阅读说明：本技术 骑乘式割草机 (Riding type mower ) 是由 杨德中 彩记存 高凡 于 2020-10-20 设计创作，主要内容包括：本发明公开了一种骑乘式割草机,包括：车架；供电组件；操作组件,用于输出驻车信号以触发骑乘式割草机进入驻车模式；动力输出组件,包括割草元件和驱动割草元件运动的第一马达；行走组件,包括行走轮和驱动行走轮行走的第二马达；控制模块,响应于骑乘式割草机进入驻车模式,判断第二马达的转速是否小于或等于预设转速阈值；在判断第二马达的转速小于或等于预设转速阈值后,对第二马达施加与第二马达旋转趋势相反的第一扭矩。本发明还公开一种骑乘式割草机的控制方法。本发明能避免骑乘式割草机在坡道上出现向下滑动。(The invention discloses a riding mower, comprising: a frame; a power supply assembly; an operating component for outputting a parking signal to trigger the riding mower to enter a parking mode; a power take-off assembly including a mowing element and a first motor for driving the mowing element in motion; the walking assembly comprises a walking wheel and a second motor for driving the walking wheel to walk; the control module responds to the riding type mower entering the parking mode and judges whether the rotating speed of the second motor is smaller than or equal to a preset rotating speed threshold value or not; and after the rotating speed of the second motor is judged to be less than or equal to the preset rotating speed threshold value, applying a first torque opposite to the rotating trend of the second motor to the second motor. The invention also discloses a control method of the riding mower. The invention can prevent the riding mower from sliding downwards on the ramp.)

1. A riding lawn mower comprising:

an operating component for issuing a park signal to trigger the riding lawn mower to enter a park mode;

a power take-off assembly including a mowing element and a first motor driving movement of the mowing element;

the walking assembly comprises a walking wheel and a second motor for driving the walking wheel to walk;

a control module configured to:

responding to the parking signal, and judging whether the rotating speed of the second motor is less than or equal to a preset rotating speed threshold value or not;

applying a first torque to the second motor opposite the second motor rotational tendency in response to the rotational speed of the second motor being less than or equal to a preset rotational speed threshold, the first torque for enabling the riding lawn mower to rest in one position.

2. The riding lawn mower of claim 1,

the first torque is equal to and opposite to the external force moment applied to the riding mower to enable the riding mower to have the sliding tendency.

3. The riding lawn mower of claim 1,

further comprising:

the power supply assembly is used for supplying electric energy to the second motor;

the control module is configured to:

in response to the rotating speed of the second motor being less than or equal to a preset rotating speed threshold, controlling the power supply assembly to output a first current to the second motor, wherein the first current enables the second motor to generate the first torque.

4. The riding lawn mower of claim 3,

the second motor includes a rotor;

the riding lawn mower further comprises:

a rotor position detection module for detecting a position of a rotor of the second motor;

the control module is configured to:

in response to the fact that the rotating speed of the second motor is smaller than or equal to a preset rotating speed threshold value, selecting the current position of the rotor of the second motor as a reference position;

in response to the rotor deviating from the reference position, controlling the power supply assembly to output the first current to the second motor to cause the second motor to generate the first torque, the first torque being used to return the rotor of the second motor to the reference position.

5. The riding lawn mower of claim 1,

the operating assembly is further for issuing an acceleration signal to trigger the riding lawn mower to exit the park mode;

the control module is configured to:

responding to the acceleration signal, and judging whether the direction of second torque required to be generated by the second motor corresponding to the acceleration signal is the same as the direction of the first torque;

if the direction of the second torque is the same as that of the first torque, judging whether the second torque is larger than or equal to the first torque;

if the second torque is judged to be larger than or equal to the first torque, controlling the riding mower to exit the parking mode;

and if the direction of the second torque is opposite to the direction of the first torque, controlling the riding mower to exit the parking mode.

6. The riding lawn mower of claim 5,

the operating assembly includes:

an operating lever that can be pushed to a parking position to issue the parking signal and moved away from the parking position to issue the acceleration signal;

the control module is configured to:

and controlling the riding mower to exit the parking mode in response to the direction of the second torque being opposite to the direction of the first torque and the position change of the operating lever after the operating lever departs from the parking position reaching a preset threshold value.

