Multifunctional vehicle, garden operation vehicle and brake identification control device

Abstract

The invention discloses a multifunctional vehicle, a garden operation vehicle and a brake identification control device, which can efficiently and accurately identify and determine a brake state and perform response processing on the brake state. The vehicle includes: a frame; the drive axle assembly is mechanically connected with a drive motor and a drive wheel and used for transmitting power of the drive motor to the drive wheel so as to drive the multifunctional vehicle to run; the braking assembly has a braking state, and in the braking state, the braking assembly executes braking operation on the drive axle assembly; the braking identification module is attached to the braking assembly and used for identifying and determining whether the braking assembly is in a braking state or not; and the controller is configured to generate a prompt instruction and / or an auxiliary control instruction when it is determined that the braking assembly is in the braking state. The brake identification control device comprises a brake identification module and a controller.

Description

[TECHNICAL FIELD]

[0001] The present application relates to the field of vehicle engineering, in particular to a multifunctional vehicle, a garden operation vehicle and a neutral identification control device. [BACKGROUND]

[0002] The charging type mower has the advantages of all-weather zero emission, zero oil consumption, low noise and simple maintenance (no gasoline, no oil, no air filter, no spark plug, no fuel storage, etc.) compared with the traditional fuel type mower. The driving wheel of the charging type mower uses a motor instead of a fuel engine, which can control the driving wheel motor separately to realize the motion control of the whole vehicle such as straight driving, reverse driving, turning and zero steering, thereby reducing the structural complexity of the whole vehicle and making the control of the whole vehicle more flexible. The driving device in the charging type mower includes a brake mechanism to realize brake braking of the whole vehicle. In order to improve the intelligent degree of the whole machine and optimize the user operation experience, it is necessary to monitor and identify the brake braking condition of the whole vehicle in real time. [SUMMARY]

[0003] Therefore, the embodiments of the present application provide a multifunctional vehicle, a garden operation vehicle and a brake identification control device, which can efficiently and accurately identify and determine the brake state and respond to the brake state.

[0004] In one aspect, the embodiments of the present application provide a multifunctional vehicle, comprising:

[0005] a vehicle frame;

[0006] at least one driving axle assembly, which is mechanically connected to a driving motor and a driving wheel, and is used to transmit power of the driving motor to the driving wheel to drive the multifunctional vehicle to travel;

[0007] a brake assembly, which has a brake state, and in the brake state, the brake assembly performs brake braking operation on the driving axle assembly;

[0008] a brake identification module attached to the brake assembly, which is used to identify and determine whether the brake assembly is in the brake state; and

[0009] a controller configured to generate a prompt instruction and / or an auxiliary control instruction when it is determined that the brake assembly is in the brake state.

[0010] Optionally, the brake assembly includes a pedal assembly and a brake execution assembly.

[0011] The pedal assembly includes a brake pedal, and a user steps on the brake pedal to make the brake execution assembly generate brake force on the driving axle assembly.

[0012] Optionally, the pedal assembly further comprises a pedal support arm, a brake spring and a brake push rod, and the brake execution assembly comprises a brake pump;

[0013] The pedal support arm is rotationally connected to the frame, and the brake push rod is connected to the pedal support arm.

[0014] The brake spring is connected to the frame and the pedal support arm at two ends respectively.

[0015] When the brake pedal is stepped down by the user, the pedal support arm is rotated and the brake spring is pulled, the pedal support arm pushes the brake push rod to squeeze the brake pump to generate braking force.

[0016] Optionally, the brake execution assembly further comprises a hydraulic pipe and a brake assembly.

[0017] When the pedal assembly is stepped down by the user, the brake pump generates braking force and acts on the brake assembly through the hydraulic pipe to generate braking force on the drive axle assembly, so that the drive wheel brake is braked.

[0018] Optionally, the brake recognition module is arranged for the pedal assembly and is used for detecting the position state of the pedal assembly.

[0019] The position state of the pedal assembly comprises a natural release state and a stepped-down state.

[0020] When the brake recognition module detects that the pedal assembly is in the stepped-down state, it is determined that the brake assembly is in the braking state.

[0021] Optionally, the brake recognition module comprises a micro switch.

[0022] The pedal support arm is fixedly provided with a switch pressing plate.

[0023] The switch pressing plate presses the micro switch when the brake pedal is in the natural release state, and is separated from the micro switch when the brake pedal is in the stepped-down state.

[0024] When the brake recognition module detects that the micro switch is pressed, it is determined that the brake assembly is in the braking state.

[0025] Optionally, the brake recognition module comprises a Hall sensor module.

[0026] The Hall sensor module comprises a magnetic element and a Hall induction element, one of the magnetic element and the Hall induction element is arranged on the pedal support arm, and the other is arranged on the frame at a position opposite to the pedal support arm, so that the spatial positional relationship between the magnetic element and the Hall induction element changes with the change of the position state of the pedal assembly;

[0027] When the pedal assembly is in the natural release state, the magnetic element and the Hall induction element are in the second spatial positional relationship.

[0028] When the pedal assembly is in the natural release state, the magnetic element and the Hall induction element are in the second spatial positional relationship.

[0029] Optionally, the brake identification module comprises an infrared sensor module;

[0030] The infrared sensor module comprises an infrared emitter and an infrared receiver, one of the infrared emitter and the infrared receiver is arranged on the pedal support arm, and the other is arranged on the frame at a position opposite to the pedal support arm, so that the spatial positional relationship between the infrared emitter and the infrared receiver changes with the change of the position state of the pedal assembly;

[0031] When the pedal assembly is in the natural release state, the magnetic element and the Hall induction element are in the second spatial positional relationship.

[0032] When the pedal assembly is in the natural release state, the magnetic element and the Hall induction element are in the second spatial positional relationship.

[0033] Optionally, the brake identification module comprises an infrared sensor module and an infrared reflector plate;

[0034] The infrared sensor module comprises an infrared emitter and an infrared receiver;

[0035] One of the infrared sensor module and the infrared reflector plate is arranged on the pedal support arm, and the other is arranged on the frame at a position opposite to the pedal support arm, so that the spatial positional relationship between the infrared sensor module and the infrared reflector plate changes with the change of the position state of the pedal assembly;

[0036] When the pedal assembly is in the natural release state, the infrared sensor module and the infrared reflecting plate are in a second spatial positional relationship, and in the case of the second spatial positional relationship, the infrared signal emitted by the infrared emitter cannot be reflected to the infrared receiver through the infrared reflecting plate.

[0037] When the pedal assembly is in the natural release state, the infrared sensor module and the infrared reflecting plate are in a second spatial positional relationship, and in the case of the second spatial positional relationship, the infrared signal emitted by the infrared emitter cannot be reflected to the infrared receiver through the infrared reflecting plate.

[0038] Optionally, the brake identification module comprises a laser sensor module.

[0039] The laser sensor module comprises a laser emitter and a laser receiver, one of the laser emitter and the laser receiver is arranged on the pedal support arm, and the other is arranged on the frame at a position opposite to the pedal support arm, so that the spatial positional relationship between the laser emitter and the laser receiver changes with the position state of the pedal assembly.

[0040] When the pedal assembly is in the natural release state, the infrared sensor module and the infrared reflecting plate are in a second spatial positional relationship, and in the case of the second spatial positional relationship, the infrared signal emitted by the infrared emitter cannot be reflected to the infrared receiver through the infrared reflecting plate.

[0041] When the pedal assembly is in the natural release state, the infrared sensor module and the infrared reflecting plate are in a second spatial positional relationship, and in the case of the second spatial positional relationship, the infrared signal emitted by the infrared emitter cannot be reflected to the infrared receiver through the infrared reflecting plate.

[0042] Optionally, the brake identification module comprises a laser sensor module and a laser reflecting plate.

[0043] The laser sensor module comprises a laser emitter and a laser receiver.

[0044] One of the laser sensor module and the laser reflecting plate is arranged on the pedal support arm, and the other is arranged on the frame at a position opposite to the pedal support arm, so that the spatial positional relationship between the laser sensor module and the laser reflecting plate changes with the position state of the pedal assembly.

[0045] When the pedal assembly is in the natural release state, the infrared sensor module and the infrared reflecting plate are in a second spatial positional relationship, and in the case of the second spatial positional relationship, the infrared signal emitted by the infrared emitter cannot be reflected to the infrared receiver through the infrared reflecting plate.

[0046] When the pedal assembly is in the natural release state, the laser sensor module and the laser reflection plate are in a second spatial positional relationship, and in the second spatial positional relationship, the laser signal emitted by the laser emitter cannot be reflected to the laser receiver through the laser reflection plate.

