Lawn mower

Abstract

This application discloses a lawnmower, comprising: a battery compartment configured to house at least one battery pack; a cutting assembly including a cutting motor; a walking assembly including a walking motor; a battery management unit electrically connected to the battery pack for monitoring its discharge capacity; and a control device electrically connected to the cutting motor, the walking motor, and the battery management unit. The battery management unit is configured to: determine the current discharge capacity parameters of the battery pack using at least two methods and output the minimum value from the evaluation results; the control device is configured to: adaptively control the operation of the cutting motor and the walking motor according to the minimum value. The technical solution of this application can optimize the discharge capacity of the battery pack, enabling the walking motor to operate even with a small number of battery packs, thereby improving user experience and extending battery life.

Description

Technical Field

[0001] This application relates to the field of tools and equipment technology, specifically to a lawnmower. Background Technology

[0002] Currently, the battery management units of ride-on lawnmowers require at least five battery packs to activate all the motor modules in the mower. When the battery level is low, they enter a limp-home mode to limit the power of the cutting and walking motors. Furthermore, at least two battery packs are needed to activate the walking function, but users don't always need the mowing components to be active, resulting in a poor user experience. In addition, the discharge capacity of the battery pack is not only related to the number of batteries connected in parallel; parameters such as battery pack temperature and current voltage also affect the discharge capacity, potentially impacting the battery pack's lifespan.

[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 lawnmower.

[0005] To achieve the above objectives, this application adopts the following technical solution: In a first aspect, this application provides a lawnmower, comprising: The battery compartment is designed to accommodate at least one battery pack. Cutting components, including a cutting motor; Walking components, including a walking motor; A battery management unit, at least used to monitor the discharge capacity of the battery pack; The control unit is electrically connected to the cutting motor, the travel motor, and the battery management unit; The battery management unit is configured as follows: The current discharge capacity parameters of the battery pack are determined using at least two methods, and the smallest of the determined current discharge capacity parameters of the battery pack is output. The control device is configured as follows: The current discharge capacity parameters of the battery pack output by the battery management unit are obtained, and control information adapted to the cutting motor and the walking motor is determined based on the current discharge capacity parameters of the battery pack output.

[0006] In some embodiments, the battery management unit is configured to: acquire the temperature of the battery pack and the cell voltage within the battery pack; and estimate the current first discharge capacity parameter of the battery pack based on the temperature and cell voltage.

[0007] In some embodiments, the battery management unit is configured to: estimate the cell internal resistance of the battery pack based on temperature and cell voltage; and determine the current first discharge capacity parameter of the battery pack based on the cell internal resistance.

[0008] In some embodiments, the battery management unit is configured to: acquire the temperature of the battery pack and look up the corresponding second discharge capacity parameter of the battery pack based on the temperature.

[0009] In some embodiments, the battery management unit is configured to: find the current third discharge capacity parameter of the battery pack based on the type of cells in the battery pack.

[0010] In some embodiments, the control device is configured to disable the operation of the walking motor and the cutting motor when the discharge capacity parameter output by the battery management unit is less than a first parameter threshold.

[0011] In some embodiments, the control device is configured to: control the operation state of the walking motor according to the operation command input by the user, and prohibit the cutting motor from operating when the discharge capacity parameter output by the battery management unit is greater than or equal to a first parameter threshold and less than a third parameter threshold.

[0012] In some embodiments, the control device is configured to: reduce the speed of the cutting motor when the discharge capacity parameter output by the battery management unit is greater than or equal to a third parameter threshold and less than a second parameter threshold, while controlling the operation state of the walking motor and the cutting motor based on user-input operation commands.

[0013] In some embodiments, the control device is configured to control the operation state of the walking motor or the cutting motor based on user-inputted operation commands when the discharge capacity parameter output by the battery management unit is greater than or equal to a second parameter threshold.

[0014] Secondly, this application provides a lawnmower, comprising: The battery compartment is designed to accommodate at least one battery pack. Cutting components, including a cutting motor; Walking components, including a walking motor; A battery management unit, at least used to monitor the discharge capacity of the battery pack; The control unit is electrically connected to the cutting motor, the travel motor, and the battery management unit; The control device is configured to: acquire the current discharge capacity parameters of the battery pack output by the battery management unit, and when the discharge capacity parameters are greater than or equal to a first parameter threshold and less than a second parameter threshold, adjust the speed of the cutting motor at least according to the parameter range in which the discharge capacity parameters are located.

