Outdoor walking equipment

Abstract

The invention discloses outdoor walking equipment which comprises a walking mechanism which comprises a first driving wheel, a second driving wheel, a first walking motor and a second walking motor, and the first walking motor and the second walking motor respectively and independently drive the first driving wheel and the second driving wheel; a power limiting unit configured to limit an input power of the first travel motor or the second travel motor; the controller is configured to control the first walking motor to enter a power limiting mode through the power limiting unit when the electrical parameter of the first walking motor meets a preset condition; outputting a corresponding rotating speed attenuation factor based on the rotating speed of the first walking motor in the power limiting mode; and correcting the second target rotating speed based on the rotating speed attenuation factor to drive the second walking motor to rotate. The outdoor walking equipment is safe in driving.

Description

Technical Field

[0001] This application relates to an outdoor garden power tool, specifically an outdoor walking device. Background Technology

[0002] Outdoor mobility equipment is used for operations outdoors. Examples include multi-purpose vehicles, agricultural machinery, farm vehicles, ATVs, golf carts, and lawnmowers. Outdoor mobility equipment typically uses a zero roll-over radius (ZTR) walking mechanism, enabling in-situ turning with high efficiency. It achieves this by using two motors to drive the left and right drive wheels separately. The interaction between the two motors under different operating conditions affects the driving safety of the outdoor mobility equipment.

[0003] This section provides background information related to this application, which is not necessarily prior art. Summary of the Invention

[0004] One object of this application is to solve or at least alleviate some or all of the aforementioned problems. Therefore, one object of this application is to provide a safe outdoor walking device.

[0005] To achieve the above objectives, this application adopts the following technical solution: An outdoor walking device includes: a walking mechanism including a first drive wheel and a second drive wheel, and a first walking motor and a second walking motor that independently drive the first drive wheel and the second drive wheel, respectively; a power supply mechanism including at least one battery pack for powering the walking mechanism; a controller configured to control the operation of the first walking motor and the second walking motor based on an input first target speed and a second target speed, respectively; and a power limiting unit configured to limit the input power of the first walking motor or the second walking motor; the controller is configured to: control the first walking motor to enter a power limiting mode through the power limiting unit when the electrical parameters of the first walking motor meet preset conditions; output a corresponding speed attenuation factor based on the speed of the first walking motor in the power limiting mode; and correct the second target speed based on the speed attenuation factor to drive the second walking motor to rotate.

[0006] In some embodiments, the controller is configured to control the first travel motor to enter a power limiting mode via a power limiting unit when the bus current of the first travel motor is greater than or equal to a current threshold.

[0007] In some embodiments, the controller is configured to output a speed attenuation factor based on a first target speed and a first current-limited speed under a power-limiting mode.

[0008] In some embodiments, the controller is configured to reduce the speed decay factor according to a defined procedure after the first travel motor exits the power limiting mode.

[0009] In some embodiments, the controller is configured to increase the rotational speed of the second travel motor according to a defined procedure after the first travel motor exits the power limiting mode.

[0010] In some embodiments, the controller is configured to, when the electrical parameters of the first travel motor meet preset conditions and the electrical parameters of the second travel motor meet preset conditions, control the first travel motor and the second travel motor to enter power limiting modes respectively through the power limiting unit.

[0011] In some embodiments, a first speed attenuation factor is output based on the speed of the first travel motor in power-limited mode, and a second speed attenuation factor is output based on the speed of the second travel motor in power-limited mode. It is determined that the first speed attenuation factor is greater than the second speed attenuation factor, and the second target speed is corrected based on the first speed attenuation factor to drive the rotation of the second travel motor.

[0012] In some embodiments, a detection unit is also included, which is connected to the controller and is used to detect the bus current of the first travel motor.

[0013] An outdoor walking device includes: a walking mechanism including a first drive wheel and a second drive wheel, and a first walking motor and a second walking motor that independently drive the first drive wheel and the second drive wheel, respectively; a power supply mechanism including at least one battery pack for powering the walking mechanism; a controller configured to control the operation of the first walking motor and the second walking motor based on an input first target speed and a second target speed, respectively; and a power limiting unit configured to limit the input power of the first walking motor or the second walking motor; the controller is configured to: when the electrical parameters of the first walking motor meet preset conditions, control the first walking motor to enter a power limiting mode through the power limiting unit and reduce the speed of the second walking motor.

[0014] In some embodiments, the controller reduces the speed of the second travel motor based on the speed attenuation factor output by the first travel motor in power-limited mode.

[0015] The advantages of this application are as follows: When the electrical parameters of the first walking motor meet preset conditions, the power limiting unit controls the first walking motor to enter a power limiting mode; based on the speed of the first walking motor in the power limiting mode, a corresponding speed attenuation factor is output, and the second target speed is corrected based on the speed attenuation factor to drive the rotation of the second walking motor. This ensures the output torque of the walking motor. When the power of the walking motor exceeds a threshold based on the preset conditions of its electrical parameters, the power limiting unit limits the power of the walking motor, thereby ensuring that the speed difference between the first and second walking motors is within a certain range, thus guaranteeing the driving safety of the outdoor walking equipment. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an outdoor walking device according to one embodiment of this application; Figure 2 This is a schematic diagram of the structure of an outdoor walking device as one embodiment of this application from another perspective; Figure 3 This is a schematic diagram illustrating the power supply mechanism adapted to different vehicles as one embodiment of this application; Figure 4 This is a schematic diagram of the walking mechanism and control mechanism as an embodiment of this application; Figure 5 This is a schematic diagram from another perspective of the walking mechanism as one embodiment of this application; Figure 6 This is a schematic diagram of a portion of the walking mechanism and frame structure as an embodiment of this application; Figure 7 This is a control block diagram of the parking brake mechanism as an embodiment of this application; Figure 8 This is a control block diagram of another parking brake mechanism as an embodiment of this application; Figure 9 This is a control block diagram of the first parking brake mechanism and the second parking brake mechanism as an embodiment of this application; Figure 10 This is a schematic diagram of the control circuit of the walking motor as an embodiment of this application; Figure 11 This is a control circuit diagram of the first and second travel motors as an embodiment of this application; Figure 12 This is a flowchart of a control method for an outdoor walking device according to one embodiment of this application; Figure 13 This is a flowchart of another control method for an outdoor walking device as an embodiment of this application; Figure 14 This is a schematic diagram of the structure of a human-computer interaction mechanism as an embodiment of this application; Figure 15 This is a block diagram of a human-computer interaction mechanism system as an embodiment of this application; Figure 16 This is a schematic diagram of a portion of the structure of the first walking mechanism and the second walking and control mechanism as an embodiment of this application; Figure 17 This is a control block diagram of the first and second walking mechanisms as an embodiment of this application; Figure 18 This is a flowchart of a control method for an outdoor walking device as an embodiment of this application; Figure 19 This is a flowchart of another control method for an outdoor walking device as an embodiment of this application; Figure 20 This is a flowchart of a third control method for an outdoor walking device as an embodiment of this application; Figure 21 This is an exploded view of the structure of the walking motor and position sensor as an embodiment of this application; Figure 22 This is a control block diagram of the rotor position detection of a walking motor as an embodiment of this application; Figure 23 This is another control block diagram of the rotor position detection of the walking motor as an embodiment of this application; Figure 24 This is a flowchart of a method for detecting the rotational position of the rotor of a brushless motor in an outdoor walking device, as an embodiment of this application. Figure 25 This is a flowchart of another method for detecting the rotational position of the rotor of a brushless motor in an outdoor walking device, as an embodiment of this application. Figure 26 This is a control block diagram of the first circuit board and the control circuit board as an embodiment of this application; Figure 27 This is a schematic diagram of the structure of a power tool as an embodiment of this application; Figure 28 yes Figure 27 Exploded view of the structure of the electric motor; Figure 29a yes Figure 3 A perspective view of the first connector of the power supply mechanism and the battery pack. Figure 29b yes Figure 3 A perspective view of the second connector of the power supply mechanism and the battery pack. Figure 30This is a schematic diagram of the second connector and the third battery pack as one embodiment of this application; Figure 31 yes Figure 1 A 3D diagram of the power supply mechanism for outdoor walking equipment. Detailed Implementation

[0017] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0018] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0019] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0020] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0021] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, %, 1% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 1 degree, 1 degree or more) added to or subtracted from the indicated angle.

[0022] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0023] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0024] In this application, the terms "controller," "processor," "central processing unit," "CPU," and "MCU" are used interchangeably. When using the unit "controller," "processor," "central processing unit," "CPU," or "MCU" to perform a specific function, unless otherwise stated, these functions may be performed by a single or multiple of the aforementioned units.

[0025] In this application, the terms "device," "module," or "unit" are used to describe devices that can be implemented in hardware or software to perform a specific function.

[0026] In this application, the terms “calculation,” “judgment,” “control,” “determine,” “identify,” etc., refer to the operation and process of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0027] like Figure 1 , Figure 2 and Figure 3 As shown, the outdoor walking device 100 disclosed in this application is specifically a wheeled work vehicle or outdoor work vehicle, such as an electric lawnmower 200 or an electric lawn mower, which can be operated by a user to mow lawns or other vegetation. Optionally, a manned lawnmower 200a can be operated by a user sitting or standing on it to mow lawns and other vegetation. In this specification, the directions forward, backward, left, right, up, and down are described as... Figure 1 The directions shown are defined as follows. When a user is riding on the outdoor walking device 100 located on the ground, the direction the user faces is defined as forward, the direction behind is defined as rear, the direction to the left is defined as left, the direction to the right is defined as right, the direction closest to the ground is defined as downward, and the direction furthest from the ground is defined as upward. Of course, the outdoor walking device 100 disclosed in this application also includes an all-terrain vehicle 100c (UTV, Utility Vehicle). In related technologies, the all-terrain vehicle 100c includes a four-wheeled all-terrain vehicle (ATV, All Terrain Vehicle), a multi-functional all-terrain vehicle, and a recreational vehicle. In addition, the outdoor walking device 100 disclosed in this application also includes a manned snowplow, a push lawnmower, a push snowplow 100d, and an electric motorcycle, etc.

[0028] The outdoor walking device 100 includes a vehicle body 10, a power supply mechanism 20, and a walking mechanism 40. The vehicle body 10 includes a frame 11 that extends substantially in a front-to-back direction. The frame 11 is used to mount the power supply mechanism 20 and the walking mechanism 40. The power supply mechanism 20 is used to provide electrical energy to the power unit 30.

[0029] The walking mechanism 40 includes at least a walking wheel set 41. The walking wheel set 41 includes walking wheels 411 and 412, which are connected to the vehicle body 10 to support the vehicle body 10 and drive the vehicle body 10 to move.

[0030] In this embodiment, the power supply mechanism 20 includes a battery pack 21 and a connector 22 for mounting the battery pack 21 to connect it to the outdoor walking device 100. The battery pack 21, in conjunction with a corresponding power circuit, supplies power to at least the power unit 30. The power unit 30 outputs power to drive the walking mechanism 40, enabling the outdoor walking device 100 to walk according to operation.

