Electric garden work vehicle

Abstract

Disclosed in the present specification is an electric garden work vehicle, which can meet high-power requirements and can also achieve balanced and stable discharge control. The electric garden work vehicle comprises a vehicle frame, a work system connected to the vehicle frame, and a power source system used for supplying power to the work system. The power source system comprises a plurality of battery cells and a power management system, wherein in a discharge stage, the power management system controls at least one of the battery cells, which has a higher evaluation value, in the power source system to discharge first; and when the voltages of the other battery cells exceed a load bus voltage of the work system, the power management system is used for controlling the battery cell to discharge.

Description

Electric gardening vehicle Technical Field

[0001] This specification relates to the technical field of garden tools, and in particular to an electric gardening vehicle. Background Art

[0002] Most gardening tools on the market are fuel-powered. This approach presents a major problem: the exhaust gases it releases pollute the environment, and the noise it produces during operation contributes to noise pollution. In contrast, electric gardening tools are gaining increasing popularity due to their environmental friendliness, cleanliness, and quietness.

[0003] Handheld electric gardening tools can be powered by a single battery pack. However, for high-power tools like electric gardening vehicles, a single battery pack suitable for handheld gardening tools cannot meet the high power requirements. Therefore, gardening teams need to equip themselves with multiple battery packs, which are expensive and difficult to carry. Furthermore, the discharge behavior of multiple battery packs is inconsistent, making it crucial to ensure efficient and balanced discharge. Summary of the Invention

[0004] In view of this, the embodiments of this specification provide an electric gardening work vehicle that meets high power requirements while achieving balanced and stable discharge control.

[0005] In one aspect, embodiments of the present specification provide an electric garden work vehicle comprising: a vehicle frame, a working system connected to the vehicle frame, and a power supply system for supplying power to the working system;

[0006] The power supply system includes a plurality of battery units;

[0007] and a power management system for controlling at least one battery cell with a higher evaluation value in the power system to discharge first during a discharge phase;

[0008] For other battery units in the power supply system, when the voltage of the battery unit exceeds the load bus voltage of the working system, the power management system is used to control the battery unit to discharge.

[0009] In another aspect, embodiments of the present specification provide an electric garden work vehicle comprising: a vehicle frame, a working system connected to the vehicle frame, and a power supply system for supplying power to the working system;

[0010] The power supply system includes a plurality of battery units;

[0011] and a power management system configured to register the battery status information of the plurality of battery cells to generate a battery registration table before the discharge phase;

[0012] During the discharging phase, discharge control is performed on the plurality of battery cells based on the battery registration table;

[0013] Furthermore, when a battery unit is added or removed during the discharge phase, the battery registration table is updated.

[0014] As can be seen from the above, the electric gardening vehicle and discharge control method thereof provided in the embodiments of this specification have the following beneficial technical effects:

[0015] In the electric gardening vehicle, the power management system selects the battery cells with higher evaluation values ​​in the power system to discharge first. For other battery cells, the system compares the battery cell voltage with the load bus voltage and controls the battery cell to discharge when the voltage exceeds the load bus voltage. This approach ensures balanced discharge of multiple battery cells and improves discharge efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0017] FIG1 shows a schematic diagram of an electric gardening vehicle provided by one or more optional embodiments of this specification;

[0018] FIG2 shows another schematic diagram of an electric gardening vehicle provided by one or more optional embodiments of this specification;

[0019] FIG3-a shows a schematic diagram of a system framework of an electric gardening vehicle provided by one or more optional embodiments of this specification;

[0020] FIG3-b shows another system framework diagram of an electric gardening vehicle provided in one or more optional embodiments of this specification;

[0021] FIG4 shows a schematic diagram of a circuit structure of an electric gardening vehicle provided by one or more optional embodiments of this specification;

[0022] FIG5 is a schematic diagram showing a discharge control method for a newly added battery unit in an electric gardening vehicle provided by one or more optional embodiments of this specification;

[0023] FIG6 shows a schematic diagram of another discharge control method for a newly added battery unit in an electric gardening vehicle provided by one or more optional embodiments of this specification;

[0024] FIG7 shows another circuit structure diagram of an electric gardening vehicle provided by one or more optional embodiments of this specification;

[0025] FIG8 shows a schematic diagram of an energy recovery control method in a discharge control method applied to an electric gardening vehicle provided by one or more optional embodiments of this specification;

[0026] FIG9 shows a schematic diagram of a discharge start control method in a discharge control method applied to an electric gardening vehicle provided by one or more optional embodiments of this specification;

[0027] FIG10 is a schematic diagram showing a discharge termination control method in a discharge control method applied to an electric gardening vehicle provided by one or more optional embodiments of this specification;

[0028] FIG11 shows a schematic diagram of a discharge control method applied to an electric gardening vehicle provided by one or more optional embodiments of this specification. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] Most gardening tools on the market are fuel-powered. This approach presents a major problem: the exhaust gases it releases pollute the environment, and the noise it produces during operation contributes to noise pollution. In contrast, electric gardening tools are gaining increasing popularity due to their environmental friendliness, cleanliness, and quietness.

[0031] Handheld electric gardening tools can be powered by a single battery pack. However, for high-power tools like electric gardening vehicles, a single battery pack suitable for handheld gardening tools cannot meet the high power requirements. Therefore, gardening teams need to equip themselves with multiple battery packs, which are expensive and difficult to carry. Furthermore, the discharge behavior of multiple battery packs is inconsistent, making it crucial to ensure efficient and balanced discharge.

[0032] To this end, the purpose of the embodiments of this specification is to provide an electric gardening vehicle and a discharge control method. The electric gardening vehicle is compatible with a variety of battery cells of varying specifications and capacities. Small-capacity batteries are suitable for handheld electric gardening tools, while large-capacity batteries can better meet the high-power requirements of the electric gardening vehicle. The discharge control method, applied to the electric gardening vehicle, compares the battery cell voltage with the load bus voltage and controls the discharge of multiple battery cells based on the comparison results, ensuring balanced discharge across multiple battery cells and improving discharge efficiency.

[0033] Based on the above objectives, the embodiments of this specification provide an electric gardening vehicle.

[0034] 1 and 2 , the electric gardening vehicle includes a vehicle frame 100 , a working system 102 connected to the vehicle frame 100 , a power system 104 for supplying power to the working system 102 , and a battery management system (BMS).

[0035] The frame 100 at least partially extends parallel to the front-rear direction, and a load-bearing component may be provided on the frame 100. The load-bearing component may include at least one of a seat or a standing platform, and FIG1 only exemplarily shows the case where the load-bearing component includes a seat. The seat or the standing platform is used for sitting or standing while working. That is, the electric garden work vehicle can provide a riding working mode or a standing working mode. Furthermore, the structure of the seat and the standing platform can be flexibly switched, that is, the working mode of the electric garden work vehicle can be flexibly switched between a riding working mode and a standing working mode according to the actual needs of the working user. A handheld operating component may also be provided on the frame 100, and based on the handheld operating component, the electric garden work vehicle can also provide a hand-push working mode.

[0036] The working system 102 includes a power output assembly 1020 and a travel drive assembly 1022. The power output assembly 1020 includes an output member for outputting power to achieve a specific mechanical function. In some optional embodiments, the power output assembly 1020 is a mowing element for mowing grass. The power output assembly 1020 is also connected to the vehicle frame 100. The power output assembly 1020 also includes a first drive motor for driving the mowing element to rotate at high speed, and a control module corresponding to the first drive motor.

[0037] The power output assembly 1020 may include one or more mowing elements. Accordingly, the number of the first drive motors may correspond to the number of mowing elements. For example, in some embodiments, the mowing element may include three blades, and the number of the first drive motors may also be three. In some specific embodiments, the control module corresponding to the first drive motor includes a control chip, such as an MCU, an ARM processor, or the like.