[0015] In some embodiments, the battery management unit is configured to determine the current discharge capacity parameters of the battery pack using at least two methods, and output the smallest of the determined current discharge capacity parameters of the battery pack.

[0016] In some embodiments, the battery management unit is configured to: acquire the temperature of the battery pack and the cell voltage within the battery pack; and estimate the current first discharge capacity parameter of the battery pack based on the temperature and cell voltage.

[0017] In some embodiments, the battery management unit is configured to: estimate the cell internal resistance of the battery pack based on temperature and cell voltage; and determine the current first discharge capacity parameter of the battery pack based on the cell internal resistance.

[0018] In some embodiments, the battery management unit is configured to: acquire the temperature of the battery pack and look up the corresponding second discharge capacity parameter of the battery pack based on the temperature.

[0019] In some embodiments, the battery management unit is configured to: find the current third discharge capacity parameter of the battery pack based on the type of cells in the battery pack.

[0020] In some embodiments, the control device is configured to disable the operation of the walking motor and the cutting motor when the discharge capacity parameter output by the battery management unit is less than a first parameter threshold.

[0021] In some embodiments, the control device is configured to: control the operation state of the walking motor according to the operation command input by the user, and prohibit the operation of the cutting motor when the discharge capacity parameter output by the battery management unit is greater than or equal to the first parameter threshold and less than the third parameter threshold.

[0022] In some embodiments, the control device is configured to: reduce the speed of the cutting motor when the discharge capacity parameter output by the battery management unit is greater than or equal to a third parameter threshold and less than a second parameter threshold, while controlling the operation state of the walking motor and the cutting motor based on user-input operation commands.

[0023] In some embodiments, the control device is configured to control the operation state of the walking motor or the cutting motor based on user-inputted operation commands when the discharge capacity parameter output by the battery management unit is greater than or equal to a second parameter threshold. The advantages of this application are as follows: by electrically connecting the control device of the lawnmower to the cutting motor, the walking motor, and the battery management unit, and configuring the battery management unit to determine the current discharge capacity parameters of the battery pack in at least two ways and outputting the smallest of the determined current discharge capacity parameters of the battery pack, and configuring the control device to acquire the current discharge capacity parameters of the battery pack output by the battery management unit, and to determine control information adapted to the cutting motor and the walking motor based on the output current discharge capacity parameters of the battery pack, the discharge capacity of the battery pack is optimized, and the walking motor can operate even when the number of battery packs is small, which is beneficial to improving the user experience and extending the battery pack life. Attached Figure Description

[0024] Figure 1 A perspective view of a lawnmower provided in an embodiment of this application; Figure 2 A perspective view of a lawnmower without a cover plate provided in an embodiment of this application; Figure 3 A bottom view of a portion of the lawnmower structure provided in an embodiment of this application; Figure 4 This is a control logic flowchart of a lawnmower provided in an embodiment of this application. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​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, 5 degrees, 10 degrees or more) added to or subtracted from the indicated angle.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.).

[0035] Figure 1 A perspective view of the lawnmower provided in the embodiments of this application, with reference to... Figure 1 As shown, the lawnmower provided in this application can be a ride-on lawnmower. In this embodiment, the lawnmower is specifically taken as a ride-on lawnmower 100, which allows users to ride on it to operate it for mowing lawns or vegetation, etc.

[0036] In this embodiment, the directions front, back, left, right, up, and down are described as follows: Figure 1 The directions shown are as follows. Specifically, when a user is carried on a manned lawnmower 100 located on the ground, the direction the user is facing is defined as forward, the direction behind is defined as rear, the direction to the left is defined as left, the direction to the right is defined as right, the direction closer to the ground is defined as downward, and the direction further away from the ground is defined as upward.

[0037] Figure 2 This is a perspective view of a lawnmower without a cover provided in an embodiment of this application. Figure 3 This is a bottom view of a portion of the lawnmower structure provided in an embodiment of this application. (Referring to reference...) Figures 1 to 3 As shown, the manned lawnmower 100 provided in this embodiment includes: a frame 11, a walking assembly 12, a cutting assembly 13, a battery compartment 14, a steering operation assembly 15, and a support unit 16. The walking assembly 12 includes walking wheels 121 for driving the manned lawnmower 100 on the ground and a walking motor 122 for driving the walking wheels 121. The cutting assembly 13 includes a cutting element 131 and a cutting motor 132 for driving the cutting element 131. The battery compartment 14 is configured to house at least one battery pack 141. In some embodiments, the battery compartment 14 further includes a cover 142 for protecting the battery pack 141. The support unit 16 is configured to support a user. The steering operation assembly 15 controls the steering of the manned lawnmower 100.

