rabbit" button to make the white icon 332 move to the right, which means that the set value of the driving speed of the right driving wheel is in a decaying state. The more the white icon 332 moves to the right, the greater the decay degree of the set value of the driving speed of the right driving wheel. According to the amount of deviation to the left during actual straight driving, manually adjust the position of the white icon 332 on the right power bar to achieve deviation correction in the left deviation state. When the left control device and the right control device are in the same state (such as the tilting positions of the left and right sets of joystick assemblies 51 are the same), if the vehicle deviates to the right, it indicates that the wheel speed of the left driving wheel is fast. It is necessary to press the "turtle" button to make the white icon 332 move to the left, which means that the set value of the driving speed of the left driving wheel is in a decaying state. The more the white icon 332 moves to the left, the greater the decay degree of the set value of the driving speed of the left driving wheel. According to the amount of deviation to the right during actual straight driving, manually adjust the position of the white icon 332 on the left power bar to achieve deviation correction in the right deviation state. By configuring the deviation correction icon on the display device, the display is intuitive and the operation is convenient, which is beneficial to improving the user experience.

[0188] Optionally, the exit conditions of the manual deviation correction mode include but are not limited to: when the user presses the setting button, the display interface of the manual deviation correction mode can be exited, and the interface that only displays the battery level is entered.

[0189] It should be noted that when the lawn mower enters the manual deviation correction mode, the user needs to stop the vehicle for operation. When the lawn mower enters the manual deviation correction mode, the controller will display the current deviation according to the previously stored driving data (for example, the rotational speed of the drive motor). The user can set the rotational speed of the motor corresponding to the wheel with a faster speed to decay through buttons, so that the rotational speeds of the two wheels can be equivalent.

[0190] It should also be noted that the manual error correction method described in the above embodiments of the present application can be performed more than once. When the user completes one manual error correction, the manual deviation correction mode is automatically exited. During the driving process of the lawn mower, if it is found that the mower still cannot drive straight, the above process is repeated until the vehicle can drive straight after the user starts driving.

[0191] In the manned lawn mower of the present application, a drive circuit and a controller are integrated on a control board, and the control board is powered by a power supply component 20. Based on this, the present application also provides a manned lawn mower, which solves the problem of detecting the switch signal of the control board.

[0192] Reference Figure 34 As shown, a PTO switch 340 is provided on the power supply branch of the controller of the present application. Among them, the PT0 switch 340 is a switch for controlling an auxiliary power output device. The controller is configured to: power on when the PTO switch 340 is turned on, and apply a drive signal to the drive circuit 250 to control the operation of the mowing motor M.

[0193] Continue to refer to Figure 34 As shown, the first end of the PTO switch 340 is electrically connected to the power supply component 20 through a DC / DC voltage conversion module 341. The second end of the PTO switch 340 is used to control the power on of the Vp power supply. The power supply component 20 outputs VHM through a switching tube to supply power to the drive circuit 250 and the controller on the control board. By setting the PTO switch to control the power on and start of the controller, it is not necessary to detect the switch signal of the control board.

[0194] The working modes of the manned lawn mower of the present application include but are not limited to: non-grass collection mode and grass collection mode. In the grass collection mode, the lawn mower executes a mowing instruction and collects the cut grass clippings into a grass collection basket. In the case of heavy load, multiple mowing elements work simultaneously, but are prone to stalling. Based on this, the present application also provides a manned lawn mower, which configures the output capacity of different mowing motors according to the load condition to improve the grass collection efficiency on the side of the mowing element.

[0195] See Figure 35 As shown, the manned lawn mower of the present application includes: a walking wheel set driven by a walking motor; a mowing chassis covering above the mowing element; the number of mowing elements is at least three (for example, a first cutting element a, a second cutting element b, and a third cutting element c). Among them, the mowing element is driven by a corresponding mowing motor M to rotate for mowing and generate an air flow; at least part of the air flow can guide the grass clippings to the outside of the mowing chassis; a side discharge pipe communicating with the grass discharge port D of the deck to guide the grass clippings and the air flow; when the manned lawn mower switches from the non-grass collection mode to the grass collection mode, all the mowing motors M have at least three speeds, and the speeds of all the mowing elements increase in sequence according to the order from far away from the grass discharge port to close to the grass discharge port at the same moment. Specifically, seeFigure 35 As shown, the distance between the first cutting element a and the grass discharge port D is the farthest, the distance between the third cutting element c and the grass discharge port D is the closest, the second cutting element b is arranged between the first cutting element a and the third cutting element c, the rotation speed of the first cutting element a is less than that of the second cutting element b, and the rotation speed of the second cutting element b is less than that of the third cutting element c. The rotation speeds of multiple cutting elements are configured through the working mode of the lawn mower, such as setting the same rotation speed, or control strategies such as increasing from left to right, so that the corresponding lawn mower motor can configure different output capabilities according to the load conditions, which is beneficial to improving the grass collection efficiency.

[0196] Optionally, when the manned lawn mower switches from the non-grass collection mode to the grass collection mode, the rotation direction of the lawn mower motor M remains unchanged, and the rotation directions of all lawn mower motors M are the same. The rotation speed of the lawn mower motor M is configured according to the lawn mower motor gear.

[0197] Optionally, all lawn mower motors have a first overall power in the grass collection mode, and all lawn mower motors have a second overall power in the normal lawn mowing mode, and the first overall power is greater than the second overall power.

[0198] Optionally, in the grass collection mode, the output power of the lawn mower motor is greater than or equal to 1 kW. In some embodiments, in the grass collection mode, the output power of the lawn mower motor is greater than or equal to 1.4 kW. In the normal lawn mowing mode, the output power of the lawn mower motor is greater than or equal to 1.5 kW. In some embodiments, in the normal lawn mowing mode, the output power of the lawn mower motor is greater than or equal to 1.8 kW.

[0199] Optionally, the power supply assembly includes at least one battery pack. In some embodiments, the nominal voltage of at least one battery pack is greater than or equal to 40 V and less than or equal to 60 V. Here, for power tools and battery packs, the nominal voltage usually refers to the voltage specified by the manufacturer or seller on the labels, packaging, user manuals, specifications, advertisements, marketing or other support documents of these products, so that users can understand which power tools and battery packs can operate with each other. Alternatively, the nominal voltage of the battery pack can also be obtained by detection or calculation. The nominal voltage can be the voltage of the battery pack when its SOC is fifty percent (50%). Usually, a battery pack contains multiple battery cell units, and the voltage of a single battery cell unit is usually between 3.6 V and 4.2 V. In some embodiments, the total energy of the power supply assembly is greater than or equal to 2 kW·h and less than or equal to 10 kW·h. The above total energy includes the total energy of all battery packs included in the power supply assembly.

[0200] The manned lawn mower of the present application further includes: a grass collection basket and a grass collection switch; the grass collection basket is used to collect grass clippings; the grass collection switch is used to realize the switching control between the non-grass collection mode and the grass collection mode. Specifically, when it is detected that the grass collection basket is installed and the grass collection switch is triggered, it is determined that the manned lawn mower is operating in the grass collection mode.

[0201] Exemplarily, taking a manned lawn mower motor with three mowing elements as an example, when the manned lawn mower is operating in the non-grass collection mode, the three mowing motors have the same rotational speed and the same rotation direction, and speed increase and decrease control is performed according to the input of the mowing motor gear. When the manned lawn mower is operating in the grass collection mode, the left motor among the three mowing motors corresponds to the gear rotational speed, and the middle and right motors increase in rotational speed for grass collection, with the same rotation direction, to improve the overall grass collection efficiency.

[0202] Based on the same concept, the present application also provides a manned lawn mower, which configures the output capabilities of different mowing motors according to the load conditions to improve the grass collection efficiency on the side of the mowing elements. The manned lawn mower of the present application includes: a walking wheel set driven by a walking motor; at least three mowing elements and a mowing chassis covering above the mowing elements; wherein, the mowing elements are driven to rotate by corresponding mowing motors to mow grass and generate an air flow; at least part of the air flow can guide the grass clippings to the outside of the mowing chassis; a side discharge pipe communicated with the deck to guide the grass clippings and the air flow; when the manned lawn mower is in the non-grass collection mode, the rotational speeds of all the mowing motors are the same; when the manned lawn mower is in the grass collection mode, all the mowing motors have at least two rotational speeds, so that the mowing elements have at least three different rotational speeds at the same moment.