[0047] Optionally, the pedal support arm is provided with a positioning mark point.

[0048] The brake identification module includes an image recognition module configured to obtain an image corresponding to the pedal support arm, identify and analyze the positioning mark point in the image, and determine the position state of the pedal assembly according to the identification and analysis result.

[0049] Optionally, the multifunctional vehicle further includes a display assembly.

[0050] The prompt instruction is used to control the display assembly to display a brake graphical identifier corresponding to the brake state.

[0051] Optionally, the auxiliary control instruction is used to control the drive motor to output a brake torque to cooperate with the brake assembly to perform a brake braking operation when it is determined that the brake assembly is in the brake state.

[0052] In another aspect, the embodiments of the present specification also provide a garden working vehicle, which includes:

[0053] a vehicle frame;

[0054] a functional assembly arranged on the vehicle frame and configured to perform a corresponding functional operation under control;

[0055] at least one drive axle assembly mechanically connected to a drive motor and a drive wheel, and configured to transmit power of the drive motor to the drive wheel to drive the multifunctional vehicle to travel;

[0056] a brake assembly having a brake state, in which the brake assembly performs a brake braking operation on the drive axle assembly;

[0057] a brake identification module attached to the brake assembly and configured to identify and determine whether the brake assembly is in the brake state; and

[0058] a controller configured to generate a prompt instruction and / or an auxiliary control instruction when it is determined that the brake assembly is in the brake state.

[0059] In another aspect, the embodiments of the present specification also provide a brake identification control device applied to a multifunctional vehicle, which includes:

[0060] a vehicle frame;

[0061] at least one drive axle assembly mechanically connecting the drive motor and the drive wheels to transmit power from the drive motor to the drive wheels to drive the multi-functional vehicle to move;

[0062] a brake assembly having a braking state in which the brake assembly performs a brake operation for the drive axle assembly;

[0063] The brake identification control device comprises:

[0064] a brake identification module attached to the brake assembly to identify whether the brake assembly is in the braking state;

[0065] a controller configured to generate a prompt instruction and / or an auxiliary control instruction when it is determined that the brake assembly is in the braking state.

[0066] As can be seen from the above, the multi-functional vehicle, the garden work vehicle and the brake identification control device provided by one or more optional embodiments of the present specification have the following beneficial technical effects:

[0067] In the multi-functional vehicle, the garden work vehicle or the brake identification control device, the brake identification module is arranged to monitor the brake assembly in real time to determine whether the brake assembly is in the braking state, and the controller generates a prompt instruction and / or an auxiliary control instruction in response when it is determined that the brake assembly is in the braking state. In this way, the braking state can be efficiently and accurately identified and determined, and timely response processing can be performed in response to the braking state, so that the operation driving experience can be optimized and the intelligent level of the vehicle can be improved. [BRIEF DESCRIPTION OF DRAWINGS]

[0068] The features and advantages of the present application will be more clearly understood through reference to the following drawings, which are illustrative and not intended to be limiting on the present application, in which:

[0069] Figure 1 shows a structural schematic diagram of a multi-functional vehicle or a garden work vehicle provided by one or more optional embodiments of the present specification;

[0070] Figure 2 shows a structural schematic diagram of various drive mechanisms of a multi-functional vehicle or a garden work vehicle provided by one or more optional embodiments of the present specification;

[0071] Figure 3 shows a structural schematic diagram of a brake assembly in a multi-functional vehicle or a garden work vehicle provided by one or more optional embodiments of the present specification;

[0072] Figure 4A system block diagram of a multi-functional vehicle is shown, according to one or more optional embodiments of the description;

[0073] Figure 5 A structural schematic diagram of a braking assembly in a multi-functional vehicle is shown, according to one or more optional embodiments of the description;

[0074] Figure 6 A functional block diagram of a braking identification module including a Hall sensor module in a multi-functional vehicle is shown, according to one or more optional embodiments of the description;

[0075] Figure 7-A A first spatial positional relationship schematic diagram of a magnetic element and a Hall sensing element in a multi-functional vehicle is shown, according to one or more optional embodiments of the description;

[0076] Figure 7-B A second spatial positional relationship schematic diagram of a magnetic element and a Hall sensing element in a multi-functional vehicle is shown, according to one or more optional embodiments of the description;

[0077] Figure 8 A functional block diagram of a braking identification module including an infrared sensor module in a multi-functional vehicle is shown, according to one or more optional embodiments of the description;

[0078] Figure 9-A A first spatial positional relationship schematic diagram of an infrared emitter and an infrared receiver in a multi-functional vehicle is shown, according to one or more optional embodiments of the description;

[0079] Figure 9-B A second spatial positional relationship schematic diagram of an infrared emitter and an infrared receiver in a multi-functional vehicle is shown, according to one or more optional embodiments of the description;

[0080] Figure 10 A functional block diagram of a braking identification module including an infrared sensor module and an infrared reflecting plate in a multi-functional vehicle is shown, according to one or more optional embodiments of the description;

[0081] Figure 11-A A first spatial positional relationship schematic diagram of an infrared sensor module and an infrared reflecting plate in a multi-functional vehicle is shown, according to one or more optional embodiments of the description;

[0082] Figure 11-B A second spatial positional relationship schematic diagram of an infrared sensor module and an infrared reflecting plate in a multi-functional vehicle is shown, according to one or more optional embodiments of the description;

[0083] Figure 12A functional block diagram of a brake identification module including a laser sensor module in a multi-functional vehicle is shown according to one or more optional embodiments of the present specification;

[0084] Figure 13-A A first spatial positional relationship diagram of a laser transmitter and a laser receiver in a multi-functional vehicle is shown according to one or more optional embodiments of the present specification;

[0085] Figure 13-B A second spatial positional relationship diagram of a laser transmitter and a laser receiver in a multi-functional vehicle is shown according to one or more optional embodiments of the present specification;

[0086] Figure 14 A functional block diagram of a brake identification module including a laser sensor module and a laser reflector plate in a multi-functional vehicle is shown according to one or more optional embodiments of the present specification;

[0087] Figure 15-A A first spatial positional relationship diagram of a laser sensor module and a laser reflector plate in a multi-functional vehicle is shown according to one or more optional embodiments of the present specification;

[0088] Figure 15-B A second spatial positional relationship diagram of a laser sensor module and a laser reflector plate in a multi-functional vehicle is shown according to one or more optional embodiments of the present specification;

[0089] Figure 16 A functional block diagram of a brake identification module including an image recognition module in a multi-functional vehicle is shown according to one or more optional embodiments of the present specification;

[0090] Figure 17 A system block diagram of a multi-functional vehicle including a display assembly is shown according to one or more optional embodiments of the present specification. [DETAILED DESCRIPTION]

[0091] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0092] The charging type mower has the advantages of all-weather zero emission, zero oil consumption, low noise, simple maintenance (no gasoline, no oil, no air filter, no spark plug, no fuel storage, etc.) compared with the traditional fuel type mower. In the charging type mower, the power system adopts a motor instead of a fuel engine, the driving wheel motors can be controlled respectively, the straight movement, reverse movement, turning movement and zero steering movement of the whole vehicle can be realized, the structural complexity of the whole vehicle is reduced, and the control of the whole vehicle is more flexible.

[0093] The driving device in the charging type mower includes a brake mechanism to realize brake braking of the whole vehicle. In order to improve the intelligent degree of the whole machine and optimize the user operation experience, it is necessary to monitor and identify the brake braking condition of the whole vehicle in real time.

[0094] To this end, the purpose of the embodiments of the present specification is to provide a multifunctional vehicle and a brake identification control device, which can accurately identify whether the brake assembly is in a braking state by using a brake identification module, timely prompt for the braking state, and execute auxiliary response control, so as to optimize the operation and driving experience and improve the intelligent degree of the whole vehicle.

[0095] Based on the above purpose, in one aspect, the embodiments of the present specification provide a multifunctional vehicle.

[0096] As shown in Figure 1 , a multifunctional vehicle provided by one or more optional embodiments of the present specification includes;

[0097] A vehicle frame 100, a function mechanism 102 and a driving mechanism 104 connected to the vehicle frame.