[0038] In this embodiment, the support 16 may include a seat. In some embodiments, the support may also be a platform for a user to stand on.

[0039] In this embodiment, reference Figure 3 As shown, the manned lawnmower 100 also includes a battery management unit 17 and a control device 18. The battery management unit 17 is used at least to monitor the discharge capacity of the battery pack. The control device 18 is electrically connected to the cutting motor 132, the travel motor 142, and the battery management unit 17. The battery management unit 17 is configured to determine the current discharge capacity parameters of the battery pack using at least two methods and output the smallest of the determined current discharge capacity parameters. The control device 18 is configured to acquire the current discharge capacity parameters of the battery pack output by the battery management unit and determine control information adapted to the cutting motor and the travel motor based on the output current discharge capacity parameters of the battery pack.

[0040] The current discharge capacity parameter of the battery pack can be understood as the maximum discharge capacity of the battery pack at the current moment. In some embodiments, the current discharge capacity parameter of the battery pack is related to at least one of the following parameters: the number of batteries connected in parallel, the cell voltage of the battery pack, the cell type of the battery pack, and the temperature of the battery pack.

[0041] It is understood that employing at least two methods can be interpreted as using two separate methods to determine the current discharge capacity parameter of the battery pack, or using two or more separate methods to determine the current discharge capacity parameter of the battery pack. In some embodiments, the current discharge capacity parameter of the battery pack is related to the cell voltage and temperature of the battery pack, and the current discharge capacity parameter of the battery pack can be obtained from the cell voltage and temperature of the battery pack. In some embodiments, the current discharge capacity parameter of the battery pack is related to the cell type of the battery pack, and the current discharge capacity parameter of the battery pack can be obtained from the cell type of the battery pack. In some embodiments, the current discharge capacity parameter of the battery pack is related to the temperature of the battery pack, and the current discharge capacity parameter of the battery pack can be obtained from the temperature of the battery pack.

[0042] The control information adapted to the cutting motor and the travel motor may include, but is not limited to, control information on the power of the cutting motor and / or the travel motor, as well as warning information on the operating status of the cutting motor and / or the travel motor.

[0043] It should be noted that the current discharge capacity parameters of the battery pack may differ depending on the method used. By outputting the smallest of the determined current discharge capacity parameters of the battery pack to the control device, the control device can determine the control information that is compatible with the cutting motor and the walking motor based on the smallest of the determined current discharge capacity parameters of the battery pack, thereby maximizing the protection of the battery pack and extending its life.

[0044] In this embodiment, by electrically connecting the lawnmower's control device to the cutting motor, the walking motor, and the battery management unit, and configuring the battery management unit to determine the current discharge capacity parameters of the battery pack using at least two methods and outputting the smallest of the determined current discharge capacity parameters of the battery pack, and configuring the control device to acquire the current discharge capacity parameters of the battery pack output by the battery management unit, and determine control information adapted to the cutting motor and the walking motor based on the output current discharge capacity parameters of the battery pack, the discharge capacity of the battery pack is optimized, enabling the walking motor to operate even with a small number of batteries, which is beneficial to improving the user experience and extending the battery pack's lifespan.

[0045] Optionally, the battery management unit 17 is configured to: acquire the temperature of the battery pack and the cell voltage within the battery pack; and estimate the current first discharge capacity parameter of the battery pack based on the temperature and the cell voltage.

[0046] The temperature of the battery pack can be obtained, but is not limited to, through communication with the battery management system of the battery pack, or through a detection device that incorporates a temperature sensor in the battery pack. Similarly, the cell voltage within the battery pack can be obtained, but is not limited to, through communication with the battery management system of the battery pack, or through a voltage detection device in the battery pack. It should be noted that this embodiment does not specifically limit the methods for obtaining the temperature of the battery pack and the cell voltage within the battery pack; any method that achieves the core inventive points of this application is acceptable.

