Electric mower

Abstract

The present application discloses an electric mower. The electric mower is provided with a plurality of mowing motors, and a control device for controlling the plurality of mowing motors to operate. The control device can adaptively determine, on the basis of an actual load of each mowing motor, operating parameters required by each corresponding mowing motor, and further, after the operating parameters of each mowing motor are determined, configure a different weight for each mowing motor on the basis of a traveling direction and grass discharging, and comprehensively configure the operating parameters for each mowing motor again, so that each mowing motor is suitable for a corresponding load so as to save energy consumption, and meets grass discharging requirements so as to avoid the stall of each mowing motor or the blockage of a grass discharging port.

Description

Electric lawn mower

Technical field

[0001] The present application relates to the field of outdoor gardening technology, and in particular to an electric lawn mower. [Background Technology]

[0002] An electric lawn mower has blades for cutting grass, which are rotated by a mowing motor. Some large mowers have multiple blades, each driven by a different mowing motor. Existing mowing motors control the motor speed using methods such as preset speed or torque, and output a constant duty cycle to achieve a constant speed. However, this control method cannot automatically control the operation of each blade based on actual operating conditions. In some scenarios where different mowing motors have different loads, it can waste resources, cause grass blockage, and even affect the normal operation of the mower.

[0003] [Summary of the invention]

[0004] The main purpose of the present invention is to provide an electric lawn mower, which aims to match the load in the mowing operation, improve cutting efficiency, reduce energy consumption and increase endurance.

[0005] A first aspect of an embodiment of the present application provides a method for controlling an electric lawn mower, the method comprising:

[0006] If the mowing motor is running at the target operating parameters, obtaining the current load parameters of the mowing motor and the preset load parameters matching the target operating parameters;

[0007] If the current load parameters do not match the preset load parameters, obtaining preset operating parameters that match the current load parameters;

[0008] According to the preset operating parameters, the current operating parameters are adjusted to achieve matching between the current load parameters of the mowing motor and the preset load parameters;

[0009] The mowing motor is used to control the mowing element in the device, the operating parameters include at least one of the motor speed, the motor torque and the motor control signal, and the load parameter is used to indicate the load borne by the motor during operation.

[0010] In an optional embodiment, before obtaining the preset operating parameters that match the current load parameters in the above method, the method includes:

[0011] Acquire a first mapping relationship, where the first mapping relationship is used to indicate a relationship between at least one load parameter interval and an operating parameter value;

[0012] Determining a target interval matching the target operating parameter according to the first mapping relationship;

[0013] If the current load parameter of the motor does not fall within the target range, it is determined that the current load parameter does not match the preset load parameter.

[0014] In an optional embodiment, the method of obtaining preset operating parameters that match the current load parameters includes:

[0015] Obtaining a difference between the current load parameter and the preset load parameter;

[0016] If the current load parameter is greater than the difference value of the preset load parameter, finding an adjacent interval greater than the target interval;

[0017] Acquiring preset operating parameters that match the current load parameters based on the preset operating parameters matched by the adjacent intervals;

[0018] If the current load parameter is smaller than the difference value of the preset load parameter, finding an adjacent interval smaller than the target interval;

[0019] According to the preset operating parameters matched by the adjacent intervals, preset operating parameters matching the current load parameters are obtained.

[0020] In an optional embodiment, after adjusting the current operating parameters of the mowing motor, the above method includes:

[0021] Collecting the current load parameters of the mowing motor and the Mth preset load parameters that match the adjusted operating parameters;

[0022] If the Mth preset load parameter matches the current load parameter, the adjusted operating parameter is marked as the target load parameter, and this round of adjustment processing is stopped;

[0023] If the Mth preset load parameter does not match the current load parameter, the next round of adjustment is performed until the current load parameter matches the preset load parameter, or the current load parameter is greater than or equal to the overload parameter.

[0024] In an optional embodiment, adjusting the current operating parameters in the above method further includes:

[0025] Get the target direction;

[0026] Determining an adjustment weight of each motor among the multiple motors according to a target direction and load parameters;

[0027] Adjusting the current operating parameters according to the adjustment weights and preset operating parameters;

[0028] The target direction is determined at least as a function of the load parameter or the environmental data or the driving direction.

[0029] In an optional embodiment, the method of determining the adjustment weight of each mowing motor among the plurality of mowing motors further includes:

[0030] Get the control direction corresponding to each mowing motor;

[0031] Get the matching degree between the current control direction of the mowing motor and the target direction;

[0032] The weight of the current mowing motor is set according to the matching degree and / or the load parameter of the current mowing motor.

[0033] In an optional embodiment, the method of determining the adjustment weight of each mowing motor among the plurality of mowing motors includes:

[0034] Get the current weight value of the mowing motor;

[0035] If the weight value of the current mowing motor is greater than the weight values ​​of the other mowing motors, the operating parameters of the other mowing motors are adjusted according to the preset operating parameters matched by the current mowing motor.

[0036] In an optional embodiment, adjusting the current operating parameters in the above method includes:

[0037] According to the preset load parameters, a preset current value is determined, and the current current value of the mowing motor is collected;

[0038] According to the preset current value and current current value of the mowing motor, the preset operating parameters and current operating parameters of the motor, a double closed-loop control strategy of an operating parameter outer loop and a current inner loop is implemented to complete the adjustment of the current operating parameters of the mowing motor.

[0039] In an optional embodiment, the mowing motor in the above method includes at least a first motor and a second motor, and the control direction of the first motor is different from the control direction of the second motor.

[0040] A second aspect of an embodiment of the present application provides a device control apparatus, comprising: a data acquisition module, a data matching module, and a data adjustment module;

[0041] a data acquisition module for acquiring, if the motor is operating at target operating parameters, current load parameters of the mowing motor and preset load parameters matching the target operating parameters;

[0042] a data matching module, which obtains preset operating parameters that match the current load parameters if the current load parameters do not match the preset load parameters;

[0043] a data adjustment module, adjusting the current operating parameters according to the preset operating parameters, so as to match the current load parameters of the mowing motor with the preset load parameters;

[0044] The mowing motor is used to control the mowing element in the device, the operating parameters include at least one of the motor speed, the motor torque and the motor control signal, and the load parameter is used to indicate the load borne by the motor during operation.

[0045] An embodiment of the present application provides a control method for an electric lawn mower, which detects motor operating parameters and current load parameters. If the current load parameters do not match the preset load parameters, the preset operating parameters are found through the current load parameters; according to the preset operating parameters, the current operating parameters are adjusted to achieve matching of the current load parameters in the mowing motor with the preset load parameters, thereby solving technical problems in the prior art such as mowing motor stalling, shutdown, failure or resource waste, and improving the cutting efficiency of the electric lawn mower.