[0203] Optionally, when the manned lawn mower switches from the non-grass collection mode to the grass collection mode, the rotation direction of the mowing motor remains unchanged, and the rotation directions of all the mowing motors are the same.

[0204] Optionally, in the grass collection mode, all the mowing motors have a first overall power; in the normal mowing mode, all the mowing motors have a second overall power; the first overall power is greater than the second overall power.

[0205] Optionally, the manned lawn mower of the present application further includes: a grass collection basket and a grass collection switch; the grass collection basket is used to collect grass clippings; the grass collection switch is used to realize the switching control between the non-grass collection mode and the grass collection mode.

[0206] Optionally, in the grass collection mode, the output power of the mowing motor is greater than or equal to 1 kW. In some embodiments, in the grass collection mode, the output power of the mowing motor is greater than or equal to 1.4 kW. In the normal mowing mode, the output power of the mowing motor is greater than or equal to 1.5 kW. In some embodiments, in the normal mowing mode, the output power of the mowing motor is greater than or equal to 1.8 kW.

[0207] Optionally, the total energy of the power supply assembly is greater than or equal to 2 kW·h.

[0208] The manned lawn mower of the present application can be configured with a power management strategy, which includes but is not limited to at least one of the following: auxiliary power supply strategy, soft start strategy, battery pack communication strategy, power distribution strategy, adapter power supply strategy, and charging strategy between large and small batteries.

[0209] The present application provides a manned lawn mower, showing a specific implementation of an auxiliary power supply strategy. By setting up two DC-DCs to form independent power supply branches respectively, the power supply reliability of the core working components of the lawn mower is improved.

[0210] See Figure 2 、 Figure 12 and Figure 36a As shown in

[0211] See Figure 36a and Figure 36b As shown, the manned lawn mower further includes: a first power supply circuit 361 for converting the power output by the power supply assembly 20 into a first direct current to supply power to a first type of load 363 with a main function; a second power supply circuit 362 for converting the power output by the power supply assembly 20 into a second direct current to supply power to a second type of load 364 with an auxiliary function; the second power supply circuit 362 can supply power to the first type of load 363 when the first direct current is disconnected. Among them, the first power supply circuit 361 and the second power supply circuit 362 can be DC-DC conversion circuits (DC-DC).

[0212] Specifically, the first power supply circuit 361 and the second power supply circuit 362 respectively form independent power supply branches without coupling. The first power supply circuit 361 and the second power supply circuit 362 can be integrally arranged on a separate auxiliary power supply board. After connecting the auxiliary power supply board to the battery pack of the power supply assembly 20, the first power supply circuit 361 and the second power supply circuit 362 respectively perform voltage conversion on the supply voltage. When the power supply branch where the first power supply circuit 361 is located is powered off, that is, the main function is lost, the second power supply circuit 362 can supply power to the first type of load 363, or the second power supply circuit 362 can supply power to the first type of load 363 and the second type of load 364 simultaneously, ensuring that the main function is always powered on, which is beneficial to improving the power supply reliability of the system.

[0213] Optionally, the first direct current has a first voltage V1, and the second direct current has a second voltage V2; the first voltage V1 is one or more values greater than or equal to 3.3V and less than or equal to 24V; the second voltage V2 is one or more values greater than or equal to 3.3V and less than or equal to 24V. In this embodiment, the voltage value of the first voltage V1 and the voltage value of the second voltage V2 can be set to be equal or unequal. For example, the first voltage V1 and the second voltage V2 can both be equal to 15V. When the first voltage V1 and the second voltage V2 are not equal, the manned lawn mower further includes a voltage conversion circuit, and the voltage conversion circuit is used to perform voltage conversion on the first direct current or the second direct current.

[0214] Optionally, the first type of load 363 includes but is not limited to at least one of a traveling motor control device, a working part motor (such as a mowing motor) control device, a power control device, a display device, and the operation assembly 50. Among them, each control device includes but is not limited to a controller and other auxiliary control elements. In this embodiment, two groups of traveling motor control devices, three groups of mowing motor control devices, a power management device, two groups of operation assemblies 50, and one group of display devices can be set. Exemplarily, if it is defined that the rated working voltage of the traveling motor control device, the mowing motor control device, the power control device, and the display device can be 15V DC voltage, the maximum working current of the two groups of traveling motor control devices is 0.5A, the maximum working current of the three groups of mowing motor control devices is 0.75A, the maximum working current of the power control device is 0.5A, the maximum working current of the two groups of operation assemblies 50 is 0.2A, and the maximum working current of the display device is 1A, then the output voltage of the first power supply circuit 361 can be set to be equal to 15V, the output current is equal to 3.0A, and the output power of the first power supply circuit 361 is equal to 45W.

[0215] Optionally, the second type of load 364 includes but is not limited to at least one of: a lighting lamp, a contour lamp, an indicator lamp, a charging output interface, or a seat 91. Among them, the charging output interface can be a USB interface compliant with the PD fast charging protocol. The lighting lamp, contour lamp, and indicator lamp can use LEDs, etc. Exemplarily, if it is defined that the rated operating voltage of the LED lamp, charging output interface, or seat 91 can be 15V DC voltage, the maximum operating current of the LED lamp is 1.5A, the maximum operating current of the charging output interface is 1.5A, and the maximum operating current reserved for other second type of loads 364 is 0.5A, then the output voltage of the second power supply circuit 362 can be set to 15V, the output current is 3.5A, and the output power of the second power supply circuit 362 is equal to 52.5W.

[0216] See Figure 36a As shown, the input end of the first power supply circuit 361 is connected to at least one battery pack 21 through a protection circuit 365, and the output end of the first power supply circuit 361 is connected to at least one first type of load 363. The input end of the second power supply circuit 362 is connected to at least one battery pack 21 through a protection circuit 365, and the output end of the second power supply circuit 362 is connected to at least one second type of load 364; the second power supply circuit 362 and the first power supply circuit 361 are integrally arranged on the same control board (for example, an auxiliary power supply board).

[0217] See Figure 36b As shown, a switch circuit 366 is provided between the first power supply circuit 361 and the second power supply circuit 362. The switch circuit 366 is used to automatically switch after the first power supply circuit 361 is disconnected, so that the second power supply circuit 362 can supply power to the first type of load 363.

[0218] Based on the same inventive concept, the present application also provides an outdoor walking device, showing a specific implementation manner of an auxiliary power supply strategy. By setting up two independent DC-DC circuits to form separate power supply branches, the power supply reliability of the core working components of the lawn mower is improved. It includes: a frame; a walking wheel set, connected to and supporting the frame, and driven by a walking motor; a power supply assembly, including at least one battery pack, for supplying power to the walking motor; a control device, configured to output a control signal to control the operation of the walking motor. See Figure 36a and Figure 36b As shown, the outdoor walking device further includes: a first power supply circuit 361, for converting the power output by the power supply assembly 20 into a first direct current to supply power to the first type of load 363 with a main function; a second power supply circuit 362, for converting the power output by the power supply assembly 20 into a second direct current to supply power to the second type of load 364 with an auxiliary function.

[0219] Optionally, the first direct current has a first voltage; the second direct current has a second voltage; the first voltage is one or more values greater than or equal to 3.3V and less than or equal to 24V; the second voltage is one or more values greater than or equal to 3.3V and less than or equal to 24V.

[0220] Optionally, the first type of load 363 includes but is not limited to at least one of a walking motor control device, a mowing motor control device, a power control device, a display device, and an operation component.

[0221] Optionally, the second type of load 364 includes but is not limited to at least one of a lighting lamp, a contour lamp, an indicator lamp, a charging output interface, or a seat.

[0222] See Figure 36b , the input end of the first power supply circuit 361 is connected to at least one battery pack through a protection circuit 365, and the output end of the first power supply circuit 361 is connected to at least one first type of load 363.

[0223] See Figure 36b , the input end of the second power supply circuit 362 is connected to at least one battery pack through a protection circuit 365, and the output end of the second power supply circuit 362 is connected to at least one second type of load 364; the second power supply circuit 362 and the first power supply circuit 364 are integrally arranged on the same control board.