[0047] Since the discharge capacity parameters of a battery pack are related to the temperature of the battery pack and the voltage of the cells within the battery pack, by obtaining the temperature of the battery pack and the voltage of the cells within the battery pack, the current first discharge capacity parameters of the battery pack can be estimated based on the temperature and cell voltage of the battery pack.

[0048] In some embodiments, the battery management unit 17 is configured to: estimate the cell internal resistance of the battery pack based on temperature and cell voltage; and determine the current first discharge capacity parameter of the battery pack based on the cell internal resistance.

[0049] The internal resistance of the battery cells is related to the temperature of the battery pack. For example, within a certain temperature range, the lower the temperature of the battery pack, the higher the internal resistance of the battery cells. Conversely, the higher the temperature of the battery pack, the lower the internal resistance of the battery cells. Furthermore, the internal resistance of the battery cells is also related to the cell voltage. Therefore, the internal resistance of the battery cells can be estimated based on the temperature and cell voltage of the battery pack. This embodiment does not specifically limit the method for estimating the internal resistance of the cells based on temperature and cell voltage, as long as it achieves the core inventive point of this application.

[0050] Because the internal resistance of battery cells leads to increased energy loss and heat dissipation, it affects the performance of the battery pack. Higher internal resistance results in a lower discharge capacity parameter, while lower internal resistance leads to a higher discharge capacity parameter. Therefore, the current initial discharge capacity parameter of the battery pack can be determined based on the internal resistance of the cells. This embodiment does not specifically limit the method for estimating the current initial discharge capacity parameter of the battery pack based on the internal resistance of the cells, as long as it achieves the core inventive point of this application.

[0051] Optionally, the battery management unit 17 is configured to: acquire the temperature of the battery pack and look up the corresponding second discharge capacity parameter of the battery pack based on the temperature.

[0052] The temperature of the battery pack is related to its discharge capacity parameter. In some embodiments, a temperature-discharge capacity parameter curve of the battery pack is obtained through calibration, thereby allowing the current second discharge capacity parameter of the battery pack to be found based on its temperature. In some embodiments, when the number of parallel connections of the battery pack is 1, the second discharge capacity parameter is 40A when the battery pack temperature is 60°C. In some embodiments, when the number of parallel connections of the battery pack is 1, the second discharge capacity parameter is 0 when the battery pack temperature is 70°C.

[0053] Optionally, the battery management unit 17 is configured to: find the current third discharge capacity parameter of the battery pack based on the type of cells in the battery pack.

[0054] It's understandable that different types of battery cells in a battery pack may have different discharge capacity parameters. Each battery pack is manufactured with a specified maximum usable current. Specifically, find the battery pack's third discharge capacity parameter based on the manufacturer-specified maximum usable current.

[0055] Specifically, the battery management unit uses at least two of the following methods to determine the current discharge capacity parameters of the battery pack, and outputs the smallest of the determined current discharge capacity parameters to the control device. This allows the control device to determine control information compatible with the cutting motor and the travel motor based on the output current discharge capacity parameters. The specific methods for determining the current discharge capacity parameters of the battery pack are as follows: First, by acquiring the temperature of the battery pack and the cell voltage within the battery pack, the current first discharge capacity parameter of the battery pack is estimated based on the temperature and cell voltage. Second, by acquiring the temperature of the battery pack, the corresponding current second discharge capacity parameter of the battery pack is found. Third, by finding the current third discharge capacity parameter of the battery pack based on the type of cells in the battery pack.

[0056] Optionally, the control device 18 is configured to disable the operation of the walking motor and the cutting motor when the discharge capacity parameter output by the battery management unit is less than the first parameter threshold.

[0057] The first parameter threshold can be determined based on the power requirements of the walking motor and the cutting motor for the battery pack.

[0058] When the discharge capacity parameter output by the battery management unit is less than the first parameter threshold, the battery pack output will be unable to drive the walk motor and the cutting motor normally. In this case, the battery pack, walk motor, and cutting motor can be protected by disabling their operation, thereby extending the lawnmower's lifespan.

[0059] In some embodiments, the value range of the first parameter threshold is 20A-40A. In some embodiments, the first parameter threshold is 20A. In some embodiments, the first parameter threshold is 25A. In some embodiments, the first parameter threshold is 30A. In some embodiments, the first parameter threshold is 40A.

[0060] Optionally, the control device 18 is configured to: control the operation state of the walking motor according to the user-input operation command when the discharge capacity parameter output by the battery management unit is greater than or equal to the first parameter threshold and less than the third parameter threshold, and prohibit the cutting motor from operating.

