Multifunctional vehicle, landscape maintenance vehicle, and neutral gear identification and control device

Abstract

A multifunctional vehicle, a landscape maintenance vehicle, and a neutral gear identification and control device. The multifunctional vehicle comprises: a drive axle assembly (1040), wherein a neutral gear mechanism (1046) is disposed in the drive axle assembly (1040); a gear position state identification assembly (108), used to identify the gear position of the neutral gear mechanism (1046) and determine whether the multifunctional vehicle is in an abnormal gear position state; and a controller (1010), configured to generate an alert prompt instruction and / or a safety control instruction when it is determined that the multifunctional vehicle is in the abnormal gear position state.

Description

A multifunctional vehicle, garden operation vehicle and neutral gear identification control device [TECHNICAL FIELD]

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

[0002] The charging type mower has the advantages of all-weather zero emission, zero oil consumption, low noise and simple maintenance (no gasoline, no oil, no air filter, no spark plug, no fuel storage, etc.) compared with the traditional fuel type mower. The driving wheels of the charging type mower are driven by motors instead of fuel engines, and the driving wheel motors can be controlled separately to realize straight driving, reverse driving, turning and zero steering of the whole vehicle, thereby reducing the structural complexity of the whole vehicle and making the control of the whole vehicle more flexible.

[0003] The driving device in the charging type mower includes a neutral gear mechanism, which can transmit power from the driving motor to the driving wheel or cut off the power transmission. The gear position of the neutral gear mechanism needs to be set according to different working conditions, and an abnormal gear position state may affect the driving experience of the operator, and in severe cases, the mower may be damaged. [SUMMARY]

[0004] Therefore, the present application provides a multifunctional vehicle, garden operation vehicle and neutral gear identification control device, which can efficiently and accurately identify and determine an abnormal gear position state and timely and scientifically perform response processing.

[0005] In one aspect, the present application provides a multifunctional vehicle, comprising:

[0006] a vehicle frame;

[0007] a bearing mechanism arranged on the vehicle frame and configured to bear an operator;

[0008] at least one driving axle assembly mechanically connected to a driving motor and a driving wheel, and configured to transmit power of the driving motor to the driving wheel to drive the multifunctional vehicle to move;

[0009] a neutral gear mechanism, which is controllable to make the driving axle assembly in a neutral gear state or a gear engaged state, the driving axle assembly outputs power of the driving motor to the driving wheel in the gear engaged state, and the driving axle assembly does not output power of the driving motor to the driving wheel in the neutral gear state; and

[0010] a gear position state identification assembly configured to identify a gear position of the neutral gear mechanism and determine whether the multifunctional vehicle is in an abnormal gear position state;

[0011] The controller is configured to generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in an abnormal gear state.

[0012] Optionally, the gear state recognition component comprises a current detection component configured to detect the current of the driving motor.

[0013] The gear state recognition component is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection component.

[0014] Optionally, the multi-functional vehicle further comprises a power supply system configured to provide power for the driving motor.

[0015] The method for the gear state recognition component to determine whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection component comprises:

[0016] determining whether the current is a forward current, wherein the forward current refers to the current in a state where power flows from the power supply system to the driving motor, and the current in a state where power flows from the driving motor to the power supply system is a reverse current;

[0017] in response to the current being a forward current, determining whether the current exceeds a preset current threshold;

[0018] in response to the current exceeding the preset current threshold, determining that the neutral gear mechanism is in a gear engagement state and the multi-functional vehicle is in a gear engagement driving state;

[0019] in response to the current not exceeding the preset current threshold, determining that the neutral gear mechanism is in a neutral state and the multi-functional vehicle is in a neutral driving state;

[0020] in response to the current being a reverse current, determining that the neutral gear mechanism is in a gear engagement state and the multi-functional vehicle is in a gear engagement towing state;

[0021] The abnormal gear state comprises the neutral driving state and the gear engagement towing state.

[0022] Optionally, the gear state recognition component comprises a motion state detection component and an in-position state detection component.

[0023] The motion state detection component is configured to monitor the motion state of the multi-functional vehicle to obtain motion state information.

[0024] The in-position state detection component is arranged on the load bearing mechanism and is configured to detect in-position state information of the operator, wherein the in-position state information comprises an in-position state and an off-position state.

[0025] The gear state recognition component is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the in-position state information and the motion state information.

[0026] Optionally, the method for determining whether the multi-functional vehicle is in an abnormal gear state according to the in-position state information and the motion state information by the gear state recognition component comprises:

[0027] In response to the in-position state information being that a person is in position, determining whether the motion state detection component detects acceleration;

[0028] In response to the motion state detection component not detecting acceleration after the driving motor is started, determining that the neutral gear mechanism is in a neutral state, and that the multi-functional vehicle is in a neutral driving state;

[0029] In response to the motion state detection component detecting acceleration after the driving motor is started, determining that the neutral gear mechanism is in a gear state, and that the multi-functional vehicle is in a gear driving state;

[0030] In response to the in-position state information being that a person is out of position, determining whether the motion state detection component detects acceleration;

[0031] In response to the motion state detection component detecting acceleration, determining whether the acceleration exceeds an acceleration threshold within a preset time length from when the acceleration is detected;

[0032] In response to the acceleration exceeding the acceleration threshold within the preset time length, determining that the neutral gear mechanism is in a neutral state, and that the multi-functional vehicle is in a neutral towing state;

[0033] In response to the acceleration not exceeding the acceleration threshold within the preset time length, determining that the neutral gear mechanism is in a gear state, and that the multi-functional vehicle is in a gear towing state;

[0034] The abnormal gear state comprises the neutral driving state and the gear towing state.

[0035] Optionally, the left drive axle assembly and the right drive axle assembly are respectively mechanically connected to a driving motor and a driving wheel on a corresponding side, to transmit power from the driving motor to the driving wheel;

[0036] The left drive axle assembly and the right drive axle assembly are respectively provided with a left neutral gear mechanism and a right neutral gear mechanism;

[0037] The method for determining whether the multi-functional vehicle is in an abnormal gear state according to the in-position state information and the motion state information by the gear state recognition component comprises:

[0038] in response to the in-position state information being that a person is in position, determining whether the motion state detection component detects acceleration;

[0039] in response to the motion state detection component detecting acceleration after the driving motor is started, determining whether the motion state detection component detects a steering angle;

[0040] in response to the motion state detection component detecting a steering angle when the vehicle is in straight-line control, determining that one of the left neutral mechanism and the right neutral mechanism is in a neutral state and the other is in a gear state, and the multi-functional vehicle is in a neutral driving state;

[0041] the abnormal gear state includes the neutral driving state.

[0042] Optionally, the motion state detection component includes an inertial measurement module.

[0043] Optionally, the multi-functional vehicle includes at least one universal wheel, and at least one of the universal wheels is arranged on the front side of the vehicle frame.

[0044] The motion state detection component is arranged correspondingly to the universal wheel, and the motion state information is obtained by detecting the motion acceleration and / or the steering angle of the universal wheel.

[0045] Optionally, the multi-functional vehicle further includes a loudspeaker.

[0046] The warning prompt instruction is used to control the loudspeaker to generate an identifiable acoustic signal to remind the operator that the multi-functional vehicle is in an abnormal gear state.

[0047] Optionally, the multi-functional vehicle further includes a loudspeaker.

[0048] The warning prompt instruction is used to control the loudspeaker to generate an identifiable acoustic signal to remind the operator that the multi-functional vehicle is in an abnormal gear state according to a preset prompt frequency.

[0049] Optionally, the preset prompt frequency is greater than or equal to 0 Hz and less than or equal to 500 Hz.

[0050] Optionally, in response to the multi-functional vehicle being in the abnormal gear state of neutral driving, the preset prompt frequency is determined according to the duration of the multi-functional vehicle being in the abnormal gear state.

[0051] In response to the multi-functional vehicle being in the abnormal gear state of gear driving, the preset prompt frequency is determined according to at least one of the towing speed of the multi-functional vehicle, the duration of the abnormal gear state, and the voltage value of the driving motor.

[0052] Optionally, the sound frequency of the acoustic signal is greater than or equal to 200 Hz and less than or equal to 15000 Hz.

[0053] Optionally, in response to the multifunctional vehicle being in the abnormal gear state of the empty gear driving, the sound frequency of the acoustic signal is determined according to a duration of the multifunctional vehicle being in the abnormal gear state.

[0054] In response to the multifunctional vehicle being in the abnormal gear state of the gear engaged trailer, the sound frequency of the acoustic signal is determined according to at least one of a trailer running speed of the multifunctional vehicle, a duration of the abnormal gear state, and a voltage value of the driving motor.

[0055] Optionally, the multifunctional vehicle further comprises a display component.

[0056] The warning prompt instruction is used to control the display component to display a warning graphical identifier corresponding to the abnormal gear state.

[0057] Optionally, the multifunctional vehicle further comprises a communication component.

[0058] The warning prompt instruction is used to control the communication component to generate prompt information and send the prompt information to a mobile terminal associated with the multifunctional vehicle.

[0059] Optionally, the mobile terminal comprises a display interface.

[0060] The mobile terminal is configured to visually display the prompt information in the display interface.

[0061] Optionally, the communication mode between the communication component and the mobile terminal includes, but is not limited to, Bluetooth, WiFi, email, GSM, GPRS, CDMA, WCDMA, LTE, and SMS.

[0062] Optionally, the multifunctional vehicle further comprises a display component.

[0063] The warning prompt instruction is used to control the display component to display a warning graphical identifier corresponding to the abnormal gear state.

[0064] In response to one of the left empty gear mechanism and the right empty gear mechanism being in the empty gear state and the other being in the gear engaged state, the warning prompt instruction is further used to control the display component to display the respective gear states of the left empty gear mechanism and the right empty gear mechanism.

[0065] Optionally, the abnormal gear state includes the empty gear driving state and the gear engaged trailer state.

[0066] The multifunctional vehicle further comprises a gear shifting operation assembly capable of performing a gear shifting operation on the neutral gear mechanism under control;

[0067] The safety control instruction is configured to control the gear shifting operation assembly to switch the neutral gear mechanism from the neutral gear state to the engaged gear state when it is determined that the multifunctional vehicle is in the neutral gear driving state.

[0068] The safety control instruction is further configured to control the gear shifting operation assembly to switch the neutral gear mechanism from the engaged gear state to the neutral gear state when it is determined that the multifunctional vehicle is in the engaged gear towing state.

[0069] Optionally, the abnormal gear state comprises an engaged gear towing state.

[0070] The multifunctional vehicle further comprises a lock mechanism capable of controlling the driving axle assembly to be in a locked state in which the driving motor and the driving wheel are unable to rotate.

[0071] The safety control instruction is configured to control the lock mechanism to make the driving axle assembly in the locked state when it is determined that the multifunctional vehicle is in the engaged gear towing state.

[0072] Optionally, the abnormal gear state comprises an engaged gear towing state.

[0073] The multifunctional vehicle further comprises an electrically controlled brake assembly capable of performing a brake operation under control to make the driving wheel unable to rotate.

[0074] The safety control instruction is configured to control the electrically controlled brake assembly to perform a brake operation when it is determined that the multifunctional vehicle is in the engaged gear towing state.

[0075] Optionally, the safety control instruction is configured to control the electrically controlled brake assembly to perform a brake operation at a preset brake frequency when it is determined that the multifunctional vehicle is in the engaged gear towing state.

[0076] Optionally, the preset brake frequency is greater than 0 Hz and less than or equal to 100 Hz.

[0077] Optionally, the preset brake frequency is determined according to at least one of a towing speed of the multifunctional vehicle, a duration of the abnormal gear state, and a voltage value of the driving motor.

[0078] Optionally, the abnormal gear state comprises an engaged gear towing state.

[0079] The safety control instruction is used to control the driving motor to output a brake torque when it is determined that the multi-functional vehicle is in the gear-engaged trailer state, and the brake torque can cause the driving wheel to generate a brake rotation or a brake rotation trend.

[0080] The brake rotation is in a direction opposite to a rotation direction of the driving wheel when the multi-functional vehicle is towed by a trailer.

[0081] Optionally, the safety control instruction is also used to control the driving motor to output a brake torque when it is determined that the multi-functional vehicle is in the gear-engaged trailer state, and the brake torque can cause the driving wheel to generate a brake rotation or a brake rotation trend.

[0082] In another aspect, the embodiments of the present specification also provide a multi-functional vehicle, comprising:

[0083] a vehicle frame;

[0084] at least one driving axle assembly mechanically connected to a driving motor and a driving wheel, to transmit power of the driving motor to the driving wheel to drive the multi-functional vehicle to move;

[0085] a neutral gear mechanism capable of being controlled to make the driving axle assembly in a neutral gear state or a gear-engaged state, the driving axle assembly outputs power of the driving motor to the driving wheel in the gear-engaged state, and the driving axle assembly does not output power of the driving motor to the driving wheel in the neutral gear state;

[0086] a current detection assembly for detecting a current of the driving motor; and

[0087] a controller configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection assembly, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0088] Optionally, the multi-functional vehicle further comprises a power supply system for providing power for the driving motor.

[0089] The method for the controller to determine whether the multi-functional vehicle is in the abnormal gear state according to the current detected by the current detection assembly comprises:

[0090] determining whether the current is a forward current, the forward current refers to a current in a state that power flows from the power supply system to the driving motor, and a current in a state that power flows from the driving motor to the power supply system is a reverse current;

[0091] in response to the current being the forward current, determining whether the current exceeds a preset current threshold.

[0092] in response to the current exceeding the preset current threshold, determining that the neutral gear mechanism is in the gear engaged state and the multi-functional vehicle is in the gear engaged driving state;

[0093] in response to the current not exceeding the preset current threshold, determining that the neutral gear mechanism is in the neutral state and the multi-functional vehicle is in the neutral driving state;

[0094] in response to the current being the reverse current, determining that the neutral gear mechanism is in the gear engaged state and the multi-functional vehicle is in the gear engaged towing state;

[0095] the abnormal gear state includes the neutral driving state and the gear engaged towing state.

[0096] In another aspect, the embodiments of the present specification also provide a multi-functional vehicle, comprising:

[0097] a vehicle frame;

[0098] a carrying mechanism arranged on the vehicle frame and configured to carry an operator;

[0099] at least one drive axle assembly mechanically connected to a drive motor and a drive wheel, and configured to transmit power of the drive motor to the drive wheel to drive the multi-functional vehicle to move;

[0100] a neutral gear mechanism, which is controllable to make the drive axle assembly in a neutral state or a gear engaged state, the drive axle assembly in the gear engaged state outputs power of the drive motor to the drive wheel, and the drive axle assembly in the neutral state does not output power of the drive motor to the drive wheel;

[0101] a current detection assembly configured to detect a current of the drive motor;

[0102] an in-position state detection assembly arranged on the carrying mechanism and configured to detect in-position state information of the operator, the in-position state information including an in-position state and an out-of-position state; and

[0103] a controller configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection assembly and the in-position state information, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0104] Optionally, the method for determining whether the multi-functional vehicle is in the abnormal gear state according to the current detected by the current detection assembly and the in-position state information by the controller comprises:

[0105] in response to the in-place state information being that a person is in place, determining whether the current exceeds a preset current threshold after the driving motor is started;

[0106] in response to the current exceeding the preset current threshold, determining that the neutral gear mechanism is in a gear-engaged state and the multi-functional vehicle is in a gear-engaged driving state;

[0107] in response to the current not exceeding the preset current threshold, determining that the neutral gear mechanism is in a neutral state and the multi-functional vehicle is in a neutral driving state;

[0108] in response to the in-place state information being that a person is out of place, determining whether the current is a reverse current, the reverse current being a current in a state that electric power flows from the driving motor to a power supply system;

[0109] in response to the current being the reverse current, determining that the neutral gear mechanism is in the gear-engaged state and the multi-functional vehicle is in a gear-engaged towing state;

[0110] The abnormal gear state includes the neutral driving state and the gear-engaged towing state.

[0111] Optionally, the left driving axle assembly and the right driving axle assembly are respectively mechanically connected to corresponding left and right driving motors and left and right driving wheels, so as to transmit power of the driving motors to the driving wheels;

[0112] The left and right neutral gear mechanisms are correspondingly arranged on the left and right driving axle assemblies;

[0113] The method for determining whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection assembly and the in-place state information includes:

[0114] in response to the in-place state information being that a person is in place, determining whether currents of the left and right driving motors exceed a preset current threshold after the driving motor is started;

[0115] in response to one of the left and right driving motor currents exceeding the preset current threshold and the other not exceeding the preset current threshold, determining that one of the left and right neutral gear mechanisms is in a neutral state and the other is in a gear-engaged state, and the multi-functional vehicle is in a neutral driving state;

[0116] in response to the in-place state information being that a person is out of place, determining whether currents of the left and right driving motors are reverse currents, the reverse currents indicating currents in a state that electric power flows from the driving motors to a power supply system;

[0117] determining that one of the left neutral mechanism and the right neutral mechanism is in a neutral state and the other is in a gear state, and the multi-functional vehicle is in a gear towing state, in response to one of the left drive motor current and the right drive motor current being a reverse current and the other being zero;

[0118] The abnormal gear state includes the neutral driving state and the gear towing state.