[0031] The battery pack 21 is detachably connected to the connector 22, which is detachably mounted to the outdoor mobility device 100 so that it can be removed to be adapted to other electrical devices. These other electrical devices include, but are not limited to, an all-terrain vehicle 100c, a push lawnmower, a push snow sweeper 100d, and a manned lawnmower 200a. See details... Figure 3 As shown, the power supply mechanism 20 of the outdoor walking equipment 100 can be detached and removed from the outdoor walking equipment 100, and then installed on the all-terrain vehicle 100c, the push lawnmower, the push snow sweeper 100d, the riding lawnmower 100a, and the standing lawnmower 100b to supply power to these electrical devices and enable the functions of the aforementioned power supply devices.

[0032] like Figure 4 As shown, the outdoor walking device 100 also includes a control mechanism 70, which is used to control the operation of the outdoor walking device 100. The control mechanism 70 includes a controller 72 and a detection component 74.

[0033] like Figure 1 Figure 6 As shown, this application provides an outdoor walking device 100, which includes a power supply mechanism 20, a walking mechanism 40, a parking brake mechanism 44, and a control mechanism 70. The walking mechanism 40 includes walking wheels and a walking motor 42 that drives the walking wheels to rotate. The walking mechanism 40 includes a first walking mechanism 40a, which is composed of a first walking wheel and a walking motor that drives it to rotate, and a second walking mechanism 40b, which is composed of a second walking wheel and a walking motor that drives it to rotate.

[0034] In this embodiment, the walking mechanism 40 includes a rear walking wheel 411 and a front walking wheel 412. The rear walking wheel 411 includes a left rear walking wheel 411L and a right rear walking wheel 411R. The front walking wheel 412 includes a left front walking wheel 412L and a right front walking wheel 412R. A walking motor 42 drives either the rear walking wheel 411 or the front walking wheel 412 to rotate, thereby enabling the outdoor walking device 100 to walk. Optionally, the number of walking motors 42 can be one, two, three, or four. In this embodiment, there are two walking motors 42, which respectively drive the left rear walking wheel 411L and the right rear walking wheel 411R, allowing the outdoor walking device 100 to turn in directions other than the forward / backward direction. For ease of reference, the walking motor 42 driving the left rear walking wheel 411L is designated as the first walking motor 42L, and the walking motor 42 driving the right rear walking wheel 411R is designated as the second walking motor 42R. In this embodiment, the first walking mechanism 40a includes a left rear walking wheel 411L and a first walking motor 42L. The second walking mechanism 40b includes a right rear walking wheel 411R and a second walking motor 42R.

[0035] The parking brake mechanism 44 is used to brake the rotation of the walking mechanism 40. The transmission mechanisms 45L and 45R are used to convert or transmit the torque output by the motor and transmit the torque to the walking wheels 411 and 412. Exemplarily, the parking brake mechanism 44 is configured as an electromagnetic brake mechanism; optionally, the electromagnetic brake mechanism is an electromagnetic brake 441. The term electromagnetic brake 441 will be used hereinafter to refer to the electromagnetic brake mechanism, but this is not intended to limit the scope of this application. The electromagnetic brake 441 is configured to brake the rotation of the output shaft 423. Exemplarily, the electromagnetic brake 441 automatically brakes the rotation of the output shaft 423 when power is lost. Exemplarily, when the outdoor walking device 100 is powered off, the electromagnetic brake 441 will automatically brake the rotation of the output shaft 423, thereby preventing the motor-driven walking wheels 411 and 412 from rotating. The electromagnetic brake 441 is set up to provide a more timely and safer parking brake solution in emergency situations. The electromagnetic brake 441 does not rely on manual operation. When power is lost, it actively brakes the output shaft 423 of the motor, making braking more timely and reliable.

[0036] The parking brake mechanism 44 includes a manual release component 442. The manual release component 442 is operated by the user to manually release the braking of the electromagnetic brake 441 or to actuate the output shaft 423. This allows the user to manually brake and release the brake when the electromagnetic brake 441 fails to engage or disengage for any reason. For example, when the outdoor walking device 100 is powered off, the electromagnetic brake 441 brakes the output shaft 423 due to de-energization. When the outdoor walking device 100 is powered on, the electromagnetic brake 441 also powers on and engages, releasing the braking of the output shaft 423. Upon receiving a drive signal from the operating command, the walking motor 42 rotates the output shaft 423, and the outdoor walking device 100 moves normally. However, if the electromagnetic brake 441 fails to start after the outdoor walking device 100 is powered on for some reason, the user can manually start the electromagnetic brake 441 through the manual release component 442 so that the electromagnetic brake 441 releases the brake on the output shaft 423, and the outdoor walking device 100 can walk normally.

[0037] In this embodiment, the parking brake mechanism 44 includes a first parking brake mechanism 44a for braking the rotation of the first traveling mechanism 40a, and a second parking brake mechanism 44b for braking the rotation of the second traveling mechanism 40b. The power supply mechanism 20 provides power to at least the traveling mechanism 40 and the parking brake mechanism 44.

[0038] like Figure 7As shown, the control mechanism 70 includes a controller 72, which controls the parking brake mechanism 44 to switch between the braking state of the braking travel mechanism 40 and the unlocking state of the releasing travel mechanism 40. The control mechanism 70 also includes an anomaly detection circuit 74, connected to the parking brake mechanism 44 and the controller 72, including electrical and communication connections. The anomaly detection circuit 74 detects the power supply input signal of the parking brake mechanism 44. The power supply input signal includes the power supply signal output from the power supply mechanism 20 and transmitted to the parking brake mechanism 44. The controller 72 is also configured to disconnect the current loop flowing through the parking brake mechanism 44 to control the parking brake mechanism 44 to enter the braking state when the power supply input signal exceeds a preset range. The parking brake mechanism 44 includes an electromagnetic brake 441. By controlling the switching between the braking and unlocking states of the parking brake mechanism 44 through the controller 72, the intelligence of the parking brake and its operating conditions are improved. The abnormality detection circuit 74 detects the power supply input signal. When the power supply input signal exceeds the preset range, it indicates that the power supply status of the parking brake mechanism 44 is abnormal. Then the controller 72 disconnects the current circuit flowing through the parking brake mechanism 44, so that the parking brake mechanism 44 is in a de-energized state and then enters the braking state, thus protecting the power supply safety and operational safety of the parking brake mechanism 44.

[0039] In this embodiment, as Figure 8 As shown, the anomaly detection circuit 74 includes a current sampling circuit 75, which is used to detect the current value in the current loop of the parking brake mechanism 44. In some embodiments, when the electromagnetic brake 441 is in the unlocked state, the controller 72 is configured to disconnect the current loop in response to a current less than or equal to 0.2A or greater than or equal to 2A, thereby controlling the electromagnetic brake 441 to enter the braking state. For example, when the current value in the current loop is less than or equal to 0.2A or greater than or equal to 2A, it indicates a signal anomaly in the current loop. Unlike the power failure state of the electromagnetic brake 441 caused by the power outage of the outdoor walking device 100, the current value in the circuit loop fluctuates, and the current value is not within the current range of the power failure state, and the current is less than or equal to 0.2A. In some embodiments, the current value is not within the current range of the power failure state, and the current is less than or equal to 0.3A, 0.4A, 0.5A, 0.6A, 0.7A, 0.8A, 0.9A, or 1.0A. In some embodiments, characterizing a signal abnormality in the current loop includes not only small current abnormalities but also abnormalities where the current in the current loop exceeds a preset range. For example, a current value greater than or equal to 2A in the current loop characterizes an abnormality where the current in the current loop exceeds the preset range. For example, a current value greater than or equal to 2A, 5A, or 10A in the current loop characterizes an abnormality where the current in the current loop exceeds the preset range.

[0040] In some embodiments, the current sampling circuit 75 includes one or more of a current sensing resistor, a Hall current sensor or a metal-oxide-semiconductor field-effect transistor (MOSFET), and an on-resistance, thereby detecting one or more current parameters of the bus current and phase current of the parking brake mechanism 44 and sending the current parameters to the controller 72 in the form of a signal.

[0041] In some embodiments, the anomaly detection circuit 74 includes a voltage sampling circuit 76 for detecting the input voltage of the parking brake mechanism 44. In some embodiments, when the electromagnetic brake 441 is in the unlocked state, the controller 72 is configured to disconnect the current loop in response to an input voltage less than or equal to 2V or greater than or equal to 20V, thereby controlling the electromagnetic brake 441 to enter the braking state. For example, when the input voltage value is less than or equal to 2V or greater than or equal to 20V, it indicates a signal anomaly in the current loop. This differs from the power-off state of the electromagnetic brake 441 caused by a power outage of the outdoor walking device 100; the voltage value in the input voltage fluctuates, and the voltage range is neither within the voltage range of the power-off state nor less than or equal to 2V. In some embodiments, the voltage range is neither within the voltage range of the power-off state nor less than or equal to 5V. The voltage range is neither within the voltage range of the power-off state nor less than or equal to 7V. In some embodiments, characterizing an abnormal signal in the input voltage includes not only small voltage abnormalities but also abnormalities where the input voltage exceeds a preset range. For example, when the input voltage value is greater than or equal to 20V, it characterizes an abnormality where the input voltage current exceeds a preset range. For example, when the input voltage value is greater than or equal to 25V, it characterizes an abnormality where the input voltage current exceeds a preset range.

[0042] In some embodiments, the voltage sampling circuit 76 includes one or more of an electromagnetic voltage transformer, a Hall voltage sensor, a voltage divider, a fiber optic voltage sensor, and a resistive voltage divider, thereby detecting the input voltage of the parking brake mechanism 44 and sending the input voltage parameters to the controller 72 in the form of a signal.

[0043] The control mechanism 70 also includes a drive circuit 73a, which is connected to the controller 72. The controller 72 controls the on / off state of the current loop of the electromagnetic brake 441 through the drive circuit 73a. For example, the controller 72 uses a dedicated control chip, such as a microcontroller unit (MCU). Specifically, the controller 72 controls the on / off state of the switching elements in the drive circuit 73a through the control chip, thereby controlling the on / off state of the current loop of the electromagnetic brake 441. For example, the drive circuit 73a includes a power transistor (e.g., a Metal-Oxide-Semiconductor Field-Effect Transistor, MOSFET). The power transistor changes its on / off state according to the control signal output by the controller 72, thereby changing the voltage and / or current state of the battery pack 21 applied to the electromagnetic brake 441, to switch the braking and unlocking states of the electromagnetic brake 441. For example, the controller 72 is disposed on the control circuit board 71, which includes a printed circuit board (PCB) and a flexible printed circuit (FPC).

