Electric multifunctional vehicle, garden work vehicle, and riding mower

Abstract

Embodiments of the present disclosure provide an electric multifunctional vehicle, a garden work vehicle, and a riding mower. The electric multifunctional vehicle comprises: a frame; a functional mechanism; a travel driving mechanism; and a reverse detection assembly configured to perform reverse detection, and comprising: a detection unit adapted to detect an obstacle behind to obtain at least one type of detection data; a control unit comprising one or more controllers, coupled to at least one detector, and configured to generate, on the basis of the at least one type of detection data, a reverse prompt signal and / or a reverse image signal in a reverse process; and a prompt unit configured to perform a prompt action on the basis of the reverse prompt signal, and / or display a reverse image on the basis of the reverse image signal. By providing the electric multifunctional vehicle with the reverse detection assembly, the obstacle condition can be detected in a timely manner in the reverse process to avoid dangerous events.

Description

Electric multifunctional vehicle, garden working vehicle and riding mower TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of mobile devices, in particular to an electric multifunctional vehicle, a garden working vehicle and a riding mower. BACKGROUND

[0002] Traditional mowers mainly include backpack mowers, handheld mowers and push mowers, and have low automation and low work efficiency, and the labor intensity of people is large, which causes great harm to the human body. For a working area (for example, a golf course, a football field, a garden lawn, a municipal park, a tourist attraction, a farm orchard, a wild grassland, etc.) that needs to maintain a large area of lawn throughout the year, a riding mower has long endurance, flexible control and high work efficiency, and can well adapt to such working conditions to avoid fatigue and even injury caused by long-time work of people.

[0003] From the type of energy power, the current riding mower mainly has two types: gasoline engine type and lithium battery charging type. Compared with the gasoline engine, the lithium battery charging type riding mower has obvious advantages: all-weather zero emission, zero oil consumption, low noise, simple maintenance (no gasoline, no oil, no air filter, no spark plug, no fuel storage, etc.), and in addition, the gasoline engine is similar to a traditional fuel automobile, and the whole vehicle mechanical structure is complex, and a differential device is needed for driving wheel control; and the lithium battery charging type riding mower uses a motor to replace the fuel engine, and the two (or four) driving wheels can be controlled respectively, so that the straight movement, reverse movement, turning movement and zero steering movement 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.

[0004] However, the current multifunctional vehicle such as the riding mower lacks a safety detection mechanism when reversing, which can easily lead to accidents, and compared with ordinary vehicles, the multifunctional vehicle such as the mower may have a relatively dangerous element such as a blade, so the safety detection mechanism for reversing is particularly important for the multifunctional vehicle. SUMMARY

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present disclosure is to provide an electric multifunctional vehicle, which is provided with a software and hardware system for reversing detection to solve various existing problems.

[0006] The first aspect of the present disclosure provides an electric multi-functional vehicle, comprising: a vehicle frame; a function mechanism connected to the vehicle frame, comprising a function component for performing a function action based on power; a driving mechanism connected to the vehicle frame, adapted to drive the vehicle frame to move; a control mechanism coupled to the driving mechanism, adapted to accept user operation to control the running state of the driving mechanism, so as to adjust the moving state of the multi-functional vehicle; a reverse detection component configured to perform reverse detection in response to the driving mechanism being in a reverse moving state, comprising: a detection unit comprising at least one detector located at the rear of the vehicle frame, adapted to detect obstacles behind to obtain at least one detection data; a control unit comprising one or more controllers coupled to the at least one detector, configured to generate a reverse prompt signal and / or a reverse image signal during the reverse process based on the at least one detection data; a prompt unit comprising one or more prompters coupled to the one or more controllers, configured to perform a prompt action based on the reverse prompt signal and / or display a reverse image based on the reverse image signal.

[0007] The second aspect of the present disclosure provides an electric multi-functional vehicle, comprising: a driving mechanism adapted to drive the multi-functional vehicle to move; a control mechanism coupled to the driving mechanism, adapted to accept user operation to control the running state of the driving mechanism, so as to adjust the moving state of the multi-functional vehicle; a reverse detection component configured to perform reverse detection in response to the driving mechanism being in a reverse moving state, to generate a reverse image signal and display a reverse image on a display screen; the reverse image contains a reverse auxiliary line: the reverse auxiliary line comprises: a static reverse trajectory line predicted for the purpose of avoiding the detected obstacles behind or the maximum steering angle of the driving mechanism; a dynamic reverse trajectory line predicted based on the current reverse posture of the driving mechanism; wherein the dynamic reverse trajectory line approaches the position of the static reverse trajectory line as the target for the user to control the moving state of the driving mechanism through the control mechanism.

[0008] The third aspect of the present disclosure provides an electric garden working vehicle, comprising: a vehicle frame; a function mechanism connected to the vehicle frame, comprising a function component for performing a function action based on power; a driving mechanism connected to the vehicle frame, adapted to drive the vehicle frame to move; a reverse detection component configured to perform reverse detection in response to the driving mechanism being in a reverse moving state, comprising: a detection unit comprising at least one detector located at the rear of the vehicle frame, adapted to detect obstacles behind to obtain at least one detection data; a control unit comprising one or more controllers, coupled to the at least one detector, configured to generate a reverse prompt signal and / or a reverse image signal during the reverse process based on the at least one detection data; a prompt unit comprising one or more prompters, coupled to the one or more controllers, configured to perform a prompt action based on the reverse prompt signal and / or display a reverse image based on the reverse image signal.

[0009] The fourth aspect of the present disclosure provides an electric riding mower, comprising: a vehicle frame; a function mechanism connected to the vehicle frame, comprising a function component for performing a function action based on power; a driving mechanism connected to the vehicle frame, adapted to drive the vehicle frame to move; a control mechanism coupled to the driving mechanism, adapted to accept user operation to control the operating state of the driving mechanism, to adjust the moving state of the multifunctional vehicle; a reverse detection component configured to perform reverse detection in response to the driving mechanism being in a reverse moving state, comprising: a detection unit comprising at least one detector located at the rear of the vehicle frame, adapted to detect obstacles behind to obtain at least one detection data; a control unit comprising one or more controllers, coupled to the at least one detector, configured to generate a reverse prompt signal and / or a reverse image signal during the reverse process based on the at least one detection data; a prompt unit comprising one or more prompters, coupled to the one or more controllers, configured to perform a prompt action based on the reverse prompt signal and / or display a reverse image based on the reverse image signal.

[0010] As described above, the electric multi-functional vehicle, the garden working vehicle and the riding mower provided in the embodiments of the present disclosure include: a vehicle frame; a functional mechanism; a driving mechanism; and a reverse detection assembly configured to perform reverse detection in response to the driving mechanism being in a reverse driving state, including: a detection unit adapted to detect an obstacle behind to obtain at least one detection data; a control unit including one or more controllers coupled to the at least one detector and configured to generate a reverse prompt signal and / or a reverse image signal during the reverse process based on the at least one detection data; and a prompt unit configured to perform a prompt action based on the reverse prompt signal and / or display a reverse image based on the reverse image signal. By configuring the reverse detection assembly in the electric multi-functional vehicle, the obstacle situation can be detected in time during the reverse process to avoid dangerous events. BRIEF DESCRIPTION OF DRAWINGS

[0011] [According to Rule 91, the correction is made on 29.08.2025] FIG. 1A shows a structural schematic diagram of an electric multi-functional vehicle in an embodiment of the present disclosure.

[0012] FIG. 1B shows a structural schematic diagram of an electric multi-functional vehicle in another embodiment of the present disclosure.

[0013] FIG. 1C shows a structural schematic diagram of an electric multi-functional vehicle in another embodiment of the present disclosure.

[0014] FIG. 1D shows a structural schematic diagram of an electric multi-functional vehicle in another embodiment of the present disclosure.

[0015] FIG. 1E shows a top view structural schematic diagram of the electric multi-functional vehicle in FIG. 1B of the present disclosure.

[0016] FIG. 2 shows an electrical connection schematic diagram of an electric multi-functional vehicle in an embodiment of the present disclosure.

[0017] FIG. 3 shows a schematic diagram of the front and rear rotation of the joystick around the axis in an embodiment of the present disclosure.

[0018] FIG. 4 shows an electrical connection schematic diagram of a riding mower in an embodiment of the present disclosure.

[0019] FIG. 5 shows a functional module schematic diagram of the reverse detection assembly in an embodiment of the present disclosure.

[0020] FIG. 6 shows a functional module schematic diagram of the reverse detection assembly based on an ultrasonic radar device in an embodiment of the present disclosure.

[0021] FIG. 7 shows a flowchart of the reverse detection based on a radar module in an embodiment of the present disclosure.

[0022] FIG. 8 shows a structural schematic diagram of an image module in an embodiment of the present disclosure.

[0023] Figure 9A shows a schematic diagram of a reversing distance measuring line displayed in a reversing image according to an embodiment of the present disclosure.

[0024] Figure 9B shows a schematic diagram of the display of static and dynamic reversing trajectory lines in a reversing image according to an embodiment of the present disclosure.

