Electric garden operation vehicle and discharge control method thereof

Abstract

The invention discloses an electric garden operation vehicle and a discharge control method thereof, which can realize balanced and stable discharge control and can more conveniently disassemble, assemble and replace a battery pack so as to improve the working efficiency. The electric garden operation vehicle comprises a vehicle frame, a working system connected to the vehicle frame and a power supply system used for supplying power to the working system. The power supply system comprises a plurality of battery units, and the plurality of battery units are selected from at least one of a first specification battery pack and a second specification battery pack; the power management system is configured to perform registration according to the state information of the plurality of battery units before a discharging stage so as to generate a battery registry; performing discharge control on the plurality of battery units based on the battery registry in a discharge stage; and when the battery units are newly added or removed in the discharge stage, updating the battery registry.

Description

Technical Field

[0001] This specification relates to the technical field of garden tools, and particularly to an electric garden operation vehicle and its discharge control method. Background Art

[0002] Most garden operation tools on the market use fuel as the power source. The main problems of this method are that the exhaust gas it releases will pollute the environment, and the noise generated by fuel-powered tools during operation is relatively large, which will cause noise pollution to the surrounding environment. In contrast, electric garden operation tools are getting more and more applications and popularity due to their environmental protection, cleanliness, and low noise.

[0003] For high-power electric tools such as electric garden operation vehicles, a battery pack is generally used as the power source. In actual working scenarios, it is necessary to power off the entire vehicle and stop working before replacing or disassembling the battery pack. Such a method is inconvenient to operate and has a great impact on the overall working efficiency of the electric garden operation vehicle. Summary of the Invention

[0004] In view of this, the embodiments of this specification provide an electric garden operation vehicle and its discharge control method, which can achieve balanced and stable discharge control while being able to disassemble, assemble, and replace the battery pack more conveniently, thereby improving work efficiency.

[0005] On the one hand, the embodiments of this specification provide an electric garden operation vehicle, including: a vehicle frame, a working system connected to the vehicle frame, and a power supply system for supplying power to the working system;

[0006] The power supply system includes a plurality of battery units. The plurality of battery units select at least one of a first specification battery pack and a second specification battery pack. The capacity of the first specification battery pack is greater than that of the second specification battery pack. The second specification battery pack is configured to provide power for handheld garden tools;

[0007] And a power management system, configured to register according to the status information of the plurality of battery units before the discharge stage to generate a battery registration form;

[0008] Perform discharge control on the plurality of battery units based on the battery registration form during the discharge stage;

[0009] And, when a battery unit is newly added or removed during the discharge stage, update the battery registration form.

[0010] Optionally, the power supply system includes a plurality of communication interfaces, and the power management system includes a communication component;

[0011] The communication component is used to connect to a plurality of the communication interfaces to receive battery connection signals from a plurality of the battery units, and the battery connection signals include the status information of the battery units;

[0012] The status information includes battery ID information and status parameter information of the battery units.

[0013] Optionally, the power management system is configured to generate a battery registration table according to the status information of a plurality of the battery units before the discharge stage, including:

[0014] The power management system is used to screen out a plurality of the battery units with normal status according to the status information for registration to generate the battery registration table.

[0015] Optionally, the power management system is configured to perform discharge control on a plurality of the battery units based on the battery registration table during the discharge stage, including:

[0016] The power management system is used to control at least one of the battery units with a higher evaluation value in the battery registration table to discharge first;

[0017] For other battery units in the battery registration table, the voltages of the plurality of battery units are sequentially compared with the load bus voltage of the working system according to the sorting order in the battery registration table;

[0018] When the voltage of the battery unit exceeds the load bus voltage of the working system, the power management system is used to control the battery unit to discharge;

[0019] In the battery registration table, the plurality of battery units are sorted in descending order of voltage.

[0020] Optionally, the evaluation value is determined according to at least one status parameter information corresponding to the battery unit;

[0021] The status parameter information corresponding to the battery unit at least includes voltage information, capacitance information, charge information, internal resistance information, and health status information.

[0022] Optionally, the evaluation value is determined by weighted summation or weighted average based on at least one status parameter information corresponding to the battery unit.

[0023] Optionally, at least one of the battery units with a higher evaluation value includes the battery unit with the highest evaluation value and the battery units with a difference from the highest evaluation value within a preset difference range.

[0024] Optionally, the power management system further includes a bus voltage monitoring component for monitoring the load bus voltage;

[0025] For other battery cells in the battery registry, when the load bus voltage rises and exceeds the voltage of the battery cell, the power management system is further configured to control the battery cell to stop discharging. Optionally, a plurality of circuit branches are further provided between the power supply system and the working system, and the plurality of circuit branches are respectively connected to the plurality of battery cells in a corresponding manner;

[0026] The power management system is configured to control the circuit branch corresponding to at least one of the battery cells with a higher evaluation value to be turned on first, so that at least one of the battery cells with a higher evaluation value discharges first;

[0027] For other battery cells in the battery registry, when the voltage of the battery cell exceeds the load bus voltage, the power management system is configured to control the circuit branch corresponding to the battery cell to be turned on, so that the battery cell discharges.

[0028] Optionally, when removing a battery cell during the discharging stage, the power management system is configured to delete the registration information corresponding to the battery cell to be removed from the battery registry and update the battery registry.

[0029] Optionally, if the battery cell to be removed is the only battery cell in the discharging state, the power management system is further configured to control at least one of the battery cells with a higher evaluation value in the battery registry to discharge after updating the battery registry.

[0030] Optionally, when adding a battery cell during the discharging stage, the power management system is configured to determine whether the newly connected battery cell meets the registration voltage condition;

[0031] When it is determined that the newly connected battery cell meets the registration voltage condition, the power management system is configured to directly register the newly connected battery cell;

[0032] When it is determined that the newly connected battery cell does not meet the registration voltage condition, the power management system is configured to update the registration of the newly connected battery cell;

[0033] Wherein, the registration voltage condition includes:

[0034] The voltage of the newly connected battery cell is less than the minimum discharge voltage, and the minimum discharge voltage refers to the minimum value of the voltages of at least one of the battery cells in the discharging state;

[0035] The direct registration means directly adding the registration information corresponding to the newly connected battery cell to the end of the battery registry;

[0036] The update registration means that after determining that the electric garden working vehicle is in a stopped state, adding the corresponding registration information of the newly connected battery unit to the battery registration table and updating the battery registration table.

[0037] Optionally, when adding a new battery unit during the discharge phase, the power management system is configured to control the newly connected battery unit to be temporarily conducted with the working system to obtain a sampling current;

[0038] The power management system is further configured to determine whether the sampling current meets the registration current condition;

[0039] When it is determined that the sampling current meets the registration current condition, the power management system is configured to directly register the newly connected battery unit;

[0040] When it is determined that the sampling current does not meet the registration current condition, the power management system is configured to perform update registration on the newly connected battery unit;

[0041] Wherein, the registration current condition includes that the sampling current is less than a first preset current threshold;

[0042] The direct registration means directly adding the corresponding registration information of the newly connected battery unit to the end of the battery registration table;

[0043] The update registration means that after determining that the electric garden working vehicle is in a stopped state, adding the corresponding registration information of the newly connected battery unit to the battery registration table and updating the battery registration table;

[0044] Wherein, the value range of the first preset current threshold is 0.1 A to 3 A.

[0045] Optionally, the power management system is further configured to determine whether the sampling current meets the direct discharge current condition;

[0046] When it is determined that the sampling current meets the direct discharge current condition, the power management unit is configured to control the newly connected battery unit to discharge;

[0047] The direct discharge current condition includes:

[0048] The sampling current is less than the first preset current threshold and greater than a second preset current threshold;

[0049] Wherein, the value range of the second preset current threshold is -3 A to -0.1 A.