Brief Description of the Drawings

[0046] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings:

[0047] FIG1 is a schematic diagram of an application scenario of a device control method provided by an embodiment of the present application;

[0048] FIG2 a is a structural diagram 1 of a device control system provided by one embodiment of the present application;

[0049] FIG2 b is a structural diagram 2 of a device control system provided by an embodiment of the present application;

[0050] FIG3 is a flow chart of a device control method provided by an embodiment of the present application;

[0051] FIG4 is a logic diagram 1 of a device control method provided by one embodiment of the present application;

[0052] FIG5a is a schematic diagram 1 of a mapping relationship in a device control method provided by an embodiment of the present application;

[0053] FIG5 b is a schematic diagram 2 of a mapping relationship of a device control method provided by an embodiment of the present application;

[0054] FIG5 c is a logic diagram 2 of a device control method provided by an embodiment of the present application;

[0055] FIG6 is a trajectory diagram 5 of a device control method provided by an embodiment of the present application;

[0056] FIG7 is a schematic structural diagram of a device control apparatus provided by an embodiment of the present application;

[0057] FIG8 is a schematic diagram of the structure of a computer device provided by one embodiment of the present application;

[0058] FIG9 is a schematic diagram of an electric lawn mower provided by one embodiment of the present application;

[0059] FIG10 is a schematic diagram of an electric lawn mower provided in one embodiment of the present application;

[0060] FIG11 is a structural diagram of the arrangement of lawn mower motors provided in one embodiment of the present application. [Specific implementation method]

[0061] To address the problems that the speed of the mowing motor of an electric lawn mower cannot be adjusted according to the load and the grass discharge port of the mowing chassis is easily blocked, an embodiment of the present application provides a control device for an electric lawn mower.

[0062] In the prior art, current electric lawn mowers are controlled according to preset gears during the mowing process and are unable to automatically adjust the speed of each mowing motor according to the actual load conditions. Manual intervention is required to adjust the gear of the mowing motor. This control method makes it impossible for the lawn mower to complete the task efficiently and may even cause equipment failure.

[0063] Example 1

[0064] As shown in Figure 1, using a riding lawn mower as an example, two mowing motors are positioned on the left and right sides of the mower, driving the mowing tools. The mowing motors discharge the cut grass from left to right through the grooves connecting the blades, onto the right side of the mower. Each mower motor is independently controlled by an MCU and maintains a constant speed. The diagram indicates the direction of the mower, the left and right mowing blades, the left and right blade rotation directions, and the discharge position. Electric mowers can be configured in high and low gears. High gear corresponds to a higher motor speed, while low gear corresponds to a lower motor speed. The mowing motor speed decreases as the load increases and increases as the load decreases. This is different from actual usage requirements, so users must assess the load conditions and manually adjust the speed. For example, during the operation of an electric lawn mower, the change in the density of the grass will cause the change in the load of the mowing motor. The electric lawn mower will be configured with several gears when working, and each gear will set a corresponding motor speed or torque. According to the characteristics of the motor itself, the motor speed will change due to the change in load: when the mowing density increases, the mowing motor load will increase accordingly, but at this time the speed of the lawn mower is still maintained at the preset speed, which cannot meet the operation requirements. That is, when the grass density increases, the motor must be adjusted to a higher speed to complete the task; correspondingly, when the lawn density decreases, the motor load decreases, and the motor speed needs to be reduced, otherwise it will waste energy and may also over-cut. In the above control method, the load and speed cannot be adaptively matched, cannot meet the operation requirements, and will also waste normal resources.

[0065] In addition, when an electric lawn mower is in high gear mode, the amount of grass cut by the blade increases when the motor rotates at high speed, and the corresponding grass discharge pressure is also high. This can cause grass blockage at the discharge point of the power tool, causing the mower to stop and require manual treatment. To more clearly illustrate the abnormalities caused by grass blockage, we will further explain it with an actual example of grass blockage. Assuming that the user is performing a lawn mowing operation, there are several common grass blockage situations:

[0066] Example 1: Assume that the grass on the lawn is evenly distributed and the left and right mower motors have the same speed. However, since the cut grass clippings are uniformly discharged from left to right, the right mower motor blades have to take on the task of removing the grass after cutting by the left blades. Therefore, the power of the right mower motor is greater than that of the left. When the lawn grass density is high, the grass clippings increase, and the discharge pressure of the right mower motor is high, which will cause the grass discharge to be blocked and cause the mower motor to stop.

[0067] Example 2: When the grass on a lawn is unevenly distributed, the load on the mowing motor on the side with higher grass density is greater than that on the side with lower grass density. Assuming the load on the left side is greater than that on the right side, the power of the mower on the left side increases, and at the same time, there is more grass clippings. The grass discharge pressure on the mower on the right side is greater. If the mower motor continues to run at the original speed, it will cause grass discharge blockage and the motor to stop.

[0068] Example 3: When a power tool is in motion, the motor load on one side may be greater than the other due to the direction of travel. For example, when the power tool turns right, the load on the right side will be greater than that on the left side. The power of the right mower increases, and the amount of grass clippings increases. The mower motor has a higher discharge pressure, which can also cause grass discharge blockage and motor shutdown.

[0069] In view of the problem that during the use of the above-mentioned electric lawn mower, the speed of each mowing motor cannot be adjusted in real time, and the motor speed and motor load cannot be matched, resulting in low cutting efficiency, an embodiment of the present application provides an electric lawn mower. The control device of the electric lawn mower detects the operating parameters and current load parameters of the mowing motor. If the current load parameters do not match the preset load parameters, the preset operating parameters are found through the current load parameters; according to the preset operating parameters, the current operating parameters are adjusted to achieve matching of the current load parameters in the motor with the preset load parameters, thereby solving technical problems in the prior art such as motor stalling, shutdown, failure or resource waste, and improving the efficiency of equipment control.

[0070] The solutions in the embodiments of the present application can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0071] In order to make the technical solutions and advantages of the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, and are not an exhaustive list of all the embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0072] The following is a brief description of the application environment of the device control method provided in the embodiment of the present application:

[0073] Please refer to Figure 2a. An embodiment of the present application provides a control method for an electric lawn mower, which is applied to a control system 20 of the electric lawn mower. The control system 20 includes: a detection module 201 and a processor 202. The detection module 201 and the processor 202 are connected.

[0074] The processor is used to obtain the preset operating parameters that match the current load parameters if the current load parameters do not match the preset load parameters. After obtaining the preset operating data, the processor adjusts the current operating parameters according to the preset operating parameters to achieve matching of the current load parameters in the motor with the preset load parameters. The processor can be a hardware module or a processing module in a server.

[0075] The detection module is used to detect the operating parameters and load conditions of the tool during operation.

[0076] The control system mentioned in the embodiment of the present application can be deployed according to actual functional requirements and working environment. For example, the drive module can control motors of multiple control directions, and the motors are used to control the operation of the working tool. Here, the working tool is a lawn mowing tool, and the motors include a left motor and a right motor. For example, the system provided by the present application is not limited to this.