7. The riding lawn mower of claim 3,

further comprising:

the electric quantity detection module is used for detecting the residual electric quantity of the power supply assembly;

the control module can receive a detection signal of the electric quantity detection module, and is further configured to:

and responding to the fact that the residual electric quantity of the power supply assembly is lower than a preset electric quantity threshold value, and braking the second motor.

8. The riding lawn mower of claim 1,

further comprising:

a key socket for inserting a key to start the riding lawn mower;

the control module is configured to:

in response to the key being withdrawn from the key-slot, the electrical connection of the power supply assembly to the second motor is shut off to allow the second motor to freely decelerate.

9. The riding lawn mower of claim 1,

further comprising:

a seat;

a seat trigger having a first state and a second state, the seat bearing a weight greater than a first predetermined weight when the seat trigger is in the first state, the seat bearing a weight less than a second predetermined weight when the seat trigger is in the second state;

the control module is configured to:

controlling the second motor to brake in response to the seat trigger changing from the first state to the second state;

the first preset weight is greater than or equal to the second preset weight.

10. The riding lawn mower of claim 9,

the control module is configured to:

and controlling the second motor to delay braking in response to the time length of the seat trigger in the second state after being changed from the first state to the second state being less than the preset time length.

Technical Field

The present invention relates to a riding mower.

Background

At present, when a riding mower runs up and down a slope, in order to keep a vehicle static, a driver needs to keep the brake pedal stepping action or pull up a hand brake after an operating lever returns to a middle position, the parking mode needs multi-step manual operation, the parking process is long and complex, meanwhile, when the riding mower runs up the slope, the riding mower may slide downwards due to untimely response of the driver, or the response of the driver is too large after the driver slides downwards and accelerates too much, so that the riding mower leaps forwards suddenly, and when the riding mower runs down the slope, the driver may mistakenly touch the operating lever, so that the riding mower is easy to shake when running frequently, and the running safety and the user experience of the vehicle are affected.

Disclosure of Invention

To overcome the disadvantages of the prior art, the present invention provides a riding mower capable of preventing downward sliding on a slope.

In order to achieve the above object, the present invention adopts the following technical solutions:

a riding lawn mower comprising: an operating component for issuing a park signal to trigger the riding lawn mower to enter a park mode; a power take-off assembly including a mowing element and a first motor driving movement of the mowing element; the walking assembly comprises a walking wheel and a second motor for driving the walking wheel to walk; a control module configured to: after the operation assembly sends the parking signal, judging whether the rotating speed of the second motor is less than or equal to a preset rotating speed threshold value or not; after judging that the rotating speed of the second motor is less than or equal to a preset rotating speed threshold value, applying a first torque opposite to the rotating trend of the second motor to the second motor, wherein the first torque is used for enabling the riding mower to be static at one position.

Optionally, the first torque is equal in magnitude and opposite in direction to an external force moment on the riding mower tending to cause the riding mower to slip.

Optionally, the method further comprises: the power supply assembly is used for supplying electric energy to the second motor; the control module is configured to: and after the rotating speed of the second motor is judged to be less than or equal to a preset rotating speed threshold value, controlling the power supply assembly to output a first current to the second motor, wherein the first current enables the second motor to generate the first torque.

Optionally, the second motor comprises a rotor; the riding lawn mower further comprises: a rotor position detection module for detecting a position of a rotor of the second motor; the control module is configured to: after the rotating speed of the second motor is judged to be less than or equal to a preset rotating speed threshold value, selecting the current position of the rotor of the second motor as a reference position; after the rotor deviates from the reference position, controlling the power supply assembly to output the first current to the second motor to enable the second motor to generate the first torque, wherein the first torque is used for enabling the rotor of the second motor to return to the reference position.