[0044] In this embodiment, for the outdoor walking device 100 having a first walking mechanism 40a and a second walking mechanism 40b, the parking brake mechanism 44 also includes a first parking brake mechanism 44a and a second parking brake mechanism 44b. The first parking brake mechanism 44a is used to brake the rotation of the first walking mechanism 40a, and the second parking brake mechanism 44b is used to brake the rotation of the second walking mechanism 40b. The corresponding parking brake mechanism 44 and the walking mechanism 40 make the user's control over walking more reliable. When different walking mechanisms 40 have different conditions, the parking brake mechanism 44 can provide corresponding braking force according to different speeds, etc., making braking more reliable.

[0045] like Figure 9As shown, the control mechanism 70 controls the parking brake mechanism 44 to switch between the braking state of the braking travel mechanism 40 and the unlocking state of the releasing travel mechanism 40. The control mechanism 70 is also correspondingly equipped with a first anomaly detection circuit 74a and a second anomaly detection circuit 74b. The first anomaly detection circuit 74a is connected to the first parking brake mechanism 44a and the controller 72, including electrical and communication connections. The first anomaly detection circuit 74a detects a first power supply input signal of the first parking brake mechanism 44a. The second anomaly detection circuit 74b detects a second power supply input signal of the second parking brake mechanism 44b. The controller 72 is configured to control the first parking brake mechanism 44a and the second parking brake mechanism 44b to enter a braking state when the first power supply input signal exceeds a preset range. Optionally, the controller 72 is configured to control the first parking brake mechanism 44a and the second parking brake mechanism 44b to enter a braking state when the second power supply input signal exceeds a preset range. In this embodiment, if any power supply input signal exceeds a preset range, the controller 72 controls the first parking brake mechanism 44a and the second parking brake mechanism 44b to enter the braking state respectively.

[0046] In this embodiment, when multiple parking brake mechanisms 44 are present, if any one of the parking brake mechanisms 44 is detected to have an abnormal power supply, the multiple parking brake mechanisms 44 will enter the braking state respectively, so as to ensure the parking stability of the outdoor walking device 100 and the walking safety of the outdoor walking device 100.

[0047] The first parking brake mechanism 44a includes an electromagnetic brake 441. The second parking brake mechanism 44b includes an electromagnetic brake 441. For ease of reference, the first parking brake mechanism 44a includes an electromagnetic brake 441. The second parking brake mechanism 44b includes an electromagnetic brake 441.

[0048] In this embodiment, the first anomaly detection circuit 74a includes a current sampling circuit 75, which is used to detect the current value in the current loop of the first parking brake mechanism 44a. In some embodiments, when the magnetic brake 441 is in the unlocked state, the controller 72 is configured to disconnect the current loop in response to a current less than or equal to 0.2A or greater than or equal to 2A, thereby controlling the electromagnetic brake 441 to enter the braking state. For example, when the current value in the current loop is less than or equal to 0.2A or greater than or equal to 2A, it indicates a signal anomaly in the current loop. Unlike the power failure state of the electromagnetic brake 441 caused by the power outage of the outdoor walking device 100, the current value in the circuit loop fluctuates, and the current value is not within the current range of the power failure state, and the current is less than or equal to 0.2A. In some embodiments, the current value is not within the current range of the power failure state, and the current is less than or equal to 0.3A, 0.4A, 0.5A, 0.6A, 0.7A, 0.8A, 0.9A, or 1.0A. In some embodiments, characterizing a signal abnormality in the current loop includes not only small current abnormalities but also abnormalities where the current in the current loop exceeds a preset range. For example, a current value greater than or equal to 2A in the current loop characterizes an abnormality where the current in the current loop exceeds the preset range. For example, a current value greater than or equal to 2A, 5A, or 10A in the current loop characterizes an abnormality where the current in the current loop exceeds the preset range.

[0049] In some embodiments, the current sampling circuit 75 includes one or more of a current sensing resistor, a Hall current sensor or a metal-oxide-semiconductor field-effect transistor (MOSFET), and an on-resistance, thereby detecting one or more current parameters of the bus current and phase current of the parking brake mechanism 44 and sending the current parameters to the controller 72 in the form of a signal.

[0050] In some embodiments, the first anomaly detection circuit 74a includes a voltage sampling circuit 76 for detecting the input voltage of the first parking brake mechanism 44a. In some embodiments, when the magnetic brake 441 is in the unlocked state, the controller 72 is configured to disconnect the current loop in response to an input voltage less than or equal to 2V or greater than or equal to 20V, thereby controlling the magnetic brake 441 to enter the braking state. For example, when the input voltage value is less than or equal to 2V or greater than or equal to 20V, it indicates a signal anomaly in the current loop. Unlike the power failure state of the electromagnetic brake 441 caused by a power outage of the outdoor walking device 100, the voltage value in the input voltage fluctuates, and the voltage value is neither within the voltage range of the power failure state nor less than or equal to 2V. In some embodiments, the voltage value is neither within the voltage range of the power failure state nor less than or equal to 5V. The voltage value is neither within the voltage range of the power failure state nor less than or equal to 7V. In some embodiments, characterizing an abnormal signal in the input voltage includes not only small voltage abnormalities but also abnormalities where the input voltage exceeds a preset range. For example, when the input voltage value is greater than or equal to 20V, it characterizes an abnormality where the input voltage current exceeds a preset range. For example, when the input voltage value is greater than or equal to 25V, it characterizes an abnormality where the input voltage current exceeds a preset range.

[0051] In some embodiments, the voltage sampling circuit 76 includes one or more of an electromagnetic voltage transformer, a Hall voltage sensor, a voltage divider, a fiber optic voltage sensor, and a resistive voltage divider, thereby detecting the input voltage of the parking brake mechanism 44 and sending the input voltage parameters to the controller 72 in the form of a signal.

[0052] In some embodiments, the second anomaly detection circuit 74b and the first anomaly detection circuit 74a are the same sampling circuit. For example, the first anomaly detection circuit 74a is a current sampling circuit 75, and the second anomaly detection circuit 74b is a current sampling circuit 75. Alternatively, the first anomaly detection circuit 74a is a voltage sampling circuit 76, and the second anomaly detection circuit 74b is a voltage sampling circuit 76. In some embodiments, the second anomaly detection circuit 74b and the first anomaly detection circuit 74a are different sampling circuits. For example, the first anomaly detection circuit 74a is a current sampling circuit 75, and the second anomaly detection circuit 74b is a voltage sampling circuit 76. Alternatively, the first anomaly detection circuit 74a is a voltage sampling circuit 76, and the second anomaly detection circuit 74b is a current sampling circuit 75.

[0053] In some embodiments, when the power supply input signal exceeds a preset range, the current circuit flowing through the parking brake mechanism 44 is disconnected to control the parking brake mechanism 44 to enter the braking state. Afterwards, the user needs to use the manual release component 442 to release the braking state of the parking brake mechanism 44 and restart the outdoor walking device 100. In some embodiments, restarting the outdoor walking device 100 will automatically enter a low-speed driving state. When the controller 72 no longer receives signal commands indicating that the power supply input signal exceeds the preset range, the controller 72 controls the walking mechanism 40 to enter a normal driving state.

[0054] In some embodiments, the outdoor walking device 100 further includes a human-machine interface mechanism 60 for issuing abnormal alarm prompts. Details of the human-machine interface mechanism 60 will be described in detail below. The human-machine interface mechanism 60 is connected to the controller 72. When the abnormality detection circuit 74 detects that the power supply input signal of the parking brake mechanism 44 exceeds a preset range, the controller 72 controls the human-machine interface mechanism 60 to issue an abnormal alarm prompt, including but not limited to static and dynamic displays, audible or visual prompts, etc.

[0055] The outdoor walking device 100 provided in this application includes a controller 72 that also controls the operating status of the walking motor 42. For example... Figure 10 As shown, the drive circuit 73b is connected to the controller 72, which controls the on / off state of the current loop of the walking motor 42 through the drive circuit 73b. Specifically, the controller 72 controls the on / off state of the switching elements in the drive circuit 73b through a control chip, thereby controlling the current applied to the walking motor 42. For example, the drive circuit 73b includes multiple power transistors (e.g., Q1, Q2, Q3, Q4, Q5, and Q6), which change their on / off state according to the control signal output by the controller 72, thereby changing the voltage and / or current state applied to the walking motor 42 by the battery pack 21 to control the operation of the walking motor 42. The drive circuit 73b can be a three-phase bridge driver circuit including six controllable semiconductor power devices (e.g., field-effect transistors (FETs), bipolar junction transistors (BJTs), insulated-gate bipolar transistors (IGBTs), etc.). It is understood that the aforementioned switching element can also be any other type of solid-state switch, such as IGBT, BJT, etc.

[0056] The controller 72 is also configured to: upon receiving a braking command, control the parking brake mechanism 44 to enter a braking state; and in the braking state, acquire parameters related to the current of the travel motor 42, and output a reverse control signal to the drive circuit 73b based on the parameters to control the travel motor 42. By detecting the current-related parameters of the travel motor 42, when it is determined that the current of the travel motor 42 is abnormal in the braking state, the controller 72 reverses the control to brake the travel motor 42, preventing the outdoor walking equipment 100 from failing to brake and causing abnormal vehicle speed, leading to safety problems and injury to the outdoor walking equipment 100 and personnel, in the event of a failure or abnormality of the parking brake mechanism 44. Furthermore, regarding the sensors or detection elements for detecting parameters, characterizing braking abnormalities using the current-related parameters of the travel motor 42 does not require additional sensors or detection elements. In this embodiment, when the controller 72 outputs a reverse control signal to the motor and brakes the motor, the parking brake mechanism 44 is always in a braking state.

[0057] In this embodiment, the parking brake mechanism 44 includes an electromagnetic brake 441, and the controller 72 controls the switching between the braking state and the unlocking state of the parking brake mechanism 44. When the electromagnetic brake 441 is de-energized, it automatically brakes the rotation of the output shaft 423, and the electromagnetic brake 441 enters the braking state.

[0058] In this embodiment, the control mechanism 70 includes a detection component 74, which is used to detect current-related parameters of the travel motor 42. For example, the detection component 74 is used to detect the phase current of the travel motor 42. When it is determined that the phase current-related parameter of the travel motor 42 is greater than or equal to a preset threshold, the controller 72 determines that the braking of the parking brake mechanism 44, i.e., the electromagnetic brake 441, has malfunctioned. Optionally, it is determined that the electromagnetic brake 441 has failed to brake the output shaft 423. In some embodiments, the detection component 74 includes one or more of a current-sensing resistor, a Hall current sensor, a metal-oxide-semiconductor field-effect transistor (MOSFET), and an on-resistance, thereby detecting the phase current-related parameters of the travel motor 42 of the travel mechanism 40 and sending the phase current parameters to the controller 72 in the form of a signal. It is understood that the phase current-related parameters are logically processed based on the detected phase current, such as calculating the rate of change, calculating the integral value, and calculating the integral value of the rate of change. In some embodiments, phase current-related parameters are processed logically by the detected phase current, for example, by calculation using known formulas, to obtain output power, output torque, motor commutation parameters, etc.