[0038] In some optional embodiments, the power output assembly 1020 is a cleaning element for achieving clean energy supply. The power output assembly 1020 further includes a first drive motor for driving the cleaning element, and a control module corresponding to the first drive motor.

[0039] It is understandable that in some optional embodiments, the power output assembly 1020 can also be replaced with other functional components, such as snow sweeping, snow blowing, snow shoveling, flushing and other components. Those skilled in the art should be able to adaptively replace various functional components without creative work, and the above should all be included in the scope of protection of this embodiment.

[0040] The travel drive assembly 1022 is used to enable the electric garden work vehicle to travel in a garden scene such as a lawn, a garden, or a fence. The travel drive assembly 1022 includes at least a travel wheel element and a second drive motor for driving the travel wheel element. A plurality of travel wheel elements can be provided, and the number of the second drive motors corresponds to the travel wheel elements. In some optional embodiments, the travel drive assembly 1022 includes a first travel wheel and a second travel wheel and two corresponding second drive motors. When the two second drive motors drive the corresponding travel wheels to rotate with different powers, a speed difference is generated between the first travel wheel and the second travel wheel, thereby enabling the electric garden work vehicle to turn. In some embodiments, the travel drive assembly 1022 also includes a travel controller for controlling the second drive motor.

[0041] The working system 102 serves as a load in the electric gardening work vehicle, and the power supply system 104 is used to supply power to the load. Specifically, the power supply system 104 is used to supply power to at least the first drive motor in the power output assembly 1020 and the second drive motor in the travel drive assembly 1022. The power supply system 104 may also supply power to other electronic components in the electric gardening work vehicle, such as the control module corresponding to the first drive motor in the power output assembly 1020 and the travel controller corresponding to the second drive motor in the travel drive assembly 1022.

[0042] The power system 104 is mounted on the vehicle frame 100 and is detachably connected to the vehicle frame 100. The power system 104 includes a plurality of battery cells. The plurality of battery cells may be selected from at least one of a first specification battery pack and a second specification battery pack. Specification differences between the first specification battery pack and the second specification battery pack include, but are not limited to, differences in battery pack capacity, voltage, battery internal resistance, weight, size, energy density, cell type, charge information, and battery health status information.

[0043] In some optional embodiments, the difference between the first specification battery pack and the second specification battery pack is the different battery pack capacities. The capacity of the first specification battery pack is greater than the capacity of the second specification battery pack. The second specification battery pack is configured to provide power for handheld garden tools. For example, the second specification battery pack can power garden tools such as lawn mowers, pruners, hair dryers, and chainsaws. In addition, the second specification battery pack can also power torque output tools such as electric drills and electric hammers; power sawing tools such as electric circular saws, jigsaws, and reciprocating saws, or power grinding tools such as angle grinders and sanders.

[0044] In some optional embodiments, the difference between the first and second battery packs lies in the type of battery cells used. For example, the first and second battery packs may use lithium iron phosphate cells and ternary lithium cells, respectively. The multiple battery cells in the power system 104 may also use nickel-cadmium battery cells, lead-acid battery cells, graphene battery cells, etc.

[0045] The multiple battery cells of the power supply assembly select at least one of the first specification battery pack and the second specification battery pack. This makes the electric gardening work vehicle compatible with battery packs of different specifications, meeting high-power working requirements while also being adaptable to handheld electric gardening tools, making the working methods of gardening workers more flexible.

[0046] The power management system is used to control the charge and discharge of the multiple battery cells in the power system 104. Specifically, in the discharge phase, the power management system can perform discharge control on the multiple battery cells.

[0047] The power management system is configured to control at least one of the battery cells with a higher evaluation value in the power system 104 to discharge first, so as to provide power to at least one of the first drive motor and the second drive motor in the working system 102 .

[0048] The evaluation value is determined based on at least one state parameter information corresponding to the battery cell, which includes at least voltage information, capacity information, charge information, internal resistance information, and health status information.

[0049] In some optional embodiments, the evaluation value may be determined based on only one state parameter. For example, the evaluation value may be determined based on voltage information, where the higher the voltage value of the battery cell before discharge begins, the higher the corresponding evaluation value. The evaluation value may also be determined based on capacity information, where the larger the overall capacity of the battery cell, the higher the corresponding evaluation value. The evaluation value may also be determined based on the state of charge (SOC), where the higher the SOC value, the higher the corresponding evaluation value.

[0050] In some optional embodiments, the evaluation value may be determined based on multiple state information. When determined based on multiple state information, the evaluation value may be determined by weighted summation or weighted average calculation based on the multiple state information corresponding to the battery cell.

[0051] Taking weighted average as an example, the calculation method of the evaluation value includes:

[0052] Wherein, P represents the evaluation value, n represents the number of types of the state information involved in determining the evaluation value, and M i represents the data value corresponding to the i-th state information, δ i (δ i >0) represents the weighted adjustment coefficient corresponding to the i-th state information. The weighted adjustment coefficient can be flexibly adjusted and set according to actual application conditions.

[0053] The evaluation value determined by such a calculation method is calculated by integrating various status information associated with the battery unit. The evaluation value can scientifically and effectively measure the impact of the discharge of the corresponding battery unit on the operation of the electric gardening vehicle.

[0054] The at least one battery cell with a higher evaluation value includes the battery cell with the highest evaluation value and the battery cell with the highest evaluation value P max The battery cell whose difference is within the preset difference range. The preset difference range can be, for example, 0.1P max , then the at least one battery cell with a higher evaluation value refers to all battery cells in the power system 104 with evaluation values ​​greater than 0.9P max In some optional embodiments, the preset difference range is 0.03P max to 0.3P max .

[0055] Based on the above description, the evaluation value can scientifically and effectively measure the impact of the discharge of the corresponding battery cell on the operation of the electric garden work vehicle. The power management system selects at least one battery cell with a higher rating value and controls it to discharge first. In this way, the at least one battery cell that discharges to output power first can ensure that the electric garden work vehicle starts operating smoothly and effectively. Specifically, the at least one selected battery cell can effectively meet the normal operation of at least one of the first drive motor and the second drive motor in the electric garden work vehicle.

[0056] High-power power tools like electric gardening vehicles are typically powered by battery packs. In real-world scenarios, the vehicle must be powered off and stopped before replacing or removing the battery pack. This inconvenience significantly impacts the overall efficiency of the electric gardening vehicle.

[0057] In certain other optional embodiments of the discharge control method for an electric gardening vehicle, the power management system may be further configured to register the status information of the plurality of battery cells to generate a battery registration table before the discharge phase. During the discharge phase, the power management system controls the discharge of the plurality of battery cells based on the battery registration table. Furthermore, if a battery cell is removed or added during the discharge phase, the battery registration table is updated, and discharge control is performed based on the updated battery registration table.

[0058] As shown in Figures 3-a and 3-b, in some optional embodiments, the power supply system includes multiple communication interfaces, and the power management system includes a communication component. The power management system can establish communication connections with the multiple communication interfaces through the communication component, thereby using the multiple communication interfaces to receive battery connection signals from the multiple battery cells, wherein the battery connection signals include the status information of the battery cells.

[0059] The status information includes battery ID information and status parameter information of the battery unit.

[0060] The corresponding status parameter information of the battery cell includes at least voltage information, capacity information, charge information, internal resistance information, and health status information. The status information may also include, but is not limited to, the actual total capacity, remaining capacity, remaining capacity percentage, number of charge and discharge cycles of the corresponding battery cell, and specification parameter information including rated capacity, rated voltage, rated current, maximum charge and discharge current, factory total capacity, cell type, number of cells in series / parallel, single cell voltage, and discharge cut-off voltage.