[0025] Figure 9C shows a schematic diagram of the reversing image displaying static and dynamic reversing trajectory lines in another embodiment of this disclosure.

[0026] Figure 10 shows a schematic diagram of the process of implementing reversing detection based on an image module in one embodiment of the present disclosure. Detailed Implementation

[0027] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the information disclosed herein. This disclosure can also be implemented or applied through other different specific embodiments, and various details in this disclosure can be modified or changed according to different viewpoints and application circuits without departing from the spirit of this disclosure. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this disclosure can be combined with each other.

[0028] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings, so that those skilled in the art to which this disclosure pertains can readily implement it. This disclosure may be embodied in many different forms and is not limited to the embodiments described herein.

[0029] In this disclosure, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic represented in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in any one or a group of embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples represented in this disclosure, as well as the features of those different embodiments or examples.

[0030] Furthermore, the terms "first" and "second" are used for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the representation of this disclosure, "a set" means two or more, unless otherwise explicitly specified.

[0031] For the purpose of clearness of the present disclosure, devices irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar constituent elements throughout the specification.

[0032] Throughout the specification, when it is said that a certain device is "connected" to another device, this includes not only the case of "direct connection" but also the case of "indirect connection" in which other elements are interposed therebetween. In addition, when it is said that a certain device "includes" a certain constituent element, other constituent elements are not excluded unless specifically stated to the contrary, but it means that other constituent elements can also be included.

[0033] Although the terms first, second, etc. are used herein to refer to various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first interface and a second interface, etc. are denoted. Also, as used herein, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and / or "including," when used herein, specify the presence of stated features, steps, operations, elements, circuits, items, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, circuits, items, components, and / or groups thereof. As used herein, the terms "or" and "and / or" are construed to be inclusive, or mean one and / or any combination. Thus, "A, B, or C" or "A, B, and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C." Exceptions to this definition are only present when items, components, steps or operations are inherently mutually exclusive between some versions and not others.

[0034] The professional terms used herein are only suitable for referring to specific embodiments, and are not intended to limit the present disclosure. The singular form used herein, unless the sentence explicitly indicates the opposite meaning, also includes the plural form. The meaning of "include" used in the specification is to specify a specific feature, region, integer, step, operation, element and / or component, and does not exclude the presence or addition of other features, regions, integers, steps, operations, elements and / or components.

[0035] Although not differently defined, all terms including technical terms and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. Terms defined in commonly used dictionaries are to be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and should not be interpreted in an ideal or overly formal sense unless otherwise defined.

[0036] In the related art, electric multifunctional vehicles also gradually use new energy batteries as power sources to replace traditional fuel power sources, and use driving motors to replace fuel engines. For example, the riding mower, which is popular in the lawn mower, currently also has an electric model using a lithium battery, which drives the vehicle to perform motion control such as straight driving, reversing, turning, zero steering, etc. through a driving motor.

[0037] However, electric multifunctional vehicles such as electric riding lawn mowers have elements such as blades that are dangerous to humans, so there is a great safety risk due to the lack of detection mechanisms during reversing when moving, especially during reversing.

[0038] In view of this, the embodiments of the present disclosure focus on providing an electric multifunctional vehicle, which is configured to realize a reversing detection component (which can be realized by hardware or software) to solve the reversing safety problem in the related art.

[0039] The electric multifunctional vehicle can be used for outdoor work. In some embodiments, the electric multifunctional vehicle can be a garden work vehicle that can perform garden work such as garden pruning, mowing, spraying, etc. In some embodiments, the electric multifunctional vehicle can be a cleaning vehicle such as a snow blower, etc. In some embodiments, the electric multifunctional vehicle can be an agricultural work vehicle such as a seeder, a tractor, etc. In some embodiments, the electric multifunctional vehicle can be a carrying vehicle such as a forklift, etc. In some embodiments, the electric multifunctional vehicle can be an off-road vehicle such as a utility task vehicle (UTV), etc. In some embodiments, the electric multifunctional vehicle can be user-controlled. Alternatively, it can also be self-walking / intelligent, i.e., it can plan a navigation route by itself, automatically walk, avoid obstacles, etc.

[0040] [According to Rule 91, correct on 29.08.2025] As shown in FIGS. 1A-1E and FIG. 2, a structural schematic diagram of an electric multifunctional vehicle in an embodiment of the present disclosure is shown. Referring to FIG. 2, an electrical connection schematic diagram of an electric multifunctional vehicle in an embodiment of the present disclosure is shown.

[0041] An electric multifunctional vehicle 100 provided in the present embodiment includes a vehicle frame 110, a functional mechanism 120, a travel driving mechanism 130, and a reversing detection component 150 connected to the vehicle frame 110. The electric multifunctional vehicle 100 in FIG. 1A is implemented as an electric garden work vehicle. Further exemplarily, the electric garden work vehicle can include, for example, a standing lawn mower, a riding lawn mower, a self-walking / intelligent lawn mower, a UTV-type lawn mower, etc.

[0042] At least part of the frame 110 extends in a front-rear direction, and a carrying mechanism can be arranged on the frame 110. The carrying mechanism is used to carry an operator of the multifunctional vehicle 100, and can include at least one of a seat 111 or a standing platform. The carrying mechanism 100 including the seat 111 is only exemplarily shown in FIG. 1. The seat 111 or the standing platform is used for the operator to sit or stand. That is, the electric multifunctional vehicle 100 can provide a riding working mode or a standing working mode. Further, the seat 111 and the standing platform can be flexibly switched, that is, the working mode of the multifunctional vehicle 100 can be flexibly switched between the riding working mode and the standing working mode according to actual needs of the operator.

[0043] In some optional embodiments, a handheld control assembly (not shown) can also be arranged on the frame 110, which can include a push rod or the like. Based on the handheld control assembly, the multifunctional vehicle 100 can also provide a hand-push working mode.

[0044] The function mechanism 120 includes a function assembly 121 for performing a function action based on power. The function mechanism 120 is connected to the frame 110. The function assembly 121 can include one or more function elements 1211. In some optional embodiments, the function assembly 121 can be an assembly in which a plurality of function elements 1211 are assembled into an integral whole by a housing. In some optional embodiments, the function element 1211 can be implemented as a garden working element for implementing a garden working function, for example, a cutting assembly of a mower includes one or more cutting elements (including blades) for implementing mowing. In some optional embodiments, the function mechanism 120 further includes a function motor 122 (FIG. 2) for driving the function assembly 121 to operate, such as a cutting motor for driving the cutting element to rotate at a high speed. As an example, the function mechanism 120 can further include a function motor controller 123 (FIG. 2) corresponding to the function motor 122, for controlling the operation of the function motor 122. The function motor controller 123 can include a control chip, for example, a micro control unit (MCU), an embedded processing chip (such as ARM or other types of SoC), or the like.

[0045] In some optional embodiments, the number of functional motors 122 can be set according to the independent working requirements of the functional elements in the functional assembly 121, such as one-to-one correspondence between the functional elements and the number of functional motors 122. For example, the cutting elements are implemented as blades, and the number of corresponding functional motors 122 is also set to 3. For another example, each of some of the blades is driven by a one-to-one corresponding functional motor 122, and the other part of the blades can be driven by one functional motor 122 through a transmission mechanism (such as a belt wound around the blade heads of the other part of the blades). In some specific embodiments, the functional mechanism 120 can further include a functional motor controller 123 corresponding to the functional motor 122. Taking a lawn mower as an example, the functional mechanism 120 can include a left lawn cutting blade, a left lawn cutting motor, a left lawn cutting controller, and a right lawn cutting blade, a right lawn cutting motor, a right lawn cutting controller, and the like.

[0046] In other optional embodiments, when the electric multifunctional vehicle 100 is used for cleaning, the functional mechanism 120 is used to implement cleaning elements for cleaning functions, such as elements for sweeping, mopping, and the like. Correspondingly, the functional mechanism 120 further includes a functional motor 122 for driving the cleaning elements to perform cleaning functions, and a functional motor controller 123 corresponding to the functional motor 122.

[0047] It can be understood that in other optional embodiments, the functional mechanism 120 can also be changed according to the different functions of the application scenarios, such as for snow sweeping, snow blowing, snow shoveling, flushing, and the like. Those skilled in the art should be able to adapt various functional components without creative labor, and the above should be included in the protection scope of the present embodiment. In still other optional embodiments, the functional mechanism 120 can also include mechanisms for implementing auxiliary functions, such as anti-theft alarm, waterproof and rainproof, charging, and the like.

[0048] The driving mechanism 130 is used to drive the electric multifunctional vehicle 100 to move, such as in a lawn, a garden, a fence, a green, or other scenes. In some optional embodiments, as shown in FIG. 2, the driving mechanism 130 includes a left driving assembly 131 and a right driving assembly 132 connected to the left and right sides of the vehicle frame 110, respectively.