[0050] Optionally, the power management system is further configured to determine whether the power system meets the discharge start condition, and when it is determined that the power system meets the discharge start condition, control the power system to enter the discharge stage;

[0051] Among them, the discharge start condition includes:

[0052] The countdown of the pre-charge stage ends; the load bus voltage is greater than the preset bus voltage threshold; and the total capacity of the power system is greater than the first preset capacity threshold;

[0053] Among them, the pre-charge stage refers to the stage of pre-charging the working system before the discharge stage;

[0054] The preset bus voltage threshold is 0.7V e , V e represents the rated voltage of the power system;

[0055] The value range of the first preset capacity threshold is 10Ah to 15Ah.

[0056] Optionally, the power management system includes a pre-charge circuit component;

[0057] The pre-charge circuit component is configured to pre-charge the load bus capacitor of the working system in a current-limiting manner during the pre-charge stage.

[0058] Optionally, the power management system is configured to register according to the status information of the multiple battery cells during the pre-charge stage to generate the battery registration table.

[0059] An embodiment of this specification further provides a discharge control method applied to an electric garden working vehicle. The electric garden working vehicle includes a frame, a working system connected to the frame, and a power system for supplying power to the working system;

[0060] The power system includes multiple battery cells, and the multiple battery cells select at least one of the first specification battery pack and the second specification battery pack. The capacity of the first specification battery pack is greater than the capacity of the second specification battery pack, and the second specification battery pack is configured to provide power for a handheld garden tool;

[0061] The method includes:

[0062] Register according to the status information of the multiple battery cells before the discharge stage to generate a battery registration table;

[0063] During the discharge stage, perform discharge control on the multiple battery cells based on the battery registration table;

[0064] And, when a battery cell is newly added or removed during the discharge phase, update the battery registry.

[0065] Optionally, the power supply system includes a plurality of communication interfaces;

[0066] The method for determining the status information includes:

[0067] Receiving battery connection signals from a plurality of the battery cells by using the plurality of communication interfaces, where the battery connection signals include the status information of the battery cells;

[0068] The status information includes the battery ID information and status parameter information of the battery cell.

[0069] Optionally, registering according to the status information of a plurality of the battery cells before the discharge phase to generate a battery registry includes:

[0070] The power management system is configured to screen out a plurality of the battery cells with normal status according to the status information for registration to generate the battery registry.

[0071] Optionally, for discharging control of a plurality of the battery cells based on the battery registry during the discharge phase, it includes:

[0072] Controlling at least one of the battery cells with a higher evaluation value in the battery registry to discharge first;

[0073] For other battery cells in the battery registry, compare the voltages of the plurality of battery cells with the load bus voltage of the working system in sequence according to the sorting order in the battery registry;

[0074] When the voltage of the battery cell exceeds the load bus voltage of the working system, control the battery cell to discharge;

[0075] In the battery registry, the plurality of battery cells are sorted in descending order of voltage.

[0076] Optionally, the evaluation value is determined according to at least one status parameter information corresponding to the battery cell;

[0077] The status parameter information corresponding to the battery cell at least includes voltage information, capacitance information, charge information, internal resistance information, and health status information.

[0078] Optionally, the evaluation value is determined by weighted summation or weighted average based on at least one status parameter information corresponding to the battery cell.

[0079] Optionally, at least one of the battery cells with a higher evaluation value includes the battery cell with the highest evaluation value and the battery cells with a difference from the highest evaluation value within a preset difference range.

[0080] Optionally, the method further includes:

[0081] For other battery cells in the battery registry, when the load bus voltage rises and exceeds the voltage of the battery cell, control the battery cell to stop discharging.

[0082] Optionally, a plurality of circuit branches are further provided between the power supply system and the working system, and the plurality of circuit branches are respectively connected to the plurality of battery cells in correspondence;

[0083] The method includes:

[0084] Control the circuit branch corresponding to at least one of the battery cells with a higher evaluation value to conduct first, so that at least one of the battery cells with a higher evaluation value discharges first;

[0085] For other battery cells in the battery registry, when the voltage of the battery cell exceeds the load bus voltage, control the corresponding circuit branch of the battery cell to conduct, so that the battery cell discharges.

[0086] Optionally, when a battery cell is newly added or removed during the discharge stage, updating the battery registry includes:

[0087] Delete the registration information corresponding to the battery cell to be removed from the battery registry, and update the battery registry.

[0088] Optionally, in response to the battery cell to be removed being the only battery cell in the discharge state, the method further includes:

[0089] After updating the battery registry, control at least one of the battery cells with a higher evaluation value in the battery registry to discharge.

[0090] Optionally, when a battery cell is newly added or removed during the discharge stage, updating the battery registry includes:

[0091] Judge whether the newly connected battery cell meets the registration voltage condition;

[0092] When it is determined that the newly connected battery cell meets the registration voltage condition, directly register the newly connected battery cell;

[0093] When it is determined that the newly connected battery cell does not meet the registration voltage condition, update the registration of the newly connected battery cell;

[0094] Among them, the registration voltage condition includes:

[0095] The voltage of the newly connected battery cell is less than the minimum discharge voltage, and the minimum discharge voltage refers to the minimum voltage of at least one of the battery cells in the discharge state;

[0096] The direct registration means directly adding the corresponding registration information of the newly connected battery cell to the end of the battery registration table;

[0097] The update registration means that after determining that the electric garden working vehicle is in a stopped state, adding the corresponding registration information of the newly connected battery cell to the battery registration table and updating the battery registration table.

[0098] Optionally, when a battery cell is newly added or removed during the discharge stage, updating the battery registration table includes:

[0099] When a battery cell is newly added during the discharge stage, controlling the newly connected battery cell to be temporarily connected to the working system to obtain a sampling current;

[0100] Judging whether the sampling current meets the registration current condition;

[0101] When it is determined that the sampling current meets the registration current condition, directly registering the newly connected battery cell;

[0102] When it is determined that the sampling current does not meet the registration current condition, performing update registration on the newly connected battery cell;

[0103] Among them, the registration current condition includes that the sampling current is less than the first preset current threshold;

[0104] The direct registration means directly adding the corresponding registration information of the newly connected battery cell to the end of the battery registration table;

[0105] The update registration means that after determining that the electric garden working vehicle is in a stopped state, adding the corresponding registration information of the newly connected battery cell to the battery registration table and updating the battery registration table;

[0106] Among them, the value range of the first preset current threshold is from 0.1A to 3A.

[0107] Optionally, it further includes judging whether the sampling current meets the direct discharge current condition;

[0108] When it is determined that the sampling current meets the direct discharge current condition, controlling the newly connected battery cell to discharge;

[0109] The direct discharge current condition includes:

[0110] The sampled current is less than the first preset current threshold and greater than the second preset current threshold;

[0111] Wherein, the value range of the second preset current threshold is from -3A to -0.1A.

[0112] Optionally, the method further includes:

[0113] Determine whether the power supply system meets the discharge start condition, and when it is determined that the power supply system meets the discharge start condition, control the power supply system to enter the discharge stage;

[0114] Wherein, the discharge start condition includes:

[0115] The countdown of the pre-charge stage ends; the load bus voltage is greater than the preset bus voltage threshold; and the total capacity of the power supply system is greater than the first preset capacity threshold;

[0116] Wherein, the pre-charge stage refers to the stage of pre-charging the working system before the discharge stage;

[0117] The preset bus voltage threshold is 0.7V e , V e represents the rated voltage of the power supply system;

[0118] The value range of the first preset capacity threshold is from 10Ah to 15Ah.

[0119] Optionally, pre-charging the working system includes pre-charging the load bus capacitor of the working system in a current-limiting manner.