[0061] The third parameter threshold can also be determined based on the power requirements of the walking motor and the cutting motor for the battery pack.

[0062] When the discharge capacity parameter output by the battery management unit is greater than or equal to the first parameter threshold and less than the third parameter threshold, the battery pack output can drive the walking motor to operate according to the user's input commands, thereby improving the user experience. At this time, by disabling the cutting motor, the battery pack and cutting motor can be protected, thus extending the lawnmower's lifespan.

[0063] In some embodiments, the value range of the third parameter threshold is 40A-80A. In some embodiments, the third parameter threshold is 40A. In some embodiments, the third parameter threshold is 50A. In some embodiments, the third parameter threshold is 65A. In some embodiments, the third parameter threshold is 80A.

[0064] Optionally, the control device 18 is configured to reduce the speed of the cutting motor when the discharge capacity parameter output by the battery management unit is greater than or equal to the third parameter threshold and less than the second parameter threshold, while controlling the operation state of the walking motor and the cutting motor based on the user-input operation command.

[0065] The second parameter threshold can also be determined based on the power requirements of the walking motor and the cutting motor for the battery pack.

[0066] When the discharge capacity parameter output by the battery management unit is greater than or equal to the third parameter threshold and less than the second parameter threshold, the output of the battery pack can drive the walking motor to move and reduce the speed of the cutting motor to improve the user experience. At the same time, it can protect the battery pack, the walking motor and the cutting motor to extend the service life of the lawnmower.

[0067] In some embodiments, the value range of the second parameter threshold is 80A-120A. In some embodiments, the second parameter threshold is 80A. In some embodiments, the second parameter threshold is 95A. In some embodiments, the second parameter threshold is 110A. In some embodiments, the second parameter threshold is 120A.

[0068] Optionally, the control device 18 is configured to control the operation state of the walking motor or cutting motor based on user-inputted operation commands when the discharge capacity parameter output by the battery management unit is greater than or equal to the second parameter threshold.

[0069] Specifically, when the discharge capacity parameter output by the battery management unit is greater than or equal to the second parameter threshold, it indicates that the battery pack output is sufficient to drive the travel motor and the cutting motor. Therefore, there is no need to limit the power of the travel motor or the cutting motor; the operation of the travel motor or the cutting motor can be controlled based on the user's input commands. This further improves the user experience.

[0070] Specifically, the control device acquires the current discharge capacity parameter of the battery pack output by the battery management unit. When the output discharge capacity parameter is less than a first threshold, the drive motor and the cutting motor are disabled. When the output discharge capacity parameter is greater than or equal to the first threshold and less than a third threshold, the drive motor's operation is controlled according to user-input commands, and the cutting motor is disabled. When the output discharge capacity parameter is greater than or equal to the third threshold and less than a second threshold, the cutting motor's speed is reduced while controlling the drive motor and cutting motor's operation based on user-input commands. When the output discharge capacity parameter is greater than or equal to the second threshold, the drive motor or cutting motor's operation is controlled according to user-input commands. In this way, based on the current discharge capacity of the battery pack output by the battery management unit, the drive motor and cutting motor of the lawnmower can be controlled in stages, thereby further optimizing the battery pack's discharge capacity, improving user experience, and extending battery life.

[0071] Based on the same concept, this application also provides a lawnmower, the control device of which is configured to: acquire the current discharge capacity parameter of the battery pack output by the battery management unit, and when the discharge capacity parameter is greater than or equal to a first parameter threshold and less than a second parameter threshold, adjust the speed of the cutting motor at least according to the parameter range in which the discharge capacity parameter is located.

[0072] In this context, adjusting the speed of the cutting motor can be understood as adjusting only the speed of the cutting motor, or adjusting the speed of the cutting motor in addition to adjusting the state of other components, such as adjusting the speed of the travel motor, adjusting the state of the indicator lights, etc.

[0073] Specifically, when the current discharge capacity parameter of the battery pack is greater than or equal to the first parameter threshold and less than the second parameter threshold, it indicates that the current discharge capacity parameter of the battery pack is low, and the output of the battery pack is insufficient to drive both the walk motor and the cutting motor simultaneously. Since users do not always need the cutting motor to operate when using the lawnmower, the speed of the cutting motor can be adjusted according to the parameter range of the current discharge capacity parameter when it is greater than or equal to the first parameter threshold and less than the second parameter threshold. This ensures that the output of the battery pack can drive the walk motor, thereby improving the user experience.