[0049] The left driving assembly 131 and the right driving assembly 132 each include a driving motor and a driving wheel mechanically connected to the driving motor. The driving motor can transmit power to the connected driving wheel to drive the driving wheel to rotate, thereby driving the multifunctional vehicle 100 to move. Specifically, the left driving assembly 131 includes a left driving motor 1311 and a left driving wheel 1312, and the right driving assembly 132 includes a right driving motor 1321 and a right driving wheel 1322. When the driving motors in the left driving assembly 131 and the right driving assembly 132 drive the corresponding driving wheels at different powers, a speed difference is generated between the left and right driving wheels 1312 and 1322, thereby enabling the electric multifunctional vehicle 100 to turn. The driving mechanism 130 can further include left and right casters 133 and 134 located in front of the driving wheels. In other embodiments, only one caster can be provided. The left driving assembly 131 can further include a left driving controller 1313 of the left driving motor 1311, and the right driving assembly 132 can further include a right driving controller 1323 of the right driving motor 1321.

[0050] In the case of the electric multifunctional vehicle 100 being a type of vehicle that needs to be controlled by a user (such as a standing-type mower, a riding-type mower, etc.), a control mechanism 140 can be included. The control mechanism 140 is coupled to the driving mechanism 130 and is configured to control the operating state of the driving mechanism 130 to adjust the driving state of the electric multifunctional vehicle 100. In some optional embodiments, as shown in FIG. 2, the control mechanism 140 includes left and right control assemblies 141 and 142 corresponding to the left driving assembly 131 and the right driving assembly 132 of the driving mechanism 130. The left control assembly 141 and the right control assembly 142 are respectively coupled to the left driving assembly 131 and the right driving assembly 132 to control the operating state of the left driving assembly 131 and the right driving assembly 132, respectively.

[0051] In FIG. 1A, the left control assembly 141 and the right control assembly 142 each include a left control handle 1411 and a right control handle 1421. In FIG. 2, each control handle is further provided with a rotation detection circuit and a control controller. The rotation detection circuit is configured to detect the rotation direction and the rotation angle of the corresponding control handle and to generate rotation angle information accordingly. The control controller is configured to control the steering and the rotation speed of the driving motor in the corresponding driving assembly according to the rotation angle information. As an example, the left control handle 1411 is provided with a left rotation detection circuit 1412 and a left control controller 1413, and the right control handle 1421 is provided with a right rotation detection circuit 1422 and a right control controller 1423.

[0052] As shown in FIG. 3, the control mode is described by taking the right control handle 1421 as an example. The left control handle 1411 and the right control handle 1421 are configured to be controlled to rotate along the first axis 301 in the A arrow direction in the figure between at least one forward position, a middle position, and at least one backward position.

[0053] The first axis 301 can be substantially perpendicular to the extension direction of the frame 110 of the electric multifunctional vehicle. During rotation, when the control handle approaches the front end of the frame 110, it is forward rotation, and is in the forward position. The limit position that the control handle can reach by forward rotation is the forward limit position. When the control handle approaches the rear end of the frame 110, it is backward rotation, and is in the backward position. The limit position that the control handle can reach by backward rotation is the backward limit position. When the control handle is perpendicular or substantially perpendicular to the frame 110, it is in the middle position. In some optional embodiments, the forward position of the control handle can be more than one, and the backward position can also be more than one, which can correspond to different driving powers, respectively.

[0054] It should be particularly noted that the structure of the control mechanism 140 in FIG. 1A including the left control assembly 141 and the right control assembly 142 is only an example, and in other embodiments, it can be replaced by, for example, a steering wheel 140a, and is not limited to the control mode of the control handle of the left control assembly 141 and the right control assembly 142.

[0055] Optionally, the steering wheel 140a can include a display screen 181a, and can also include some control keys.

[0056] It should be particularly noted that in the case that the electric multifunctional vehicle 100 is a type of vehicle that can not be controlled by a user (such as a self-walking / intelligent electric multifunctional vehicle, etc., such as a self-walking / intelligent lawn mower, etc.), the electric multifunctional vehicle 100 can also not include the control mechanism 140.

[0057] In some embodiments, it is also shown that the electric multifunctional vehicle 100 further includes a vehicle controller 160 coupled to the function mechanism 120, the driving mechanism 130, and the control mechanism 140. The vehicle controller 160 includes a processor and a memory. The processor includes an MCU or a SoC, and the memory includes a cache or a memory (RAM, ROM), etc. The memory can store program instructions, and the processor is configured to execute the program instructions to perform corresponding control actions.

[0058] In some embodiments, the control mechanism 140 of the electric multi-functional vehicle 100 can further comprise a control panel 180, which provides one or more of the following: gear operation part (such as forward and reverse gears), function operation part (such as enabling of the function components 121), parameter setting part (such as setting of mowing speed, driving speed), etc. In some embodiments, the gear operation part and start / stop operation part can be implemented as operation keys. In one example, the operation keys can be physical keys. In another example, the control panel 180 can also comprise a display screen 181 (such as a touch screen), and the keys can be virtual keys in the display screen 181, or a combination of physical and virtual keys. In some embodiments, as shown in FIG. 1, the display screen 181 can be disposed below and facing the seat 111. Optionally, the control panel 180 and the display screen 181 can be located at the right hand side of the user for easy operation.

[0059] It is noted that the display screen 181 and the display screen 181a in the steering wheel 140a can be implemented alternatively, and in embodiments where the control mechanism 140 comprises left and right control components, the display screen 181 can be provided to cooperate, and in embodiments where the control mechanism 140 comprises the steering wheel 140a, the display can be provided only through the display screen 181a in the steering wheel 140a. Alternatively, in other embodiments, the display screen 181 can be retained and coexist with the display screen 181a. The two display screens 181, 181a can display the same or different content to provide better user experience to the user.

[0060] In some embodiments, the display screen 181 can have a larger size than the display screen 181a, and the display screen 181 can display a human-machine interface with more, larger or complex graphical content, such as reversing image, planned path, virtual control keys for controlling vehicle functions (such as enabling / disabling of function components), etc., to facilitate the user to view and accurately operate. The display screen 181a can have a human-machine interface with relatively less, smaller or simple graphical content. For example, some content that the user is expected to observe or operate when operating the steering wheel, such as some operating state parameters of the vehicle, such as vehicle speed, battery level, speed of the driving motor, multimedia content, virtual control keys, etc. It is noted that there can be at least partial overlap between the display content of the two display screens 181, 181a, and the display forms can be different. For example, the enabling / disabling keys of the function components can be displayed as a larger area graphical control in the display screen 181, or in the form of cooperating graphics or animation, and can be displayed as a smaller area graphical control in the display screen 181a.

[0061] The reverse detection component 150 is configured to perform reverse detection in response to the driving mechanism 130 being in a reverse driving state.

[0062] The electric multi-functional vehicle 100 further comprises a power supply system 170 configured to supply power to the functional mechanism 120, the driving mechanism 130, the control mechanism 140, and the reverse detection component 150. Specifically, the power supply system 170 is configured to supply power to the motors, controllers, etc. included in the functional mechanism 120, the driving mechanism 130, and the control mechanism 140.

[0063] In some alternative embodiments, the power supply system 170 can be detachably connected to the vehicle frame 110 (FIG. 1A). In FIG. 1A, the power supply system 170 is shown to be disposed in the battery compartment 112 at the rear end of the vehicle frame 110, and can be at least partially located below the seat 111. Alternatively, in other embodiments, the battery compartment can be located at the front end of the vehicle frame 110, without being limited to the illustration.

[0064] The power supply system 170 comprises a plurality of battery units 171. In FIG. 1, the power supply system 170 is shown with its cover opened to expose the plurality of battery units 171. The plurality of battery units 171 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 can differ in specification, including but not limited to battery pack capacity, voltage, internal resistance, weight, size, energy density, type of battery cell, state of charge information, state of health information, etc.

[0065] In some alternative embodiments, the first specification battery pack and the second specification battery pack differ in battery pack capacity. The first specification battery pack has a larger capacity than the second specification battery pack. The second specification battery pack is configured to power a handheld garden tool. For example, the second specification battery pack can be configured to power a garden tool such as a grass trimmer, a hedge trimmer, a blower, a chainsaw, etc. In addition, the second specification battery pack can be configured to power a torque output tool such as a power drill, a power hammer, etc.; a sawing tool such as a circular saw, a jigsaw, a reciprocating saw, etc.; or an abrasive tool such as an angle grinder, a sander, etc.

[0066] In some alternative 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 have lithium iron phosphate battery cells and lithium ternary battery cells, respectively. The plurality of battery units 171 in the power supply system 170 can also be selected to have nickel-chromium battery cells, lead-acid battery cells, graphene battery cells, etc.

[0067] The multiple battery units 171 included in the power supply system 170 are selected from at least one of a first specification battery pack and a second specification battery pack, such that the multifunctional vehicle 100 can be compatible with different specifications of battery packs, meet the demand for high-power work, and be adapted to handheld electric garden tools, so as to make the working mode of the staff more flexible.

[0068] It should be particularly pointed out that the structure of the electric multifunctional vehicle shown in FIG. 1A is only in an embodiment. As described above, the electric multifunctional vehicle can also be implemented as an agricultural work vehicle, a UTV vehicle, and the like, which are exemplified below.