[0077] As shown in Figure 2b, when the system in the embodiment of the present application is deployed, the drive module may also include: a left mowing controller and a right mowing controller, the left mowing controller is connected to the left mowing motor, and the right mowing controller is connected to the right mowing motor; the left mowing motor can be located on the left side of the vehicle to control the operation mode of the left tool, and the right mowing motor can be located on the right side of the vehicle to control the operation mode of the right tool.

[0078] In an optional embodiment, the above-mentioned system can be deployed on the device side or on the server side. If deployed on the server side, only the transmission and detection modules need to be deployed on the device side, thereby further reducing the cost of the equipment. Furthermore, if deployed on the server side, multiple devices can be controlled in a linked manner, thereby improving the efficiency of the operation and the efficiency of centralized management. For example, the density of the lawn to be operated and the driving path are first detected, and then the main control console assigns tasks to each lawn mower in real time, and sets the speed to match the task of each lawn mower according to its task.

[0079] Referring to FIG3 , the following embodiment uses the processor 201 in the device control system 20 as the execution subject, and specifically describes the method provided in the embodiment of the present application as an example of applying the method to a device that cannot adaptively control a tool. The device control method provided in the embodiment of the present application includes the following steps 301 to 303:

[0080] Step 301: If the motor is running at the target operating parameters, the current load parameters of the motor and the preset load parameters matching the target operating parameters are collected.

[0081] The motor is used to control a tool in the device, such as a motor for mowing lawn.

[0082] The motors in the device may include multiple motors, each of which can be configured with different preset operating parameters; each motor can control the tool to complete operations in different directions, and each motor can be configured with different operating tools. For example, the device may include a left motor and a right motor. The left motor is responsible for controlling the tool to complete tasks on the left side of the device, and the right motor is responsible for controlling the tool to complete tasks on the right side of the device.

[0083] The operating parameters include at least one of a motor speed, a motor torque and a motor control signal.

[0084] The load parameter indicates the load borne by the motor during operation. This load parameter can be calculated based on the device's operating parameters and the motor current. The motor's actual operating state can vary due to various factors, including environmental, task, and device factors. For example, as the grass density increases during mowing, the motor load will increase, and the corresponding motor speed will need to increase accordingly to meet the task requirements.

[0085] In the example of this application, the device can be controlled to perform tasks with target operating parameters, and by setting preset load parameters that match the target operating parameters, it can be quantitatively and accurately judged whether the current load parameters match the target operating parameters, so that the operating parameters can be adjusted in a timely manner to improve the efficiency of the device.

[0086] The method provided in the embodiment of the present application can detect the current operating parameters and load parameters in real time, or can detect the current operating parameters and load parameters after activating the calibration function, or can automatically start the adaptive mode to detect the current operating parameters and load parameters after detecting other vehicle parameters, such as detecting a change in the vehicle's driving direction or a change in the mowing environment.

[0087] After obtaining the current operating parameters or load parameters, the embodiment of the present application can also perform a preliminary judgment. If the current operating parameter is greater than a preset threshold, or the load parameter is greater than a preset threshold, adjustment processing can be performed. For example, a prompt message can be generated, and the user can determine the next operation based on the prompt message, such as shutting down the machine, adjusting the machine, or conducting actual surveys to analyze the reasons for the data changes.

[0088] Step 302: If the current load parameter does not match the preset load parameter, find the preset operating parameter that matches the current load parameter.

[0089] The preset load parameters are set according to the current operating parameters of the motor, that is, the preset load parameters that match the current operating parameters; for example, if the current load parameter of the motor is less than the preset load parameter that matches the current speed, it indicates that the motor running speed is too low and needs to be accelerated. Here, you can refer to when mowing the lawn. After the grass density increases, although the motor running speed is constant, the motor current increases due to the increase in tool resistance, that is, the current load of the motor is greater than the preset load, so the motor needs a higher speed to complete the task.

[0090] Among them, the mapping relationship can set load parameters and preset operating parameter settings based on historical operating data, historical load data and other data, or it can be generated after training through a big data model.

[0091] The mapping relationship can be found in the local storage space to facilitate quick response to requests, and can also be found in the cloud, thereby further saving local device resources.

[0092] Through the mapping relationship between load parameters and preset operating parameters, the current load parameters and preset operating data can be matched quickly and accurately.

[0093] Step 303: Adjust the current operating parameters according to the preset operating parameters to achieve closed-loop control of the operating parameters.

[0094] According to the preset operating parameters, the current operating parameters can be adjusted directly through replacement processing or through difference compensation.

[0095] For example, motor operating parameters, including drive speed, can be adjusted by calculating compensation speeds. For example, the preset drive speed of the tool in the equipment is superimposed with the compensation speed of the corresponding wheel to obtain the actual desired speed for each wheel, thereby achieving closed-loop control of the steering angle. By using compensation data, drastic changes in equipment operating parameters can be avoided, thereby reducing operational risks.

[0096] Correspondingly, if the difference between the preset operating parameters and the current operating parameters is small, the current operating parameters can be directly replaced by the preset parameters to complete the parameter adjustment.

[0097] After adjusting the operating parameters, the equipment is driven to work according to the adjusted operating parameters, and the load parameters of the equipment continue to be monitored. If the load parameters change, it is further determined whether the operating parameters need to be adjusted, thereby realizing closed-loop control of the operating parameters and improving the efficiency of equipment control.

[0098] For example, the controller of the device receives and analyzes the load of the left and / or right mowing motor, then matches the corresponding left and / or right mowing wheel target speed, and sends the target speed of the left and / or right drive wheel to the left and / or right drive controller. After receiving the target signal, the left / right drive controller performs closed-loop control of the speed of the left and / or right drive motor.

[0099] The control method in the above example can be applied to multiple motors. Multiple motors can be deployed on the same device or different devices. Each motor can be configured with a different control strategy, that is, different operating parameters, to achieve collaborative control to complete the task.

[0100] In an optional example, the method provided by this application can determine the control strategy by comprehensively considering environmental factors, task factors, equipment factors, and other factors when collaboratively controlling multiple motors. For example, if there are three devices, A, B, and C, the motors in each device can be driven to perform tasks according to the preset operation strategy. If device A is traveling on the left side of device B, and the two devices perform tasks in parallel, and device A discharges hay from left to right, the speed of the motor on the left side of device B needs to be increased to avoid hay accumulation; if device A is traveling in front of device C, and the two devices perform tasks in parallel, the speed of the motor on device C can be reduced, thereby achieving rough processing by the first device and fine processing by the following vehicle to complete the measurement task.