[0119] In another aspect, the embodiments of the present specification also provide a multi-functional vehicle, characterized in that comprising:

[0120] a vehicle frame;

[0121] a carrying mechanism arranged on the vehicle frame and configured to carry an operator;

[0122] at least one drive axle assembly mechanically connected to a drive motor and a drive wheel, and configured to transmit power of the drive motor to the drive wheel to drive the multi-functional vehicle to move;

[0123] a neutral mechanism configured to controllably make the drive axle assembly in a neutral state or a gear state, the drive axle assembly in the gear state being configured to output power of the drive motor to the drive wheel, and the drive axle assembly in the neutral state being configured to not output power of the drive motor to the drive wheel;

[0124] a current detection assembly configured to detect a corresponding current of the drive motor;

[0125] an in-position state detection assembly arranged on the carrying mechanism and configured to detect in-position state information of the operator, the in-position state information including an in-position state and an out-of-position state;

[0126] a motion state detection assembly configured to monitor a motion state of the multi-functional vehicle to obtain motion state information; and

[0127] a controller configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection assembly, the in-position state information, and the motion state information, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0128] Optionally, the method for determining whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection assembly, the in-position state information, and the motion state information by the controller comprises:

[0129] determining whether the current exceeds a preset current threshold after the drive motor is started, in response to the in-position state information being the in-position state.

[0130] in response to the current exceeding the preset current threshold, determining that the neutral gear mechanism is in the gear engaged state and the multi-functional vehicle is in the gear engaged driving state;

[0131] in response to the current not exceeding the preset current threshold, determining whether the motion state detection component detects acceleration;

[0132] in response to the motion state detection component not detecting acceleration, determining that the neutral gear mechanism is in the neutral gear state and the multi-functional vehicle is in the neutral gear driving state;

[0133] in response to the in-situ state information being that the operator is off-situ, determining whether the motion state detection component detects acceleration;

[0134] in response to the motion state detection component detecting acceleration, determining whether the current is a reverse current, the reverse current being a current in a state that power flows from the driving motor component to the power supply system;

[0135] in response to the current being the reverse current, determining that the neutral gear component is in the gear engaged state and the multi-functional vehicle is in the gear engaged towing state;

[0136] in response to the current of the driving motor being zero, determining that the neutral gear component is in the neutral gear state and the multi-functional vehicle is in the neutral gear towing state;

[0137] the abnormal gear state includes the gear engaged driving state and the gear engaged towing state.

[0138] Optionally, the left driving axle component and the right driving axle component are respectively mechanically connected to the driving motor and the driving wheel on the corresponding side, so as to transmit the power of the driving motor to the driving wheel.

[0139] the left driving axle component and the right driving axle component are respectively provided with a left neutral gear mechanism and a right neutral gear mechanism;

[0140] the method for determining whether the multi-functional vehicle is in the abnormal gear state according to the current detected by the current detection component, the in-situ state information and the motion state information includes:

[0141] determining whether the motion state detection component detects a deflection angle;

[0142] in response to the motion state detection component detecting the deflection angle, determining whether the operator is in-situ according to the in-situ state information;

[0143] in response to the in-position state information being that a person is in position, determining whether the currents corresponding to the left driving motor and the right driving motor exceed a preset current threshold after the driving motor is started;

[0144] in response to one of the left driving motor current and the right driving motor current exceeding the preset current threshold and the other not exceeding the preset current threshold, determining that one of the left neutral gear and the right neutral gear is in a neutral state and the other is in a gear engaged state, and the multi-functional vehicle is in a neutral driving state;

[0145] in response to the in-position state information being that a person is out of position, determining whether the currents corresponding to the left driving motor and the right driving motor are reverse currents, the reverse currents indicating currents in a state that power flows from the driving motor to the power supply system;

[0146] in response to one of the left driving motor current and the right driving motor current being a reverse current and the other being zero, determining that one of the left neutral gear and the right neutral gear is in a neutral state and the other is in a gear engaged state, and the multi-functional vehicle is in a gear engaged trailer state;

[0147] The abnormal gear state includes the neutral driving state and the gear engaged trailer state.

[0148] Optionally, the motion state detection assembly includes an inertial vehicle module.

[0149] Optionally, the multi-functional vehicle includes at least one universal wheel, and at least one of the universal wheels is arranged at a front side of the vehicle frame.

[0150] The motion state detection assembly is arranged corresponding to the universal wheel, and the motion state information is obtained by detecting motion acceleration and / or steering angle of the universal wheel.

[0151] In another aspect, the embodiments of the present specification also provide a garden working vehicle, characterized in that comprising:

[0152] a vehicle frame;

[0153] a functional assembly arranged on the vehicle frame and configured to perform a corresponding functional operation under control;

[0154] at least one drive axle assembly mechanically connected to a driving motor and a driving wheel, configured to transmit power of the driving motor to the driving wheel to drive the multi-functional vehicle to travel;

[0155] a power supply system configured to provide power for at least the functional assembly and the drive axle assembly;

[0156] a neutral gear mechanism capable of controllably putting the drive axle assembly in a neutral gear state or a gear engaged state, the drive axle assembly outputs power of the drive motor to the drive wheel in the gear engaged state, and the drive axle assembly does not output power of the drive motor to the drive wheel in the neutral gear state; and

[0157] a gear state recognition assembly configured to recognize a gear state of the neutral gear mechanism and determine whether the multi-functional vehicle is in an abnormal gear state;

[0158] a controller configured to generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0159] In another aspect, the embodiments of the present specification also provide a neutral gear recognition control device, applied to a multi-functional vehicle, the multi-functional vehicle comprising:

[0160] a vehicle frame;

[0161] a carrying mechanism arranged on the vehicle frame and configured to carry an operator;

[0162] at least one drive axle assembly mechanically connected to a drive motor and a drive wheel, and configured to transmit power of the drive motor to the drive wheel to drive the multi-functional vehicle to travel;

[0163] a neutral gear mechanism capable of controllably putting the drive axle assembly in a neutral gear state or a gear engaged state, the drive axle assembly outputs power of the drive motor to the drive wheel in the gear engaged state, and the drive axle assembly does not output power of the drive motor to the drive wheel in the neutral gear state;

[0164] the neutral gear recognition control device comprises a current detection assembly and a controller;

[0165] the current detection assembly is configured to detect a current of the drive motor;

[0166] the controller is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection assembly, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0167] or the neutral gear recognition control device comprises at least two of a current detection assembly, an in-position state detection assembly, and a motion state detection assembly, and a controller;

[0168] the in-position state detection assembly is arranged on the carrying mechanism and configured to detect in-position state information of the operator, the in-position state information including an in-position state and an off-position state;

[0169] The motion state detection component is configured to monitor the motion state of the multi-functional vehicle to obtain motion state information.

[0170] The controller is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the detection results of at least two of the current detection component, the in-place state detection component, and the motion state detection component, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in an abnormal gear state.

[0171] As can be seen from the above, the multi-functional vehicle, garden work vehicle, and neutral gear identification control device provided by the embodiments of the present specification have the following beneficial technical effects:

[0172] The multi-functional vehicle, garden work vehicle, and neutral gear identification control device can accurately identify the gear of the neutral gear mechanism and determine whether the multi-functional vehicle is in an abnormal gear state in combination with the working conditions of the vehicle, timely warn and prompt for the abnormal gear state, and actively perform safety control, thereby optimizing the operation driving experience and avoiding damage to the vehicle caused by operating the vehicle in an abnormal gear state, and significantly improving the safety and stability of the vehicle. [SUMMARY]

[0173] The features and advantages of the present application will be more clearly understood through reference to the following drawings, which are illustrative and not intended to be limiting on the present application, in which:

[0174] FIG. 1 shows a structural schematic diagram of a multi-functional vehicle or garden work vehicle provided by one or more optional embodiments of the present specification;

[0175] FIG. 2 shows a structural schematic diagram of a driving mechanism in a multi-functional vehicle or garden work vehicle provided by one or more optional embodiments of the present specification;

[0176] FIG. 3 shows a system block diagram of a multi-functional vehicle provided by one or more optional embodiments of the present specification;

[0177] FIG. 4 shows a functional block diagram of the gear state identification component in a multi-functional vehicle provided by one or more optional embodiments of the present specification;

[0178] FIG. 5 shows a method schematic diagram of the gear state identification component in a multi-functional vehicle provided by one or more optional embodiments of the present specification for identifying an abnormal gear state according to the driving motor current;

[0179] FIG. 6 shows another functional block diagram of the gear state recognition component in the multi-functional vehicle according to one or more optional embodiments of the present specification;

[0180] FIG. 7 shows a functional block diagram of the motion state detection component in the multi-functional vehicle according to one or more optional embodiments of the present specification;

[0181] FIG. 8 shows a method of identifying an abnormal gear state according to the in-place state information and the motion state information by the gear state recognition component in the multi-functional vehicle according to one or more optional embodiments of the present specification;

[0182] FIG. 9 shows another structural diagram of the driving mechanism in the multi-functional vehicle or the garden working vehicle according to one or more optional embodiments of the present specification;

[0183] FIG. 10 shows another method of identifying an abnormal gear state according to the in-place state information and the motion state information by the gear state recognition component in the multi-functional vehicle according to one or more optional embodiments of the present specification;

[0184] FIG. 11 shows a system block diagram of the multi-functional vehicle including a speaker according to one or more optional embodiments of the present specification;

[0185] FIG. 12 shows a system block diagram of the multi-functional vehicle including a display component according to one or more optional embodiments of the present specification;

[0186] FIG. 13 shows a structural diagram of the multi-functional vehicle or the garden working vehicle from another viewing angle according to one or more optional embodiments of the present specification;

[0187] FIG. 14-a shows a display interface diagram of the display component in the multi-functional vehicle according to one or more optional embodiments of the present specification;

[0188] FIG. 14-b shows another display interface diagram of the display component in the multi-functional vehicle according to one or more optional embodiments of the present specification;

[0189] FIG. 15 shows a system block diagram of the multi-functional vehicle including a communication component according to one or more optional embodiments of the present specification;

[0190] FIG. 16 shows a system block diagram of the multi-functional vehicle including a gear shifting operation component according to one or more optional embodiments of the present specification;

[0191] FIG. 17 shows a system block diagram of the multi-functional vehicle including a lock mechanism according to one or more optional embodiments of the present specification;

[0192] Figure 18 shows a system block diagram of a multifunctional vehicle including an electric control brake assembly according to one or more optional embodiments of the present specification;

[0193] Figure 19 shows a method for identifying an abnormal gear state according to a driving motor current by the controller in a multifunctional vehicle according to one or more optional embodiments of the present specification;

[0194] Figure 20 shows a method for identifying an abnormal gear state according to a driving motor current and an in-place state information by the controller in a multifunctional vehicle according to one or more optional embodiments of the present specification;

[0195] Figure 21 shows a further method for identifying an abnormal gear state according to a driving motor current and an in-place state information by the controller in a multifunctional vehicle according to one or more optional embodiments of the present specification;

[0196] Figure 22 shows a method for identifying an abnormal gear state according to a driving motor current, an in-place state information, and a motion state information by the controller in a multifunctional vehicle according to one or more optional embodiments of the present specification;

[0197] Figure 23 shows a further method for identifying an abnormal gear state according to a driving motor current, an in-place state information, and a motion state information by the controller in a multifunctional vehicle according to one or more optional embodiments of the present specification. [DETAILED DESCRIPTION]

[0198] In order to make the objects, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0199] The charging type mower has the advantages of all-weather zero emission, zero oil consumption, low noise, and simple maintenance (no gasoline, no oil, no air filter, no spark plug, no fuel storage, etc.) compared with the traditional fuel type mower. In the charging type mower, the power system uses a motor instead of a fuel engine, the driving wheel motor can be controlled respectively, the straight movement, reverse movement, turning, zero steering, and other motion control of the whole vehicle are realized, the structural complexity of the whole vehicle is reduced, and the control of the whole vehicle is more flexible.

[0200] The driving device in the charging type mower includes a neutral gear mechanism, which can realize transmission of power from a driving motor to driving wheels or cut off the power transmission. The gear position of the neutral gear mechanism needs to be set according to different working conditions, and an abnormal gear position state may affect the driving experience of the operator, and may even damage the mower.

[0201] To this end, the purpose of the embodiments of the present specification is to provide a multi-functional vehicle, a garden working vehicle and a neutral gear identification control device. The gear position identification assembly can accurately identify the gear position of the neutral gear mechanism and determine whether the multi-functional vehicle is in an abnormal gear position state in combination with the working condition of the whole vehicle. Timely warning and prompt are performed for the abnormal gear position state, and active safety control is performed, so that the operation driving experience can be optimized, and damage to the vehicle caused by operating the vehicle in the abnormal gear position state can be avoided, and the safety and stability of the vehicle can be significantly improved.

[0202] Based on the above purpose, in one aspect, the embodiments of the present specification provide a multi-functional vehicle.

[0203] Referring to FIG. 1, in one or more optional embodiments of the present specification, the multi-functional vehicle includes a vehicle frame 100, a function mechanism 102 and a driving mechanism 104 connected to the vehicle frame, and a power supply system 106 for supplying power to the function mechanism 102 and the driving mechanism 104.

[0204] The vehicle frame 100 extends at least partially along the front-rear direction, and a bearing mechanism 1000 can be provided on the vehicle frame 100. The bearing mechanism 1000 is used to bear the operator of the multi-functional vehicle, and can include at least one of a seat or a standing platform. In FIG. 1, only the case where the bearing mechanism 1000 includes a seat is exemplarily shown. The seat or the standing platform is used for the operator to sit or stand. That is, the multi-functional vehicle can provide a riding working mode or a standing working mode. Further, the structure of the seat and the standing platform can be flexibly switched, that is, the working mode of the multi-functional vehicle can be flexibly switched between the riding working mode and the standing working mode according to the actual needs of the working user. A handheld operation assembly can also be provided on the vehicle frame 100, and based on the handheld operation assembly, the multi-functional vehicle can also provide a hand-push working mode.

[0205] The function mechanism 102 includes an output member for outputting power to realize a specific function. In some optional embodiments, the function mechanism 102 is a mowing element for realizing a mowing function. The function mechanism is also connected to the vehicle frame 100. The function mechanism 102 further includes a function motor for driving the mowing element to rotate at a high speed, and a control module corresponding to the function motor.

[0206] In some optional embodiments, the functional mechanism 102 can include one or more mowing elements, and one or more functional motors corresponding to the mowing elements. For example, in some embodiments, the mowing elements are three blades, and the number of corresponding functional motors is also set to three. In some specific implementations, the functional mechanism 102 further includes a control module corresponding to the mowing motor. The control module includes a control chip, such as an MCU, an ARM, etc.

[0207] In some optional embodiments, the functional mechanism 102 can also be a cleaning element for realizing cleaning energy supply. The functional mechanism further includes a functional motor for driving the cleaning element, and a control module corresponding to the functional motor.

[0208] It can be understood that, in some optional embodiments, the functional mechanism can also be replaced by other functional components, such as snow sweeping, snow blowing, snow shoveling, flushing, etc. Those skilled in the art should be able to adapt various functional components without creative labor, which should all be included in the protection scope of the present embodiments.

[0209] As shown in FIG. 2, the driving mechanism 104 is used to drive the multifunctional vehicle to travel in a garden scene, such as a lawn, a garden, a fence, a green, or other road surfaces. The driving mechanism 104 includes at least one driving axle assembly 1040, which is mechanically connected to a driving motor 1042 and a driving wheel 1044, to transmit power of the driving motor 1042 to the driving wheel 1044 to drive the multifunctional vehicle to travel.

[0210] The driving wheel 1044 can be provided in plurality, and the number of the driving motor 1042 can correspond to the driving wheel 1044. In some optional embodiments, the driving mechanism 104 includes a first driving wheel and a second driving wheel, and two corresponding driving motors 1042. When the two driving motors 1042 drive the corresponding driving wheels 1044 to rotate at different powers, a speed difference is generated between the first driving wheel and the second driving wheel, so that the multifunctional vehicle can be turned. In some embodiments, the driving mechanism 104 further includes a travel control module for controlling the driving motor 1042.

[0211] The driving mechanism 104 further includes a neutral gear mechanism 1046. The neutral gear mechanism 1046 can be controlled to make the driving axle assembly 1040 in a neutral state or a gear engaged state. In the gear engaged state, the driving axle assembly 1040 outputs power of the driving motor 1042 to the driving wheel 1044, and in the neutral state, the driving axle assembly 1040 does not output power of the driving motor 1042 to the driving wheel 1044.