[0069] As shown in FIG. 1B, a structural schematic diagram of an electric multifunctional vehicle in another embodiment is shown.

[0070] The electric multifunctional vehicle 100b can be implemented as an agricultural work vehicle, and specifically can be exemplified as a tractor. In the embodiment, the battery cabin 112b can be arranged at the front of the vehicle body 110b, and the battery cabin 112b is provided with an openable battery cabin cover, and the battery pack is arranged in the interior of the battery cabin 112b. In the embodiment, the electric multifunctional vehicle 100b is provided with a steering wheel 140b instead of a control lever, and the display screen 181b can be positioned and arranged on the steering wheel 140b, as shown in the front view of the steering wheel 140b on the left side in the figure. The steering wheel 140b is located in front of the seat 111b on the frame 110b, and the upper surface can be inclined at an angle towards the seat 111b, so as to facilitate the user to operate the steering wheel 140b and be closer to the face of the user, so as to facilitate the user to view the display screen 181b.

[0071] Exemplarily, the electric multifunctional vehicle is provided with a work assembly 121b, such as a cutting assembly of a lawn mower, and the like, at the bottom.

[0072] As shown in FIG. 1C, a structure of an electric multifunctional vehicle in another embodiment is shown.

[0073] In the electric multifunctional vehicle 100c in FIG. 1C, a UTV vehicle with a row of seats 111c is shown, and the steering wheel 140c is arranged in front of the seats 111c for controlling the driving direction. In the embodiment, the battery cabin is arranged at the head of the electric multifunctional vehicle 100c, and the accessory mechanism 113c, such as a carrying basket, and the like, can be arranged at the tail.

[0074] [Corrected according to Rule 91 on 29.08.2025] As shown in FIG. 1D, a structure of an electric multifunctional vehicle 100d in another embodiment is shown.

[0075] In the electric multi-purpose vehicle 100d in FIG. 1D, a UTV vehicle is shown with two rows of seats 111d, with a steering wheel 140d in front of the front row of seats 111d for controlling the driving direction. In this embodiment, the battery compartment 112d is located at the head of the electric multi-purpose vehicle 100d, and the tail can be provided with an accessory mechanism 113d, such as a carrying basket, etc.

[0076] In some embodiments, the electric multi-purpose vehicle can have one or more display screens, such as the previously mentioned display screens 181, 181a, or other display screens, which can be arranged in different positions according to the type and control mechanism of the electric multi-purpose vehicle.

[0077] In one example, the vehicle can be controlled to travel by left and right control handles, such as a vehicle with left and right control handles, and the display screen 181 can be arranged on the right lower side of the seat.

[0078] In another example, the vehicle is controlled to travel by a steering wheel, such as the vehicle in FIG. 1B, and the display screen can be embedded in the steering wheel.

[0079] In another embodiment, such as the UTV form of vehicle in FIG. 1C, FIG. 1D, in addition to the way of embedding the display screen in the steering wheel, the display screen can also be arranged on the operation table in front of the steering wheel, and the user can conveniently see the display content on the display screen through the hollow part of the multi-panel steering wheel. Alternatively, the display screen can be arranged on the left or right side of the steering wheel without being blocked by the steering wheel.

[0080] FIG. 4 shows an electrical connection diagram of a riding mower in one embodiment of the present disclosure.

[0081] [According to Rule 91, corrected on 29.08.2025] The riding mower includes: a left mower blade 4211, a left mower motor 4221, a left mower controller 4231, a right mower blade 4212, a right mower motor 4222, a right mower controller 4232, a left drive wheel 4312, a left drive motor 4311, a left drive controller 4313, a right drive wheel 4322, a right drive motor 4321, a right drive controller 4323, a vehicle controller 460, a left control assembly 441, a right control assembly 442, a power supply system 470, a control panel 480, etc.

[0082] The left mowing motor 4221 is configured to drive the left mowing blade 4211 to operate. The left mowing controller 4231 is communicatively connected to and controls the left mowing motor 4221. The left drive motor 4311 is configured to drive the left drive wheel 4312 to operate. The left drive controller 4313 is communicatively connected to and controls the left drive motor 4311. The right mowing motor 4222 is configured to drive the right mowing blade 4212 to operate. The right mowing controller 4232 is communicatively connected to and controls the right mowing motor 4222. The right drive motor 4321 is configured to drive the right drive wheel 4322 to operate. The right drive controller 4323 is communicatively connected to and controls the right drive motor 4321. The vehicle controller 460 is communicatively connected to and controls the left mowing controller 4231, the right mowing controller 4232, the left drive controller 4313, and the right drive controller 4323. The left control assembly 441 and the right control assembly 442 are communicatively connected to the vehicle controller 460. The control panel 480 is communicatively connected to the vehicle controller 460.

[0083] The power supply system 470 is electrically connected to and supplies power to the left mowing motor 4221, the left mowing controller 4231, the right mowing motor 4222, the right mowing controller 4232, the left drive motor 4311, the left drive controller 4313, the right drive motor 4321, the right drive controller 4323, the vehicle controller 460, the left control assembly 441, the right control assembly 442, and the control panel 480.

[0084] It should be noted that one or more of the vehicle controller 460, the left mowing controller 4231, the right mowing controller 4232, the left drive controller 4313, and the right drive controller 4323 can be integrated with each other, and are not limited to the embodiments shown in the figures.

[0085] The reverse detection assembly 150 can be directly coupled to the vehicle controller 460, or, since the vehicle controller 460 is communicatively connected to the left mowing controller 4231, the right mowing controller 4232, the left drive controller 4313, and the right drive controller 4323, the reverse detection assembly 150 can also communicate with any one of the controllers to communicate with the vehicle controller 460. Specifically, the control unit in the reverse detection assembly 150 can be communicatively connected to one of the vehicle controller 460, the left mowing controller 4231, the right mowing controller 4232, the left drive controller 4313, and the right drive controller 4323, or can be replaced by one of the controllers.

[0086] As shown in FIG. 5, a functional module schematic diagram of the reverse detection assembly in an embodiment of the present disclosure is shown.

[0087] The reverse detection component 150 comprises a detection unit 151, a control unit 152 and a prompting unit 153.

[0088] The detection unit 151 comprises at least one detector 1511 located at the rear of the vehicle frame, which is adapted to detect the rear obstacle to obtain at least one detection data.

[0089] In some embodiments, the detection unit 151 is triggered based on the eSUV being in a reverse driving state. The reverse driving state can be determined by detecting the actuation state of the gear operation part on the control panel, or by detecting the running state of the motor in the driving mechanism or the rotation state of the driving wheel or the caster.

[0090] In some embodiments, the detection unit 151 can comprise a radar module. As an example, the radar module comprises at least one of the following: laser radar, ultrasonic radar, microwave radar (such as millimeter wave radar, centimeter wave radar, etc.), infrared radar, and the signal transceiver component comprises a transmitter and a receiver corresponding to the laser, ultrasonic, microwave, infrared signals. The detection data can be generated based on the conversion of the electrical signals formed by the reflected echo signals of the laser, ultrasonic, microwave, infrared signals hitting the obstacle. According to the detection data, the distance of the obstacle can be calculated.

[0091] It should be noted that due to the difference in the working principle of each radar, the performance of the radar is also different, each radar has its own advantages and disadvantages, and the application of each environment can also be selected according to the characteristics of the radar to meet the requirements of detection accuracy and cost. For example, ultrasonic radar has the advantages of convenient and simple processing, fast speed, high measurement accuracy, but the detection range is short; microwave radar has good adaptability, long detection distance, mature technology, strong anti-interference ability, laser radar has good directivity, no electromagnetic interference, high measurement accuracy, but the price is higher than that of ultrasonic radar.

[0092] [Corrected according to Rule 91 on 29.08.2025] The detector 1511 can be implemented as a separate signal transceiver component of a partial radar module. For example, in a partial radar module such as an ultrasonic radar, the signal transceiver component is independently packaged as a probe and installed at a predetermined position on the vehicle. In addition, in a partial radar module, the signal transceiver component and the circuit part are integrated, such as a laser radar, etc. In some embodiments, the signal transceiver component can be installed at a certain height at the rear of the eSUV so that its detection range can reach a predetermined angle and length. For example, the probe of the ultrasonic radar is arranged at a position such as the rear bumper 114 (see FIG. 1A) of the eSUV.

[0093] [Corrected according to Rule 91 on 29.08.2025] In some embodiments, the radar module can be communicatively connected to a display screen on the electric multi-purpose vehicle to display the detected distance of the obstacle. As shown in FIG. 1A, the display screen can be exemplified as the display screen 181 in the control panel 180.

[0094] In some embodiments, the detection unit 151 can include an image module for imaging the environment behind the vehicle. The detector 1511 can be implemented as an image acquisition unit or the like included in the image module. Compared with the reversing radar, the reversing image system can provide a more intuitive experience for the user, allowing the driver to see the real-time road conditions, be more reliable, and also avoid the problem of rear blind area that cannot be solved by the reversing radar.

[0095] In some embodiments, the detection unit 151 can include the radar module and the image module, and the two kinds of reversing detection devices are cooperated to provide more reliable reversing reference.

