Manned lawnmower, manned lawnmower control method and outdoor walking equipment

Abstract

This application discloses a manned lawnmower, a control method for the manned lawnmower, and an outdoor walking device. The manned lawnmower includes: a frame, and a support unit mounted to the frame for supporting the user; a set of walking wheels connected to and supporting the frame, the set of walking wheels being driven by a walking motor; a mowing element driven by a mowing motor; and a controller configured to apply a drive signal to a drive circuit 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 to a preset range when it meets a first preset condition; when the first electrical parameter is limited to 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. By optimizing the rotor position detection method, the mowing motor is ensured to operate continuously under heavy load, improving the user's working experience.

Description

Technical Field

[0001] This application relates to an outdoor walking device, specifically a manned lawnmower, a manned lawnmower control method, and the outdoor walking device. Background Technology

[0002] A lawnmower is a mechanical tool used for trimming lawns, vegetation, etc. A lawnmower consists of a mowing element (such as a blade), a mowing motor, a walking mechanism, control components, and a power supply. The mowing motor is the main working component; the control components can integrate multiple electronic components required for the lawnmower's operation, such as capacitors and transistors, using printed circuit boards.

[0003] Lawn mower motor control primarily employs a field-oriented control (FOC) strategy. In FOC control, rotor position detection is necessary to ensure normal motor operation. Existing technologies typically employ either sensor-based or sensorless rotor position detection methods. The current sensorless method measures the back electromotive force (EMF) by injecting a high-frequency signal, then deduces the motor's speed from the measured back EMF, and finally determines the rotor position by comparing this measurement with the actual speed. However, under heavy loads, speed estimation suffers from ripple and hysteresis, leading to inaccurate rotor position acquisition, potentially causing motor shutdown and negatively impacting the user experience.

[0004] This section provides background information related to this application, which is not necessarily prior art. Summary of the Invention

[0005] One object of this application is to solve or at least alleviate some or all of the aforementioned problems. Therefore, one object of this application is to provide a manned lawnmower, a manned lawnmower control method, and an outdoor walking device to ensure that the lawnmower motor operates continuously under heavy load.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] In a first aspect, a manned lawnmower is provided, comprising: a frame, and a support portion mounted to the frame for supporting a user; a set of wheels connected to and supporting the frame, the set of wheels being driven by a motor; a mowing element driven by a mowing motor; and a controller configured to apply a drive signal to a drive 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 to a preset range when the first electrical parameter meets a first preset condition; when the first electrical parameter is limited to 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 rotational speed of the lawnmower motor, and selectively use a first method or a second method to determine the rotor position of the lawnmower motor based on the second electrical parameter.

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

[0011] 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 rotor position detection method switch based on the second electrical parameter, and control the mowing motor to stop when the rotor position detection method switch is not performed.

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

[0013] In some embodiments, the manned lawnmower control method further includes: acquiring a second electrical parameter related to the rotational speed of the lawnmower motor; and selectively using a first method or a second method to determine the rotor position of the lawnmower motor based on the second electrical parameter.

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

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

[0016] In some embodiments, the manned lawnmower control method further includes: acquiring a second electrical parameter related to the rotational speed of the lawnmower motor; determining whether to perform a rotor position detection method switching based on the second electrical parameter; and controlling the lawnmower motor to stop when the rotor position detection method switching is not performed.

[0017] Thirdly, an outdoor walking device is provided, comprising: a frame; a walking wheel assembly connected to and supporting the frame, the walking wheel assembly being driven by a walking motor; a mowing element being 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; the controller being configured to: receive and limit a first electrical parameter related to the current of the mowing motor, and during the limiting period 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 based on 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 lawnmower motor, and selectively use a first method or a second method to determine the rotor position of the lawnmower motor based on the second electrical parameter.

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

[0020] 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 is started.

[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 rotor position detection method switch based on the second electrical parameter, and control the mowing motor to stop when the rotor position detection method switch is not performed.

[0022] The advantages of this application are as follows: By acquiring a first electrical parameter related to the current of the lawnmower motor, the first electrical parameter is limited to a preset range when it meets a first preset condition; when the first electrical parameter is limited to the preset range, the rotor position of the lawnmower motor is selectively determined using either a first method or a second method, so that the lawnmower motor does not stop when the first electrical parameter is within the preset range. By switching the rotor position detection method between speed and current, the problem of motor shutdown caused by inaccurate rotor position acquisition during heavy-load operation is solved, ensuring that the lawnmower motor runs without stopping under heavy load and improving the user's work experience. Attached Figure Description

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

[0024] Figure 2 This is a perspective view of an electric wheeled vehicle as one embodiment of this application.

[0025] Figure 3 yes Figure 1 A three-dimensional view of the power supply components of an electric wheeled vehicle.

[0026] Figure 4 This is a schematic diagram illustrating the power supply component adapted to different vehicles as one embodiment of this application;

[0027] Figure 5a yes Figure 3 A perspective view of the first mounting component of the power supply assembly and the battery pack.

[0028] Figure 5b yes Figure 3 A perspective view of the second mounting component of the power assembly and multiple battery packs;

[0029] Figure 6 yes Figure 5a A perspective view of the first connector in the middle;

[0030] Figure 7 yes Figure 5a A perspective view of the first connector in the middle;

[0031] Figure 8 It is a 3D view of the power supply assembly mounted on the chassis;

[0032] Figure 9 yes Figure 5a A perspective view of the terminal components of the battery pack;

[0033] Figure 10a This is a schematic diagram of a power supply component according to one embodiment of this application;

[0034] Figure 10b This is a schematic diagram of a power supply assembly as another embodiment of the present application;

[0035] Figure 10c This is a schematic diagram of a power supply assembly as yet another embodiment of the present application;

[0036] Figure 11 This is a schematic diagram of the mounting component and the second battery pack as one embodiment of this application;

[0037] Figure 12 yes Figure 1 A 3D view of the frame, power supply components, and drive motor of a manned lawnmower;

[0038] Figure 13 yes Figure 1 Exploded view of the seat and seat mounting structure of a manned lawnmower;

[0039] Figure 14a yes Figure 13 A perspective view of the seat base and the locking assembly in the locked state;

[0040] Figure 14b yes Figure 13A 3D view of the seat base and the locking components in the unlocked state;

[0041] Figure 15a yes Figure 13 A schematic diagram showing the locking state of the seat's locking assembly;

[0042] Figure 15b yes Figure 13 A diagram showing the unlocked state of the locking components of the seat.

[0043] Figure 16 yes Figure 1 A 3D view of the central control unit of a manned lawnmower;

[0044] Figure 17 yes Figure 1 A three-dimensional view of the central control unit of a manned lawnmower from another perspective;

[0045] Figure 18 yes Figure 1 Exploded view of the central control unit of a manned lawnmower;

[0046] Figure 19 yes Figure 16 A 3D view of the circuit board assembly of the central control unit;

[0047] Figure 20 yes Figure 16 A perspective view of the second seal of the central control component;

[0048] Figure 21 yes Figure 1 A perspective view of the anti-tipping device on a medium-duty manned lawnmower;

[0049] Figure 22 yes Figure 21 Exploded view of the connecting components of the anti-tipping device in the middle;

[0050] Figure 23 yes Figure 21 Exploded view of the bending assembly of the anti-tipping device in the middle;

[0051] Figure 24 yes Figure 1 A 3D view of the frame of a manned lawnmower;

[0052] Figure 25 This is a circuit diagram of the drive circuit of a manned lawnmower as an embodiment of this application;

[0053] Figure 26 This is a schematic diagram of the circuit board of a manned lawnmower as an embodiment of this application;

[0054] Figure 27aThis is a schematic diagram of the installation structure of the heat sink of a manned lawnmower as one embodiment of this application;

[0055] Figure 27b This is a top view of the heat sink of a manned lawnmower as an embodiment of this application;

[0056] Figure 28a This is a schematic diagram of the mounting structure of the power supply bracket of a manned lawnmower as an embodiment of this application;

[0057] Figure 28b This is a schematic diagram of the power supply bracket of a manned lawnmower as an embodiment of this application;

[0058] Figure 29a This is a schematic diagram of the circuit board mounting structure of a manned lawnmower as one embodiment of this application;

[0059] Figure 29b This is a cross-sectional view of the circuit board mounting structure of a manned lawnmower as an embodiment of this application;

[0060] Figure 30 This is a flowchart of a manned lawnmower control method as an embodiment of this application;

[0061] Figure 31 This is a flowchart of another manned lawnmower control method as an embodiment of this application;

[0062] Figure 32 This is a control block diagram of the drive motor of a manned lawnmower as an embodiment of this application;

[0063] Figure 33 This is a schematic diagram of the display device of a manned lawnmower as an embodiment of this application;

[0064] Figure 34 This is a circuit diagram of the power supply circuit of a manned lawnmower as an embodiment of this application;

[0065] Figure 35 This is a perspective view of the mowing element of a manned lawnmower as an embodiment of this application;

[0066] Figure 36a This is a schematic diagram of the structure of an auxiliary power supply for a manned lawnmower as an embodiment of this application;

[0067] Figure 36b This is a schematic diagram of another auxiliary power supply for a manned lawnmower, as one embodiment of this application;

[0068] Figure 37This is a schematic diagram of the soft start module of a manned lawnmower as an embodiment of this application;

[0069] Figure 38 This is a schematic diagram of the power communication structure of a manned lawnmower as an embodiment of this application.

[0070] Figure 39a This is a circuit diagram of a power adapter for a manned lawnmower, as one embodiment of this application.

[0071] Figure 39b This is a circuit diagram of another power adapter for a manned lawnmower, as one embodiment of this application.

[0072] Figure 39c This is a circuit diagram of another power adapter for a manned lawnmower, as an embodiment of this application.

[0073] Figure 40a This is a flowchart of a power distribution method for a manned lawnmower as an embodiment of this application;

[0074] Figure 40b This is a flowchart of another power distribution method for a manned lawnmower as one embodiment of this application;

[0075] Figure 41 This is a schematic diagram of the communication module of a manned lawnmower as one embodiment of this application;

[0076] Figure 42 This is a perspective view of a walking motor equipped with an eddy current sensor for a manned lawnmower, as an embodiment of this application.

[0077] Figure 43 yes Figure 42 An exploded view of a walking motor equipped with an eddy current sensor.

[0078] Figure 44 yes Figure 42 An exploded view of the walking motor equipped with an eddy current sensor from another perspective.

[0079] Figure 45 This is a perspective view of a walking motor equipped with an eddy current sensor, which is another embodiment of this application.

[0080] Figure 46 yes Figure 45 An exploded view of a walking motor equipped with an eddy current sensor. Detailed Implementation

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

[0082] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0083] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0084] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0085] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​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 associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​not using relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) added to or subtracted from the indicated angle.

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

[0087] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0088] In this application, the terms "controller," "processor," "central processing unit," "CPU," and "MCU" are used interchangeably. When using the unit "controller," "processor," "central processing unit," "CPU," or "MCU" to perform a specific function, unless otherwise stated, these functions may be performed by a single or multiple of the aforementioned units.

[0089] In this application, the terms "device," "module," or "unit" are used to describe devices that can be implemented in hardware or software to perform a specific function.

[0090] In this application, the terms “calculation,” “judgment,” “control,” “determine,” “identify,” etc., refer to the operation and process of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0091] like Figure 1 As shown, the outdoor walking device 100 disclosed in this application can specifically be an electric wheeled device, such as a manned lawnmower, which allows a user to sit or stand on it to operate for mowing lawns and other vegetation. In this specification, the directions forward, backward, left, right, up, and down are described as... Figure 1The directions shown are as follows. Specifically, when a user is riding on the outdoor walking device 100 located on the ground, the direction the user is facing is defined as forward, the direction behind is defined as rear, the direction to the left is defined as left, the direction to the right is defined as right, the direction closest to the ground is defined as downward, and the direction furthest from the ground is defined as upward. Of course, the outdoor walking device disclosed in this application also includes all-terrain vehicles (UTVs). In related technologies, all-terrain vehicles include four-wheeled all-terrain vehicles (ATVs), multi-functional all-terrain vehicles, and recreational vehicles. In addition, the outdoor walking device disclosed in this application also includes manned snowplows, push lawnmowers, push snowplows, and electric motorcycles, 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. The walking assembly 40 includes a set of walking wheels 41 and a walking motor 42 (see [reference]). Figure 12 The walking motor 42 has a drive shaft for driving the walking wheel assembly 41 to rotate. The power supply assembly 20 is used to supply power to the outdoor walking device 100.

[0093] The power assembly 20 includes a battery pack 21 and a connector 22 for mounting the battery pack 21 to connect it to the outdoor mobility device 100. The battery pack 21 is detachably connected to the connector 22, which is detachably mounted to the outdoor mobility device 100 so that it can be removed to be adapted to other electrical devices. These other electrical devices include, but are not limited to, all-terrain vehicles, push lawnmowers, push snow sweepers, and manned lawnmowers. See also... Figure 4 As shown, the power supply component 20 of the outdoor walking equipment 100 can be detached and removed from the outdoor walking equipment 100, and then installed on the all-terrain vehicle 100a, the push lawnmower, the push snow sweeper 100c, the riding lawnmower 100b, and the standing lawnmower 100d to supply power to these electrical devices and enable the functions of the aforementioned power supply devices.

[0094] In some embodiments, the connector 22 of the power assembly 20 includes a first connector 22a and a second connector 22b with different morphological features. Specifically, the first connector 22a is configured to electrically connect to one battery pack 21, and the second connector 22b is configured to electrically connect to at least two battery packs 21. Figure 5a and Figure 5bA specific embodiment of the first connector 22a and the second connector 22b is shown. The first connector 22a has a battery pack 21 detachably mounted inside, and the second connector 22b has three battery packs 21 detachably mounted inside. The second connector 22b has a larger external dimension than the first connector 22a. Thus, by providing connectors 22 with different external dimensions for mounting the battery packs 21, the power requirements of different outdoor walking devices can be met. For example, for a push lawnmower 100b or a push snowplow 100c, the power assembly can be the first connector 22a to mount the battery packs. For an all-terrain vehicle 100a, multiple first connectors 22a with battery packs 21 mounted can be used, or one or more second connectors 22b with at least two battery packs 21 mounted can be used, or a combination of first connectors 22a and second connectors 22b can be used. In this way, by combining the power requirements of outdoor walking equipment with its own spatial characteristics, the connectors for installing battery packs can be selected and arranged in a reasonable manner, improving the versatility of power components among various power-consuming devices, thereby making the application scenarios of power components wider and providing convenience for users.