[0059] In some embodiments, the detection component 74 is used to detect the demagnetization time of the winding of the walking motor 42. The controller 72 obtains the demagnetization time of the winding of the walking motor 42 and uses the stored algorithm to estimate the phase current using the demagnetization time, thereby obtaining the phase current related parameters of the walking motor 42 of the walking mechanism 40.

[0060] In some embodiments, the detection component 74 is used to detect the demagnetization time of the windings of the travel motor 42. When it is determined that the relevant parameter of the demagnetization time of the windings of the travel motor 42 is greater than or equal to a preset threshold, the controller 72 determines that the braking of the parking brake mechanism 44, i.e., the electromagnetic brake 441, has malfunctioned. Optionally, it is determined that the electromagnetic brake 441 has failed to brake the output shaft 423.

[0061] In this embodiment, the walking motor 42 is specifically a first walking motor 42L and, or a second walking motor 42R. This is related to the number of walking motors 42 provided in the outdoor walking device 100 and the number of rotating walking motors 42 braked by the parking brake mechanism 44.

[0062] like Figure 11 As shown, the parking brake mechanism 44 includes a first parking brake mechanism 44a and a second parking brake mechanism 44b. The first parking brake mechanism 44a is used to brake the rotation of the first traveling mechanism 40a, and the second parking brake mechanism 44b is used to brake the rotation of the second traveling mechanism 40b. Taking the first parking brake mechanism 44a as an example, the first parking brake mechanism 44a includes an electromagnetic brake 441, and the first traveling mechanism 40a includes a first traveling motor 42L and a left rear traveling wheel 411L. The controller 72 detects the phase current of the first traveling motor 42L through the detection component 74. The detection component 74 sends the phase current of the first traveling motor 42L to the controller 72 in the form of a signal. When the controller 72 determines that the phase current is greater than or equal to a preset threshold, the controller 72 determines that the braking of the first parking brake mechanism 44a, i.e., the electromagnetic brake 441, has malfunctioned. The controller 72 outputs a control signal to reverse the first traveling motor 42L, so that the first traveling motor 42L brakes and the left rear traveling wheel 411L stops rotating. To prevent the outdoor walking device 100 from failing to brake and causing abnormal vehicle speed due to a malfunction or abnormality in the parking brake mechanism 44, thus avoiding safety issues and potential injury to the outdoor walking device 100 and personnel, the following preset thresholds are used in this embodiment: In this embodiment, the preset threshold is greater than or equal to 50A. In this embodiment, the preset threshold is greater than or equal to 40A. In this embodiment, the preset threshold is greater than or equal to 55A. In this embodiment, the preset threshold is greater than or equal to 60A.

[0063] In this embodiment, the controller 72 outputs a control signal to reverse the first travel motor 42L, causing the first travel motor 42L to reverse at a certain speed, preset acceleration, or preset torque, thereby generating braking of the first travel motor 42L. In some embodiments, the controller 72 outputs a control signal to reverse the first travel motor 42L, causing the first travel motor 42L to reverse at a fixed preset speed, acceleration, or torque. In some embodiments, the controller 72 outputs a control signal to reverse the first travel motor 42L, causing the first travel motor 42L to reverse at a dynamically adjusted speed, acceleration, or torque. The controller 72 dynamically adjusts the reversing speed, acceleration, or torque of the first travel motor 42L based on the phase current data of the first travel motor 42L, so that the first travel motor 42L dynamically adjusts the magnitude of the reversing signal according to its operating conditions, resulting in more intelligent and effective braking control of the first travel motor 42L based on its operating status. For example, the controller 72 is configured to control the drive circuit 73b to short-circuit the first travel motor 42L for braking upon receiving a braking command, resulting in rapid braking. In this embodiment, the first walking motor 42L is a three-phase brushless motor, and the controller 72 is configured to control the drive circuit 73b to short-circuit the three phases of the first walking motor 42L for braking when a braking command is received.

[0064] In some embodiments, the second parking brake mechanism 44b includes an electromagnetic brake 441, and the second travel mechanism 40b includes a second travel motor 42R and a right rear travel wheel 411R. The controller 72 controls the second parking brake mechanism 44b using the same control method as the first parking brake mechanism 44a. In this embodiment, the controller 72 detects the phase currents of the first travel motor 42L and the second travel motor 42R through a detection component 74. The detection component 74 sends the phase currents of the first travel motor 42L and the second travel motor 42R to the controller 72 as signals. When the controller 72 determines that the phase current of either the first travel motor 42L or the second travel motor 42R is greater than or equal to a preset threshold, the controller 72 determines that a braking abnormality has occurred. The controller 72 outputs a control signal that reverses the first travel motor 42L and the second travel motor 42R, causing the left rear travel wheel 411L and the right rear travel wheel 411R to stop rotating. To prevent the outdoor walking equipment 100 from failing to brake and causing abnormal vehicle speed due to the failure or abnormality of any parking brake mechanism 44, resulting in safety problems and damage to the outdoor walking equipment 100 and personnel, the controller 72 will brake both the first walking motor 42L and the second walking motor 42R as soon as it determines that any parking brake mechanism 44 has failed or is abnormal.

[0065] In some embodiments, the braking command is output by user operation. For example, the user operation de-energizes the electromagnetic brake 441 of the parking brake mechanism 44, thus entering the braking state. In some embodiments, the braking command is output by the control device when the outdoor walking device 100 malfunctions. For example, the abnormality detection circuit 74 of the control device detects that the power supply input signal exceeds a preset range, and then outputs a braking command to the controller 72 to enter the braking state.

[0066] like Figure 12 As shown, based on the same concept, this application also provides a method for controlling the braking failure or abnormality of the parking brake mechanism 44 of an outdoor walking device 100. The control scheme for the outdoor walking device 100 includes the following steps: S101: Braking command received.

[0067] S102: Control the parking brake mechanism to enter the braking state according to the braking command.

[0068] S103: Obtain parameters related to the motor's current.

[0069] S104: Outputs an inverted control signal based on the motor's current-related parameters to the drive circuit to control the motor.

[0070] By detecting the motor's current-related parameters, when it is determined that the motor's current is abnormal under braking conditions, the controller 72 reverses the control to brake the motor. This prevents the outdoor walking equipment 100 from failing to brake and causing abnormal vehicle speed if the parking brake mechanism 44 fails or malfunctions, which could lead to safety issues and damage to the outdoor walking equipment 100 and personnel.

[0071] like Figure 13 As shown, another method for controlling the braking failure or abnormality of the parking brake mechanism of an outdoor walking device 100 is disclosed. The specific steps of the control method are as follows: S201: Upon receiving the braking command, the outdoor walking equipment enters the stop state.

[0072] In some embodiments, the braking command is output by user operation. For example, the user operation de-energizes the electromagnetic brake 441 of the parking brake mechanism 44, thus entering the braking state. In some embodiments, the braking command is output by the control device when the outdoor walking device 100 malfunctions. For example, the abnormality detection circuit 74 of the control device detects that the power supply input signal exceeds a preset range, and then outputs a braking command to the controller 72 to enter the braking state.

[0073] S202: Control the parking brake mechanism to enter the braking state according to the braking command.

[0074] The parking brake mechanism 44 continues to brake the rotation of the traveling mechanism 40. The parking brake mechanism 44 includes an electromagnetic brake 441, and the controller 72 controls the power supply state of the electromagnetic brake 441, thereby controlling the braking and unlocking states of the parking brake mechanism 44. When the electromagnetic brake 441 is in the braking state, the controller 72 controls the electromagnetic brake 441 to de-energize, and the electromagnetic brake 441 restricts the rotation of the rotor 422 of the traveling motor 42.

[0075] S203: Obtain parameters related to the phase current of the motor.

[0076] Phase current-related parameters are processed logically based on the detected phase current, such as calculating the rate of change, calculating the integral value, and calculating the integral value of the rate of change.

[0077] S204: Generate the quadrature axis component Iq of the current using phase current parameters; In this embodiment, the controller utilizes field-oriented control (FOC) to drive the motor 42. As is known in related technologies, in FOC control of the motor, the three-phase current of the motor can be decomposed into two components: the direct-axis component Id and the quadrature-axis component Iq. The control of the direct-axis component, i.e., the direct-axis current, is mainly used to control the motor's magnetic flux. The control of the quadrature-axis component, i.e., the quadrature-axis current, is mainly used to control the motor's torque.

[0078] S205: Determine if the cross-axis component Iq of the current is greater than the preset threshold. If yes, proceed to S206; otherwise, proceed to S201.

[0079] When the quadrature-axis component Iq of the current is determined to be greater than a preset threshold, for example, Iq > 100, the controller 72 determines that the braking of the parking brake mechanism 44, i.e., the electromagnetic brake 441, has malfunctioned. Optionally, it determines that the electromagnetic brake 441 has failed to brake the output shaft 423.

[0080] S206: The controller enters position loop control.

[0081] Among them, the loop is the closed-loop feedback. The position loop is the difference between the target and the current position reflected by the motor encoder and transmitted back to the controller 72. The function of the position loop is to generate the motor speed command and enable the motor to accurately position and track.

[0082] S207: Automatically adjusts the torque of the walking motor and brakes the rotor of the walking motor.

[0083] In this embodiment, the controller 72 automatically adjusts the torque of the walking motor 42 based on the state of the phase current or quadrature axis current of the walking motor 42. For example, the controller 72 controls the walking motor 42 to output negative torque, thereby braking the rotor 422 of the walking motor 42.

[0084] See Figure 2 and Figures 14 to 15 As shown, the outdoor walking device 100 of this application also includes a human-computer interaction mechanism 60. In this embodiment, the outdoor walking device 100 includes a display device 60a for providing feedback, i.e., information prompts, to the user. The display device 60a may be, for example, an audio prompter, a liquid crystal display (LCD), a light-emitting diode (LED) display, an organic light-emitting diode (OLED) display, or an organic electroluminescent (EL) display. The display device 60a includes a display screen 61, a switch assembly 61b, and a plurality of operation buttons 61c. In some embodiments, the display device 60a includes a touchscreen or a touch panel, such that the switch assembly 61b and the plurality of operation buttons 61c are all integrated onto the screen. The touchscreen or touch panel includes resistive, capacitive, infrared, and surface acoustic wave touchscreens. In this embodiment, the display screen 61 reflects the operating status of the outdoor walking device 100 on the display interface 61a. The display interface 61a is understood as the display area directly observed by the user.

[0085] Display interface 61a can display different status information as needed. For example, as mentioned above, controller 72 displays the position status of handle 442a of manual release component 442 through display interface 61a. For example, when it is detected that handle 442a of manual release component 442 is in the unlocked position, controller 72 displays an alarm reminder on display interface 61a to prompt the user to reset handle 442a. This could be indicated by an icon representing handle 442a appearing on display interface 61a, the icon being lit up, flashing, or displaying in a special color. For example, display interface 61a can be set with different display content representing different position states of handle 442a, allowing the user to clearly distinguish the position state of handle 442a through different display content.