Optionally, the operating assembly is further for issuing an acceleration signal to trigger the riding lawn mower to exit the park mode; the control module is configured to: after the operating assembly sends the acceleration signal, judging whether a direction of a second torque required to be generated by the second motor corresponding to the acceleration signal is the same as a direction of the first torque; if the direction of the second torque is the same as that of the first torque, judging whether the second torque is larger than or equal to the first torque; if the second torque is judged to be larger than or equal to the first torque, controlling the riding mower to exit the parking mode; and if the direction of the second torque is opposite to the direction of the first torque, controlling the riding mower to exit the parking mode.

Optionally, the operating assembly comprises: an operating lever that can be pushed to a parking position to issue the parking signal and moved away from the parking position to issue the acceleration signal; the control module is configured to: and if the direction of the second torque is opposite to that of the first torque, and the position change of the operating lever after the operating lever is separated from the parking position reaches a preset threshold value, controlling the riding mower to exit the parking mode.

Optionally, the method further comprises: the electric quantity detection module is used for detecting the residual electric quantity of the power supply assembly; the control module can receive a detection signal of the electric quantity detection module, and is further configured to: and braking the second motor after the residual electric quantity of the power supply assembly is lower than a preset electric quantity threshold value.

Optionally, the method further comprises: a key socket for inserting a key to start the riding lawn mower; the control module is configured to: when the key is pulled out of the key-slot, the electrical connection of the power supply assembly to the second motor is shut off to allow the second motor to freely decelerate.

Optionally, the method further comprises: a seat; a seat trigger having a first state and a second state, the seat bearing a weight greater than a first predetermined weight when the seat trigger is in the first state, the seat bearing a weight less than a second predetermined weight when the seat trigger is in the second state; the control module is configured to: when the seat trigger is changed from the first state to the second state, controlling the second motor to brake; the first preset weight is greater than or equal to the second preset weight.

Optionally, the control module is configured to: and when the time length of the seat trigger piece in the second state after being changed from the first state to the second state is less than the preset time length, controlling the second motor to delay braking.

The riding mower is simple and quick in parking operation, can prevent the riding mower from sliding downwards when the riding mower is on a slope, and improves the driving safety of the riding mower.

Drawings

FIG. 1 is an external view of a riding lawn mower;

FIG. 2 is an external view of the riding mower from another perspective and an external view of a power tool;

FIG. 3 is a schematic diagram of a control circuit for the second motor;

FIG. 4 is a flow chart of a control method of an embodiment of a riding lawn mower;

fig. 5 is a flowchart of a control method of another embodiment of the riding lawn mower.

Detailed Description

The invention is described in detail below with reference to the figures and the embodiments.

The riding lawn mower 100 shown in fig. 1-3 may be operated by an operator riding thereon to trim lawn, vegetation, etc.

The riding mower 100 includes: the power output assembly 11, the walking assembly 12, the operating assembly 13, the power supply assembly 14, the seat 15, the control module 16 and the frame 17.

As will be appreciated by those skilled in the art, the term "control module" as used herein may include or refer to software and/or hardware.

A frame 17 for carrying the seat 15, the frame 17 extending at least partially in a direction parallel to the front-rear direction; a seat 15 for an operator to sit on, the seat 15 being mounted to a frame 17; the power output assembly 11 includes an output member for outputting power to realize a mechanical function, for example, in the present embodiment, the output member may be specifically a grass cutting element 111 for realizing a grass cutting function, and the power output assembly 11 is also connected to the vehicle frame 17. Power take-off assembly 11 also includes a first motor 112 for driving mowing element 111 to rotate at high speed. Power take-off assembly 11 may include more than one mowing element 111 and, correspondingly, the number of first motors 112 may correspond to mowing element 111.

The walking assembly 12 is used to enable the riding lawn mower 100 to walk on the lawn. Walking assembly 12 may specifically include: the number of the first road wheels 121 is 2, and the number of the second road wheels 122 is 2. The walking assembly 12 further includes second motors 123 for driving the second walking wheels 142, the number of the second motors 123 also being 2. Thus, when the two second motors 123 drive the corresponding second road wheels 122 to rotate at different rotational speeds, a speed difference is generated between the two second road wheels 122, so that the riding mower 100 is steered.