[0224] See Figure 36b , a switch circuit 366 is arranged between the first power supply circuit 361 and the second power supply circuit 362. The switch circuit 366 is used for automatic switching after the first power supply circuit 361 is disconnected, so that the second power supply circuit 362 can supply power to the first type of load 363. After the first direct current is disconnected, the second power supply circuit 362 can supply power to both the first type of load 363 and the second type of load 364 simultaneously.

[0225] This application also provides a manned mowing machine, showing a specific implementation manner of a soft start strategy. When the overall machine power management strategy is turned on, due to the large capacitance between the positive and negative poles of components such as the main engine end electronic control, the power bus output charges the capacitor instantaneously at the moment of startup, similar to a short circuit. The charging current is about 500 - 1000A instantaneously. This current can cause damage to the battery pack, and may lead to hazards such as short - circuit of the battery pack fuse, damage to the wiring harness and connectors on the circuit, and damage to the components (such as power transistors and other electronic switches) on the circuit. By setting up a soft start circuit, the circuit damage caused by the impact current can be avoided, and the power supply reliability can be improved.

[0226] See Figure 2 and Figure 12As shown in the figure, the manned lawn mower of the present application includes: a frame 11, and a support part installed on the frame 11 for supporting the user; a traveling wheel set 41, connected to and supporting the frame 11, and driven by a traveling motor 42; a mowing element, driven by a mowing motor M; a power supply assembly 20, including at least one battery pack 21. Refer to Figure 37 As shown in the figure, the manned lawn mower of the present application further includes: a soft start module 370; the soft start module 370 is configured to perform start control on the mowing motor M or the traveling motor 42 by means of capacitor charging.

[0227] Refer to Figure 37 As shown in the figure, a main circuit module 371 and a soft start module 370 are provided on the bus between the power supply assembly 20 and the load. Among them, the main circuit module 371 is provided with switching elements such as power tubes, and the controller realizes main circuit control by controlling the on and off of the switching elements in the main circuit module 371 of the bus. The soft start module 370 includes a resistor R0, a switching element K0, and a load capacitor C0. Before the main circuit module 371 of the bus is started, the soft start module 370 is first turned on, and the load capacitor C0 is charged through the resistor R0. When the load capacitor C0 is fully charged, the main circuit module 371 is then started.

[0228] In this embodiment, the resistor R1 and the load capacitor C370 satisfy the following formula (1):

[0229]

[0230] Wherein, U c represents the charging voltage of the load capacitor C370; U S represents the charging voltage output by the power supply assembly 20; I c represents the charging current; R represents the resistance value of the resistor R0; C represents the capacitance value of the load capacitor C0.

[0231] Combined with formula (1), when t = 3*RC, U c = 0.95*U S , and the load capacitor C0 is basically fully charged. The actual startup time of the whole machine is generally between 1 second and 2 seconds. If the startup time is defined as 1 second, then the resistor R0 and the load capacitor C0 satisfy: 3*RC ≤ 1, and it is calculated that In the actual application process, the resistance value of the resistor R0 in the soft start module 370 can be calculated according to the actual capacitance value on the capacitor plate.

[0232] The present application also provides a manned lawn mower, showing a specific implementation manner of a power supply communication structure. In this embodiment, the battery management module and the battery pack are connected by a 485 bus method, and data communication is performed by a bus polling method, with flexible node configuration and strong scalability. Refer to Figure 2 and Figure 12As shown in the figure, the manned lawn mower of the present application includes: a frame 11, and a support part installed on the frame 11 for supporting a user; a walking wheel set 41, connected to and supporting the frame 11, and driven by a walking motor 42; a mowing element, driven by a mowing motor M; a power supply assembly 20, including at least one battery pack 21.

[0233] See Figure 38 As shown in the figure, the manned lawn mower of the present application further includes: a power management module 23, configured to output a control signal to control the battery pack 21 to supply power to the mowing motor M or the walking motor 42; the power management module 23 is further configured to: perform data interaction with at least one battery pack 21 (for example, the No. 1 battery pack 21-1#) in an active communication mode. Specifically, the power management module 23 and the battery pack 21 can be connected by an RS485 bus. The power management module 23 communicates with the battery pack 21 in an active communication mode, and the battery pack 21 replies passively. The communication baud rate between the power management module 23 and the battery pack 21 can be set to 460800 bit / s, and the data sending period can be set to 25 ms.

[0234] See Figure 38 As shown in the figure, taking the power supply assembly 20 with four battery packs (No. 1 battery pack 21-1#, No. 2 battery pack 21-2#, No. 3 battery pack 21-3#, and No. 4 battery pack 21-4#) as an example, the power management module 23 communicates in a bus polling mode, pulling down the potentials of the W_1 to W_4 pins one by one. When the power management module 23 pulls down the W_1 pin, the power management module 23 communicates with the No. 1 battery pack 21-1#; when the power management module 23 pulls down the W_2 pin, the power management module 23 communicates with the No. 2 battery pack 21-2#; when the power management module 23 pulls down the W_3 pin, the power management module 23 communicates with the No. 3 battery pack 21-3#; when the power management module 23 pulls down the W_4 pin, the power management module 23 communicates with the No. 4 battery pack 21-4#. Thus, communication between multiple data nodes is achieved through the bus polling mode, with flexible node configuration and strong scalability.

[0235] The present application also provides a manned lawn mower, showing a specific implementation of a battery compartment design. See Figure 3As shown in the figure, the manned lawn mower of the present application includes at least two (for example, four) battery compartments, and each battery compartment can hold 1 large battery pack LFP or 2 small battery packs EGO. In this embodiment, each battery compartment is compatible with the large battery pack LFP and the small battery pack EGO, improving the endurance. Without using an adapter, two interfaces for the small battery pack EGO and one interface for the large battery pack LFP are reserved in each battery compartment. To ensure the normal power supply demand of the lawn mower, the quantities of the large battery pack LFP and the small battery pack EGO satisfy: when the quantity of the large battery pack LFP is greater than or equal to 1, the quantity of the small battery pack EGO is greater than or equal to 0; when the quantity of the large battery pack LFP is equal to 0, the quantity of the small battery pack EGO is greater than or equal to 2. It should be noted that all functions of the battery pack are integrated into the power management module 23 (see Figure 38 ).

[0236] In this embodiment, the large battery pack LFP can charge the small battery pack EGO.

[0237] In this embodiment, the same battery compartment is compatible with the large battery pack LFP and the small battery pack EGO. When the small battery pack EGO is inserted, the data of the small battery pack EGO needs to be forwarded in the protocol of the large battery pack LFP. Based on this, a battery pack adapter solution needs to be added to implement the protocol conversion processing of the small battery pack EGO.

[0238] The present application also provides a manned lawn mower, showing specific implementation manners of various power adapters, and optimizing the charge and discharge control between battery packs through the power adapter. See Figures 39a to 39c As shown in the figure, the manned lawn mower of the present application further includes an adapter 390. One end of the adapter 390 communicates with the small battery pack 391 (EGO), and the other end communicates with the power management module 23.

[0239] See Figures 39a to 39cAs shown in the figure, taking the example of two small battery packs 391 configured in the battery compartment, each small battery pack 391 (EGO) is provided with a positive output pin P+, a negative output pin P-, a data transmission pin D, and IOT. The adapter 390 integrates a protocol conversion module. The protocol conversion module is chained to the data transmission pin D and IOT of the small battery pack 391, and is used to forward the data of the small battery pack to the power management module 23 in the protocol of the large battery pack. The power management module 23 is provided with a first positive input pin P_1+, a second positive input pin c_1+, a first negative input pin P_1-, a positive output pin OUT+, and a negative output pin OUT-. Among them, the first positive input pin P_1+ is connected to the positive output pin P+ of the first small battery pack 391, the second positive input pin c_1+ is connected to the positive output pin P+ of the second small battery pack 391, the first positive input pin P_1+ and the second positive input pin c_1+ are respectively connected to the positive output pin OUT+ through independently arranged main circuit switching tubes, the first negative input pin P_1- is connected to the negative output pin P- of at least one small battery pack 391 (EGO), and is connected to the negative output pin OUT- through a current detection resistor R J is connected to the negative output pin OUT-.