[0095] In some embodiments, the connector 22 may be a battery compartment or other type of structure for mounting a battery pack to a manned lawnmower. Hereinafter, battery compartment 22 is used in place of connector 22, first battery compartment 22a is used in place of first connector 22a, and second battery compartment 22b is used in place of second connector 22b. Of course, the connector may also have other external features, such as a base.

[0096] Optionally, see Figures 6 to 7 As shown, the battery compartment 22 has a receiving space 221 for accommodating the battery pack 21, which is detachably disposed within the receiving space 221. Specifically, the connector 22 forms or connects at least one first joint 222 and at least one second joint. The first joint 222 is used to achieve a detachable electrical connection between the battery compartment 22 and the battery pack 21. The second joint is used to achieve a detachable connection between the battery compartment 22 and the outdoor walking device 100. In some embodiments, the first joint 222 not only serves to achieve an electrical connection with the battery pack 21, but also serves to securely mount the battery pack 21 within the receiving space 221 of the battery compartment 22, preventing the battery pack 21 from shaking relative to the battery compartment 22 due to vibration when the outdoor walking device 100 is traveling or performing its work functions, thus avoiding poor contact at the first joint 222. The second joint can be a screw, or a specially designed mechanism, such as a snap-fit ​​or quick-clamp structure; those skilled in the art can design it according to requirements.

[0097] See Figure 6As shown, the battery compartment 22 includes a compartment body 225 and a first connecting portion 222 disposed on the compartment body 225. The first connecting portion 222 may include a locking assembly 2221 and a compartment body terminal assembly 2222. The locking assembly 213 is disposed on the compartment body 225 of the battery compartment 22 and is used to lock the battery pack 21 inside the compartment body 225.

[0098] In some embodiments, the battery compartment terminal assembly 2222 includes charging positive / negative terminals, discharging positive / negative terminals, and communication terminals disposed on a terminal base. The charging positive / negative terminals, discharging positive / negative terminals, and communication terminals can be cylindrical metal terminals. Optionally, the charging positive terminal and discharging positive terminal in the battery compartment terminal assembly 2222 can be the same terminal, or the charging negative terminal and discharging negative terminal can be the same terminal. During charging or discharging, the communication terminal can be shared to communicate with the adapter or self-moving device. Optionally, the charging positive / negative terminals, discharging positive / negative terminals, and communication terminals are disposed on a terminal base. The terminal base also has a guiding structure, or the terminal base can form a guiding structure. The battery pack 21 has a corresponding structure that matches the guiding structure. When the guiding structure cooperates with the corresponding structure on the battery pack 21, the battery compartment terminal assembly 2222 can float within a preset distance range. This avoids unstable or damaged connection terminals due to uncontrollable factors such as vibration after the battery pack 21 is installed on the battery compartment. In one embodiment, the guiding structure can be a guide post, and the corresponding structure on the battery pack that cooperates with it is a guide groove.

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

[0100] Optionally, the battery compartment 22 may also have a slide rail 2221 adapted to the battery pack 21 for guiding the battery pack 21 to slide into the battery compartment 22. Optionally, see [link to relevant documentation]. Figure 7 As shown, in addition to the first connecting part 222, the battery compartment 22 also includes a third connecting part 224 for guiding and limiting the insertion and removal of the battery pack 21. The third connecting part 224 is disposed opposite to the first connecting part 222 on two sides of the battery compartment 22. The advantage of this design is that it can maximize the fixation of the battery pack 21 in the battery compartment and avoid unstable connection between the battery pack 21 and the battery compartment 22 due to external shaking.

[0101] By employing the aforementioned compatible terminal assembly 2222 of the battery compartment 22 and terminal assembly 2111 of the battery pack 21, the entire battery pack achieves IPX7 waterproof and dustproof requirements, while the battery compartment itself achieves IPX5 waterproof requirements. The average discharge current of the battery pack 21 is greater than or equal to 30A, for example, 30A, 35A, 40A, etc. Optionally, the rated output current of the battery pack 21 can be greater than or equal to 120A or the instantaneous peak current can be approximately 350A.

[0102] In some embodiments, the power assembly 20 includes a first battery compartment 22a and a second battery compartment 22b. The first battery compartment 22a and the second battery compartment 22b have different dimensions. The number of battery packs that the first battery compartment 22a and the second battery compartment 22b can hold also differs. For example, the first battery compartment 22a can hold one battery pack, while the second battery compartment 22b can hold two, three, or more battery packs. The second battery compartment 22b disclosed in this application differs from the first battery compartment 22a in that the first battery compartment 22a has a first connecting portion 222 for adapting to one battery pack 21, while the second battery compartment 22b has multiple first connecting portions 222 for adapting to multiple battery packs 21.

[0103] The power supply assembly 20 disclosed in this application can be combined from one or more first battery compartments 22a and second battery compartments 22b according to actual needs. For example... Figure 10a As shown, in some embodiments, the power assembly 20 may include a first battery compartment 22a and a second battery compartment 22b. The first battery compartment 22a houses one battery pack 21, and the second battery compartment 22b houses three battery packs 21. The first battery compartment 22a is positioned in front of the second battery compartment 22b. In other embodiments, such as... Figure 10b As shown, the power assembly 20 can also consist of two second battery compartments 22b, each accommodating three battery packs 21. In other embodiments, such as Figure 10c As shown, the power assembly 20 can be composed of four first battery compartments 22a, which are arranged in a two-row, two-column configuration. This allows different vehicle models to choose a suitable arrangement based on their actual space and energy requirements when designing the power assembly, eliminating the need for additional battery compartments and thus enabling a modular design for the power assembly.

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

[0105] In some embodiments, see Figure 11 As shown, the second battery compartment 22b can also accommodate a second battery pack 21a, which is different from the battery pack 21. Specifically, two second battery packs 21a are installed to and electrically connected to the adapter 21b, and the adapter 21b is electrically connected to the first joint 222 of the second battery compartment 22b. The energy of the second battery pack 21a is greater than or equal to 0.1 kWh and less than 2 kWh. Optionally, the second battery pack 21a is a battery pack with an energy greater than or equal to 0.1 kWh. In some embodiments, the second battery pack 21a is a battery pack with an energy greater than or equal to 0.4 kWh. In some embodiments, the second battery pack 21a is a battery pack with an energy greater than or equal to 0.6 kWh. In this embodiment, the second battery pack 21a is a lithium-ion battery cell, but nickel-cadmium batteries, graphene, and other materials can also be used to achieve different combinations of battery characteristics.

[0106] See also Figure 3As shown, the power supply assembly 20 also 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 integrated into the housing 231, eliminating the need for additional wiring harnesses and ensuring that the power management module 23 achieves an IPX5 waterproof rating. Specifically, the wire ends of the high-current interface 232 are equipped with wire terminal caps, and the terminals are equipped with waterproof rubber sleeves.

[0107] See also Figures 1 to 3 , Figure 8 as well as Figure 12 As shown, when the outdoor walking device 100 is specifically a manned lawnmower, the manned lawnmower includes: a housing assembly 10, a power supply assembly 20, a mowing assembly 30, a walking assembly 40, an operating assembly 50, a frame 11, and a support unit. The frame 11 extends substantially in a front-to-back direction and, together with the housing assembly 10, constitutes the main body of the manned lawnmower, used to mount the power supply assembly 20, the mowing assembly 30, the walking assembly 40, and the support unit. The walking assembly 40 supports the main body. The operating assembly 50 includes a joystick assembly 51, which is operated by the user to control the manned lawnmower's forward, backward, and turning movements. In some embodiments, the operating assembly 50 may also include a steering wheel assembly. The support unit is mounted on the frame 11 and supports the operator. Optionally, the support unit includes a seat 91. The seat 91 is mounted to the frame 11 for the user to sit on. Optionally, the support unit also includes a platform for the user to stand on. The power supply unit 20 provides energy to the mowing unit 30 and the walking unit 40, enabling the manned lawnmower to be used as a power tool capable of carrying a person. Compared to fuel-powered manned lawnmowers, electric manned lawnmowers are more environmentally friendly and energy-efficient. In some embodiments, the manned lawnmower also includes a grass collection device for collecting grass clippings cut by the mowing unit 30. The grass collection device includes a grass basket assembly, which is detachably mounted 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 walking assembly 40 includes a walking wheel set 41 and a walking motor 42. The walking motor 42 has a drive shaft for driving the walking wheel set 41 to rotate. The walking wheel set 41 is connected to the main unit to support the main unit. The walking wheel set 41 can at least drive the manned lawnmower to move in the forward-backward direction. Optionally, the walking wheel set 41 includes a first walking wheel 411 and a second walking wheel 412. The first walking wheel 411 includes a first left walking wheel 411L and a first right walking wheel 411R. The second walking wheel 412 includes a second left walking wheel 412L and a second right walking wheel 412R. The walking motor 42 drives the first walking wheel 411 or the second walking wheel 412 to rotate, thereby realizing the walking function of the manned lawnmower. Optionally, the number of walking motors 42 can be one, two, three, or four. In this embodiment, there are two walking motors 42, which drive the first left walking wheel 411L and the first right walking wheel 411R respectively, thereby enabling the manned lawnmower to turn in other directions deviating from the forward and backward direction.

[0109] The power supply assembly 20 is used to power at least the walking motor 42. The power supply assembly 20 includes at least one battery pack 21. The at least one battery pack 21 is detachably mounted to the manned lawnmower. The energy of the at least one battery pack of the power supply assembly 20 is greater than or equal to and less than or equal to 2 kWh. 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 being 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 kWh. 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 kWh. 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 explained that the left frame portion 11a and the right frame portion 11b of the frame 11 used to support the power supply assembly 20 mentioned above refer to the rear part of the frame 11. In other embodiments, the above-mentioned supporting portion may also have other forms. In summary, the above-mentioned portion should be understood as a frame surrounding the power supply assembly, which can be integrally formed with the frame or connected to the frame by screws or welding.

[0110] In this application, at least a portion of the power supply assembly 20 is disposed behind the support 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 vertical direction is greater than or equal to 330 mm. Optionally, the height of the power supply assembly 20 in the vertical direction is greater than or equal to 350 mm.

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

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

[0113] See Figure 1 , Figures 13 to 15b As shown, the manned lawnmower includes various devices, such as a central control assembly 70 located in the rear or lower area of ​​the seat 91. The user can easily inspect or maintain these devices by changing the position of the seat 91. The central control assembly 70 of this application is applicable to other forms of electric lawnmowers, such as smart lawnmowers.

[0114] The seat mounting structure disclosed in this application for mounting a seat 91 to a manned lawnmower includes a base plate 92, a connecting plate 93, and a locking assembly 94. The base plate 92 is supported on a frame 11 by a bracket 96. The seat 91 is integrally mounted on the base plate 92. The connecting plate 93 is located at the front of the seat 91 and associated with the frame 11. Optionally, the connecting plate 93 and the base plate 92 are associated by a step bolt 95, allowing the seat 91 to rotate around the step bolt 94. In some embodiments, the maximum angle of rotation of the seat 91 is limited by a steel cable. The locking assembly 94 has features such as allowing or preventing the seat 91 from rotating relative to the frame 11. Figure 14b and Figure 15b The unlock status shown or as Figure 14a and Figure 15a The locking state is shown. When the locking assembly 94 is in the locked state, it restricts the seat 91 from swinging upward relative to the frame 11. When the locking assembly 94 is in the unlocked state, it allows the seat 91 to swing upward relative to the frame 11. Optionally, the locking assembly 94 includes an operating member 941 and a mounting assembly 942 for mounting the operating member 941 to the frame 11. The operating member 941 is configured to rotate about a first axis 101 to switch the locking assembly 94 from the locked state to the unlocked state. The mounting assembly 942 is mounted below the frame 11.

[0115] The locking assembly 94 also includes a connecting assembly 943 for connecting the operating member 941 and the mounting assembly 942. Optionally, the connecting assembly 943 is disposed between the operating member 941 and the mounting assembly 942, which is fixedly mounted to the frame 11 and at least partially located under the seat 91. In some embodiments, the connecting assembly 943 includes a pivot 9431, a retaining ring 9432, a torsion spring 9433, and a locking member 9434. A limiting portion is formed or connected to the base plate; the limiting portion is adapted to the locking member to allow the locking assembly to have an unlocked state or a locked state that allows or prevents the seat from rotating relative to the frame. The operating member 941 is flatly connected to the pivot 9431, and the pivot 9431 is flatly connected to the locking member 9434. The torsion spring 9433 and the retaining ring 9432 are sleeved on the pivot 9431 and located between the operating member 941 and the locking member 9434. When the user rotates the operating member 941 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 disengages from the limiting member 921 on the base plate 92. Of course, the limiting member 921 can be a hook or a limiting groove. The locking assembly 94 disclosed in this application has a limit on the connecting plate 93, which restricts the rotational movement range of the locking member 9434 to the required range. When the seat 91 falls, the base plate 92 falls at the same time, and the limiting member 921 on the base plate 92 cooperates with the locking member 9434 to complete the locking. Moving the operating member 941 drives the locking member 9434 to move and disengage from the limiting member 921 to complete the unlocking. After releasing the hand, the locking assembly 94 returns to its original position under the action of the torsion spring 9433. In some embodiments, the limiting member 921 can be integrally formed with the base plate 92, or it can be installed on the base plate 92 by a screw connection structure.

[0116] In some embodiments, the locking assembly 94 includes an operating element 941 and a locking element 9434, wherein the operating element 941 is configured to be operable to switch the locking element 9434 from a locked state to an unlocked state. The locking assembly 94 is disengaged from the seat 91 in the unlocked state. It is understood that when the locking assembly 94 is disengaged from the seat 91 in the unlocked state, the seat 91 can be rotated freely, but the locking assembly 94 remains stationary; there is no direct mechanical connection between them.