[0212] The gear of the neutral gear mechanism 1046 needs to be set for different working conditions. In the normal working driving condition, the neutral gear mechanism 1046 needs to be kept in the gear engaged state to ensure that the power of the driving motor 1042 can be smoothly transmitted to the driving wheel 1044 to drive the multi-functional vehicle to normally travel. If the neutral gear mechanism 1046 is in the neutral state in the normal working driving condition, the driving motor 1042 will be in the idle state, and the whole vehicle cannot normally travel, which affects the driving experience of the operator.

[0213] In the static parking condition, the multi-functional vehicle can be pushed / pulled (towed) by external force. In this case, the neutral gear mechanism 1046 needs to be kept in the neutral state to ensure that the power transmission between the driving wheel 1044 and the driving motor 1042 is cut off. If the neutral gear mechanism 1046 is in the gear engaged state in the static parking condition, the rotation of the driving wheel 1044 will drive the driving motor 1042 to rotate when the multi-functional vehicle is pushed / pulled (towed) by external force, so that the driving motor 1042 is in the power generation state. If the towing speed is too fast, the rotating speed of the driving motor 1042 will also be high, and the voltage generated by the driving motor 1042 in the power generation state will also be very high, which will exceed the maximum withstand voltage of the related circuit components, causing damage to the components and greatly affecting the stability and reliability of the multi-functional vehicle.

[0214] As shown in FIG. 3, it is a system architecture schematic diagram of a multi-functional vehicle provided by one or more optional embodiments of the present specification.

[0215] The multi-functional vehicle further comprises a gear state identification assembly 108 for identifying the gear of the neutral gear mechanism 1046 and determining whether the multi-functional vehicle is in an abnormal gear state. The gear state identification assembly 108 identifies the gear of the neutral gear mechanism 1046 and can determine whether the multi-functional vehicle is in an abnormal gear state in combination with the working condition of the multi-functional vehicle.

[0216] If the neutral gear mechanism 1046 is in the neutral state when the multi-functional vehicle is in the normal working driving condition, it can be determined that the multi-functional vehicle is in the abnormal gear state of the neutral driving.

[0217] If the neutral gear mechanism 1046 is in the gear engaged state when the multi-functional vehicle is in the static parking condition, it can be determined that the multi-functional vehicle is in the abnormal gear state of the gear engaged towing.

[0218] The multifunctional vehicle further comprises a controller 1010. The controller 1010 can be selected from a vehicle control unit VUC, a vehicle power management system controller BMS, a motor controller BMS, a combined control assembly, or a separately arranged control module. The controller 1010 is configured to generate a warning prompt instruction and / or a safety control instruction when it is determined that the multifunctional vehicle is in an abnormal gear state. The warning prompt instruction is used to control the multifunctional vehicle to issue a warning to remind the operator to handle the abnormal gear state. The safety control instruction is used to control the multifunctional vehicle for safety to avoid further damage and impact of the abnormal gear state on the multifunctional vehicle.

[0219] The multifunctional vehicle uses the gear state recognition assembly to recognize the gear of the neutral gear mechanism and determines whether the multifunctional vehicle is in an abnormal gear state in combination with the working condition of the vehicle. The multifunctional vehicle can timely issue a warning prompt and actively perform safety control for the abnormal gear state, thereby optimizing the operation driving experience and avoiding damage to the vehicle caused by operating the vehicle in the abnormal gear state, and significantly improving the safety and stability of the vehicle.

[0220] As shown in FIG. 4, in a multifunctional vehicle provided by one or more optional embodiments of the present application, the gear state recognition assembly 108 comprises a current detection assembly 1080. The current detection assembly 1080 is used to detect the current of the driving motor 1042, which is the current flowing from the power supply system 106 to the driving motor 1042. In the normal driving working state of the multifunctional vehicle, the direction of the current of the driving motor 1042 is from the power supply system 106 to the driving motor 1042.

[0221] The gear state recognition assembly 108 is configured to determine whether the multifunctional vehicle is in an abnormal gear state according to the current detected by the current detection assembly 1080.

[0222] Referring to FIG. 5, the method for determining whether the multifunctional vehicle is in an abnormal gear state according to the current detected by the current detection assembly 1080 comprises the following steps.

[0223] S101: Determine whether the current is a forward current.

[0224] The forward current refers to the current in the state that the power flows from the power supply system 106 to the driving motor 1042, and the current in the state that the power flows from the driving motor 1042 to the power supply system 106 is a reverse current.

[0225] S102: In response to the current being a forward current, determine whether the current exceeds a preset current threshold.

[0226] When the neutral gear mechanism 1046 is in the engaged state, the driving motor 1042 is in power connection with the driving wheel 1044, and the driving motor 1042 is in a loaded running state. When the neutral gear mechanism 1046 is in the neutral state, the driving motor 1042 is in an unloaded running state.

[0227] The loaded running state can include light load, rated load and heavy load, and the specific load state depends on the ground condition and the road slope condition of the multifunctional vehicle. Regardless of the load condition, the working current is obviously higher than that in the unloaded running state.

[0228] The preset current threshold is set to be greater than the unloaded current of the driving motor 1042 and less than the loaded current of the driving motor 1042. Those skilled in the art can understand that the preset current threshold can be flexibly set within the corresponding value range according to the actual situation.

[0229] S103: In response to the current exceeding the preset current threshold, it is determined that the neutral gear mechanism is in the engaged state, and the multifunctional vehicle is in the engaged driving state.

[0230] When the neutral gear mechanism 1046 is in the engaged state, the power of the driving motor 1042 can be smoothly transmitted to the driving wheel 1044. When the driving motor 1042 is controlled to start, the power transmitted through the driving axle assembly 1040 can drive the driving wheel 1044 to start rotating, at this time the driving motor 1042 is in a loaded state, and the corresponding current is a loaded current. Therefore, when the current detected by the current detection assembly 1080 exceeds the preset current threshold, it can be determined that the neutral gear mechanism 1046 is in the engaged state. The driving motor 1042 drives the driving wheel 1044 to normally drive, and the multifunctional vehicle is in the engaged driving state.

[0231] S104: In response to the current not exceeding the preset current threshold, it is determined that the neutral gear mechanism is in the neutral state, and the multifunctional vehicle is in the neutral driving state.

[0232] Different from the engaged state, when the current detected by the current detection assembly 1080 does not exceed the preset current threshold, it indicates that the neutral gear mechanism 1046 is in the neutral state, and the power transmission between the driving motor 1042 and the driving wheel 1044 is interrupted. The driving motor 1042 is in an unloaded running state after being controlled to start, and thus it can be determined that the multifunctional vehicle is in the neutral driving state.

[0233] S105: In response to the current being a reverse current, it is determined that the neutral gear mechanism is in a gear-engaged state, and the multi-functional vehicle is in a gear-engaged towing state.

[0234] If the current detected by the current detection component 1080 is a reverse current, i.e., power flows from the driving motor 1042 to the power supply system 106. In this case, the driving motor 1042 is driven by the driving wheel 1044 and reversely rotates to generate power as a generator. It can be determined that the neutral gear mechanism 1046 is in a gear-engaged state, the multi-functional vehicle is driven by external force, and the driving wheel 1044 is also affected by external force to transmit power to the driving motor 1042 through the driving axle assembly 1040 to reversely drive the driving motor 1042. Thus, it can be determined that the multi-functional vehicle is in a gear-engaged towing state.

[0235] In this case, if the towing speed is too high, the speed of the driving motor 1042 will also be high, and the voltage generated by the driving motor 1042 will also be very high, exceeding the maximum withstand voltage of related circuit components, which will cause damage to the components and greatly affect the stability and reliability of the multi-functional vehicle.

[0236] The abnormal gear state includes the neutral gear driving state and the gear-engaged towing state.

[0237] In the multi-functional vehicle, the gear state recognition component 108 can accurately recognize and determine the gear state of the neutral gear mechanism 1046 and accurately judge whether the multi-functional vehicle is in an abnormal gear state by distinguishing and judging the flow direction and size of the current of the driving motor 1042.

[0238] Referring to FIG. 6, in a multi-functional vehicle provided in one or more optional embodiments of the present specification, the gear state recognition component 108 includes a motion state detection component 1082 and an in-position state detection component 1084.

[0239] The motion state detection component 1082 is configured to monitor the motion state of the multi-functional vehicle to obtain motion state information. The motion state information of the multi-functional vehicle includes but is not limited to acceleration, speed, steering angle, pitch angle, and roll angle.

[0240] In some optional embodiments, the motion state detection component 1082 includes an inertial measurement module (IMU). The inertial measurement module 1082 can be fixedly arranged on the frame 100 of the multi-functional vehicle and moves with the multi-functional vehicle.

[0241] The inertial measurement module IMU internally contains a 3-axis gyroscope and a 3-axis acceleration sensor, and the 3 axes refer to the XYZ three coordinate axes in the space coordinate system. The inertial measurement module IMU can be used to measure the acceleration of the multifunctional vehicle, and calculate the speed based on the acceleration. The inertial measurement module IMU can also determine the attitude angle of the multifunctional vehicle in different directions. In some optional embodiments, for the measurement data of the gyroscope and the acceleration sensor in the inertial measurement module IMU, an adaptive complementary filtering algorithm, an extended Kalman filtering algorithm, etc. can be used for data filtering, and an Euler angle algorithm, a direction cosine algorithm, a quaternion method, an equivalent rotation quaternion algorithm, etc. can be used for real-time attitude updating.

[0242] In some optional embodiments, the motion state detection assembly 1082 can be arranged in a universal wheel in the multifunctional vehicle. As shown in FIG. 1, the multifunctional vehicle includes at least one universal wheel 201, and at least one universal wheel 201 is arranged on the front side of the vehicle frame 100. When the driving wheel 1044 drives the multifunctional vehicle to travel, the universal wheel 201 will also be driven to produce steering and rotation. The motion state detection assembly 1082 is arranged corresponding to the universal wheel 201, and the motion state information is obtained by detecting the motion acceleration and / or steering angle of the universal wheel 201.

[0243] The universal wheel 201 includes a steering shaft perpendicular to the ground and a horizontal shaft parallel to the ground. The universal wheel pivots around the steering shaft to realize whole machine steering, and rotates around the horizontal shaft during travel. As shown in FIG. 7, in some optional embodiments, corresponding to the universal wheel 201, the motion state detection assembly 1082 can include a rotation speed sensor 202 and an angle sensor 203. The rotation speed sensor is used to detect the rotation speed of the universal wheel 201 around the horizontal shaft, and the angle sensor is used to detect the deflection angle of the universal wheel 201 around the steering shaft. The rotation speed sensor and the angle sensor can be selected from a rotary angle potentiometer, a magnetic angle encoder, an optical angle encoder, a Hall effect angle sensor, a rotary transformer, etc.

[0244] The motion state detection assembly 1082 can determine the motion state information of the multifunctional vehicle by using the rotation speed sensor and the angle sensor.

[0245] The in-place state detection assembly 1084 is arranged in the bearing mechanism 1000, and is used to detect the in-place state information of the operator. The in-place state information includes in-place and off-site of the operator.

[0246] In some optional embodiments, the in-position state detection component 1084 comprises a double-channel switch. Taking a seat as an example, the double-channel switch can be arranged below the seat. When the operator is in position, the double-channel switch is in a first switch state under the influence of pressure, and the in-position state detection component 1084 can output a signal indicating that the operator is in position. When the operator is off position, the double-channel switch is in a second switch state under the pressure-free state, and the in-position state detection component 1084 can output a signal indicating that the operator is off position. Those skilled in the art can understand that the double-channel switch can be arranged in correspondence with other forms of the bearing mechanism 1000. Regardless of the form of the bearing mechanism 1000, the in-position state detection component 1084 can output corresponding in-position state information for different in-position states.

[0247] The gear state recognition component 108 is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the in-position state information and the motion state information.

[0248] Referring to FIG. 8, in a multi-functional vehicle provided in one or more optional embodiments of the present specification, a method for the gear state recognition component 108 to determine whether the multi-functional vehicle is in an abnormal gear state according to the in-position state information and the motion state information comprises the following steps.

[0249] S200: Determine whether the operator is in position according to the in-position state information.

[0250] S201: In response to the in-position state information indicating that the operator is in position, determine whether the motion state detection component detects acceleration.

[0251] The in-position state information indicating that the operator is in position means that the multi-functional vehicle has an operator starting to drive. It is further necessary to determine whether the motion state detection component 1082 detects acceleration.

[0252] S202: In response to the motion state detection component not detecting acceleration after the driving motor is started, determine that the neutral gear mechanism is in a neutral state, and the multi-functional vehicle is in a neutral driving state.

[0253] After the operator starts to drive, the operator will control to start the driving motor 1042. The motion state detection component 1082 does not detect acceleration after the driving motor 1042 is driven, which means that the multi-functional vehicle has no displacement. At this time, the power of the driving motor 1042 is not successfully transmitted to the driving wheel 1044, and the power transmission between the driving motor 1042 and the driving wheel 1044 is interrupted. Therefore, it can be determined that the neutral gear mechanism 1046 is in a neutral state, and the multi-functional vehicle is in a neutral driving state.

[0254] S203: In response to the motion state detection component detecting acceleration after the driving motor is started, it is determined that the neutral gear mechanism is in the engaged state and the multi-functional vehicle is in the engaged driving state.

[0255] The driving motor 1042 is started after the operator starts driving. After the driving motor 1042 is started, the motion state detection component 1082 detects acceleration, indicating that the multi-functional vehicle is displaced. At this time, the power of the driving motor 1042 can be smoothly transmitted to the driving wheel 1044. It can be determined that the neutral gear mechanism 1046 is in the engaged state, and the multi-functional vehicle is in the engaged driving state.

[0256] S204: In response to the in-position state information being that the operator is off-position, it is determined whether the motion state detection component detects acceleration.

[0257] The in-position state information being that the operator is off-position indicates that the multi-functional vehicle is in a static state without an operator and without control. It is further determined whether the motion state detection component 1082 detects acceleration.

[0258] S205: In response to the motion state detection component detecting acceleration, it is determined whether the acceleration exceeds an acceleration threshold within a preset time length from when the acceleration is detected.

[0259] In the case of no operator in-position driving, the motion state detection component 1082 detects acceleration, indicating that the multi-functional vehicle is pushed / pulled by external force and is in a towing state.

[0260] If the neutral gear mechanism 1046 is in the neutral state at this time, the power transmission in the driving axle assembly 1040 is interrupted. When the driving wheel 1044 is rotated under the influence of external force, it will not be subject to resistance from other components in the driving axle assembly 1040, and the vehicle speed can increase rapidly.

[0261] If the neutral gear mechanism 1046 is in the engaged state, when the driving wheel 1044 is rotated under the influence of external force, it may be subject to resistance from other components in the driving axle assembly 1040, and the growth rate of the vehicle speed is lower.

[0262] Therefore, after it is determined that the motion state detection component 1082 detects acceleration, it is further determined whether the acceleration exceeds an acceleration threshold within a preset time length. It can be understood that the preset time length and the acceleration threshold can be flexibly set according to actual conditions.

[0263] S206: In response to the acceleration exceeding the acceleration threshold value within the preset time length, it is determined that the neutral gear mechanism is in a neutral state, and the multi-functional vehicle is in a neutral towing state.

[0264] The acceleration exceeding the acceleration threshold value within the preset time length indicates that the driving wheel 1044 is not subjected to resistance from other components in the drive axle assembly 1040. Therefore, it can be determined that the neutral gear mechanism 1046 is in a neutral state, and the multi-functional vehicle is in a neutral towing state.

[0265] S207: In response to the acceleration not exceeding the acceleration threshold value within the preset time length, it is determined that the neutral gear mechanism is in a gear engaged state, and the multi-functional vehicle is in a gear engaged towing state.

[0266] The acceleration not exceeding the acceleration threshold value within the preset time length indicates that the driving wheel 1044 is subjected to resistance from other components in the drive axle assembly 1040. Therefore, it can be determined that the neutral gear mechanism 1046 is in a gear engaged state, and the multi-functional vehicle is in a gear engaged towing state.

[0267] The abnormal gear state includes the neutral driving state and the gear engaged towing state.

[0268] In the multi-functional vehicle, the gear state recognition assembly 108 according to the in-place state information and the motion state information can quickly and accurately identify the gear state of the neutral gear mechanism 1046 and determine whether the multi-functional vehicle is in an abnormal gear state.

[0269] As shown in FIG. 9, one of the multi-functional vehicles provided by one or more optional embodiments of the present specification includes a left drive axle assembly 301 and a right drive axle assembly 302. The left drive axle assembly 301 and the right drive axle assembly 302 are respectively mechanically connected to a corresponding side of a drive motor 1042 and a driving wheel 1044, so as to transmit power of the drive motor 1042 to the driving wheel 1044. The left drive axle assembly 301 and the right drive axle assembly 302 are respectively provided with a left neutral gear mechanism 401 and a right neutral gear mechanism 402.