[0240] See Figure 39a As shown in the figure, the manned lawn mower of the present application further includes: a positive current detection resistor R provided at the positive extreme of the main circuit of the power management module 23 JZ , which is used to collect the loop current.

[0241] See Figure 39b As shown in the figure, the manned lawn mower of the present application further includes: at least two negative input pins (such as the first negative input pin P_1- and the second negative input pin P_2-) are provided in the power management module 23. When a large battery pack is inserted into the battery compartment, one negative input pin is occupied (such as the first negative input pin P_1-); when two small battery packs are inserted into the battery compartment, two negative input pins are occupied (such as the first negative input pin P_1- and the second negative input pin P_2-).

[0242] See Figure 39c As shown in the figure, in the manned lawn mower of the present application, the adapter 390 includes: a switching element and a current detection resistor. The switching element is arranged between the positive output pin P+ of the battery pack and the positive input pin (such as the first positive input pin P_1+ or the second positive input pin c_1+) of the power management module 23, and each battery pack corresponds to a group of switching elements. The current detection resistor includes a single-channel current detection resistor R P- and a total current detection resistor R ZP- . Among them, the single-channel current detection resistor R P- is connected to the negative output pin P- of the battery pack, and is used to detect the charging and discharging current of the corresponding single battery pack; the total current detection resistor RZP- One end of each is respectively connected to each single - path galvanometer resistance R P- The other end of the total galvanometer resistance R ZP- is connected to the negative input pin (such as the first negative input pin P_1 -) of the power management module 23, and is used to detect the total charge - discharge current of all connected battery packs. By integrating a switching element and a galvanometer resistance in the adapter, battery pack balancing control and battery pack charge - discharge control are realized.

[0243] The present application also provides a manned lawn mower, showing a specific implementation manner of a power distribution strategy. Power is distributed by monitoring the battery pack status and the required power information of each component of the whole machine, so that the whole machine runs more reasonably and efficiently. Refer to Figure 2 and Figure 12 As shown in, the manned lawn mower of the present application includes: a frame 11, and a support part installed on the frame 11 for supporting a user; a traveling wheel set 41, connected to and supporting the frame 11, and driven by a traveling motor 42; a mowing element, driven by a mowing motor M; a power supply assembly 20, including at least one battery pack 21, for supplying power to the mowing motor M or the traveling motor 42; a control device, configured to output a control signal to control the operation of the traveling motor 42 or the mowing motor M. The control device of the present application is further configured to: obtain the total current value output by the power supply assembly 20 (for example, the average value within 10 seconds), and output a control signal related to the operation of the mowing motor M based on the current state of the power supply assembly 20 and the total current value. Wherein, the current state of the power supply assembly 20 includes the maximum discharge capacity of the power supply assembly 20. Typically, the maximum discharge capacity can be represented by either the maximum discharge current or the maximum discharge power of the power supply assembly 20 within a preset time (for example, 10 seconds).

[0244] In this embodiment, the control signal related to the operation of the mowing motor M includes, but is not limited to: a current - limiting operation control signal or a power - reducing operation control signal. Specifically, the required power value of the whole machine can be calculated according to the total current value output by the power supply assembly 20. Furthermore, the maximum discharge capacity of the battery pack is compared with the required power value of the whole machine. When the maximum discharge capacity of the battery pack is less than the required power value of the whole machine, a control signal is output to the mowing motor M to control the mowing motor M to operate with current - limiting and power - reducing. Since the required power of each component of the whole machine is inconsistent, by reasonably distributing power, the whole machine runs more reasonably.

[0245] In one embodiment, the control device of the present application is configured to: control the manned lawn mower to enter a power - limit mode based on the maximum discharge capacity and the total current value; in the power - limit mode, limit the output power of the mowing motor M based on the maximum discharge capacity, and limit the output power of the traveling motor 42 after the mowing motor M is restricted and stops.

[0246] Optionally, the control device is configured to: determine a current threshold according to the maximum discharge capacity, compare the total current value with the current threshold, and determine whether the total current value is greater than the current threshold. Taking the maximum discharge capacity as the maximum discharge current I SOP as an example, the current threshold can be expressed as 1.1*I SOP . The control device is further configured to: when the total current value is greater than the current threshold, obtain the duration of the current state (i.e., the state with low maximum discharge capacity), compare the duration of the current state with the time threshold, and determine whether to control the ride-on mower to enter the power limit mode according to the current comparison result and the duration comparison result. Wherein, the time threshold represents the waiting time from the current mode to the power limit mode. Specifically, if the total current value is greater than the current threshold and the duration of the state with low maximum discharge capacity is greater than the time threshold, the control device controls the ride-on mower to enter the power limit mode; if the total current value is less than or equal to the current threshold, or the duration of the state with low maximum discharge capacity is less than or equal to the time threshold, continue to detect the total current value output by the power supply component 20 and execute the above judgment logic.

[0247] Optionally, when obtaining the time threshold, the control device of the present application is configured to: determine the time threshold according to the SOC (State Of Charge) value of the power supply component 20. Wherein, the time threshold is positively correlated with the SOC value, that is, the larger the SOC value of the power supply component 20, the larger the time threshold. Specifically, when the SOC value of the power supply component 20 is greater than 20%, the time threshold can be equal to 1 minute; when the SOC value of the power supply component 20 is greater than 10% and less than or equal to 20%, the time threshold can be set to a value greater than or equal to 10 seconds and less than 1 minute, and the time threshold gradually decreases as the SOC value decreases; when the SOC value of the power supply component 20 is less than or equal to 10%, the time threshold is 0, that is, immediately control the ride-on mower to enter the power limit mode.

[0248] Optionally, in the power limit mode, the control device is configured to: obtain the running electrical parameters of the traveling motor 42; determine the upper limit threshold and the lower limit threshold based on the running electrical parameters, and determine the output power of the mowing motor M according to the maximum discharge capacity, the upper limit threshold and the lower limit threshold. The running electrical parameters of the traveling motor 42 include but are not limited to: the traveling motor bus current, the traveling motor output current or the running power of the traveling motor.

[0249] Optionally, when determining the output power of the mowing motor M according to the maximum discharge capacity, the upper threshold and the lower threshold, the control device is further configured to: when the maximum discharge capacity is greater than the upper threshold, determine the output power of the mowing motor M according to the total current value and the walking electrical parameters. When the maximum discharge capacity is less than the upper threshold, control the mowing motor M to stop, and limit the output power of the walking motor 42 based on the maximum discharge capacity, so that the walking electrical parameters meet the preset conditions; wherein the preset conditions are set based on the maximum discharge capacity.

[0250] For example, the total current value output by the power supply component 20 is defined as I 总 , the maximum discharge capacity is the maximum discharge current I SOP , the walking electrical parameter is the walking motor output current I 轮 (For example, the average output current of the walking motor within 10 seconds) as an example, the upper threshold can be set to 1.1*I 轮 , the lower threshold can be set to 0.9*I 轮 The maximum discharge current I of the power supply assembly 20 SOP and the upper threshold value (for example, 1.1*I 轮 ) and a lower threshold (e.g. 0.9*I 轮 ) for comparison. If the maximum discharge current I SOP Greater than the upper threshold (e.g. 1.1*I 轮 ), the output power of the mowing motor M is limited so that the output current I M Satisfaction: I M =I 总 -I 轮 ; If the maximum discharge current I SOP Less than the lower threshold (for example, 0.9*I 轮 ), the mowing motor M is controlled to stop running, and the output power of the travel motor 42 is limited so that the output current I 轮 Satisfaction: I 轮 <I SOP , I SOP Indicates the maximum discharge current of power supply assembly 20 at the current moment.

[0251] Optionally, in the power limiting mode, the control device is further configured to release the power limiting mode when the total current value output by the power supply assembly 20 is less than a preset current value (for example, 5A) and both the mowing motor M and the travel motor stop running.

[0252] Based on the same concept, the present application also provides a power distribution method for a manned lawn mower. This embodiment distributes power by monitoring the battery pack status and the power demand information of each component of the whole machine, so as to make the whole machine run more reasonably and efficiently. Figure 40a andFigure 40b As shown, the power distribution method for the manned lawn mower specifically includes the following steps:

[0253] S401: Obtain the total current value output by the power supply component and the current state of the power supply component, where the current state of the power supply component includes the maximum discharge capacity of the power supply component.