[0117] The locking component 94 disclosed in this application is fixedly mounted on the frame 11 in both the locked and unlocked states, making it more convenient to flip the seat. It can be understood that when the locking component 94 is in the unlocked state, the locking element 9434 is separated from the seat 91. Furthermore, most of the structure of the locking component 94 disclosed in this application is installed under the frame 11, which effectively saves space in the front-back or left-right directions near the seat, avoiding interference with the installation space of other devices (such as power components) installed near the seat.

[0118] When a manned lawnmower travels outdoors, it generates significant vibrations when traversing complex road conditions. These vibrations are transmitted through the frame 11 to the user, resulting in a poor user experience. The seat 91 of the manned lawnmower disclosed in this application also has a shock-absorbing function to suppress vibrations from the rebound of the springs and road impacts. When traversing uneven roads, although the shock-absorbing springs can buffer road vibrations, the springs themselves move up and down, and the shock absorbers are used to suppress this spring bouncing. If the shock absorbers are too soft, the body will bounce up and down, while if the shock absorbers are too stiff, they will create too much resistance, thus hindering the normal operation of the springs.

[0119] This application also discloses the layout and packaging of electronic control systems for electric lawnmowers and electric wheeled devices. The electronic control system of a manned lawnmower typically includes components from four functional parts: a user interface part, a controller part, a system feedback part, and an output part. This application uses a manned lawnmower as a specific embodiment. In fact, electric lawnmowers include, but are not limited to, stand-up lawnmowers and ride-on lawnmowers. Electric wheeled devices include, but are not limited to, manned lawnmowers, push snow sweepers, push lawnmowers, and all-terrain vehicles.

[0120] The central control unit 70 is located under the seat 91 and serves as a control hub, controlling the operation of all components of the manned lawnmower that are electrically connected to the central control unit 70. Additionally, the central control unit 70 can be positioned towards the center of the vehicle to provide further protection against accidental contact with objects the vehicle may encounter, and to protect the wiring harness connected to the central control unit 70. Figure 16 A central control assembly 70 with a housing 71 is shown. See also Figures 17 to 19 As shown, housing 71 forms a sealed compartment 73 for accommodating circuit board assembly 72. Circuit board assembly 72 may include one or more of the various traction or motor controllers mentioned above, such as... Figure 19The diagram shows a walking control board 721 and a lawn mowing control board 722. There are two walking control boards 721 and three lawn mowing control boards 722. This can be understood as the five circuit boards operating independently of each other. The two walking control boards 721 are identical, and the three lawn mowing control boards 722 are identical. This design allows for easy replacement of damaged circuit boards in the event of a malfunction in the central control assembly 70; only the housing 71 needs to be opened to inspect and repair the walking control boards 721 and lawn mowing control boards 722. Optionally, the housing 71 of the central control assembly 70 can be formed in various shapes and structures. In some embodiments, the housing 71 is formed of a material with high thermal conductivity and specific heat capacity, such as aluminum, zinc-aluminum, zinc-aluminum-magnesium, copper, or similar materials. Optionally, the material of the housing 71 is aluminum or an aluminum alloy casting. The housing 71 should have a robust structure to prevent deformation or damage upon impact with an object. In other embodiments, the housing 71 is made of plastic material. To ensure the heat dissipation of the central control component 70 during its operation, the surface of the housing 71 has multiple heat sinks 74 to increase the surface area exposed to ambient air. Specifically, the housing 71 has multiple through holes for mounting the heat sinks 74, and a sealing structure, such as a sealing ring, is provided between the heat sinks 74 and the through holes.

[0121] Specifically, housing 71 includes a first housing 712 and a second housing 713. Circuit board assembly 72 is disposed within the receiving space formed by the first housing 712 and the second housing 713. Central control assembly 70 also includes a sealing assembly 75 and a cable 76 extending from the receiving space. The sealing assembly 75 is used to achieve a seal between the cable 76 and the first housing 712 or the second housing 713. At least a portion of the sealing assembly 75 is capable of elastic deformation. The cable 76 may be a flexible cable.

[0122] Optionally, the sealing assembly 75 includes a first seal 751 and a second seal 752. The first seal 751 seals the first housing 712 and the second housing 713, and the second seal 713 seals the cable 76 with the second housing 713. See [link to documentation] for details. Figure 20As shown, the second seal 752 has a groove 7521 for fitting with the first seal. The first seal 751 is disposed within the groove 7521 and is tightly fitted with the first seal 752. The second seal 752 also includes a through hole 7522 for sealing between the cable 76 and the second housing 713. The cable 76 passes through the through hole 7522 and is press-fitted with the second seal 752. By providing opposing first and second seals, the overall sealing performance of the central control assembly 70 is ensured, guaranteeing its waterproof performance to reach IPX5 level or even higher. Optionally, the first seal 751 is a sealing ring or a foam 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 this application is that while sealing the cable 76, the second seal 752 can also achieve good cooperation 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 travel motor 42. The first cable 761 and the second cable 762 emerge from the first side 71a and the second side 71b of the housing 71, respectively, with the first side 71a and the second side 71b positioned opposite each other. This arrangement, with the first cable 761 controlling the mowing motor and the second cable 762 controlling the travel motor emerging from opposite sides of the housing 71, ensures the shortest possible wiring distance between the cable outlets and the corresponding motors, resulting in a more compact structure.

[0125] The manned lawnmower disclosed in this application also includes a braking mechanism 60 for braking the travel wheel assembly 41 during operation or on a slope. Optionally, the parking mechanism includes a first brake assembly for braking the second left travel wheel 412L and a second brake assembly for braking the second right travel wheel 412R. The operating assembly 50 also includes a brake pedal for actuating the first and second brake assemblies, allowing the user to control the manned lawnmower to decelerate until it stops by pressing the brake pedal.

[0126] Specifically, the brake pedal 52 is connected to a drive rod, which is positioned between the brake pedal and the first brake assembly and / or the second brake assembly. The drive rod transmits the braking force from the brake pedal to the first brake assembly and / or the second brake assembly. The braking process of the manned lawnmower is as follows: the user presses the brake pedal forward, causing the drive rod to move. The drive rod then drives the first brake assembly to brake the second left-side travel wheel 412L. Simultaneously, the drive rod drives the second brake assembly to brake the second right-side travel wheel 412R. Optionally, the first and second brake assemblies include steel cables, which ensures uniform parking force on both sides of the vehicle and reduces space requirements.

[0127] Manned lawnmowers, especially those with zero roll-over radius (ZTR), can turn on the spot and are highly efficient. However, because they are off-road vehicles operating in complex environments such as slopes and depressions, rollover accidents are frequent due to varying operator skill levels and decreased vehicle stability during operation, seriously threatening the driver's life. To reduce the loss of life and property caused by accidents, the most convenient method is passive protection, namely, installing anti-rollover devices on the vehicle. This creates a safe space under the protection of the anti-rollover device, protecting the driver in the event of a rollover.

[0128] The improvements of the anti-tipping device for the manned lawnmower disclosed in this application mainly lie in the fixing structure and the adjustment of the flipping method. It can effectively fix the anti-tipping device and can be folded down when passing through culverts or height restrictions, so as to reduce the overall height of the vehicle and pass through quickly.

[0129] See Figure 1 , Figures 21 to 23 As shown, the anti-rollover device 12 is disposed near the support portion and is at least partially fixed to the frame 11. The anti-rollover device 12 is operated to have at least a first folding position and a second folding position. Optionally, the anti-rollover device 12 includes a first pillar portion 121, a second pillar portion 122, and a third pillar portion 123. The third pillar portion 123 is foldable relative to the first pillar portion 121 and the second pillar portion 122.

[0130] The first pillar portion 121 has a connecting assembly 124 mounted to the frame 11 and a bending assembly 125 bent relative to the frame 11. Specifically, the first pillar portion 121 has a first end 1211 detachably mounted to the frame 11 and a second end 1212 spaced apart from the first end 1211. The first end 1211 is connected to the frame 11 via the connecting assembly 124, and the second end 1212 is connected to the third pillar portion 123 via the bending assembly 125.

[0131] The connecting assembly 124 includes a sleeve 1241 fixedly mounted to the frame 11. The first end 1211 of the first support portion 121 is disposed within the sleeve 1241 and secured by an intermediate sleeve 1243 pressed together with bolts 1242. This intermediate sleeve 1243 prevents the riser of the first end 1211 of the first support portion 121 from being directly crushed and deformed by the bolts 1242. When the anti-rollover device 12 needs to be removed, the user only needs to loosen the outer fastening nut for quick disassembly and transportation.

[0132] The flipping assembly 125 includes a flipping connector 1251, a rotating pin 1252, and a positioning pin 1253. The second part 1212 of the first support part 121 has a plurality of positioning holes 1253a that are adapted to the positioning axis 1253. The user can select different positioning holes 1253a according to the bending angle requirements.

[0133] The above description, using the first pillar portion 121 as an example, illustrates the method of fixing the first pillar portion 121 to the frame and the connection relationship between the first pillar portion 121 and the third pillar portion 123. It is understood that the installation method of the second pillar portion 122 is the same as that of the first pillar portion 122, and will not be repeated in this application.

[0134] The anti-rollover device 12 in this application has three states: a working state, a first folding state, and a second folding state. The folding angles of the first and second folding states are different, allowing the anti-rollover device 2 to be adjusted to different folding positions for different driving scenarios. The third support portion 123 is flipped via a rotating pin 1252, and after flipping to a set angle, it is locked by inserting and removing the positioning pin 1253. In some embodiments, shock-absorbing springs or shock-absorbing foams are provided between the third support portion 123 and the first and second support portions 121 and 122 to reduce vibrations of the anti-rollover device 12 during vehicle operation.

[0135] See Figure 24As shown, the frame 11 includes a front frame 111 and a rear frame 112, which are detachably connected. The front frame 111 is equipped with a first wheel 411, and the rear frame 112 is equipped with a second wheel 412. Optionally, the front frame 111 and the rear frame 112 are fixed together by connecting bolts 113. The first wheel 411 is separately mounted on the front frame 111, while the power supply components, central control components, etc., are mounted on the rear frame 112. When it is necessary to replace the blades with different sizes (e.g., 48-inch, 52-inch, 54-inch, 60-inch) to meet the needs of different users or working conditions, the user can change the wheelbase of the manned lawnmower by replacing the front frame 111 with one that is compatible with the blades. The front frame 111 disclosed in this application adopts a welded steel plate I-beam structure. The front axle tube has binding holes on both sides and a towing hole in the middle for easy attachment of front-mounted accessories such as snowplows.

[0136] The manned lawnmower of this application has a higher overall power requirement. The power of the travel controller and blade controller is greater than that of existing manned lawnmowers, and the current handling capacity of the controllers will also be significantly increased. Based on the aforementioned features, this application provides a manned lawnmower suitable for high-power, high-current manned lawnmowers. See also Figure 25 As shown, the manned lawnmower of this application includes: a set of walking wheels 41 (see...) Figure 2 As shown, the walking motor 42 drives the grass-cutting element; the grass-cutting motor M drives the grass-cutting element; the power supply component 20 supplies power to the walking motor 42 and the grass-cutting motor M; the drive circuit 250 outputs a drive signal to drive the walking motor 42 or the grass-cutting motor M to run; the drive circuit 250 includes multiple power transistors (e.g., Q1, Q2, Q3, Q4, Q5 and Q6), the power transistors change their on / off state according to the control signal output by the controller, thereby changing the voltage and / or current state of the power supply component 20 applied to the windings of the walking motor 42 or the grass-cutting motor M, driving the walking motor 42 or the grass-cutting motor M to run.

[0137] See Figure 25 As shown, the manned lawnmower of this application also includes multiple capacitors C. In the hardware circuit, capacitors C can be directly connected in parallel to the power bus or directly connected between the upper and lower transistors of the drive circuit 250. The capacitor C integrated into the battery pack 21 can be a supercapacitor to smooth the power supply and reduce noise and ripple in the power supply. Optionally, at least one of the multiple capacitors has a capacitance of 680uF, and the operating voltage of the capacitor is less than or equal to 100V.

[0138] See Figure 26As shown, the manned lawnmower of this application further includes a circuit board 260, comprising a first side 260A and a second side 260B arranged opposite to each other. Multiple power transistors Q are arranged on the first side 260A, and multiple capacitors C are arranged on the second side 260B. The first side 260A is a printed circuit board, and the second side 260B is an aluminum substrate. In this embodiment, the aluminum substrate does not have a printed circuit layer; the aluminum substrate is only used to fix the capacitors, and the aluminum substrate and the capacitors are mutually insulated. The capacitor circuitry is integrated on the printed circuit board of the first side 260A. Therefore, this application solves the problem of high manufacturing costs caused by the existing control board structure using two printed circuit boards to integrate power transistors and capacitors separately by installing multiple power transistors and capacitors on both sides of a single circuit board. This simplifies the control board structure, saves costs, and enables high-current, high-power drive.

[0139] Optionally, the printed circuit board includes DC bus traces and power transistor traces. The aluminum substrate has a first through-hole, through which a capacitor is electrically connected to either the DC bus trace or the power transistor trace. The power transistor, capacitor C, DC bus trace, and power transistor trace are arranged according to the circuit structure of a manned lawnmower (see...). Figure 25 The drive circuits shown are interconnected.

[0140] In this embodiment, the manned lawnmower further includes an insulator disposed between the capacitor and the aluminum substrate to insulate the capacitor from the aluminum substrate. In this application, the insulator includes, but is not limited to, an adhesive insulating pad and / or an insulating sleeve. The insulating sleeve is fitted into the first through hole of the aluminum substrate. The capacitor is fixedly mounted on the aluminum substrate by the adhesive insulating pad and is mounted on different sides of the circuit board 260, respectively, as is the power transistor.