[0120] As can be seen from the above, an electric garden operation vehicle and its discharge control method provided by the embodiments of the present specification have the following beneficial technical effects:

[0121] In the electric garden working vehicle, at least one of the first - specification battery pack and the second - specification battery pack is selected for the multiple battery units of the power supply assembly. In this way, the electric garden working vehicle can be compatible with battery packs of different specifications, meeting the high - power working requirements and being able to adapt to handheld electric garden tools at the same time, making the working mode of garden workers more flexible. Further, for the discharge control method applied to the electric garden working vehicle, a battery registry is generated by registering the multiple battery units in the power supply system, and the battery registry is updated when a battery pack is removed or added. The method performs discharge control based on the real - time updated battery registry. In this way, the flexible replacement or disassembly of the battery pack can be realized without the need to power off the whole vehicle and stop working. While realizing balanced and stable discharge control, it is more convenient to disassemble, install and replace the battery pack, thus improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0122] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings. The drawings are schematic and should not be construed as imposing any limitation on the present invention. In the drawings:

[0123] Figure 1 FIG. shows a schematic diagram of an electric garden working vehicle provided by one or more alternative embodiments of the present specification;

[0124] Figure 2 FIG. shows another schematic diagram of an electric garden working vehicle provided by one or more alternative embodiments of the present specification;

[0125] Figure 3 FIG. shows a schematic diagram of the system framework of an electric garden working vehicle provided by one or more alternative embodiments of the present specification;

[0126] Figure 4 FIG. shows a schematic diagram of the circuit structure in an electric garden working vehicle provided by one or more alternative embodiments of the present specification;

[0127] Figure 5 FIG. shows a schematic diagram of a discharge control method for adding battery units applied to an electric garden working vehicle provided by one or more alternative embodiments of the present specification;

[0128] Figure 6 FIG. shows another schematic diagram of a discharge control method for adding battery units applied to an electric garden working vehicle provided by one or more alternative embodiments of the present specification

[0129] Figure 7 FIG. shows a schematic diagram of a discharge start control method in a discharge control method applied to an electric garden working vehicle provided by one or more alternative embodiments of the present specification;

[0130] Figure 8 The figure shows a schematic diagram of the discharge end control method in a discharge control method applied to an electric garden operation vehicle provided by one or more optional embodiments of this specification. Detailed implementation manners

[0131] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0132] Most garden operation tools on the market use fuel as the power supply method. The main problems with this method are that the exhaust gas it releases will pollute the environment, and the noise generated by fuel-powered tools during operation is relatively large, which will cause noise pollution to the surrounding environment. In contrast, electric garden operation tools are getting more and more applications and popularizations due to their advantages such as environmental protection, cleanliness, and low noise.

[0133] For high-power electric tools such as electric garden operation vehicles, a battery pack is generally used as the power source. In actual working scenarios, it is necessary to power off the entire vehicle and stop working before the battery pack can be replaced or disassembled. Such a method is inconvenient to operate and has a great impact on the overall working efficiency of the electric garden operation vehicle.

[0134] In view of this, the objective of the embodiments of this specification is to propose an electric garden operation vehicle and a discharge control method. The electric garden operation vehicle is compatible with multiple battery units of different specifications and capacities. Among them, small-capacity batteries can be adapted to handheld electric garden tools, and large-capacity batteries can better meet the high-power working requirements of the electric garden operation vehicle. The discharge control method applied to the electric garden operation vehicle adopts the method of registering and updating the battery pack status information, and performs discharge control based on the real-time updated battery registry, so that the battery pack can be flexibly replaced or disassembled without powering off the entire vehicle and stopping working.

[0135] Based on the above objective, the embodiments of this specification provide an electric garden operation vehicle.

[0136] Referring to Figures 1 to 2 As shown, the electric garden operation vehicle includes: a vehicle frame 100, a working system 102 connected to the vehicle frame 100, a power supply system 104 for supplying power to the working system 102, and a power management system.

[0137] The frame 100 extends at least partially in a direction parallel to the front-rear direction, and a load-carrying assembly may be provided on the frame 100. The load-carrying assembly may include at least one of a seat or a standing platform. Figure 1 Only the case where the load-carrying assembly includes a seat is exemplarily shown in Figure 1 . The seat or the standing platform is for the operator to sit or stand on. That is, the electric garden work vehicle can provide a riding working mode or a standing working mode. Further, the structures of the seat and the standing platform can be flexibly switched, that is, the working mode of the electric garden work vehicle can be flexibly switched between the riding working mode and the standing working mode according to the actual needs of the working user. A hand-held operation assembly may also be provided on the frame 100. Based on the hand-held operation assembly, the electric garden work vehicle can also provide a push-type working mode.

[0138] The working system 102 includes a power output assembly 1020 and a traveling drive assembly 1022. The power output assembly 1020 includes an output member for outputting power to achieve a specific mechanical function. In some alternative embodiments, the power output assembly 1020 is a mowing element for achieving a mowing function. The power output assembly 1020 is also connected to the frame 100. The power output assembly 1020 further includes a first drive motor for driving the mowing element to rotate at a high speed, and a control module corresponding to the first drive motor.

[0139] The power output assembly 1020 may include more than one mowing element. Correspondingly, the number of the first drive motors may correspond to the number of the mowing elements. For example, in some embodiments, the mowing element is three blades, and the number of the first drive motors is also set to three. In some specific embodiments, the control module corresponding to the first drive motor includes a control chip, such as an MCU, an ARM, etc.

[0140] In some alternative embodiments, the power output assembly 1020 is a cleaning element for achieving clean energy supply. The power output assembly 1020 further includes a first drive motor for driving the cleaning element, and a control module corresponding to the first drive motor.

[0141] It can be understood that in some alternative embodiments, the power output assembly 1020 can also be replaced with other functional components, such as snow sweeping, snow blowing, snow shoveling, flushing and other components. Those skilled in the art should be able to adaptively replace various functional components without creative labor, and the above should all be included in the protection scope of this embodiment.

[0142] The walking drive assembly 1022 is used to enable the electric garden working vehicle to travel in garden scenarios such as lawns, gardens, and within fences. The walking drive assembly 1022 at least includes walking wheel elements and a second drive motor for driving the walking wheel elements. A plurality of the walking wheel elements may be provided, and the number of the second drive motors corresponds to the walking wheel elements. In some alternative embodiments, the walking drive assembly 1022 includes a first walking wheel and a second walking wheel and two corresponding second drive motors. When the two second drive motors drive the corresponding walking wheels to rotate at different powers, a speed difference is generated between the first walking wheel and the second walking wheel, so that the electric garden working vehicle can be steered. In some embodiments, the walking drive assembly 1022 further includes a driving controller for controlling the second drive motor.

[0143] The working system 102 serves as a load in the electric garden working vehicle, and the power supply system 104 is used to supply power to the load. Specifically, the power supply system 104 is at least used to supply power to the first drive motor in the power output assembly 1020 and the second drive motor in the walking drive assembly 1022. The power supply system 104 may also supply power to other electronic components in the electric garden working vehicle, such as the control module corresponding to the first drive motor in the power output assembly 1020 and the driving controller corresponding to the second drive motor in the walking drive assembly 1022.

[0144] The power supply system 104 is disposed on the vehicle frame 100 and is detachably connected to the vehicle frame 100. The power supply system 104 includes a plurality of battery units. The plurality of battery units may select at least one of a first specification battery pack and a second specification battery pack. The specification differences between the first specification battery pack and the second specification battery pack include, but are not limited to, differences in battery pack capacity, voltage, battery internal resistance, weight, size, energy density, cell type, charge information, battery health status information, and other aspects.

[0145] In some alternative embodiments, the difference between the first specification battery pack and the second specification battery pack lies in the different battery pack capacities. The capacity of the first specification battery pack is greater than that of the second specification battery pack. The second specification battery pack is configured to provide power for handheld garden tools. For example, the second specification battery pack can supply power to garden tools such as lawn mowers, pruning shears, blowers, and chain saws. In addition, the second specification battery pack can also supply power to torque output tools such as electric drills and electric hammers; supply power to sawing tools such as circular saws, jigsaws, and reciprocating saws, or supply power to grinding tools such as angle grinders and sanders.

[0146] In some alternative embodiments, the difference between the first specification battery pack and the second specification battery pack lies in the different types of battery cells selected. For example, the first specification battery pack and the second specification battery pack may respectively select lithium iron phosphate battery cells and ternary lithium battery cells. Multiple battery units in the power supply system 104 may also select nickel-chromium battery cells, lead-acid battery cells, graphene battery cells, etc.