[0098] The vehicle frame 100 extends at least partially along the front-rear direction, and a bearing mechanism 1000 can be provided on the vehicle frame 100. The bearing mechanism 1000 is used to bear the operator of the multifunctional vehicle, and can include at least one of a seat or a standing platform, Figure 1 The case where the bearing mechanism 1000 includes a seat is only exemplarily shown. The seat or the standing platform is used for the operator to sit or stand. That is, the multifunctional vehicle can provide a riding working mode or a standing working mode. Further, the structure of the seat and the standing platform can be flexibly switched, that is, the working mode of the multifunctional 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 handheld operation assembly can also be provided on the vehicle frame 100, and based on the handheld operation assembly, the multifunctional vehicle can also provide a hand-push working mode.

[0099] The function mechanism 102 includes an output for outputting power to realize a specific function. In some alternative embodiments, the function mechanism 102 is a mowing element for realizing a mowing function. The function mechanism is also connected to the vehicle frame 100. The function mechanism 102 also includes a function motor for driving the mowing element to rotate at a high speed, and a control module corresponding to the function motor.

[0100] In some alternative embodiments, the function mechanism 102 can include one or more mowing elements, and one or more function motors corresponding to the mowing elements. For example, in some embodiments, the mowing element is three blades, and the number of corresponding function motors is also set to three. In some specific implementations, the function mechanism 102 also includes a control module corresponding to the mowing motor. The control module includes a control chip, such as an MCU, ARM, etc.

[0101] In some alternative embodiments, the function mechanism 102 can also be a cleaning element for realizing a cleaning function. The function mechanism also includes a function motor for driving the cleaning element, and a control module corresponding to the function motor.

[0102] It can be understood that in some alternative embodiments, the function mechanism can also be replaced by other functional components, such as snow sweeping, snow blowing, snow shoveling, flushing, etc. Those skilled in the art should be able to adapt various functional components without creative labor, and all of the above should be included in the protection scope of the present embodiment.

[0103] As shown in Figure 2 The driving mechanism 104 is used to drive the multifunctional vehicle to travel in a garden scene such as a lawn, a garden, a fence, a green, or other road surfaces. The driving mechanism 104 includes at least one driving axle assembly 1040, which is mechanically connected to a driving motor 1042 and a driving wheel 1044, to transmit power of the driving motor 1042 to the driving wheel 1044 to drive the multifunctional vehicle to travel.

[0104] The driving wheel 1044 can be provided in multiple numbers, and the number of driving motors 1042 can correspond to the number of driving wheels 1044. In some alternative embodiments, the driving mechanism 104 includes a first driving wheel and a second driving wheel, and two corresponding driving motors 1042. When the two driving motors 1042 drive the corresponding driving wheels 1044 to rotate at different powers, a speed difference is generated between the first driving wheel and the second driving wheel, so that the multifunctional vehicle can be turned. In some embodiments, the driving mechanism 104 also includes a travel control module for controlling the driving motor 1042.

[0105] The utility vehicle further includes a brake assembly 106. The brake assembly 106 has a braking state, in which a braking operation can be performed on the drive axle assembly 1040.

[0106] like Figure 3 As shown, in a multi-functional vehicle provided in one or more optional embodiments of the present specification, the brake assembly 106 includes a pedal assembly 1060 and a brake actuator assembly 1065 .

[0107] The pedal assembly 1060 includes a brake pedal 1061 . A user can step on the brake pedal 1061 to cause the brake actuator assembly 1065 to generate braking force on the drive axle assembly 1040 .

[0108] The pedal assembly 1060 further includes a pedal support arm 1062, a brake spring 1063, and a brake push rod 1064. The brake actuator assembly 1065 includes a brake pump 1066. The pedal support arm 1062 is rotatably connected to the vehicle frame 100, and the brake push rod 1064 is connected to the pedal support arm 1062. The brake pedal 1061 is fixedly connected to the pedal support arm 1062. The ends of the brake spring 1063 are respectively connected to the vehicle frame 100 and the pedal support arm 1062.

[0109] When the user steps on the brake pedal 1061, the pedal support arm 1062 rotates and pulls the brake spring 1063. The pedal support arm 1062 pushes the brake push rod 1064 to squeeze the brake pump 1066 so that the brake pump 1066 generates braking force. At this time, the pedal assembly 1060 is in a stepped-down position.

[0110] After the user releases the brake pedal 1061, the pedal support arm 1062 rotates under the pullback force of the brake spring 1063 in the opposite direction of the rotation caused by the user's pedaling. Accordingly, the pedal support arm 1062 pulls back the brake push rod 1064, releasing the pressure on the brake pump 1066, which no longer generates braking force. At this point, the pedal assembly 1060 is in a naturally released position.

[0111] In some optional embodiments, the brake actuator assembly 1065 further includes a hydraulic pipe and a brake assembly. When a user depresses the brake pedal 1061, the brake pump 1066 is triggered to generate braking force, which acts on the brake assembly via the hydraulic pipe, thereby generating braking force on the drive axle assembly 1040. The brake assembly can, for example, be a disc brake caliper.

[0112] like Figure 4As shown, a multi-functional vehicle provided by one or more optional embodiments of the present specification further includes a brake identification module 108. The brake identification module 108 is attached to the brake assembly 106 and is used to identify whether the brake assembly 106 is in a braking state.

[0113] The brake identification module 108 may be provided for the pedal assembly 1060 and configured to detect a position state of the pedal assembly 1060 , and determine whether the brake assembly 106 is in a braking state based on the detected position state.

[0114] The position states of the pedal assembly 1060 include a naturally released state and a stepped-down state. When the brake identification module 108 detects that the pedal assembly 1060 is in the stepped-down state, it can determine that the brake assembly 106 is in the braking state.

[0115] In some optional embodiments, the multi-purpose vehicle further includes a controller 1010. The controller 1010 is configured to generate a prompt instruction and / or an auxiliary control instruction upon determining that the brake assembly 106 is in a braking state. The prompt instruction is used to control the multi-purpose vehicle to provide a braking prompt to the user. The auxiliary control instruction is used to control the multi-purpose vehicle to perform an auxiliary braking operation upon determining that the brake assembly 106 is in a braking state, i.e., when the user performs a braking operation. The auxiliary braking operation, in conjunction with the braking operation of the brake assembly 106, can achieve faster and more stable braking of the entire vehicle.

[0116] In the multi-purpose vehicle, the brake identification module monitors the brake assembly in real time to determine whether it is in a braking state. When the braking state is determined, the controller generates prompt instructions and / or auxiliary control instructions accordingly. This approach enables efficient and accurate identification of the braking state and timely response to the braking state, thereby optimizing the driving experience and enhancing the overall vehicle intelligence.

[0117] like Figure 5 As shown, in a multi-functional vehicle provided by one or more optional embodiments of the present specification, the brake identification module 108 includes a micro switch 1081 .

[0118] A switch pressing plate 1067 is fixedly mounted on the pedal support arm 1062. When the pedal assembly 1060 is in a naturally released state, the switch pressing plate 1067 presses the micro switch 1081, placing the micro switch 1081 in a first connected state. When the pedal assembly 1060 is in a stepped-down state, the switch pressing plate 1067 loses contact with the micro switch 1081, placing the micro switch 1081 in a second connected state.

[0119] The brake identification module 108 can determine whether the brake assembly 106 is in the braking state according to the on / off state of the micro switch 1081. Specifically, when the brake identification module 108 detects that the micro switch 1081 is in the second connected state, it can be determined that the brake assembly 106 is in the braking state.

[0120] like Figure 6 As shown, in a multi-functional vehicle provided by one or more optional embodiments of the present specification, the brake identification module 108 includes a Hall sensor module 802 .

[0121] The Hall sensor module 802 includes a magnetic element 8021 and a Hall sensor element 8022. One of the magnetic element 8021 and the Hall sensor element is disposed on the pedal support arm 1062, and the other is disposed on the frame 100 at a position opposite to the pedal support arm 1062, so that the spatial positional relationship between the magnetic element 8021 and the Hall sensor element 8022 changes with the position state of the pedal assembly 1060.

[0122] When the pedal assembly 1060 is in a stepped-down state, the magnetic element 8021 and the Hall sensing element 8022 are in a first spatial position relationship; when the pedal assembly 1060 is in a naturally released state, the magnetic element 8021 and the Hall sensing element 8022 are in a second spatial position relationship.

[0123] like Figure 7-A 、 7-B , which is a schematic diagram of the positional relationship between the magnetic element 8021 and the Hall sensor element 8022 .

[0124] In some optional embodiments, the magnetic element 8021 may be attached to the pedal support arm 1062 , and the Hall sensor element 8022 may be fixedly disposed on the vehicle frame 100 at a position opposite to the pedal support arm 1062 .