[0096] The control unit 152 includes one or more controllers 1521 coupled to the at least one detector 1511 and configured to generate a reversing prompt signal and / or a reversing image signal during the reversing process based on the at least one detection data. In some embodiments, the controller 1521 can include an MCU, an ARM, or other types of SoC. In some embodiments, if the detection unit 151 includes a radar module, the radar module can include a radar controller to calculate the distance of the obstacle based on the detection data, and the radar controller is communicatively connected to the controller in the control unit 152 to trigger the controller to generate the reversing prompt signal related to the distance of the obstacle. Alternatively, the controller 1521 in the control unit 152 can be used as the radar controller.

[0097] The prompt unit 153 includes one or more prompters 1531 coupled to the one or more controllers 1521 and configured to perform a prompt action based on the reversing prompt signal and / or display a reversing image based on the reversing image signal. In some embodiments, the prompter 1531 can include an audible / visual alarm such as a buzzer, an indicator light, a sound emitter, etc. In some embodiments, the prompter 1531 can include a display screen for prompting the user through content or pattern display. The display screen can be implemented as a display screen in the control panel.

[0098] [According to Rule 91 correction 29.08.2025] In the example that the detection unit 151 includes a radar module, considering that the propagation speed of the detection signal will be affected by the environment, such as temperature, etc., therefore in some embodiments the electric multi-functional vehicle can be configured with a temperature sensor, the electric multi-functional vehicle is configured with a temperature sensor 501 (see Figure 5), which is communicatively connected to the control unit 152. The temperature sensor 501 can also be implemented as a thermistor (NTC). The controller in the control unit 152 is communicatively connected to the temperature sensor 501, and the control unit 152 is adapted to obtain the obstacle distance according to the temperature-compensated propagation speed of the detection signal and the detection data based on the temperature data of the temperature sensor 501.

[0099] Taking ultrasonic waves as an example, assuming that the time taken for an ultrasonic wave signal to travel from being emitted to being received after encountering an obstacle is t seconds, and the propagation speed of ultrasonic waves in air medium is 340 m / s, then the formula for the measured distance S is as follows:

[0100] However, the propagation speed of ultrasonic waves is not always 340 m / s, and the propagation speed of ultrasonic waves is greatly related to the environment, such as being affected by the ambient temperature. In order to reduce the errors of the system and improve the accuracy of operation, and to meet the ranging requirements in different environments in real life, therefore the temperature compensation of the speed of sound can be considered to improve the accuracy of the detection distance. The control unit 152 can calculate the actual propagation speed of ultrasonic waves according to the external ambient temperature. The formula for the temperature compensation algorithm of the speed is, for example, as follows: C = 340 - a + b x T;

[0101] Wherein: C is the speed of sound (unit: m / s), T is the ambient temperature (unit: ℃), and a and b are coefficients that can be set according to actual requirements. Therefore, the actual distance S measured after adding the temperature compensation algorithm is:

[0102] [According to Rule 91 correction 29.08.2025] In some embodiments, the control unit 152 is adapted to form different prompt signals corresponding to the detection of the obstacle distance being in different preset obstacle distance ranges. The one or more prompters are implemented as sound / light alarms, and are adapted to perform different sound and / or light mode alarm prompts based on different prompt signals. For example, the smaller the obstacle distance, the longer the buzzing time of the buzzer. Or, the smaller the obstacle distance, the longer the light-emitting time of the hazard indicating light, and the shorter the light-emitting time of the safety indicating light. Or, the smaller the obstacle distance, the more severe the content / tonality of the voice alarm. Or, the smaller the obstacle distance, the more frequent the real-time obstacle distance broadcasted by the voice, etc. Table 1 below provides several sound / light alarm modes according to the obstacle distance:

[0103] The following describes possible application modes of the reverse detection assembly 150 through some specific embodiments.

[0104] An ultrasonic radar is taken as an example for description. As shown in FIG. 6, a functional module schematic diagram of the reverse detection assembly based on the ultrasonic radar device in an embodiment of the present disclosure is shown.

[0105] In the embodiment, the radar device 600 includes an ultrasonic signal transceiving assembly 601, a signal processing circuit assembly 603, and a radar controller 602. The ultrasonic transceiving assembly 601 is electrically connected to the signal processing circuit assembly 603, and the signal processing circuit assembly 603 is in communication with the radar controller 602. The radar controller 602 is in communication with the prompting unit 153. The ultrasonic signal transceiving assembly 601 and the signal processing circuit assembly 602 are a specific implementation of the detection unit 151, and the ultrasonic signal transceiving assembly 601 can be used as the detector 151. The radar controller 602 can be implemented as a controller other than the control unit 152 or realized by a controller in the control unit 152.

[0106] In some examples, the ultrasonic signal transceiving assembly 601 can be implemented as a sensor integrating an ultrasonic transmitter and an ultrasonic receiver, which can also be referred to as an ultrasonic probe.

[0107] In some examples, the signal processing circuit assembly 603 can include an ultrasonic transmitting circuit 6031 and an ultrasonic receiving circuit 6032, which are respectively in communication with the ultrasonic transmitter and the ultrasonic receiver.

[0108] In some embodiments, the ultrasonic signal transceiver assembly 601 can be installed on the rear bumper 114 of the electric multi-functional vehicle, for example, at position A in FIG. 1A. The ultrasonic transmitter and the ultrasonic receiver in the ultrasonic signal transceiver assembly 601 each contain a transducer, such as a piezoelectric crystal (such as a piezoelectric ceramic, etc.). The piezoelectric crystal is a device that can be reversibly transformed between electricity and mechanical vibration. The ultrasonic radar works as follows: when the ultrasonic transmitter is powered by the ultrasonic transmission circuit, the piezoelectric crystal of the ultrasonic transmitter produces mechanical vibration, thereby generating ultrasonic waves that are radiated outward. The ultrasonic waves generated by the ultrasonic probe are reflected back to the ultrasonic probe when they encounter an obstacle during the ultrasonic wave radiation process. The reflected ultrasonic waves vibrate the piezoelectric crystal of the ultrasonic receiver, which generates an electrical signal that is transmitted to the ultrasonic receiving circuit and further to the radar controller for distance calculation of the obstacle, and then prompts on the connected prompt unit. By using ultrasonic detection technology, when the driver reverses the car and parks in a narrow parking space, the user can know whether there is an unknown obstacle behind the car and the distance through the alarm prompt of the prompt unit, thereby assisting the user to safely reverse the car and avoid collision.

[0109] As shown in FIG. 7, a flowchart of implementing reverse detection based on a radar module in an embodiment of the present disclosure is shown.

[0110] The flow in this embodiment includes:

[0111] Step S701: Detecting whether it is in a reverse driving state.

[0112] In some embodiments, the judgment can be completed according to the state signals of the gear operation part, the drive motor, the drive wheel, the caster, etc. If not, return to step S701; if yes, go to step S702.

[0113] Step S702: Obtaining the ambient temperature through the temperature sensor.

[0114] Step S703: The radar module sends a detection signal and receives a return signal to obtain the signal transmission time.

[0115] Step S704: Based on the temperature compensation algorithm, the obstacle distance is calculated according to the signal transmission time and the ambient temperature.

[0116] Exemplarily, the prompt mode is determined by comparing the different distance thresholds of 0.3 meters, 0.6 meters, 1.0 meters, 1.5 meters, etc. in Table 1 with the obtained obstacle distance s. It can be understood that the distance thresholds of 0.3 meters, 0.6 meters, 1.0 meters, 1.5 meters, etc. can be changed according to actual needs, and are not limited by the examples.

[0117] Step S705: judge whether s is less than 0.3 meters. If yes, execute step S706: for example, voice broadcast "stop, stop", and then return to step S702. If no, execute step S707.

[0118] Step S707: judge whether s is less than 0.6 meters. If yes, execute step S708: for example, voice broadcast "danger, danger", and then return to step S702. If no, execute step S709.

[0119] Step S709: judge whether s is less than 1.0 meters. If yes, execute step S710: for example, voice broadcast "warning, warning", and then return to step S702. If no, execute step S711.

[0120] Step S711: judge whether s is less than 1.5 meters. If yes, execute step S712: for example, voice broadcast "attention, attention", and then return to step S702. If no, execute step S713, and no alarm is executed.

[0121] As shown in FIG. 8, a structural schematic diagram of an image module in an embodiment of the present disclosure is shown.

[0122] The image module 850 includes an image acquisition unit 851 and an image processing unit 852. In some embodiments, the image acquisition unit 851 includes a camera 8511 and an image sensor 8512. Exemplarily, the camera 8511 can be implemented as a CMOS camera, which acquires points on an image in a certain resolution in an interlaced scanning manner. When a point is scanned, the image sensor 8512 converts the gray scale of the image at the point into a voltage value corresponding to the gray scale, and then outputs the voltage value through a reverse image signal end. When the camera scans a row, the reverse image signal end outputs a low level and remains for a period of time, which is called a row blanking area. Then the next interlaced scanning starts, and this process continues until the reverse image signal of the field is scanned, and then a field blanking area appears. The CMOS camera acquires real-time images in this principle. In another embodiment, the camera 8511 can also be implemented as a CCD camera, which has a larger power consumption than CMOS, so the type can be selected according to the scene.