[0254] Typically, the maximum discharge capacity can be represented by either the maximum discharge current or the maximum discharge power of the power supply component within a preset time (e.g., 10 seconds).

[0255] S402: Determine the current threshold according to the maximum discharge capacity.

[0256] S403: Judge whether the total current value is greater than the current threshold.

[0257] If the total current value is greater than the current threshold, execute step S404; if the total current value is less than or equal to the current threshold, execute step S401.

[0258] S404: Obtain the duration of the current state (i.e., the state with low maximum discharge capacity).

[0259] S405: Judge whether the duration of the current state is greater than the time threshold.

[0260] If the duration of the state with low maximum discharge capacity is greater than the time threshold, execute step S406; if the duration of the state with low maximum discharge capacity is less than or equal to the time threshold, return to execute step S401.

[0261] S406: Control the manned lawn mower to enter the power limit mode.

[0262] In the power limit mode, the power distribution method for the manned lawn mower of the present application includes the following steps:

[0263] S407: Obtain the running electrical parameters of the running motor and determine the upper limit threshold and the lower limit threshold based on the running electrical parameters.

[0264] S408: Judge whether the maximum discharge capacity is greater than the upper limit threshold.

[0265] If the maximum discharge capacity is greater than the upper limit threshold, execute step S409; if the maximum discharge capacity is less than the upper limit threshold, execute step S410.

[0266] S409: Determine the output power of the mowing motor according to the total current value and the running electrical parameters.

[0267] S410: Judge whether the maximum discharge capacity is less than the lower limit threshold.

[0268] If the maximum discharge capacity is less than the lower threshold, step S411 is executed; if the maximum discharge capacity is greater than the lower threshold, step S412 is executed.

[0269] S411: Control the mowing motor to stop, and limit the output power of the travel motor based on the maximum discharge capacity.

[0270] S412: Whether the total current value output by the power supply assembly is less than a preset current value (eg, 5A), and the mowing motor and the travel motor are both stopped.

[0271] If the total current value output by the power supply assembly is less than the preset current value (for example, 5A), and both the mowing motor and the travel motor stop running, execute step S413; if not satisfied, return to execute step S406.

[0272] S413: Release the power limit mode.

[0273] The present application also provides an outdoor walking device 100 for executing the above power allocation method, which has the same functional modules and beneficial effects as the above manned lawn mower. Power allocation is performed by monitoring the battery pack status and the power demand information of each component of the whole machine, so that the whole machine can run more reasonably and efficiently. Figure 2 and Figure 12 As shown, the outdoor walking device 100 of the present application includes: a frame 11, and a support part mounted on the frame 11 for supporting a user; a walking wheel set 41, connected to and supporting the frame 11, driven by a walking motor 42; a mowing element, driven by a mowing motor M; a power supply assembly 20, used to supply power to the mowing motor M or the walking motor 42; a control device, configured to output a control signal to control the operation of the walking motor 42 or the mowing motor M. The control device is further configured to: control the outdoor walking device to enter a power limiting mode based on the current state of the power supply assembly 20 and the total current value of the outdoor walking device; in the power limiting mode, limit the output power of the mowing motor M based on the current state of the power supply assembly 20; and limit the output power of the walking motor 42 after the mowing motor M is limited and stopped.

[0274] Optionally, the current state of the power supply component 20 includes the maximum discharge capacity of the power supply component 20; the control device is configured to: determine a current threshold based on the maximum discharge capacity, and compare the total current value with the current threshold; when the total current value is greater than the current threshold, obtain the duration of the current state, and compare the duration of the current state with the time threshold, and determine whether to control the outdoor walking equipment to enter the power limiting mode based on the current comparison result and the duration comparison result.

[0275] Optionally, the control device is configured to: obtain an SOC value of the power supply assembly 20, and determine a time threshold according to the SOC value.

[0276] Optionally, in the power limit mode, the control device is further configured to: obtain the traveling electrical parameters of the traveling motor 42; determine an upper threshold and a lower threshold based on the traveling electrical parameters; and determine a power limit strategy for the mowing motor M according to the maximum discharge capacity, the upper threshold, and the lower threshold.

[0277] Optionally, the control device is configured to: when the maximum discharge capacity is greater than the upper threshold, determine the output power of the mowing motor M according to the total current value and the traveling electrical parameters.

[0278] Optionally, the control device is configured to: when the maximum discharge capacity is less than the upper threshold, stop the mowing motor M and limit the output power of the traveling motor 42 based on the maximum discharge capacity.

[0279] The present application further provides a manned mowing machine integrating at least one of wireless communication, positioning, and attitude detection technologies, and can implement at least one of the following functions: recording the working trajectory of the mowing machine; querying the location of the mowing machine; retrieving the mowing machine according to the positioning location after the mowing machine is lost; detecting the overturning state of the mowing machine, discovering and alarming in time; remote OTA upgrade; transmitting information such as mowing machine fault information, abnormal working information, and accessory wear prediction; and pushing fault repair information to the user to prompt the user to replace the faulty parts in time. Refer to Figure 2 and Figure 12 As shown, the manned mowing machine of the present application includes: a frame 11, and a support part installed on the frame 11 for supporting an operator; a traveling wheel set 41, connected to and supporting the frame 11, and driven by a traveling motor 42; a mowing element, driven by a mowing motor; and a power supply assembly 20, including at least one battery pack 21 for supplying power to the traveling motor 42 and the mowing motor. Refer to Figure 41As shown, the manned lawn mower of the present application further includes: a controller MCU configured to output a control signal to control the operation of the traveling motor 42 or the mowing motor M; a wireless communication module 410 configured to be capable of two-way communication with an external device, for transmitting data information to the external device and receiving input information from the external device; the controller MCU is configured to control the manned lawn mower to enter the remote control mode in response to the input information of the external device at least when it is detected that there is no operator on the support part and the mowing motor M is not running; in the remote control mode, the controller MCU prohibits the mowing motor M from rotating; in the remote control mode, the controller MCU is configured to control the operation of the traveling motor 42 based on the input information of the external device according to a first preset condition. Specifically, when responding to the input information of the external device when there is no operator on the support part and the mowing motor M is not running, if it is necessary to perform towing, the lawn mower can be controlled to move forward or backward or left or right at a fixed vehicle speed through the wireless communication module (such as a Bluetooth module). By configuring the remote control mode, the problem that the existing local control method is difficult to avoid dangerous working conditions and affects the operation safety is solved, and remote control and data maintenance are realized by integrating wireless communication, positioning and attitude detection technologies.

[0280] In this embodiment, the data information sent by the wireless communication module 410 to the external device includes but is not limited to: at least one of the upgrade status and the current firmware version information of the wireless communication module, the driving trajectory, the mowing trajectory and the real-time position of the manned lawn mower, and the overturning state of the manned lawn mower. The input information of the external device includes at least one of the following: a remote connection instruction, a driving direction, a mowing direction, a driving speed, a mowing speed, and a software upgrade data packet.

[0281] In some embodiments, for example, when the lawn mower is operating in the high-speed driving mode, the first preset condition is that the rotational speed is less than or equal to 10 mph. In some embodiments, for example, when the lawn mower is operating in the medium-speed driving mode, the first preset condition is that the rotational speed is less than or equal to 8 mph. In some embodiments, for example, when the lawn mower is operating in the low-speed driving mode, the first preset condition is that the rotational speed is less than or equal to 6 mph. In some embodiments, for example, when the lawn mower is operating in the low-speed driving mode, the first preset condition is that the rotational speed is less than or equal to 4 mph. In some embodiments, for example, when the lawn mower is operating in the position recovery mode, the first preset condition is that the rotational speed is less than or equal to 2 mph.