The power supply assembly 14 is used to provide electrical power to the riding mower 100. Specifically, the power supply assembly 14 is used to power the first motor, the second motor, and other electronic components on the riding lawn mower 100. In some embodiments, the power supply assembly 14 is disposed on the rear side of the seat 15 on the frame 17. In some embodiments, the power supply assembly 14 includes a plurality of battery packs 141 that provide power to the power tool 200.

The battery pack 141 is configured to be removably mounted to the riding mower 100 by a user, and the mounting and dismounting of the battery pack 141 by insertion and removal facilitates ease of operation and also enables more accurate positioning of the battery pack 141. Further, the battery pack 141 includes a plurality of battery cell units connected in series, in parallel, or in a combination of series and parallel. The plurality of battery cell units are combined in one battery shell, so that a whole is formed, and the battery cell units can be lithium battery cell units.

Specifically, the electric power tool 100 may be a garden tool such as a grass trimmer, a pruner, a hair dryer, or a chain saw, a torque output tool such as an electric drill or an electric hammer, a saw cutting tool such as an electric circular saw, a jigsaw, or a reciprocating saw, or a polishing tool such as an angle grinder or a sander. Of course, in other embodiments, the battery pack 141 may also be configured to power a walk-behind power tool, such as a walk-behind lawn mower, a walk-behind snow sweeper, or the like. In this way, the battery pack 141 adapted to the riding mower of the present invention can be pulled off by the user to be applied to the above electric power tools, and the user can also use the battery pack 141 of the electric power tools as the battery pack 141 capable of supplying power to the riding mower 100, thereby improving the versatility of the riding mower 100 and reducing the use cost.

The riding mower 100 also includes a control module 16 for controlling the operation of the riding mower 100. The control module 16 is capable of controlling at least the second motor 123 of the walking assembly 12 to control the walking process of the riding mower 100.

The operating assembly 13 is at least used to output a parking signal to trigger the riding mower 100 to enter a parking mode. Further, the operating assembly 13 is also used to output an acceleration signal to trigger the riding mower 100 to exit the park mode. Of course, the operating assembly 13 may also be used for the user to set a target speed, direction of travel, etc. of the riding lawn mower 100. That is, the operating assembly 13 is operable for a user to set a walking state of the riding lawn mower 100, and to trigger the riding lawn mower 100 to enter and exit the park mode.

As an embodiment, the operating assembly 13 includes an operating lever 131, the operating lever 131 is disposed on both sides or the periphery of the seat 15, and the user controls the riding mower 100 to reach a state corresponding to the target position reached by the operating lever 131 by pushing the operating lever 131 to the target position. As a specific embodiment, the operation lever 131 includes a left operation lever 131L and a right operation lever 131R, the second motor 123 includes a left motor and a right motor, and the left operation lever 131L and the right operation lever 131R are used to control the left motor and the right motor, respectively, thereby controlling the two second road wheels 122, respectively. As another embodiment, an algorithm is provided such that the left lever 131L performs speed control of the two second road wheels 122 and the right lever 131R performs steering control of the two second road wheels 122. Optionally, the operating assembly 13 includes a brake pedal 132 for user braking control of the riding mower 100. Alternatively, the brake pedal 132, when depressed to the bottom, can output a park signal to trigger the riding mower 100 to enter the park mode.

In the embodiment using the operation lever 131, the riding mower 100 further includes a target state detection module 18 for detecting the position of the operation lever 131 and transmitting the detected position information of the operation lever 131 to the control module 16, and the control module 16 obtains the target rotation speed, the rotation direction, and the parking and exit instruction of the second motor 123 corresponding to the position by calculation or table lookup according to the detected position of the operation lever 131.

Specifically, when the user pushes the operation rod 131 forward to a certain position, the control module 16 obtains the forward rotation speed of the second motor 123 through a table look-up manner according to the position to which the operation rod 131 moves forward detected by the target state detection module 18; when the user pushes the operation lever 131 backward to a certain position, the control module 16 obtains the reverse rotation speed of the second motor 123 by looking up the table according to the position to which the operation lever 131 moves forward detected by the target state detection module 18.