[0061] After receiving the status information of the plurality of battery cells, the power management system determines and selects all normal battery cells in the power system 104 based on the status information, registers the normal battery cells, and generates a battery registration table using the status information of the battery cells as registration information. In the battery registration table, the plurality of battery cells are sorted in descending order of voltage.

[0062] The battery management unit is configured to control at least one of the battery cells with a higher evaluation value in the battery registry to discharge first, and provide electrical energy for at least one of the first drive motor and the second drive motor in the working system 102. The evaluation value is determined according to at least one state parameter information corresponding to the battery cell. Based on the above statement, the evaluation value can scientifically and effectively measure the impact of the discharge of the corresponding battery cell on the operation of the electric garden work vehicle. The power management system can select at least one of the battery cells with a higher rating value in the battery registry and control it to discharge first. In this way, the at least one battery cell that discharges to output power first can ensure that the electric garden work vehicle starts to operate smoothly and effectively. Specifically, the selected at least one battery cell can effectively meet the normal operation of at least one of the first drive motor and the second drive motor in the electric garden work vehicle.

[0063] For other battery cells in the power system 104, when the voltage of the battery cell exceeds the load bus voltage of the working system 102, the power management system is configured to control the battery cell to discharge. As shown in Figures 3-a and 3-b, in some embodiments, the power management system further includes a bus voltage monitoring component for monitoring the load bus voltage of the working system 102. The power management system utilizes the bus voltage monitoring component to obtain the real-time load bus voltage of the working component and compares the voltage of the multiple battery cells in the power system 104 with the load bus voltage.

[0064] For the other battery cells in the battery registration table, the power management system sequentially compares the voltages of the plurality of battery cells with the load bus voltage of the operating system according to the sorting order in the battery registration table. When the voltage of the battery cell exceeds the load bus voltage of the operating system 102, the power management system controls the battery cell to discharge.

[0065] As shown in Figures 3-a and 3-b, in some embodiments, the power management system further includes a bus voltage monitoring component for monitoring the load bus voltage of the working system 102. The power management system utilizes the bus voltage monitoring component to obtain the real-time load bus voltage of the working component and sequentially compares the voltages of the multiple battery cells with the load bus voltage according to the sorting order in the battery registry. The working system 102 serves as the load in the electric gardening vehicle. After the power management system selects and controls at least one battery cell with a higher rating to begin discharging, the corresponding load bus voltage will gradually decrease due to the high-power load of the working system 102. During this process, the voltages of the power system 104 or other battery cells in the battery registry will gradually exceed the load bus voltage. The power management system is configured to control the battery cell to discharge when the voltage of the battery cell exceeds the load bus voltage of the working system 102.

[0066] That is, due to the high-power load of the working system 102, as the load bus voltage gradually decreases, the other multiple battery cells in the power supply system 104 also begin to discharge one by one on the control line of the power management system, supplying power to the working system 102, allowing the electric gardening vehicle to perform its work tasks at a higher power. This method ensures balanced discharge of multiple battery cells and improves discharge efficiency.

[0067] After the electric gardening vehicle begins operation, the power output assembly and travel drive assembly in the operating system 102 will encounter various operating conditions, and the corresponding operating power of the first and second drive motors will also continuously change. Under these different operating conditions, the load bus voltage of the operating system 102 will fluctuate. When the load bus voltage rises and exceeds the voltage of a battery cell, the power management system can control the battery cell to temporarily stop discharging.

[0068] As shown in Figures 3-a and 3-b, in one embodiment, the power system 104 includes battery cells PACK1, PACK2, PACK3, PACK4, PACK5, and PACK6. The power management system can generate a battery registration table for the six battery cells in the power system 104. The order of the multiple battery cells in the battery registration table can be, for example, PACK5, PACK6, PACK1, PACK2, PACK3, and PACK4.

[0069] The power management system controls the discharge of the six battery cells in the power system 104. In some optional embodiments, the power management system may control the discharge of the six battery cells in the power system 104 based on the battery registration table. Since PACK5 and PACK6 have higher evaluation values, the power management system may control PACK5 and PACK6 to discharge first.

[0070] After PACK5 and PACK6 begin discharging, the power management system monitors the load bus voltage of the working system 102 in real time and compares the load bus voltage with the voltages of PACK1, PACK2, PACK3, and PACK4. In some optional embodiments, the power management system may compare the voltages of PACK1, PACK2, PACK3, and PACK4 with the load bus voltage in order according to the registration list.

[0071] The voltage relationship among battery cells PACK1, PACK2, PACK3, and PACK4 can be, for example, PACK1>PACK2>PACK3>PACK4. When the voltage of battery cell PACK1 exceeds the load bus voltage, the power management system controls battery cell PACK1 to start discharging. As the load bus voltage continues to decrease, when the voltage of battery cell PACK2 exceeds the load bus voltage, the power management system controls battery cell PACK2 to start discharging. When the voltage of battery cell PACK3 exceeds the load bus voltage, the power management system controls battery cell PACK3 to start discharging. When the voltage of battery cell PACK4 exceeds the load bus voltage, the power management system controls battery cell PACK4 to start discharging. At this point, the multiple battery cells in the power system 104 are in a discharging state, supplying power to the load of the working system 102.

[0072] The power output component and the walking drive component in the working system 102 will face a variety of different working conditions, and the corresponding working power conditions of the first drive motor and the second drive motor are also constantly changing. Under different working conditions, the load bus voltage of the working system 102 will fluctuate. When the load bus voltage rises and exceeds the voltage of the battery cell PACK4, the power management system can control the battery cell PACK4 to temporarily stop discharging. If the load bus voltage continues to rise and exceeds the voltage of the battery cell PACK3, the power management system can control the battery cell PACK3 to suspend discharge.

[0073] As shown in FIG4 , in an electric gardening work vehicle provided in some optional embodiments, a plurality of circuit branches are further provided between the power supply system 104 and the working system 102, and the plurality of circuit branches are respectively connected to the plurality of battery cells. The power management system can control the circuit branch corresponding to at least one battery cell with a higher evaluation value to be turned on first, so that the at least one battery cell with a higher evaluation value is discharged first. For other battery cells in the power supply system 104 or the battery registry, when the voltage of the battery cell exceeds the load bus voltage, the power management system can control the circuit branch corresponding to the battery cell to be turned on, so that the battery cell is discharged. In some optional embodiments, a switching unit is provided in the circuit branch. The power management system can control the on / off state of the corresponding circuit branch by controlling the switching power supply, thereby controlling the discharge of multiple battery cells in the power supply system 104. The switching power supply can be a physical mechanical switch or an electronic switch.

[0074] FIG4 only shows the power supply system, the power management system, and a portion of the multiple circuit branches. The output ports (P+, P-) of the multiple circuit branches are connected to the working system, specifically, the power output assembly and the travel drive assembly in the working system. The power supply system provides the power output assembly and the travel drive assembly functions through the multiple circuit branches. The power management system can communicate with the multiple battery cells in the power supply system via the CAN bus, thereby obtaining the corresponding status information of the multiple battery cells.

[0075] FIG4 shows a situation of 4 battery cells and 4 circuit branches. In some optional embodiments, a switch unit is provided in the circuit branch, and the power management system can control the on-off state of the corresponding circuit branch by controlling the switch unit, thereby controlling the discharge of multiple battery cells in the power system 104. The switch unit can be a physical mechanical switch or an electronic switch. For example, an insulated-gate bipolar transistor (IGBT) or a relay can also be used as a switch unit. As shown in FIG4 , a MOS tube is selected as the switch unit, and the power management system (BMS) is provided with multiple control pins (PINs) for outputting control signals to control the on-off state of multiple MOS tubes, thereby controlling the on-off state of multiple circuit branches.