[0086] For example, an abnormal alarm can be displayed when the power input signal exceeds a preset range, indicating an abnormality in the power supply status of the parking brake mechanism 44. An abnormal alarm can also be displayed when the motor current is abnormal during braking, indicating an abnormality in the braking function of the parking brake mechanism 44. Other warning and fault messages can also be displayed, but these are not listed here. These abnormal alarm prompts include the illumination, flashing, or special color display of icons on the display interface 61a. Of course, this also includes the display of special codes, special symbols, and other alarm content that can be identified according to the instruction manual.

[0087] For example, the display interface 61a can display information such as the walking speed of the walking mechanism 40, the rotation speed of the working elements, the energy efficiency status of the outdoor walking device 100, the remaining power information of the battery pack 21, and the normal braking or release status. It can also display parking or stopping prompts, parking release or start prompts, etc., based on user operation commands.

[0088] like Figures 1 to 4 And such as Figures 16 to 17 In the walking mechanism 40 of the outdoor walking device 100, the first walking mechanism 40a includes a left rear walking wheel 411L and a first walking motor 42L. The second walking mechanism 40b includes a right rear walking wheel 411R and a second walking motor 42R. The first walking motor 42L and the second walking motor 42R independently drive the left rear walking wheel 411L and the right rear walking wheel 411R, respectively. The outdoor walking device 100 itself is heavy, for example, greater than 500kg. The outdoor walking device 100 provided in this application has a high travel speed, for example, a travel speed greater than or equal to 19.5km / h. When dragging heavy objects at high speed or during sudden acceleration and deceleration, the output power of the walking motor 42 is too high, which can easily damage the battery pack 21 of the outdoor walking device 100 powered by the DC battery pack 21.

[0089] In this embodiment, the controller 72 is configured to control the operation of the first travel motor 42L and the second travel motor 42R based on the input first target speed and the second target speed, respectively. It also includes a power limiting unit 79 for limiting the input power of the first travel motor 42L or the second travel motor 42R.

[0090] Since the outdoor walking device 100 is equipped with an independently controlled first walking motor 42L and a second walking motor 42R, if the power limiting unit 79 is used to limit the power of the first walking motor 42L or the second walking motor 42R, then in order to prevent the outdoor walking device 100 from losing steering control, the power limiting between the first walking motor 42L and the second walking motor 42R should be coordinated.

[0091] In this embodiment, the controller 72 is configured to control the first walking motor 42L to enter a power limiting mode via the power limiting unit 79 when the electrical parameters of the first walking motor 42L meet preset conditions, and output a corresponding speed attenuation factor based on the speed of the first walking motor 42L in the power limiting mode. The second target speed is then corrected based on the speed attenuation factor to drive the rotation of the second walking motor 42R.

[0092] According to relevant technologies, P = aT*N, where a is a constant, T is the motor's output torque, and N is the motor's output speed. From this formula, it can be seen that the motor's output torque T is directly proportional to the motor power P, and the torque T is inversely proportional to the motor's output speed N. Therefore, to ensure the motor's output torque, the speed should be reduced when the power exceeds a threshold.

[0093] In actual use of the outdoor walking device 100, when one motor (e.g., the first walking motor 42L) experiences power limiting, the controller 72 on the power-limited side (e.g., the first walking motor 42L side) sends the current power status and the speed attenuation factor relative to the speed before attenuation to the controller 72 of the opposite motor (e.g., the second walking motor 42R) via a bus (accelerated transmission frequency). The controller 72 of the opposite side (e.g., the second walking motor 42R) uses the received speed attenuation factor as the target speed control speed attenuation factor, gradually changing the current speed to the speed given after the speed attenuation factor. This ensures the output torque of the walking motor 42. When the power of the walking motor 42 exceeds a threshold based on preset conditions according to the electrical parameters of the walking motor 42, the power limiting unit 79 limits the power of the walking motor 42, thereby ensuring that the speed difference between the first walking motor 42L and the second walking motor 42R is within a certain range, thus ensuring the driving safety of the outdoor walking device 100.

[0094] In some embodiments, the controller 72 is configured to control the first travel motor 42L to enter a power limiting mode via the power limiting unit 79 when the bus current of the first travel motor 42L is greater than or equal to a current threshold. In this embodiment, the control mechanism 70 includes a detection component 74 connected to the controller 72, which is used to detect the bus current of the first travel motor 42L. In some embodiments, the detection component 74 includes one or more of a current-sensing resistor, a Hall current sensor, a metal-oxide-semiconductor field-effect transistor (MOSFET), and an on-resistance, thereby detecting bus current-related parameters of the first travel motor 42L and sending the bus current parameters to the controller 72 in the form of a signal. It is understood that the bus current-related parameters include logical processing of the detected bus current, such as calculating the rate of change, calculating the integral value, and calculating the integral value of the rate of change.

[0095] For example, the detection component 74 detects the bus current of the first travel motor 42L and sends the detected bus current data to the controller 72 in the form of a signal. After the controller 72 determines that the bus current of the first travel motor 42L is greater than or equal to a current threshold, it controls the first travel motor 42L to enter a power limiting mode through the power limiting unit 79. Optionally, in the power limiting mode, the operating speed of the first travel motor 42L is reduced. In the power limiting mode, the operating speed of the first travel motor 42L is a first current-limiting speed. For example, the first current-limiting speed is dynamically adjusted according to the state of the bus current of the first travel motor 42L. For example, the first current-limiting speed includes multiple preset speeds, and the corresponding preset speed value of the first current-limiting speed is selected according to the state of the bus current of the first travel motor 42L.

[0096] In some embodiments, the power limiting unit 79 is an arithmetic unit of the controller 72. In some embodiments, the power limiting unit 79 is an independent control chip, such as a microcontroller, microcontroller unit (MCU), etc. The above does not constitute a limitation on the substantive content of this application.

[0097] In this embodiment, the controller 72 is further configured to output a speed attenuation factor based on a first target speed and a first current-limited speed under a power limiting mode. Optionally, the speed attenuation factor is output as the ratio of the first target speed to the first current-limited speed. Optionally, an attenuation factor calculation model is established based on the first target speed and the first current-limited speed, and the corresponding calculation model is stored in the controller 72, so that the corresponding attenuation factor can be retrieved for different first target speeds and first current-limited speeds.

[0098] In this embodiment, after the first travel motor 42L exits the power limiting mode, the controller 72 reduces the speed attenuation factor of the second travel motor 42R according to a defined program, so that the second travel motor 42R also exits the power limiting mode. Optionally, reducing the speed attenuation factor reduces the difference between the second limiting speed and the second target speed of the second travel motor 42R in the power limiting mode, thereby gradually restoring the speed of the second travel motor 42R to the second target speed.

[0099] In some embodiments, the controller 72 may also be configured to control the second travel motor 42R to enter a power limiting mode via the power limiting unit 79 when the electrical parameters of the second travel motor 42R meet preset conditions, and output a corresponding speed attenuation factor based on the speed of the second travel motor 42R in the power limiting mode. The first target speed is then corrected based on the speed attenuation factor to drive the rotation of the first travel motor 42L.

[0100] In some embodiments, the controller 72 is configured to, when the electrical parameters of the first walking motor 42L and the second walking motor 42R both meet preset conditions, control the first walking motor 42L and the second walking motor 42R to enter power limiting modes via the power limiting unit 79. Based on the rotational speed of the first walking motor 42L in power limiting mode, a corresponding first speed attenuation factor is output; based on the rotational speed of the second walking motor 42R in power limiting mode, a corresponding second speed attenuation factor is output. If the first speed attenuation factor is determined to be greater than the second speed attenuation factor, a second target rotational speed is corrected based on the first speed attenuation factor to drive the rotation of the second walking motor 42R. Alternatively, if the second speed attenuation factor is determined to be greater than the first speed attenuation factor, a first target rotational speed is corrected based on the second speed attenuation factor to drive the rotation of the first walking motor 42L. This ensures that the speed difference between the first walking motor 42L and the second walking motor 42R is within a certain range, thereby ensuring the driving safety of the outdoor walking device 100.

[0101] Based on the same concept, the outdoor walking device 100 includes a power limiting unit 79 for limiting the input power of a first walking motor 42L or a second walking motor 42R. A controller 72 is configured to, when the electrical parameters of the first walking motor 42L meet preset conditions, control the first walking motor 42L to enter a power limiting mode via the power limiting unit 79, and reduce the speed of the second walking motor 42R. Alternatively, the controller 72 is configured to, when the electrical parameters of the second walking motor 42R meet preset conditions, control the second walking motor 42R to enter a power limiting mode via the power limiting unit 79, and reduce the speed of the first walking motor 42L. Alternatively, the controller 72 is configured to, when both the electrical parameters of the first walking motor 42L and the second walking motor 42R meet preset conditions, control the first walking motor 42L and the second walking motor 42R to enter power limiting modes respectively via the power limiting unit 79, and determine that the first current-limiting speed of the first walking motor 42L is less than the second current-limiting speed of the second walking motor 42R, and reduce the speed of the second walking motor 42R.

[0102] In this embodiment, the controller 72 independently controls the first travel motor 42L and the second travel motor 42R. In some embodiments, dual controllers 72 are used for control. For example, the controller 72 uses a dual MCU configuration, wherein the dual controllers 72 independently control the first travel motor 42L and the second travel motor 42R. It can be understood that the dual controllers 72 can be set on the same control circuit board, or the dual controllers 72 can be set on two separate control circuit boards. The two controllers are connected in communication and coordinate the control of the first travel motor 42L and the second travel motor 42R when the speed and power change as described above.

[0103] In some embodiments, the controller 72 uses an algorithm to independently control the first walking motor 42L and the second walking motor 42R. When the speed and power change as described above, the controller coordinates the control of the first walking motor 42L and the second walking motor 42R through the algorithm.

[0104] like Figure 18 As shown, based on the same concept, this application also provides a control method for an outdoor walking device 100. The control method for the outdoor walking device 100 includes the following steps: S301: Control the operation of the first travel motor and the second travel motor respectively based on the input first target speed and the second target speed.

[0105] S302: When the electrical parameters of the first walking motor meet the preset conditions, the power limiting unit controls the first walking motor to enter the power limiting mode.

[0106] S303: Outputs a speed attenuation factor based on the speed of the first walking motor in power-limited mode.

[0107] S304: Correct the second target speed based on the speed decay factor to drive the second travel motor.

[0108] To prevent damage to the battery pack 21 caused by excessive output power of the walking motor 42 when the outdoor walking device 100 is dragging heavy objects at high speed or experiencing sudden acceleration or deceleration, the output torque of the walking motor 42 is guaranteed. When the power of the walking motor 42 exceeds a threshold based on preset conditions according to the electrical parameters of the walking motor 42, the power of the walking motor 42 is limited by the power limiting unit 79. This ensures that the speed difference between the first walking motor 42L and the second walking motor 42R is within a certain range, thereby guaranteeing the driving safety of the outdoor walking device 100.