[0123] [Corrected according to Rule 91 on 29.08.2025] In some embodiments, the camera 8511 can be configured at the rear of the electric multi-functional vehicle, for example, can be arranged above the rear bumper 114 (such as position A in FIG. 1A) or the rear bumper 114 (such as position B in FIG. 1A) of the vehicle frame 110 in FIG. 1A, or can be arranged at a position behind the seat 111, etc.

[0124] It should be noted that in the above embodiments, different types of detectors based on detection units (such as ultrasonic signal transceiver assemblies, cameras, etc.) have different detection ranges, and are correspondingly arranged at different positions. Of course, these positions can also be adjusted according to needs, and are not limited by the descriptions in the previous embodiments. The following focuses on the positions where the detectors can be arranged.

[0125] In some embodiments, the electric multipurpose vehicle includes a battery compartment arranged at the rear end of the vehicle frame. The detector can be arranged on the rear surface of the compartment shell of the battery compartment. For example, in FIG. 1A, the detector can be arranged at position B on the outer wall of the rear end of the battery compartment 112.

[0126] In some embodiments, at least one of the detectors is arranged at the rear of a seat on the vehicle frame. For example, it can be arranged at the rear of a seat in FIGS. 1A-1D, or it can also be arranged at a position behind the rear of a seat, such as a vertical support behind the seat of a UTV vehicle.

[0127] For another example, as shown in FIG. 1E, a top view structural schematic diagram of the electric multipurpose vehicle in FIG. 1B is shown.

[0128] The electric multipurpose vehicle 100b shown in FIG. 1E has a right end of a functional assembly (i.e., a work assembly 121b) that is farther to the right than the right rear side of the right drive wheel, i.e., constitutes the farthest end M on the right side of the electric multipurpose vehicle 100b. Therefore, in such a scenario, the width of the detection range of the detector in the horizontal direction cannot only be wider than the horizontal distance between the outer ends of the left and right drive wheels, but also needs to cover the area that the farthest end of the functional assembly in the horizontal direction can possibly pass through, so that when reversing, the user needs to avoid not only the vehicle body and the wheels, but also the work assembly 121b, to avoid dangerous events.

[0129] [Corrected according to Rule 91 on 29.08.2025] Therefore, in some embodiments, a pair of detectors can be arranged on the left and right sides of the rear of the vehicle frame, respectively, and located behind the opposite sides of the functional assembly, and the detection ranges of the pair of detectors are wider than the functional assembly in the horizontal direction. As an example, reference can be made to FIG. 1A, where positions C and D adjacent to the left and right side edges of the rear end in FIG. 1A can be arranged with a detector, respectively. Alternatively, position C1 on the left side surface adjacent to the rear end in FIG. 1A can also be arranged with a detector, and position D1 corresponding to C1 on the opposite right side surface can also be arranged with another detector.

[0130] Similarly, C2, D2 at the left and right positions of the rear end face of the electric multi-purpose vehicle 100b in FIG. IE, or C3, D3 at the left and right side faces, can be provided with a pair of the aforementioned detectors, and the detection ranges F1, F2 of a pair of detectors at the C2, D2 positions are exemplarily shown in the figure, wherein at least the detection range F2 of the detector at the D3 position corresponding to the rear of the M end extends to the outside in the width direction compared to the M end, thereby covering the area passed by the rearward movement of the M end in the width direction.

[0131] The image processing unit 852 includes an image controller 8521 and an image converter 8522. The image controller 8521 is communicatively connected to the image acquisition unit 851 to configure the format (e.g., YCrCb format) of the image encoding data output by the image sensor 8512. The image controller 8521 is also communicatively connected to the image converter 8522 to configure the image format (e.g., RGBS) of the reversing image signal output by the image converter 8522 based on the image encoding data. The image converter 8522 is communicatively connected to the display screen 881 to output the reversing image displayed on the display screen 881. As an example, the display screen 881 can be implemented as the display screen 181 in the aforementioned control panel 180.

[0132] In some embodiments, to guide the reversing route of the user, the reversing image can include a reversing auxiliary line for guiding the user to safely reverse. The reversing auxiliary line can include at least one of a reversing distance line, a dynamic reversing trajectory line, and a static reversing trajectory line (see FIGS. 9A-9C). Regardless of which one, there will be a pair of lines corresponding to the two sides of the vehicle. The distance between the pair of lines is the width of the reversing auxiliary line. Since the electric multi-purpose vehicle also includes functional components, such as the cutting component of the lawn mower, the outermost end of the two side edges of the electric multi-purpose vehicle can be located on the functional mechanism (e.g., the cutting component) and / or the vehicle body (the frame, the vehicle shell on the frame, or the wheels) outside the functional mechanism, which is possible depending on the type of electric multi-purpose vehicle. For example, in the electric multi-purpose vehicle 100b in FIG. IE, the M point on the cutting component is the outermost end on the right side of the electric multi-purpose vehicle 100b.

[0133] Thus, in some embodiments, the width of the reverse assist line is determined based on a vehicle width of the electric multi-purpose vehicle, such as equal to or greater than the vehicle width. The vehicle width is the horizontal distance between the outermost points on the left and right sides of the electric multi-purpose vehicle. For example, in FIG. IE, the outermost point on the right side of the electric multi-purpose vehicle is M, and the outermost point on the left side is N, which is the outermost point of the left drive wheel. Thus, the vehicle width is the horizontal distance P between M and N. The width of the reverse assist line can be greater than or equal to P, so that the functional components are not hit when the user refers to the reverse assist line to back up the vehicle. Although only one of the outermost points on the left and right sides of the vehicle falls on the functional components, and the other outermost point falls on the wheels in FIG. IE, it is understood that in other embodiments, it is also possible that the outermost points on the left and right sides fall on the functional components (such as the outermost points on the opposite sides of the convex functional components that are symmetrical on both sides, such as the functional components in FIG. 1A) or a pair of wheels (such as a pair of wider rear wheels, which can be drive wheels), respectively.

[0134] In other embodiments, the width of the reverse assist line can also be determined based on a maximum vehicle width of the electric multi-purpose vehicle, such as equal to or greater than the maximum vehicle width. The maximum vehicle width is twice the horizontal distance between the outermost point on the side farther from the center axis of the electric multi-purpose vehicle and the center axis of the electric multi-purpose vehicle. For example, referring to FIG. IE, it is known that M is the outermost point on the left and right sides of the electric multi-purpose vehicle, and the distance from M to the center axis O of the electric multi-purpose vehicle 100b is Q. Thus, the maximum vehicle width is Q*2.

[0135] By adapting the width of the reverse assist line to the width of the vehicle, the reverse avoidance needs of the electric multi-purpose vehicle with a variable vehicle width depending on the type of vehicle can be met, rather than rigidly setting the width of the reverse assist line as the distance between a pair of rear wheels, which is closer to the actual situation and improves the safety of the electric multi-purpose vehicle containing functional components when backing up.

[0136] As shown in FIGS. 9A-9C, schematic diagrams of the reverse assist line displayed in the reverse image in various embodiments of the present disclosure are shown. The width of at least one reverse assist line (such as at least one of the reverse distance measuring line, the static reverse trajectory line, and the dynamic reverse trajectory line) is determined based on the “vehicle width” or “maximum vehicle width” described above, such as greater than the “vehicle width” or “maximum vehicle width”.

[0137] The reverse assist line includes a reverse distance measuring line. In FIG. 9A, a reverse image 900a is shown with a reverse distance measuring line 901 displayed, which helps the user to determine the distance between the obstacle and the electric multi-purpose vehicle.

[0138] In some embodiments, the reverse distance line 901 comprises a plurality of sub-reverse distance lines displayed differently corresponding to different preset distance ranges. Three sub-reverse distance lines 9011, 9012, 9013 are exemplarily shown in FIG. 9A, which can be distinguished by different colors. The two sub-lines extending along the direction of the vehicle frame in the reverse distance line can correspond to the edges of the left and right sides of the electric multipurpose vehicle, respectively.

[0139] In some embodiments, the reverse auxiliary line can further comprise a static reverse trajectory line, a dynamic reverse trajectory line, etc.

[0140] As shown in FIG. 9B, a schematic diagram of displaying a static reverse trajectory line and a dynamic reverse trajectory line in a reverse image is shown.

[0141] As shown in FIG. 9B, a reverse image 900b is shown, in which the dynamic reverse trajectory line 902b is predicted based on the current reverse posture of the driving mechanism and changes with the reverse posture. The pair of parallel sub-trajectory lines in the dynamic reverse trajectory line 902b can correspond to the predicted trajectory of the current reverse posture of the left and right driving wheels, or correspond to the edges of the left and right sides of the electric multipurpose vehicle.