[0076] In some optional embodiments, the rating value is determined based on voltage information. The higher the voltage of the battery cell, the higher the corresponding evaluation value. The power management system can select at least one of the battery cells with a higher voltage value and control its corresponding circuit branch to be turned on first, so that the corresponding battery cell is discharged first. After the at least one battery cell with a higher voltage begins to discharge, the power management system monitors the load bus voltage of the working system 102. When the voltage of a battery cell among the other battery cells exceeds the load bus voltage, the power management system controls the corresponding circuit branch to be turned on, so that the corresponding battery cell begins to discharge.

[0077] As shown in Figure 4, in some optional embodiments, the power management system uses the communication component to maintain a communication connection with multiple communication interfaces (CAN_H, CAN_L) in the power system, adopts time-sharing communication, periodic communication, or real-time communication and other communication methods to obtain the status parameters of multiple battery cells, and performs status judgment and detection on the corresponding battery cells based on the status parameters.

[0078] A plurality of battery cells in a discharging state can form a discharge queue. When the power management system detects that the battery cell has an error abnormality such as overtemperature or undervoltage, the battery cell needs to be removed from the discharge queue. In this case, the power management system can generate an error alarm message to notify the staff to remind the staff to remove or replace the abnormal battery cell. In some optional embodiments, the power management system can also actively remove the abnormal battery cell from the discharge queue. Correspondingly, when a battery cell with an error abnormality occurs, after abnormality investigation and repair, the power management system determines that the battery cell can resume normal discharge based on the status information obtained, and the battery cell can be added back to the discharge queue. For the battery cell, the battery cell is a newly added battery cell.

[0079] The power management system utilizes the communication component to maintain communication connections with multiple communication interfaces in the power system, and can also periodically monitor corresponding battery connection signals. When the power management system times out from communicating with a communication interface, it indicates that the corresponding battery connection signal has been lost. It can be determined that the battery cell corresponding to the communication interface has been removed. Correspondingly, when it is detected that an idle communication interface has received a new battery connection signal, the power management system can determine that a new battery cell has been added to the communication interface.

[0080] In some optional embodiments, when a battery cell needs to be removed, the power management system may delete the registration information corresponding to the battery cell to be removed from the battery registration table and move all other registration information following the registration information corresponding to the battery cell to be removed forward in the battery registration table, thereby updating the battery registration table. The battery management unit may continue to control the discharge of the multiple battery cells based on the updated battery registration table.

[0081] In some optional embodiments, the removed battery cell is the only battery cell in a discharged state. In this case, to ensure the normal operation of the electric gardening vehicle, the power management system, after updating the battery registry, may again select at least one battery cell with a higher evaluation value in the battery registry and control it to discharge.

[0082] The newly connected battery unit may affect the original discharge control. Therefore, in some optional embodiments, when a new battery unit is needed, the battery management unit is further used to determine the registration voltage condition for the newly connected battery unit.

[0083] When it is determined that the newly connected battery unit meets the registration voltage condition, the power management system is used to directly register the newly connected battery unit. The direct registration means directly adding the corresponding registration information of the newly connected battery unit to the last position of the battery registration table.

[0084] When it is determined that the newly connected battery unit does not meet the registration voltage condition, the power management system is used to update the registration of the newly connected battery unit. The update registration means adding the corresponding registration information of the newly connected battery unit to the battery registration table and updating the battery registration table after determining that the electric gardening vehicle is in a stopped state.

[0085] The registration voltage conditions include:

[0086] The voltage of the newly connected battery cell is less than a minimum discharge voltage, where the minimum discharge voltage refers to a minimum voltage value of at least one of the battery cells in a discharge state.

[0087] If the voltage of the newly connected battery cell is lower than the minimum discharge voltage, the connection of the battery cell will not affect the original discharge control. Therefore, the power management system can directly add the corresponding registration information of the battery cell to the battery registration table, and add the registration information to the end of the battery registration table.

[0088] The battery management unit can compare the voltage of the newly connected battery unit with the load bus voltage. If the voltage of the newly connected battery unit exceeds the load bus voltage, the battery management voltage can control the newly connected battery unit to discharge.

[0089] If the voltage of the newly connected battery unit is not less than the minimum discharge voltage, the connection of the battery unit may affect the original discharge control. In this case, the power management system can add the corresponding registration information of the newly connected battery unit to the battery registration table after confirming that the electric garden work vehicle is in the stopped state, and reorder the registration information of multiple battery units in the battery registration table.

[0090] Referring to FIG5 , the discharge control method for the newly added battery unit includes the following steps:

[0091] S101 : The power management system communicates with the plurality of communication interfaces in the power system 104 .

[0092] S102: When detecting that an idle communication interface receives a new battery connection signal, or determining based on the status information that a state of an abnormal battery unit has returned to normal, the power management system may determine that a new battery unit is added to the communication interface;

[0093] S103: The power management system compares the voltage of the newly connected battery unit with the minimum discharge voltage to determine whether the newly connected battery unit meets the registration voltage condition;

[0094] S104: When it is determined that the newly connected battery unit meets the registration voltage condition, the power management system adds the corresponding registration information of the newly connected battery unit to the end of the battery registration table;

[0095] S105: When it is determined that the newly connected battery unit does not meet the registration voltage condition, the power management system communicates with the driving control system to determine whether the electric gardening vehicle is in a stopped state;

[0096] S106: When it is determined that the electric gardening vehicle is in a stopped state, the power management system adds the registration information corresponding to the newly connected battery unit to the battery registration table, and reorders and updates the multiple battery units in the battery registration table;

[0097] S107: The power management system compares the voltage of the newly connected battery unit with the load bus voltage;

[0098] S108: If the voltage of the newly connected battery unit exceeds the load bus voltage, the power management system controls the newly connected battery unit to discharge.

[0099] In some other optional embodiments, when a new battery unit is needed, the battery management unit is further configured to control the newly connected battery unit to be temporarily connected to the working system to obtain a sampling current, and perform a registration current condition determination on the sampling current.

[0100] When it is determined that the sampled current meets the registration current condition, the power management system is used to directly register the newly connected battery unit. The direct registration refers to directly adding the corresponding registration information of the newly connected battery unit to the last position of the battery registration table.

[0101] When it is determined that the sampled current does not meet the registration current condition, the power management system is configured to update the registration of the newly connected battery unit. The updated registration means, after determining that the electric gardening vehicle is in a stopped state, adding the corresponding registration information of the newly connected battery unit to the battery registration table and updating the battery registration table.

[0102] The registration current condition includes that the sampling current is less than a first preset current threshold, and the value range of the first preset current threshold is 0.1A to 3A.

[0103] The power management system is further configured to determine whether the sampled current meets a direct discharge current condition. When it is determined that the sampled current meets the direct discharge current condition, the power management unit is configured to control the newly connected battery unit to discharge.

[0104] The direct discharge current condition includes: the sampling current is less than the first preset current threshold and greater than a second preset current threshold; wherein the second preset current threshold has a value range of -3A to -0.1A.

[0105] That is, when the sampling current corresponding to the newly connected battery unit is less than the first preset current threshold and greater than the second preset current threshold, the power management system adds the corresponding registration information of the newly connected battery unit to the battery registry and updates the battery registry, and then can directly control the newly connected battery unit to discharge.

[0106] Referring to FIG6 , the discharge control method for the newly added battery unit includes the following steps:

[0107] S201: The power management system communicates with the plurality of communication interfaces in the power system 104;

[0108] S202: When detecting that an idle communication interface receives a new battery connection signal, or determining based on the status information that a state of an abnormal battery unit has returned to normal, the power management system may determine that a new battery unit is added to the communication interface;

[0109] S203: The power management system controls the circuit branch corresponding to the newly connected battery unit to be temporarily turned on to obtain a corresponding sampling current;

[0110] S204: The power management system compares the sampled current corresponding to the newly connected battery unit with a first preset current threshold to determine whether the sampled current is less than the first preset current threshold. The first preset current threshold may be 3A, for example.