[0109] like Figure 19 As shown, another control method for an outdoor walking device 100 is disclosed. The control method for the outdoor walking device includes the following steps: S401: Control the operation of the first travel motor and the second travel motor respectively based on the input first target speed and second target speed.

[0110] S402: The electrical parameters of the first walking motor (or the second walking motor) meet the preset conditions, while the electrical parameters of the second walking motor (or the first walking motor) do not meet the preset conditions. If yes, execute S403; otherwise, execute S401.

[0111] S403: Control the first travel motor (or the second travel motor) to enter the power limiting mode via the power limiting unit.

[0112] S404: Outputs a speed attenuation factor based on the speed of the first (or second) travel motor in power-limited mode.

[0113] S405: Correct the second target speed (or the first target speed) based on the speed decay factor to drive the second travel motor (first travel motor).

[0114] S406: The electrical parameters of the first walking motor (or the second walking motor) still meet the preset conditions, while the electrical parameters of the second walking motor (or the first walking motor) do not meet the preset conditions. If yes, execute S403; otherwise, execute S407.

[0115] S407: The first travel motor (or the second travel motor) exits the power limiting mode.

[0116] S408: The controller reduces the speed attenuation factor of the second travel motor according to a defined program, so that the second travel motor exits the power limiting mode.

[0117] like Figure 20 As shown, another control method for an outdoor walking device 100 is disclosed, wherein the electrical parameters of the first walking motor 42L and the second walking motor 42R both meet preset conditions. The control method for the outdoor walking device 100 includes the following steps: S501: Control the operation of the first travel motor and the second travel motor respectively based on the input first target speed and second target speed.

[0118] S502: The electrical parameters of the first travel motor meet the preset conditions, and the electrical parameters of the second travel motor also meet the preset conditions. If yes, execute S503; otherwise, execute S501.

[0119] S503: The power limiting unit controls the first and second travel motors to enter the power limiting mode respectively.

[0120] S504: Output a first speed attenuation factor based on the speed of the first travel motor in power-limited mode, and output a second speed attenuation factor based on the speed of the second travel motor in power-limited mode.

[0121] S505: Determine that the first speed attenuation factor is greater than the second speed attenuation factor. If yes, proceed to S506; otherwise, proceed to S507.

[0122] S506: Based on the first speed attenuation factor, the second target speed is corrected to drive the rotation of the second walking motor.

[0123] S507: Correct the first target speed based on the second speed attenuation factor to drive the rotation of the first walking motor.

[0124] S508: The electrical parameters of the first walking motor still meet the preset conditions. If yes, execute S506; otherwise, execute S510.

[0125] S509: The electrical parameters of the second travel motor still meet the preset conditions. If yes, execute S507; otherwise, execute S510.

[0126] S510: The first and second travel motors exit the power limiting mode.

[0127] like Figures 1 to 4 As shown and Figure 21 As shown, the outdoor walking device 100 provided in this application includes a power supply mechanism 20, a walking mechanism 40, and a control mechanism 70. The power supply mechanism 20 includes a battery pack 21; exemplarily, the power supply mechanism 20 includes at least one battery pack 21. The walking mechanism 40 includes walking wheels and a walking motor 42 that drives the walking wheels to rotate. The walking motor 42 is configured as a motor. The battery pack 21 supplies power to at least the motor. In this embodiment, an internal rotor brushless motor is used as an example; the term "motor" will be used in the following text, but this should not be construed as a limitation of this application.

[0128] Optionally, the number of walking motors 42 can be one, two, three, or four. In this embodiment, there are two walking motors 42, which drive the left rear walking wheel 411L and the right rear walking wheel 411R respectively, thereby enabling the outdoor walking device 100 to turn in directions other than the forward and backward direction. For ease of reference, the walking motor 42 driving the left rear walking wheel 411L is designated as the first walking motor 42L, and the walking motor 42 driving the right rear walking wheel 411R is designated as the second walking motor 42R.

[0129] Taking the first traveling motor 42L as an example, the first traveling motor 42L includes a stator 421 and a rotor 422. In some embodiments, the first traveling motor 42L is a three-phase brushless motor, including a rotor 422 with permanent magnets and three-phase stator 421 windings U, V, and W that are electronically commutated. In some embodiments, the three-phase stator 421 windings U, V, and W are connected in a star configuration; in other embodiments, the three-phase stator 421 windings U, V, and W are connected in a delta configuration. However, it must be understood that other types of brushless motors are also within the scope of this disclosure. Brushless motors may include fewer or more than three phases.

[0130] The control of the first travel motor 42L primarily employs a field-oriented control (FOC) strategy. In FOC control, to ensure normal motor operation, the position of the motor rotor 422 needs to be detected. Related technologies typically employ two methods for detecting the rotor 422 position: sensor-based and sensorless. Sensorless detection utilizes the back electromotive force method. Sensor-based detection uses various types of sensors to directly or indirectly detect the rotor 422 position. In practical product applications, either sensor-based or sensorless detection methods are usually chosen for rotor position detection.

[0131] In this embodiment, the control mechanism 70 further includes a position sensor 77. The position sensor 77 is used to detect the rotational position of the rotor 422 based on changes in the electric field related to the rotation of the rotor 422. The control mechanism 70 also includes a position estimation unit 78a. The position estimation unit 78a is used to estimate the rotational position of the rotor 422 based on current-related parameters of the first travel motor 42L.

[0132] like Figures 22 to 23 As shown, the controller 72 is configured to: detect the difference between the first rotational position obtained by the position sensor 77 and the second rotational position obtained by the position estimation unit 78a when the first walking motor 42L rotates, and calculate a correction value based on the difference to correct the first rotational position obtained by the position sensor 77. In this embodiment, the position sensor 77 includes an eddy current sensor. By using an eddy current sensor that detects changes in the electric field instead of an electromagnetic sensor that detects changes in the magnetic field to detect the position of the motor rotor, its anti-interference capability is strong. At the same time, the position estimation unit 78a uses current-related parameters to perform non-inductive detection of the position of the motor rotor 422, and uses the accuracy of non-inductive detection to correct the position detection value of the eddy current sensor, further ensuring the accuracy and anti-interference capability of the position sensor 77 in detecting the rotational position of the rotor 422. In this embodiment, the "difference" includes the difference between the first rotational position and the second rotational position, as well as the average value or calculated value of the difference between the first rotational position and the second rotational position, such as the difference obtained after univariate or binary calculation of the first rotational position and the second rotational position.

[0133] In this embodiment, the controller 72 is further configured to: acquire a first rotational position based on the position sensor 77, and control the motor operation based on the first corrected position calibrated according to the calibration value. Using the precise first corrected position calibrated with the calibration value to control the motor operation results in more precise motor control, more timely motor feedback, and further improved motor efficiency.

[0134] In this embodiment, the position sensor 77 includes a signal transceiver element 77a and a sensing component 77e. The sensing component 77e and the signal transceiver element 77a are spaced apart, thus reducing wear and tear and improving service life. The signal transceiver element 77a can transmit an alternating excitation signal and generate an alternating electromagnetic signal field. The sensing component 77e can respond to the alternating electromagnetic signal field and generate a secondary electromagnetic signal field. The signal transceiver element 77a can respond to the secondary electromagnetic signal field and output a signal corresponding to the current position of the motor rotor 422. For example, the eddy current sensor includes a transmitting coil and a receiving coil. The transmitting coil transmits an alternating excitation signal to generate an alternating magnetic field during the operation of the walking motor 42. The receiving coil receives the electrical signal generated by the movement of the sensing component 77e in the alternating magnetic field and detects the position information of the sensing component 77e based on the electrical signal. For example, the transmitting coil can transmit an alternating excitation signal, which generates an alternating electromagnetic field in space, and the receiving coil can receive the signal generated by this alternating electromagnetic field. The sensing element 77e induces eddy currents under the influence of an alternating electromagnetic field, and these eddy currents generate a secondary electromagnetic signal field. When the eddy current sensor and the sensing element 77e move relative to each other, the signal received by the receiving coil of the eddy current sensor changes. By demodulating and processing the received signal, the eddy current sensor can obtain the relative position of the eddy current sensor and the sensing element 77e, that is, obtain the position information of the sensing element 77e. At this time, the eddy current sensor outputs a corresponding signal, and the controller 72 outputs the first rotational position information based on the signal provided by the eddy current sensor.

[0135] For example, the control mechanism 70 also includes a first circuit board. The transmitting and receiving coils of the eddy current sensor are disposed on the first circuit board 77b. The first circuit board 77b is fixed to the stator 421 or the motor housing 43. The sensing assembly 77e includes a target element, which is fixed to the rotor 422 of the travel motor 42. For example, the target element includes a metal component. The eddy current sensor and the target element are spaced apart, thus reducing wear and failure and improving service life. This spacing means that the eddy current sensor and the target element do not require stress contact.

[0136] For example, the alternating excitation signal transmitted by the transmitting coil is a sine signal, and the electrical signal received by the receiving coil is a cosine signal. The eddy current sensor determines the position information of the target component based on the sine and cosine signals. In some embodiments, the eddy current sensor can output two demodulated sine and cosine signals, or it can choose to output four complementary sine and cosine signals. To avoid interference from common-mode signals, the four complementary sine and cosine signals are used as the input of the controller's differential amplifier. After differential amplification, they are processed into the required two sine and cosine signals. At this time, the arctangent of the sine and cosine signals is processed to obtain a periodic signal of the rotor electrical frequency. In related technologies, the aforementioned periodic signal of the rotor electrical frequency is directly used, modulated, or converted into a signal characterizing the rotor position of the motor. However, during the use of the high-current, high-power walking motor of the applicant's outdoor walking equipment, it was found that the periodic signal of the rotor electrical frequency measured by the eddy current sensor has a deviation value that tends to a constant value from the actual rotor position information. Therefore, in the use environment of the walking motor of the outdoor walking equipment 100, the periodic signal of the rotor electrical frequency measured by the eddy current sensor needs to be calibrated to obtain accurate rotor position information. In this embodiment, the position estimation unit 78a is used to estimate the rotational position of the rotor 422 based on the current-related parameters of the first walking motor 42L. The difference between the first rotational position obtained by the position sensor 77 and the second rotational position obtained by the position estimation unit 78a when the first walking motor 42L is rotating is detected, and a correction value is calculated based on the difference to correct the first rotational position obtained by the position sensor 77.