[0074] In this embodiment, by configuring the control device to acquire the current discharge capacity parameters of the battery pack output by the battery management unit, and when the discharge capacity parameters are greater than or equal to the first parameter threshold and less than the second parameter threshold, adjusting the speed of the cutting motor according to the parameter range in which the discharge capacity parameters are located, the discharge capacity of the battery pack is optimized. This allows the walking motor to operate even when the number of battery packs is small, which is beneficial to improving the user experience and extending the life of the battery pack.

[0075] Optionally, the control device is configured to disable the operation of the walking motor and the cutting motor when the discharge capacity parameter output by the battery management unit is less than the first parameter threshold.

[0076] Optionally, the control device is configured to: when the discharge capacity parameter output by the battery management unit is greater than or equal to the first parameter threshold and less than the third parameter threshold, control the operation state of the walking motor according to the operation command input by the user, and prohibit the operation of the cutting motor.

[0077] Optionally, the control device is configured to reduce the speed of the cutting motor when the discharge capacity parameter output by the battery management unit is greater than or equal to the third parameter threshold and less than the second parameter threshold, while controlling the operation state of the walking motor and the cutting motor based on the user-input operation command.

[0078] Optionally, the control device is configured to control the operation state of the walking motor or cutting motor based on user-input operation commands when the discharge capacity parameter output by the battery management unit is greater than or equal to the second parameter threshold.

[0079] Specifically, the control device acquires the current discharge capacity parameter of the battery pack output by the battery management unit. When the output discharge capacity parameter is greater than or equal to a first threshold and less than a third threshold, it controls the operation of the walk motor according to the user-input operation command and disables the cutting motor. When the output discharge capacity parameter is greater than or equal to the third threshold and less than a second threshold, it reduces the speed of the cutting motor while controlling the operation of the walk and cutting motors based on the user-input operation command. Furthermore, when the output discharge capacity parameter is less than the first threshold, it disables the walk and cutting motors. When the output discharge capacity parameter is greater than or equal to the second threshold, it controls the operation of either the walk or cutting motor based on the user-input operation command. In this way, based on the current discharge capacity of the battery pack output by the battery management unit, it can achieve phased control of the lawnmower's walk and cutting motors, thereby further optimizing the battery pack's discharge capacity, improving user experience, and extending battery life.

[0080] Optionally, the battery management unit is configured to determine the current discharge capacity parameters of the battery pack using at least two methods, and output the smallest of the determined current discharge capacity parameters of the battery pack.

[0081] Specifically, the battery management unit uses at least two of the following methods to determine the current discharge capacity parameters of the battery pack, and outputs the smallest of the determined current discharge capacity parameters to the control device. This allows the control device to adjust the cutting motor speed based on the parameter range of the discharge capacity parameter when it is greater than or equal to a first parameter threshold and less than a second parameter threshold. The specific methods for determining the current discharge capacity parameters of the battery pack are as follows: First, by acquiring the temperature of the battery pack and the cell voltage within the battery pack, the current first discharge capacity parameter of the battery pack is estimated based on the temperature and cell voltage. Second, by acquiring the temperature of the battery pack, the corresponding current second discharge capacity parameter of the battery pack is found based on the temperature. Third, by finding the current third discharge capacity parameter of the battery pack based on the type of cell in the battery pack.

[0082] In some embodiments, the battery management unit is configured to: estimate the cell internal resistance of the battery pack based on temperature and cell voltage, and determine the current first discharge capacity parameter of the battery pack based on the cell internal resistance.

[0083] Figure 4This is a control logic flowchart of a lawnmower provided in an embodiment of this application. (Reference) Figure 4 As shown, the control logic of the lawnmower provided in this application will be described below with a specific embodiment: S10, Lawn mower starts or system initializes.

[0084] S20, Insert battery pack and initialize communication protocol.

[0085] S30. Obtain the relevant parameters of the detected inserted battery pack.

[0086] The relevant parameters may include, but are not limited to, the battery pack temperature, the battery pack cell voltage, the number of parallel connections in the battery pack, and the battery pack telecommunications type.

[0087] S41. Based on the cell voltage and temperature of the battery pack, estimate the cell internal resistance of the battery pack, and determine the current first discharge capacity parameter of the battery pack based on the cell internal resistance of the battery pack.