[0270] In the multi-functional vehicle, the left neutral gear mechanism 401 and the right neutral gear mechanism 402 can be in a state of one side being in a neutral state and the other side being in a gear engaged state. During normal driving, the operator starts the drive motor 1042, and the driving wheel 1044 on the gear engaged side can rotate normally, while the driving wheel 1044 on the neutral side does not rotate. In this case, the multi-functional vehicle differentially steers.

[0271] Referring to FIG. 10, in a multifunctional vehicle provided by one or more optional embodiments of the present specification, a method for determining whether the multifunctional vehicle is in an abnormal gear state according to the in-place state information and the motion state information by the gear state identification component 108, comprising:

[0272] S300: determining whether the operator is in place according to the in-place state information.

[0273] S301: in response to the in-place state information indicating that the operator is in place, determining whether the motion state detection component detects acceleration.

[0274] The in-place state information indicating that the operator is in place means that the multifunctional vehicle has an operator starting to drive. It is further necessary to determine whether the motion state detection component 1082 detects acceleration.

[0275] S302: in response to the motion state detection component detecting acceleration after the driving motor is started, determining whether the motion state detection component detects a steering angle.

[0276] After the operator starts to drive, the driving motor 1042 is started. After the driving motor 1042 is started, the motion state detection component 1082 detects acceleration, indicating that the multifunctional vehicle is displaced. It indicates that at least one of the left gearshift mechanism 401 and the right gearshift mechanism 402 is in the engaged state, which can transmit power to the corresponding side driving wheel 1044. Further, it is necessary to determine whether the motion state detection component 1082 detects a steering angle.

[0277] S303: in response to the motion state detection component detecting a steering angle when the operator performs straight-line control, determining that one of the left gearshift mechanism and the right gearshift mechanism is in the neutral state and the other is in the engaged state, and the multifunctional vehicle is in the neutral driving state.

[0278] Under the condition that the operator performs straight-line control, the motion state detection component 1082 detects a steering angle, indicating that the multifunctional vehicle is differentially steered due to the driving wheels. Therefore, it can be determined that one of the left gearshift mechanism 401 and the right gearshift mechanism 402 is in the neutral state and the other is in the engaged state. The multifunctional vehicle is in the neutral driving state.

[0279] The abnormal gear state includes the neutral driving state.

[0280] It should be noted that one of the left neutral mechanism 401 and the right neutral mechanism 402 is in the neutral state, and the other is in the gear state. In this case, if the multi-functional vehicle is towed by a trailer, the multi-functional vehicle is in the gear towing state, which also belongs to the abnormal gear state.

[0281] Further, the gear state identification assembly 108 determines the gear state of the multi-functional vehicle according to the steering angle detected by the motion state detection assembly 1082. The steering angle points to one side, and the corresponding neutral mechanism 1046 on the side is in the neutral state. The steering angle points to the opposite side, and the corresponding neutral mechanism 1046 on the side is in the gear state. For example, the steering angle points to the right side, which indicates that the right drive wheel does not rotate, and the left drive wheel rotates. Therefore, it can be determined that the left neutral mechanism 401 is in the gear state, and the right neutral mechanism 402 is in the neutral state.

[0282] As shown in FIG. 11, the multi-functional vehicle provided by one or more optional embodiments of the present specification further includes a loudspeaker 501. The controller 1010 generates a warning prompt instruction when it is determined that the multi-functional vehicle is in an abnormal gear state. The warning prompt instruction is used to control the loudspeaker 501 to generate an identifiable acoustic signal to remind the operator to avoid further damage and impact of the abnormal gear state on the multi-functional vehicle.

[0283] In some optional embodiments, the loudspeaker 501 can generate a beep as an identifiable acoustic signal to remind the operator. The loudspeaker can also directly generate a voice prompt corresponding to different abnormal gear states. For example, corresponding to the abnormal gear state of the neutral driving, the warning prompt instruction can control the loudspeaker 501 to output a voice prompt of “neutral driving”. Corresponding to the abnormal gear state of the gear towing, the warning prompt instruction can control the loudspeaker to output a voice prompt of “gear towing”.

[0284] In some optional embodiments, the multi-functional vehicle includes a left drive axle assembly 301 and a right drive axle assembly 302, and is correspondingly provided with a left neutral mechanism 401 and a right neutral mechanism 402. The identifiable acoustic signal can directly prompt the operator about the specific gear of the left neutral mechanism 401 and the right neutral mechanism 402.

[0285] In some optional embodiments, the warning prompt instruction is used to control the loudspeaker 501 to generate an identifiable acoustic signal to remind the operator that the multi-functional vehicle is in an abnormal gear state according to a preset prompt frequency. The sound frequency of the identifiable acoustic signal can also be adjusted.

[0286] The preset prompt frequency is greater than or equal to 0 Hz and less than or equal to 500 Hz. When the preset prompt frequency is 0 Hz, the loudspeaker 501 continuously generates the identifiable acoustic signal.

[0287] The sound frequency of the acoustic signal is greater than or equal to 200 Hz and less than or equal to 15,000 Hz.

[0288] When the multi-functional vehicle is in the abnormal gear state of the neutral driving, the preset prompt frequency can be determined according to the duration of the abnormal gear state of the multi-functional vehicle.

[0289] Compared with the abnormal gear state of the neutral driving, the abnormal gear state of the gear towing has a more serious impact on the multi-functional vehicle.

[0290] As understood by those skilled in the art, the longer the multi-functional vehicle is in the abnormal gear state of the gear towing and the faster the towing speed, the faster the rotation of the driving wheel 1044 drives the rotation of the driving motor 1042, the higher the rotation speed of the driving motor 1042, and the higher the voltage generated by the driving motor 1042. The damage possibility and damage degree of related circuit components are also greater. Therefore, in some optional embodiments, corresponding to the abnormal gear state of the gear towing, the controller 1010 can determine and adjust the preset prompt frequency and / or the sound frequency of the acoustic signal according to at least one of the towing speed of the multi-functional vehicle, the duration of the abnormal gear state, and the voltage value of the driving motor. Different preset prompt frequencies and different sound frequencies are used to indicate different warning urgency.

[0291] The controller 1010 can adjust and control the preset prompt frequency and the sound frequency according to the following correlation:

[0292] The preset prompt frequency: f t0 ∝(V t ; T y ; U f )

[0293] Wherein, f t0 represents the preset prompt frequency, V t , T y , U f respectively represent the towing speed, the duration of the abnormal gear state, and the voltage value generated by the driving motor. f t0 and V t , T y , U fThe preset prompt frequency is positively correlated with at least one of the following: that is, the faster the trailer runs, the longer the abnormal gear state lasts, and the higher the driving motor power generation voltage is, the higher the preset prompt frequency is.

[0294] An example of adjusting and controlling the preset prompt frequency according to the running speed of the trailer is used for description.

[0295] The preset reminder frequency:

[0296] Among them, f t0 Indicates the preset prompt frequency, f t-max Indicates the maximum value of the preset prompt frequency, which can be set to 500 Hz, for example. t Indicates the trailer running speed, represents the designed maximum operating speed of the multi-purpose vehicle, and ρ is the adjustment coefficient, 0<ρ≤1. Based on the above adjustment formula, the greater the trailer's operating speed, the greater the preset prompt frequency.

[0297] Similarly, the sound frequency can be controlled and adjusted based on the same control logic: v ∝(V t ;T y ;U f )

[0298] Among them, f v represents the sound frequency, V t 、T y 、U f Respectively represent the trailer running speed, the duration of the abnormal gear state and the voltage value of the drive motor. v With V t 、T y 、U f The sound frequency is positively correlated with at least one of the following: that is, the faster the trailer runs, the longer the abnormal gear state lasts, and the higher the driving motor power generation voltage is, the higher the sound frequency is.

[0299] As shown in Figures 12 and 13, a multi-purpose vehicle provided in one or more optional embodiments of the present specification further includes a display assembly 502. The display assembly 502 is disposed within the operator's field of vision and is configured to display vehicle status information of the multi-purpose vehicle, including but not limited to health status information of the power system 106, voltage and current parameter information, power information, drive motor speed information, cutting blade speed information, driving speed gear information, and real-time vehicle speed information.

[0300] The controller 1010 generates a warning prompt instruction when determining that the multi-functional vehicle is in an abnormal gear state. The warning prompt instruction is used to control the display component 502 to display a warning image mark to remind the operator. The display component 502 can display different warning image marks corresponding to different abnormal gear states.

[0301] As shown in FIG. 14-a and FIG. 14-b, in some optional embodiments, when the controller 1010 determines that the multi-functional vehicle is in an abnormal gear state, the controller 1010 sends a warning prompt instruction to the display component 502. In response to the warning prompt instruction, the display component 502 can pop up a warning interface 5020 in the middle of the display screen. The warning interface 5020 includes the warning image mark 5030. When the multi-functional vehicle is in an abnormal gear state of driving with the gear in neutral, the first warning image mark 5031 is displayed in the warning interface 5020. When the multi-functional vehicle is in an abnormal gear state of towing with the gear engaged, the second warning image mark 5032 is displayed in the warning interface 5020.

[0302] In some optional embodiments, the multi-functional vehicle includes a left neutral gear mechanism 401 and a right neutral gear mechanism 402. The warning interface 5020 can further include warning description content. Specifically, the warning description content is used to indicate the respective gear states of the left neutral gear mechanism 401 and the right neutral gear mechanism 402. As shown in FIG. 14-a, the warning description content indicates that the left neutral gear mechanism 401 is in a neutral state and the right neutral gear mechanism 402 is in an engaged state.

[0303] In some optional embodiments, the warning description content can further include processing prompt information. The processing prompt information is used to provide the operator with processing operation suggestions for eliminating the abnormal gear state.

[0304] As shown in FIG. 15, one of the multi-functional vehicles provided by any one of the optional embodiments of the present application further includes a communication component 503. When determining that the multi-functional vehicle is in an abnormal gear state, the controller 1010 generates a warning prompt instruction. The warning prompt instruction is used to control the communication component 503 to generate prompt information and control the communication component 503 to send the prompt information to a mobile terminal associated with the multi-functional vehicle.

[0305] The mobile terminal refers to a movable terminal device with communication computing functions, including but not limited to smart phones, tablet computers, wearable devices, portable function devices, etc. The terminal ID of the mobile terminal and the vehicle ID of the multi-functional vehicle and the identity information of the operator are correspondingly mapped and associated, and based on this, the communication component 503 can accurately and correctly send the prompt information to the mobile terminal corresponding to the multi-functional vehicle.

[0306] The mobile terminal includes a display interface, and after receiving the prompt information from the communication component 503, the mobile terminal can visually display the prompt information in the display interface.

[0307] The communication mode between the communication component 503 and the mobile terminal includes but is not limited to Bluetooth, WiFi, email, GSM (Global System of Mobile communication), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), SMS (Short Messaging Service).

[0308] As shown in FIG. 16, the multi-functional vehicle provided by one or more optional embodiments of the present specification further includes a gear shifting operation component 601. The gear shifting operation component 601 can be controlled to perform gear shifting operation on the neutral gear mechanism 1046, switch the neutral gear mechanism 1046 from the neutral state to the gear engaged state, or switch the neutral gear mechanism 1046 from the gear engaged state to the neutral state.

[0309] The controller 1010 generates a safety control instruction when it is determined that the multi-functional vehicle is in an abnormal gear state, and controls the gear shifting operation component 601 to perform gear shifting operation on the neutral gear mechanism 1046, so as to timely eliminate the abnormal gear state. Specifically, the safety control instruction is used to control the gear shifting operation component to switch the neutral gear mechanism from the neutral state to the gear engaged state when it is determined that the multi-functional vehicle is in the neutral driving state, and is used to control the gear shifting operation component to switch the neutral gear mechanism from the gear engaged state to the neutral state when it is determined that the multi-functional vehicle is in the gear engaged towing state.

[0310] The multifunctional vehicle, when the gear state recognition component determines that the multifunctional vehicle is in an abnormal gear state, generates a safety control instruction to control the gear shifting operation component 601 to perform a gear switching operation, which can timely eliminate the abnormal gear state, thereby avoiding damage to the multifunctional vehicle caused by the abnormal gear state. In this way, the safety and stability of the vehicle can be significantly improved.

[0311] As shown in FIG. 17, the multifunctional vehicle provided by one or more optional embodiments of the present application further includes a locking mechanism 602. The locking mechanism 602 can be controlled to lock the drive axle assembly 1040. When the drive axle assembly 1040 is in the locked state, the drive motor 1042 and the drive wheel 1044 cannot rotate.

[0312] The controller 1010 determines that the multifunctional vehicle is in an abnormal gear state of the towed trailer, and generates a corresponding safety control instruction to control the locking mechanism 602 to be in a locked state.

[0313] In the towed trailer state, the drive wheel 1044 is affected by external force to rotate and drive the drive motor 1042 to rotate, thereby causing the drive motor 1042 to generate electricity to generate voltage, which may damage related circuit components. Therefore, when the control 1010 determines that the multifunctional vehicle is in an abnormal state of the towed trailer, a safety control instruction is generated to control the locking mechanism 602 to be in a locked state. After the locking mechanism 602 is in the locked state, the drive motor 1042 and the drive wheel 1044 cannot continue to rotate, and the drive motor 1042 will not generate electricity to generate voltage. In this way, the drive motor can be stopped from generating electricity, thereby avoiding damage to the multifunctional vehicle caused by the towed trailer. In this way, the safety and stability of the vehicle can be significantly improved.

[0314] As shown in FIG. 18, the multifunctional vehicle provided by one or more optional embodiments of the present application further includes an electric control brake assembly 603. The electric control brake assembly 603 can be controlled to perform a brake operation, so that the drive wheel 1044 cannot rotate, and the multifunctional vehicle stops moving.

[0315] The controller 1010 determines that the multifunctional vehicle is in an abnormal gear state of the towed trailer, and generates a corresponding safety control instruction to control the electric control brake assembly 603 to perform a brake operation.

[0316] In the gear-hanging trailer state, the driving wheel 1044 is rotated by external force and drives the driving motor 1042 to rotate, and the driving motor 1042 generates voltage by generating electricity, which may cause damage to related circuit components. Therefore, when the control 1010 determines that the multifunctional vehicle is in the abnormal state of gear-hanging trailer, a safety control instruction is generated to control the electric brake assembly 603 to perform brake operation. The electric brake assembly 603 performs brake operation, so that the driving wheel 1044 cannot continue to rotate, and the driving motor 1042 will not generate voltage by generating electricity. In this way, the driving motor can be stopped from generating electricity in time, so that the damage of the multifunctional vehicle caused by the gear-hanging trailer can be avoided. In this way, the safety and stability of the vehicle can be significantly improved.

[0317] In some optional embodiments, when the controller 1010 determines that the multifunctional vehicle is in the abnormal gear state of gear-hanging trailer, the corresponding safety control instruction is generated to control the electric brake assembly 603 to perform brake operation according to a preset brake frequency, and the brake operation is periodically performed at a certain time interval. When the electric brake assembly 603 performs brake operation according to the preset frequency, the rotation speed of the driving wheel 1044 can be reduced during brake, or the driving wheel 1044 can be directly braked to stop rotating. Periodically performing brake operation according to the preset brake frequency can ensure that the rotation speed of the driving wheel 1044 is always maintained at a low speed level, and the rotation speed of the driving motor 1042 is also maintained at a low level. The voltage generated by the driving motor 1042 is low, which will not cause damage to related components, so that the damage of the multifunctional vehicle caused by the gear-hanging trailer can be avoided. In addition, performing brake operation according to the preset brake frequency, the multifunctional vehicle dragged by external force will produce strong vibration, which greatly hinders the external force from further applying to the multifunctional vehicle, and can also serve as very obvious vehicle abnormality prompt information to remind the operator.

[0318] In some optional embodiments, the preset brake frequency is greater than or equal to 0 Hz and less than or equal to 100 Hz. When the preset brake frequency is 0 Hz, it means that the controller 1010 controls the electric brake assembly 603 to perform brake operation and continuously maintains the brake state.

[0319] As can be understood by those skilled in the art, the faster the trailer speed in the gear-hanging trailer state, the faster the rotation of the driving wheel 1044 drives the rotation of the driving motor 1042, the higher the rotation speed of the driving motor 1042, and the higher the voltage generated by the driving motor 1042. The greater the possibility and extent of damage to related circuit components. Therefore, corresponding to the abnormal gear state of the gear-hanging trailer, the safety control instructions generated by the controller 1010 can also adjust and control the execution frequency of the brake operation of the electric brake assembly 603 according to at least one of the trailer running speed of the multifunctional vehicle, the duration of the abnormal gear state, and the voltage value of the driving motor. Different preset brake frequencies are used to cope with different degrees of influence of the gear-hanging trailer on the multifunctional vehicle.