[0125] When the pedal assembly 1060 is in a stepped-down state, the magnetic element 8021 attached to the pedal support arm 1062 and the Hall sensor element 8022 are in a first facing spatial position relationship, such as Figure 7-A shown.

[0126] When the pedal assembly 1060 is in a naturally released state, the magnetic element 8021 attached to the pedal support arm 1062 and the Hall sensor element 8022 are in a second offset spatial position relationship, such as Figure 7-B shown.

[0127] The Hall effect sensor 8022 may output different sensing signals corresponding to different spatial positional relationships between the magnetic element 8021 and the Hall effect sensor 8022. The brake identification module 108 may identify the position state of the pedal assembly 1060 based on the different sensing signals output by the Hall effect sensor 8022, thereby determining whether the brake assembly 1060 is in a braking state.

[0128] It should be noted that the magnetic element 8021 and the Hall effect sensor 8022 can be interchanged, i.e., the magnetic element 8021 is fixedly disposed on the frame 100 at a position opposite the pedal support arm 1062, while the Hall effect sensor 8022 is attached to the pedal support arm 1062. Furthermore, the spatial positional relationship between the magnetic element 8021 and the Hall effect sensor 8022 can be flexibly adjusted, including a facing / offset positional relationship and a close / distant positional relationship.

[0129] There are various corresponding combinations between different spatial position relationships and the position of the pedal support arm 1062 and the position state of the pedal assembly 1060. The above embodiments are only illustrative. Specifically, the corresponding combination may also include: the magnetic element 8021 corresponds to the natural release state when facing the Hall sensing element 8022, and corresponds to the stepped-down state when offset. The magnetic element 8021 corresponds to the natural release state when it is close to the Hall sensing element 8022, and corresponds to the stepped-down state when it is far away, and so on. The logical relationship between the spatial position relationship and the corresponding combination between the position of the pedal support arm 1062 and the position state of the pedal assembly 1060 can be flexibly adjusted and swapped, depending on the setting of the corresponding hardware circuit of the Hall sensing element 8022, and the hardware circuit can be a digital circuit.

[0130] like Figure 8 As shown, in a multi-functional vehicle provided by one or more optional embodiments of this specification, the brake recognition module 108 includes an infrared sensor module 803 .

[0131] In some optional embodiments, the infrared sensor module 803 includes an infrared transmitter 8031 ​​and an infrared receiver 8032. One of the infrared transmitter 8031 ​​and the infrared receiver 8032 is disposed on the pedal support arm 1062, and the other is disposed on the frame 100 at a position opposite to the pedal support arm 1062, so that the spatial positional relationship between the infrared transmitter 8031 ​​and the infrared receiver 8032 changes with the change of the position state of the pedal assembly 1060.

[0132] When the pedal assembly 1060 is in the depressed state, the infrared emitter 8031 and the infrared receiver 8032 are in a first spatial positional relationship, and the infrared receiver 8032 can receive the infrared signal emitted by the infrared emitter 8031 in the first spatial positional relationship.

[0133] When the pedal assembly 1060 is in the natural release state, the infrared emitter 8031 and the infrared receiver 8032 are in a second spatial positional relationship, and the infrared receiver 8032 cannot receive the infrared signal emitted by the infrared emitter 8031 in the second spatial positional relationship.

[0134] As shown in Figure 9-A , 9-B , it is a schematic diagram of the positional relationship between the infrared emitter 8031 and the infrared receiver 8032.

[0135] In some optional embodiments, the infrared emitter 8031 can be attached to the pedal support arm 1062, and the infrared receiver 8032 can be fixedly arranged on the frame 100 opposite the pedal support arm 1062.

[0136] When the pedal assembly 1060 is in the depressed state, the infrared emitter 8031 attached to the pedal support arm 1062 and the infrared receiver 8032 are in a directly opposite first spatial positional relationship, as shown in Figure 9-A At this time, the infrared receiver 8032 can receive the infrared signal from the infrared emitter 8031.

[0137] When the pedal assembly 1060 is in the natural release state, the infrared emitter 8031 attached to the pedal support arm 1062 and the infrared receiver 8032 are in a deviated second spatial positional relationship, as shown in Figure 9-B At this time, the infrared receiver 8032 cannot receive the infrared signal from the infrared emitter 8031.

[0138] The brake identification module 108 can identify the position state of the pedal assembly 1060 according to whether the infrared receiver 8032 receives the infrared signal, so as to determine whether the brake assembly 106 is in the braking state.

[0139] It should be noted that the infrared transmitter 8031 ​​and the infrared receiver 8032 can be interchanged, i.e., the infrared transmitter 8031 ​​is fixedly mounted on the frame 100 at a position opposite to the pedal support arm 1062, while the infrared receiver 8032 is attached to the pedal support arm 1062. Furthermore, the spatial positional relationship between the infrared transmitter 8031 ​​and the infrared receiver 8032 can be flexibly adjusted, including a facing / offset positional relationship and a close / distant positional relationship.

[0140] When the infrared transmitter 8031 ​​and the infrared receiver 8032 are positioned close to each other or far away from each other, the intensity of the infrared signal received by the infrared receiver 8032 is different. The brake recognition module 108 can identify the position state of the pedal assembly 1060 based on the intensity of the infrared signal received by the infrared receiver 8032.

[0141] Those skilled in the art will appreciate that, similar to the working method of the Hall sensor module 802, there are also various corresponding combinations between the different spatial position relationships between the infrared emitter 8031 ​​and the infrared receiver 8032 in the infrared sensor module 803 and the position of the pedal support arm 1062 and the position state of the pedal assembly 1060. The corresponding logical relationship between the different spatial position relationships and the position of the pedal support arm 1062 and the position state of the pedal assembly 1060 can be flexibly adjusted and reversed.

[0142] like Figure 10 As shown, in a multi-functional vehicle provided in one or more optional embodiments of this specification, the brake recognition module 108 may further include an infrared reflective plate 803a.

[0143] One of the infrared sensor module 803 and the infrared reflector 803a is arranged on the pedal support arm 1062, and the other is fixedly arranged on the frame 100 at a position opposite to the pedal support arm 1062, so that the spatial position relationship between the infrared sensor module 803 and the infrared reflector 803a changes with the change of the position state of the pedal assembly 1060.

[0144] When the pedal assembly 1060 is in a stepped-down state, the infrared sensor module 8093 and the infrared reflector plate 803a are in a first spatial position relationship. In the first spatial position relationship, the infrared signal emitted by the infrared transmitter 8031 ​​in the infrared sensor module 803 can be reflected to the infrared receiver 8032 through the infrared reflector plate 803a.

[0145] When the pedal assembly 1060 is in the natural release state, the infrared sensor module 803 and the infrared reflecting plate 803a are in a second spatial positional relationship, in which case the infrared signal emitted by the infrared emitter 8031 in the infrared sensor module 803 cannot be reflected to the infrared receiver 8032 via the infrared reflecting plate 803a.

[0146] As shown in Figure 11-A , 11-B , it is a schematic diagram of the positional relationship between the infrared sensor module 803 and the infrared reflecting plate 803a. Among them, Figure 11-A in which the infrared sensor module 803 and the infrared reflecting plate 803a are arranged opposite to each other, Figure 11-B in which the infrared sensor module 803 and the infrared reflecting plate 803a are arranged offset.

[0147] Similar to the above-mentioned embodiments, in other optional embodiments, the infrared sensor module 803 can be attached to the pedal support arm 1062, and the infrared reflecting plate 803a is fixedly arranged on the vehicle frame 100 opposite to the pedal support arm 1062. The positions of the two can be exchanged. When the pedal assembly 1060 is in different position states, the spatial positional relationship between the infrared sensor module 803 and the infrared reflecting plate 803a is different, and the results of whether the infrared receiver 8032 in the infrared sensor module 803 can receive the infrared signal or the intensity of the received infrared signal are different corresponding to different spatial positional relationships. The brake identification module 108 can identify the position state of the pedal assembly 1060 according to whether the infrared receiver 8032 receives the infrared signal or the intensity of the received infrared signal, so as to determine whether the brake assembly 106 is in the braking state.

[0148] Those skilled in the art can understand that, similar to the working mode of the Hall sensor module 802, the corresponding combination mode between the different spatial positional relationships between the infrared sensor module 803 and the infrared reflecting plate 803a and the positions of the pedal support arm 1062 and the position states of the pedal assembly 1060 is also various. The corresponding combination logic relationship between the different spatial positional relationships and the positions of the pedal support arm 1062 and the position states of the pedal assembly 1060 can be flexibly adjusted.