[0111] S205: When it is determined that the sampled current is less than the first preset current threshold, the power management system adds the registration information corresponding to the newly connected battery unit to the end of the battery registration table;

[0112] S206: The power management system compares the sampled current with a second preset current threshold to determine whether the sampled current is greater than the second preset current threshold. The second preset current threshold may be -3A, for example.

[0113] S207: When it is determined that the sampled current is less than the first preset current threshold and greater than the second preset current threshold, the power management system directly controls the newly connected battery unit to discharge;

[0114] S208: When it is determined that the sampled current is not less than a first preset current threshold, the power management system communicates with the driving control system to determine whether the electric gardening vehicle is in a stopped state;

[0115] S209: When it is determined that the electric gardening vehicle is in a stopped state, the power management system adds the registration information corresponding to the newly connected battery unit to the battery registration table, and reorders and updates the multiple battery units in the battery registration table;

[0116] S210: The power management system compares the voltage of the newly connected battery unit with the load bus voltage;

[0117] S211: If the voltage of the newly connected battery unit exceeds the load bus voltage, the power management system controls the newly connected battery unit to discharge.

[0118] The discharge control method applied to electric gardening vehicles adopts the method of registering and updating battery pack status information, and performs discharge control based on the real-time updated battery registration table. The battery pack can be flexibly replaced or disassembled without the need to shut down the entire vehicle.

[0119] In an electric garden work vehicle provided in some optional embodiments, the power supply system 104 includes a first battery unit and a second battery unit, and the evaluation value of the first battery unit is higher than the evaluation value of the second battery unit. The power supply system 104 includes a first circuit branch and a second circuit branch respectively connected to the first battery unit and the second battery unit. The power management system can control the first circuit branch to be turned on first, so that the first battery unit is discharged first. After the first battery unit starts to discharge, the power management system monitors the load bus voltage of the working system 102 in real time. When the voltage of the second battery unit exceeds the load bus voltage, the power management system controls the second circuit branch to be turned on, so that the second battery unit is discharged.

[0120] In some optional embodiments, the first circuit branch and the second circuit are respectively provided with a first switch unit and a second switch unit. The power management system may control the first switch unit to close first to discharge the first battery cell. When the voltage of the second battery cell exceeds the bus voltage of the load, the second switch unit may be controlled to close to discharge the second battery cell.

[0121] As shown in FIG7 , in an electric gardening vehicle provided in some optional embodiments, a first MOS transistor ( Q1 ) and a second MOS transistor ( Q2 ) are provided in both the first circuit branch and the second circuit.

[0122] The first battery unit is sequentially connected in series with the first MOS transistor and the second MOS transistor in the first circuit branch. The second battery unit is sequentially connected in series with the first MOS transistor and the second MOS transistor in the second circuit branch.

[0123] In the first circuit branch and the second circuit branch, only when the first MOS transistor and the second MOS transistor are turned on at the same time, the corresponding circuit branch can be turned on, and the corresponding battery unit can start discharging.

[0124] During the discharge phase, the power management system controls the second MOS transistors in the first circuit branch and the second circuit branch to be turned on.

[0125] The power management system can control the first MOS tube in the first circuit branch to be turned on first so that the first battery unit is discharged first, and when the voltage of the second battery unit exceeds the load bus voltage, control the first MOS tube in the second circuit branch to be turned on so that the second battery unit is discharged.

[0126] As shown in FIG7 , in some optional embodiments of an electric gardening vehicle, the first and second MOS transistors each include a body diode. The conduction direction of the body diode in the first MOS transistor is consistent with the direction of the discharge current, which is directed from the power supply system 104 to the working system 102 .

[0127] When the power management system controls the discharge of the first battery cell and the second battery cell, the first MOS transistor in the first circuit branch may be turned on first to discharge the first battery cell first. At this time, the first MOS transistor in the second circuit branch is not turned on, and the second circuit branch is in an off state.

[0128] After the first battery cell begins discharging, the electric gardening vehicle begins operating. Due to the load of the operating system 102, the load bus voltage is pulled down. During this process, when the voltage of the second battery cell exceeds the load bus voltage, and the voltage difference between the second battery cell and the load bus exceeds the conduction voltage of the body diode corresponding to the first MOS transistor in the second circuit branch, the body diode conducts. In this case, a small current flows out of the body diode.

[0129] To this end, the power management system can monitor the body diode current of the first MOS transistor. When current is detected flowing through the body diode and the body diode current exceeds a preset discharge current threshold, it can be determined that the voltage of the second battery cell has exceeded the load bus voltage. In this case, the power management system can control the first MOS transistor in the second circuit branch to conduct, thereby controlling the second branch to conduct, causing the second battery cell to begin discharging. The discharge current threshold ranges from 0.01C to 0.1C. Taking the second battery cell capacity as an example, 1C = 4A, and the corresponding discharge current threshold in the second circuit branch ranges from 0.01C to 0.1C, that is, 0.04A to 0.4A. The specific discharge current threshold can be set to 0.4A. When the body diode current is detected to exceed 0.4A, the first MOS transistor in the second circuit branch can be controlled to conduct, thereby turning on the second branch and controlling the second battery cell to discharge.

[0130] As shown in Figures 3-a and 3-b, in some optional embodiments, the power management system further includes a current monitoring component. The current monitoring component is used to monitor the body diode current of the first MOS transistor and the second MOS transistor.

[0131] After the electric garden work vehicle starts working, the power output component and the travel drive component in the working system 102 will face a variety of different working conditions, and the corresponding working power conditions of the first drive motor and the second drive motor are also constantly changing. Under different working conditions, the load bus voltage of the working system 102 will fluctuate. Among them, when the load bus voltage increases, it will cause the corresponding body diode current of the first MOS tube in the second circuit branch to drop. When the body diode power is lower than the discharge current threshold, the power management system can control the first MOS tube in the second circuit branch to be cut off to stop the discharge of the second battery unit.

[0132] As shown in FIG3-b , in some optional embodiments of an electric gardening vehicle, the power management system further includes a mutual charging detection component configured to monitor reverse currents in the plurality of circuit branches.

[0133] When the electric garden work vehicle is working, the power supply system 104 provides energy to the working system 102. When the electric garden work vehicle stops, the voltage of the plurality of battery cells rebounds due to the removal of the load of the working system 102. There are differences in the voltages of different battery cells, and the potential difference between different battery cells may cause the currents between the battery cells to charge each other. For example, when the voltage of battery cell PACK1 is higher than the voltage of battery cell PAKC2, when the vehicle stops, battery cell PACK1 may charge PACK2. At this time, the current in the circuit branch corresponding to battery cell PACK2 is opposite to the current direction during discharge. The mutual charging detection component is used to monitor the reverse current in the circuit branch in this case.

[0134] The power management system is used to determine whether the reverse current exceeds the preset mutual charging current threshold. When the reverse current exceeds the preset mutual charging current threshold, the power management system can immediately control the corresponding circuit branch to be disconnected to avoid the harm caused to the battery cells by the mutual charging of current between battery cells. The value range of the preset mutual charging current threshold is 0.01C to 1C. Taking a battery cell with a capacity of 5Ah as an example, 1C=5A, and the corresponding preset mutual charging current threshold value range is 0.01C to 1C, that is, 0.05A=5A. The specific preset mutual charging current threshold can be set to 2.5A. When the mutual charging detection component detects that the reverse current in the circuit branch corresponding to the 5Ah battery cell exceeds 2.5A, the power management system can immediately control the circuit branch to be disconnected. Specifically, it can be flexibly adjusted within the threshold range according to the actual application situation.