[0141] See Figure 27a and Figure 27b As shown, the manned lawnmower also includes a heat sink 261, which is disposed on the side of the circuit board 260 where multiple capacitors C are mounted. The heat sink 261 forms multiple receiving spaces 261C. At least a portion of the multiple capacitors C are disposed within the receiving spaces 261C. In this embodiment, the receiving space 261C can be a circular groove within the heat sink, the inner diameter of which matches the outer diameter of the capacitor, and the depth of which can be adjusted according to the height of the capacitor C. Holes are drilled in the heat sink 261 to ensure heat dissipation performance and prevent the capacitors from overheating and catching fire.

[0142] Optionally, the surface of the heat sink 261 is provided with heat dissipation teeth to increase the heat dissipation area of ​​the heat sink.

[0143] See Figure 28a and Figure 28bAs shown, the manned lawnmower also includes a power supply bracket 280, which is disposed on either the first side 260A (i.e., the printed circuit board) or the second side 260B (i.e., the aluminum substrate) of the circuit board 260. When the power supply bracket 280 is disposed on the second side 260B of the circuit board 260, the power supply bracket 280 and the aluminum substrate are insulated from each other. When the power supply bracket 280 is disposed on the first side 260A of the circuit board 260, the printed circuit board has power traces, and the power supply bracket 280 is electrically connected to the power traces. In this embodiment, the power traces include a positive power trace and a negative power trace, and the lengths of the positive power trace and the negative power trace are substantially equal. The positive power trace is used to connect to the positive terminal of the power supply component 20, and the negative power 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 system's control module. By setting the positive and negative power traces to be of equal length, the power supply quality of the system is improved, and electromagnetic interference to the control module is reduced.

[0144] See Figure 28a and Figure 28b As shown, the power supply bracket 280 is an aluminum alloy structural component. The lower surface of the power supply bracket 280 has a mounting via area that protrudes from the main body, forming a boss 281 to ensure reliable contact. The power supply bracket 280 is soldered to the printed circuit board via a metal ring 282. Screws are used to press the lower surface of the boss 281 against the upper surface of the metal ring 282, thereby achieving high current conduction and also providing heat dissipation.

[0145] See Figure 28a and Figure 28b As shown, the power supply bracket 280 also includes a copper busbar (not shown), a power terminal 283, and screws (not shown). The power terminal 283 is fastened to the copper busbar by screws. The copper busbar is soldered to the aluminum substrate to achieve high current carrying capacity and also has a heat dissipation function.

[0146] See Figure 28a As shown, the manned lawnmower also includes: an independently configured terminal block 284 (e.g., a three-phase power transistor terminal block), which is fixed to the first surface 260A or the second surface 260B of the circuit board 260 via a metal ring 282. In this embodiment, the terminal block 284 can be made of an aluminum alloy structural component. The metal ring is formed independently or integrally formed with the terminal block 284. The inner and outer diameters of the metal ring match the dimensions of the terminal block. By providing the metal ring, the flatness of the terminal is improved.

[0147] See Figure 29a and Figure 29bAs shown, the manned lawnmower also includes a main control board 290, which is disposed 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. See also Figure 1 As shown, the control component can be arranged below the seat 91 of the manned lawnmower. The fastener can be a bolt or screw. In this embodiment, a metal ring 282 can be provided between the main control board 290 and the circuit board 260. The fastener passes through the mounting hole of the main control board 290 and the metal ring 282 successively, and is fixedly connected to the circuit board 260. In this application, the main control board 290 is also connected to the circuit board 260 via a board-to-board connector (e.g., a pin header or female header). By providing 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 achieved, resulting in strong current carrying capacity.

[0148] See Figure 3 As shown, the power supply assembly 20 of this application includes at least one battery pack 21. The nominal voltage of the 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 a connector 22, which is detachably mounted to the outdoor walking device 100 so that it can be removed to be adapted to other electrical devices.

[0149] Based on the same concept, this application also provides an outdoor walking device 100. See also 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 driven by a walking motor 42; a power supply assembly 20 for supplying power to the walking motor 42; a drive circuit 250 for outputting drive signals to drive the walking motor 42; the drive circuit 250 includes multiple power transistors (Q1 to Q6); a circuit board 260 including a first surface 260A on which multiple power transistors are arranged and a second surface 260B opposite to the first surface 260A; the second surface 260B is configured as an aluminum substrate on which multiple capacitors are mounted; an insulator is arranged between the multiple capacitors and the aluminum substrate. In this embodiment, the first surface 260A is a printed circuit board; the printed circuit board has DC bus traces and power transistor traces; the aluminum substrate has a first through hole; the capacitors are electrically connected to the DC bus traces or power transistor traces through the first through hole; the capacitance of at least one capacitor is 680uF, and the operating voltage of at least one capacitor is less than or equal to 100V.

[0150] See Figure 28a and Figure 28bAs shown, the outdoor walking device 100 also includes a power supply bracket 280, which is disposed on a first surface 260A or a second surface 260B of the circuit board 260. The second surface 260B has power traces electrically connected to the power supply bracket 280. The power traces 280 include a positive power trace and a negative power trace, with the lengths of the positive and negative power traces being approximately equal. The positive power trace is used to connect to the positive terminal of the power supply component 20, and the negative power trace is used to connect to the negative terminal of the power supply component 20. The power supply component 20 supplies power to the system's control module. By setting the positive and negative power traces to be of equal length, the system's power supply quality is improved, and electromagnetic interference to the control module is reduced.

[0151] See Figure 28a As shown, the outdoor walking device 100 also includes: an independently configured terminal block 284 (e.g., a three-phase power transistor terminal block), which is fixed to the first surface 260A or the second surface 260B of the circuit board 260 by a metal ring 282. In this embodiment, the terminal block 284 can be made of aluminum alloy. The metal ring is formed independently or integrally formed with the terminal block 284. The inner and outer diameters of the metal ring match the dimensions of the terminal block.

[0152] See Figure 4 As shown, the outdoor walking equipment 100 includes, but is not limited to: a manned lawnmower (such as a ride-on lawnmower 100b and a stand-up lawnmower 100d), an all-terrain vehicle 100a, or a snowplow (such as a push snowplow 100c).

[0153] This application also provides a manned lawnmower that solves the problem of motor shutdown caused by inaccurate rotor position detection under heavy load by improving the motor rotor position detection method. See also Figure 3 , Figure 8 , Figure 12 and Figure 25 As shown, the manned lawnmower of this application includes: a frame 11, and a support portion mounted to the frame 11 for supporting a user; a set of wheels 41 connected to and supporting the frame 11, the set of wheels 41 being driven by a motor 42; a mowing element driven by a mowing motor M; a power supply assembly 20 including at least one battery pack 21; a drive circuit 250 electrically connected to the mowing motor M for supplying power to the mowing motor M from the battery pack 21; and a controller (not shown) 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 this application is configured to: receive a first electrical parameter related to the current of the lawnmower motor M, and limit the first electrical parameter to 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 lawnmower motor M. The first preset condition may be a threshold condition related to the current when the lawnmower motor M is running under heavy load. The preset range is set in association with the first preset condition. For example, the first preset condition may be set to a bus current greater than 150A, and the preset range may be set to limit the bus current to 150A. When the first electrical parameter is limited to 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 lawnmower motor M, so that the lawnmower motor M does not stop when the first electrical parameter is within the preset range. The first method may be to obtain the rotor position using a high-frequency injection method, and the second method may be to detect the rotor position using a flux linkage observer.

[0155] Optionally, the controller is configured to: receive a second electrical parameter related to the rotational speed of the mower motor M, and selectively use a first method or a second method to determine the rotor position of the mower motor M based on the second electrical parameter. The second electrical parameter may be the rotational speed of the mower motor M. When selectively using the first method or the second method to determine the rotor position of the mower motor M based on the second electrical parameter, the controller is configured to: use the first method to determine the rotor position of the mower motor M when the second electrical parameter meets a second preset condition, and use the second method to determine the rotor position of the mower motor M when the second electrical parameter meets a third preset condition. The second preset condition includes: a duration less than a preset time threshold (e.g., 5 seconds), and the rotational speed of the mower motor M being less than a preset lower threshold (e.g., 8% of the rated rotational speed of the mower motor M); the third preset condition includes: a preset upper threshold related to the rotational speed of the mower motor M (e.g., 12% of the rated rotational speed of the mower motor M), where the value of the preset upper threshold is greater than the preset lower 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 to ensure that the blade motor continues to drive under load without stopping. 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 150A), the controller limits the bus current to 150A 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 lawnmower motor M) and greater than or equal to the second preset speed (e.g., 8% of the rated speed of the lawnmower motor M), a high-frequency pulse is injected, but the second method (e.g., a flux linkage 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 lawnmower motor M), the system switches to the first method (e.g., the high-frequency injection method) to obtain the motor rotor angle. After maintaining this for a preset time threshold (e.g., 5 seconds) (to prevent load fluctuations from causing back-and-forth switching between the two rotor position acquisition methods), it is then determined whether the motor speed is sufficient to switch to the stage of detecting the rotor angle based on the flux linkage observer. If it is sufficient, the above switching strategy is re-executed. By switching the rotor position detection method based on speed and current, the problem of motor shutdown caused by inaccurate rotor position acquisition during heavy load operation is solved, ensuring that the lawnmower motor can operate without stopping under heavy load and improving the user's work experience.

[0157] Optionally, the controller is also configured to: determine the rotor position of the mower motor M using a first method (e.g., high-frequency injection) when the mower motor M starts. When the mower motor M starts, the controller is also configured to: receive a second electrical parameter related to the rotational speed of the mower motor M, determine whether to switch the rotor position detection method based on the second electrical parameter, and control the mower motor M to stop if the rotor position detection method switch is not performed. The second electrical parameter can be the real-time rotational speed of the mower motor M. Specifically, when the mower motor M starts, the rotor position is obtained using the first method (e.g., high-frequency injection), and the rotational speed of the mower motor M is monitored in real time. When the motor speed exceeds 10% of the rated speed, the controller switches to using a second method (e.g., a flux linkage observer) to detect the motor rotor angle and speed. If the rotational speed does not meet the switching conditions, the motor stops after 15 seconds of operation.

[0158] This application also provides a control method for a manned lawnmower, which uses the rotor position detection method described in the above embodiments to achieve continuous operation of the lawnmower under load. See also Figure 8 and Figure 12 As shown, the manned lawnmower includes: a frame 11, and a support unit mounted to the frame 11 for supporting the user; a set of wheels 41 connected to and supporting the frame 11, the set of wheels 41 being driven by a motor 42; and a mowing element driven by a mowing motor M.

[0159] See Figure 30 As shown, the control method for this manned lawnmower includes the following steps during the operation of the mowing motor M:

[0160] S301: Obtain the first electrical parameter related to the current of the lawnmower motor M. The first electrical parameter may be the bus current.

[0161] S302: When the first electrical parameter meets the first preset condition, it is limited to a preset range. The first preset condition can be a threshold condition related to the current of the lawnmower motor M under heavy load. The preset range is set in association with the first preset condition. For example, the first preset condition can be set to a bus current greater than 150A, and the preset range can be set to limit the bus current to 150A.

[0162] S303: When the first electrical parameter is limited to a preset range, the rotor position of the lawnmower motor M is selectively determined using either the first method or the second method, so that the lawnmower motor M does not stop when the first electrical parameter is within the preset range. The first method may be to obtain the rotor position using a high-frequency injection method, and the second method may be to detect the rotor position using a flux linkage observer.

[0163] See Figure 31 As shown, in the manned lawnmower control method of this application, the rotor position of the mowing motor M is determined selectively using either the first method or the second method, including the following steps:

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

[0165] S312: When the first electrical parameter meets the first preset condition, it is limited to a preset range.

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

[0167] After obtaining the sum of the second electrical parameters, the rotor position of the lawnmower motor M is determined selectively using either the first or second method based on the second electrical parameters, including the following steps:

[0168] S314: Determine whether the second electrical parameter meets the second preset condition. The second preset condition includes: the duration is less than a preset time threshold (e.g., 5 seconds), and the rotational speed of the lawnmower motor M is less than a preset lower limit threshold (e.g., 8% of the rated rotational speed of the lawnmower motor M).

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

[0170] S315: Use the first method to determine the rotor position of the lawnmower 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 lawnmower motor M (e.g., 12% of the rated rotational speed of the lawnmower 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 proceed to step S317; if the second electrical parameter does not meet the third preset condition, then return to proceed to step S313.

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

[0174] Optionally, the manned lawnmower control method of this application further includes: determining the rotor position of the lawnmower motor M using a first method when the lawnmower motor M starts. The manned lawnmower control method also includes: acquiring a second electrical parameter related to the rotational speed of the lawnmower motor M; determining whether to perform a rotor position detection method switch based on the second electrical parameter; and controlling the lawnmower motor M to stop when the rotor position detection method switch is not performed.

[0175] Based on the same concept, this application also provides an outdoor walking device 100, which uses the rotor position detection method described in the above embodiments to achieve continuous operation of the lawnmower under load, and has the same functional modules and technical effects as the aforementioned manned lawnmower. See also Figure 3 , Figure 8 , Figure 12 and Figure 25 As shown, the outdoor walking device 100 of this application includes: a frame 11, and a support portion mounted to the frame 11 for supporting a user; a walking wheel set 41 connected to and supporting the frame 11, the walking wheel set 41 being driven by a walking motor 42; a mowing element driven by a mowing motor M; and a controller (not shown) configured to apply a drive signal to a drive 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 during the limiting period receive a second electrical parameter related to the rotational speed of the mowing motor M, and selectively use a first method or a second method to determine the rotor position of the mowing motor M based on 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 either a first method or a second method to determine the rotor position of the mowing motor M based on the second electrical parameter.

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

[0178] Optionally, the controller is also configured to determine the rotor position of the mowing motor M using a first method when the mowing motor M is started.

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

[0180] See Figure 1 and Figure 2 As shown, the manned lawnmower of this application can be equipped with two sets of control lever assemblies 51, one on the left and one on the right. The tilt angle of the two sets of control lever assemblies 51 controls the steering and straight-line speed of the vehicle. Due to hardware inconsistencies or other error factors, when the two control lever assemblies 51 are in the same position, there is a problem that the vehicle cannot travel in a straight line. Based on this, this application provides a manned lawnmower for achieving manual straight-line correction.