[0101] As shown in Figure 4, taking the example of a motor including a left motor and a right motor, and the operating parameters including the motor speed, the control method provided by the present application is explained, including the following steps: first determine whether the matching function is started; if the matching function has been successfully started, then determine in turn whether the left motor speed and the right motor speed match the preset speed. This step can be used to determine whether the motor equipment is started and operated according to the preset control method; if the two match, then continue to determine whether the motor load matches the motor speed, that is, determine whether the speed of the left and right mowing motors is different from the speed matched under the actual load; if the motor load does not match the motor speed, then perform matching processing; for example, you can query the target speed that matches the motor load and adjust the motor speed; set the speed of the matched left and right mowers to the target speed; after adjustment, the left and right mowers perform speed matching adaptive control in real time at the given target speed.

[0102] The device control method provided in the embodiment of the present application detects the motor operating parameters and the current load parameters. If the current load parameters do not match the preset load parameters, the preset operating parameters are found through the current load parameters; according to the preset operating parameters, the current operating parameters are adjusted to achieve matching of the current load parameters in the motor with the preset load parameters, thereby solving technical problems in the prior art such as motor stalling, shutdown, failure or resource waste, and improving the efficiency of device control.

[0103] In an optional embodiment of the present application, before obtaining the current load parameter of the motor in step 301, the following steps are further included:

[0104] Step 401: Detect whether the adjustment function is activated.

[0105] The adjustment function can be activated by detecting whether the device receives an adjustment instruction, detecting whether an adjustment module is triggered, or detecting whether a parameter of the device exceeds a threshold.

[0106] For example, an adjustment instruction may be sent to the current device through the terminal device; or a key module in the current device may be triggered, where the key may include a physical hardware key and a virtual function key.

[0107] Step 402: If the adjustment function is activated, obtain the current operating parameters and load parameters of the motor in the device.

[0108] By activating the adjustment function, the embodiment of the present application can turn on or off the automatic matching of operating parameters and load parameters at any time, thereby improving the flexibility of equipment control. At the same time, it can also avoid the waste of resources and equipment damage caused by adjusting the operating parameters in scenarios where the operating parameters do not need to be adjusted.

[0109] In an optional embodiment of the present application, the above steps of finding the preset operating parameters that match the load parameters include steps 501 to 502:

[0110] Step 501: Obtain a first mapping relationship.

[0111] The first mapping relationship is used to indicate the relationship between at least one load parameter interval and an operating parameter value, and the load parameter interval includes multiple load parameter values.

[0112] For example, the first mapping relationship may indicate the relationship between the load current interval and the motor speed value.

[0113] Step 502: Determine a target interval that matches the target operating parameter according to the first mapping relationship.

[0114] After the target interval is determined, preset operating parameters matching the target interval are found.

[0115] As shown in Figure 5a, the load current value is used as the horizontal coordinate and the motor speed is used as the vertical coordinate. The load current value is used to divide the four intervals. Each interval matches the corresponding motor speed. Among them, 0 to coordinate point A1 is the first interval. The speed value corresponding to this interval is B1. B1 can be the initial set speed. That is, if the current load current value is detected to be in the first area, the motor speed matched by the load current is determined to be B1. The settings of the remaining intervals are as shown in the first area and will not be repeated here.

[0116] Step 503: If the current load parameter of the motor does not fall within the target range, it is determined that the current load parameter does not match the preset load parameter.

[0117] That is, if the current load parameter does not match any load parameter in the target range, it is determined that the current load parameter does not match the preset load parameter.

[0118] The embodiment of the present application can quickly and accurately find the preset operating parameters by setting a mapping relationship between the load parameters and the operating parameters, thereby improving the efficiency of device control; at the same time, through the intervals of multiple threshold values ​​of the device, it can match load parameters of multiple values, further improving the flexibility of device control.

[0119] In an optional embodiment of the present application, based on the first mapping in step 501 above, finding the preset operating parameters that match the current load parameters further includes the following steps:

[0120] Step 601: Obtain the difference between the current load parameter and the preset load parameter;

[0121] Step 602: If the current load parameter is greater than the difference value of the preset load parameter, find an adjacent interval that is greater than the target interval;

[0122] Acquiring preset operating parameters that match the current load parameters based on the preset operating parameters matched by the adjacent intervals;

[0123] Step 603: If the current load parameter is smaller than the difference value of the preset load parameter, find an adjacent interval smaller than the target interval;

[0124] According to the preset operating parameters matched by the adjacent intervals, preset operating parameters matching the current load parameters are obtained.

[0125] Specific examples are listed here to illustrate how to implement logical control based on the mapping relationship in the embodiments of the present application: as shown in the mapping relationship in Figure 5b, the initial operating parameters of the motor are configured, such as the initial speed of the motor, and the mapping relationship between the motor operating parameters and the motor load parameters is configured. Each interval uses a fixed value of the motor speed to set a motor current interval and a motor load interval that matches the motor speed; as shown in the table, the motor speed R1 matches the first interval in the load parameter, and the starting point of the interval in this area is the load parameter value T1 and the end point is the load parameter value T2; the mapping relationship can also include an overload load value to facilitate control of the motor speed and avoid motor overload and failure.

[0126] The control logic shown in Figure 5c uses the control of the left motor as an example to illustrate the control method: during operation based on the motor speed R1, the current load current of the motor is collected; based on the current current value and the preset speed, the current load parameter Tleft of the motor is calculated; and it is determined whether the current load reference Tleft is within the first load parameter range:

[0127] If the target load parameter is in the first interval, the current speed R1 is marked as the target speed of the motor.

[0128] If not, determine whether the speed needs to be increased or decreased:

[0129] If T is greater than T2, it means that the current load of the mowing motor is too large, and the motor speed R1 needs to be increased. For example, the speed can be increased by increasing the speed expectation value of the speed loop through closed-loop control.

[0130] After the speed is increased, the updated speed value of the motor can be marked as speed R2. Continuing with the above-mentioned judgment logic, the preset load parameter interval, such as the second interval, matching the speed R2 is searched according to the preset relationship; the target load based on the speed R2 is detected, and it is determined whether the target load is within the second interval;

[0131] If the target load is in the second interval, the current speed R2 is marked as the target speed of the motor;

[0132] If not, continue to increase or decrease the speed until the current load is within the preset load range or the current load of the motor is overloaded, and finally obtain the load-matched left lawn mower speed Rleft.

[0133] The control logic of the right motor is similar to the control logic of the left motor mentioned above. It determines whether the speed needs to be increased or decreased based on the preset load and the current load, and finally obtains the right lawn mower speed that matches the load.

[0134] After determining the lawn mower speed that matches the load, the control logic processing can be ended.

[0135] In an optional embodiment, the method provided in the present application can also adjust the motor speed according to the weight relationship between the left motor and the right motor, as shown in the dotted box diagram in Figure 7c. If the load of the left motor is greater than that of the right motor, for example, the grass is discharged on the left side of the vehicle during the mowing task, then after the left and right speeds are determined as above, the motor speeds can be reconfigured according to the weights so that the speed of the left motor is greater than that of the right motor, thereby improving the control efficiency.

[0136] In an optional embodiment of the present application, the above steps of finding the preset operating parameters that match the load parameters include steps 701 to 703:

[0137] Step 701: Get the target direction.