[0320] The controller 1010 can adjust and control the preset brake frequency according to the following correlation:

[0321] The preset brake frequency: f s0 ∝(V t ;T y ;U f )

[0322] Where f s0 represents the preset brake frequency, V t , T y , U f represent the trailer running speed, the duration of the abnormal gear state, and the voltage value generated by the driving motor, respectively. s0 f f is positively correlated with at least one of V y , T f , U f , that is, the faster the trailer running speed, the longer the duration of the abnormal gear state, the higher the voltage generated by the driving motor, the higher the preset brake frequency.

[0323] Taking the adjustment and control of the preset prompt frequency according to the trailer running speed as an example for description.

[0324] The preset brake frequency:

[0325] Where f s0 represents the preset brake frequency, f s-max represents the maximum value of the preset brake frequency, V t represents the trailer running speed, represents the designed maximum running speed of the multifunctional vehicle, and a is an adjustment coefficient, 0

[0326] In the above calculation formula of the preset brake frequency, the trailer running speed Vt less than the design maximum operating speed a product of the adjustment coefficient a and the trailer operating speed V t the closer to the design maximum operating speed a product of the adjustment coefficient a and the trailer operating speed V. According to the above calculation formula, the trailer operating speed V t the higher the preset brake frequency f s0 the higher the preset brake frequency f

[0327] the preset brake frequency f s0 the higher the preset brake frequency f

[0328] In one of the alternative embodiments provided in the present specification, a multifunctional vehicle is provided, wherein the controller 1010 generates a safety control instruction when determining that the multifunctional vehicle is in an abnormal gear state of the hitched trailer. The safety control instruction is used to control the driving motor 1042 to output a brake torque for the hitched trailer state. The brake torque can cause the driving wheel 1044 to generate a braking rotation or a braking rotation trend, and the direction of the braking rotation is opposite to the rotation direction of the driving wheel 1044 when the multifunctional vehicle is towed by external force. Therefore, it can be understood that the brake torque can offset or completely offset the influence of external force on the driving wheel 1044 to a certain extent, so as to slow down the rotation speed of the driving wheel 1044 affected by external force or to stop the rotation of the driving wheel 1044.

[0329] In the hitched trailer state, the driving wheel 1044 is affected by external force to rotate and drive the driving motor 1042 to rotate, and then the driving motor 1042 generates voltage by generating electricity, which may cause damage to related circuit components. Therefore, when the control 1010 determines that the multifunctional vehicle is in an abnormal state of the hitched trailer, a safety control instruction is generated to control the driving motor 1042 to output a brake torque to slow down the rotation speed of the driving wheel 1044 or to stop the rotation of the driving wheel 1044, so as to reduce the generating voltage of the driving motor 1042 or to make the driving motor 1044 no longer generate voltage. In this way, the damage caused by the hitched trailer to the multifunctional vehicle can be weakened or directly avoided, and the safety and stability of the vehicle can be significantly improved.

[0330] In some optional embodiments, the safety control instruction can control the driving motor 1042 to generate a braking torque while controlling the electric control brake assembly 603 to perform a braking operation, and the combination of the two can achieve a better braking effect, so as to more thoroughly avoid the damage of the towing of the gear to the multi-functional vehicle, and further improve the safety and stability of the vehicle.

[0331] When the safety control instruction controls the electric control brake assembly 603 to perform a braking operation according to a preset braking frequency, it can also control the driving motor 1042 to output a braking torque at the same frequency. Such a control method can better and more thoroughly reduce the rotation speed of the driving wheel 1044, or directly brake the driving wheel 1044 to stop rotating, so as to ensure that the rotation speed of the driving wheel 1044 is always maintained at a low speed level, and the rotation speed of the driving motor 1042 is also maintained at a low level, avoiding the damage of the towing of the gear to the multi-functional vehicle. Similarly, the above control method performs a braking operation and outputs a braking torque according to a preset braking frequency, and the multi-functional vehicle dragged by external force will produce strong vibration, which greatly hinders the external force from further applying to the multi-functional vehicle, and can also be used as very obvious vehicle abnormality prompt information to remind the operator.

[0332] For the same purpose, in another aspect, the present specification provides a multi-functional vehicle.

[0333] As shown in FIGS. 1 and 2, the multi-functional vehicle provided by one or more optional embodiments of the present specification comprises a vehicle frame 100, a function mechanism 102 and a driving mechanism 104 connected to the vehicle frame, a power supply system 106 for supplying power to the function mechanism 102 and the driving mechanism 104, and a current detection assembly 1080 and a controller 1010.

[0334] The driving mechanism 104 further comprises a neutral gear mechanism 1046. The neutral gear mechanism 1046 can be controlled to make the driving axle assembly 1040 in a neutral state or a gear state. In the gear state, the driving axle assembly 1040 outputs the power of the driving motor 1042 to the driving wheel 1044, and in the neutral state, the driving axle assembly 1040 does not output the power of the driving motor 1042 to the driving wheel 1044.

[0335] The current detection assembly 1080 is used to detect the corresponding current of the driving motor 1042.

[0336] The controller 1010 is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection component 1080, and generate a warning indication instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in an abnormal gear state.

[0337] The warning prompt instruction is used to control the multi-functional vehicle to issue a warning to remind the operator to handle the abnormal gear state. The safety control instruction is used to control the multi-functional vehicle to avoid further damage and impact of the abnormal gear state on the multi-functional vehicle.

[0338] As shown in FIG. 19, in a multi-functional vehicle provided by one or more optional embodiments of the present application, the method for determining whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection component 1080 by the controller 1010 comprises the following steps.

[0339] S401: Determine whether the current is a forward current.

[0340] The forward current refers to the current in the state that the power flows from the power supply system 106 to the drive motor 1042. The current in the state that the power flows from the drive motor 1042 to the power supply system 106 is a reverse current.

[0341] S402: In response to the current being a forward current, determine whether the current exceeds a preset current threshold.

[0342] When the neutral gear mechanism 1046 is in the gear engagement state, the drive motor 1042 is power-connected with the drive wheel 1044, and the drive motor 1042 is in a loaded operation state. When the neutral gear mechanism 1046 is in the neutral gear state, the drive motor 1042 is in an unloaded operation state.

[0343] The loaded operation state can include light load, rated load and heavy load, and the specific load state depends on the ground condition and the road slope condition of the multi-functional vehicle. Regardless of the load state, the working current is obviously higher than that in the unloaded operation state.

[0344] The preset current threshold is set to be greater than the unloaded current of the drive motor 1042 and less than the loaded current of the drive motor 1042. Those skilled in the art can understand that the preset current threshold can be flexibly set within the corresponding value range according to the actual situation.

[0345] S403: In response to the current exceeding the preset current threshold, it is determined that the neutral gear mechanism is in the gear engagement state, and the multi-functional vehicle is in the gear engagement driving state.

[0346] When the neutral gear mechanism 1046 is in the engaged state, the power of the drive motor 1042 can be smoothly transmitted to the drive wheel 1044. When the drive motor 1042 is controlled to start, the power transmitted through the drive axle assembly 1040 can drive the drive wheel 1044 to start rotating. At this time, the drive motor 1042 is in the loaded state, and the corresponding current is the loaded current. Therefore, when the current detected by the current detection assembly 1080 exceeds the preset current threshold, it can be determined that the neutral gear mechanism 1046 is in the engaged state. The drive motor 1042 drives the drive wheel 1044 to normally travel, and the multifunctional vehicle is in the engaged driving state.

[0347] S404: In response to the current not exceeding the preset current threshold, it is determined that the neutral gear mechanism is in the neutral state, and the multifunctional vehicle is in the neutral driving state.

[0348] Different from the engaged state, when the current detected by the current detection assembly 1080 does not exceed the preset current threshold, it indicates that the neutral gear mechanism 1046 is in the neutral state, and the power transmission between the drive motor 1042 and the drive wheel 1044 is interrupted. The drive motor 1042 is controlled to start and is in the unloaded running state, so it can be determined that the multifunctional vehicle is in the neutral driving state.

[0349] S405: In response to the current being a reverse current, it is determined that the neutral gear mechanism is in the engaged state, and the multifunctional vehicle is in the engaged trailer state.

[0350] If the current detected by the current detection assembly 1080 is a reverse current, i.e., the power flows from the drive motor 1042 to the power supply system 106. In this case, the drive motor 1042 is driven by the drive wheel 1044 and reversely rotates to generate power as a generator. It can be determined that the neutral gear mechanism 1046 is in the engaged state, and the multifunctional vehicle is driven by external force. The drive wheel 1044 is also affected by external force, and the power is transmitted to the drive motor 1042 through the drive axle assembly 1040 to reversely drive the drive motor 1042. Therefore, it can be determined that the multifunctional vehicle is in the engaged trailer state.

[0351] The abnormal gear state includes the neutral driving state and the engaged trailer state.

[0352] For the same purpose, in another aspect, the embodiment of the present disclosure provides a multifunctional vehicle.

[0353] As shown in FIG. 1 and FIG. 2, a multifunctional vehicle provided by one or more optional embodiments of the present application comprises a vehicle frame 100, a functional mechanism 102 and a driving mechanism 104 connected to the vehicle frame 100, a power supply system 106 for supplying power to the functional mechanism 102 and the driving mechanism 104, and a current detection assembly 1080, an in-position state detection assembly 1084 and a controller 1010.

[0354] The vehicle frame 100 extends at least partially along a front-rear direction, and a carrying mechanism 1000 can be arranged on the vehicle frame 100. The carrying mechanism 1000 is configured to carry an operator of the multifunctional vehicle, and can include at least one of a seat or a standing platform.

[0355] The driving mechanism 104 further comprises a neutral gear mechanism 1046. The neutral gear mechanism 1046 is configured to controllably place the driving axle assembly 1040 in a neutral gear state or a gear engaged state. In the gear engaged state, the driving axle assembly 1040 outputs power of the driving motor 1042 to the driving wheels 1044. In the neutral gear state, the driving axle assembly 1040 does not output power of the driving motor 1042 to the driving wheels 1044.

[0356] The current detection assembly 1080 is configured to detect a corresponding current of the driving motor 1042.

[0357] The in-position state detection assembly 1084 is arranged on the carrying mechanism 1000 and configured to detect in-position state information of the operator. The in-position state information includes an in-position state and an off-position state.

[0358] In some optional embodiments, the in-position state detection assembly 1084 comprises a two-channel switch. Taking a seat as an example, the two-channel switch can be arranged below the seat. When the operator is in position, the two-channel switch is in a first switch state due to pressure, and the in-position state detection assembly 1084 can output a signal indicating that the operator is in position. When the operator is off position, the two-channel switch is in a second switch state due to no pressure, and the in-position state detection assembly 1084 can output a signal indicating that the operator is off position. Those skilled in the art can understand that the two-channel switch can be arranged in correspondence with other forms of the carrying mechanism 1000. Regardless of the form of the carrying mechanism 1000, the in-position state detection assembly 1084 can output corresponding in-position state information for different in-position states.

[0359] The controller 1010 is configured to determine whether the multifunctional vehicle is in an abnormal gear state according to the current detected by the current detection assembly and the in-position state information, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multifunctional vehicle is in the abnormal gear state.

[0360] The warning prompt instruction is used to control the multifunctional vehicle to issue a warning to remind the operator to handle the abnormal gear state. The safety control instruction is used to control the safety of the multifunctional vehicle to avoid further damage and influence of the abnormal gear state on the multifunctional vehicle.

[0361] As shown in FIG. 20, in a multifunctional vehicle provided by one or more optional embodiments of the present application, the method for determining whether the multifunctional vehicle is in an abnormal gear state according to the current detected by the current detection component 1080 and the in-place state information comprises the following steps:

[0362] S500: Determine whether the in-place state information is that a person is in place.

[0363] S501: In response to the in-place state information being that a person is in place, determine whether the current exceeds a preset current threshold after the driving motor is started.

[0364] The in-place state information being that a person is in place indicates that the multifunctional vehicle has an operator starting to drive. After the operator starts to drive, the driving motor 1042 is started, and the current of the driving motor 1042 in a normal driving state is a forward current. It is further necessary to determine whether the current of the driving motor 1042 exceeds a preset current threshold.

[0365] When the neutral gear mechanism 1046 is in the gear engagement state, the driving motor 1042 is power-connected with the driving wheel 1044, and the driving motor 1042 is in a loaded running state. When the neutral gear mechanism 1046 is in the neutral state, the driving motor 1042 is in an unloaded running state.

[0366] The loaded running state can include light load, rated load and heavy load, and the specific load state depends on the ground condition and the road slope condition of the multifunctional vehicle. Regardless of the load condition, the working current is obviously higher than that in the unloaded running state.

[0367] The preset current threshold is set to be greater than the unloaded current of the driving motor 1042 and less than the loaded current of the driving motor 1042. Those skilled in the art can understand that the preset current threshold can be flexibly set within a corresponding value range according to actual conditions.

[0368] S502: In response to the current exceeding the preset current threshold, it is determined that the neutral gear mechanism is in the gear engagement state, and the multifunctional vehicle is in the gear engagement driving state.

[0369] When the neutral gear 1046 is in the engaged state, the power of the drive motor 1042 can be smoothly transmitted to the drive wheel 1044. When the drive motor 1042 is controlled to start, the power transmitted through the drive axle assembly 1040 can drive the drive wheel 1044 to start rotating. At this time, the drive motor 1042 is in a loaded state, and the corresponding current is a loaded current. Therefore, when the current detected by the current detection assembly 1080 exceeds the preset current threshold, it can be determined that the neutral gear 1046 is in the engaged state. The drive motor 1042 drives the drive wheel 1044 to normally travel, and the multifunctional vehicle is in the engaged driving state.

[0370] S503: In response to the current not exceeding the preset current threshold, it is determined that the neutral gear is in the neutral state, and the multifunctional vehicle is in the neutral driving state.

[0371] Different from the engaged state, when the current detected by the current detection assembly 1080 does not exceed the preset current threshold, it indicates that the neutral gear 1046 is in the neutral state, and the power transmission between the drive motor 1042 and the drive wheel 1044 is interrupted. The drive motor 1042 is controlled to start and is in an unloaded running state, so it can be determined that the multifunctional vehicle is in the neutral driving state.

[0372] S504: In response to the in-place state information being that a person is off the seat, it is determined whether the current is a reverse current, the reverse current being a current in a state that power flows from the drive motor to the power supply system.

[0373] The in-place state information being that a person is off the seat indicates that the multifunctional vehicle is in a stationary state without an operator and without control. At this time, it is necessary to further confirm whether the corresponding current of the drive motor 1042 is a reverse current.

[0374] S505: In response to the current being a reverse current, it is determined that the neutral gear is in the engaged state, and the multifunctional vehicle is in the engaged trailer state.

[0375] If the current detected by the current detection assembly 1080 is a reverse current, that is, power flows from the drive motor 1042 to the power supply system 106. In this case, the drive motor 1042 is driven by the drive wheel 1044 and reversely rotates to generate power as a generator. It can be determined that the neutral gear 1046 is in the engaged state, and the multifunctional vehicle is driven by external force. The drive wheel 1044 is also affected by external force, and the power is transmitted to the drive motor 1042 through the drive axle assembly 1040 to reversely drive the drive motor 1042. Therefore, it can be determined that the multifunctional vehicle is in the engaged trailer state.

[0376] In this case, if the trailer speed is too fast, the rotation speed of the drive motor 1042 will also be high, and the voltage generated by the drive motor 1042 will also be very high, exceeding the maximum withstand voltage of related circuit components, which will cause component damage and greatly affect the overall stability and reliability of the multifunctional vehicle.

[0377] The abnormal gear state includes the empty gear driving state and the engaged gear trailer state.

[0378] In the multifunctional vehicle, the controller 1010 determines the gear state of the empty gear mechanism 1046 according to the current detected by the current detection component 1080 and the in-place state information, and accurately determines whether the multifunctional vehicle is in an abnormal gear state. Further, timely warning is given for the abnormal gear state, and active safety control is performed, so as to optimize the operation and driving experience, and avoid damage to the vehicle caused by operating the vehicle in an abnormal gear state, and significantly improve the safety and stability of the vehicle.

[0379] As shown in FIG. 9, one multifunctional vehicle provided by one or more optional embodiments of the present application includes a left drive axle assembly 301 and a right drive axle assembly 302. The left drive axle assembly 301 and the right drive axle assembly 302 are respectively mechanically connected to a corresponding side drive motor 1042 and drive wheel 1044, so as to transmit power of the drive motor 1042 to the drive wheel 1044. The left drive axle assembly 301 and the right drive axle assembly 302 are respectively provided with a left empty gear mechanism 401 and a right empty gear mechanism 402.

[0380] In the multifunctional vehicle, the left empty gear mechanism 401 and the right empty gear mechanism 402 can be in a state of one side empty gear and the other side engaged gear. During normal driving, the operator starts the drive motor 1042, and the drive wheel 1044 on the engaged gear side can rotate normally, while the drive wheel 1044 on the empty gear side does not rotate. In this case, the multifunctional vehicle differentially steers.

[0381] As shown in FIG. 21, the method for determining whether the multifunctional vehicle is in an abnormal gear state according to the current detected by the current detection component 1080 and the in-place state information includes the following steps.