[0181] In this embodiment, the walking wheel assembly 41 includes a left walking wheel (see...). Figure 12 The first left-side traveling wheel 411L and the second left-side traveling wheel 412L shown) and the right-side traveling wheel (see Figure 12 The first right-side walking wheel 411R and the second right-side walking wheel 412R are shown; the drive motors include a left drive motor and a right drive motor for driving the left and right walking wheels, respectively. The manned lawnmower also includes: a left control unit and a right control unit that can be gripped by the user (see...). Figure 1 and Figure 2The left and right sets of control lever assemblies 51 shown; the left drive motor and the right drive motor are independently controlled by the operation of the corresponding left and right control devices. The manned lawnmower of this application also includes a controller configured to: respond to a request received via a user interface to control the manned lawnmower to enter a calibration mode (i.e., manual correction mode). The manual correction mode needs to be triggered by the user when the manned lawnmower is in a special state (unable to travel straight when the left and right control devices are in the same state). The user interface can be a network interface accessed via wired or wireless communication, or a human-machine interface triggered by user operation.

[0182] In calibration mode, the controller is configured to adjust the correspondence between parameters of the left control device and the left drive motor, or the correspondence between parameters of the right control device and the right drive motor, based on signals from user input, so that the left and right wheels rotate at the same speed when the left and right control devices are in the same state. The signals from user input include, but are not limited to, the setpoint for the left and right wheel travel speeds, the tilt angle of the left and right control levers, or other types of signals. These signals can be used to adjust the correspondence between the parameters of the left and right control devices and the drive motors. The parameters of the left drive motor include, but are not limited to, the left drive motor speed; the parameters of the right drive motor include, but are not limited to, the right drive motor speed. In embodiments of this application, the correspondence between the parameters of the left control device and the left drive motor can be adjusted using a speed correction coefficient K. By adjusting the correspondence between the relevant parameters of the control device and the drive motor, the rotation speed of the left and right wheels is ensured to be the same when the left and right control devices are in the same state. This solves the problem of inconsistencies in hardware or other error factors that cause the two control lever assemblies 51 to be unable to travel in a straight line when they are in the same position. This helps to improve the user's driving experience and increase the reliability of the lawnmower's straight-line travel.

[0183] See Figure 32 As shown, the operation of the left and right drive motors can be controlled using field-oriented control (FOC) mode. The FOC vector control mode includes a current loop and a speed loop. Specifically, the controller is configured to obtain the three-phase currents (e.g., Ia, Ib, Ic) of the left and right drive motors in a three-phase stationary coordinate system (the current vectors of two phases of the three-phase coils can be sampled first, and the last phase can be calculated using Kirchhoff's current law). After Clark transform processing, two orthogonal time-varying current vectors Ic can be obtained. α and I βAfter Park transformation, the two-phase DC current q-axis current i can be obtained. q and d-axis current i d q-axis current i q and d-axis current i d They are perpendicular to each other. The target q-axis current is obtained by decoupling the actual currents of the left and right drive motors. and d-axis target current The q-axis current i is controlled using a PI control method. q and q-axis target current The deviation between them, and the d-axis current i d and d-axis target current Adjust the deviation between them to output the voltage vector, i.e., the target voltage U on the q-axis. q and d-axis target voltage U d Furthermore, the voltage vector obtained above is transformed into a two-phase stationary coordinate system using the inverse Park transformation to obtain the two-phase DC voltage U. α and U β Furthermore, through space vector pulse width modulation technology, the two-phase AC voltage is converted into a three-phase AC voltage (U0). a U b and U c The three-phase AC voltage is the target voltage applied to the left and right drive motors. The controller generates a PWM signal based on the acquired target voltage to control the on / off state of the switching elements in the drive circuit, causing the left and right drive motors to operate according to a set control mode. This set control mode may include comfort mode, sport mode, and normal mode. In this embodiment, a PI controller is integrated. The PI controller has 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] See Figure 32 As shown, the controller of this application is further configured to: in the speed loop, use a speed and position detection module to obtain the speed feedback value ω and the rotor angle feedback θ, and use a PI control method to adjust the speed feedback value ω against the speed setpoint ω. * The difference between them is adjusted. The controller of this application is also configured to correct the speed setpoint ω0 of the speed loop using a speed correction coefficient K.

[0185] See Figure 33As shown, the manned lawnmower of this application also includes a display device 330 (e.g., an LCD display); in calibration mode, the display device 330 is configured to display the rotational speed correction coefficient K of the left and right wheels using a preset graphic. Optionally, the preset graphic includes a power bar 331 for displaying power and white icons 332 for indicating the offset status of the left and right sides. The display device also includes preset correction buttons (e.g., "tortoise" and "hare" buttons) for adjusting the position of the icons, and function buttons for adjusting the manual correction mode, such as a lighting button, a mode button (MODE), and a setting button (SET).

[0186] Optionally, the conditions for entering the manual correction mode include, but are not limited to: when the display device is in the condition of only displaying the power interface, press and hold the MODE button and the SET button simultaneously for a preset time (e.g., 3 seconds) to make the display device enter the display interface of the manual correction mode.

[0187] See Figure 33As shown, in the manual correction mode interface, the display device of this application is configured to display a power bar 331, which can be a rectangular bar with uniform width or a bar with gradually changing width. A flashing white icon 332 is displayed in a small square on the power bar 331. The position of this white icon 332 determines the speed correction coefficient K between the left and right travel wheels. The position of the white icon 332 on the power bar 331 can be adjusted by using the preset correction buttons on the left side of the display interface (e.g., "tortoise" and "hare" buttons). If the white icon 332 is in the middle state, it indicates that there is no tilting between the left and right travel wheels, ensuring that the lawnmower travels in a straight line without the need for correction. If the left and right control devices are in the same state (e.g., the tilting positions of the left and right control lever assemblies 51 are the same), and the vehicle deviates to the left, it indicates that the wheel speed of the right travel wheel is faster. It is necessary to press the "hare" shaped button to move the white icon 332 to the right, indicating that the travel speed setpoint of the right travel wheel is in a decaying state. The more the white icon 332 moves to the right, the greater the attenuation of the right drive wheel's speed setpoint. By manually adjusting the position of the white icon 332 on the right power bar based on the actual leftward deviation during straight-line driving, correction can be achieved in the leftward deviation state. If the left and right control devices are in the same state (e.g., the tilt positions of the left and right control lever assemblies 51 are the same), and the vehicle deviates to the right, it indicates that the left drive wheel's speed is faster. In this case, pressing the "turtle" shaped button will move the white icon 332 to the left, indicating that the left drive wheel's speed setpoint is attenuating. The more the white icon 332 moves to the left, the greater the attenuation of the left drive wheel's speed setpoint. By manually adjusting the position of the white icon 332 on the left power bar based on the actual rightward deviation during straight-line driving, correction can be achieved in the rightward deviation state. The display device with the correction icon provides intuitive display and convenient operation, enhancing the user experience.

[0188] Optionally, the conditions for exiting the manual correction mode include, but are not limited to: the user can exit the display interface of the manual correction mode and enter the interface that only displays the battery level by pressing the setting button.

[0189] It should be noted that the user needs to stop the lawnmower to operate it when entering manual steering mode. When the lawnmower enters manual steering mode, the controller will display the current deviation based on previously stored driving data (such as the speed of the drive motor). The user can then use buttons to adjust the speed of the motor corresponding to the faster wheel to reduce its speed, thereby ensuring that the two wheels rotate at roughly the same speed.

[0190] It should also be noted that the manual error correction method described in the above embodiments of this application can be performed more than once. After the user completes one manual error correction, the manual correction mode is automatically exited. If it is found that the lawnmower still cannot travel in a straight line during operation, the above process is repeated until the vehicle can travel in a straight line after the user starts driving.

[0191] The manned lawnmower of this application integrates a drive circuit and a controller on a control board, which is powered by a power supply assembly 20. Based on this, this application also provides a manned lawnmower that solves the problem of detecting control board switch signals.

[0192] refer to Figure 34 As shown, the power supply branch of the controller in this application is equipped with a PTO switch 340, wherein the PTO switch 340 is a switch used to control the auxiliary power output device. The controller is configured to: power on when the PTO switch 340 is turned on, apply a drive signal to the drive circuit 250 to control the operation of the lawnmower motor M.

[0193] Continue to refer to Figure 34 As shown, the first terminal of the PTO switch 340 is electrically connected to the power supply component 20 via the DC / DC voltage conversion module 341. The second terminal of the PTO switch 340 is used to control the power supply Vp to power on. The power supply component 20 outputs VHM through the switching transistor to power the drive circuit 250 and the controller on the control board. By setting the PTO switch to control the controller to power on and start, there is no need to detect the switching signal of the control board.

[0194] The operating modes of the manned lawnmower of this application include, but are not limited to, a non-collecting grass mode and a collecting grass mode. In collecting grass mode, the lawnmower executes the mowing command and collects the harvested grass clippings into the collecting basket. Under heavy loads, multiple mowing elements work simultaneously, but stalling is prone to occur. Based on this, this application also provides a manned lawnmower that configures different output capacities of the mowing motors according to the load conditions to improve the efficiency of grass collection on the side of the mowing elements.

[0195] See Figure 35 As shown, the manned lawnmower of this application includes: a set of walking wheels driven by a walking motor; a mowing chassis covering the mowing elements; at least three mowing elements (e.g., a first cutting element a, a second cutting element b, and a third cutting element c), wherein the mowing elements are driven to rotate by corresponding mowing motors M to mow grass and generate airflow; at least a portion of the airflow is capable of guiding grass clippings to the outside of the mowing chassis; a side discharge pipe connected to the discharge port D of the deck to guide the grass clippings and airflow; when the manned lawnmower switches from a non-collecting grass mode to a collecting grass mode, all mowing motors M have at least three rotational speeds, and the rotational speeds of all mowing elements increase sequentially from the furthest from the discharge port to the closest to the discharge port at the same time. Specifically, see Figure 35 As shown, the first cutting element a has the greatest distance from the grass discharge port D, while the third cutting element c has the smallest distance from the grass discharge port D. The second cutting element b is positioned between the first cutting element a and the third cutting element c. The rotational speed of the first cutting element a is less than that of the second cutting element b, and the rotational speed of the second cutting element b is less than that of the third cutting element c. By configuring the rotational speeds of multiple cutting elements through the operating mode of the lawnmower, such as setting them to the same speed or increasing them from left to right, the corresponding mowing motors can be configured with different output capabilities according to the load, which helps to improve grass collection efficiency.

[0196] Optionally, when the manned lawnmower switches from non-collecting mode to collecting mode, the rotation direction of the mowing motor M remains unchanged, and all mowing motors M rotate in the same direction. The rotation speed of the mowing motor M is configured according to the mowing motor gear.

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

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

[0199] Optionally, the power 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 40V and less than or equal to 60V. For power tools and battery packs, the nominal voltage typically refers to the voltage specified by the manufacturer or distributor on the product's label, packaging, user manual, instruction manual, advertisement, marketing, or other supporting documentation, so that the user knows which power tools and battery packs can operate interchangeably. Alternatively, the nominal voltage of the battery pack can be obtained by detection or calculation; the nominal voltage may be the voltage of the battery pack at fifty percent (50%) of its SOC. Typically, the battery pack contains multiple battery cells, and the voltage of an individual battery cell is typically between 3.6V and 4.2V. In some embodiments, the total energy of the power assembly is greater than or equal to 2 kWh and less than or equal to 10 kWh. The total energy mentioned above includes the total energy of all battery packs included in the power assembly.

[0200] The manned lawnmower of this application also 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 control the switching between non-grass collection mode and grass collection mode. Specifically, when the installation of the grass collection basket is detected and the grass collection switch is triggered, it is determined that the manned lawnmower is operating in grass collection mode.

[0201] For example, taking a manned lawnmower with three mowing elements as an example, when the manned lawnmower is operating in non-mowing mode, the three mowing motors rotate at the same speed and in the same direction, with acceleration and deceleration controlled according to the mowing motor gear input. When the manned lawnmower is operating in mowing mode, the leftmost motor of the three mowing motors operates at the corresponding gear speed, while the middle and right motors increase in speed to mow the grass, rotating in the same direction, thereby improving the overall mowing efficiency.

[0202] Based on the same concept, this application also provides a manned lawnmower, which configures different output capabilities of the mowing motors according to the load conditions to improve the side grass collection efficiency of the mowing elements. The manned lawnmower of this application includes: a set of walking wheels driven by a walking motor; at least three mowing elements and a mowing chassis covering the mowing elements; wherein the mowing elements are driven to rotate by corresponding mowing motors to mow grass and generate airflow; at least a portion of the airflow can guide grass clippings to the outside of the mowing chassis; a side exhaust pipe communicating with the deck to guide grass clippings and airflow; when the manned lawnmower is in non-grass collection mode, all mowing motors rotate at the same speed; when the manned lawnmower is in grass collection mode, all mowing motors have at least two speeds, so that the mowing elements have at least three different speeds at the same time.

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

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

[0205] Optionally, the manned lawnmower of this 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 switch between non-grass collection mode and grass collection mode.

[0206] Optionally, in hay-collecting mode, the output power of the mowing motor is greater than or equal to 1 kW. In some embodiments, in hay-collecting mode, the output power of the mowing motor is greater than or equal to 1.4 kW. In normal mowing mode, the output power of the mowing motor is greater than or equal to 1.5 kW. In some embodiments, in 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 components is greater than or equal to 2 kW·h.

[0208] The manned lawnmower of this 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] This application provides a manned lawnmower, illustrating a specific implementation of an auxiliary power supply strategy. By setting up dual DC-DC converters to form independent power supply branches, the power supply reliability of the lawnmower's core working components is improved.

[0210] See Figure 2 , Figure 12 and Figure 36a As shown, the manned lawnmower of this application includes: a frame 11, and a support unit mounted to the frame 11 for supporting the user; a set of wheels 41 connected to and supporting the frame 11, driven by a drive 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 drive motor 42; and a control device configured to control the on / off switching of the power transistors of the drive circuit 250 to drive the operation of the drive motor 42 or the mowing motor M. The total energy of the power supply assembly 20 is greater than or equal to 2 kW·h.