[0282] See Figure 41As shown in the figure, the manned lawn mower further includes: a positioning module 411. The positioning module 411 is installed together with the wireless communication module 410 and the display device and used as a whole; alternatively, the positioning module 411 can be integrally set with the wireless communication module 410 to form an independent module, installed on the lawn mower, and connected to other modules through a bus, obtaining information of other modules on the bus and sending its own data and status. The positioning module 411 of the present application is configured to: record the driving trajectory, mowing trajectory and real-time position of the manned lawn mower, and send the driving trajectory, mowing trajectory and real-time position to the terminal server through the wireless communication module. Specifically, the positioning module 411 can be any one of the following: GPS positioning module, Beidou positioning module, WiFi AP positioning module and Bluetooth positioning module. In this embodiment, an independent GPS positioning module can be used to locate the vehicle position with high positioning accuracy. The terminal server can push the walking trajectory and mowing trajectory to the user terminal, integrate the map function on the user terminal, and use trajectory lines of different colors to distinguish and display the walking trajectory and mowing trajectory on the map.

[0283] See Figure 41 As shown in the figure, the manned lawn mower further includes: an attitude detection module 412 for detecting the overturning state of the manned lawn mower; the wireless communication module 410 is further configured to: send the overturning state to the terminal server and push the overturning state to the user through the terminal server. In this embodiment, the attitude detection module 412 includes but is not limited to: a multi-axis accelerometer and a gyroscope. The multi-axis accelerometer and the gyroscope can be used to jointly detect the vehicle attitude. By analyzing the acceleration sensor data, wheel speed, etc., the vehicle sideslip state is judged and the sideslip state is corrected. Specifically, when the acceleration in two or three of the axes detected by the accelerometer exceeds a certain value and the gyroscope detects an angular velocity greater than the rated value (this rated value is obtained through a large number of previous tests) in one or more directions, it is considered that the vehicle is about to tilt and roll over. The fault information and solutions are synchronously pushed to the user for voice or light or display information reminder. At the same time, the mowing motor and the driving motor are stopped. In some embodiments, the attitude detection module 412 includes an Inertial Measurement Unit (IMU). The IMU may be placed under the cover on the left side of the seat together with the positioning module.

[0284] In some embodiments, the three-axis attitude angles of the lawn mower relative to the ground, namely the pitch angle, yaw angle and roll angle, as well as the acceleration and angular velocity data, are obtained in real time through the attitude detection module 412. The IMU is fixed to the vehicle, for example, fixedly installed with the vehicle frame or other immovable body structures.

[0285] In some embodiments, the user can set the vehicle tilt alarm angle data through an external device or a display screen. Specifically, when the attitude sensor detects that the attitude angle is greater than the threshold value, an alarm is triggered. The threshold value is an option table, and the selectable angles include, but are not limited to, 10°, 15°, 20°, 25°, etc. When the vehicle body attitude is at the critical angle, a prompt is given on the display screen. When the vehicle tilt angle exceeds the set angle, an alarm message is output through the display screen. In some embodiments, the output of the attitude detection module 412 is used to judge the running state of the vehicle on a ramp, so as to control the motor speed and improve the ramp driving maneuverability. In some embodiments, in the assisted driving control, through the closed-loop control of the vehicle body attitude, the driving direction is automatically controlled, reducing the driver's workload and avoiding continuous adjustment of the direction, thereby reducing the driver's workload and enhancing the driving experience.

[0286] In this way, by measuring the three-axis angle of the device operation in real time, when the vehicle is driving on a ramp, the vehicle body tilt alarm is triggered to avoid the vehicle overturning when driving on a ramp; the vehicle speed is controlled when driving on a ramp to improve the ramp handling performance; it is also used for attitude control during vehicle assisted driving, including driving direction locking, automatic driving positioning and other controls. Refer to Figure 41 As shown, the manned lawn mower of the present application further includes: a warning module 413, connected to the wireless communication module 410 or the controller; the wireless communication module 410 is further configured to: receive the warning control instruction issued by the terminal server and send out a warning message through the warning module.

[0287] Optionally, the data transmission method of the wireless communication module 410 includes at least one of the following: Bluetooth, Wi-Fi, ZigBee, LoRa or 4G. Specifically, a 4G module can be used for data transmission, and based on the base station positioning principle, the position information of the lawn mower is obtained through base station positioning. In some embodiments, the data transmission method of the wireless communication module 410 also includes: wireless communication in unlicensed open radio frequency bands such as 433Mhz wireless communication, 915Mhz wireless communication, 2.4Ghz wireless communication, 5.8Ghz wireless communication, etc.

[0288] Refer to Figure 41 As shown, the controller performs two-way data transmission with the wireless communication module 410, the positioning module 411, the attitude detection module 412 and the warning module 413 respectively to realize data monitoring, early warning and control in different application scenarios.

[0289] When the lawn mower is working, the positioning module 411 records the driving trajectory, mowing trajectory and real-time position of the vehicle respectively, and uploads the real-time position of the lawn mower to the terminal server through the wireless communication module 410 (such as a 4G module).

[0290] When the lawn mower is lost, the positioning module 411 (such as a GPS module) periodically obtains the real-time position of the lawn mower and uploads the position information to the terminal server through the wireless communication module 410 (such as a 4G module). The terminal server can push the walking trajectory and mowing trajectory to the user terminal, integrate a map function on the user terminal, and use trajectory lines of different colors to distinguish and display the walking trajectory and mowing trajectory on the map. The user sets an electronic fence (i.e., a defined range on the map) on the map through the application integrated in the terminal. When the lawn mower is not within the electronic fence (i.e., the position of the lawn mower exceeds the defined range), an alarm is sent to the user to help the user retrieve the lost lawn mower. After the user arrives near the lawn mower, a command can be sent through the mobile phone to make the warning module 413 of the vehicle give an audible and visual alarm to indicate the position of the vehicle.

[0291] When the lawn mower needs to be software updated, the terminal server transmits the upgrade package through the wireless communication module 410 (such as a 4G module), pushes the update data to the lawn mower, and feeds back the current upgrade status and current firmware version information of the lawn mower through the wireless communication module 410 (such as a 4G module).

[0292] When the fault information of the lawn mower is detected, the detailed fault information is transmitted to the server for storage and backup through the wireless communication module 410 (such as a 4G module); and the fault information and solutions are synchronously pushed to the user. When the lawn mower detects that consumable parts such as the cutter head need to be replaced, the corresponding information is transmitted to the terminal server through the wireless communication module 410 (such as a 4G module), and the terminal server pushes the corresponding message to the user terminal to prompt the user to replace it in time.

[0293] When the attitude detection module 412 (such as an IMU) detects that the vehicle overturns, the corresponding overturn state is sent to the server through the wireless communication module 410 (such as a 4G module), and the server pushes the relevant overturn information to the user.

[0294] In some embodiments, the wireless communication module 410 may be fixedly installed under the cover of the operation component 50. In some other embodiments, the wireless communication module 410 may be integrally disposed within the display screen. In some embodiments, the wireless communication module 410 is integrated into the display screen and is connected to the positioning module 411 and the attitude detection module 412 in a bus connection manner. In some other embodiments, the wireless communication module 410, the positioning module 411, and the attitude detection module 412 are integrally disposed on the same circuit board. The wireless communication module 410 may use at least one of the following as the power supply: the battery pack 21 and the independent backup power supply, and the independent backup power supply can be charged by the battery pack 21 or discharge the battery pack 21. Specifically, the wireless communication module 410 performs data transmission work. Preferably, the wireless communication module 410 may be integrated with the positioning module 411 and the attitude detection module 412 and placed under the cover of the left operation component 50.

[0295] In one embodiment, the power supply for the wireless communication module 410, the positioning module 411, and the attitude detection module 412 uses the following two methods: First, directly use the battery pack 21 on the lawn mower for power supply; Second, use the battery pack 21 and the independent backup power supply (such as a battery module) for power supply. The independent backup power supply may use a rechargeable battery and is fixedly installed near the power supply component 20 in a non-removable manner. The independent backup power supply can be charged by the battery pack 21 or discharge the battery pack 21. When the battery pack 21 is powered on, the module is powered by the battery pack 21; when the battery pack 21 is out of power or unplugged, the module is powered by the independent backup power supply.