[0142] Specifically, the dynamic reverse trajectory line 902b changes with the change of the steering state or the driving wheel angle of the driving mechanism manipulated by the control mechanism. For example, when the user manipulates the driving mechanism or detects that the driving wheel angle turns right, the dynamic reverse trajectory line 902b will correspondingly shift to the right; when the user manipulates the driving mechanism or detects that the driving wheel angle turns left, the dynamic reverse trajectory line 902b will correspondingly shift to the left.

[0143] In the present embodiment, the static reverse trajectory line 903b can be predicted according to the maximum steering angle of the driving mechanism, i.e., the trajectory along the maximum steering angle when steering, to inform the user of the maximum reverse trajectory angle at the current position, and to refer to whether the obstacle can be successfully avoided. Alternatively, the static reverse trajectory line 903b can comprise a pair of left and right maximum steering angles.

[0144] For example, in FIG. 9B, the static reverse trajectory line 903b fails to avoid the obstacle 904b, so the user can know that even if the vehicle continues to turn right to the maximum, the obstacle 904b cannot be avoided.

[0145] As shown in FIG. 9C, a schematic diagram of displaying a static reverse trajectory line and a dynamic reverse trajectory line in a reverse image is shown.

[0146] In the reverse image 900c shown in this embodiment, the dynamic reverse trajectory line 902c is still predicted based on the current reverse posture of the driving mechanism and changes with the reverse posture. The static reverse trajectory line 903c can be planned to avoid the detected rear obstacle 904c. For example, in FIG. 9C, the static reverse trajectory line 903c planned to avoid the rear obstacle 904c can only need to make half of the maximum turning angle of the vehicle to avoid the rear obstacle 904c, and the user controls the electric vehicle to steer by the control mechanism to make the dynamic reverse trajectory line 902c approach the position of the static reverse trajectory line 903c to avoid the rear obstacle 904c.

[0147] In some embodiments, the static reverse trajectory line 903c can be implemented based on some obstacle avoidance algorithm. As an example, the position coordinates of each point of the vehicle and the rear space in a spatial coordinate system can be determined based on the detection data collected by the image module and / or the radar module, and then a trajectory line is planned to make the edge point of the vehicle approaching the obstacle avoid the obstacle 904c under the condition of meeting the maximum turning angle limit of the vehicle reversing, i.e., the static reverse trajectory line 903c is obtained.

[0148] Compared with the embodiment in FIG. 9B, the embodiment in FIG. 9C can make the user more accurately control the electric vehicle to avoid the obstacle with smaller steering action, and can meet the reverse obstacle avoidance demand in a relatively narrow space scenario.

[0149] In actual scenarios, obstacles have different sizes and types, such as walls that cannot be crossed, and low slopes such as people, cats, dogs, or other animals, etc. For users driving vehicles, different sizes or types of obstacles need to be distinguished and prompted to avoid the danger caused by the obstacles as much as possible or the danger caused to the obstacles (such as animals).

[0150] In some embodiments, the control unit 152 can also be adapted to determine obstacle information according to the at least one detection data, and generate reverse prompt signals corresponding to different obstacle information to make the prompt unit 153 perform different prompt actions. As an example, the obstacle information includes at least one of the position, size, and type of the obstacle.

[0151] It can be understood that for a riding mower, since the configured cutting element (i.e., blade) can be arranged closer to one side or both sides of the vehicle frame, the danger of the area on both sides of the vehicle can be higher than the danger of the rear of the vehicle when reversing. Therefore, in some examples, the prompt unit can make prompt actions positively related to the emergency level between the included angle relative to the rear according to the reverse prompt signal.

[0152] For example, when the obstacle is located in the B region (such as a square region of a preset length between the edges of the vehicle), the distance of the obstacle can be determined according to the reversing distance line. For example, if the distance is less than 1.0 meter, a voice prompt such as “warning, warning” can be performed, and if the distance is less than 0.5 meter, a voice prompt such as “danger, danger” can be performed. However, if the obstacle is located in a region on the left or right side of the vehicle (such as a region on the left or right side of the B region within the safety distance of the cutting element, and the region has a square or arc-shaped contour on the ground), a voice prompt of the emergency level of “danger, danger” or “stop, stop” can be directly performed.

[0153] It can be understood that the smaller the size of the obstacle and the lower the height, the smaller the impact on the reversing of the electric multipurpose vehicle. Therefore, in some examples, the prompting unit can make a prompt action according to the reversing prompt signal, and the prompt action is positively correlated with the size of the obstacle.

[0154] For example, if the height of the obstacle in the reversing image is detected to be 5 cm to 15 cm, the obstacle can be crossed, and no prompt can be performed. If the height of the obstacle in the reversing image is detected to be 16 cm to 30 cm, a simple prompt can be performed. For example, if the distance is less than 1.0 meter, a voice prompt such as “attention, attention” can be performed, or if the distance is less than 0.5 meter, a voice prompt such as “warning, warning” can be performed. If the height of the obstacle in the reversing image is detected to be 1 meter or more, if the distance is less than 1.0 meter, a voice prompt such as “warning, warning” can be performed, or if the distance is less than 0.5 meter, a voice prompt such as “danger, danger” can be performed.

[0155] It can be understood that the protection of living obstacles (such as animals) is given priority over non-living obstacles, and therefore in some examples, the prompting unit can make a prompt action according to the reversing prompt signal, and the prompt action for living obstacles has a higher emergency level than the prompt action for non-living obstacles. In some embodiments, the control unit can be preconfigured with an obstacle recognition model for identifying the type of obstacle to determine whether it is a living or non-living obstacle. The obstacle recognition model can be implemented based on a target detection algorithm of a neural network model, such as R-CNN, Fast R-CNN, Faster RCNN, MaSK R-CNN, SSD, YOLO, etc.

[0156] For example, when a dog is detected in the reversing image, if the distance is less than 1.0 meter, a voice prompt such as “danger, danger” can be performed, and if the distance is less than 0.5 meter, a voice prompt such as “stop, stop” can be performed. If the target in the reversing image is detected to be grass, no prompt can be performed.

[0157] In some embodiments, the above-mentioned manners of prompting different emergency levels according to obstacle information can also be combined. The emergency level can be integrated to make the emergency level possibly be promoted or unchanged.

[0158] For example, if a dog appears 0.9 meters behind the riding mower, the "dog" as a living obstacle promotes the emergency level of the original "warning, warning" voice prompt to a voice prompt such as "danger, danger". For another example, if the dog is located in the area on both sides of the riding mower, it is promoted to a voice prompt of "stop, stop". For another example, if a 10 cm high grass appears 0.9 meters behind the riding mower, no prompt can be performed. For another example, if a 10 cm high soil slope appears 0.9 meters behind the riding mower, no prompt can be performed, but if a 10 cm high soil slope appears on the side, a prompt can be performed. For another example, if a 10 cm high grass appears in the area on the side of the riding mower, no prompt can be performed.

[0159] It should be noted that the above-mentioned possible cases of prompting different emergency levels according to obstacle information are only some examples, and can be changed according to the type of the electric multifunctional vehicle and the application scenario, and are not limited by the examples.

[0160] It can be understood that some radar modules also have imaging capabilities similar to image modules, such as millimeter wave radars and laser radars in microwave radars, which can collect accurate outlines of obstacles, so the above-mentioned scheme of prompting different emergency levels based on at least one of the position, size, and type of the obstacle can also be implemented.

[0161] As shown in FIG. 10, a flowchart of implementing reverse detection based on an image module in an embodiment of the present disclosure is shown.

[0162] The flowchart in this embodiment includes:

[0163] Step S1001: Detecting whether it is in a reverse driving state.

[0164] In some embodiments, the judgment can be completed according to the state signals of the gear operation part, the driving motor, the driving wheel, the caster, and the like. If not, return to step S1001; if yes, go to step S1002.

[0165] Step S1002: Starting the image acquisition module.

[0166] Specifically, the camera and the image sensor are started to perform real-time image acquisition and imaging of the reverse environment.

[0167] Step S1003: The image acquisition unit outputs the image encoding data to the image processing unit.

[0168] Step S1004: The image processing unit converts and outputs the reversing image signal based on the image encoding data.

[0169] Step S1005: The image processing unit generates display data of the reversing auxiliary line, and sends the display data to the display screen together with or integrated in the reversing image signal.

[0170] Step S1006: The display screen displays the reversing image containing the reversing auxiliary line.

[0171] For example, one or more of the reversing distance measuring line, the static reversing trajectory line, and the dynamic reversing trajectory line are displayed.

[0172] Step S1007: The current reversing posture is obtained, and it is determined whether the reversing angle is changed. If yes, the process returns to step S1005 for cyclic execution, and the dynamic reversing trajectory line in the reversing image is updated. If no, step S1008 is executed.

[0173] Step S1008: The dynamic reversing trajectory line is kept unchanged.

[0174] In the example in which the reversing detection unit comprises the radar module and the image module, the radar module and the image module are configured to be independently enabled between each other. For example, the radar module and the image module can be selectively enabled, or can be simultaneously enabled. As an example, the working procedure when the radar module and the image module are simultaneously enabled can refer to the union of the procedures in FIG. 7 and FIG. 10. In a further example, in response to detecting the reversing driving state, the radar module and the image module can be simultaneously enabled to give the user reliable and comprehensive information feedback of the obstacles. In some embodiments, the radar module and the image module can verify or be redundant to each other. For example, when the detection result obtained by one of the devices is unreliable due to abnormality or failure of the device, the detection result of the other device can be compared and verified to determine the final detection result. For another example, when one of the devices cannot work, the other device can be substituted.