[0382] S600: Determine whether the in-place state information is that a person is in place.

[0383] S601: In response to the in-place state information being that a person is in place, determine whether the current of the left drive motor and the right drive motor exceeds a preset current threshold after the drive motor is started.

[0384] The in-position state information is that a person is in position, indicating that the multi-functional vehicle has an operator starting to drive. In a normal driving state, the left drive motor and the right drive motor are started at the same time, and the currents of the two drive motors are both positive currents. Further, it is necessary to confirm whether the currents of the left and right drive motors exceed a preset current threshold.

[0385] S602: In response to one of the left drive motor current and the right drive motor current exceeding the preset current threshold and the other not exceeding the preset current threshold, it is determined that one of the left gearshift mechanism and the right gearshift mechanism is in a neutral state and the other is in a gear engaged state, and the multi-functional vehicle is in a neutral driving state.

[0386] For the drive motor whose current exceeds the preset current threshold among the left drive motor and the right drive motor, it can be determined that it is in a load state, indicating that power can be smoothly transmitted in the corresponding drive axle assembly, and the corresponding gearshift mechanism is in a gear engaged state. Conversely, for the drive motor whose current does not exceed the preset current threshold, the corresponding gearshift mechanism is in a neutral state.

[0387] In the person in position state, one of the left gearshift mechanism and the right gearshift mechanism is in a neutral state and the other is in a gear engaged state, and it can be determined that the multi-functional vehicle is in a neutral driving state.

[0388] S603: In response to the in-position state information being that a person is off position, it is determined whether the currents corresponding to the left drive motor and the right drive motor are reverse currents, the reverse currents indicating currents in a state that power flows from the drive motor to the power supply system.

[0389] The in-position state information is that a person is off position, indicating that the multi-functional vehicle has no operator and is in a static state without control. At this time, it is further necessary to confirm whether the currents corresponding to the left drive motor and the right drive motor are reverse currents.

[0390] S604: In response to one of the left drive motor current and the right drive motor current being a reverse current and the other being zero, it is determined that one of the left gearshift mechanism and the right gearshift mechanism is in a neutral state and the other is in a gear engaged state, and the multi-functional vehicle is in a gear engaged trailer state.

[0391] For the drive motor whose current is a reverse current among the left drive motor and the right drive motor, it can be determined that the drive motor is in a gear engaged state and is reversely rotated as a generator by external force. For the drive motor whose current is zero or substantially zero, it can be determined that the drive motor is in a neutral state.

[0392] When the personnel is off the seat, one of the left and right neutral mechanisms is in the neutral state, and the other is in the gear state, so that it can be determined that the multi-functional vehicle is in the gear trailer state.

[0393] The abnormal gear state includes the neutral driving state and the gear trailer state.

[0394] In the multi-functional vehicle, the controller 1010 performs state distinguishing judgment according to the current detected by the current detection component 1080 and the in-seat state information. For the left and right drive axle components-left and right drive motors-left and right drive wheels, the gear state of the left and right neutral mechanisms 1046 can be accurately identified and determined, and whether the multi-functional vehicle is in an abnormal gear state can be accurately judged.

[0395] For the same purpose, in another aspect, the present specification provides a multi-functional vehicle.

[0396] As shown in FIGS. 1 and 2, a multi-functional vehicle provided by one or more optional embodiments of the present specification includes a vehicle frame 100, a function mechanism 102 and a drive mechanism 104 connected to the vehicle frame 100, a power supply system 106 for supplying power to the function mechanism 102 and the drive mechanism 104, and a current detection component 1080, a motion state detection component 1082, an in-seat state detection component 1084, and a controller 1010.

[0397] The vehicle frame 100 extends at least partially in the front-rear direction, and a load bearing mechanism 1000 can be provided on the vehicle frame 100. The load bearing mechanism 1000 is used to bear the operator of the multi-functional vehicle, and can include at least one of a seat or a standing platform.

[0398] The drive mechanism 104 further includes a neutral mechanism 1046. The neutral mechanism 1046 can be controlled to place the drive axle component 1040 in a neutral state or a gear state. In the gear state, the drive axle component 1040 outputs the power of the drive motor 1042 to the drive wheel 1044, and in the neutral state, the drive axle component 1040 does not output the power of the drive motor 1042 to the drive wheel 1044.

[0399] The current detection component 1080 is used to detect the current of the drive motor 1042.

[0400] The motion state detection component 1082 is used to monitor the motion state of the multi-functional vehicle to obtain motion state information. The motion state information of the multi-functional vehicle includes but is not limited to acceleration, speed, steering angle, pitch angle, and roll angle.

[0401] In some optional embodiments, the motion state detection component 1082 comprises an inertial measurement unit (IMU). The inertial measurement unit 1082 can be fixedly arranged on the frame 100 of the multi-functional vehicle and move with the multi-functional vehicle.

[0402] In some other optional embodiments, the motion state detection component 1082 can be arranged on a universal wheel in the multi-functional vehicle. As shown in FIG. 1, the multi-functional vehicle comprises at least one universal wheel 201, and at least one universal wheel 201 is arranged on the front side of the frame 100. When the driving wheel 1044 drives the multi-functional vehicle to move, the universal wheel 201 will also be driven to produce steering and rotation. The motion state detection component 1082 is arranged correspondingly with the universal wheel 201, and the motion state information is obtained by detecting the motion acceleration and / or steering angle of the universal wheel 201.

[0403] The in-situ state detection component 1084 is arranged on the bearing mechanism 1000 and is configured to detect the in-situ state information of the operator, which comprises the in-situ state and the off-situ state of the operator.

[0404] In some optional embodiments, the in-situ state detection component 1084 comprises a two-channel switch. Taking a seat as an example, the two-channel switch can be arranged below the seat. When the operator is in-situ, the two-channel switch is in a first switch state under the influence of pressure, and the in-situ state detection component 1084 can output a signal indicating that the operator is in-situ. When the operator is off-situ, the two-channel switch is in a second switch state under the pressure-free state, and the in-situ state detection component 1084 can output a signal indicating that the operator is off-situ. Those skilled in the art can understand that the two-channel switch can be arranged correspondingly with other forms of the bearing mechanism 1000. Regardless of the form of the bearing mechanism 1000, the in-situ state detection component 1084 can output corresponding in-situ state information for different in-situ states.

[0405] The controller 1010 is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection component and the in-situ state information, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in an abnormal gear state.

[0406] As shown in FIG. 22, in a multi-functional vehicle provided in one or more optional embodiments of the present specification, the method for determining whether the multi-functional vehicle is in an abnormal gear state by the controller 1010 according to the current detected by the current detection component 1080, the in-situ state information and the motion state information comprises:

[0407] S700: Determine whether the in-situ state information is a person in-situ.

[0408] S701: In response to the in-situ state information being a person in-situ, determine whether the current exceeds the preset current threshold after the driving motor is started.

[0409] The in-situ state information is a person in-situ, indicating that the multi-functional vehicle has an operator starting to drive. After the operator starts to drive, the driving motor 1042 will be started, and the current of the driving motor 1042 in the normal driving state is a positive current. Further, it is necessary to determine whether the current of the driving motor 1042 exceeds the preset current threshold.

[0410] When the neutral mechanism 1046 is in the gear state, the driving motor 1042 is power connected with the driving wheel 1044, and the driving motor 1042 is in a loaded running state. When the neutral mechanism 1046 is in the neutral state, the driving motor 1042 is in an unloaded running state.

[0411] The preset current threshold is set to be greater than the no-load current of the driving motor 1042 and less than the loaded current of the driving motor 1042. Those skilled in the art can understand that the preset current threshold can be flexibly set within the corresponding value range according to the actual situation.

[0412] S702: In response to the current exceeding the preset current threshold, it is determined that the neutral mechanism is in the gear state, and the multi-functional vehicle is in the gear driving state.

[0413] When the neutral mechanism 1046 is in the gear state, the power of the driving motor 1042 can be smoothly transmitted to the driving wheel 1044. When the driving motor 1042 is controlled to start, the power transmitted through the driving axle assembly 1040 can drive the driving wheel 1044 to start rotating, at this time the driving motor 1042 is in a loaded state, and the corresponding current is a loaded current. Therefore, when the current detected by the current detection assembly 1080 exceeds the preset current threshold, it can be determined that the neutral mechanism 1046 is in the gear state. The driving motor 1042 drives the driving wheel 1044 to normally drive, and the multi-functional vehicle is in the gear driving state.

[0414] S703: In response to the current not exceeding the preset current threshold, determine whether the motion state detection assembly detects acceleration.

[0415] If the current of the driving motor 1042 does not exceed the preset current threshold, it indicates that the driving motor 1042 can be in an unloaded state. It should be noted that in some special cases, the driving motor 1042 has a small load, and the corresponding current also does not exceed the preset current threshold. For example, during the driving of the multifunctional vehicle, there is other driving power in addition to the driving motor 1042, and the other driving power has a large proportion. In order to exclude the misjudgment caused by this special case, it is further necessary to determine whether the motion state detection assembly 1082 detects acceleration.

[0416] If the motion state detection assembly 1082 detects acceleration, it indicates that the multifunctional vehicle is in motion. In this case, the current of the driving motor 1042 does not exceed the preset current threshold, indicating that there is other driving power in addition to the driving motor 1042.

[0417] S704: In response to the motion state detection assembly not detecting acceleration, it is determined that the neutral gear mechanism is in a neutral state, and the multifunctional vehicle is in a neutral driving state.

[0418] If the motion state detection assembly 1082 does not detect acceleration, it indicates that the multifunctional vehicle stays in place without motion. Thus, the above-mentioned special case can be excluded. It can be determined that the neutral gear mechanism 1046 is in a neutral state, and the multifunctional vehicle is in a neutral driving state.

[0419] S705: In response to the in-place state information being personnel off-site, it is determined whether the motion state detection assembly detects acceleration.

[0420] The in-place state information is personnel off-site, indicating that the multifunctional vehicle is in a static state without an operator and without control. At this time, it is further necessary to determine whether the motion state detection assembly 1082 detects acceleration.

[0421] S706: In response to the motion state detection assembly detecting acceleration, it is determined whether the current is a reverse current, the reverse current being a current flowing from the driving motor assembly to the power supply system.

[0422] The motion state detection assembly 1082 detects acceleration, indicating that the multifunctional vehicle is displaced by external force (towing) without operator control. In this case, it is further determined whether the current of the driving motor 1042 is a reverse current.

[0423] S707: In response to the current being a reverse current, it is determined that the neutral gear assembly is in a gear engaged state, and the multifunctional vehicle is in a gear engaged towing state.

[0424] The current of the driving motor 1042 is reverse current, i.e. the power flows from the driving motor 1042 to the power system 106. In this case, the driving motor 1042 is driven by the driving wheel 1044 and rotates reversely to generate power as a generator. It can be determined that the neutral gear mechanism 1046 is in the gear engaged state, the multi-functional vehicle is driven by external force, and the driving wheel 1044 is also affected by external force to transmit power to the driving motor 1042 through the driving axle assembly 1040 to reversely drive the driving motor 1042. Thus, it can be determined that the multi-functional vehicle is in the gear engaged trailer state.

[0425] S708: In response to the current of the driving motor being zero, it is determined that the neutral gear assembly is in the neutral gear state, and the multi-functional vehicle is in the neutral gear trailer state.

[0426] The current of the driving motor 1042 is zero or substantially zero, which indicates that even if the multi-functional vehicle is dragged by external force, the torque of the driving wheel 1044 affected by external force is not transmitted to the driving motor 1042. The power transmission between the driving motor 1042 and the driving wheel 1044 is interrupted, and thus it can be determined that the neutral gear mechanism 1046 is in the neutral gear state, and the multi-functional vehicle is in the neutral gear trailer state. In this case, no damage will be caused to the related circuit components.

[0427] The abnormal gear state includes the neutral gear driving state and the gear engaged trailer state.

[0428] In the multi-functional vehicle, the controller 1010 can accurately identify and determine the gear state of the neutral gear mechanism 1046 and accurately determine whether the multi-functional vehicle is in the abnormal gear state according to the comprehensive analysis and judgment of the controller 1010 based on the current detected by the current detection assembly 1080, the in-place state information and the motion state information.

[0429] As shown in FIG. 9, one of the multi-functional vehicles provided by one or more optional embodiments of the present application includes a left driving axle assembly 301 and a right driving axle assembly 302, which are respectively mechanically connected to a corresponding side driving motor 1042 and driving wheel 1044 to transmit the power of the driving motor 1042 to the driving wheel 1044. The left driving axle assembly 301 and the right driving axle assembly 302 are respectively provided with a left neutral gear mechanism 401 and a right neutral gear mechanism 402.

[0430] In the multi-functional vehicle, the left neutral gear mechanism 401 and the right neutral gear mechanism 402 can be in a state of one side neutral gear and one side gear engaged. In the normal driving process, the operator operates the starting drive motor 1042, and the drive wheel 1044 on the gear engaged side can rotate normally, while the drive wheel 1044 on the neutral gear side does not rotate, in which case the multi-functional vehicle differentially steers.

[0431] Referring to FIG. 23, in a multi-functional vehicle provided by one or more optional embodiments of the present application, a method for determining whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection assembly, the in-place state information and the motion state information, includes the following steps.

[0432] S800: determining whether the motion state detection assembly detects a deflection angle.

[0433] S801: in response to the motion state detection assembly detecting a deflection angle, determining whether the operator is in place according to the in-place state information.

[0434] The motion state detection assembly 1082 detects a deflection angle, indicating that the multi-functional vehicle is actively or passively steering motion. Further, it is determined whether the in-place state information is that a person is in place, i.e., whether the operator is in place according to the in-place state information. This judgment is helpful to distinguish whether the multi-functional vehicle is actively steering motion or passively steering motion.

[0435] S802: in response to the in-place state information being that a person is in place, determining whether the currents of the left drive motor and the right drive motor corresponding to the drive motor start exceed a preset current threshold.

[0436] The in-place state information is that a person is in place, indicating that the multi-functional vehicle has an operator starting to drive, and the multi-functional vehicle is actively steering motion. In the normal driving state, the left drive motor and the right drive motor are started at the same time, and the currents of the two drive motors are both positive currents. Further, it is necessary to confirm whether the currents of the left and right drive motors exceed the preset current threshold.

[0437] S803: in response to one of the left drive motor current and the right drive motor current exceeding the preset current threshold and the other not exceeding the preset current threshold, determining that one of the left neutral gear mechanism and the right neutral gear mechanism is in a neutral gear state and the other is in a gear engaged state, and the multi-functional vehicle is in a neutral gear driving state.

[0438] For the driving motor whose current exceeds the preset current threshold, it can be determined that it is in the loaded state, indicating that the power can be smoothly transmitted in the corresponding driving axle assembly, and the corresponding neutral gear mechanism is in the gear engagement state. On the contrary, for the driving motor whose current does not exceed the preset current threshold, the corresponding neutral gear mechanism is in the neutral state. The steering angle of the multi-functional vehicle is caused by the differential of the left and right driving wheels corresponding to the left and right driving motors, and the multi-functional vehicle is in the neutral driving state.

[0439] S804: In response to the in-place state information being that a person is off-site, determining whether the currents corresponding to the left driving motor and the right driving motor are reverse currents, the reverse current indicating a current in a state that power flows from the driving motor to the power supply system;

[0440] The in-place state information being that a person is off-site indicates that the multi-functional vehicle is in a state without an operator and is in a state without control. At this time, it is necessary to further confirm whether the currents corresponding to the left driving motor and the right driving motor are reverse currents.

[0441] S805: In response to one of the left driving motor current and the right driving motor current being a reverse current and the other being zero, determining that one of the left neutral gear mechanism and the right neutral gear mechanism is in a neutral state and the other is in a gear engagement state, and the multi-functional vehicle is in a gear engagement trailer state;

[0442] For the driving motor whose current is a reverse current, it can be determined that the driving motor is in a gear engagement state and is reversely rotated as a generator to generate power under the influence of an external force. For the driving motor whose current is zero or substantially zero, it can be determined that the driving motor is in a neutral state. It can be determined that the multi-functional vehicle is towed by an external force, wherein the neutral gear mechanism 1046 in the gear engagement state is affected by the driving axle resistance corresponding to the driving wheel 1044, and the neutral gear mechanism 1046 in the neutral state is not affected by the resistance corresponding to the driving wheel. Therefore, the multi-functional vehicle turns due to the differential of the two driving wheels, and the multi-functional vehicle is in a gear engagement trailer state.

[0443] The abnormal gear state includes the neutral driving state and the gear engagement trailer state.

[0444] In the multi-functional vehicle, the controller 1010 can accurately identify and determine the gear state of the left and right neutral gear mechanisms 1046 and accurately judge whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection assembly 1080, the in-place state information, and the motion state information for the case of left and right driving axle assemblies-left and right driving motors-left and right driving wheels.

[0445] For the same purpose, the embodiment of the present specification also provides a garden working vehicle.