[0211] See Figure 36a and Figure 36b As shown, the manned lawnmower also includes: a first power supply circuit 361, used to convert the power output from the power supply component 20 into first direct current to power a first type of load 363 with a main function; and a second power supply circuit 362, used to convert the power output from the power supply component 20 into second direct current to power 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. The first power supply circuit 361 and the second power supply circuit 362 can be DC-DC converter circuits.

[0212] Specifically, the first power supply circuit 361 and the second power supply circuit 362 constitute independent power supply branches without coupling. The first power supply circuit 361 and the second power supply circuit 362 can be integrated into a separate auxiliary power supply board. After connecting the auxiliary power supply board to the battery pack of the power 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 containing the first power supply circuit 361 is de-energized, i.e., 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 simultaneously supply power to the first type of load 363 and the second type of load 364, ensuring that the main function is always powered on, which helps improve the reliability of the system power supply.

[0213] Optionally, the first DC power supply has a first voltage V1, and the second DC power supply 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 values ​​of the first voltage V1 and 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 lawnmower also includes a voltage conversion circuit for converting the voltage of the first DC power supply or the second DC power supply.

[0214] Optionally, the first type of load 363 includes, but is not limited to, at least one of: a walking motor control device, a working part motor (such as a lawnmower motor) control device, a power control device, a display device, and an operating component 50. Each control device includes, but is not limited to, a controller and other auxiliary control elements. In this embodiment, two sets of walking motor control devices, three sets of lawnmower motor control devices, one power management device, two sets of operating components 50, and one set of display devices can be provided. For example, if the rated operating voltage of the walking motor control device, lawnmower motor control device, power control device, and display device is defined as 15V DC, the maximum operating current of the two sets of walking motor control devices is 0.5A, the maximum operating current of the three sets of lawnmower motor control devices is 0.75A, the maximum operating current of the power control device is 0.5A, the maximum operating current of the two sets of operating components 50 is 0.2A, and the maximum operating current of the display device is 1A, then the output voltage of the first power circuit 361 can be set to 15V, the output current to 3.0A, and the output power of the first power circuit 361 to 45W.

[0215] Optionally, the second type of load 364 includes, but is not limited to, at least one of: lighting, marker lights, indicator lights, charging output interface, or seat 91. The charging output interface can be a USB interface compliant with the PD fast charging protocol. The lighting, marker lights, and indicator lights can be LEDs, etc. For example, if the rated operating voltage of the LED light, charging output interface, or seat 91 is defined as 15V DC, the maximum operating current of the LED light 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 circuit 362 can be set to 15V, the output current to 3.5A, and the output power of the second power circuit 362 equal to 52.5W.

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

[0217] See Figure 36b As shown, a switching circuit 366 is provided between the first power supply circuit 361 and the second power supply circuit 362. The switching 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, this application also provides an outdoor walking device, illustrating a specific implementation of an auxiliary power supply strategy. By setting up dual DC-DC converters to form independent power supply branches, the power supply reliability of the lawnmower's core working components is improved. It includes: a frame; a walking wheel set, connected to and supporting the frame, driven by a walking motor; a power supply assembly, including at least one battery pack for supplying power to the walking motor; and a control device configured to output control signals to control the operation of the walking motor. See also... Figure 36a and Figure 36b As shown, the outdoor walking device also includes: a first power supply circuit 361, which converts the power output from the power supply component 20 into first direct current to power a first type of load 363 with a main function; and a second power supply circuit 362, which converts the power output from the power supply component 20 into second direct current to power a second type of load 364 with an auxiliary function.

[0219] Optionally, the first DC current has a first voltage; the second DC 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 lawnmower motor control device, a power control device, a display device, and an operating component.

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

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

[0223] See Figure 36b The input terminal of the second power supply circuit 362 is connected to at least one battery pack via a protection circuit 365, and the output terminal of the second power supply circuit 362 is connected to at least one second-class load 364; the second power supply circuit 362 and the first power supply circuit 364 are integrated on the same control board.

[0224] See Figure 36b A switching circuit 366 is provided between the first power supply circuit 361 and the second power supply circuit 362. The switching 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. After the first DC power is disconnected, the second power supply circuit 362 can simultaneously supply power to the first type of load 363 and the second type of load 364.

[0225] This application also provides a manned lawnmower, illustrating a specific implementation of a soft-start strategy. When the overall power management strategy is activated, due to the large capacitance at the positive and negative terminals of the main unit's electronic control components, the power bus output charges the capacitors at the moment of activation, similar to a short circuit. The charging current instantaneously reaches approximately 500-1000A, which can damage the battery pack, potentially causing short circuits in the battery pack fuses, damage to wiring harnesses and connectors, and damage to components (such as power transistors and electronic switches) in the circuit. By setting up a soft-start circuit, circuit damage caused by inrush current is avoided, improving power supply reliability.

[0226] See Figure 2 and Figure 12As shown, the manned lawnmower of this application includes: a frame 11, and a support unit mounted to the frame 11 for supporting the user; a set of wheels 41 connected to and supporting the frame 11, driven by a walking motor 42; a mowing element driven by a mowing motor M; and a power supply assembly 20 including at least one battery pack 21. See also Figure 37 As shown, the manned lawnmower of this application also includes: a soft start module 370; the soft start module 370 is configured to control the start of the mowing motor M or the walking motor 42 by means of capacitor charging.

[0227] See Figure 37 As shown, a main circuit module 371 and a soft-start module 370 are installed on the busbar between the power supply assembly 20 and the load. The main circuit module 371 is equipped with switching elements such as power transistors. The controller controls the main circuit by controlling the on / off state of the switching elements in the main circuit module 371. The soft-start module 370 includes a resistor R0, a switching element K0, and a load capacitor C0. Before the main circuit module 371 is started, the soft-start module 370 is turned on to charge the load capacitor C0 through the resistor R0. After the load capacitor C0 is fully charged, the main circuit module 371 is started.

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

[0229]

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

[0231] According to Formula 1, when t = 3*RC, U c =0.95*U S The load capacitor C0 is basically fully charged. The actual startup time of the entire machine is generally between 1 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, calculated as follows... In practical applications, the resistance value of resistor R0 in the soft start module 370 can be calculated based on the actual capacitance value on the capacitor board.

[0232] This application also provides a manned lawnmower, illustrating a specific implementation of a power communication structure. In this embodiment, the battery management module and the battery pack are connected via a 485 bus, and data communication is performed using a bus polling method. This allows for flexible node configuration and strong scalability. See also Figure 2 and Figure 12As shown, the manned lawnmower of this application includes: a frame 11, and a support unit mounted to the frame 11 for supporting the user; a set of walking wheels 41 connected to and supporting the frame 11, driven by a walking motor 42; a mowing element driven by a mowing motor M; and a power supply assembly 20 including at least one battery pack 21.

[0233] See Figure 38 As shown, the manned lawnmower of this application further includes: a power management module 23, configured to output control signals 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 also configured to actively communicate with at least one battery pack 21 (e.g., battery pack 1-1#). Specifically, the power management module 23 and the battery pack 21 can be connected via an RS485 bus. The power management module 23 communicates with the battery pack 21 actively, and the battery pack 21 responds 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 transmission period can be set to 25ms.

[0234] See Figure 38 As shown, taking a power supply assembly 20 with four battery packs (battery pack 1 21-1#, battery pack 21-2#, battery pack 3 21-3#, and battery pack 4 21-4#) as an example, the power management module 23 communicates using a bus polling method, pulling down the potentials of pins W_1 to W_4 one by one. When the power management module 23 pulls down pin W_1, it communicates with battery pack 1 21-1#; when it pulls down pin W_2, it communicates with battery pack 21-2#; when it pulls down pin W_3, it communicates with battery pack 3 21-3#; and when it pulls down pin W_4, it communicates with battery pack 4 21-4#. Thus, communication between multiple data nodes is achieved through a bus polling method, offering flexible node configuration and strong scalability.

[0235] This application also provides a manned lawnmower, illustrating a specific embodiment of a battery compartment design. See also Figure 3As shown, the manned lawnmower of this application includes at least two (e.g., four) battery compartments, each capable of holding one large battery pack (LFP) or two small battery packs (EGO). In this embodiment, each battery compartment is compatible with both large battery packs (LFP) and small battery packs (EGO), improving battery life. Without an adapter, each battery compartment has reserved interfaces for two small battery packs (EGO) and one large battery pack (LFP). To ensure the lawnmower's normal power supply needs, the number of large battery packs (LFP) and small battery packs (EGO) satisfies the following: when the number of large battery packs (LFP) is greater than or equal to 1, the number of small battery packs (EGO) is greater than or equal to 0; when the number of large battery packs (LFP) is equal to 0, the number of small battery packs (EGO) is greater than or equal to 2. It should be noted that all functions of the battery packs 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 both large battery packs (LFP) and small battery packs (EGO). When a small battery pack (EGO) is inserted, its data needs to be forwarded using the protocol of the large battery pack (LFP). Therefore, a battery pack adapter solution is required to handle the protocol conversion for the small battery pack (EGO).

[0238] This application also provides a manned lawnmower, illustrating specific embodiments of various power adapters that optimize charge and discharge control between battery packs. See also Figures 39a to 39c As shown, the manned lawnmower of this application also includes an adapter 390, one end of which communicates with the small battery pack 391 (EGO), and the other end of which communicates with the power management module 23.

[0239] See Figures 39a to 39cAs shown, taking two small battery packs 391 configured in the battery compartment as an example, 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 an IOT. The adapter 390 integrates a protocol conversion module, which links with the data transmission pins D and IOT of the small battery pack 391 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 has 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-. The first positive input pin P_1+ is connected to the positive output pin P+ of the first small battery pack 391, and 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+ via independently configured main circuit switches. 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 via a current sensing resistor R. J Connect to the negative output pin OUT-.

[0240] See Figure 39a As shown, the manned lawnmower of this application also includes: a positive current sensing resistor R disposed at the positive terminal of the main circuit of the power management module 23. JZ It is used to collect loop current.

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

[0242] See Figure 39c As shown, in the manned lawnmower of this application, the adapter 390 includes a switching element and a current-sensing resistor. The switching element is disposed between the positive output pin P+ of the battery pack and the positive input pin (e.g., the first positive input pin P_1+ or the second positive input pin c_1+) of the power management module 23, with each battery pack corresponding to a set of switching elements. The current-sensing resistor includes a single-channel current-sensing resistor R. P- and total current sensing resistance R ZP- Among them, the single-channel current sensing resistor R P- Connected to the negative output pin P- of the battery pack, it is used to detect the charging and discharging current of the corresponding individual battery pack; the total current sensing resistor RZP- One end is connected to each single-channel current sensing resistor R. P- Connection, total current sensing resistor R ZP- The other end is connected to the negative input pin (e.g., the first negative input pin P_1-) of the power management module 23, and is used to detect the total charging and discharging current of all connected battery packs. Battery pack balancing control and battery pack charging and discharging control are achieved by integrating switching elements and current sensing resistors within the adapter.

[0243] This application also provides a manned lawnmower, illustrating a specific implementation of a power distribution strategy. Power distribution is performed by monitoring the battery pack status and the power demand information of each component of the machine, resulting in more rational and efficient operation of the entire machine. See also... Figure 2 and Figure 12 As shown, the manned lawnmower of this application includes: a frame 11, and a support unit mounted to the frame 11 for supporting a user; a set of wheels 41 connected to and supporting the frame 11, driven by a drive 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 drive motor 42; and a control device configured to output control signals to control the operation of the drive motor 42 or the mowing motor M. The control device of this application is further configured to: acquire the total current value output by the power supply assembly 20 (e.g., an average value over 10 seconds), and output control signals 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. 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 over a preset time (e.g., 10 seconds).

[0244] In this embodiment, the control signals related to the operation of the lawnmower motor M include, but are not limited to, current-limiting operation control signals or power-reducing operation control signals. Specifically, the total power requirement of the entire machine can be calculated based on the total current output of the power supply component 20. Then, the maximum discharge capacity of the battery pack is compared with the total power requirement of the entire machine. When the maximum discharge capacity of the battery pack is less than the total power requirement of the entire machine, a control signal is output to the lawnmower motor M to control it to operate with current-limiting and power-reducing operation. Since the power requirements of various components of the machine are inconsistent, the operation of the entire machine is made more efficient through reasonable power allocation.

[0245] In one embodiment, the control device of this application is configured to: control the manned lawnmower to enter a power limiting mode based on the maximum discharge capacity and the total current value; in the power limiting mode, limit the output power of the mowing motor M based on the maximum discharge capacity, and limit the output power of the walking motor 42 after the mowing motor M is limited and stops.

[0246] Optionally, the control device is configured to: determine a current threshold based on the maximum discharge capacity, compare the total current value with the current threshold, and determine whether the total current value exceeds the current threshold. The maximum discharge current I is set to the maximum discharge capacity. SOP For example, the current threshold can be expressed as 1.1*I SOP The control device is also configured to: when the total current value is greater than a current threshold, acquire the duration of the current state (i.e., the state of low maximum discharge capacity), compare the duration of the current state with a time threshold, and determine whether to control the manned lawnmower to enter a power limiting mode based on the current comparison result and the duration comparison result. Here, the time threshold represents the waiting time from the current mode to the power limiting mode. Specifically, if the total current value is greater than the current threshold, and the duration of the low maximum discharge capacity state is greater than the time threshold, the control device controls the manned lawnmower to enter the power limiting mode; if the total current value is less than or equal to the current threshold, or the duration of the low maximum discharge capacity state is less than or equal to the time threshold, the total current value output by the power supply component 20 continues to be detected, and the above-mentioned judgment logic is executed.