[0147] Multiple battery units of the power supply component select at least one of the first specification battery pack and the second specification battery pack. This way enables the electric garden working vehicle to be compatible with different specification battery packs, meeting the high-power working requirements while also being able to adapt to handheld electric garden tools, making the working mode of garden workers more flexible.

[0148] The power management system is used to control the charging and discharging of multiple battery units in the power supply system 104. Specifically, in the discharging stage, the power management system can perform discharging control on multiple battery units.

[0149] The power management system is configured to register according to the status information of multiple battery units before the discharging stage to generate a battery registration table. In the discharging stage, the power management system performs discharging control on multiple battery units based on the battery registration table. And, in the case of removing or adding a battery unit during the discharging stage, the battery unit updates the battery registration table, and performs discharging control based on the updated battery registration table.

[0150] As Figure 3 shown, in some alternative embodiments, the power supply system includes multiple communication interfaces, and the power management system includes a communication component. The power management system can establish a communication connection with multiple communication interfaces through the communication component, so as to receive battery connection signals from multiple battery units through the multiple communication interfaces. The battery connection signals include the status information of the battery units.

[0151] The status information includes the battery ID information and status parameter information of the battery unit.

[0152] The corresponding status parameter information of the battery unit at least includes voltage information, capacitance information, charge information, internal resistance information, and health status information. The status information may also include, but is not limited to, the actual total capacity, remaining power, remaining power percentage, number of charge and discharge cycles of the corresponding battery unit, and specification parameter information including rated capacity, rated voltage, rated current, maximum charge and discharge current, factory total capacity, battery cell type, battery cell series / parallel number, single battery cell voltage, discharge cut-off voltage, etc.

[0153] After receiving the status information of multiple battery units, the power management system determines and filters out all battery units with normal status in the power system 104 based on the status information, and registers the battery units with normal status. Using the corresponding status information of the battery units as registration information, the battery registration table is generated. In the battery registration table, multiple battery units are sorted in descending order of voltage.

[0154] The battery management unit is configured to control at least one battery unit with a higher evaluation value in the battery registration table to discharge first, and provide electrical energy for at least one of the first drive motor and the second drive motor in the working system 102. Wherein, the evaluation value is determined according to at least one status parameter information corresponding to the battery unit.

[0155] In some alternative embodiments, the evaluation value can be determined based on only one status parameter. For example, it can be determined according to voltage information. The higher the voltage value of the battery unit before the start of discharge, the higher the corresponding evaluation value; it can also be determined according to capacitance information. The larger the overall capacitance of the battery unit, the higher the corresponding evaluation value; it can also be determined according to the state of charge (SOC). The higher the SOC value, the higher the corresponding evaluation value.

[0156] In some alternative embodiments, the evaluation value can be determined according to multiple status information. When determined based on multiple status information, the evaluation value can be determined by weighted summation or weighted average calculation based on multiple status information corresponding to the battery unit.

[0157] Taking weighted average as an example, the calculation method of the evaluation value includes:

[0158]

[0159] Where P represents the evaluation value, n represents the number of types of status information involved in determining the evaluation value, M i represents the data value corresponding to the i-th type of status information, and δ i (δ i >0) represents the weighted adjustment coefficient corresponding to the i-th type of status information. Wherein, the weighted adjustment coefficient can be flexibly adjusted and set according to the actual application situation.

[0160] The evaluation value determined by such a calculation method comprehensively calculates multiple status information associated with the battery unit, and the evaluation value can scientifically and effectively measure the impact of the discharge of the corresponding battery unit on the operation of the electric garden work vehicle.

[0161] At least one of the battery units with higher evaluation values includes the battery unit with the highest evaluation value and the battery units whose difference from the highest evaluation value P max is within a preset difference range. Wherein, the preset difference range can be, for example, 0.1P max , then at least one of the battery units with higher evaluation values refers to all the battery units in the power supply system 104 whose evaluation values are greater than 0.9P max . In some alternative embodiments, the value range of the preset difference range is 0.03P max to 0.3P max .

[0162] Based on the above description, the evaluation value can scientifically and effectively measure the impact of the discharge of the corresponding battery unit on the operation of the electric garden work vehicle. The power management system selects at least one of the battery units with higher rating values in the battery registry and controls it to discharge first. In this way, at least one battery unit that discharges first to output power can ensure that the electric garden work vehicle starts to operate smoothly and effectively. Specifically, the at least one battery unit selected can effectively meet the normal operation of at least one of the first drive motor and the second drive motor in the electric garden work vehicle.

[0163] For the other battery units in the battery registry, the power management system sequentially compares the voltages of multiple battery units with the load bus voltage of the working system according to the sorting order in the battery registry. When the voltage of the battery unit exceeds the load bus voltage of the working system 102, the power management system is used to control the battery unit to discharge.

[0164] As Figure 3 shown, in some embodiments, the power management system further includes a bus voltage monitoring component for monitoring the load bus voltage of the working system 102. The power management system uses the bus voltage monitoring component to obtain the real-time load bus voltage of the working component and sequentially compares the voltages of multiple battery units with the load bus voltage according to the sorting order in the battery registry.

[0165] The working system 102, as a load in the electric gardening vehicle, after the power management system selects and controls at least one of the battery cells with a higher rating value to start discharging, due to the effect of the high-power load of the working system 102, the corresponding load bus voltage will be gradually pulled down. During this process, the voltages of the other battery cells in the battery registry will successively exceed the load bus voltage. The power management system is configured to control the battery cells to discharge when the voltage of the battery cells exceeds the load bus voltage of the working system 102.

[0166] That is, due to the effect of the high-power load of the working system 102, as the load bus voltage gradually drops, multiple other battery cells in the power system 104 also start to discharge one by one under the control line of the power management system to supply power to the working system 102, so that the electric gardening vehicle can perform work tasks with greater power. Such a method can ensure the balanced discharge of multiple battery cells and improve the discharge efficiency.

[0167] After the electric gardening vehicle starts working, the power output component and the traveling drive component in the working system 102 will face various different working conditions, and the working power conditions of the first drive motor and the second drive motor will also change continuously. Under different working conditions, the load bus voltage of the working system 102 will fluctuate. When the load bus voltage rises and exceeds the voltage of a certain battery cell, the power management system can control this battery cell to temporarily stop discharging.

[0168] As Figure 3 shown, in an embodiment, the power system 104 includes battery cells PACK1, PACK2, PACK3, PACK4, PACK5, PACK6. The power management system generates a battery registry for the 6 battery cells in the power system 104. The sorting of multiple battery cells in the battery registry can be, for example, PACK5, PACK6, PACK1, PACK2, PACK3, PACK4.

[0169] The power management system controls the discharge of six battery cells in the power system 104 based on the battery registry. Among them, PACK5 and PACK6 are battery cells with higher evaluation values, and the power management system can control PACK5 and PACK6 to discharge first. After PACK5 and PACK6 start discharging, the power management system monitors the load bus voltage of the working system 102 in real time and compares the voltages of PACK1, PACK2, PACK3, and PACK4 with the load bus voltage in the order of the registry. The voltage relationship of the battery cells PACK1, PACK2, PACK3, and PACK4 is PACK1 > PACK2 > PACK3 > PACK4. When the voltage of the battery cell PACK1 exceeds the load bus voltage, the power management system controls the battery cell PACK1 to start discharging. During the continuous decrease of the load bus voltage, when the voltage of the battery cell PACK2 exceeds the load bus voltage, the power management system controls the battery cell PACK2 to start discharging. When the voltage of the battery cell PACK3 exceeds the load bus voltage, the power management system controls the battery cell PACK3 to start discharging. When the voltage of the battery cell PACK4 exceeds the load bus voltage, the power management system controls the battery cell PACK4 to start discharging. At this point, multiple battery cells in the power system 104 are in a discharging state to supply power to the load of the working system 102.