[0138] The target direction is determined at least as a function of the load parameter or the environmental data or the driving direction.

[0139] For example, image recognition can be used to determine in which direction the current forage density is higher; or the vehicle's posture angle can be detected to determine the current vehicle's direction of travel.

[0140] Step 702: Determine the weight of each motor among the multiple motors according to the target direction and load parameters.

[0141] When determining the weight of each motor, you can first obtain the control direction corresponding to each motor;

[0142] Whether the current motor control direction matches the target direction. The higher the degree of matching, the higher the weight.

[0143] Accordingly, when determining the weight of each motor, the load parameters corresponding to each motor can be obtained first; when analyzing the load parameters of the current motor, the higher the load, the higher the weight.

[0144] Correspondingly, the operating parameters, control direction or load parameters of the current motor may also be comprehensively considered to determine that the higher the weight of the current motor is.

[0145] After confirming the weight of each motor, the identification information of the motor can be generated through the motor's identity information and weight value, which is convenient for subsequent query and processing.

[0146] The identification information can be stored in the local storage module of the motor device or on the server side. If stored on the server side, the motors of multiple devices can be queried on the server side, which facilitates the coordinated control of the motors of multiple devices and improves management efficiency.

[0147] Step 703: Adjust the current operating parameters of the motor according to the weight and preset operating parameters.

[0148] According to the preset operating parameters and the adjustment weights, the operating parameters of the motors with larger weights are adjusted first, and the operating parameters of the remaining motors are adjusted based on the adjusted operating parameters of the motors with larger weights.

[0149] In the method provided in the embodiment of the present application, by setting weights of different motors, motors with higher weights are adjusted first, which can more efficiently adjust the operation of the equipment, improve the efficiency of equipment control, and save equipment operation resources.

[0150] In an optional embodiment of the present application, adjusting the current operating parameters of the motor in the above steps includes:

[0151] Step 801: Obtain the weight value of the current motor.

[0152] As described in step 702 , the weight value of the current motor may be confirmed by querying the identification information of the current motor. The identification information of the motor may be stored in a database of the current motor or may be centrally stored on a server.

[0153] Step 802: If the weight value of the current motor is greater than the weight values ​​of the other motors, find the preset operating parameters that match the current motor according to the load parameters.

[0154] To determine whether the weight value of the current motor is greater than the weight values ​​of the remaining motors, the weight values ​​of multiple motors can be compared one by one to determine the difference; or sequence information can be generated by pre-sorting the weight values ​​and then determined based on the sequence information.

[0155] Step 803: Adjust the operating parameters of the remaining motors according to the preset operating parameters matched by the current motor.

[0156] Adjusting the operating parameters of the remaining motors can be done by adjusting the control mode using the preset operating parameters of the current motor, obtaining the motor load again, and then adjusting; or adjusting the operating parameters first and then obtaining the motor load.

[0157] The operating parameters of the remaining motors may be adjusted based on a difference between a preset operating parameter and a current operating parameter, or based on a preset threshold value.

[0158] For example, the device motor includes a first motor and a second motor. According to the load parameters, the load of the first motor is greater than the load of the second motor. The weight of the first motor is set to be greater than the second motor, that is, the first motor is set as the main motor, and the first motor is adjusted according to the preset speed. Then, the other motor follows the first motor for adjustment, and the speed is adjusted by the preset difference.

[0159] The above-mentioned adjustment through preset difference can include setting a percentage. For example, the left motor is adjusted according to the preset motor speed, and the right motor is set according to the left motor speed after the percentage adjustment: Rright = Rleft + K*Rleft, Rright indicates the right motor speed, Rleft indicates the left motor speed, K is the difference parameter, and it is recommended to set the interval to 10%-30%, so that the higher the speed, the larger the speed difference can be set.

[0160] In an optional embodiment, the method provided in this application adjusts the current operating parameters in step 303, further comprising the following steps:

[0161] Step 901: Acquire the adjusted operating parameters, collect the current load parameters of the motor, and the Mth preset load parameters that match the adjusted operating parameters.

[0162] After adjusting the current operating parameters according to the preset operating parameters, the above steps 301 to 303 may be further repeated, ie, closed-loop processing, until the load is matched.

[0163] Step 902: If the Mth preset load parameter matches the current load, the adjusted operating parameter is marked as the target operating parameter, and this round of adjustment processing is stopped.

[0164] The operating parameters, motor current and motor load after the current matching process can be stored to facilitate subsequent statistical analysis of historical data and actual adjustment results based on big data, and to further optimize the above-mentioned first mapping relationship.

[0165] Step 903: If the Mth preset load parameter does not match the current load, perform the next round of adjustment until the current load parameter matches the preset load parameter, or the current load parameter is greater than or equal to the overload parameter.

[0166] The method provided in this application will continuously adjust the operating parameters of the motor in a closed-loop manner until the preset load parameters of the motor match the current load parameters, that is, the operating mode of the motor matches the operating mode required to perform the task: that is, when the motor load becomes larger, the speed increases, which is in line with the actual working conditions of the power tool and improves efficiency.

[0167] In an optional embodiment of the present application, based on adjusting the current operating parameters in step 303 above, the following steps are further included:

[0168] Step 1001: Determine a preset current value according to preset load parameters, and collect the current current value of the motor.

[0169] Since the load parameters can be set according to the current and speed, when the load and speed of the motor are determined, the preset current value of the motor can also be determined accordingly.

[0170] Step 1002: Based on the preset current value and current current value of the motor, the preset operating parameters and current operating parameters of the motor, a dual closed-loop control strategy of an operating parameter outer loop and a current inner loop is implemented to adjust the current operating parameters of the motor.

[0171] The inner loop control can dynamically adjust the current changes, and the outer loop control can dynamically adjust the operating parameter changes, ultimately achieving a match between the preset load parameters of the motor and the current load parameters.

[0172] As shown in FIG6 , in the example of the present application, the speed control can be completed by dual closed-loop processing, including: after the processor obtains the target speed, the current and speed dual closed-loop control is adopted to adjust the motor speed, the current loop is the inner loop, and the speed loop is the outer loop: the actual speed fed back by the motor is received, and the actual speed is compared with the actual expected speed of the motor to obtain the speed error of each wheel, and the speed error is sent to the processor so that the motor driver drives the corresponding motor to rotate, so as to realize the speed outer loop closed loop. For example, the current expected value I1 can be calculated according to the expected speed R1, and the voltage PWM duty cycle can be adjusted through the current loop. Both the speed loop and the current loop adopt PI feedback control to increase or decrease the speed of the motor.

[0173] The device control method provided in the embodiment of the present application detects the motor operating parameters and the current load parameters. If the current load parameters do not match the preset load parameters, the preset operating parameters are found through the current load parameters; according to the preset operating parameters, the current operating parameters are adjusted to achieve matching of the current load parameters in the motor with the preset load parameters, thereby solving technical problems in the prior art such as motor stalling, shutdown, failure or resource waste, and improving the efficiency of device control.