[0149] As shown in Figure 12 , in one or more optional embodiments provided in the present specification, a multifunctional vehicle, the brake identification module 108 includes a laser sensor module 804.

[0150] In some alternative embodiments, the laser sensor module 804 includes a laser emitter 8041 and a laser receiver 8042. One of the laser emitter 8041 and the laser receiver 8042 is disposed on the pedal support arm 1062, and the other is disposed on the frame 100 opposite the pedal support arm 1062, such that the spatial positional relationship between the laser emitter 8041 and the laser receiver 8042 changes with the position state of the pedal assembly 1060.

[0151] When the pedal assembly 1060 is in the depressed state, the laser emitter 8041 and the laser receiver 8042 are in a first spatial positional relationship, and the laser receiver 8042 can receive the laser signal emitted by the laser emitter 8041 in the first spatial positional relationship.

[0152] When the pedal assembly 1060 is in the natural release state, the laser emitter 8041 and the laser receiver 8042 are in a second spatial positional relationship, and the laser receiver 8042 cannot receive the laser signal emitted by the laser emitter 8041 in the second spatial positional relationship.

[0153] As shown in FIGS. 8A and 8B, the laser emitter 8041 and the laser receiver 8042 are in a first spatial positional relationship when the pedal assembly 1060 is in the depressed state. Figure 13-A , 13-B As shown in FIGS. 8A and 8B, the laser emitter 8041 and the laser receiver 8042 are in a first spatial positional relationship when the pedal assembly 1060 is in the depressed state.

[0154] In some alternative embodiments, the laser emitter 8041 can be attached to the pedal support arm 1062, and the laser receiver 8042 can be fixedly disposed on the frame 100 opposite the pedal support arm 1062.

[0155] When the pedal assembly 1060 is in the depressed state, the laser emitter 8041 attached to the pedal support arm 1062 and the laser receiver 8042 are in a first spatial positional relationship, as shown in FIG. 8A. At this time, the laser receiver 8042 can receive the laser signal from the laser emitter 8041. Figure 13-A

[0156] When the pedal assembly 1060 is in the natural release state, the laser emitter 8041 attached to the pedal support arm 1062 and the laser receiver 8042 are in a second spatial positional relationship, as shown in FIG. 8B. At this time, the laser receiver 8042 cannot receive the laser signal from the laser emitter 8041. Figure 13-B

[0157] ​​The brake identification module 108 can identify the position state of the pedal assembly 1060 according to whether the laser receiver 8042 receives a laser signal, so as to determine whether the brake assembly 106 is in a braking state.

[0158] It should be noted that the laser transmitter 8041 and the laser receiver 8042 can be exchanged in position, i.e., the laser transmitter 8041 is fixedly arranged on the frame 100 at a position opposite to the pedal support arm 1062, and the laser receiver 8042 is attached to the pedal support arm 1062. In addition, the spatial positional relationship of the laser transmitter 8041 and the laser receiver 8042 can also be flexibly adjusted, and in addition to the opposite / offset positional relationship, the laser transmitter 8041 and the laser receiver 8042 can also include a close / far positional relationship.

[0159] When the laser transmitter 8041 and the laser receiver 8042 are arranged in a close / far positional relationship, the intensity of the laser signal received by the laser receiver 8042 is different. The brake identification module 108 can identify the position state of the pedal assembly 1060 according to the intensity of the laser signal received by the laser receiver 8042.

[0160] As can be understood by those skilled in the art, similar to the working mode of the Hall sensor module 802, the different spatial positional relationships between the laser transmitter 8041 and the laser receiver 8042 in the laser sensor module 804 and the corresponding combination modes between the position of the pedal support arm 1062 and the position state of the pedal assembly 1060 are also various. The corresponding combination logic relationship between the different spatial positional relationships and the position of the pedal support arm 1062 and the position state of the pedal assembly 1060 can be flexibly adjusted.

[0161] As Figure 14 In one multifunctional vehicle provided by one or more optional embodiments of the present application, the brake identification module 108 can further include a laser reflection plate 804a.

[0162] One of the laser sensor module 804 and the laser reflection plate 804a is arranged on the pedal support arm 1062, and the other is arranged on the frame 100 at a position opposite to the pedal support arm 1062, so that the spatial positional relationship between the laser sensor module 804 and the laser reflection plate 804a changes with the change of the position state of the pedal assembly 1060

[0163] When the pedal assembly 1060 is in the depressed state, the laser sensor module 8093 and the laser reflector plate 804a are in a first spatial positional relationship, in which case the laser signal emitted by the laser emitter 8041 in the laser sensor module 804 can be reflected by the laser reflector plate 804a to the laser receiver 8042.

[0164] When the pedal assembly 1060 is in the natural release state, the laser sensor module 804 and the laser reflector plate 804a are in a second spatial positional relationship, in which case the laser signal emitted by the laser emitter 8041 in the laser sensor module 804 cannot be reflected by the laser reflector plate 804a to the laser receiver 8042.

[0165] As shown in FIGS. 8A and 8B, the laser sensor module 804 and the laser reflector plate 804a are in a first spatial positional relationship when the pedal assembly 1060 is in the depressed state, and the laser sensor module 804 and the laser reflector plate 804a are in a second spatial positional relationship when the pedal assembly 1060 is in the natural release state. Figure 15-A 15-B As shown in FIGS. 8A and 8B, the laser sensor module 804 and the laser reflector plate 804a are in a first spatial positional relationship when the pedal assembly 1060 is in the depressed state, and the laser sensor module 804 and the laser reflector plate 804a are in a second spatial positional relationship when the pedal assembly 1060 is in the natural release state. Figure 15-A In the first spatial positional relationship, the laser sensor module 804 and the laser reflector plate 804a are directly opposite each other. Figure 15-B In the second spatial positional relationship, the laser sensor module 804 and the laser reflector plate 804a are offset from each other.

[0166] In other optional embodiments similar to the above-described embodiments, the laser sensor module 804 can be attached to the pedal support arm 1062, and the laser reflector plate 804a can be fixedly arranged on the frame 100 opposite the pedal support arm 1062. The positions of the two can be exchanged. When the pedal assembly 1060 is in different position states, the spatial positional relationship between the laser sensor module 804 and the laser reflector plate 804a is different, and the laser receiver 8042 in the laser sensor module 804 can or cannot receive a laser signal, or the received laser signal has different intensities, corresponding to different spatial positional relationships. The brake recognition module 108 can recognize the position state of the pedal assembly 1060 according to whether the laser receiver 8042 receives a laser signal or the intensity of the received laser signal, and determine whether the brake assembly 106 is in the braking state.

[0167] ​Those skilled in the art can understand that, similar to the working mode of the Hall sensor module 802, different spatial positional relationships between the laser sensor module 804 and the laser reflection plate 804a and the corresponding combination modes of the position of the pedal support arm 1062 and the position state of the pedal assembly 1060 are also various. The corresponding combination logic relationship between the different spatial positional relationships and the position of the pedal support arm 1062 and the position state of the pedal assembly 1060 can be flexibly adjusted.

[0168] As shown in the multifunctional vehicle provided by one or more optional embodiments of the present application, Figure 16 As shown in the multifunctional vehicle provided by one or more optional embodiments of the present application, the brake identification module 108 includes an image identification module 805, and the pedal support arm 1062 is provided with a positioning marker point.

[0169] The image identification module 805 can be arranged at a position opposite to the pedal support arm 1062 on the vehicle frame 100 and configured to acquire an image corresponding to part of the pedal support arm 1062.

[0170] The image identification module 805 can identify the pedal support arm 1062 to determine the position state of the pedal assembly 1060. Preferably, the image identification module 805 can identify the positioning marker point arranged on the pedal support arm 1062 to more accurately identify and determine the position state of the pedal assembly 1060. The brake identification module 108 can determine whether the brake assembly 106 is in a braking state according to the identification result of the pedal assembly 1060 by the image identification module 805.

[0171] As shown in the multifunctional vehicle provided by one or more optional embodiments of the present application, Figure 17 As shown in the multifunctional vehicle provided by one or more optional embodiments of the present application, the brake identification module 108 includes an image identification module 805, and the pedal support arm 1062 is provided with a positioning marker point.

[0172] The multifunctional vehicle provided by one or more optional embodiments of the present application further includes a display assembly 806. The display assembly 806 is arranged in a visual range convenient for the operator to see and used to display vehicle state information of the multifunctional vehicle, including but not limited to health state information of a power supply system, voltage and current parameter information, power information, and driving motor speed information, cutting blade speed information, driving speed gear information, real-time vehicle speed information, etc.