The control module 16 controls the rotation speed and the steering direction of the second motor 123 according to the position information of the operating rod 131, and the second motor 123 drives the second road wheels 122 to rotate, so as to control the running direction and the running speed of the riding mower 100, and enter and exit the parking mode, so that the purpose of controlling the riding mower 100 to walk by a user is achieved. It will be appreciated that the operating assembly 13 may also be embodied as pedals, switches, handles, or other controls for the user to operate the riding mower 100. Of course, the operating unit 13 may also be a control panel, which includes a plurality of switches, and different switches correspond to different control commands, and the user inputs different control commands through the switches to control the second motor 123 of the walking unit 12.

The control module 16 is used for controlling the operation of the second motor 123. In some embodiments, the control module 16 employs a dedicated controller, such as a dedicated control chip (e.g., MCU). The power circuit 22 is coupled to the power supply assembly 14, and the power circuit 22 is configured to receive power from the power supply assembly 14 and convert the power from the power supply assembly 14 to power for use by at least the control module 16.

Optionally, the riding mower 100 further comprises a drive circuit 21, the drive circuit 21 being electrically connected to the control module 16 and the second motor 123, and being operable in response to a control signal output by the control module 16 from the second motor 123. In one embodiment, the second motor 123 is a three-phase motor having three-phase windings, and the driving circuit 21 is electrically connected to the three-phase windings of the second motor 123. The driving circuit 21 specifically includes a power switch, which can turn on and off the electrical connection between the power supply component 14 and the second motor 123, and can adjust the current output from the power supply component 14 to the second motor according to different control signals output by the control module 16.

The control module 16 is configured to output a corresponding driving signal to the driving circuit 21 according to the position of the rotor 1231 of the second motor 123, so as to enable the driving circuit 21 to switch the driving state, thereby changing the state of the voltage and/or current applied to the winding of the second motor 123, generating an alternating magnetic field to drive the rotor to rotate, and further implementing the driving of the second motor 123.

The position of the rotor 1231 of the second motor 123 can be obtained by the rotor position detecting module 20, and the rotor position detecting module 20 can include a sensor, for example, a plurality of hall sensors, which are arranged along the circumferential direction of the rotor 1231 of the second motor 123, when the rotor 1231 rotates into and out of a preset range, the signal of the hall sensor changes, and the output signal of the rotor position detecting module 20 changes accordingly, so that the position of the rotor 1231 of the motor can be known according to the detecting signal output by the rotor position detecting module 20. Of course, the position of the rotor 1231 may also be estimated from the motor current.

The riding mower 100 further comprises a rotation speed detection module 19 connected in association with the second motor 123 for detecting an actual rotation speed of the second motor 123. Alternatively, the rotation speed detecting module 35 includes a speed detecting sensor disposed near or inside the second motor 123 to acquire the actual rotation speed of the second motor 123, for example, a photoelectric sensor disposed near the second motor 123 and capable of acquiring the rotation speed of the second motor 123, and as another example, a hall sensor disposed near a rotor inside the second motor 123 and capable of acquiring the actual rotation speed of the second motor 123 according to the rotation speed of the rotor.

However, in some cases, especially when the second motor 123 is operated at high speed and/or high temperature, or the second road wheel 122 is operated at high speed and/or high temperature, or the riding mower 100 is operated at high temperature, the sensor detection accuracy may be affected, and even the speed detection sensor detection may be disabled. To solve this problem, as another embodiment, the rotation speed detecting module 19 does not include a sensor, but is obtained by estimating an electric signal output by the second motor 123, for example, by detecting a current of the second motor 123, a zero crossing point of a back electromotive force of the second motor 123 is obtained, so that a periodic variation law of the operation of the second motor 123 is obtained, and an actual rotation speed of the second motor 123 is obtained according to the periodic variation law. Through the mode, the actual rotating speed of the second motor 123 is detected without a sensor, the cost is reduced, and meanwhile, the detection precision is not influenced by high rotating speed and temperature, and the whole structure is more simplified.