[0446] Referring to FIG. 1 and FIG. 2, in one or more optional embodiments of the present specification, the garden working vehicle comprises a vehicle frame 100, a function mechanism 102 and a driving mechanism 104 connected to the vehicle frame, and a power supply system 106 for supplying power to the function mechanism 102 and the driving mechanism 104.

[0447] The vehicle frame 100 extends at least partially along the front-rear direction, and a bearing mechanism 1000 can be provided on the vehicle frame 100. The bearing mechanism 1000 is used to bear the operator of the garden working vehicle, and can include at least one of a seat or a standing platform.

[0448] The function mechanism 102 comprises an output element for outputting power to realize a specific function. In some optional embodiments, the function mechanism 102 is a mowing element for realizing a mowing function. The function mechanism is also connected to the vehicle frame 100. The function mechanism 102 further comprises a function motor for driving the mowing element to rotate at a high speed, and a control module corresponding to the function motor.

[0449] In some optional embodiments, the function mechanism 102 can also be a cleaning element for realizing a cleaning function. The function mechanism further comprises a function motor for driving the cleaning element, and a control module corresponding to the function motor. It can be understood that in some optional embodiments, the function mechanism can also be replaced by other functional components, such as snow sweeping, snow blowing, snow shoveling, flushing, etc. Those skilled in the art should be able to adapt various functional components without creative labor, and all of the above should be included in the protection scope of the present embodiment.

[0450] The driving mechanism 104 is used to drive the garden working vehicle to travel in a garden scene such as a lawn, a garden, a fence, a green, or other road surfaces. The driving mechanism 104 comprises at least one driving axle assembly 1040, which is mechanically connected to a driving motor 1042 and a driving wheel 1044, so as to transmit the power of the driving motor 1042 to the driving wheel 1044 to drive the garden working vehicle to travel.

[0451] The function mechanism 102 and the driving mechanism 104 are loads in the garden working vehicle, and are powered by the power supply system 106. Specifically, the power supply system 106 is used to power at least the function motor in the function mechanism 102 and the driving motor 1042 in the driving mechanism 104. The power supply system 106 can also power other electronic components in the garden working vehicle, such as the control module corresponding to the function motor in the function mechanism 102, the driving control module corresponding to the driving motor 1042 in the driving mechanism 104, and lighting systems, human-computer interaction systems, and the like that can be provided in the vehicle.

[0452] The power supply system 106 is arranged on the vehicle frame 100 and detachably connected to the vehicle frame 100. The power supply system 106 includes a plurality of battery units 1060. The plurality of battery units can be selected from at least one of a first specification battery pack and a second specification battery pack. The first specification battery pack and the second specification battery pack differ in specification, including but not limited to differences in battery pack capacity, voltage, internal resistance, weight, size, energy density, cell type, state of charge information, and state of health information.

[0453] In some optional embodiments, the first specification battery pack and the second specification battery pack differ in battery pack capacity. 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 power handheld garden tools. For example, the second specification battery pack can power garden tools such as grass trimmers, brush cutters, blowers, chain saws, and the like. In addition, the second specification battery pack can also power torque output tools such as electric drills and electric hammers, sawing tools such as electric circular saws, jigsaws, and reciprocating saws, or grinding tools such as angle grinders and sanders.

[0454] In some optional embodiments, the first specification battery pack and the second specification battery pack differ in the type of battery cell selected. For example, the first specification battery pack and the second specification battery pack can be selected to use lithium iron phosphate battery cells and ternary lithium battery cells, respectively. The plurality of battery units in the power supply assembly can also use nickel-chromium battery cells, lead-acid battery cells, graphene battery cells, and the like.

[0455] The plurality of battery units of the power supply assembly are selected from at least one of a first specification battery pack and a second specification battery pack, which allows the garden working vehicle to be compatible with different specifications of battery packs, meet high-power working requirements, and also be adapted to handheld electric garden tools, making the working method of garden workers more flexible.

[0456] The driving mechanism 104 further comprises a neutral gear mechanism 1046. The neutral gear mechanism 1046 is capable of controllably making the driving axle assembly 1040 in a neutral gear state or a gear engaged state, the driving axle assembly 1040 outputs power of the driving motor 1042 to the driving wheel 1044 in the gear engaged state, and the driving axle assembly 1040 does not output power of the driving motor 1042 to the driving wheel 1044 in the neutral gear state.

[0457] The garden working vehicle further comprises a gear state identification assembly, which is used for identifying the gear state of the neutral gear mechanism 1046 and determining whether the garden working vehicle is in an abnormal gear state. The abnormal gear state includes a neutral gear driving and a gear engaged trailer.

[0458] The garden working vehicle further comprises a controller. The controller can be selected from a vehicle control (VUC), a power management system controller (BMS) of the vehicle, a motor controller (BMS), a combined control assembly, or a separately arranged control module. The controller is configured to generate a warning prompt instruction and / or a safety control instruction when it is determined that the garden working vehicle is in an abnormal gear state. The warning prompt instruction is used to control the garden working vehicle to issue a warning to remind the operator to handle the abnormal gear state. The safety control instruction is used to control the safety of the garden working vehicle to avoid further damage and influence of the abnormal gear state on the garden working vehicle.

[0459] The garden working vehicle uses the gear state identification assembly to identify the gear state of the neutral gear mechanism and determines whether the garden working vehicle is in an abnormal gear state in combination with the working condition of the vehicle. The abnormal gear state is timely warned and actively controlled for safety, so that the operation and driving experience can be optimized, the damage caused by the operation in the abnormal gear state can be avoided, and the safety and stability of the vehicle can be significantly improved.

[0460] For the same purpose, the embodiment of the present specification further provides a neutral gear identification control device.

[0461] The neutral gear identification control device is applied to a multi-functional vehicle. As shown in FIGS. 1 and 2, in some optional embodiments, the multi-functional vehicle comprises a vehicle frame 100;

[0462] A bearing mechanism 1000 is arranged on the vehicle frame 100 and is used for bearing an operator;

[0463] At least one driving axle assembly 1040 is mechanically connected to a driving motor 1042 and a driving wheel 1044, and is used for transmitting power of the driving motor 1042 to the driving wheel 1044 to drive the multi-functional vehicle to travel;

[0464] A neutral gear mechanism 1046 is capable of being controlled to place the drive axle assembly 1040 in a neutral state or a gear engaged state, in which the drive axle assembly 1040 outputs power of the drive motor 1042 to the drive wheels 1044 in the gear engaged state, and in which the drive axle assembly 1040 does not output power of the drive motor 1042 to the drive wheels 1044 in the neutral state.

[0465] The neutral gear recognition control device provided by one or more optional embodiments of the present specification comprises:

[0466] The current detection assembly 1080 and the controller 1010 are included.

[0467] The current detection assembly 1080 is configured to detect the current of the drive motor 1042.

[0468] The controller 1010 is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the current detected by the current detection assembly 1080, and to generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0469] In some other optional embodiments, the neutral gear recognition control device comprises:

[0470] At least two of the current detection assembly 1080, the in-position state detection assembly 1084, and the motion state detection assembly 1082, and the controller 1010 are included.

[0471] The in-position state detection assembly 1084 is arranged on the bearing mechanism 1000 and is configured to detect in-position state information of the operator, the in-position state information including whether the operator is in position or not in position.

[0472] The motion state detection assembly 1082 is configured to monitor the motion state of the multi-functional vehicle to obtain motion state information.

[0473] The controller 1010 is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the detection results of at least two of the current detection assembly 1080, the in-position state detection assembly 1084, and the motion state detection assembly 1082, and to generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0474] In some optional embodiments, the neutral position recognition control device includes the current detection component 1080 and the in-position state detection component 1084. Accordingly, the controller 1010 can determine whether the multi-functional vehicle is in an abnormal gear state according to the current of the driving motor 1042 detected by the current detection component 1080 and the in-position state information detected by the in-position state detection component 1084.

[0475] In some optional embodiments, the neutral position recognition control device includes the current detection component 1080 and the motion state detection component 1082. Accordingly, the controller 1010 can determine whether the multi-functional vehicle is in an abnormal gear state according to the current of the driving motor 1042 detected by the current detection component 1080 and the motion state information detected by the motion state detection component 1082.

[0476] In some optional embodiments, the neutral position recognition control device includes the motion state detection component 1082 and the in-position state detection component 1084. Accordingly, the controller 1010 can determine whether the multi-functional vehicle is in an abnormal gear state according to the motion state information detected by the motion state detection component 1082 and the in-position state information detected by the in-position state detection component 1084.

[0477] In some optional embodiments, the neutral position recognition control device includes the current detection component 1080, the motion state detection component 1082, and the in-position state detection component 1084. Accordingly, the controller 1010 can determine whether the multi-functional vehicle is in an abnormal gear state according to the current of the driving motor 1042 detected by the current detection component 1080, the motion state information detected by the motion state detection component 1082, and the in-position state information detected by the in-position state detection component 1084.

[0478] When the controller 1010 determines that the multi-functional vehicle is in an abnormal gear state, the controller 1010 is further configured to generate a warning prompt instruction and / or a safety control instruction. The warning prompt instruction is used to control the multi-functional vehicle to issue a warning to remind the operator to handle the abnormal gear state. The safety control instruction is used to control the multi-functional vehicle to avoid further damage and influence of the abnormal gear state on the multi-functional vehicle.

[0479] The neutral position recognition control device can accurately recognize and determine the abnormal gear position state of the multi-functional vehicle by using the current detection component, or by using at least two of the current detection component, the motion state detection component and the in-place state detection component, and timely warning prompt is performed for the abnormal gear position state, active safety control is performed, so that the operation driving experience can be optimized, and damage to the vehicle caused by operating the vehicle in the abnormal gear position state can be avoided, and the vehicle safety and stability are significantly improved.

[0480] It should be noted that the method of one or more embodiments of the present specification can be executed by a single device, such as a computer or a server, etc. The method of the present embodiment can also be applied to a distributed scenario, and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only execute one or more steps in the method of one or more embodiments of the present specification, and the multiple devices will interact with each other to complete the method.

[0481] It should be noted that the above describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in an order different than the order in the embodiments and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous or necessary.

[0482] For the convenience of description, the above device is described as various modules respectively described in function. Of course, the functions of each module can be implemented in the same or more software and / or hardware when implementing one or more embodiments of the present specification.

[0483] The device of the above-mentioned embodiments is used to implement the corresponding method in the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here again.

[0484] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The program can be stored in a computer readable storage medium. When the program is executed, the processes of the above-mentioned embodiment methods can be included. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc. The storage medium can also include a combination of the above-mentioned memories.

[0485] The systems, apparatuses, modules or units illustrated by the above-mentioned embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above-mentioned apparatuses are described as various units with different functions respectively. Of course, the functions of each unit can be implemented in the same or multiple software and / or hardware in the implementation of the present application.

[0486] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can be in the form of a completely hardware embodiment, a completely software embodiment or an embodiment combining software and hardware. Moreover, the present application can be in 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.

[0487] It should also be noted that the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices that include a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0488] Each embodiment in the present specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0489] Those of ordinary skill in the art will realize that the foregoing discussion of any of the embodiments has been presented for the purpose of illustration and description and is not intended to be exhaustive or to limit the disclosure to the precise forms described, and that various alternatives, modifications, and variations can be employed without departing from the spirit or scope of the disclosure as set forth in the appended claims. Accordingly, many modifications, variations, alternatives, and equivalents can be made in and to the embodiments disclosed without departing from the scope or spirit of the description of the disclosure as set forth in the appended claims.

[0490] In addition, to simplify the description and discussion, and so as not to make the one or more embodiments of the disclosure difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components can or can not be shown in the provided drawings. Moreover, devices can be shown in block diagram form in order to avoid obscuring the one or more embodiments of the disclosure, and this also takes into account the fact that the details regarding the implementation of these block diagram devices are highly dependent on the platform to which the one or more embodiments of the disclosure are to be implemented (i.e., these details should be well within the understanding of one of ordinary skill in the art). In cases where specific details (e.g., a circuit) are set forth in order to describe an illustrative embodiment of the disclosure, it should be apparent to those skilled in the art that the one or more embodiments of the disclosure can be practiced without or with variation of these specific details. Hence, these descriptions should not be construed as limiting, but merely as descriptive of illustrative embodiments of the disclosure.

[0491] While the disclosure has been described in connection with specific embodiments thereof, it will be understood that many modifications, variations and alternatives will be apparent to those skilled in the art as a result of the foregoing description. The one or more embodiments of the disclosure are intended to embrace all such alternatives, modifications and variations. Accordingly, the description is to be construed as illustrative only and is for the purpose of teaching the one or more embodiments of the disclosure. The exclusive use of certain of the outlined concepts in the detailed description above is not intended to be limiting to the scope or application of the one or more embodiments of the disclosure.

Claims

1. A multi-purpose vehicle, characterized in that: include: Frame; A carrying mechanism, provided on the frame, for carrying an operator; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a neutral mechanism capable of controlling the drive axle assembly to be in a neutral state or a geared state, wherein the drive axle assembly outputs power from the drive motor to the drive wheels in the geared state and does not output power from the drive motor to the drive wheels in the neutral state; and a gear state identification component for identifying the gear position of the neutral mechanism and determining whether the multi-purpose vehicle is in an abnormal gear state; The controller is configured to generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in an abnormal gear state.

2. The multi-purpose vehicle according to claim 1, characterized in that The gear state recognition component includes a current detection component, and the current detection component is used to detect the corresponding current of the drive motor; The gear state identification component is configured to determine whether the multi-purpose vehicle is in an abnormal gear state based on the current detected by the current detection component.

3. The multi-purpose vehicle according to claim 2, characterized in that The multi-purpose vehicle further includes a power supply system for providing power to the drive motor; The method for the gear state identification component to determine whether the multi-purpose vehicle is in an abnormal gear state based on the current detected by the current detection component includes: determining whether the current is a forward current, wherein the forward current refers to a current in a state where electric power flows from the power supply system to the drive motor, and the current in a state where electric power flows from the drive motor to the power supply system is a reverse current; In response to the current being a forward current, determining whether the current exceeds a preset current threshold; In response to the current exceeding the preset current threshold, determining that the neutral mechanism is in a gear-engaged state and the multi-purpose vehicle is in a gear-engaged driving state; In response to the current not exceeding the preset current threshold, determining that the neutral mechanism is in a neutral state and the multi-purpose vehicle is in a neutral driving state; In response to the current being a reverse current, determining that the neutral mechanism is in an engaged state and the multi-purpose vehicle is in an engaged towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

4. The multi-purpose vehicle according to claim 1, characterized in that The gear state recognition component includes a motion state detection component and an in-position state detection component; The motion state detection component is used to monitor the motion state of the multi-functional vehicle to obtain motion state information; The on-site status detection component is provided on the carrying mechanism, and is used to detect the on-site status information of the operator, wherein the on-site status information includes whether the operator is on-site and whether the operator is out of site; The gear state identification component is configured to determine whether the multi-purpose vehicle is in an abnormal gear state based on the in-position state information and the motion state information.

5. The multi-purpose vehicle according to claim 4, characterized in that The method of the gear state identification component determining whether the multi-purpose vehicle is in an abnormal gear state according to the in-position state information and the motion state information includes: In response to the presence status information indicating that a person is present, determining whether the motion status detection component detects acceleration; In response to the motion state detection component not detecting acceleration after the drive motor is started, determining that the neutral mechanism is in a neutral state and the multi-purpose vehicle is in a neutral driving state; In response to the motion state detection component detecting acceleration after the drive motor is started, determining that the neutral mechanism is in a gear-engaged state and the multi-purpose vehicle is in a gear-engaged driving state; In response to the presence status information indicating that the person is away from the position, determining whether the motion status detection component detects acceleration; In response to the motion state detection component detecting acceleration, determining whether the acceleration exceeds an acceleration threshold within a preset time length from the time the acceleration is detected; In response to the acceleration exceeding an acceleration threshold within the preset time period, determining that the neutral mechanism is in a neutral state and the multi-purpose vehicle is in a neutral trailer state; In response to the acceleration not exceeding an acceleration threshold within the preset time period, determining that the neutral mechanism is in an in-gear state and the multi-purpose vehicle is in an in-gear towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

6. The multi-purpose vehicle according to claim 4, characterized in that The left drive axle assembly and the right drive axle assembly are respectively mechanically connected to the drive motor and the drive wheel on the corresponding side to transmit the power of the drive motor to the drive wheel; The left drive axle assembly and the right drive axle assembly are respectively provided with a left neutral mechanism and a right neutral mechanism; The method of the gear state identification component determining whether the multi-purpose vehicle is in an abnormal gear state according to the in-position state information and the motion state information includes: In response to the presence status information indicating that a person is present, determining whether the motion status detection component detects acceleration; In response to the motion state detection component detecting acceleration after the drive motor is started, determining whether the motion state detection component detects a steering angle; In response to the motion state detection component detecting a steering angle during straight-ahead control, determining that one of the left neutral mechanism and the right neutral mechanism is in a neutral state and the other is in a geared state, and that the multi-purpose vehicle is in a neutral driving state; The abnormal gear state includes the neutral driving state.