[0173] The controller 1010 generates a prompt instruction when determining that the brake assembly 106 is in a braking state. The prompt instruction is used to control the display assembly 806 to display a brake graphical identifier corresponding to the braking state to remind the user.

[0174] In one or more optional embodiments provided in the present specification, a multifunctional vehicle is provided. The controller 1010 generates an auxiliary control instruction when it is determined that the brake assembly 106 is in a braking state. The auxiliary control instruction is used to control the drive motor 1042 to output a braking torque to cooperate with the brake assembly 106 to perform a brake braking operation.

[0175] For the same purpose, the present specification also provides a garden working vehicle.

[0176] As shown in the drawings, Figure 1 In one or more optional embodiments provided in the present specification, a garden working vehicle is provided, which comprises:

[0177] A vehicle frame 100, a functional mechanism 102 connected to the vehicle frame, and a drive mechanism 104 connected to the vehicle frame.

[0178] The vehicle frame 100 extends at least partially along the front-rear direction. A load bearing mechanism 1000 can be provided on the vehicle frame 100. The load bearing mechanism 1000 is used to bear an operator of the garden working vehicle, and can include at least one of a seat or a standing platform, Figure 1 The seat or the standing platform is used for the operator to sit or stand. That is, the garden working vehicle can provide a riding working mode or a standing working mode. Further, the structure of the seat and the standing platform can be flexibly switched, that is, the working mode of the garden working 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 handheld operation assembly can also be provided on the vehicle frame 100. Based on the handheld operation assembly, the garden working vehicle can also provide a hand-push working mode.

[0179] The functional mechanism 102 includes an output member for outputting power to realize a specific function. In some optional embodiments, the functional mechanism 102 is a mowing element for realizing a mowing function. The functional mechanism is also connected to the vehicle frame 100. The functional mechanism 102 further includes a functional motor for driving the mowing element to rotate at a high speed, and a control module corresponding to the functional motor.

[0180] In some optional embodiments, the functional mechanism 102 can include one or more mowing elements, and one or more functional motors corresponding to the mowing elements. For example, in some embodiments, the mowing element is a 3-blade, and the number of corresponding functional motors is also set to 3. In some specific embodiments, the functional mechanism 102 further includes a control module corresponding to the mowing motor. The control module includes a control chip, such as an MCU, an ARM, etc.

[0181] In some optional embodiments, the functional mechanism 102 can also be a cleaning element for realizing cleaning energy supply. The functional mechanism further comprises a functional motor for driving the cleaning element, and a control module corresponding to the functional motor.

[0182] It can be understood that, in some optional embodiments, the functional mechanism can also be replaced by other functional components, such as snow sweeping, snow blowing, snow shoveling, flushing, etc. Those skilled in the art should be able to adapt various functional components without creative labor, which should all be included in the protection scope of the present embodiments.

[0183] As shown in Figure 2 The driving mechanism 104 is used to drive the garden work vehicle to travel in a garden scene such as a lawn, a garden, a fence, a green, or other road surfaces. The driving mechanism 104 comprises at least one driving axle assembly 1040, which is mechanically connected to a driving motor 1042 and a driving wheel 1044, so as to transmit the power of the driving motor 1042 to the driving wheel 1044 to drive the garden work vehicle to travel.

[0184] The driving wheel 1044 can be provided in plurality, and the number of the driving motor 1042 can correspond to the number of the driving wheel 1044. In some optional embodiments, the driving mechanism 104 comprises a first driving wheel and a second driving wheel, and two corresponding driving motors 1042. When the two driving motors 1042 drive the corresponding driving wheels 1044 to rotate at different powers, a speed difference is generated between the first driving wheel and the second driving wheel, so that the garden work vehicle can be turned. In some embodiments, the driving mechanism 104 further comprises a travel control module for controlling the driving motor 1042.

[0185] The garden work vehicle further comprises a brake assembly 106. The brake assembly 106 has a braking state, in which a brake braking operation can be performed on the driving axle assembly 1040.

[0186] As shown in Figure 3 In a garden work vehicle provided by one or more optional embodiments of the present specification, the brake assembly 106 comprises a pedal assembly 1060 and a brake execution assembly 1065.

[0187] The pedal assembly 1060 comprises a brake pedal 1061, and a user can step on the brake pedal 1061 to make the brake execution assembly 1065 generate a braking force on the driving axle assembly 1040.

[0188] The pedal assembly 1060 further comprises a pedal support arm 1062, a brake spring 1063 and a brake push rod 1064, and the brake execution assembly 1065 comprises a brake pump 1066. The pedal support arm 1062 is rotationally connected to the vehicle frame 100, and the brake push rod 1064 is connected to the pedal support arm 1062, and the brake pedal 1061 is fixedly connected to the pedal support arm 1062. The brake spring 1063 is connected at both ends to the vehicle frame 100 and the pedal support arm 1062 respectively.

[0189] When the user steps on the brake pedal 1061, the pedal support arm 1062 is rotated and the brake spring 1063 is pulled, the pedal support arm 1062 pushes the brake push rod 1064 to press the brake pump 1066 to make the brake pump 1066 generate braking force. At this time, the pedal assembly 1060 is in the position state of stepping down.

[0190] After the user releases the brake pedal 1061, the pedal support arm 1062 is rotated under the action of the back-pulling force of the brake spring 1063, and the rotation direction is opposite to that generated by the user stepping on. Correspondingly, the pedal support arm 1062 pulls back the brake push rod 1064, and the pressing on the brake pump 1066 is released, so that the brake pump 1066 no longer generates braking force. At this time, the pedal assembly 1060 is in the position state of natural release.

[0191] In some optional embodiments, the brake execution assembly 1065 further comprises a hydraulic pipe and a brake assembly. When the user steps on the brake pedal 1061, the brake pump 1066 is triggered to generate braking force, and acts on the brake assembly through the hydraulic pipe, thereby generating braking force on the drive axle assembly 1040. The brake assembly can be a disc brake caliper, for example.

[0192] In one or more optional embodiments provided in the present specification, a garden working vehicle is provided, and the brake identification module 108 is attached to the brake assembly 106 for identifying and determining whether the brake assembly 106 is in a braking state.

[0193] The brake identification module 108 can be provided for the pedal assembly 1060, and is configured to detect the position state of the pedal assembly 1060, and determine whether the brake assembly 106 is in a braking state through the detected position state.

[0194] The position state of the pedal assembly 1060 includes a natural release state and a stepping down state. When the brake identification module 108 detects that the pedal assembly 1060 is in the stepping down state, it can be determined that the brake assembly 106 is in a braking state.

[0195] In some optional embodiments, the garden work vehicle further comprises a controller 1010. The controller 1010 is configured to generate a prompt instruction and / or an auxiliary control instruction when it is determined that the brake assembly 106 is in the braking state. The prompt instruction is used to control the garden work vehicle to prompt the user to brake, and the auxiliary control instruction is used to control the garden work vehicle to perform an auxiliary braking operation when it is determined that the brake assembly 106 is in the braking state, i.e., the user performs a braking operation. The auxiliary braking operation cooperates with the braking operation of the brake assembly 106 to achieve faster and more stable vehicle braking.

[0196] In the garden work vehicle, the brake recognition module is used to monitor the brake assembly in real time to determine whether the brake assembly is in the braking state, and the controller generates a prompt instruction and / or an auxiliary control instruction in response when it is determined that the brake assembly is in the braking state. In this way, the braking state can be efficiently and accurately identified and responded to in a timely manner, thereby optimizing the operation driving experience and improving the intelligent level of the vehicle.

[0197] For the same purpose, the present specification also provides a brake recognition control device.

[0198] One or more optional embodiments of the present specification provide a brake recognition control device. The brake recognition control device can be applied to a multi-functional vehicle or a garden work vehicle. Taking the brake recognition control device applied to a multi-functional vehicle as an example.

[0199] As shown in Figure 1 the multi-functional vehicle comprises;

[0200] a vehicle frame 100 connected to a function mechanism 102 and a driving mechanism 104 of the vehicle frame.