[0174] It should be understood that, although the various steps in the flowchart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be performed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily to be performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0175] Referring to FIG. 7 , an embodiment of the present application provides a device control apparatus 70 , including: a data acquisition module 701 , a data matching module 702 , and a data adjustment module 703 ;

[0176] The data acquisition module 701 acquires the current load parameters of the motor and the preset load parameters that match the target operating parameters if the motor is operating at the target operating parameters;

[0177] The data matching module 702 obtains preset operating parameters that match the current load parameters if the current load parameters do not match the preset load parameters;

[0178] The data adjustment module 703 adjusts the current operating parameters according to the preset operating parameters to achieve matching between the current load parameters of the motor and the preset load parameters;

[0179] The motor is used to control a tool in the device, the operating parameter includes at least one of the motor speed, the motor torque and the motor control signal, and the load parameter is used to indicate the load borne by the motor during operation.

[0180] The equipment control device provided in the embodiment of the present application detects the motor operating parameters and the current load parameters. If the current load parameters do not match the preset load parameters, the preset operating parameters are found through the current load parameters; according to the preset operating parameters, the current operating parameters are adjusted to achieve matching of the current load parameters in the motor with the preset load parameters, thereby solving technical problems in the prior art such as motor stalling, shutdown, failure or resource waste, and improving the efficiency of equipment control.

[0181] For the specific limitations of the above-mentioned devices, please refer to the limitations of the device control method above and will not be repeated here. Each module in the above-mentioned device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software so that the processor can call and execute the operations corresponding to each of the above modules.

[0182] In one embodiment, a computer device is provided, and the internal structure diagram of the computer device can be shown in Figure 8. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a device control method as described above, including: a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it implements any step in the device control method as described above.

[0183] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, any step in the above device control method can be implemented.

[0184] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0185] The present application is described with reference to the flow chart and / or block diagram of the method, device (system), and computer program product according to the embodiment of the present application. It should be understood that each flow process and / or box in the flow chart and / or block diagram and the combination of the flow process and / or box in the flow chart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processing machine or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one flow chart flow or multiple flows and / or one box or multiple boxes of the block diagram.

[0186] Example 2

[0187] The present embodiment provides an electric lawn mower, comprising: a drive mechanism driven by a travel motor; at least two mowing elements and a mowing chassis covering the mowing elements; wherein the mowing elements are driven to rotate by corresponding mowing motors to mow grass and generate airflow, and at least part of the airflow can guide grass clippings to the outside of the mowing chassis; a side discharge channel connected to the grass discharge port of the mowing chassis to guide grass clippings and airflow; a power supply assembly comprising at least one battery pack for powering the travel motor and the mowing motor; and characterized in that the mowing motor at least meets the following requirements: in the grass discharge mode, the rotation speed of the mowing motor adjacent to the grass discharge port is greater than the rotation speed of the mowing motor away from the grass discharge port.

[0188] Among them, the mowing motor satisfies the following conditions: within a certain threshold range, the speed of each mowing motor increases as the mowing load increases, and the speed of each mowing motor decreases as the mowing load decreases; and the higher the speed of the mowing motor, the greater the difference in speed between the mowing motor close to the grass discharge port and the mowing motor far from the grass discharge port.

[0189] The control device of the lawn mower selects the mowing motor near the grass discharge port as the main motor, and the other mowing motors follow the main motor to adjust, and adjust the speed of the other mowing motors by a preset difference; the mowing motors of the electric lawn mower have different speeds at the same time.

[0190] An electric lawn mower includes a first mowing element, a second mowing element, and a control device for controlling the rotational speed of the mowing elements, wherein the first mowing element and the second mowing element are controlled by different mowing motors, and the control device includes: a data acquisition module, which is configured to obtain the current load parameters of each mowing motor and the preset load parameters matching the target operating parameters when the mowing motor operates at target operating parameters; a data matching module, which is configured to determine whether the current load parameters match the preset load parameters, and obtain the preset operating parameters matching the current load parameters if they do not match; a data adjustment module, which is configured to adjust the current operating parameters according to the preset operating parameters to achieve matching between the current load parameters of the mowing motor and the preset load parameters; wherein the operating parameters include at least one of the rotational speed, torque, and mowing motor control signal, and the load parameters are used to indicate the load borne by the mowing motor during operation.

[0191] The control device also includes a storage module, which stores a first mapping relationship, and the first mapping relationship is used to indicate the relationship between at least one load parameter interval and an operating parameter value; the data acquisition module determines a preset load parameter target interval that matches the target operating parameter based on the first mapping relationship; and the data matching module determines whether the current load parameter matches the preset load parameter based on whether the current load parameter falls into the target interval.

[0192] The data adjustment module searches for adjacent intervals of the target interval based on the difference between the current load parameter and the preset load parameter; and obtains the preset operating parameters that match the current load parameter based on the preset operating parameters matched by the adjacent interval.

[0193] The data adjustment module searches for an adjacent interval larger than the target interval when the current load parameter is larger than the preset load parameter; the data adjustment module searches for an adjacent interval smaller than the target interval when the current load parameter is smaller than the preset load parameter.

[0194] The data acquisition module is configured to collect the Mth preset load parameter that matches the adjusted operating parameter. When the Mth preset load parameter matches the current load parameter, the adjusted operating parameter is marked as the target speed and this round of adjustment processing is stopped. When the Mth preset load parameter does not match the current load parameter, the next round of adjustment is performed until the current load parameter matches the preset load parameter.

[0195] The control device assigns different adjustment weights to each mowing motor according to the distance between each mowing motor and the grass discharge port and / or the current load parameters of the motor. The data adjustment module adjusts the current operating parameters according to the adjustment weights and preset operating parameters.

[0196] The data adjustment module selects the mowing motor with the largest weight value as the main motor, and adjusts the operating parameters of the remaining mowing motors according to the preset operating parameters matched by the main motor.

[0197] The data acquisition module collects the current current value of the lawn mower motor; the data matching module determines the preset current value according to the preset load parameters; the data adjustment module uses the dual closed-loop control strategy of the real-time operating parameter outer loop and the current inner loop according to the preset current value, the current current value, the preset operating parameters and the current operating parameters to complete the adjustment of the current operating parameters of the lawn mower motor.

[0198] An electric lawn mower comprises a plurality of mowing elements, a mowing chassis covering the mowing elements, and a control device for controlling the rotation of the mowing elements, wherein the mowing chassis has a grass discharge port for guiding grass clippings to the outside; the mowing elements have corresponding mowing motors driven to rotate and mow, and the control device is configured to: control each mowing motor at a different target speed, and at the same time, the target speed of the mowing motor near the grass discharge port is greater than the target speed of the mowing motor far from the grass discharge port.