[0135] As shown in Figure 3-b, in some optional embodiments, the electric gardening vehicle further includes a vehicle control unit (VCU) for controlling the vehicle's overall driving state. The power management system can communicate with the vehicle control unit to obtain vehicle-wide driving state information. The vehicle-wide driving state information includes at least running state, braking state, and shutdown state.

[0136] In the braking state, there is a process of energy backflow, where the braking of the working system 102 causes electrical energy to be fed back to the power supply system 104. In this case, if the circuit branch between the power supply system 104 and the working system 102 is disconnected, this portion of electrical energy cannot be released, causing the bus voltage to rise sharply, resulting in overvoltage damage to the controller components. Therefore, it is necessary to utilize the battery cells in the power supply system 104 for energy absorption. It should be noted that the direction of the backflow current is opposite to the discharge direction. If the mutual charging detection component is still in the working state, it may control the corresponding circuit branch to be disconnected.

[0137] In this regard, when the electric gardening vehicle is in a braking state, the power management system is further configured to determine whether the load bus current of the working system 102 is lower than a preset energy recovery threshold.

[0138] When it is determined that the bus current is lower than the preset energy recovery current threshold, it can be determined that the electric gardening vehicle needs to use the power supply system 104 for energy recovery. Therefore, the power management system can control the mutual charging detection component to suspend operation and control the circuit branch corresponding to the discharging battery unit to remain conductive to achieve energy recovery.

[0139] As shown in Figures 3-a and 3-b, in some optional embodiments, the power management system further includes a bus current monitoring component for monitoring the bus current of the load. The positive direction of the bus current is from the power supply system 104 to the working system 102, and the preset energy recovery current threshold value ranges from -0.1A to -10A. In fact, when there is current flowing from the working system to the power supply system, that is, when the bus current is negative, energy recovery is required. It will be understood by those skilled in the art that the preset energy recovery current threshold value can be flexibly adjusted within the corresponding threshold value range according to actual application conditions.

[0140] Referring to the energy recovery control method shown in FIG8 , the method includes the following steps:

[0141] S301: The power management system communicates with the driving control system to obtain the driving state information of the electric gardening vehicle;

[0142] S302: The power management system determines whether the electric gardening vehicle is in a braking state based on the vehicle driving state information;

[0143] S303: When it is determined that the electric gardening vehicle is in a braking state, the power management system communicates with the bus current monitoring component to obtain the load bus current of the working system 102;

[0144] S304: The power management system compares the load bus current with a preset energy recovery threshold to determine whether the load bus current is lower than the preset energy recovery threshold. The preset energy recovery threshold may be -3A, for example.

[0145] S305: When it is determined that the load bus current is lower than the preset energy recovery threshold, the power supply system 104 enters an energy recovery state. In this state, the power management system controls the mutual charging detection component to suspend operation and controls the circuit branch corresponding to the discharging battery unit to remain conductive to achieve energy recovery.

[0146] S306: The power management system maintains communication with the bus current monitoring component to monitor changes in the load bus current. When the load bus current increases to a value greater than or equal to the preset energy recovery threshold, the power system 104 exits the energy recovery state. In some optional embodiments, in an electric gardening vehicle, the power management system is further configured to determine whether the power system 104 meets a discharge start condition before entering the discharge phase, and control the power system 104 to enter the discharge phase if it is determined that the power system 104 meets the discharge start condition.

[0147] The discharge start conditions include:

[0148] The countdown for the pre-charge phase ends; the load bus voltage is greater than the preset bus voltage threshold; and the total capacity of the power supply system 104 is greater than the first preset capacity threshold.

[0149] The pre-charging stage refers to a stage of pre-charging the working system 102 before the discharging stage.

[0150] The preset bus voltage threshold is 0.7V e , V e In some optional embodiments, the rated voltage of the power supply system may be, for example, 58V, and the corresponding preset bus voltage threshold may be set to 58V*0.7=40.6V.

[0151] The first preset capacity threshold value ranges from 10Ah to 15Ah. In some optional embodiments, the first preset capacity threshold value can be set to 12Ah, and the power system can be controlled to enter the discharge stage only when it is confirmed that the total capacity of the power system 104 is greater than 12Ah.

[0152] In some optional embodiments, the power management system includes a pre-charging circuit component, which is configured to pre-charge the load bus capacitor of the working system 102 by limiting the current during the pre-charging phase.

[0153] Before the electric gardening vehicle begins gardening work, the power management system may first control the pre-charging circuit component to pre-charge the load bus capacitor in the working system 102 and start a countdown when pre-charging begins. The countdown timer may be set to, for example, 500ms to 1s.

[0154] After the pre-charge countdown ends, the power management system uses the bus voltage monitoring component to obtain the load bus voltage of the working system 102, and compares the load bus voltage with a preset bus voltage threshold to determine whether the load bus capacitor in the working system 102 is fully charged. In response to the load bus voltage exceeding the preset bus voltage threshold, it can be determined that the load bus capacitor has been fully charged.

[0155] After determining that the load bus capacitor has been fully charged, it is also necessary to confirm the overall capacity of the power system 104. The power management system may compare the total capacity of all normal battery cells with a first preset capacity threshold. If the total capacity exceeds the first preset capacity threshold, the power management system may control the power system 104 to enter a discharge phase.

[0156] In some optional embodiments, the power management system is further used to obtain status information of the plurality of battery cells. The status information includes but is not limited to the actual total capacity, remaining power, percentage of remaining power, number of charge and discharge cycles of the corresponding battery cells, and specification parameter information including rated capacity, rated voltage, rated current, maximum charge and discharge current, total capacity at factory, cell type, number of cells in series / parallel, voltage of a single cell, and discharge cut-off voltage. Based on the status information, the power management system can filter out the battery cells in normal state from the power system 104. Furthermore, the power management system can register and record the battery cells in normal state and calculate the total capacity of all the battery cells in normal state.

[0157] Referring to the discharge start control method shown in FIG9 , the method includes the following steps:

[0158] S401: Entering the pre-charging phase, starting the pre-charging countdown;

[0159] S402: During the pre-charging phase, the power management system communicates with the plurality of battery cells in the power system 104 to obtain status information corresponding to the plurality of battery cells, and registers the battery cells in normal status;

[0160] S403: The power management system determines whether the pre-charge countdown has ended;

[0161] S404: When it is determined that the pre-charge countdown has ended, the power management system compares the total capacity of all normal battery cells in the power system 104 with the first preset capacity threshold to determine whether the total capacity exceeds the first preset capacity threshold. The first preset energy threshold may be, for example, 12 Ah.

[0162] S405: When it is determined that the total capacity exceeds the first preset energy threshold, the power management system communicates with the bus voltage monitoring component to obtain the load bus voltage;

[0163] S406: The power management system compares the load bus voltage with a preset bus voltage threshold to determine whether the load bus voltage is greater than the preset bus voltage threshold;

[0164] S407: In response to the load bus voltage being greater than the preset bus voltage threshold, the power management system controls the power supply system 104 to enter a discharging phase.

[0165] In an electric gardening work vehicle provided in some optional embodiments, the power management system is further used to determine whether the power system 104 meets the discharge end condition, and when it is determined that the power system 104 meets the discharge end condition, control the power system 104 to end discharge.

[0166] The discharge termination condition includes: the total capacity of the registered plurality of battery cells is lower than a second preset capacity threshold. The second preset capacity threshold has a value range of 5Ah to 10Ah. In some optional embodiments, the second preset capacity threshold can be set to 5Ah. When it is confirmed that the total capacity of the power supply system 104 is lower than 5Ah, the power supply system 104 is controlled to stop discharging to avoid over-discharge of the battery cells in the power supply system.