[0170] The power output component and the travel drive component in the working system 102 will face various different working conditions, and accordingly, the working power conditions of the first drive motor and the second drive motor are also constantly changing. Under different working conditions, the load bus voltage of the working system 102 will fluctuate. When the load bus voltage rises and exceeds the voltage of the battery cell PACK4, the power management system can control the battery cell PACK4 to temporarily stop discharging. If the load bus voltage continues to rise and exceeds the voltage of the battery cell PACK3, the power management system can control the battery cell PACK3 to suspend the discharging operation.

[0171] Such as Figure 4As shown, in an electric garden work vehicle provided by some alternative embodiments, a plurality of circuit branches are further provided between the power supply system 104 and the working system 102, and the plurality of circuit branches are respectively connected to a plurality of battery units. The power management system can control the circuit branch corresponding to at least one of the battery units with a higher evaluation value to conduct first, so that at least one of the battery units with a higher evaluation value discharges first. For other battery units in the battery register, when the voltage of the battery unit exceeds the voltage of the load bus, the power management system can control the circuit branch corresponding to the battery unit to conduct, so that the battery unit discharges. In some alternative embodiments, a switch unit is provided in the circuit branch. The power management system can control the on-off state of the corresponding circuit branch by controlling the switching power supply, so as to control the discharge of a plurality of battery units in the power supply system 104. Among them, the switching power supply can be a physical mechanical switch or an electronic switch.

[0172] Figure 4 Only a part of the power supply system, the power management system and the plurality of circuit branches is shown. The output ports (P+, P-) of the plurality of circuit branches are connected to the working system, and specifically, they can be connected to the power output component and the travel drive component in the working system. The power supply system functions for the power output component and the travel drive component through the plurality of circuit branches. The power management system can communicate with the plurality of battery units in the power supply system through the CAN bus, so as to obtain the corresponding status information of the plurality of battery units.

[0173] Appendix Figure 4 The case of 4 battery units and 4 circuit branches is shown. In some alternative embodiments, a switch unit is provided in the circuit branch. The power management system can control the on-off state of the corresponding circuit branch by controlling the switch unit, so as to control the discharge of a plurality of battery units in the power supply system 104. Among them, the switch unit can be a physical mechanical switch or an electronic switch. As Figure 4 shown, an MOS transistor is selected as the switch unit, and the power management system (BMS) is provided with a plurality of control pins (PINs) for outputting control signals to control the on-off state of the plurality of MOS transistors, so as to control the on-off state of the plurality of circuit branches.

[0174] In some alternative embodiments, the rating value is determined based on voltage information. The higher the voltage of the battery cell, the higher the corresponding rating value. The power management system may select at least one of the battery cells with a higher voltage value and control the conduction of the corresponding circuit branch first, so that the corresponding battery cell discharges first. After at least one of the battery cells with a higher voltage starts to discharge, the power management system monitors the load bus voltage of the working system 102. When the voltage of a certain battery cell among the other battery cells exceeds the load bus voltage, the power management system controls the conduction of the corresponding circuit branch so that the corresponding battery cell starts to discharge.

[0175] As Figure 4 shown, in some alternative embodiments, the power management system maintains a communication connection with multiple communication interfaces (CAN_H, CAN_L) in the power system by using the communication component, and adopts communication methods such as time-division communication, periodic communication, or real-time communication to obtain the state parameters of the multiple battery cells, and performs state judgment and detection on the corresponding battery cells based on the state parameters.

[0176] Multiple battery cells in the discharge state can form a discharge queue. When the power management system detects error anomalies such as overheating or under-voltage of the battery cell, it is necessary to remove the battery cell from the discharge queue. In this case, the power management system can generate an error alarm message and notify the staff to remind the staff to disassemble or replace the abnormal battery cell. In some alternative embodiments, the power management system can also actively remove the abnormal battery cell from the discharge queue. Correspondingly, when the battery cell with an error anomaly is repaired after error troubleshooting, the power management system determines that the battery cell can start normal discharge again based on the obtained state information, and then the battery cell can be added back to the discharge queue. For the battery cell, it belongs to a newly added battery cell.

[0177] The power management system maintains a communication connection with multiple communication interfaces in the power system by using the communication component, and can also periodically monitor the corresponding battery connection signals. When the power management system times out in communicating with a certain communication interface, it means that the corresponding battery connection signal is lost. It can be determined that the battery cell corresponding to the communication interface is removed. Correspondingly, when a new battery connection signal is received at a detected idle communication interface, the power management system can determine that a new battery cell is added at the communication interface.

[0178] In some alternative embodiments, when a battery unit needs to be removed, the power management system may delete the corresponding registration information of the battery unit to be removed from the battery registration table, and move the other multiple pieces of registration information after the corresponding registration information of the battery unit to be removed in the battery registration table forward as a whole, so as to update the battery registration table. The battery management unit may continue to perform discharge control on the multiple battery units based on the updated battery registration table.

[0179] In some alternative embodiments, the removed battery unit is the only battery unit in the discharging state. In this case, to ensure the normal operation of the electric gardening vehicle, after updating the battery registration table, the power management system may select at least one of the battery units with a higher evaluation value in the battery registration table again and control it to discharge.

[0180] The newly connected battery unit may affect the original discharge control. Therefore, in some alternative embodiments, when a new battery unit needs to be added, the battery management unit is further configured to determine the registration voltage condition for the newly connected battery unit.

[0181] When it is determined that the newly connected battery unit meets the registration voltage condition, the power management system is configured to directly register the newly connected battery unit. The direct registration means directly adding the corresponding registration information of the newly connected battery unit to the end of the battery registration table.

[0182] When it is determined that the newly connected battery unit does not meet the registration voltage condition, the power management system is configured to perform updated registration on the newly connected battery unit. The updated registration means that after determining that the electric gardening vehicle is in a shutdown state, adding the corresponding registration information of the newly connected battery unit to the battery registration table and updating the battery registration table.

[0183] Among them, the registration voltage condition includes:

[0184] The voltage of the newly connected battery unit is less than the minimum discharge voltage, and the minimum discharge voltage refers to the minimum value of the voltages of at least one of the battery units in the discharging state.

[0185] If the voltage of the newly connected battery unit is less than the minimum discharge voltage, after the battery unit is connected, it will not affect the original discharge control. Therefore, the power management system may directly add the corresponding registration information of the battery unit to the battery registration table and add the registration information to the end of the battery registration table.

[0186] The battery management unit can compare the voltage of the newly connected battery unit with the voltage of the load bus. If the voltage of the newly connected battery unit exceeds the voltage of the load bus, the battery management voltage can control the newly connected battery unit to discharge.

[0187] If the voltage of the newly connected battery unit is not less than the minimum discharge voltage, the access of this battery unit may affect the original discharge control. In this case, the power management system can add the registration information of the newly connected battery unit to the battery registration table after confirming that the electric garden working vehicle is in a stopped state, and re - sort the registration information of multiple battery units in the battery registration table.

[0188] In some alternative embodiments, the electric garden working vehicle further includes a vehicle control system (Vehicle Control Unit, VCU) for controlling the overall driving state of the electric garden working vehicle. The power management system can communicate with the vehicle control system to obtain the overall driving state information of the electric garden working vehicle. The overall driving state information at least includes the operating state, the braking state, and the stopped state.

[0189] Reference Figure 5 The discharge control method for the newly added battery unit shown in the figure includes the following steps:

[0190] S101: The power management system communicates with multiple communication interfaces in the power system 104.

[0191] S102: When it is detected that a new battery connection signal is received at an idle communication interface, or when it is determined according to the status information that the state of an abnormal battery unit returns to normal, the power management system can determine that a newly added battery unit is at the communication interface;

[0192] S103: The power management system compares the voltage of the newly connected battery unit with the minimum discharge voltage to determine whether the newly connected battery unit meets the registration voltage condition;

[0193] S104: When it is determined that the newly connected battery unit meets the registration voltage condition, the power management system adds the corresponding registration information of the newly connected battery unit to the end of the battery registration table;

[0194] S105: When it is determined that the newly connected battery unit does not meet the registration voltage condition, the power management system communicates with the vehicle control system to determine whether the electric garden working vehicle is in a stopped state;

[0195] S106: When it is determined that the electric garden working vehicle is in a stopped state, the power management system adds the registration information corresponding to the newly connected battery unit to the battery registration table, and re-orders and updates the multiple battery units in the battery registration table;

[0196] S107: The power management system compares the voltage of the newly connected battery unit with the voltage of the load bus;

[0197] S108: If the voltage of the newly connected battery unit exceeds the voltage of the load bus, the power management system controls the newly connected battery unit to discharge.