[0199] The control device is configured to determine the target speed according to the mowing load and grass discharge load corresponding to each mowing motor; the grass discharge load of the mowing motor near the grass discharge port is greater than the grass discharge load of the mowing motor far from the grass discharge port.

[0200] The control device has a memory in which preset load parameters under different operating parameters are stored.

[0201] The control device defines the speed difference of each mowing motor at different speeds, and the speed difference becomes larger when the speed is higher.

[0202] The electric lawn mower has a grass collecting mode, a grass discharge mode and a mulching mode; and in the grass collecting mode and the grass discharge mode, the control device is configured to control each mowing motor at different target speeds; in the mulching mode, the control device is configured to control each mowing motor at the same target speed.

[0203] Optionally, the electric lawn mower has a first mowing element adjacent to the grass discharge port and a second mowing element away from the grass discharge port. In the grass collecting mode or the grass discharge mode, the speed of the mowing motor of the first mowing element is greater than the speed of the mowing motor of the second mowing element.

[0204] Optionally, the electric lawn mower has three mowing elements, the mowing motor has at least three rotational speeds, and the rotational speed of the mowing motor increases in sequence from far away from the grass discharge port to close to the grass discharge port at the same time.

[0205] The control device is configured as follows: different weights are configured according to the positions of the mowing motors, the motor with the largest weight is set as the main motor, and the other mowing motors are adjusted according to the main motor, and the speed of the other motors is adjusted by a preset difference, that is, as the speed of the main motor increases, the speed difference between the other motors and the main motor becomes larger.

[0206] Furthermore, as shown in Figures 9-11, the electric lawn mower also includes a frame 1, an operating mechanism 12 connected to the frame 1, a drive mechanism 14, a supporting mechanism 100, a power supply system 102, and a control mechanism 16. The drive mechanism 14 includes a left drive assembly, a right drive assembly, and a travel wheel assembly 3; the control mechanism 16 is configured to include a left control assembly 161 and a right control assembly 162; the left control assembly 161 and the right control assembly 162 are respectively coupled to the left drive assembly and the right drive assembly to control the operating status of the left drive assembly and the right drive assembly, respectively. The left control assembly 161 and the right control assembly 162 respectively include a left control lever 1611 and a right control lever 1621, and corresponding rotation detection components 163. The operating mechanism 12 includes a left mowing motor 121 and a right mowing motor 122.

[0207] In some embodiments, the working mechanism 12 of the outdoor work vehicle can be another work attachment, such as a snowplow. Strictly speaking, the outdoor work vehicle is no longer just a riding lawn mower, but a riding snowplow that can perform different tasks depending on the attached working mechanism 12. Of course, the outdoor work vehicle can also be other types of tools and equipment, such as agricultural equipment, cleaning equipment, and all-terrain vehicles.

[0208] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0209] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A device control method, characterized in that: include: If the motor is running at the target operating parameters, then obtaining the current load parameters of the motor and the preset load parameters matching the target operating parameters; If the current load parameters do not match the preset load parameters, obtaining preset operating parameters that match the current load parameters; According to the preset operating parameters, the current operating parameters are adjusted to achieve matching between the current load parameters in the motor and the preset load parameters; The motor is used to control a tool in the device, the operating parameter includes at least one of a motor speed, a motor torque and a motor control signal, and the load parameter is used to indicate the load borne by the motor during operation.

2. The device control method according to claim 1, characterized in that: Before obtaining the preset operating parameters that match the current load parameters, including: Acquire a first mapping relationship, where the first mapping relationship is used to indicate a relationship between at least one load parameter interval and an operating parameter value; Determining a target interval matching the target operating parameter according to the first mapping relationship; If the current load parameter of the motor does not fall within the target interval, it is determined that the current load parameter does not match the preset load parameter.

3. The device control method according to claim 2, characterized in that: The step of obtaining preset operating parameters that match the current load parameters includes: Obtaining a difference between the current load parameter and the preset load parameter; If the current load parameter is greater than the difference value of the preset load parameter, finding an adjacent interval greater than the target interval; According to the preset operating parameters matched by the adjacent intervals, obtain the Preset operating parameters; If the current load parameter is less than the difference value of the preset load parameter, find an adjacent interval that is less than the target interval; According to the preset operating parameters matched by the adjacent intervals, preset operating parameters matching the current load parameters are obtained.

4. The device control method according to claim 1, characterized in that: After adjusting the current operating parameters of the motor, the method includes: Collecting the current load parameters of the motor and the Mth preset load parameters matching the adjusted operating parameters; If the Mth preset load parameter matches the current load parameter, the adjusted operating parameter is marked as the target speed, and this round of adjustment processing is stopped; If the Mth preset load parameter does not match the current load, the next round of adjustment is performed until the current load parameter matches the preset load parameter, or the current load parameter is greater than or equal to the overload parameter.

5. The device control method according to claim 1, characterized in that: The adjusting the current operating parameters further includes: Get the target direction; Determining an adjustment weight of each motor among the multiple motors according to a target direction and load parameters; Adjusting the current operating parameters according to the adjustment weights and the preset operating parameters; The target direction is determined at least as a function of the load parameter or the environmental data or the driving direction.

6. The device control method according to claim 5, characterized in that: The step of determining the adjustment weight of each motor among the plurality of motors further includes: Get the control direction corresponding to each motor; Get the matching degree between the current motor control direction and the target direction; The weight of the current motor is set according to the matching degree and / or the load parameter of the current motor.

7. The device control method according to claim 5, characterized in that: The step of determining an adjustment weight of each motor among the plurality of motors comprises: Get the current motor weight value; If the weight value of the current motor is greater than the weight values ​​of the remaining motors, the operating parameters of the remaining motors are adjusted according to the preset operating parameters matched by the current motor.

8. The device control method according to claim 1, characterized in that: The adjusting the current operating parameters includes: According to the preset load parameters, determine the preset current value and collect the current current value of the motor; According to the preset current value and current current value of the motor, the preset operating parameters and current operating parameters of the motor, a dual closed-loop control strategy of an operating parameter outer loop and a current inner loop is implemented to complete the adjustment of the current operating parameters of the motor.

9. The device control method according to claim 1, characterized in that: The motor includes at least a first motor and a second motor, and a control direction of the first motor is different from a control direction of the second motor.

10. A device control device, characterized in that: include: Data collection module, data matching module and data adjustment module; A data acquisition module, if the motor is running at the target operating parameters, obtains the current load parameters of the motor and the preset load parameters matching the target operating parameters; A data matching module, if the current load parameter does not match the preset load parameter, obtains the preset operating parameter that matches the current load parameter; A data adjustment module, which adjusts the current operating parameters according to the preset operating parameters to achieve matching between the current load parameters in the motor and the preset load parameters; The motor is used to control a tool in the device, the operating parameter includes at least one of a motor speed, a motor torque and a motor control signal, and the load parameter is used to indicate the load borne by the motor during operation.