[0201] The vehicle frame 100 extends at least partially along the front-rear direction, and a bearing mechanism 1000 can be arranged on the vehicle frame 100. The bearing mechanism 1000 is used to bear an operator of the multi-functional vehicle and can include at least one of a seat or a standing platform, Figure 1 The bearing mechanism 1000 is only exemplarily shown as including the seat. The seat or the standing platform is used for the operator to sit or stand. That is, the multi-functional vehicle can provide a riding work mode or a standing work mode. Further, the structure of the seat and the standing platform can be flexibly switched, i.e., the work mode of the multi-functional vehicle can be flexibly switched between the riding work mode and the standing work mode according to the actual needs of the operator. A handheld operation assembly can also be arranged on the vehicle frame 100, and based on the handheld operation assembly, the multi-functional vehicle can also provide a hand-push work mode.

[0202] The functional mechanism 102 includes an output element for outputting power to realize a specific function. In some alternative embodiments, the functional mechanism 102 is a mowing element for realizing a mowing function. The functional mechanism is also connected to the vehicle frame 100. The functional mechanism 102 further includes a functional motor for driving the mowing element to rotate at a high speed, and a control module corresponding to the functional motor.

[0203] In some alternative embodiments, the functional mechanism 102 can include one or more mowing elements, and one or more functional motors corresponding to the mowing elements. For example, in some embodiments, the mowing element is a 3-blade, and the number of corresponding functional motors is also set to 3. In some specific implementations, the functional mechanism 102 further includes a control module corresponding to the mowing motor. The control module includes a control chip, such as an MCU, ARM, etc.

[0204] In some alternative embodiments, the functional mechanism 102 can also be a cleaning element for realizing a cleaning function. The functional mechanism further includes a functional motor for driving the cleaning element, and a control module corresponding to the functional motor.

[0205] It can be understood that, in some alternative embodiments, the functional mechanism can also be replaced by other functional components, such as snow sweeping, snow blowing, snow shoveling, flushing, etc. Those skilled in the art should be able to adapt various functional components without creative labor, and all of the above should be included in the protection scope of the present embodiments.

[0206] As shown in Figure 2 The driving mechanism 104 is used to drive the multifunctional vehicle to travel in a garden scene, such as a lawn, a garden, a fence, a green, or other road surfaces. The driving mechanism 104 includes at least one driving axle assembly 1040, which is mechanically connected to a driving motor 1042 and a driving wheel 1044, to transmit power of the driving motor 1042 to the driving wheel 1044 to drive the multifunctional vehicle to travel.

[0207] The driving wheels 1044 can be provided in plurality, and the driving motors 1042 can be provided in number corresponding to the driving wheels 1044. In some optional embodiments, the driving mechanism 104 includes a first driving wheel and a second driving wheel, and two corresponding driving motors 1042. When the two driving motors 1042 drive the corresponding driving wheels 1044 to rotate at different powers, a speed difference is generated between the first driving wheel and the second driving wheel, so that the multifunctional vehicle can be steered. In some embodiments, the driving mechanism 104 further includes a driving control module for controlling the driving motors 1042.

[0208] The multifunctional vehicle further includes a braking assembly 106. The braking assembly 106 has a braking state in which brake braking operation can be performed on the driving axle assembly 1040.

[0209] As shown in one multifunctional vehicle provided in one or more optional embodiments of the present application, Figure 3 The braking assembly 106 includes a pedal assembly 1060 and a braking execution assembly 1065.

[0210] The pedal assembly 1060 includes a brake pedal 1061, and a user can step on the brake pedal 1061 to make the braking execution assembly 1065 generate braking force on the driving axle assembly 1040.

[0211] The pedal assembly 1060 further includes a pedal support arm 1062, a brake spring 1063, and a brake push rod 1064, and the braking execution assembly 1065 includes a brake pump 1066. The pedal support arm 1062 is rotationally connected to the vehicle frame 100, and the brake push rod 1064 is connected to the pedal support arm 1062, and the brake pedal 1061 is fixedly connected to the pedal support arm 1062. The brake spring 1063 has two ends respectively connected to the vehicle frame 100 and the pedal support arm 1062.

[0212] When a user steps on the brake pedal 1061, the pedal support arm 1062 is rotated and the brake spring 1063 is pulled, and the pedal support arm 1062 pushes the brake push rod 1064 to press the brake pump 1066 to make the brake pump 1066 generate braking force. At this time, the pedal assembly 1060 is in a position state of being stepped down.

[0213] After the user releases the brake pedal 1061, the pedal support arm 1062 is rotated by the pullback force of the brake spring 1063, and the rotation direction is opposite to the direction generated by the user's stepping. Correspondingly, the pedal support arm 1062 pulls back the brake push rod 1064, and the brake pump 1066 is no longer pressed, so that the brake pump 1066 no longer generates braking force. At this time, the pedal assembly 1060 is in a naturally released position state.

[0214] In some optional embodiments, the brake execution assembly 1065 further comprises a hydraulic pipe and a brake assembly. When the user steps on the brake pedal 1061, the brake pump 1066 is triggered to generate braking force, and acts on the brake assembly through the hydraulic pipe, thereby generating braking force on the drive axle assembly 1040. The brake assembly can be a disc brake caliper, for example.

[0215] The brake identification control module comprises a brake identification module 108 and a controller 1010.

[0216] The brake identification module 108 is attached to the brake assembly 106, and is used to identify and determine whether the brake assembly 106 is in a braking state.

[0217] The brake identification module 108 can be provided for the pedal assembly 1060, and is configured to detect the position state of the pedal assembly 1060, and determine whether the brake assembly 106 is in a braking state according to the detected position state.

[0218] The position state of the pedal assembly 1060 includes a naturally released state and a stepped down state. When the brake identification module 108 detects that the pedal assembly 1060 is in the stepped down state, it can be determined that the brake assembly 106 is in a braking state.

[0219] The controller 1010 is configured to generate a prompt instruction and / or an auxiliary control instruction when it is determined that the brake assembly 106 is in a braking state. The prompt instruction is used to control the multifunctional vehicle to prompt the user to brake, and the auxiliary control instruction is used to control the multifunctional vehicle to perform an auxiliary braking operation when it is determined that the brake assembly 106 is in a braking state, i.e., the user performs a braking operation. The auxiliary braking operation cooperates with the braking operation of the brake assembly 106, and can achieve faster and more stable vehicle braking.

[0220] The brake identification control device uses the brake identification module to monitor the brake assembly in real time to determine whether the brake assembly is in a braking state, and when it is determined that the brake assembly is in a braking state, the controller generates a prompt instruction and / or an auxiliary control instruction. In this way, the braking state can be accurately identified and determined, and timely response processing can be performed for the braking state, so that the operation driving experience can be optimized, and the intelligent degree of the vehicle can be improved.

[0221] It should be noted that the method of one or more embodiments of the present specification can be executed by a single device, such as a computer or a server, etc. The method of the present embodiment can also be applied to a distributed scenario, and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only execute one or more steps in the method of one or more embodiments of the present specification, and the multiple devices can interact with each other to complete the method.

[0222] It should be noted that the above describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in an order different than the order in the embodiments and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In some implementations, multitasking and parallel processing can be advantageous or necessary.

[0223] For the convenience of description, the above device is described as various modules in function. Of course, the functions of each module can be implemented in the same or more software and / or hardware when implementing one or more embodiments of the present specification.

[0224] The device of the above embodiment is used to implement the corresponding method in the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here.

[0225] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiments of the method. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc. The storage medium can also include a combination of the above-mentioned types of memories.

[0226] The systems, apparatuses, modules or units disclosed in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above apparatuses are described as various units with different functions respectively. Of course, the functions of the units can be implemented in one or more software and / or hardware in the implementation of the present application.

[0227] Those skilled in the art should understand that the embodiments of the present specification can be provided as a method, a system or a computer program product. Therefore, the present specification can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present 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 storage, CD-ROM, optical storage etc.) containing computer-usable program code.

[0228] It should also be noted that the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusions, so that processes, methods, articles or apparatuses that include a series of elements not only include those elements, but also include other elements not explicitly listed, or inherent to such processes, methods, articles or apparatuses. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or apparatus comprising the element.

[0229] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other, and each embodiment focuses on the difference from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0230] Those skilled in the art should understand that the discussion of any embodiment above is only exemplary, and is not intended to limit the scope of the present disclosure (including claims) to these examples; under the idea of the present disclosure, the above embodiments or technical features between different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of one or more embodiments of the present specification as described above. In order to be brief, they are not provided in details.

[0231] In addition, to simplify the description and discussion, and so as not to obscure one or more embodiments of the present specification, well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, devices may be shown in block diagram form to avoid obscuring one or more embodiments of the present specification, 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 the present specification will be implemented (i.e., these details should be fully within the purview of those skilled in the art). Where specific details (e.g., 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 the present specification may be implemented without these specific details or with variations in these specific details. Accordingly, these descriptions should be considered illustrative rather than restrictive.