[0088] S42. Determine the current second discharge capacity parameter of the battery pack based on the temperature of the battery pack.

[0089] S43. Determine the current third discharge capability parameter of the battery pack based on the cell type of the battery pack.

[0090] S50, output the smallest of the first discharge capability parameter, the second discharge capability parameter, and the third discharge capability parameter.

[0091] S60. Determine whether the output discharge capability parameter is less than 20A; if yes, execute S70; if no, execute S80.

[0092] S70, the operation of the travel motor and the cutting motor is prohibited.

[0093] S80. Determine whether the output discharge capability parameter is less than 40A; if yes, execute S90; if no, execute S100.

[0094] S90. Control the operation status of the walking motor according to the operation command input by the user, and prohibit the cutting motor from operating.

[0095] S100: Determine whether the output discharge capability parameter is less than 80A; if yes, execute S110; if no, execute S120.

[0096] S110. When controlling the operation status of the travel motor and the cutting motor based on user-input operation commands, reduce the speed of the cutting motor.

[0097] S120. Control the operation status of the walking motor or the cutting motor based on the operation instructions input by the user.

[0098] S130: Determine if a new battery pack has been inserted; if yes, return to execute S20; if no, return to execute S30.

[0099] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that the above embodiments do not limit this application in any way, and all technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of this application.

Claims

1. A lawnmower characterised in that, include: The battery compartment is designed to accommodate at least one battery pack. Cutting components, including a cutting motor; Walking components, including a walking motor; A battery management unit, electrically connected to the battery pack, is used to monitor its discharge capacity; The control device is electrically connected to the cutting motor, the travel motor, and the battery management unit; The battery management unit is configured as follows: The current discharge capacity parameters of the battery pack are determined using at least two methods, and the minimum value in the evaluation results is output. The control device is configured to: The operation of the cutting motor and the travel motor is adapted to the minimum value.

2. The lawnmower as claimed in claim 1, characterized in that The battery management unit is configured to: acquire the temperature of the battery pack and the cell voltage within the battery pack; and estimate the current first discharge capacity parameter of the battery pack based on the temperature and the cell voltage.

3. The lawnmower as claimed in claim 2, characterized in that The battery management unit is configured to: estimate the cell internal resistance of the battery pack based on the temperature and the cell voltage; and determine the current first discharge capacity parameter of the battery pack based on the cell internal resistance.

4. The lawnmower as claimed in claim 1, characterized in that The battery management unit is configured to: acquire the temperature of the battery pack, and look up the corresponding second discharge capacity parameter of the battery pack based on the temperature.

5. The mower of claim 1, wherein, The battery management unit is configured to: find the current third discharge capacity parameter of the battery pack based on the type of cells in the battery pack.

6. The lawnmower according to claim 1, characterized in that, The control device is configured to disable the operation of the walking motor and the cutting motor when the discharge capacity parameter output by the battery management unit is less than a first parameter threshold.

7. The lawnmower according to claim 1, characterized in that, The control device is configured to: when the discharge capacity parameter output by the battery management unit is greater than or equal to a first parameter threshold and less than a third parameter threshold, control the operation state of the walking motor according to the operation command input by the user, and prohibit the cutting motor from operating.

8. The lawnmower according to claim 1, characterized in that, The control device is configured to reduce the speed of the cutting motor when the discharge capacity parameter output by the battery management unit is greater than or equal to a third parameter threshold and less than a second parameter threshold, while controlling the operation state of the walking motor and the cutting motor based on user-input operation commands.

9. The lawnmower according to claim 1, characterized in that, The control device is configured to control the operation state of the walking motor or the cutting motor based on user-inputted operation commands when the discharge capacity parameter output by the battery management unit is greater than or equal to the second parameter threshold.

10. A lawnmower, characterized in that, include: The battery compartment is designed to accommodate at least one battery pack. Cutting components, including a cutting motor; Walking components, including a walking motor; A battery management unit, at least used to monitor the discharge capacity of the battery pack; The control device is electrically connected to the cutting motor, the travel motor, and the battery management unit; The control device is configured to: acquire the current discharge capacity parameter of the battery pack output by the battery management unit, and when the discharge capacity parameter is greater than or equal to a first parameter threshold and less than a second parameter threshold, adjust the rotation speed of the cutting motor at least according to the parameter range in which the discharge capacity parameter is located.

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