[0247] Optionally, when acquiring the time threshold, the control device of this application is configured to determine the time threshold based on the SOC (State of Charge) value of the power component 20. The time threshold is positively correlated with the SOC value; that is, the larger the SOC value of the power component 20, the larger the time threshold. Specifically, when the SOC value of the power component 20 is greater than 20%, the time threshold can be equal to 1 minute; when the SOC value of the power 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 component 20 is less than or equal to 10%, the time threshold is 0, meaning the manned lawnmower is immediately controlled to enter a power limiting mode.

[0248] Optionally, in power-limiting mode, the control device is configured to: acquire the walking electrical parameters of the walking motor 42; determine an upper threshold and a lower threshold based on the walking electrical parameters; and determine the output power of the lawnmower motor M based on the maximum discharge capacity, the upper threshold, and the lower threshold. The walking electrical parameters of the walking motor 42 include, but are not limited to: the walking motor bus current, the walking motor output current, or the walking motor operating power.

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

[0250] For example, the total current output by 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 upper limit threshold can be set to 1.1*I, where the average output current of the walking motor is taken as an example (e.g., the average value of the walking motor output current over 10 seconds). 轮 The lower threshold can be set to 0.9*I. 轮 The maximum discharge current I of power supply component 20 SOP Each is compared with the upper limit threshold (e.g., 1.1*I). 轮 ) and lower threshold (e.g., 0.9*I) 轮 Compare the results. If the maximum discharge current I... SOP Greater than the upper limit threshold (e.g., 1.1*I) 轮 If so, the output power of the lawnmower motor M is limited so that the output current I of the lawnmower motor M is limited. M Satisfy: I M =I 总 -I 轮 If the maximum discharge current I SOP Less than the lower threshold (e.g., 0.9*I) 轮 If the lawnmower motor M stops running, the output power of the walking motor 42 is limited so that the output current I of the walking motor is reduced. 轮 Satisfy: I 轮 <I SOP I SOP This indicates the maximum discharge current of power supply component 20 at the current moment.

[0251] Optionally, in power limiting mode, the control device is also configured to release the power limiting mode when the total current output of the power supply component 20 is less than a preset current value (e.g., 5A) and both the lawnmower motor M and the walk motor stop running.

[0252] Based on the same concept, this application also provides a power distribution method for a manned lawnmower. This embodiment distributes power by monitoring the battery pack status and the power demand information of each component of the machine, making the overall operation more rational and efficient. Figure 40a and Figure 40b As shown, the power distribution method for this manned lawnmower 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, wherein 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 expressed as either the maximum discharge current of the power supply component or the maximum discharge power within a preset time (e.g., 10 seconds).

[0255] S402: Determine the current threshold based on the maximum discharge capacity.

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

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

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

[0259] S405: Determine 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, then proceed to step S406; if the duration of the state with low maximum discharge capacity is less than or equal to the time threshold, then return to proceed to step S401.

[0261] S406: Controls the manned lawnmower to enter power limiting mode.

[0262] In power-limited mode, the power distribution method for the manned lawnmower of this application includes the following steps:

[0263] S407: Obtain the walking electrical parameters of the walking motor, and determine the upper and lower thresholds based on the walking electrical parameters.

[0264] S408: Determine 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, then proceed to step S409; if the maximum discharge capacity is less than the upper limit threshold, then proceed to step S410.

[0266] S409: Determine the output power of the lawnmower motor based on the total current value and the walking electrical parameters.

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

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

[0269] S411: Controls the lawnmower motor to stop and limits the output power of the walk motor based on the maximum discharge capacity.

[0270] S412: Does the total current output of the power supply components meet the requirement that it is less than the preset current value (e.g., 5A) and that both the lawnmower motor and the walk motor stop operating?

[0271] If the total current output of the power supply component is less than the preset current value (e.g., 5A), and both the lawnmower motor and the walking motor stop running, then proceed to step S413; otherwise, return to step S406.

[0272] S413: Remove power limiting mode.

[0273] This application also provides an outdoor walking device 100 for implementing the above-described power distribution method, possessing the same functional modules and beneficial effects as the aforementioned manned lawnmower. Power distribution is performed by monitoring the battery pack status and the power demand information of each component of the machine, making the overall operation more rational and efficient. See also Figure 2 and Figure 12 As shown, the outdoor walking device 100 of this application includes: a frame 11, and a support portion mounted to 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 for supplying power to the mowing motor M or the walking motor 42; and a control device configured to output control signals to control the operation of the walking motor 42 or the mowing motor M. The control device is also 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 stops.

[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, 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, compare the duration of the current state with a time threshold, and determine whether to control the outdoor walking device to enter a power limiting mode based on the current comparison result and the duration comparison result.

[0275] Optionally, the control device is configured to: acquire the SOC value of the power supply component 20 and determine a time threshold based on the SOC value.

[0276] Optionally, in power limiting mode, the control device is also configured to: acquire the walking electrical parameters of the walking motor 42; determine the upper limit threshold and the lower limit threshold based on the walking electrical parameters; and determine the power limiting strategy of the mowing motor M according to the maximum discharge capacity, the upper limit threshold, and the lower limit threshold.

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

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

[0279] This application also provides a manned lawnmower integrating at least one of wireless communication, positioning, and attitude detection technologies, capable of performing at least one of the following functions: recording the lawnmower's working trajectory; querying the lawnmower's location; retrieving the lawnmower based on its location after it is lost; detecting the lawnmower's tipping state, promptly identifying and alarming; remote OTA upgrades; transmission of lawnmower fault information, abnormal operating information, and parts wear prediction; and pushing fault repair information to the user, prompting the user to replace faulty parts in a timely manner. See also Figure 2 and Figure 12 As shown, the manned lawnmower of this application includes: a frame 11, and a support unit mounted to the frame 11 for supporting the operator; a set of wheels 41 connected to and supporting the frame 11, driven by a walking 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 walking motor 42 and the mowing motor. See also Figure 41As shown, the manned lawnmower of this application further includes: a controller MCU, configured to output control signals to control the operation of the walk motor 42 or the mowing motor M; a wireless communication module 410, configured to communicate bidirectionally 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 respond to the input information from the external device and control the manned lawnmower to enter a remote control mode at least when it detects that there is no operator on the support 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 walk motor 42 based on the input information from the external device according to a first preset condition. Specifically, when there is no operator on the support and the mowing motor M is not running and responding to the input information from the external device, if trailer operation is required, the lawnmower can be controlled by the wireless communication module (e.g., a Bluetooth module) to move forward or backward or to the left or right at a fixed speed. By configuring a remote control mode, the problem of existing local control methods being unable to avoid dangerous working conditions and affecting operational safety is solved. By integrating wireless communication, positioning and attitude detection technologies, remote control and data maintenance are realized.

[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 following: the upgrade status and current firmware version information of the wireless communication module, the driving trajectory, mowing trajectory and real-time location of the manned lawnmower, and the overturned state of the manned lawnmower. The input information of the external device includes at least one of the following: remote connection command, driving direction, mowing direction, driving speed, mowing speed, and software upgrade data packet.

[0281] In some embodiments, for example, when the lawnmower is operating in high-speed mode, the first preset condition is an engine speed of less than or equal to 10 mph. In some embodiments, for example, when the lawnmower is operating in medium-speed mode, the first preset condition is an engine speed of less than or equal to 8 mph. In some embodiments, for example, when the lawnmower is operating in low-speed mode, the first preset condition is an engine speed of less than or equal to 6 mph. In some embodiments, for example, when the lawnmower is operating in low-speed mode, the first preset condition is an engine speed of less than or equal to 4 mph. In some embodiments, for example, when the lawnmower is operating in location retrieval mode, the first preset condition is an engine speed of less than or equal to 2 mph.

[0282] See Figure 41As shown, the manned lawnmower also includes a positioning module 411, which is installed together with the wireless communication module 410 and the display device as a whole; or, the positioning module 411 can be integrated with the wireless communication module 410 to form an independent module, installed on the lawnmower, and connected to other modules via a bus to obtain information from other modules and send its own data and status. The positioning module 411 in this application is configured to record the manned lawnmower's driving trajectory, mowing trajectory, and real-time location, and send these to the terminal server via the wireless communication module. Specifically, the positioning module 411 can be any of the following: a GPS positioning module, a Beidou positioning module, a WiFi AP positioning module, and a Bluetooth positioning module. In this embodiment, an independent GPS positioning module can be used to locate the vehicle's position with high accuracy. The terminal server can push the driving trajectory and mowing trajectory to the user terminal, integrating a map function on the user terminal, and using different colored trajectory lines to distinguish and display the driving trajectory and mowing trajectory on the map.

[0283] See Figure 41 As shown, the manned lawnmower also includes: an attitude detection module 412 for detecting the tipping state of the manned lawnmower; the wireless communication module 410 is further configured to: send the tipping state to a terminal server, and push the tipping 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 gyroscope can be used together to detect the vehicle attitude, and by analyzing the acceleration sensor data, wheel speed, etc., the vehicle's sideslip state can be determined and corrected. Specifically, when the acceleration detected by the accelerometer in two or three axes exceeds a certain value and the gyroscope detects an angular velocity greater than a rated value (which is obtained through extensive prior testing) in one or more directions, it is considered that the vehicle is about to tilt and tip over. Fault information and solutions are pushed to the user simultaneously, with sound, light, or display reminders. The mowing motor and driving motor are stopped at the same time. In some embodiments, the attitude detection module 412 includes an inertial measurement unit (IMU). The IMU, along with the positioning module, may be placed under the cover on the left side of the seat.

[0284] In some embodiments, the attitude detection module 412 acquires the three-axis attitude angles of the lawnmower relative to the ground in real time, representing pitch angle, yaw angle, and roll angle, as well as acceleration and angular velocity data. The IMU is fixed to the vehicle, for example, fixedly mounted to the chassis or other stationary vehicle body structure.

[0285] In some embodiments, users can set vehicle tilt alarm angle data via external devices or a display screen. Specifically, an alarm is triggered when the attitude sensor detects an attitude angle greater than a threshold. The threshold is an option table, and selectable angles include, but are not limited to, 10°, 15°, 20°, and 25°. When the vehicle attitude is at a critical angle, a prompt is displayed on the screen. When the vehicle tilt angle exceeds the set angle, an alarm message is output on the display screen. In some embodiments, the output of the attitude detection module 412 determines the vehicle's operating status on a slope, which is used to control the motor speed and improve handling on slopes. In some embodiments, in assisted driving control, closed-loop control of the vehicle attitude automatically controls the driving direction, reducing driver workload and avoiding constant direction adjustments, thereby reducing driver workload and improving the driving experience.

[0286] In this way, by measuring the three-axis angles in real time, the system can issue a vehicle tilt warning when the vehicle is driving on an incline to prevent rollover; it can also control the vehicle speed on inclines to improve handling performance; and it is used for attitude control in assisted driving, including direction locking and autonomous driving positioning. See also Figure 41 As shown, the manned lawnmower of this application also includes: a warning module 413, which is connected to the wireless communication module 410 or the controller; the wireless communication module 410 is also configured to: receive warning control commands sent by the terminal server and issue warning information 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 the location information of the lawnmower can be obtained through base station positioning based on the principle of base station positioning. In some embodiments, the data transmission method of the wireless communication module 410 also includes wireless communication methods using unlicensed open radio frequency bands such as 433MHz wireless communication, 915MHz wireless communication, 2.4GHz wireless communication, and 5.8GHz wireless communication.

[0288] See Figure 41 As shown, the controller transmits data bidirectionally to the wireless communication module 410, the positioning module 411, the attitude detection module 412, and the warning module 413 to achieve data monitoring, early warning, and control in different application scenarios.

[0289] When the lawnmower is working, the positioning module 411 records the vehicle's driving trajectory, mowing trajectory and real-time location, and uploads the lawnmower's real-time location to the terminal server through the wireless communication module 410 (e.g., 4G module).

[0290] When the lawnmower is lost, the positioning module 411 (e.g., a GPS module) periodically obtains the lawnmower's real-time location and uploads the location information to the terminal server via the wireless communication module 410 (e.g., a 4G module). The terminal server can push the walking trajectory and mowing trajectory to the user terminal, integrating a map function on the user terminal and using different colored trajectory lines to distinguish the walking trajectory and mowing trajectory on the map. The user can set up an electronic fence (i.e., a defined area on the map) on the map through the application integrated into the terminal. When the lawnmower is outside the electronic fence (i.e., the lawnmower's location is outside the defined area), an alarm is triggered to the user, allowing the user to find the lawnmower after it is lost. After the user arrives near the lawnmower, they can send a command via their mobile phone to activate the vehicle's warning module 413 to sound an audible and visual alarm, indicating the vehicle's location.

[0291] When the lawnmower needs a software update, the terminal server transmits the upgrade package through the wireless communication module 410 (e.g., a 4G module), pushes the update data to the lawnmower, and provides feedback on the lawnmower's current upgrade status and current firmware version information through the wireless communication module 410 (e.g., a 4G module).

[0292] When a lawnmower malfunction is detected, detailed fault information is transmitted to the server for storage and backup via the wireless communication module 410 (e.g., a 4G module); the fault information and solutions are also pushed to the user simultaneously. When the lawnmower detects that wear-prone parts such as the blades need to be replaced, the corresponding information is transmitted to the terminal server via the wireless communication module 410 (e.g., a 4G module), and the terminal server pushes the corresponding message to the user's end, prompting the user to replace them in time.

[0293] When the attitude detection module 412 (e.g., IMU) detects that the vehicle has overturned, it sends the corresponding overturning status to the server via the wireless communication module 410 (e.g., 4G module), and the server pushes the relevant overturning information to the user.

[0294] In some embodiments, the wireless communication module 410 may be fixedly installed under the cover of the operating component 50. In other embodiments, the wireless communication module 410 may be integrated into the display screen. In some embodiments, the wireless communication module 410 is integrated into the display screen and connected to the positioning module 411 and the attitude detection module 412 via a bus connection. In other embodiments, the wireless communication module 410 is integrated with the positioning module 411 and the attitude detection module 412 on the same circuit board. The wireless communication module 410 may use at least one of the following as its power supply: a battery pack 21 and an independent backup power supply, wherein the independent backup power supply can be charged by the battery pack 21 or discharged from the battery pack 21. Specifically, the wireless communication module 410 performs data transmission. 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 operating component 50.