[0175] The above-described embodiments are merely illustrative of the principles of the present disclosure and the effects thereof, and are not intended to limit the present disclosure. Any person skilled in the art can make modifications or alterations to the above-described embodiments without departing from the spirit and scope of the present disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art based on the above-described embodiments without departing from the spirit and scope of the present disclosure shall fall within the scope of the present disclosure.

Claims

1. An electric multi-functional vehicle, characterized in that, include: One frame; A functional mechanism, connected to the vehicle frame, includes functional components that perform functional actions based on power. A driving mechanism is connected to the vehicle frame and is adapted to drive the vehicle frame to travel. A reversing detection component, configured to perform reversing detection in response to the driving drive mechanism being in a reversing driving state, includes: The detection unit includes at least one detector located at the rear of the vehicle frame, adapted to detect obstacles behind it to obtain at least one detection data; The control unit, including one or more controllers, is coupled to the at least one detector and configured to generate a reversing prompt signal and / or a reversing image signal during the reversing process based on the at least one detection data; The prompting unit includes one or more prompters coupled to the one or more controllers and configured to perform a prompting action based on the reversing prompt signal and / or display a reversing image based on the reversing image signal.

2. The electric multi-functional vehicle according to claim 1, characterized in that, The detection unit includes a radar module; The at least one detector includes a signal transceiver component of a radar module.

3. The electric multi-functional vehicle according to claim 2, characterized in that, The radar module includes at least one of the following: lidar, ultrasonic radar, microwave radar, and infrared radar.

4. The electric multi-functional vehicle according to claim 2, characterized in that, The control unit is adapted to generate different prompting signals corresponding to different preset distance ranges of the detected obstacle distance; the one or more prompting devices are implemented as sound / light alarms, adapted to provide differentiated sound and / or light alarm prompts based on different prompting signals.

5. The electric multi-functional vehicle according to claim 2, characterized in that, The electric multi-functional vehicle is equipped with a temperature sensor, and the control unit is coupled to the temperature sensor. The control unit is adapted to obtain the obstacle distance based on the propagation speed of the detection signal after temperature compensation of the temperature data from the temperature sensor and the detection data.

6. The electric multi-functional vehicle according to claim 1, characterized in that, The detection unit includes an image module, and the at least one detector includes an image acquisition unit of the image module.

7. The electric multi-functional vehicle according to claim 1, characterized in that, The reversing image includes reversing guide lines.

8. The electric multi-functional vehicle according to claim 7, characterized in that, The width of the reversing auxiliary line is determined based on the vehicle width or the maximum width of the electric multi-functional vehicle; wherein, the vehicle width is the horizontal distance between the outermost ends of the left and right sides of the electric multi-functional vehicle; the maximum width of the vehicle is twice the horizontal distance between the outermost end of the more outer side of the left and right sides of the electric multi-functional vehicle and the vehicle's centerline; wherein, the outermost end is located on the vehicle body outside the functional mechanism and / or the functional mechanism.

9. The electric multi-functional vehicle according to claim 7, characterized in that, The reversing auxiliary line includes a dynamic reversing trajectory line, which is predicted based on the current reversing posture of the driving drive mechanism and changes with the reversing posture.

10. The electric multi-functional vehicle according to claim 7, characterized in that, The reversing auxiliary lines include reversing distance measuring lines, which contain multiple sub-reversing distance measuring lines that are displayed differently for different preset distance ranges.

11. The electric multi-functional vehicle according to claim 9, characterized in that, The reversing auxiliary lines also include: a static reversing trajectory line; the static reversing trajectory line is predicted based on avoiding detected obstacles behind or the maximum steering angle of the driving mechanism; the dynamic reversing trajectory line approaches the position of the static reversing trajectory line as the target for the user to control the movement state of the driving mechanism through the control mechanism.

12. The electric multi-functional vehicle according to claim 1, characterized in that, The control unit is also adapted to determine obstacle information based on the at least one detection data, and generate reversing warning signals corresponding to different obstacle information, so that the warning unit can perform different warning actions; the obstacle information includes at least one of the obstacle's location, size, and type.

13. The electric multi-functional vehicle according to claim 1, characterized in that, The prompting unit performs at least one of the following prompting actions: a prompting action that is positively correlated with the urgency level relative to the angle directly behind; a prompting action that is positively correlated with the urgency level relative to the size of the obstacle; and a prompting action that indicates a higher urgency level for a living obstacle than for a non-living obstacle.

14. The electric multi-functional vehicle according to claim 1, characterized in that, It includes a battery compartment located at the rear end of the vehicle frame; at least one of the detectors is located on the rearward surface of the battery compartment housing.

15. The electric multi-functional vehicle according to claim 1, characterized in that, At least one of the detectors is located on the back of the seat or behind the seat on the vehicle frame, and / or on the rear bumper or above the bumper of the vehicle frame.

16. The electric multi-functional vehicle according to claim 1, characterized in that, At least one of the detectors includes a pair of detectors located on the rear of the frame, respectively behind opposite sides of the functional component, and the detection range of the pair of detectors is wider than that of the functional component in the horizontal direction.

17. The electric multi-functional vehicle according to claim 1, characterized in that, include: At least one display screen is disposed on the vehicle frame in at least one of the following locations: below the front of the seat / in front of the side; Embedded in the steering wheel; Located in front of the steering wheel and visible through the cutouts on the steering wheel; located to the side of the steering wheel.

18. The electric multi-functional vehicle according to claim 1, characterized in that, The driving mechanism includes: a left drive assembly and a right drive assembly respectively connected to the left and right sides of the vehicle frame, wherein the left drive assembly and the right drive assembly each include a drive motor and a drive wheel mechanically connected to the drive motor; And / or, the electric multi-functional vehicle further includes a control mechanism, the control mechanism including: a left control component and a right control component respectively connected to the left and right sides of the frame and coupled to the left drive component and the right drive component respectively; The left control component and the right control component respectively include a left control handle, a right control handle, and a corresponding rotation detection circuit and a drive controller; The left control handle and the right control handle are configured to rotate in a controlled manner about an axis between at least one forward position, a middle position and at least one backward position; The rotation detection circuit is configured to detect the rotation direction and rotation angle of the corresponding control handle and generate rotation angle information accordingly. The drive controller is configured to control the direction and speed of the drive motor in the corresponding drive assembly based on the rotation angle information.

19. An electric multi-functional vehicle, characterized in that, include: A driving mechanism, adapted to drive the multi-functional vehicle; A reversing detection component is configured to perform reversing detection in response to the driving mechanism being in a reversing driving state, to generate a reversing image signal and display the reversing image on a display screen; the reversing image includes reversing auxiliary lines: the reversing auxiliary lines include: a static reversing trajectory line, predicted to avoid detected rear obstacles or the maximum steering angle of the driving mechanism; and a dynamic reversing trajectory line, predicted based on the current reversing posture of the driving mechanism; wherein the dynamic reversing trajectory line approaches the position of the static reversing trajectory line as a target for the user to control the movement state of the driving mechanism through a control mechanism.

20. An electric gardening vehicle, characterized in that, include: One frame; A functional mechanism, connected to the vehicle frame, includes functional components that perform functional actions based on power. A driving mechanism is connected to the vehicle frame and is adapted to drive the vehicle frame to travel. A reversing detection component, configured to perform reversing detection in response to the driving drive mechanism being in a reversing driving state, includes: The detection unit includes at least one detector located at the rear of the vehicle frame, adapted to detect obstacles behind it to obtain at least one detection data; The control unit, including one or more controllers, is coupled to the at least one detector and configured to generate a reversing prompt signal and / or a reversing image signal during the reversing process based on the at least one detection data; The prompting unit includes one or more prompters coupled to the one or more controllers and configured to perform a prompting action based on the reversing prompt signal and / or display a reversing image based on the reversing image signal.

21. An electric riding lawnmower, characterized in that, include: One frame; A functional mechanism, connected to the vehicle frame, includes functional components that perform functional actions based on power. A driving mechanism is connected to the vehicle frame and is adapted to drive the vehicle frame to travel. A control mechanism, coupled to the driving mechanism, is adapted to accept user operation to control the operating state of the driving mechanism in order to adjust the driving state of the multi-functional vehicle; A reversing detection component, configured to perform reversing detection in response to the driving drive mechanism being in a reversing driving state, includes: The detection unit includes at least one detector located at the rear of the vehicle frame, adapted to detect obstacles behind it to obtain at least one detection data; The control unit, including one or more controllers, is coupled to the at least one detector and configured to generate a reversing prompt signal and / or a reversing image signal during the reversing process based on the at least one detection data; The prompting unit includes one or more prompters coupled to the one or more controllers and configured to perform a prompting action based on the reversing prompt signal and / or display a reversing image based on the reversing image signal.

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