[0296] Based on the same concept, the present application further provides a manned lawn mower, including: a frame 11, and a support portion installed on the frame 11 for supporting an operator; a traveling wheel set 41, connected to and supporting the frame 11 and driven by a traveling motor 42; a mowing element, driven by a mowing motor M; a controller, configured to output a control signal to control the operation of the traveling motor 42 or the mowing motor M; a wireless communication module, configured to be capable of two-way communication with an external device, for transmitting data information to the external device, and receiving input information from the external device; the controller is configured to at least be able to respond to the input information of the external device to control the manned lawn mower to enter the remote control mode when it detects that there is no operator on the support portion; in the remote control mode, the controller is configured to control the operation of the manned lawn mower based on the input information of the external device.

[0297] Optionally, the input information of the external device includes at least one of the following: a remote connection instruction, a traveling direction, a mowing direction, a traveling speed, a mowing speed, and a software upgrade data packet.

[0298] In some embodiments, for example, when recording the driving track, the first preset condition is that the rotational speed is less than or equal to 10 mph. In some embodiments, the first preset condition is that the rotational speed is less than or equal to 8 mph. In some embodiments, the first preset condition is that the rotational speed is less than or equal to 6 mph. In some embodiments, the first preset condition is that the rotational speed is less than or equal to 4 mph. In some embodiments, for example, when retrieving the position of the lawn mower, the first preset condition is that the rotational speed is less than or equal to 2 mph.

[0299] Optionally, the manned lawn mower further includes: a positioning module, which is integrally arranged with the wireless communication module. The positioning module is configured to: record the driving track, mowing track and real-time position of the manned lawn mower, and send the driving track, mowing track and real-time position to the terminal server through the wireless communication module.

[0300] Optionally, the manned lawn mower further includes: an attitude detection module, which is used to detect the overturning state of the manned lawn mower; the wireless communication module is further configured to: send the overturning state to the terminal server, and push the overturning state to the user through the terminal server.

[0301] Optionally, the manned lawn mower further includes: a warning module, which is connected to the wireless communication module or the controller; the wireless communication module is further configured to: receive the warning control instruction issued by the terminal server, and send out a warning message through the warning module.

[0302] Optionally, the wireless communication module is fixedly installed under the covering of the operation component 50; the wireless communication module is connected to the positioning module and the attitude detection module by means of a bus connection; the wireless communication module uses at least one of the following as the power supply: the battery pack 21 and the independent standby power supply, and the independent standby power supply can be charged by the battery pack 21 or discharge the battery pack 21.

[0303] Optionally, the data transmission methods of the wireless communication module include at least one of the following: Bluetooth, Wi-Fi, ZigBee, LoRa or 4G. The data transmission methods of the wireless communication module 410 also include: wireless communications in unlicensed open radio frequency bands such as 433Mhz wireless communication, 915Mhz wireless communication, 2.4Ghz wireless communication, 5.8Ghz wireless communication, etc.

[0304] Based on the same inventive concept, the present application also provides a manned lawn mower, which has a driving mode and a remote control mode. The manned lawn mower of the present application includes: a frame 11, and a support part installed on the frame 11 for supporting the operator; a walking wheel set 41, which is connected to and supports the frame 11 and is driven by a walking motor 42; a mowing element, which is driven by a mowing motor; a power supply assembly 20, which includes at least one battery pack 21 for supplying power to the walking motor 42 and the mowing motor. SeeFigure 41 As shown, the manned mower of the present application further includes: a controller MCU configured to output a control signal to control the operation of the traveling motor or the mowing motor; a wireless communication module 410 configured to be capable of two-way communication with an external device, for transmitting data information to the external device and receiving input information from the external device; the controller is configured to allow the manned mower to enter the driving mode in response to the operation of an operator located on the support part; the controller is configured to allow the manned mower to enter the remote control mode in response to the input information of the external device.

[0305] The present application also provides an outdoor walking device. An eddy current sensor is integrally arranged inside the motor to detect the position of the motor rotor, with low waterproof requirements and high structural reliability, which is beneficial to improving the detection accuracy. The manned mower of the present application includes: a frame 11; a traveling wheel set 41 connected to and supporting the frame 11; a traveling motor 42 connected to the traveling wheel set 41 for driving the traveling wheel set 41 to rotate so as to drive the outdoor walking device to move on the ground; a power supply assembly 20 including at least one battery pack 21. In some embodiments, the output power of the traveling motor 42 is greater than or equal to 2 kW. In some embodiments, the total energy of the power supply assembly 20 is greater than or equal to 2 kW·h. At least part of the power supply assembly 20 is detachably installed on the manned mower.

[0306] See Figures 42 to 44 As shown, the manned mower of the present application further includes an eddy current sensor 420 installed on the traveling motor 42 for detecting the position of the rotor of the traveling motor 42. In some embodiments, the eddy current sensor 420 includes a target 421 and a sensor circuit board 422. Among them, the target 421 is fixedly connected to the rotor of the traveling motor 42. The sensor circuit board 422 is installed on the traveling motor 42 opposite to the target 421. The power supply assembly 20 is used to supply power to the traveling motor 42 and the sensor circuit board 422.

[0307] The target 421 includes a plurality of metal plates 4211 in a fan-shaped structure. The target 421 is fixed to the rotor shaft 42a of the traveling motor 42 by screws, so that the target 421 rotates synchronously with the rotor shaft 42a of the traveling motor 42. In some embodiments, the target 421 includes at least one limiting portion, such as a flat position or a protrusion, for fixing to the rotor shaft. When the traveling motor 42 operates, an electrical signal is generated within the target 421, and this electrical signal can form a waveform on the sensor circuit board 422 for detecting the rotor position of the traveling motor 42. In some embodiments, the target 421 includes a plurality of metal plates in a fan-shaped structure embedded in an insulating material. The target 421 is fixed to the rotor shaft and rotates synchronously with the rotor shaft. Specifically, the sensor circuit board 422 is provided with a transmitting coil and a receiving coil. Among them, the transmitting coil can transmit an alternating excitation signal, and the alternating excitation signal generates an alternating electromagnetic field in space. The receiving coil can receive the signal generated by this alternating electromagnetic field. The target 421 induces eddy currents under the action of the alternating electromagnetic field, and the eddy currents generate a secondary electromagnetic signal field. When relative movement occurs between the sensor circuit board 422 and the target 421, the signal received by the receiving coil of the sensor circuit board 422 changes. The sensor circuit board 422 can obtain the relative position of the sensor circuit board and the target, that is, obtain the rotor position, by demodulating and processing the received signal. At this time, the sensor circuit board 422 outputs a corresponding signal, so that the controller controls the operation of the traveling motor based on the signal output by the sensor circuit board 422.

[0308] The sensor circuit board 422 is a printed circuit board integrating a sensor detection circuit. The sensor circuit board 422 is provided with a through hole 4221, and the diameter D1 of this through hole 4221 matches the diameter of the rotor shaft 42a of the traveling motor 42. In some embodiments, the diameter D1 of this through hole 422 is less than or equal to the diameter D2 of the fan-shaped area on the target 421.

[0309] The eddy current sensor 420 further includes a protective cover 423. The protective cover 423 is provided with a mounting hole, and the mounting hole is used to fix the protective cover to the traveling motor 42, so that the protective cover 423 covers the side of the target 421 and the sensor circuit board 422 facing away from the traveling motor 42. In some embodiments, a circuit board mounting groove 4231 is provided on the side of the protective cover 423 facing the traveling motor 42, and the circuit board mounting groove 4231 is used to fix the sensor circuit board 422. Specifically, the sensor circuit board 422 can be fixed in the circuit board mounting groove 4231 by screws to form an eddy current assembly. This eddy current assembly is fixed to one end face of the traveling motor 42 by screws.

[0310] See Figure 45 and Figure 46As shown, the traveling motor 42 includes a rear end cover 424, a three-phase power line 425, and a signal line 426. Among them, the rear end cover 424 includes a first end cover portion 4241 and a second end cover portion 4242 detachably mounted on the first end cover portion 4241. The first end cover portion 4241 and the second end cover portion 4242 form an accommodation space 424a for accommodating and fixing at least part of the three-phase power line 425, at least part of the signal line 426, a mounting target 421a, and a sensor circuit board 422a. Specifically, a first through hole 424b for allowing the three-phase power line 425 to pass through is formed on the first end cover portion 4241. The three-phase power line 425 is mounted to a fixing member 427, and the fixing member 427 is fixed inside the first end cover portion 4241 by means of screw fastening and is located within the accommodation space 424a. A second through hole 424c is also formed on the first end cover portion 4241, and the rotor shaft 42a extends into the accommodation space 424a through the second through hole 424c. The target 421a is fixedly mounted to the rotor shaft 42a by screws and rotates with the rotor shaft 42a. The sensor circuit board 422a is fixedly mounted on the side of the fixing member 427 away from the three-phase power line 425.