[0198] In some other alternative embodiments, when a new battery unit needs to be added, the battery management unit is further configured to control the newly connected battery unit to be temporarily conducted with the working system to obtain a sampled current, and determine the registered current condition for the sampled current.

[0199] When it is determined that the sampled current meets the registered current condition, the power management system is used to directly register the newly connected battery unit. The direct registration means directly adding the registration information corresponding to the newly connected battery unit to the end of the battery registration table.

[0200] When it is determined that the sampled current does not meet the registered current condition, the power management system is used to update the registration of the newly connected battery unit. The update registration means that after it is determined that the electric garden working vehicle is in a stopped state, adding the registration information corresponding to the newly connected battery unit to the battery registration table and updating the battery registration table.

[0201] Among them, the registered current condition includes that the sampled current is less than a first preset current threshold, and the value range of the first preset current threshold is from 0.1 A to 3 A.

[0202] The power management system is further configured to determine whether the sampled current meets the direct discharge current condition. When it is determined that the sampled current meets the direct discharge current condition, the battery management unit is used to control the newly connected battery unit to discharge;

[0203] The direct discharge current condition includes: the sampled current is less than the first preset current threshold and greater than a second preset current threshold; among them, the value range of the second preset current threshold is from -3 A to -0.1 A.

[0204] That is, when the sampling current corresponding to the newly connected battery unit is less than the first preset current threshold and greater than the second preset current threshold, after the power management system adds the corresponding registration information of the newly connected battery unit to the battery registration table and updates the battery registration table, it can directly control the newly connected battery unit to discharge.

[0205] Reference Figure 6 The discharge control method for the newly added battery unit shown in the figure includes the following steps:

[0206] S201: The power management system communicates with multiple communication interfaces in the power system 104;

[0207] S202: When it is detected that a new battery connection signal is received by a certain idle communication interface, or when it is determined according to the status information that the status of a certain abnormal battery unit returns to normal, the power management system can determine that a newly added battery unit is at the communication interface;

[0208] S203: The power management system controls the corresponding circuit branch of the newly connected battery unit to be temporarily turned on to obtain the corresponding sampling current;

[0209] S204: The power management system compares the sampling current corresponding to the newly connected battery unit with the first preset current threshold to determine whether the sampling current is less than the first preset current threshold. The first preset current threshold can be, for example, 3A;

[0210] S205: When it is determined that the sampling current is less than the first preset current threshold, the power management system adds the corresponding registration information of the newly connected battery unit to the end of the battery registration table;

[0211] S206: The power management system compares the sampling current with the second preset current threshold to determine whether the sampling current is greater than the second preset current threshold. The second preset current threshold can be, for example, -3A;

[0212] S207: When it is determined that the sampling current is less than the first preset current threshold and greater than the second preset current threshold, the power management system directly controls the newly connected battery unit to discharge;

[0213] S208: When it is determined that the sampling current is not less than the first preset current threshold, the power management system communicates with the driving control system to determine whether the electric garden working vehicle is in a stopped state;

[0214] S209: When it is determined that the electric garden work vehicle is in a shutdown state, the power management system adds the corresponding registration information of the newly connected battery unit to the battery registration table and re-orders and updates multiple battery units in the battery registration table;

[0215] S210: The power management system compares the voltage of the newly connected battery unit with the load bus voltage;

[0216] S211: If the voltage of the newly connected battery unit exceeds the load bus voltage, the power management system controls the newly connected battery unit to discharge.

[0217] In an electric garden work vehicle provided in some alternative embodiments, the power management system is further configured to determine whether the power supply system 104 meets the discharge start condition before entering the discharge stage, and when it is determined that the power supply system 104 meets the discharge start condition, control the power supply system 104 to enter the discharge stage.

[0218] Wherein, the discharge start conditions include:

[0219] The countdown of the pre-charge stage ends; the load bus voltage is greater than the preset bus voltage threshold; and the total capacity of the power supply system 104 is greater than the first preset capacity threshold.

[0220] Wherein, the pre-charge stage refers to the stage of pre-charging the load bus capacitor of the working system 102 before the discharge stage. The preset bus voltage threshold is 0.7V e , V e represents the rated voltage of the power supply system. The value range of the first preset capacity threshold is 10 Ah to 15 Ah.

[0221] In some alternative embodiments, the power management system includes a pre-charge circuit component. The pre-charge circuit component is used to pre-charge the load bus capacitor of the working system 102 in a current-limiting manner during the pre-charge stage.

[0222] Before the electric garden work vehicle starts to perform garden work, the power management system can first control the pre-charge circuit component to pre-charge the load bus capacitor in the working system 102 and start a countdown when the pre-charge starts. The duration of the countdown can be set to 500 ms to 1 s, for example.

[0223] After the pre-charge countdown ends, the power management system uses the bus voltage monitoring component to obtain the load bus voltage of the working system 102, and compares the load bus voltage with a preset bus voltage threshold to determine whether the load bus capacitor in the working system 102 is fully charged. In response to the load bus voltage exceeding the preset bus voltage threshold, it can be determined that the load bus capacitor has been fully charged.

[0224] After determining that the load bus capacitor is fully charged, it is also necessary to confirm the overall capacitance of the power supply system 104. The power management system can compare the total capacity of all battery cells with normal status with the first preset capacity threshold. If it exceeds the first preset capacity threshold, the power management system can control the power supply system 104 to enter the discharge stage.

[0225] In some alternative embodiments, the power management system is further configured to obtain the status information of a plurality of the battery cells. The status information includes but is not limited to the actual total capacity, remaining power, remaining power percentage, number of charge and discharge cycles of the corresponding battery cells, and specification parameter information including rated capacity, rated voltage, rated current, maximum charge and discharge current, total factory capacity, cell type, cell series / parallel number, single cell voltage, discharge cut-off voltage, etc. According to the status information, the power management system can screen out the battery cells with normal status from the power supply system 104.

[0226] Furthermore, the power management system can register and record the battery cells with normal status, and calculate the total capacity of all battery cells with normal status.

[0227] Reference Figure 7 The shown discharge start control method includes the following steps:

[0228] S301: Enter the pre-charge stage and start the pre-charge countdown;

[0229] S302: In the pre-charge stage, the power management system communicates with a plurality of the battery cells in the power supply system 104 to obtain the corresponding status information of the plurality of battery cells, and registers the battery cells with normal status;

[0230] S303: The power management system determines whether the pre-charge countdown has ended;

[0231] S304: When it is determined that the pre-charge countdown has ended, the power management system compares the total capacity of all the battery cells in the power system 104 that are in normal state with the first preset capacity threshold to determine whether the total capacity exceeds the first preset capacity threshold. The first preset energy threshold can be, for example, 12 Ah;

[0232] S305: When it is determined that the total capacity exceeds the first preset energy threshold, the power management system communicates with the bus voltage monitoring component to obtain the load bus voltage;

[0233] S306: The power management system compares the load bus voltage with a preset bus voltage threshold to determine whether the load bus voltage is greater than the preset bus voltage threshold;

[0234] S307: In response to the load bus voltage being greater than the preset bus voltage threshold, the power management system controls the power system 104 to enter the discharge stage.

[0235] In an electric garden work vehicle provided in some alternative embodiments, the power management system is further configured to determine whether the power system 104 meets the discharge end condition, and when it is determined that the power system 104 meets the discharge end condition, control the power system 104 to end the discharge.