The riding mower 100 has a park mode, and the user triggers the riding mower 100 to enter the park mode by issuing a park signal through the operating assembly 13. In the embodiment using the operating lever 131, the user sends a parking signal to trigger the parking mode by pushing the operating lever 131 to the parking position, the target state detecting module 18 detects that the operating lever 131 is located at the parking position and transmits the detected information to the control module 16, and the control module 16 controls the second motor 1230 to park. In the embodiment in which the two levers control the two second motors 123, respectively, the user issues a parking command by pushing both levers 131 to the parking position.

The control module 16 is configured to: when the riding mower 100 enters the parking mode, determining whether the rotation speed of the second motor 123 is less than or equal to a preset rotation speed threshold; after determining that the rotation speed of the second motor 123 is less than or equal to the preset rotation speed threshold value, a first torque opposite to the rotation tendency of the second motor 123 is applied to the second motor 123, and the first torque is used for enabling the riding mower to be stationary at one position, thereby realizing automatic parking of the riding mower. More specifically, the first torque is used to enable the riding mower 100 to rest in a position when entering the park mode.

For example, when the riding mower 100 is walking on a slope, the riding mower 100 is subjected to a vertically downward gravity, which tends to slide the riding mower 100 down the slope, if the user sends a parking signal through the operating unit 13, the riding mower 100 enters a parking mode, the second motor 123 performs mechanical or electrical braking to decelerate or the second motor 123 is stopped freely to decelerate, the rotation speed detecting module 19 detects an actual rotation speed of the second motor 123 and sends the actual rotation speed to the control module 16, and when the control module 16 determines that the actual rotation speed of the second motor 123 is less than or equal to a preset rotation speed threshold value, that is, the rotation speed of the second motor 123 drops to a certain value, a first torque opposite to the rotation tendency of the second motor 123 is applied to the second motor 123. The first torque is equal in magnitude and opposite in direction to an external force moment applied to the riding mower 100 that tends to cause the riding mower 100 to slip. In embodiments where the riding mower 100 is traveling on a hill to enter the park mode, the direction of the first torque is up the hill. Thus, due to the moment balance, eventually the second motor 123 will be locked in a position such that the riding mower 100 is stationary in a position. More specifically, the first torque is used to enable the riding mower 100 to rest in a position when entering the park mode.

Specifically, after determining that the rotation speed of the second motor 123 is less than or equal to the preset rotation speed threshold, the control module 16 controls the power supply assembly 14 to output a first current to the second motor 123, wherein the first current causes the second motor 123 to generate the first torque. In one embodiment, the control module 16 adjusts the magnitude and direction of the first current through the driving circuit 21 by outputting a control signal to the driving circuit 21, so that the second motor 123 generates the first torque.

As a specific embodiment, the control module 16 is configured to: after determining that the rotation speed of the second motor 123 is less than or equal to the preset rotation speed threshold, the rotor position detection module can detect and detect the current position of the rotor 1231 of the second motor 123, and the control module 16 selects the current position of the rotor 1231 of the second motor 123 as the reference position. Thus, when the rotor 1231 is offset from the reference position, the control module 16 can compare the offset position of the rotor 1231 to the reference position to determine the direction in which the rotor 123 is offset from the reference position, and thus the tendency of the second motor 123 to rotate, and the tendency of the riding mower 100 to slide.

After the rotor 1231 is offset from the reference position, the power supply assembly 14 is controlled to output a first current to the second motor 123 to cause the second motor 123 to generate a first torque for returning the rotor 1231 of the second motor 123 to the reference position, thereby enabling the riding mower 100 to rest in one position, and more specifically, enabling the riding mower 100 to rest in a position when entering the park mode.

The operating assembly 13 is also used to output an acceleration signal to trigger the riding mower to exit the park mode. The control module 16 is configured to: after the operating component 13 sends the acceleration signal, it is determined whether the direction of the second torque that needs to be generated by the second motor 123 corresponding to the acceleration signal is the same as the direction of the first torque; if the direction of the second torque is the same as that of the first torque, judging whether the second torque is larger than or equal to the first torque; and if the second torque is larger than or equal to the first torque, controlling the riding mower 100 to exit the parking mode.