7. The multi-purpose vehicle according to claim 4, characterized in that The motion state detection component includes an inertial measurement module.

8. The multi-purpose vehicle according to claim 4, characterized in that The multifunctional vehicle comprises at least one universal wheel, wherein at least one universal wheel is arranged on the front side of the vehicle frame; The motion state detection component is arranged corresponding to the universal wheel, and obtains the motion state information by detecting the motion acceleration and / or steering angle of the universal wheel.

9. The multi-purpose vehicle according to claim 1, characterized in that The multi-purpose vehicle further includes a speaker; The warning prompt instruction is used to control the speaker to generate a recognizable acoustic signal to remind the operator that the multi-purpose vehicle is in an abnormal gear state.

10. The multi-purpose vehicle according to claim 1, wherein: The multi-purpose vehicle further includes a speaker; The warning prompt instruction is used to control the speaker to generate a recognizable acoustic signal according to a preset prompt frequency to remind the operator that the multi-purpose vehicle is in an abnormal gear state.

11. The multi-purpose vehicle according to claim 10, characterized in that The preset prompt frequency is greater than or equal to 0 Hz and less than or equal to 500 Hz.

12. The multi-purpose vehicle according to claim 10, wherein: In response to the multi-purpose vehicle being in an abnormal gear position state of neutral driving, the preset prompt frequency is determined according to the duration of the multi-purpose vehicle being in the abnormal gear position state; In response to the multi-purpose vehicle being in an abnormal gear state with a geared trailer, the preset prompt frequency is determined based on at least one of the trailer running speed of the multi-purpose vehicle, the duration of the abnormal gear state, and the voltage value of the drive motor.

13. The multi-purpose vehicle according to any one of claims 9 or 10, characterized in that: The sound frequency corresponding to the acoustic signal is greater than or equal to 200 Hz and less than or equal to 15000 Hz.

14. The multi-purpose vehicle according to any one of claims 9 or 10, characterized in that: In response to the multi-purpose vehicle being in an abnormal gear position state of neutral driving, the sound frequency corresponding to the acoustic signal is determined according to the duration of the multi-purpose vehicle being in the abnormal gear position state; In response to the multi-purpose vehicle being in an abnormal gear state with a geared trailer, the sound frequency corresponding to the acoustic signal is determined based on at least one of the trailer running speed of the multi-purpose vehicle, the duration of the abnormal gear state, and the voltage value of the drive motor.

15. The multi-purpose vehicle according to claim 1, wherein: The multi-purpose vehicle further includes a display assembly; The warning prompt instruction is used to control the display component to display a warning graphic icon corresponding to the abnormal gear state.

16. The multi-purpose vehicle of claim 1, wherein: The multi-purpose vehicle further includes a communication component; The warning prompt instruction is used to control the communication component to generate prompt information and send the prompt information to the mobile terminal associated with the multi-functional vehicle.

17. The multi-purpose vehicle according to claim 16, characterized in that The mobile terminal includes a display interface; The mobile terminal is configured to visually display the prompt information in the display interface.

18. The multi-purpose vehicle according to claim 16, wherein: The communication method between the communication component and the mobile terminal includes but is not limited to Bluetooth, WiFi, email, GSM, GPRS, CDMA, WCDMA, LTE, and SMS.

19. The multi-purpose vehicle according to claim 6, wherein: The multi-purpose vehicle further includes a display assembly; The warning prompt instruction is used to control the display component to display a warning graphic icon corresponding to the abnormal gear state; In response to one of the left neutral mechanism and the right neutral mechanism being in a neutral state and the other being in a gear state, the warning prompt instruction is also used to control the display component to display the gear status corresponding to the left neutral mechanism and the right neutral mechanism.

20. The multi-purpose vehicle of claim 1, wherein: The abnormal gear state includes a neutral driving state and a gear-engaged towing state; The multi-purpose vehicle further includes a shift operating assembly capable of controlling the neutral mechanism to perform a gear shift operation; The safety control instruction is used to control the shift operating component to switch the neutral component from the neutral state to the gear state when it is determined that the multi-functional vehicle is in the neutral driving state; The safety control instruction is further used to control the shift operating component to switch the neutral component from the in-gear state to the neutral state when it is determined that the multi-purpose vehicle is in the in-gear trailer state.

21. The multi-purpose vehicle of claim 1, wherein: The abnormal gear state includes a towing state in gear; The multi-purpose vehicle also includes a locking mechanism, which can control the drive axle assembly to be in a locked state, in which the drive motor and the drive wheel cannot rotate; the safety control instruction is used to control the locking mechanism to put the drive axle assembly into the locked state when it is determined that the multi-purpose vehicle is in the gear-engaged trailer state.

22. The multi-purpose vehicle of claim 1, wherein: The abnormal gear state includes a towing state in gear; The multi-purpose vehicle further includes an electronically controlled brake assembly for controlling the braking operation to prevent the drive wheels from rotating; The safety management and control instruction is used to control the electronically controlled brake assembly to perform a braking operation when it is determined that the multi-purpose vehicle is in the gear-engaged trailer state.

23. The multi-purpose vehicle of claim 22, wherein: The safety management and control instruction is used to control the electronically controlled brake component to perform a braking operation according to a preset braking frequency when it is determined that the multi-functional vehicle is in the gear-engaging trailer state.

24. The multi-purpose vehicle of claim 23, wherein: The preset braking frequency is greater than 0 Hz and less than or equal to 100 Hz.

25. The multi-purpose vehicle of claim 23, wherein: The preset braking frequency is determined according to at least one of a running speed of the trailer of the multi-purpose vehicle, a duration of the abnormal gear state, and a voltage value of the drive motor.

26. The multi-purpose vehicle of claim 23, wherein: The abnormal gear state includes a towing state in gear; The safety control instruction is further used to control the drive motor to output a braking torque when it is determined that the multi-purpose vehicle is in the engaged towing state, wherein the braking torque can cause the drive wheel to generate braking rotation or a braking rotation tendency; The direction of the braking rotation is opposite to the direction of rotation of the drive wheels when the multi-purpose vehicle is being towed.

27. The multi-purpose vehicle of claim 22, wherein: The safety control instruction is further used to control the drive motor to output a braking torque when controlling the electronically controlled brake assembly to perform a braking operation, wherein the braking torque can cause the drive wheel to generate a braking rotation or a braking rotation tendency; The direction of the braking rotation is opposite to the direction of rotation of the drive wheels when the multi-purpose vehicle is being towed.

28. A multi-purpose vehicle, characterized in that: include: Frame; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a neutral mechanism capable of controlling the drive axle assembly to be in a neutral state or a geared state, wherein the drive axle assembly outputs power from the drive motor to the drive wheels in the geared state and does not output power from the drive motor to the drive wheels in the neutral state; A current detection component, used to detect the corresponding current of the driving motor; as well as The controller is configured to determine whether the multi-function vehicle is in an abnormal gear state based on the current detected by the current detection component, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-function vehicle is in an abnormal gear state.

29. The multi-purpose vehicle of claim 28, wherein: The multi-purpose vehicle further includes a power supply system for providing power to the drive motor; The method for the controller to determine whether the multi-purpose vehicle is in an abnormal gear state according to the current detected by the current detection component includes: determining whether the current is a forward current, wherein the forward current refers to a current in a state where electric power flows from the power supply system to the drive motor, and the current in a state where electric power flows from the drive motor to the power supply system is a reverse current; In response to the current being a forward current, determining whether the current exceeds a preset current threshold; In response to the current exceeding the preset current threshold, determining that the neutral mechanism is in a gear-engaged state and the multi-purpose vehicle is in a gear-engaged driving state; In response to the current not exceeding the preset current threshold, determining that the neutral mechanism is in a neutral state and the multi-purpose vehicle is in a neutral driving state; In response to the current being a reverse current, determining that the neutral mechanism is in an engaged state and the multi-purpose vehicle is in an engaged towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

30. A multi-purpose vehicle, characterized in that: include: Frame; A carrying mechanism, provided on the frame, for carrying an operator; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a neutral mechanism capable of controlling the drive axle assembly to be in a neutral state or a geared state, wherein the drive axle assembly outputs power from the drive motor to the drive wheels in the geared state and does not output power from the drive motor to the drive wheels in the neutral state; A current detection component, used to detect the corresponding current of the driving motor; an on-site status detection component, the on-site status detection component being disposed on the carrying mechanism and configured to detect on-site status information of the operator, the on-site status information including whether the operator is on-site or off-site; and The controller is configured to determine whether the multi-function vehicle is in an abnormal gear state based on the current detected by the current detection component and the in-position status information, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-function vehicle is in an abnormal gear state.

31. The multi-purpose vehicle of claim 30, wherein: The method for the controller to determine whether the multi-function vehicle is in an abnormal gear state based on the current detected by the current detection component and the in-position state information includes: In response to the presence status information indicating that a person is present, determining whether the current exceeds a preset current threshold after the drive motor is started; In response to the current exceeding a preset current threshold, determining that the neutral mechanism is in a gear-engaged state and the multi-purpose vehicle is in a gear-engaged driving state; In response to the current not exceeding a preset current threshold, determining that the neutral mechanism is in a neutral state and the multi-purpose vehicle is in a neutral driving state; In response to the on-site status information indicating that the personnel is away from the site, determining whether the current is a reverse current, wherein the reverse current refers to a current in a state where electric power flows from the drive motor to the power supply system; In response to the current being a reverse current, determining that the neutral mechanism is in an engaged state and the multi-purpose vehicle is in an engaged towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

32. The multi-purpose vehicle of claim 30, wherein: The left drive axle assembly and the right drive axle assembly are respectively mechanically connected to the corresponding left drive motor, right drive motor and left drive wheel, right drive wheel, so as to transmit the power of the drive motor to the drive wheel; The left drive axle assembly and the right drive axle assembly are respectively provided with a left neutral mechanism and a right neutral mechanism; The method for the controller to determine whether the multi-function vehicle is in an abnormal gear state based on the current detected by the current detection component and the in-position state information includes: In response to the presence status information indicating that a person is present, determining whether currents corresponding to the left drive motor and the right drive motor exceed a preset current threshold after the drive motor is started; In response to one of the left drive motor current and the right drive motor current exceeding a preset current threshold and the other not exceeding the preset current threshold, determining that one of the left neutral mechanism and the right neutral mechanism is in a neutral state and the other is in a geared state, and the multi-functional vehicle is in a neutral driving state; in response to the on-site status information indicating that the personnel is out of position, determining whether the current corresponding to the left drive motor and the right drive motor is a reverse current, the reverse current indicating the current when electric power flows from the drive motor to the power supply system; In response to one of the left drive motor current and the right drive motor current being a reverse current and the other being zero, determining that one of the left neutral mechanism and the right neutral mechanism is in a neutral state and the other is in a geared state, and the multi-purpose vehicle is in a geared towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

33. A multi-purpose vehicle, characterized in that: include: Frame; A carrying mechanism, provided on the frame, for carrying an operator; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a neutral mechanism capable of controlling the drive axle assembly to be in a neutral state or a geared state, wherein the drive axle assembly outputs power from the drive motor to the drive wheels in the geared state and does not output power from the drive motor to the drive wheels in the neutral state; A current detection component, used to detect the corresponding current of the driving motor; an on-site status detection component, the on-site status detection component being arranged on the carrying mechanism and used to detect the on-site status information of the operator, the on-site status information including whether the operator is on-site and whether the operator is out of site; a motion status detection component being used to monitor the motion status of the multi-functional vehicle to obtain motion status information; as well as The controller is configured to determine whether the multi-function vehicle is in an abnormal gear state based on the current detected by the current detection component, the in-position status information and the motion status information, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-function vehicle is in an abnormal gear state.

34. The multi-purpose vehicle of claim 33, wherein: The method for determining, by the controller, whether the multi-function vehicle is in an abnormal gear state based on the current detected by the current detection component, the in-position state information, and the motion state information, includes: In response to the presence status information indicating that a person is present, determining whether the current exceeds a preset current threshold after the drive motor is started; In response to the current exceeding a preset current threshold, determining that the neutral mechanism is in a gear-engaged state and the multi-purpose vehicle is in a gear-engaged driving state; In response to the current not exceeding a preset current threshold, determining whether the motion state detection component detects acceleration; In response to the motion state detection component not detecting acceleration, determining that the neutral mechanism is in a neutral state and the multi-purpose vehicle is in a neutral driving state; In response to the presence status information indicating that the person is away from the position, determining whether the motion status detection component detects acceleration; In response to the motion state detection component detecting acceleration, determining whether the current is a reverse current, wherein the reverse current refers to a current in a state where electric power flows from the drive motor component to the power supply system; In response to the current being a reverse current, determining that the neutral component is in an in-gear state and the multi-purpose vehicle is in an in-gear towing state; In response to the current of the drive motor being zero, determining that the neutral assembly is in a neutral state and the multi-purpose vehicle is in a neutral trailer state; The abnormal gear state includes the neutral driving state and the engaged towing state.

35. The multi-purpose vehicle of claim 33, wherein: The left drive axle assembly and the right drive axle assembly are respectively mechanically connected to the drive motor and the drive wheel on the corresponding side to transmit the power of the drive motor to the drive wheel; The left drive axle assembly and the right drive axle assembly are respectively provided with a left neutral mechanism and a right neutral mechanism; the method in which the controller determines whether the multi-function vehicle is in an abnormal gear state based on the current detected by the current detection assembly, the in-position state information, and the motion state information includes: determining whether the motion state detection component detects a deflection angle; In response to the motion state detection component detecting the deflection angle, determining whether the operator is in position according to the position status information; In response to the presence status information indicating that a person is present, determining whether currents corresponding to the left drive motor and the right drive motor exceed a preset current threshold after the drive motor is started; In response to one of the left drive motor current and the right drive motor current exceeding a preset current threshold and the other not exceeding the preset current threshold, determining that one of the left neutral mechanism and the right neutral mechanism is in a neutral state and the other is in a geared state, and the multi-functional vehicle is in a neutral driving state; in response to the on-site status information indicating that the personnel is out of position, determining whether the current corresponding to the left drive motor and the right drive motor is a reverse current, the reverse current indicating the current when electric power flows from the drive motor to the power supply system; In response to one of the left drive motor current and the right drive motor current being a reverse current and the other being zero, determining that one of the left neutral mechanism and the right neutral mechanism is in a neutral state and the other is in a geared state, and the multi-purpose vehicle is in a geared towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

36. The multi-purpose vehicle of claim 33, wherein: The motion state detection component includes an inertial vehicle module.

37. The multi-purpose vehicle of claim 33, wherein: The multifunctional vehicle comprises at least one universal wheel, wherein at least one universal wheel is arranged on the front side of the vehicle frame; The motion state detection component is arranged corresponding to the universal wheel, and obtains the motion state information by detecting the motion acceleration and / or steering angle of the universal wheel.

38. A gardening vehicle, characterized in that: include: Frame; Functional components, provided on the vehicle frame, for performing corresponding functional operations in a controlled manner; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a power system configured to provide power to at least the functional components and the drive axle assembly; a neutral mechanism capable of controlling the drive axle assembly to be in a neutral state or a geared state, wherein the drive axle assembly outputs power from the drive motor to the drive wheels in the geared state and does not output power from the drive motor to the drive wheels in the neutral state; and a gear state identification component for identifying the gear position of the neutral mechanism and determining whether the multi-purpose vehicle is in an abnormal gear state; The controller is configured to generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in an abnormal gear state.

39. A neutral gear recognition control device, applied to a multi-purpose vehicle, the multi-purpose vehicle comprising: Frame; A carrying mechanism, provided on the frame, for carrying an operator; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a neutral mechanism capable of controlling the drive axle assembly to be in a neutral state or a geared state, wherein the drive axle assembly outputs power from the drive motor to the drive wheels in the geared state and does not output power from the drive motor to the drive wheels in the neutral state; It is characterized in that the neutral gear identification control device includes a current detection component and a controller; The current detection component is used to detect the corresponding current of the driving motor; The controller is configured to determine whether the multi-purpose vehicle is in an abnormal gear state based on the current detected by the current detection component, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-purpose vehicle is in an abnormal gear state; Or the neutral gear identification control device includes at least two of the current detection component, the in-position state detection component, the motion state detection component and a controller; The on-site status detection component is provided on the carrying mechanism and is used to detect the on-site status information of the operator, wherein the on-site status information includes whether the operator is on-site and whether the operator is out of site; The motion state detection component is used to monitor the motion state of the multi-functional vehicle to obtain motion state information; The controller is configured to determine whether the multi-function vehicle is in an abnormal gear state based on the corresponding detection results of at least two of the current detection component, the in-position state detection component, and the motion state detection component, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-function vehicle is in an abnormal gear state.

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