[0311] Based on the same concept, the present application also provides an outdoor traveling device 100. The eddy current sensor is integrally arranged inside the motor for detecting the position of the motor rotor, with low waterproof requirements and high structural reliability, which is conducive to improving the detection accuracy. The outdoor traveling device 100 of the present application includes: a frame 11; a traveling wheel set 41 connected to and supporting the frame 11; a traveling motor 42 connected to the traveling wheel set 41 for driving the traveling wheel set 41 to rotate so as to drive the outdoor traveling device 100 to move on the ground; and a driving motor connected to a working accessory for driving the working accessory to operate. Refer to Figures 42 to 44 As shown, the outdoor traveling device 100 of the present application further includes: an eddy current sensor 420 mounted on the traveling motor 42, and the eddy current sensor 420 includes a target 421 and a sensor circuit board 422 disposed opposite to the target 421; the target 421 is fixedly connected to the rotor of the traveling motor 42 or the driving motor; a power supply assembly 20 including at least one battery pack 21 for supplying power to the traveling motor 42, the driving motor, and the sensor circuit board 422.

[0312] Optionally, the target 421 rotates synchronously with the rotor shaft of the traveling motor 42 or the driving motor and generates an electrical signal, and the electrical signal can form a waveform on the sensor circuit board 422.

[0313] Optionally, the eddy current sensor 420 also includes: a protective cover; the protective cover is provided with a mounting hole, the mounting hole is used to fix the protective cover to the walking motor 42 or the driving motor, so that the protective cover is arranged on the side of the target 421 and the sensor circuit board 422 away from the walking motor 42 or the driving motor; the protective cover is provided with a circuit board mounting groove on the side facing the walking motor 42 or the driving motor, and the circuit board mounting groove is used to fix the sensor circuit board 422.

[0314] Optionally, the total energy of the power supply assembly 20 is greater than or equal to 2 kW·h.

[0315] Optionally, at least a portion of the power supply assembly 20 is detachably mounted to the outdoor walking device 100 .

[0316] Optionally, the output power of the travel motor 42 is greater than or equal to 2 kW.

[0317] Optionally, the drive motor includes a snow-clearing motor or a lawn mowing motor.

[0318] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the above embodiments do not limit the present application in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present application.

Claims

1. A manned lawn mower, comprising: a frame, and a support part mounted to the frame for supporting a user; a traveling wheel set, connecting and supporting the frame, the traveling wheel set being driven by a traveling motor; a mowing element, driven by a mowing motor; a controller configured to apply a drive signal to a drive circuit to at least control the operation of the mowing motor; wherein, the controller is configured to: receive a first electrical parameter related to the current of the mowing motor, and limit the first electrical parameter within a preset range when the first electrical parameter satisfies a first preset condition; when the first electrical parameter is limited within the preset range, the controller is further configured to: selectively use a first method or a second method to determine the rotor position of the mowing motor, so that the mowing motor does not stop when the first electrical parameter is within the preset range.

2. The manned lawn mower according to claim 1, wherein, the controller is configured to: receive a second electrical parameter related to the rotational speed of the mowing motor, and selectively use a first method or a second method to determine the rotor position of the mowing motor according to the second electrical parameter.

3. The manned lawn mower according to claim 2, wherein, the controller is configured to: use the first method to determine the rotor position of the mowing motor when the second electrical parameter satisfies a second preset condition, and use the second method to determine the rotor position of the mowing motor when the second electrical parameter satisfies a third preset condition; the second preset condition includes: a preset time threshold, and a preset lower limit threshold related to the rotational speed of the mowing motor; the third preset condition includes: a preset upper limit threshold related to the rotational speed of the mowing motor, and the value of the preset upper limit threshold is greater than the preset lower limit threshold.

4. The manned lawn mower according to claim 1, wherein, the controller is further configured to: use the first method to determine the rotor position of the mowing motor when the mowing motor starts.

5. The manned lawn mower according to claim 4, wherein, when the mowing motor starts, the controller is further configured to: receive a second electrical parameter related to the rotational speed of the mowing motor, determine whether to perform a switching of the rotor position detection method according to the second electrical parameter, and control the mowing motor to stop when the switching of the rotor position detection method is not performed.

6. A control method for a manned lawn mower, the manned lawn mower comprising: a frame, and a support part mounted to the frame for supporting a user; a traveling wheel set, connecting and supporting the frame, the traveling wheel set being driven by a traveling motor; a mowing element, driven by a mowing motor; wherein the control method includes: acquiring a first electrical parameter related to the current of the mowing motor, and limiting the first electrical parameter within a preset range when the first electrical parameter satisfies a first preset condition; When the first electrical parameter is restricted within a preset range, the first method or the second method is selectively used to determine the rotor position of the mowing motor, so that the mowing motor does not stop when the first electrical parameter is within the preset range.

7. The control method of the manned mower according to claim 6, wherein, it further includes: acquiring a second electrical parameter related to the rotational speed of the mowing motor; selectively using the first method or the second method to determine the rotor position of the mowing motor according to the second electrical parameter.

8. The control method of the manned mower according to claim 7, wherein, it further includes: when the second electrical parameter meets a second preset condition, using the first method to determine the rotor position of the mowing motor; when the second electrical parameter meets a third preset condition, using the second method to determine the rotor position of the mowing motor; the second preset condition includes: a preset time threshold and a preset lower limit threshold related to the rotational speed of the mowing motor; the third preset condition includes: a preset upper limit threshold related to the rotational speed of the mowing motor, and the value of the preset upper limit threshold is greater than the preset lower limit threshold.

9. The control method of the manned mower according to claim 6, wherein, it further includes: when the mowing motor starts, using the first method to determine the rotor position of the mowing motor.

10. The control method of the manned mower according to claim 9, wherein, it further includes: acquiring a second electrical parameter related to the rotational speed of the mowing motor; determining whether to perform a switching of the rotor position detection method according to the second electrical parameter; when not performing the switching of the rotor position detection method, controlling the mowing motor to stop.

11. An outdoor walking device, including: a frame; a walking wheel set, connected to and supporting the frame, and the walking wheel set is driven by a walking motor; a mowing element, driven by a mowing motor; a controller, configured to apply a driving signal to a driving circuit to at least control the operation of the mowing motor; wherein, the controller is configured to: receive and restrict a first electrical parameter related to the current of the mowing motor, and receive a second electrical parameter related to the rotational speed of the mowing motor during the restriction period, and selectively use the first method or the second method to determine the rotor position of the mowing motor according to the second electrical parameter.

12. The outdoor walking device according to claim 11, wherein, the controller is configured to: receive a second electrical parameter related to the rotational speed of the mowing motor, and selectively use the first method or the second method to determine the rotor position of the mowing motor according to the second electrical parameter.

13. The outdoor walking device according to claim 12, wherein, the controller is configured to: when the second electrical parameter meets the second preset condition, use the first method to determine the rotor position of the mowing motor, and when the second electrical parameter meets the third preset condition, use the second method to determine the rotor position of the mowing motor; The second preset condition includes: a preset time threshold and a preset lower limit threshold related to the rotation speed of the mowing motor; the third preset condition includes: a preset upper limit threshold related to the rotation speed of the mowing motor, and the value of the preset upper limit threshold is greater than the preset lower limit threshold.

14. The outdoor walking device according to claim 11, wherein, the controller is further configured to: when the mowing motor is started, use the first method to determine the rotor position of the mowing motor.

15. The outdoor walking device according to claim 14, wherein, when the mowing motor is started, the controller is further configured to: receive a second electrical parameter related to the rotation speed of the mowing motor, determine whether to perform a switching of the rotor position detection method according to the second electrical parameter, and control the mowing motor to stop when the switching of the rotor position detection method is not performed.

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