[0167] Referring to the discharge termination control method shown in FIG10 , the method includes the following steps:

[0168] S501: In the discharging stage, the power management system controls the discharging of the plurality of battery cells in the power system 104;

[0169] S502: The power management system maintains communication with the plurality of battery units in the power system 104 to obtain a real-time total capacity of the plurality of battery units;

[0170] S503: The power management system compares the real-time total capacity with the second preset capacity threshold to determine whether the real-time total capacity is lower than the second preset capacity threshold, where the second preset capacity threshold may be 12 Ah, for example.

[0171] S504: In response to the real-time total capacity being not less than the second preset capacity threshold, the power management system continues to remain in the discharging stage;

[0172] S505: In response to the real-time total capacity being lower than the second preset capacity threshold, the power management system sends a shutdown control instruction to the driving control system, so that the driving control system controls the first drive motor and the second drive motor to stop working;

[0173] S506: The power management system communicates with the driving control system, and after determining that the electric gardening vehicle is in a stopped state, controls all circuit branches to be turned off, thereby terminating the discharge.

[0174] Furthermore, the entire device is powered off after a delay of 3 seconds after the discharge is completed.

[0175] Referring to FIG11 , the discharge control method for an electric gardening vehicle includes the following steps. The example shown in FIG7 is used for illustration. The power supply system 104 includes a first battery unit and a second battery unit. The evaluation value of the first battery unit is higher than the evaluation value of the second battery unit. The first and second circuit branches are both provided with a first MOS transistor and a second MOS transistor.

[0176] S601: The power management system determines whether the power system 104 meets the discharge start condition;

[0177] S602: When it is determined that the power system 104 meets the discharge start condition, the power management system controls the second MOS transistors in the first circuit branch and the second circuit branch to be turned on;

[0178] S603: The power management system controls the first MOS transistor in the first circuit branch to be turned on, so that the first battery unit discharges first;

[0179] S604: The power management system communicates with the current monitoring component to obtain the body diode current of the first MOS transistor in the second circuit branch;

[0180] S605: The power management system compares the body diode current with a preset discharge current threshold to determine whether the body diode current exceeds the preset discharge current threshold;

[0181] S606: When the body diode current exceeds the preset discharge current threshold, the power management system controls the first MOS transistor in the second circuit branch to be turned on, so as to discharge the second battery unit;

[0182] S607: During the discharge process of the first battery unit and the second battery unit, the power management system obtains the real-time total capacity of the first battery unit and the second battery unit in real time, and compares the real-time total capacity with the second preset capacity threshold to determine whether the real-time total capacity of the first battery unit and the second battery unit is lower than the second preset capacity threshold;

[0183] S608: In response to the real-time total capacity being lower than the second preset capacity threshold, the power management system notifies the driving control system to control the working system 102 to stop working, and controls the first MOS transistor and the second MOS transistor in the first circuit branch and the second circuit branch to be disconnected.

[0184] It should be noted that the foregoing description of this specification is based on specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0185] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or physical devices, or by products having certain functions. For ease of description, the above devices are described separately by function in various units. Of course, when implementing this application, the functions of each unit may be implemented in the same or multiple software and / or hardware components.

[0186] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, this specification may take 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.) containing computer-usable program code.

[0187] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0188] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0189] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0190] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present specification as described above, which are not provided in detail for the sake of simplicity.

[0191] In addition, to simplify the description and discussion, and so as not to obscure one or more embodiments of the present specification, well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, devices may be shown in block diagram form to avoid obscuring one or more embodiments of the present specification, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which one or more embodiments of the present specification will be implemented (i.e., these details should be fully within the purview of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it will be apparent to those skilled in the art that one or more embodiments of the present specification may be implemented without these specific details or with variations in these specific details. Accordingly, these descriptions should be considered illustrative rather than restrictive.

[0192] While the disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications and variations of these embodiments will be apparent to those skilled in the art in light of the foregoing description.

[0193] The one or more embodiments of this specification are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification shall be included within the scope of protection of this disclosure.

Claims

1. An electric garden working vehicle, characterized in that, Comprising: a frame, a working system connected to the frame, and a power supply system for powering the working system; The power supply system includes a plurality of battery units; And a power management system for controlling at least one of the battery units with a higher evaluation value in the power supply system to discharge first during the discharge phase; For other battery units in the power supply system, when the voltage of the battery unit exceeds the load bus voltage of the working system, the power management system is used to control the battery unit to discharge.

2. The electric garden working vehicle according to claim 1, wherein The plurality of battery units are selected from at least one of a first specification battery pack and a second specification battery pack; There are one or more specification differences between the first specification battery pack and the second specification battery pack.

3. The electric garden working vehicle according to claim 2, wherein, The specification difference between the first specification battery pack and the second specification battery pack lies in that the capacity of the first specification battery pack is greater than the capacity of the second specification battery pack; The second specification battery pack is configured to provide power for a handheld gardening tool.

4. The electric garden working vehicle according to claim 1, wherein The evaluation value is determined according to at least one state parameter information of the battery unit; The state parameter information corresponding to the battery unit at least includes voltage information, capacitance information, charge information, internal resistance information, and health state information.

5. The electric garden working vehicle according to claim 4, wherein, The evaluation value is determined by weighted summation or weighted average based on at least one state parameter information corresponding to the battery unit.

6. The electric garden working vehicle according to claim 1, wherein, A plurality of circuit branches are further provided between the power supply system and the working system, and the plurality of circuit branches are respectively connected to the plurality of battery units in correspondence; The power management system is used to control the circuit branch corresponding to at least one of the battery units with a higher evaluation value to conduct first, so that at least one of the battery units with a higher evaluation value discharges first; For other battery units in the power supply system, when the voltage of the battery unit exceeds the load bus voltage, the power management system is used to control the circuit branch corresponding to the battery unit to conduct, so that the battery unit discharges.

7. The electric garden working vehicle according to claim 6, wherein, The power supply system includes a first battery unit and a second battery unit, and the evaluation value of the first battery unit is higher than the evaluation value of the second battery unit; The power supply system includes a first circuit branch and a second circuit branch respectively connected to the first battery unit and the second battery unit in correspondence; The power management system is used to control the first circuit branch to conduct first, so that the first battery unit discharges first; When the voltage of the second battery unit exceeds the load bus voltage, control the second circuit branch to conduct, so that the second battery unit discharges.

8. The electric garden working vehicle according to claim 7, wherein, A first switch unit and a second switch unit are respectively arranged in the first circuit branch and the second circuit; The power management system is used to control the first switch unit to close first, so that the first battery unit discharges first; When the voltage of the second battery unit exceeds the bus voltage of the load, control the second switch unit to close, so that the second battery unit discharges.

9. The electric garden working vehicle according to claim 7, wherein A first MOS transistor and a second MOS transistor are arranged in both the first circuit branch and the second circuit; The first battery unit is serially connected to the first MOS transistor and the second MOS transistor in the first circuit branch in sequence; The second battery unit is serially connected to the first MOS transistor and the second MOS transistor in the second circuit branch in sequence; The power management system is configured to control the second MOS transistors in the first circuit branch and the second circuit branch to be turned on; The power management system is further configured to control the first MOS transistor in the first circuit branch to be turned on first, so that the first battery unit discharges first, and when the voltage of the second battery unit exceeds the load bus voltage, control the first MOS transistor in the second circuit branch to be turned on, so that the second battery unit discharges.

10. The electric garden work vehicle according to claim 9, characterized in that, Both the first MOS transistor and the second MOS transistor include body diodes; The conduction direction of the body diode in the first MOS transistor is consistent with the discharge current direction, and the discharge current direction points from the power supply system to the working system; The power management system further includes a current monitoring component for monitoring the body diode current flowing through the first MOS transistor; The power management system is configured to control the first MOS transistor in the first circuit branch to be turned on first, so that the first battery unit discharges first; The power management system is further configured to compare the body diode current corresponding to the first MOS transistor in the second circuit branch with a discharge current threshold, and when the body diode current exceeds the discharge current threshold, control the first MOS transistor in the second circuit branch to be turned on, so that the second battery unit discharges.