[0295] In one embodiment, the wireless communication module 410, positioning module 411, and attitude detection module 412 are powered in two ways: first, directly using the battery pack 21 on the lawnmower; second, using the battery pack 21 and an independent backup power supply (e.g., a battery module). The independent backup power supply can be a rechargeable battery, non-removably fixed near the power assembly 20, and can be charged or discharged by the battery pack 21. When the battery pack 21 is powered, it supplies power to the module; when the battery pack 21 is de-powered or disconnected, it supplies power to the module through the independent backup power supply.

[0296] Based on the same concept, this application also provides a manned lawnmower, including: a frame 11, and a support unit mounted to the frame 11 for supporting an operator; a set of walking wheels 41 connected to and supporting the frame 11, driven by a walking motor 42; a mowing element driven by a mowing motor M; a controller configured to output control signals to control the operation of the walking motor 42 or the mowing motor M; a wireless communication module configured to communicate bidirectionally 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 control the manned lawnmower to enter a remote control mode in response to input information from the external device, at least when an operator is detected at the support unit; in the remote control mode, the controller is configured to control the operation of the manned lawnmower based on input information from the external device.

[0297] Optionally, the input information from the external device includes at least one of the following: remote connection command, driving direction, mowing direction, driving speed, mowing speed, and software upgrade data package.

[0298] In some embodiments, such as when recording a driving trajectory, the first preset condition is an engine speed of less than or equal to 10 mph. In some embodiments, the first preset condition is an engine speed of less than or equal to 8 mph. In some embodiments, the first preset condition is an engine speed of less than or equal to 6 mph. In some embodiments, the first preset condition is an engine speed of less than or equal to 4 mph. In some embodiments, such as when retrieving a lawnmower, the first preset condition is an engine speed of less than or equal to 2 mph.

[0299] Optionally, the manned lawnmower also includes a positioning module, which is integrated with a wireless communication module. The positioning module is configured to record the driving trajectory, mowing trajectory, and real-time location of the manned lawnmower, and to send the driving trajectory, mowing trajectory, and real-time location to a terminal server via the wireless communication module.

[0300] Optionally, the manned lawnmower also includes: an attitude detection module for detecting the overturning state of the manned lawnmower; and a wireless communication module configured to send the overturning state to a terminal server and push the overturning state to the user through the terminal server.

[0301] Optionally, the manned lawnmower also includes: a warning module connected to a wireless communication module or controller; the wireless communication module is further configured to receive warning control commands from a terminal server and issue warning information through the warning module.

[0302] Optionally, the wireless communication module is fixedly installed below the cover of the operating component 50; the wireless communication module is connected to the positioning module and the attitude detection module via a bus connection; the wireless communication module uses at least one of the following as its power supply: battery pack 21 and independent backup power supply, wherein the independent backup power supply can be charged by battery pack 21 or discharged by battery pack 21.

[0303] Optionally, the data transmission method of the wireless communication module includes at least one of the following: Bluetooth, Wi-Fi, ZigBee, LoRa, or 4G. The data transmission method of the wireless communication module 410 also includes unlicensed open radio frequency bands such as 433MHz wireless communication, 915MHz wireless communication, 2.4GHz wireless communication, and 5.8GHz wireless communication.

[0304] Based on the same inventive concept, this application also provides a manned lawnmower with a driving mode and a remote control mode. The manned lawnmower of this application includes: a frame 11, and a support unit mounted to the frame 11 for supporting the operator; a set of wheels 41 connected to and supporting the frame 11, driven by a drive 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 drive motor 42 and the mowing motor. See also Figure 41 As shown, the manned lawnmower of this application also includes: a controller MCU configured to output control signals to control the operation of the walking motor or the mowing motor; a wireless communication module 410 configured to communicate bidirectionally 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 lawnmower to enter driving mode in response to the operation of an operator located on the support; and the controller is configured to allow the manned lawnmower to enter remote control mode in response to input information from an external device.

[0305] This application also provides an outdoor walking device that integrates an eddy current sensor inside the motor for detecting the motor rotor position. This design has low waterproofing requirements, high structural reliability, and improves detection accuracy. The manned lawnmower of this application includes: a frame 11; a walking wheel set 41 connected to and supporting the frame 11; a walking motor 42 connected to the walking wheel set 41 for driving the walking wheel set 41 to rotate, thereby moving the outdoor walking device on the ground; and a power supply assembly 20 including at least one battery pack 21. In some embodiments, the output power of the walking 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 a portion of the power supply assembly 20 is detachably mounted to the manned lawnmower.

[0306] See Figures 42 to 44 As shown, the manned lawnmower of this application also includes an eddy current sensor 420 mounted on the walking motor 42 for detecting the rotor position of the walking motor 42. In some embodiments, the eddy current sensor 420 includes a target 421 and a sensor circuit board 422. The target 421 is fixedly connected to the rotor of the walking motor 42. The sensor circuit board 422 is mounted on the walking motor 42 opposite to the target 421. A power supply assembly 20 supplies power to the walking motor 42 and the sensor circuit board 422.

[0307] The target 421 comprises multiple fan-shaped metal plates 4211. The target 421 is fixed to the rotor shaft 42a of the walking motor 42 by screws, so that the target 421 rotates synchronously with the rotor shaft 42a of the walking motor 42. In some embodiments, the target 421 includes at least one limiting portion, such as a flat portion or a protrusion, for fixing to the rotor shaft. When the walking motor 42 runs, an electrical signal is generated within the target 421, which can form a waveform on the sensor circuit board 422 for detecting the rotor position of the walking motor 42. In some embodiments, the target 421 comprises multiple fan-shaped metal plates 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. The transmitting coil can transmit an alternating excitation signal, which generates an alternating electromagnetic field in space, and the receiving coil can receive the signal generated by the alternating electromagnetic field. Under the action of the alternating electromagnetic field, the target 421 induces eddy currents, which generate a secondary electromagnetic signal field. When the sensor circuit board 422 and the target 421 move relative to each other, 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 by demodulating and processing the received signal, that is, obtain the rotor position. At this time, the sensor circuit board 422 outputs a corresponding signal, so that the controller controls the operation of the walking motor based on the signal output by the sensor circuit board 422.

[0308] The sensor circuit board 422 is a printed circuit board integrating sensor detection circuitry. The sensor circuit board 422 has a through hole 4221, the diameter D1 of which matches the diameter of the rotor shaft 42a of the walking motor 42. In some embodiments, the diameter D1 of the through hole 422 is less than or equal to the diameter D2 of the fan-shaped region on the target 421.

[0309] The eddy current sensor 420 also includes a protective cover 423. The protective cover 423 has mounting holes for fixing the protective cover to the travel 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 travel motor 42. In some embodiments, the protective cover 423 has a circuit board mounting groove 4231 on the side facing the travel motor 42, which is used to fix the sensor circuit board 422. Specifically, screws can be used to fix the sensor circuit board 422 into the circuit board mounting groove 4231 to form an eddy current assembly. This eddy current assembly is fixed to one end face of the travel motor 42 by screws.

[0310] See Figure 45 and Figure 46As shown, the walking motor 42 includes a rear end cover 424, a three-phase power cable 425, and a signal cable 426. The rear end cover 424 includes a first end cover portion 4241 and a second end cover portion 4242 detachably mounted to the first end cover portion 4241. The first end cover portion 4241 and the second end cover portion 4242 form a receiving space 424a for receiving and securing at least a portion of the three-phase power cable 425, at least a portion of the signal cable 426, the mounting target 421a, and the sensor circuit board 422a. Specifically, the first end cover portion 4241 has a first through hole 424b for allowing the three-phase power cable 425 to pass through. The three-phase power cable 425 is mounted to a fixing member 427, which is fixed within the first end cover portion 4241 and located within the receiving space 424a by screws. A second through hole 424c is also formed on the first end cap 4241, through which the rotor shaft 42a extends into the receiving space 424a. 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 to the side of the fixing member 427 away from the three-phase power line 425.

[0311] Based on the same concept, this application also provides an outdoor walking device 100, which integrates an eddy current sensor inside the motor for detecting the motor rotor position. This design has low waterproofing requirements, high structural reliability, and improves detection accuracy. The outdoor walking device 100 of this application includes: a frame 11; a walking wheel set 41 connected to and supporting the frame 11; a walking motor 42 connected to the walking wheel set 41 for driving the walking wheel set 41 to rotate, thereby moving the outdoor walking device 100 on the ground; and a drive motor connected to a working attachment for driving the working attachment. See also... Figures 42 to 44 As shown, the outdoor walking device 100 of this application further includes: an eddy current sensor 420 mounted on the walking motor 42, the eddy current sensor 420 including 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 walking motor 42 or the drive motor; and a power supply assembly 20 including at least one battery pack 21 for supplying power to the walking motor 42, the drive motor and the sensor circuit board 422.

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

[0313] Optionally, the eddy current sensor 420 further includes: a protective cover; the protective cover has mounting holes for fixing the protective cover to the walking motor 42 or the drive motor, so that the protective cover covers the target 421 and the sensor circuit board 422 on the side away from the walking motor 42 or the drive motor; the protective cover has a circuit board mounting groove on the side facing the walking motor 42 or the drive motor, the circuit board mounting groove for fixing 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 walking motor 42 is greater than or equal to 2kW.

[0317] Alternatively, the drive motor may include a snow sweeping motor or a lawn mowing motor.

[0318] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that the above embodiments do not limit this application in any way, and all technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of this application.

Claims

1. A manned lawnmower, comprising: The vehicle frame, and the support portion mounted to the vehicle frame for supporting the user; The walking wheel set connects to and supports the vehicle 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 drive signal to the drive circuit to at least control the operation of the lawnmower motor; Its features are, The controller is configured to: receive a first electrical parameter related to the current of the lawnmower motor, and limit the first electrical parameter to a preset range when the first electrical parameter meets a first preset condition; When the first electrical parameter is limited to a 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 lawnmower according to claim 1, characterized in that, The controller is configured to receive a second electrical parameter related to the rotational speed of the lawnmower motor, and selectively use a first method or a second method to determine the rotor position of the lawnmower motor based on the second electrical parameter.

3. The manned lawnmower according to claim 2, characterized in that, The controller is configured to: determine the rotor position of the lawnmower motor using the first method when the second electrical parameter meets the second preset condition, and determine the rotor position of the lawnmower motor using the second method when the second electrical parameter meets the third preset condition; The second preset condition includes: a preset time threshold and a preset lower threshold related to the rotational speed of the lawnmower motor; the third preset condition includes: a preset upper threshold related to the rotational speed of the lawnmower motor, wherein the value of the preset upper threshold is greater than the preset lower threshold.

4. The manned lawnmower according to claim 1, characterized in that, The controller is also configured to use the first method to determine the rotor position of the lawnmower motor when the lawnmower motor is started.

5. The manned lawnmower according to claim 4, characterized in that, When the mowing motor starts, the controller is also configured to: receive a second electrical parameter related to the rotational speed of the mowing motor, determine whether to perform a rotor position detection method switch based on the second electrical parameter, and control the mowing motor to stop when the rotor position detection method switch is not performed.

6. A control method for a manned lawnmower, the manned lawnmower comprising: The vehicle frame, and the support portion mounted to the vehicle frame for supporting the user; The walking wheel set connects to and supports the vehicle frame, and the walking wheel set is driven by a walking motor; The mowing element is driven by a mowing motor; The control method is characterized by comprising: Obtain a first electrical parameter related to the current of the lawnmower motor, and limit the first electrical parameter to a preset range when the first electrical parameter meets a first preset condition; When the first electrical parameter is limited to a preset range, the first method or the second method is selectively used to determine the rotor position of the lawnmower motor so that the lawnmower motor does not stop when the first electrical parameter is within the preset range.

7. The control method for a manned lawnmower according to claim 6, characterized in that, Also includes: Obtain a second electrical parameter related to the rotational speed of the lawnmower motor; The rotor position of the lawnmower motor is determined selectively using either the first or second method based on the second electrical parameter.

8. The control method for a manned lawnmower according to claim 7, characterized in that, Also includes: When the second electrical parameter meets the second preset condition, the first method is used to determine the rotor position of the lawnmower motor; When the second electrical parameter meets the third preset condition, the second method is used to determine the rotor position of the lawnmower motor; The second preset condition includes: a preset time threshold and a preset lower threshold related to the rotational speed of the lawnmower motor; the third preset condition includes: a preset upper threshold related to the rotational speed of the lawnmower motor, wherein the value of the preset upper threshold is greater than the preset lower threshold.

9. The control method for a manned lawnmower according to claim 6, characterized in that, Also includes: When the lawnmower motor is started, the first method is used to determine the rotor position of the lawnmower motor.

10. The control method for a manned lawnmower according to claim 9, characterized in that, Also includes: Obtain a second electrical parameter related to the rotational speed of the lawnmower motor; Determine whether to switch the rotor position detection method based on the second electrical parameter; When the rotor position detection method is not switched, the lawnmower motor is controlled to stop.

11. An outdoor walking device, comprising: Frame; A set of wheels for travel, which connects to and supports the vehicle frame, is driven by a travel motor. The mowing element is driven by a mowing motor; The controller is configured to apply a drive signal to the drive circuit to at least control the operation of the lawnmower motor; Its features are, The controller is configured to: receive and limit a first electrical parameter related to the current of the mowing motor, and during the limiting period 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 based on the second electrical parameter.

12. The outdoor walking device according to claim 11, characterized in that, The controller is configured to receive a second electrical parameter related to the rotational speed of the lawnmower motor, and selectively use a first method or a second method to determine the rotor position of the lawnmower motor based on the second electrical parameter.

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

14. The outdoor walking device according to claim 11, characterized in that, The controller is also configured to use the first method to determine the rotor position of the lawnmower motor when the lawnmower motor is started.

15. The outdoor walking device according to claim 14, characterized in that, When the mowing motor starts, the controller is also configured to: receive a second electrical parameter related to the rotational speed of the mowing motor, determine whether to perform a rotor position detection method switch based on the second electrical parameter, and control the mowing motor to stop when the rotor position detection method switch is not performed.

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