[0137] Since the deviation value of each motor is random, for example, the above controller's detection and calibration process for the motor rotor position occurs before the outdoor mobile device 100 enters the user's environment or is in the factory environment. During the manufacturing process, the position sensor 77, i.e., the eddy current sensor, detects the change in the electric field related to the rotation of the rotor 422 to detect the rotational position of the rotor 422, i.e., the first rotational position. At the same time, the position estimation unit 78a obtains the second rotational position through current-related parameters. The controller 72 calculates the difference between the first and second rotational positions. To ensure accuracy, detection is performed multiple times or over multiple motor cycles. Then, the discrete values ​​of the difference are fitted or averaged to obtain a deviation value that tends to a constant value, which is the correction value for the first rotational position. In subsequent use after leaving the factory, only the position sensor 77, i.e., the eddy current sensor, is used to detect the first rotational position and the correction value to obtain the corrected first rotational position, which represents the electronic rotor position, to control the motor operation. For example, the above controller's detection and calibration process for the motor rotor position occurs in the user environment or off-site environment of the outdoor mobile device 100. Within a fixed period, using the position estimation unit 78a to obtain the second rotational position through current-related parameters, the controller 72 calculates the difference between the first and second rotational positions. Then, it fits or averages the discrete values ​​of the difference to obtain a deviation value that tends towards a constant value, which is the correction value for the first rotational position. In subsequent operations, only the position sensor 77, i.e., the eddy current sensor, is used to detect the first rotational position and the correction value to obtain the corrected first rotational position characterizing the electronic rotor position, thereby controlling motor operation. By periodically updating the correction value, it is ensured that the rotor position can be accurately obtained even during aging or wear and tear of the motor. For example, the above controller's detection and calibration process for the motor rotor position occurs both before the outdoor mobile device 100 enters the user environment and when the outdoor mobile device 100 is in the user environment.

[0138] By employing an eddy current sensor to detect the motion state information of the motor rotor 422, interference from current on the magnetic field can be avoided. This solves the problem of the walking motor 42 being easily affected by current interference under high current conditions, thereby enabling more precise control of the motor and improving the user experience. In this embodiment, the operating temperature range of the eddy current sensor is from -40 degrees Celsius to 160 degrees Celsius. This solves the problem of inaccurate rotor position detection caused by excessively high temperature of the walking motor 422, leading to low motor control efficiency. The data from the eddy current sensor is calibrated by the position estimation unit 78a, providing highly accurate data even in harsh environments. Furthermore, compared to using the position estimation unit 78a to provide rotor position for motor control, the control algorithm is simpler, has less computational complexity, and reduces the requirements for the controller.

[0139] like Figure 23 As shown, in this embodiment, the position estimation unit 78a includes a flux linkage observer and a sliding diaphragm observer. The position estimation unit 78a estimates the rotational position of the rotor 422 based on the current-related parameters of the brushless motor. These current-related parameters include parameters obtained by logically processing the detected current, such as calculating the rate of change, calculating the integral value, and calculating the integral value of the rate of change. Since the content of the estimated position information from the flux linkage observer and the sliding diaphragm observer has been fully disclosed in related technologies, it will not be repeated here for the sake of brevity.

[0140] The control mechanism 70 also includes a memory 781, which is connected to the controller 72 and stores a correction value calculated from the difference between the first rotational position obtained by the position sensor 77 and the second rotational position obtained by the position estimation unit 78a.

[0141] To ensure the accuracy of the correction values, the control mechanism 70 updates the correction values ​​according to certain rules.

[0142] In some embodiments, the controller 72 is configured to recalculate the correction value when the speed of the brushless motor is lower than a first threshold or higher than a second threshold. When the brushless motor is operating at low or high speed, the magnitude of the correction value needs to be reconsidered to ensure the accuracy of the correction.

[0143] In some embodiments, the control mechanism 70 further includes an update determiner 78b. The update determiner 78b compares the correction value in the memory 781 with the newly calculated correction value by the controller 72, and determines whether to update the correction value in the memory 781. The processor of the memory 781 is configured to update the correction value in the memory 781 with the newly calculated correction value if the update determiner 78b determines that the correction value in the memory 781 should be updated. In some embodiments, the control mechanism 70 further includes an anomaly detector 78c. The anomaly detector 78c determines whether the correction value is normal based on whether the correction value calculated by the controller 72 is within a specified range, and if it determines that the calculated correction value is abnormal, it issues a warning to the user that an anomaly has occurred. For example, an anomaly alarm message is sent to the user through the display interface 61a.

[0144] like Figure 24 As shown, based on the same concept, this application also provides a method for detecting the rotational position of the rotor of a brushless motor in an outdoor walking device 100. The method includes the following steps: S601: Detect the first rotational position of the rotor based on the change in the electric field related to the rotor's rotation.

[0145] In this embodiment, a position sensor 77, which detects changes in the electric field, is used to detect the first rotational position. For example, the position sensor 77 is an eddy current sensor. The eddy current sensor provides highly accurate data on the motion state of the motor rotor 422, even in harsh environments, and avoids interference from the magnetic field caused by current. This solves the problem of the walking motor 42 being easily affected by current interference under high current conditions, thus enabling more precise control of the motor and improving the user experience. In this embodiment, the eddy current sensor operates within a temperature range of -40 degrees Celsius to 160 degrees Celsius. This solves the problem of inaccurate rotor position detection and low motor control efficiency caused by excessively high temperatures in the walking motor 422.

[0146] S602: Estimate the second rotational position of the rotor based on relevant parameters of the current or voltage in the brushless motor.

[0147] In this embodiment, a position estimation unit 78a is provided, which includes a magnetic flux observer and a synovial observer.

[0148] S603: Detect the difference between the first rotational position obtained based on the brushless motor's inertial rotation and the estimated second rotational position, and calculate a correction value based on the difference to correct the first rotational position.

[0149] By utilizing the accuracy of non-inductive detection to correct the position detection value of the eddy current sensor, the accuracy and anti-interference ability of the position sensor in detecting the rotor rotation position are further guaranteed.

[0150] like Figure 25 As shown, in this embodiment, to ensure the accuracy of the correction value, the method also includes updating the correction value. This includes the following steps: S604: Recalculate the correction value when the speed of the brushless motor is determined to be lower than the first threshold or higher than the second threshold.

[0151] S605: Recalculate the correction value.

[0152] S606: Update the correction value in memory. If yes, proceed to S607; otherwise, proceed to S608.

[0153] The control mechanism 70 also includes an update decision unit 78b. The update decision unit 78b compares the correction value in the memory 781 with the newly calculated correction value by the controller 72 to determine whether to update the correction value in the memory 781. S607: Update the correction value in memory with the newly calculated correction value.

[0154] The processor of memory 781 is configured to update the correction value in memory 781 with the newly calculated correction value if the update judge 78b determines that the correction value in memory 781 needs to be updated.

[0155] S608: If the calculated correction value is determined to be abnormal, a warning will be issued to the user that an error has occurred.

[0156] The control mechanism 70 also includes an anomaly detector 78c. The anomaly detector 78c determines whether the correction value is normal based on whether the correction value calculated by the controller 72 is within a specified range, and if it is determined that the calculated correction value is abnormal, it issues a warning to the user that an anomaly has occurred.

[0157] like Figure 26As shown, the first circuit board 77b, where the eddy current sensor is located, is communicatively connected to the control circuit board 71, where the controller 72 is located. The eddy current sensor outputs sine and cosine signals to the controller 72, which in turn controls the operation of the walking motor 42. The eddy current sensor includes a register 77c and a detector 77d. The detector 77d starts detection in real time or at a certain frequency and stores the detected data in the register 77c. During the communication between the eddy current sensor and the controller 72, the controller 72 obtains the detection data in the register 77c, identifies and sends a signal indicating that a fault has occurred. For example, the aforementioned faults include internal faults of the eddy current sensor itself, such as receiving coil faults, transmitting coil faults, internal power supply faults, internal oscillator faults, internal bus faults, abnormal operating voltage (VDD), and undervoltage of the operating analog voltage (VDDA). When the controller 72 detects that the amplitude change of the sine and cosine output signals exceeds a preset range, it determines that the eddy current sensor has malfunctioned. The controller 72 sends a stop signal to the walking motor 42 and simultaneously sends a set signal, causing the outdoor walking device 100 to stop moving. Optionally, the parking brake mechanism 44 is activated, braking the travel mechanism 40 to bring the outdoor travel device 100 to a stable stop. The controller 72 sends a fault code for the eddy current sensor to the display screen 61 and clearly prompts the user with the eddy current sensor fault on the display interface 61a, allowing the user to quickly and accurately identify the fault information and perform targeted repairs. For example, the aforementioned faults may include communication or configuration abnormalities between the eddy current sensor and the controller 72, such as a disconnected output signal harness, a short circuit to ground, or a short circuit to the operating voltage (VDD), causing the controller 72 to detect that the communication frequency between the two is no longer within the communication protocol's set range, or that the voltage or other parameters of the communication signal are configured out of range, or that the configuration information does not conform to the communication protocol settings. The controller 72 determines that there is a communication or configuration information fault between the eddy current sensor and the controller 72. The controller 72 sends a stop signal to the travel motor 42 and simultaneously sends a set signal, causing the outdoor travel device 100 to stop moving. Optionally, the parking brake mechanism 44 is activated, braking the travel mechanism 40 to bring the outdoor travel device 100 to a stable stop. The controller 72 sends a fault code indicating a communication or configuration failure between the eddy current sensor and the controller 72 to the display screen 61, and clearly prompts the user on the display interface 61a with the fault information. The user can quickly and accurately identify the fault information and perform targeted repairs.

[0158] It is understood that in this embodiment, the second walking motor 42R has the same structure and control method as the first walking motor 42L. In this embodiment, the second walking motor 42R uses the same position sensor 77 and position estimation unit 78a as described above, and adopts the same control scheme to detect the position of the rotor 422.

[0159] like Figures 27 to 28 As shown, this application provides an electric tool 800, comprising: a motor 42' for driving an accessory to work, the motor being a brushless motor; a power supply including at least one battery pack 21' for powering the motor 42'; an eddy current sensor 77' configured to detect the rotational position of the rotor 422' based on changes in the electric field related to the rotation of the rotor 422'; and a position estimation unit configured to estimate the rotational position of the rotor 422' based on relevant parameters of the brushless motor during operation.

[0160] It also includes a controller 72', which is configured to detect the difference between a first rotational position obtained by an eddy current sensor 77' and a second rotational position obtained by a position estimation unit when the motor 42' rotates inertially, and to calculate a correction value based on the difference to correct the first rotational position obtained by the eddy current sensor.

[0161] like Figure 3 As shown, in some embodiments, the outdoor walking device 100 is a snowplow 100d. The motor is the drive motor of the snow removal mechanism 80d.

[0162] Power tools 800 include not only outdoor walking equipment but also garden tools, such as lawn mowers, hair dryers, chainsaws, and washing machines. Alternatively, power tools 800 can also be decorating tools, such as screwdrivers / drills / wrenches, electric hammers, nail guns, and sanders. Alternatively, power tools 800 can also be sawing tools, such as reciprocating saws, jigsaws, and circular saws. Alternatively, power tools 800 can also be other table-type tools, such as table saws, metal cutters, and electric milling machines. Alternatively, power tools 800 can also be sanding tools, such as angle grinders and sanders. Alternatively, power tools 800 can also be other power tools, such as fans. They can also be intelligent walking power tools that use a motor or motor assembly to drive movement and perform work functions, such as intelligent lawn mowers. Any power tool with a motor drive can adopt the technical solutions disclosed in this embodiment. For example, power tools 800 can also be power heads, which include motors. The power head is used to adapt some working attachments to realize the function of the tool.