11. An electric lawn mower, comprising a plurality of mowing elements, a mowing chassis covering the mowing elements, and a control device for controlling the rotation of the mowing elements, wherein the mowing chassis has a grass discharge port for guiding grass clippings to the outside; the mowing elements have corresponding mowing motors driven to rotate and mow, and the control device is configured to: control each mowing motor at a different target speed, and at the same time, the target speed of the mowing motor near the grass discharge port is greater than the target speed of the mowing motor far from the grass discharge port.

12. The electric lawn mower according to claim 11, wherein the control device is configured to: determine the target speed based on the mowing load and grass discharge load corresponding to each mowing motor; the grass discharge load of the mowing motor near the grass discharge port is greater than the grass discharge load of the mowing motor far from the grass discharge port.

13. The electric lawn mower according to claim 11, wherein the control device has a memory, in which preset load parameters under different operating parameters are stored.

14. The electric lawn mower according to claim 11, wherein the control device defines a speed difference of each lawn mowing motor at different speeds, and the speed difference is greater when the speed is higher.

15. The electric lawn mower according to claim 11, wherein the electric lawn mower has a grass collecting mode, a grass discharge mode and a mulching mode; and in the grass collecting mode and the grass discharge mode, the control device is configured to control each mowing motor at a different target speed; in the mulching mode, the control device is configured to control each mowing motor at the same target speed.

16. The electric lawn mower according to claim 15, comprising a first mowing element adjacent to a grass discharge port and a second mowing element away from the grass discharge port, wherein in a grass collecting mode or a grass discharge mode, a mowing motor speed of the first mowing element is greater than a mowing motor speed of the second mowing element.

17. The electric lawn mower according to claim 15, wherein the electric lawn mower has three mowing elements, the mowing motor has at least three rotational speeds, and the rotational speed of the mowing motor increases in sequence from far away from the grass discharge port to close to the grass discharge port at the same time.

18. The electric lawn mower according to claim 11, wherein the control device is configured to configure different weights according to the positions of the lawn mower motors, and the motor with the largest weight is set as the main motor, and the other lawn mower motors are adjusted following the main motor.

19. The electric lawn mower according to claim 18, wherein the rotation speed of the other motor is adjusted by a preset difference.

20. The electric lawn mower according to claim 19, wherein as the speed of the main motor increases, the speed difference between the other motors and the main motor increases.

21. An electric lawn mower, comprising: The driving mechanism is driven by a travel motor; at least two mowing elements and a mowing chassis covering the mowing elements; wherein the mowing elements are driven to rotate by corresponding mowing motors to mow grass and generate airflow, at least part of which is capable of directing grass clippings to the outside of the mowing chassis; A side discharge channel is connected to the grass discharge port of the mowing chassis to guide grass clippings and airflow; A power supply assembly includes at least one battery pack for supplying power to the walking motor and the mowing motor; characterized in that the mowing motor at least meets the following requirements: In the grass discharge mode, the rotation speed of the mowing motor adjacent to the grass discharge port is greater than the rotation speed of the mowing motor away from the grass discharge port.

22. The electric lawn mower according to claim 21, characterized in that The mowing motors satisfy the following conditions: within a certain threshold range, the rotation speed of each mowing motor increases as the mowing load increases, and the rotation speed of each mowing motor decreases as the mowing load decreases.

23. The electric lawn mower according to claim 22, characterized in that The mowing motor satisfies the following condition: the higher the rotation speed of the mowing motor is, the greater the difference between the rotation speed of the mowing motor near the grass discharge port and the rotation speed of the mowing motor far from the grass discharge port is.

24. The electric lawn mower according to claim 21, characterized in that The mowing motor near the grass discharge port is set as the main motor, and the other mowing motors are adjusted following the main motor, and the speeds of the other mowing motors are adjusted by a preset difference.

25. The electric lawn mower according to claim 24, characterized in that Each mowing motor of the electric mower has a different rotation speed at the same time.

26. An electric lawn mower, comprising a first mowing element, a second mowing element and a control device for controlling the rotation speed of the mowing element, wherein the first mowing element and the second mowing element are controlled by different mowing motors, and the control device comprises: A data acquisition module, which is configured to obtain current load parameters of each mowing motor and preset load parameters matching the target operating parameters when the mowing motor is operating at the target operating parameters; A data matching module is configured to determine whether the current load parameters match the preset load parameters, and to obtain preset operating parameters that match the current load parameters if they do not match; A data adjustment module is configured to adjust the current operating parameters according to the preset operating parameters to achieve matching of the current load parameters of the mowing motor with the preset load parameters; wherein, The operating parameter includes at least one of a rotation speed, a torque and a mowing motor control signal, and the load parameter is used to indicate the load borne by the mowing motor during operation.

27. According to the electric lawn mower according to claim 26, the control device also includes a storage module, which stores a first mapping relationship, and the first mapping relationship is used to indicate the relationship between at least one load parameter interval and an operating parameter value; the data acquisition module determines a preset load parameter target interval that matches the target operating parameter based on the first mapping relationship; and the data matching module determines whether the current load parameter matches the preset load parameter based on whether the current load parameter falls into the target interval.

28. The electric lawn mower according to claim 27, wherein the data adjustment module searches for adjacent intervals of the target interval according to the difference between the current load parameter and the preset load parameter; and obtains the preset operating parameters matching the current load parameter according to the preset operating parameters matched by the adjacent interval.

29. The electric lawn mower according to claim 28, wherein the data adjustment module searches for an adjacent interval greater than the target interval when the current load parameter is greater than the preset load parameter; and the data adjustment module searches for an adjacent interval less than the target interval when the current load parameter is less than the preset load parameter.

30. According to the electric lawn mower of claim 29, the data acquisition module is configured to acquire the Mth preset load parameter that matches the adjusted operating parameter, and when the Mth preset load parameter matches the current load parameter, the adjusted operating parameter is marked as the target speed and the current round of adjustment processing is stopped; when the Mth preset load parameter does not match the current load parameter, the next round of adjustment is performed until the current load parameter matches the preset load parameter.

31. The electric lawn mower according to claim 26, wherein the control device assigns different adjustment weights to each mowing motor according to the distance between each mowing motor and the grass discharge port and / or the current load parameters of the motor, and the data adjustment module adjusts the current operating parameters according to the adjustment weights and preset operating parameters.

32. The electric lawn mower according to claim 26, wherein the data adjustment module selects a lawn mower motor with a large weight value as a main motor, and adjusts the operating parameters of the remaining lawn mower motors according to the preset operating parameters matched by the main motor.

33. According to the electric lawn mower of claim 26, the data acquisition module acquires the current current value of the lawn mower motor; the data matching module determines the preset current value according to the preset load parameters; the data adjustment module uses a dual closed-loop control strategy of a real-time operating parameter outer loop and a current inner loop according to the preset current value, the current current value, the preset operating parameters and the current operating parameters to complete the adjustment of the current operating parameters of the lawn mower motor.

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