[0236] Among them, the discharge end condition includes: the total capacity of the registered multiple battery cells is lower than the second preset capacity threshold. Among them, the value range of the second preset capacity threshold is 5 Ah to 10 Ah.

[0237] Reference Figure 8 The shown discharge end control method includes the following steps:

[0238] S401: During the discharge stage, the power management system controls the discharge of multiple battery cells in the power system 104;

[0239] S402: The power management system maintains communication with multiple battery cells in the power system 104 to obtain the real-time total capacity of the multiple battery cells;

[0240] S403: The power management system compares the real-time total capacity with the second preset capacity threshold to determine whether the real-time total capacity is lower than the second preset capacity threshold. The second preset capacity threshold can be, for example, 5 Ah;

[0241] S404: In response to the real-time total capacity not being lower than the second preset capacity threshold, the power management system continues to stay in the discharge stage;

[0242] S405: In response to the real-time total capacity being lower than the second preset capacity threshold, the power management system sends a shutdown control instruction to the driving control system, so that the driving control system controls the first drive motor and the second drive motor to stop working;

[0243] S406: The power management system communicates with the driving control system, and after determining that the electric garden working vehicle is in a shutdown state, controls all circuit branches to be turned off, and the discharging ends. After the discharging ends and a 3s delay, the whole machine is powered off.

[0244] It should be noted that the specific embodiments of this specification are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0245] The systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. For the convenience of description, when describing the above devices, they are divided into various units according to functions and described separately. Of course, when implementing the present application, the functions of each unit can be implemented in one or more software and / or hardware.

[0246] Those skilled in the art should understand that the embodiments of this specification can be provided as a method, a system, or a computer program product. Therefore, this specification can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0247] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, commodity or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising said element.

[0248] This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This application can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in both local and remote computer storage media including storage devices.

[0249] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and reference can be made to the relevant parts of the method embodiments for the related content.

[0250] Those of ordinary skill in the art should understand that: The discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples; under the concept of the present disclosure, the technical features among the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of one or more embodiments of this specification as described above. For the sake of brevity, they are not provided in detail.

[0251] In addition, for simplicity of explanation and discussion, and in order not to make one or more embodiments of this specification difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the device can be shown in block diagram form to avoid making one or more embodiments of this specification difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which one or more embodiments of this specification will be implemented (i.e., these details should be fully within the understanding of those skilled in the art). In the case where specific details (such as circuits) are set forth to describe exemplary embodiments of the present disclosure, it will be apparent to those skilled in the art that one or more embodiments of this specification can be implemented without these specific details or with variations of these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0252] Although the present disclosure has been described in connection with specific embodiments of the present disclosure, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art based on the foregoing description.

[0253] One or more embodiments of this specification are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification shall be included within the scope of protection of this disclosure.

Claims

1. An electric garden working vehicle, characterized in that, Comprising: a frame, a working system connected to the frame, and a power supply system for powering the working system; The power supply system includes a plurality of battery units, and the plurality of battery units are selected from at least one of a first specification battery pack and a second specification battery pack. The capacity of the first specification battery pack is greater than that of the second specification battery pack, and the second specification battery pack is configured to provide power for a handheld gardening tool; And a power management system configured to generate a battery registration table according to the status information of the plurality of battery units before the discharge stage; Perform discharge control on the plurality of battery units based on the battery registration table during the discharge stage; And update the battery registration table when a battery unit is newly added or removed during the discharge stage.

2. The electric garden work vehicle according to claim 1, characterized in that, The power supply system includes a plurality of communication interfaces, and the power management system includes a communication component; The communication component is used to connect to the plurality of communication interfaces to receive battery connection signals from the plurality of battery units, and the battery connection signals include the status information of the battery units; The status information includes the battery ID information and status parameter information of the battery unit.

3. The electric garden working vehicle according to claim 1, wherein, The power management system is configured to generate a battery registration table according to the status information of the plurality of battery units before the discharge stage, including: The power management system is used to screen out a plurality of battery units with normal status according to the status information for registration to generate the battery registration table.

4. The electric garden working vehicle according to claim 1, characterized in that, The power management system is configured to perform discharge control on the plurality of battery units based on the battery registration table during the discharge stage, including: The power management system is used to control at least one of the battery units with a higher evaluation value in the battery registration table to discharge first; For the other battery units in the battery registration table, the voltages of the plurality of battery units are sequentially compared with the load bus voltage of the working system according to the sorting order in the battery registration table; When the voltage of the battery unit exceeds the load bus voltage of the working system, the power management system is used to control the battery unit to discharge; In the battery registration table, the plurality of battery units are sorted in descending order of voltage.

5. The electric garden work vehicle according to claim 4, wherein, The evaluation value is determined according to at least one of the status parameter information corresponding to the battery unit; The status parameter information corresponding to the battery unit at least includes voltage information, capacitance information, charge information, internal resistance information, and health status information.

6. The electric garden working vehicle according to claim 5, characterized in that The evaluation value is determined by weighted summation or weighted average based on at least one of the status parameter information corresponding to the battery unit.

7. The electric garden work vehicle according to claim 4, characterized in that, At least one of the battery units with a higher evaluation value includes the battery unit with the highest evaluation value and the battery units whose difference from the highest evaluation value is within a preset difference range.

8. The electric garden working vehicle according to claim 4, characterized in that, The power management system further includes a bus voltage monitoring component for monitoring the load bus voltage; For the other battery units in the battery registration table, when the load bus voltage rises and exceeds the voltage of the battery unit, the power management system is further used to control the battery unit to stop discharging.

9. The electric garden working vehicle according to claim 4, characterized in that, A plurality of circuit branches are also provided between the power supply system and the working system, and the plurality of circuit branches are respectively connected to the plurality of battery units correspondingly; The power management system is configured to control the circuit branch corresponding to at least one of the battery units with a higher evaluation value to conduct first, so that at least one of the battery units with a higher evaluation value discharges first; For other battery units in the battery registration table, when the voltage of the battery unit exceeds the voltage of the load bus, the power management system is configured to control the circuit branch corresponding to the battery unit to conduct, so that the battery unit discharges.

10. The electric garden work vehicle according to claim 1, wherein, When removing a battery unit during the discharge phase, the power management system is configured to delete the registration information corresponding to the battery unit to be removed from the battery registration table and update the battery registration table.

11. The electric gardening operation vehicle according to claim 10, wherein, If the battery unit to be removed is the only battery unit in the discharge state, the power management system is further configured to control at least one of the battery units with a higher evaluation value in the battery registration table to discharge after updating the battery registration table.

12. The electric garden working vehicle according to claim 1, wherein, When adding a battery unit during the discharge phase, the power management system is configured to determine whether the newly connected battery unit meets the registration voltage condition; When it is determined that the newly connected battery unit meets the registration voltage condition, the power management system is configured to directly register the newly connected battery unit; When it is determined that the newly connected battery unit does not meet the registration voltage condition, the power management system is configured to update the registration of the newly connected battery unit; Wherein, the registration voltage condition includes: The voltage of the newly connected battery unit is less than the minimum discharge voltage, and the minimum discharge voltage refers to the minimum value of the voltages of at least one of the battery units in the discharge state; The direct registration means directly adding the registration information corresponding to the newly connected battery unit to the end of the battery registration table; The update registration means that after determining that the electric garden working vehicle is in a stopped state, adding the registration information corresponding to the newly connected battery unit to the battery registration table and updating the battery registration table.

13. The electric garden working vehicle according to claim 1, characterized in that, When adding a battery unit during the discharge phase, the power management system is configured to control the newly connected battery unit to be temporarily conducted with the working system to obtain a sampling current; The power management system is further configured to determine whether the sampling current meets the registration current condition; When it is determined that the sampling current meets the registration current condition, the power management system is configured to directly register the newly connected battery unit; When it is determined that the sampling current does not meet the registration current condition, the power management system is configured to update the registration of the newly connected battery unit; Wherein, the registration current condition includes that the sampling current is less than a first preset current threshold; The direct registration means directly adding the registration information corresponding to the newly connected battery unit to the end of the battery registration table; The update registration means that after determining that the electric garden working vehicle is in a stopped state, adding the registration information corresponding to the newly connected battery unit to the battery registration table and updating the battery registration table; Among them, the value range of the first preset current threshold is from 0.1 A to 3 A.