[0163] like Figures 1 to 3As shown, in this embodiment, the outdoor walking device 100 is a manned lawnmower 200a. The manned lawnmower 200a includes: a vehicle body 10, a power supply mechanism 20, a mowing assembly 80, a walking mechanism 40, an operating mechanism 50, and a support mechanism 90. The vehicle body 10 includes a frame 11, which extends substantially in a front-rear direction. The frame 11 is used to mount the mowing assembly 80, the walking mechanism 40, the operating mechanism 50, and the support mechanism 90. The mowing assembly 80 includes mowing blades and a mowing motor 82 for driving the mowing blades. The operating mechanism 50 includes an operating element 511. The operating element 511 is operated by a user to control the manned lawnmower 200a to move forward, backward, and turn. Exemplarily, the operating element 511 is a joystick, which includes a left operating element 511L and a right operating element 511R that can be gripped by the user. In some embodiments, the operating mechanism 50 may also include a steering wheel assembly. A support mechanism 90 is used to support the operator and is mounted on the vehicle body 10. Optionally, the support mechanism 90 includes a seat 91. The seat 91 is mounted to the frame 11 for the user to sit on. In other alternative embodiments, the support mechanism 90 also includes a platform for the user to stand on. A power supply mechanism 20 provides power to the mowing assembly 80 and the walking mechanism 40, thereby enabling the manned lawnmower 200a to be used as a power tool capable of carrying a person. Compared to a fuel-powered manned lawnmower 200a, the electric manned lawnmower 200a is more environmentally friendly and energy-efficient. In some embodiments, the manned lawnmower 200a also includes a grass collection device for collecting grass clippings cut by the mowing assembly 80. The grass collection device includes a grass basket assembly detachably mounted behind the seat 91. The manned lawnmower 200a also includes a braking mechanism 46 for performing braking actions to brake the walking mechanism 40. The braking mechanism 46 includes a braking state for braking the travel assembly and a releasing state for releasing the travel assembly. The braking mechanism 46 responds to a user's trigger command to enter the braking state and the releasing state.

[0164] like Figure 29a , Figure 29b and Figure 31As shown, in some embodiments, the connectors of the power supply mechanism 20 include a first connector 22a and a second connector 22b with different external shapes. Specifically, the first connector 22a is configured to electrically connect one battery pack 21, and the second connector 22b is configured to electrically connect at least two battery packs 21. The external dimensions of the second connector 22b are larger than those of the first connector 22a. Thus, by providing connectors 22 with different external shapes for mounting the battery packs 21, the power requirements of different outdoor walking devices 100 can be met. For example, for a push lawnmower or snowplow 100d, the power supply mechanism 20 can use the first connector 22a to mount the battery pack. For an all-terrain vehicle 100c, multiple first connectors 22a with battery packs 21 mounted can be used, or one or more second connectors 22b with at least two battery packs 21 mounted can be used, or a combination of first connectors 22a and second connectors 22b can be used. In this way, by combining the power consumption needs of the outdoor walking device 100 with its own spatial characteristics, the connectors for installing the battery pack are reasonably selected and arranged, which improves the versatility of the power supply mechanism 20 among various power-consuming devices, thereby making the application scenarios of the power supply mechanism 20 wider and providing convenience for users.

[0165] In some embodiments, the connector 22 may be a battery compartment with a receiving space and a joint, or other type of structure for mounting the battery pack 21 to the manned lawnmower 200a. Hereinafter, the battery compartment 22 is used in place of the connector 22; however, the connector may also have other external features, such as a base.

[0166] The battery pack 21 as a whole meets the IPX7 waterproof and dustproof requirements, while the battery compartment meets the IPX5 waterproof requirements. The average discharge current of the battery pack 21 is greater than or equal to 30A, for example, 30A, 35A, 40A, etc. Optionally, the rated output current of the battery pack 21 can be greater than or equal to 120A or the instantaneous peak current can be approximately 350A.

[0167] In this embodiment, the weight of the battery pack 21 is greater than or equal to 9 kg. In one embodiment, the weight of the battery pack 21 is greater than or equal to 10 kg, or greater than or equal to 11 kg, or greater than or equal to 12 kg, or greater than or equal to 13 kg, or greater than or equal to 14 kg, or greater than or equal to 15 kg, for example, the weight of the battery pack 21 is 9 kg, 10 kg, or 15 kg, etc. The nominal voltage of the battery pack 21 is approximately 56 V, for example, it can be 54 V or 58 V, etc. In one embodiment, the nominal voltage of the battery pack 21 is greater than or equal to 56 V, or the nominal voltage of the battery pack 21 is greater than or equal to 50 V, or the nominal voltage of the battery pack 21 is greater than or equal to 48 V, or the nominal voltage of the battery pack 21 is greater than or equal to 40 V. The capacity of the battery pack 21 is greater than or equal to 20 Ah. In one embodiment, the capacity of the battery pack 21 is greater than or equal to 30 Ah, or the capacity of the battery pack 21 is greater than or equal to 40 Ah, or the capacity of the battery pack 21 is greater than or equal to 50 Ah. For example, it can be 20Ah, 30Ah, 40Ah, 50Ah, etc. The capacity-to-weight ratio of the battery pack 21 is greater than or equal to 2Ah / kg, for example, 2Ah / kg, 4Ah / kg, 5Ah / kg, etc. Optionally, the energy of the battery pack 21 is greater than or equal to 2kW·h. In one embodiment, the energy of the battery pack 21 is greater than or equal to 3kW·h, or greater than or equal to 4kW·h, or greater than or equal to 5kW·h. For example, the energy of the battery pack 21 can be 2kW·h, 3kW·h, 4kW·h, 5kW·h, etc. In some embodiments, the battery pack 21 disclosed in this application may include lithium iron phosphate cells. In some embodiments, the battery pack 21 may also be a supercapacitor, also known as an electrochemical capacitor.

[0168] In some embodiments, see Figure 30 As shown, the second battery compartment 22b can also accommodate a third battery pack 21c, which is different from the battery pack 21. Specifically, two third battery packs 21c are installed to and electrically connected to the adapter 21d, and the adapter 21d is electrically connected to the joint of the second battery compartment 22b. The energy of the third battery pack 21c is greater than or equal to 0.1 kWh and less than 2 kWh. Optionally, the third battery pack 21c is a battery pack 21 with an energy greater than or equal to 0.1 kWh. In some embodiments, the third battery pack 21c is a battery pack 21 with an energy greater than or equal to 0.4 kWh. In some embodiments, the third battery pack 21c is a battery pack 21 with an energy greater than or equal to 0.6 kWh. In this embodiment, the third battery pack 21c is a lithium-ion battery cell, but nickel-cadmium batteries, graphene, and other materials can also be used to achieve different combinations of battery characteristics.

[0169] See also Figure 31As shown, the power supply mechanism 20 also includes a power management module 23. The power management module 23 includes a housing 231. All signal interfaces 232 and high-current interfaces 233 are directly integrated into the housing 231, eliminating the need for additional wiring harnesses and ensuring that the power management module 23 achieves an IPX5 waterproof rating. Specifically, the high-current interface 232 has wire terminal caps added to its wire ends and waterproof rubber sleeves added to its terminals.

[0170] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that the above embodiments do not limit this application in any way, and all technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of this application.

Claims

1. An outdoor walking device, comprising: The walking mechanism includes a first drive wheel and a second drive wheel, and a first walking motor and a second walking motor that drive the first drive wheel and the second drive wheel independently, respectively. A power supply mechanism, including at least one battery pack, is provided to power the walking mechanism; The controller is configured to control the operation of the first travel motor and the second travel motor based on the input first target speed and second target speed, respectively; Its characteristic is that it further includes: The power limiting unit is configured to limit the input power of the first travel motor or the second travel motor; The controller is configured to: When the electrical parameters of the first walking motor meet the preset conditions, the power limiting unit controls the first walking motor to enter the power limiting mode. Based on the speed output of the first traveling motor in the power limiting mode, a corresponding speed attenuation factor is generated; and The second target rotational speed is corrected based on the rotational speed attenuation factor to drive the second walking motor to rotate.

2. The outdoor walking device according to claim 1, characterized in that, The controller is configured to control the first walking motor to enter a power limiting mode via the power limiting unit when the bus current of the first walking motor is greater than or equal to a current threshold.

3. The outdoor walking device according to claim 1, characterized in that, The controller is configured to output the speed attenuation factor based on the first target speed and the first current-limited speed under the power limiting mode.

4. The outdoor walking device according to claim 1, characterized in that, The controller is configured to reduce the speed attenuation factor according to a defined procedure after the first walking motor exits the power limiting mode.

5. The outdoor walking device according to claim 4, characterized in that, The controller is configured to increase the rotational speed of the second walking motor according to a defined program after the first walking motor exits the power limiting mode.

6. The outdoor walking device according to claim 1, characterized in that, The controller is configured to: when the electrical parameters of the first walking motor meet preset conditions and the electrical parameters of the second walking motor meet preset conditions, control the first walking motor and the second walking motor to enter power limiting modes respectively through the power limiting unit.

7. The outdoor walking device according to claim 6, characterized in that, Based on the first speed attenuation factor corresponding to the speed output of the first travel motor in power-limited mode, and based on the second speed attenuation factor corresponding to the speed output of the second travel motor in power-limited mode, it is determined that the first speed attenuation factor is greater than the second speed attenuation factor. Based on the first speed attenuation factor, the second target speed is corrected to drive the rotation of the second travel motor.

8. The outdoor walking device according to claim 1, characterized in that, It also includes a detection unit, which is connected to the controller and is used to detect the bus current of the first walking motor.

9. An outdoor walking device, comprising: The walking mechanism includes a first drive wheel and a second drive wheel, and a first walking motor and a second walking motor that drive the first drive wheel and the second drive wheel independently, respectively. A power supply mechanism, including at least one battery pack, is provided to power the walking mechanism; The controller is configured to control the operation of the first travel motor and the second travel motor based on the input first target speed and second target speed, respectively; Its characteristic is that it further includes: The power limiting unit is configured to limit the input power of the first travel motor or the second travel motor; The controller is configured to: When the electrical parameters of the first walking motor meet the preset conditions, the power limiting unit controls the first walking motor to enter the power limiting mode and reduces the speed of the second walking motor.

10. The outdoor walking device according to claim 9, characterized in that, Based on the speed output of the first walking motor in the power limiting mode, a corresponding speed attenuation factor is generated, and the controller reduces the speed of the second walking motor based on the speed attenuation factor.

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