[0232] Although the present disclosure has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. The one or more embodiments herein are intended to encompass all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, and the like that fall within the spirit and principles of the one or more embodiments herein are intended to be included within the scope of protection of the present disclosure.

Claims

1. A multi-purpose vehicle, characterized in that: include: Frame; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a brake assembly, wherein the brake assembly has a braking state, in which the brake assembly performs a braking operation on the drive axle assembly; a brake identification module, attached to the brake assembly, for identifying and determining whether the brake assembly is in a braking state; as well as, The controller is configured to generate a prompt instruction and / or an auxiliary control instruction when determining that the brake assembly is in a braking state.

2. The multi-purpose vehicle according to claim 1, characterized in that The brake assembly includes a pedal assembly and a brake actuator assembly; The pedal assembly includes a brake pedal, and a user steps on the brake pedal to enable the brake actuator assembly to generate a braking force on the drive axle assembly.

3. The multi-purpose vehicle according to claim 2, characterized in that The pedal assembly further comprises a pedal support arm, a brake spring and a brake push rod, and the brake actuator assembly comprises a brake pump; The pedal support arm is rotatably connected to the vehicle frame, and the brake push rod is connected to the pedal support arm, and the brake pedal is fixedly connected to the pedal support arm; The two ends of the brake spring are respectively connected to the frame and the pedal support arm; When a user steps on the brake pedal, the pedal support arm rotates and pulls the brake spring. The pedal support arm pushes the brake push rod to squeeze the brake pump so that the brake pump generates braking force.

4. The multi-purpose vehicle according to claim 3, characterized in that The brake actuator assembly also includes a hydraulic pipe and a brake assembly; The user steps on the pedal assembly to trigger the brake pump to generate braking force, which acts on the brake assembly through the hydraulic pipe, thereby generating braking force on the drive axle assembly, so that the drive wheel is braked.

5. The multi-purpose vehicle according to claim 3, characterized in that The brake identification module is provided for the pedal assembly and is used to detect the position state of the pedal assembly; The position states of the pedal assembly include a naturally released state and a stepped-down state; The brake identification module determines that the brake assembly is in the braking state when detecting that the pedal assembly is in the stepped-down state.

6. The multi-purpose vehicle according to claim 5, characterized in that The brake identification module includes a micro switch; A switch pressure plate is fixedly provided on the pedal support arm; The switch pressing plate presses the micro switch when the brake pedal is in a naturally released state, and is out of contact with the micro switch when the brake pedal is in a stepped-down state; The brake identification module determines that the brake assembly is in a braking state when it detects that the micro switch is pressed.

7. The multi-purpose vehicle according to claim 5, characterized in that The brake identification module includes a Hall sensor module; The Hall sensor module includes a magnetic element and a Hall sensing element, one of which is disposed on the pedal support arm, and the other is disposed on the vehicle frame at a position opposite to the pedal support arm, such that a spatial positional relationship between the magnetic element and the Hall sensing element changes with a change in the position state of the pedal assembly; When the pedal assembly is in a stepped-down state, the magnetic element and the Hall sensor element are in a first spatial position relationship; When the pedal assembly is in a naturally released state, the magnetic element and the Hall sensing element are in a second spatial position relationship.

8. The multi-purpose vehicle according to claim 5, characterized in that The braking recognition module includes an infrared sensor module; The infrared sensor module includes an infrared transmitter and an infrared receiver, one of which is disposed on the pedal support arm, and the other is disposed on the frame at a position opposite to the pedal support arm, so that the spatial positional relationship between the infrared transmitter and the infrared receiver changes with the position state of the pedal assembly; When the pedal assembly is in a stepped-down state, the infrared transmitter and the infrared receiver are in a first spatial position relationship, and under the first spatial position relationship, the infrared receiver can receive the infrared signal emitted by the infrared transmitter; When the pedal assembly is in a naturally released state, the infrared transmitter and the infrared receiver are in a second spatial position relationship. In the second spatial position relationship, the infrared receiver cannot receive the infrared signal sent by the infrared transmitter.

9. The multi-purpose vehicle according to claim 5, characterized in that The braking recognition module includes an infrared sensor module and an infrared reflector; The infrared sensor module includes an infrared transmitter and an infrared receiver; One of the infrared sensor module and the infrared reflective plate is disposed on the pedal support arm, and the other is disposed on the vehicle frame at a position opposite to the pedal support arm, so that a spatial positional relationship between the infrared sensor module and the infrared reflective plate changes with a change in a positional state of the pedal assembly; When the pedal assembly is in a stepped-down state, the infrared sensor module and the infrared reflector are in a first spatial position relationship. In the first spatial position relationship, the infrared signal emitted by the infrared transmitter can be reflected by the infrared reflector to the infrared receiver. When the pedal assembly is in a naturally released state, the infrared sensor module and the infrared reflector are in a second spatial position relationship. In the second spatial position relationship, the infrared signal emitted by the infrared transmitter cannot be reflected by the infrared reflector to the infrared receiver.

10. The multi-purpose vehicle according to claim 5, characterized in that The braking recognition module includes a laser sensor module; The laser sensor module includes a laser emitter and a laser receiver, one of which is disposed on the pedal support arm, and the other is disposed on the frame at a position opposite to the pedal support arm, so that a spatial positional relationship between the laser emitter and the laser receiver changes with a change in the position state of the pedal assembly; When the pedal assembly is in a stepped-down state, the laser transmitter and the laser receiver are in a first spatial position relationship, and in the first spatial position relationship, the laser receiver can receive the laser signal emitted by the laser transmitter; When the pedal assembly is in a naturally released state, the laser transmitter and the laser receiver are in a second spatial position relationship. In the second spatial position relationship, the laser receiver cannot receive the laser signal emitted by the laser transmitter.

11. The multi-purpose vehicle according to claim 4, characterized in that The braking recognition module includes a laser sensor module and a laser reflector; The laser sensor module includes a laser transmitter and a laser receiver; One of the laser sensor module and the laser reflector is disposed on the pedal support arm, and the other is disposed on the frame at a position opposite to the pedal support arm, so that a spatial positional relationship between the laser sensor module and the laser reflector changes with a change in a positional state of the pedal assembly; When the pedal assembly is in a stepped-down state, the laser sensor module and the laser reflector are in a first spatial position relationship. In the first spatial position relationship, the laser signal emitted by the laser transmitter can be reflected by the laser reflector to the laser receiver. When the pedal assembly is in a naturally released state, the laser sensor module and the laser reflector plate are in a second spatial position relationship. In the second spatial position relationship, the laser signal emitted by the laser transmitter cannot be reflected by the laser reflector plate to the laser receiver.

12. The multi-purpose vehicle according to claim 4, wherein: A positioning mark point is provided on the pedal support arm; The brake recognition module includes an image recognition module configured to obtain an image corresponding to the pedal support arm, identify and analyze the positioning mark points in the image, and determine the position state of the pedal assembly based on the identification and analysis results.

13. The multi-purpose vehicle according to claim 1, wherein: The multi-purpose vehicle further includes a display assembly; The prompt instruction is used to control the display component to display a braking graphic mark corresponding to the braking state.

14. The multi-purpose vehicle according to claim 1, wherein: The auxiliary control instruction is used to control the drive motor to output braking torque when it is determined that the brake assembly is in a braking state, so as to cooperate with the brake assembly to perform a braking operation.

15. A gardening vehicle, characterized in that: include: Frame; Functional components, provided on the vehicle frame, for performing corresponding functional operations in a controlled manner; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a brake assembly, wherein the brake assembly has a braking state, in which the brake assembly performs a braking operation on the drive axle assembly; a brake identification module, attached to the brake assembly, for identifying and determining whether the brake assembly is in a braking state; as well as, The controller is configured to generate a prompt instruction and / or an auxiliary control instruction when determining that the brake assembly is in a braking state.

16. A brake recognition control device, applied to a multi-purpose vehicle, the multi-purpose vehicle comprising: Frame; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a brake assembly, wherein the brake assembly has a braking state, in which the brake assembly performs a braking operation on the drive axle assembly; Characterized in that, the brake identification control device comprises: a brake identification module, attached to the brake assembly, for identifying and determining whether the brake assembly is in a braking state; The controller is configured to generate a prompt instruction and / or an auxiliary control instruction when determining that the brake assembly is in a braking state.

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