14. The electric garden working vehicle according to claim 13, wherein, The power management system is further configured to determine whether the sampled current meets the direct discharge current condition; When it is determined that the sampled current meets the direct discharge current condition, the power management unit is configured to control the newly connected battery unit to discharge; The direct discharge current condition includes: The sampled current is less than the first preset current threshold and greater than the second preset current threshold; Among them, the value range of the second preset current threshold is from -3 A to -0.1 A.

15. The electric garden working vehicle according to claim 1, wherein, The power management system is further configured to determine whether the power system meets the discharge start condition, and when it is determined that the power system meets the discharge start condition, control the power system to enter the discharge stage; Among them, the discharge start condition includes: The countdown of the pre-charge stage ends; the load bus voltage is greater than the preset bus voltage threshold; and the total capacity of the power system is greater than the first preset capacity threshold; Among them, the pre-charge stage refers to the stage of pre-charging the working system before the discharge stage; The preset bus voltage threshold is 0.7V e , V e represents the rated voltage of the power supply system; The value range of the first preset capacity threshold is from 10 Ah to 15 Ah.

16. The electric garden working vehicle according to claim 7, wherein, The power management system includes a pre-charge circuit component; The pre-charge circuit component is configured to pre-charge the load bus capacitor of the working system in a current-limiting manner during the pre-charge stage.

17. The electric garden working vehicle according to claim 7, wherein The power management system is configured to register according to the status information of the multiple battery units during the pre-charge stage to generate the battery registry.

18. A discharge control method, characterized in that, Applied to an electric garden working vehicle, the electric garden working vehicle includes a frame, a working system connected to the frame, and a power system for supplying power to the working system; The power system includes multiple battery units, and the multiple battery units select at least one of the first specification battery pack and the second specification battery pack. The capacity of the first specification battery pack is greater than that of the second specification battery pack, and the second specification battery pack is configured to provide power for a handheld garden tool; The method includes: Registering according to the status information of the multiple battery units before the discharge stage to generate a battery registry; Controlling the discharge of the multiple battery units based on the battery registry during the discharge stage; And, when a battery unit is newly added or removed during the discharge stage, updating the battery registry.

19. The method according to claim 18, characterized in that, The power system includes multiple communication interfaces; The method for determining the status information includes: Receiving battery connection signals from the multiple battery units by using the multiple communication interfaces, where the battery connection signals include the status information of the battery units; The status information includes the battery ID information and status parameter information of the battery units.

20. The method according to claim 18, wherein Registering according to the status information of the multiple battery units before the discharge stage to generate a battery registry includes: The power management system is configured to screen out multiple battery units with normal status according to the status information for registration to generate the battery registry.

21. The method according to claim 18, wherein To control the discharge of the multiple battery units based on the battery registry during the discharge stage includes: Control at least one of the battery cells with a higher evaluation value in the battery registry to discharge first; For the other battery cells in the battery registry, compare the voltages of multiple battery cells with the load bus voltage of the working system in sequence according to the sorting order in the battery registry; When the voltage of the battery cell exceeds the load bus voltage of the working system, control the battery cell to discharge; In the battery registry, multiple battery cells are sorted in descending order of voltage.

22. The method according to claim 21, wherein The evaluation value is determined according to at least one state parameter information corresponding to the battery cell; The state parameter information corresponding to the battery cell at least includes voltage information, capacitance information, charge information, internal resistance information, and health status information.

23. The method according to claim 22, wherein The evaluation value is determined by weighted summation or weighted average based on at least one state parameter information corresponding to the battery cell.

24. The method according to claim 21, wherein At least one of the battery cells with a higher evaluation value includes the battery cell with the highest evaluation value and the battery cells whose difference from the highest evaluation value is within a preset difference range.

25. The method according to claim 21, wherein It further includes: For the other battery cells in the battery registry, when the load bus voltage rises and exceeds the voltage of the battery cell, control the battery cell to stop discharging.

26. The method according to claim 21, characterized in that There are also multiple circuit branches provided between the power supply system and the working system, and multiple circuit branches are respectively connected to multiple battery cells in corresponding manner; The method includes: Control the circuit branch corresponding to at least one of the battery cells with a higher evaluation value to conduct first, so that at least one of the battery cells with a higher evaluation value discharges first; For the other battery cells in the battery registry, when the voltage of the battery cell exceeds the load bus voltage, control the corresponding circuit branch of the battery cell to conduct, so that the battery cell discharges.

27. The method according to claim 18, wherein When a battery cell is newly added or removed during the discharge stage, update the battery registry, including: Delete the registration information corresponding to the battery cell to be removed from the battery registry, and update the battery registry.

28. The method according to claim 27, wherein In response to the battery cell to be removed being the only battery cell in the discharge state, the method further includes: After updating the battery registry, control at least one of the battery cells with a higher evaluation value in the battery registry to discharge.

29. The method according to claim 18, characterized in that, When a battery cell is newly added or removed during the discharge stage, update the battery registry, including: Judge whether the newly connected battery cell meets the registration voltage condition; When it is determined that the newly connected battery cell meets the registration voltage condition, directly register the newly connected battery cell; When it is determined that the newly connected battery cell does not meet the registration voltage condition, update the registration of the newly connected battery cell; Wherein, the registration voltage condition includes: The voltage of the newly connected battery cell is less than the minimum discharge voltage, and the minimum discharge voltage refers to the minimum value of the voltages of at least one of the battery cells in the discharge state; The direct registration means directly adding the registration information corresponding to the newly connected battery cell to the end of the battery registry; The update registration means that after determining that the electric garden work vehicle is in a shutdown state, adding the corresponding registration information of the newly connected battery unit to the battery registration table and updating the battery registration table.

30. The method according to claim 18, wherein When adding or removing a battery unit during the discharge phase, updating the battery registration table includes: When adding a battery unit during the discharge phase, controlling the newly connected battery unit to be temporarily connected to the working system to obtain a sampled current; Judging whether the sampled current meets the registration current condition; When determining that the sampled current meets the registration current condition, directly registering the newly connected battery unit; When determining that the sampled current does not meet the registration current condition, performing update registration on the newly connected battery unit; Wherein, the registration current condition includes that the sampled current is less than a first preset current threshold; The direct registration means directly adding the corresponding registration information of the newly connected battery unit to the end of the battery registration table; The update registration means that after determining that the electric garden work vehicle is in a shutdown state, adding the corresponding registration information of the newly connected battery unit to the battery registration table and updating the battery registration table; Wherein, the value range of the first preset current threshold is from 0.1A to 3A.

31. The method according to claim 30, characterized in that, It also includes judging whether the sampled current meets the direct discharge current condition; When determining that the sampled current meets the direct discharge current condition, controlling the newly connected battery unit to discharge; The direct discharge current condition includes: The sampled current is less than the first preset current threshold and greater than a second preset current threshold; Wherein, the value range of the second preset current threshold is from -3A to -0.1A.

32. The method according to claim 18, wherein It also includes: Judging whether the power supply system meets the discharge start condition, and when determining that the power supply system meets the discharge start condition, controlling the power supply system to enter the discharge phase; Wherein, the discharge start condition includes: The countdown of the pre-charge phase ends; the load bus voltage is greater than a preset bus voltage threshold; and the total capacity of the power supply system is greater than a first preset capacity threshold; Wherein, the pre-charge phase refers to the phase of pre-charging the working system before the discharge phase; The preset bus voltage threshold is 0.7V e , V e represents the rated voltage of the power supply system; The value range of the first preset capacity threshold is from 10Ah to 15Ah.

33. The method according to claim 24, wherein Pre-charging the working system includes pre-charging the load bus capacitor of the working system in a current-limiting manner.

Images