11. The electric garden work vehicle according to claim 10, characterized in that, When the body diode current corresponding to the first MOS transistor in the second current branch drops and is lower than the discharge current threshold, the power management system is further configured to control the first MOS transistor in the second circuit branch to be turned off, so that the second battery unit stops discharging.

12. The electric garden working vehicle according to claim 1, characterized in that, The power management system is further configured to determine whether the power supply system meets the discharge start condition, and when it is determined that the power supply system meets the discharge start condition, control the power supply system to enter the discharge stage; Wherein, the discharge start condition includes: The countdown of the pre-charge stage ends; the load bus voltage is greater than a preset bus voltage threshold; and the total capacity of the power supply system is greater than a first preset capacity threshold; Wherein, the pre-charge stage refers to the stage of pre-charging the working system before the discharge stage.

13. The electric garden working vehicle according to claim 12, characterized in that, The power management system includes a pre-charge circuit component; The pre-charge circuit component is configured to pre-charge the load bus capacitor of the working system in a current-limiting manner during the pre-charge stage.

14. The electric garden working vehicle according to claim 12, wherein, The power management system is further configured to obtain the status information of multiple battery units; During the pre-charge stage, the power management system is further configured to register the battery units with normal status and calculate the total capacity of all battery units with normal status.

15. The electric garden working vehicle according to claim 14, wherein the power management system is further configured to determine whether the power system meets the discharge end condition, and when it is determined that the power system meets the discharge end condition, control the power system to end the discharge; Wherein, the discharge end condition includes: The total capacity of the plurality of registered battery units is lower than a second preset capacity threshold.

14. An electric garden working vehicle, comprising: a vehicle frame, a working system connected to the vehicle frame, and a power system for supplying power to the working system; The power system includes a plurality of battery units; And a power management system configured to generate a battery registration table based on the state information of the plurality of battery units before the discharge stage; Control the discharge of the plurality of battery units based on the battery registration table during the discharge stage; And update the battery registration table when a battery unit is newly added or removed during the discharge stage.

15. The electric garden work vehicle according to claim 14, wherein, The plurality of battery units are selected from at least one of a first specification battery pack and a second specification battery pack; There are one or more specification differences between the first specification battery pack and the second specification battery pack.

16. The electric garden work vehicle according to claim 15, characterized in that, The specification difference between the first specification battery pack and the second specification battery pack lies in that the capacity of the first specification battery pack is greater than the capacity of the second specification battery pack; The second specification battery pack is configured to provide power for a handheld garden tool.

17. The electric garden working vehicle according to claim 14, wherein, The power system includes a plurality of communication interfaces, and the power management system includes a communication component; The communication component is configured to connect to the plurality of communication interfaces to receive battery connection signals from the plurality of battery units, and the battery connection signals include the state information of the battery units; The state information includes the battery ID information and state parameter information of the battery unit.

18. The electric garden working vehicle according to claim 14, wherein, The power management system is configured to generate a battery registration table based on the state information of the plurality of battery units before the discharge stage, including: The power management system is configured to screen out a plurality of battery units with normal states according to the state information for registration to generate the battery registration table.

19. The electric garden working vehicle according to claim 14, wherein, The power management system is configured to control the discharge of the plurality of battery units based on the battery registration table during the discharge stage, including: The power management system is configured to control at least one of the battery units with a higher evaluation value in the battery registration table to discharge first; For other battery units in the battery registration table, compare the voltages of the plurality of battery units with the load bus voltage of the working system in the sorting order in the battery registration table; When the voltage of the battery unit exceeds the load bus voltage of the working system, the power management system is configured to control the battery unit to discharge; In the battery registration table, the plurality of battery units are sorted in descending order of voltage.

20. The electric garden work vehicle according to claim 19, wherein, The evaluation value is determined according to at least one state parameter information corresponding to the battery unit; The corresponding state parameter information of the battery cell at least includes voltage information, capacitance information, charge information, internal resistance information, and health status information.

21. The electric garden working vehicle according to claim 20, characterized in that, The evaluation value is determined by weighted summation or weighted average based on at least one of the corresponding state parameter information of the battery cell.

22. The electric garden working vehicle according to claim 19, characterized in that, A plurality of circuit branches are further provided between the power supply system and the working system, and the plurality of circuit branches are respectively connected to the plurality of battery cells in a corresponding manner; The power management system is configured to control the circuit branch corresponding to at least one of the battery cells with a higher evaluation value to be turned on first, so that at least one of the battery cells with a higher evaluation value discharges first; For other battery cells in the battery registration table, when the voltage of the battery cell exceeds the load bus voltage, the power management system is configured to control the circuit branch corresponding to the battery cell to be turned on, so that the battery cell discharges.

23. The electric garden working vehicle according to claim 14, wherein, When removing a battery cell during the discharge stage, the power management system is configured to delete the registration information corresponding to the battery cell to be removed from the battery registration table and update the battery registration table.

24. The electric garden working vehicle according to claim 23, characterized in that, If the battery cell to be removed is the only battery cell in the discharge state, the power management system is further configured to control at least one of the battery cells with a higher evaluation value in the battery registration table to discharge after updating the battery registration table.

25. The electric garden work vehicle according to claim 14, characterized in that, When adding a battery cell during the discharge stage, the power management system is configured to determine whether the newly connected battery cell meets the registration voltage condition; When it is determined that the newly connected battery cell meets the registration voltage condition, the power management system is configured to directly register the newly connected battery cell; When it is determined that the newly connected battery cell does not meet the registration voltage condition, the power management system is configured to update the registration of the newly connected battery cell; Wherein, the registration voltage condition includes: The voltage of the newly connected battery cell is less than the minimum discharge voltage, and the minimum discharge voltage refers to the minimum voltage of at least one of the battery cells in the discharge state; The direct registration means directly adding the registration information corresponding to the newly connected battery cell to the end of the battery registration table; The update registration means that after determining that the electric garden operation vehicle is in a stopped state, adding the registration information corresponding to the newly connected battery cell to the battery registration table and updating the battery registration table.

26. The electric garden working vehicle according to claim 14, wherein When adding a battery cell during the discharge stage, the power management system is configured to control the newly connected battery cell to be temporarily turned on with the working system to obtain a sampling current; The power management system is further configured to determine whether the sampling current meets the registration current condition; When it is determined that the sampling current meets the registration current condition, the power management system is configured to directly register the newly connected battery cell; When it is determined that the sampling current does not meet the registration current condition, the power management system is configured to update the registration of the newly connected battery cell; Wherein, the registration current condition includes that the sampling current is less than a first preset current threshold; The direct registration means directly adding the registration information corresponding to the newly connected battery cell to the end of the battery registration table; The update registration means that after determining that the electric garden work vehicle is in a shutdown state, adding the corresponding registration information of the newly connected battery unit to the battery registration table and updating the battery registration table.

27. The electric garden work vehicle according to claim 26, characterized in that, The power management system is further configured to determine whether the sampled current meets the direct discharge current condition; When it is determined that the sampled current meets the direct discharge current condition, the power management unit is configured to control the newly connected battery unit to discharge; The direct discharge current condition includes: The sampled current is less than the first preset current threshold and greater than the second preset current threshold.

28. The electric garden working vehicle according to claim 14, characterized in that, The power management system is further configured to determine whether the power system meets the discharge start condition, and when it is determined that the power system meets the discharge start condition, control the power system to enter the discharge stage; Wherein, the discharge start condition includes: The countdown of the pre-charge stage ends; the load bus voltage is greater than the preset bus voltage threshold; and the total capacity of the power system is greater than the first preset capacity threshold; Wherein, the pre-charge stage refers to the stage of pre-charging the working system before the discharge stage.

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