That is, if it is desired to start walking again by the riding mower 100, the user needs to operate the operation unit 13 to input an acceleration signal, and if the acceleration direction is the same as the current parking torque direction of the second motor 123, the acceleration signal is not directly used to control the operation of the second motor 123, but the magnitude of the second torque corresponding to the acceleration signal needs to be calculated, and if the second torque is greater than or equal to the first torque for parking the riding mower 100, the parking mode is switched to control the operation of the second motor 123 based on the acceleration signal. If the second torque is less than the first torque, the park mode is still maintained. This has the advantage that the parking mode can be released only when the accelerating torque can overcome the external force that causes the riding mower 100 to slip downward, preventing the riding mower 100 from moving downward on a slope due to insufficient accelerating torque.

The operating assembly 13 is also used to set a target speed of the second motor 123, and the control module 16 controls the second motor 123 to operate at the target speed according to the target speed set by the operating assembly 13 after exiting the parking mode.

As an embodiment, when the direction of the second torque is opposite to the direction of the first torque, that is, when the user desires the riding mower 100 to walk downhill, including two situations of backing up after parking uphill and advancing after parking downhill, the direction of the parked first torque is upward, and the direction of the second torque corresponding to the acceleration signal is downward, that is, the direction of the second torque is opposite to the direction of the first torque, the control module 16 may control the riding mower 100 to directly exit the parking mode to control the riding mower 100 according to the target traveling speed and direction set by the operating components.

As another embodiment, in the embodiment using the operating lever 131, when the direction of the second torque is opposite to the direction of the first torque, the parking mode is not directly exited, and it is also necessary to determine whether the position change after the exit from the parking position reaches a preset threshold value, if so, the parking mode is exited again, and if not, the parking mode is still maintained, which is beneficial in that it is possible to avoid that the driver releases the parking mode by mistake, which may cause the riding mower 100 to frequently start and shake, which may affect the user experience and the driving safety.

The operating lever 131 may be pushed to a parking position to issue the parking signal and moved away from the parking position to issue the acceleration signal. Alternatively, when the operating lever 131 is opened outward in the left-right direction of the driver, the state of the operating lever 131 at this time represents a parking signal. When the operating lever 131 is returned from the outward opening position to the neutral position or any one of the forward direction and the backward direction, the state of the operating lever 131 at that time gives an acceleration signal.

In the present embodiment, when the change in position of the operating lever 131 after the separation from the parking position reaches a preset threshold value, the riding mower 100 is controlled to exit the parking mode. For example, the lever 131 reaches either a forward or a backward speed position from the parking position, and if the angle change of the lever 131 reaches a preset threshold, the riding mower 100 is controlled to exit the parking mode, while the riding mower 100 is still maintained in the parking mode when the angle change of the lever 131 does not reach the preset threshold.

Of course, when the riding mower 100 is parked on flat ground, the parking control may still be performed in the above-described parking control manner, in which the first torque applied to the second motor is zero.

Referring to fig. 4, a control method of the riding lawn mower 100 includes:

step S10: running the riding mower;

the control module 16 controls the riding mower 100 to operate normally, e.g., uphill or downhill.

Step S11: determining whether the riding mower needs to enter a parking mode;

specifically, when parking is required, the user issues a parking signal by operating the operating assembly 13 to trigger the riding mower 100 to enter the parking mode. As described above, in the embodiment using the operating lever 131, the user generates a parking signal to trigger the parking mode by pushing the operating lever 131 to the parking position, the target state detecting module 18 detects that the operating lever 131 is located at the parking position and transmits the detected position information to the control module 16, and the control module 16 controls the second motor 1230 to achieve parking. In the embodiment in which the two levers control the two second motors 123, respectively, the user issues a parking command by pushing both levers 131 to the parking position. If the target state detection module 18 does not detect a park signal that the riding mower 100 requires to enter the park mode, then control continues to step S11 where the riding mower 100 continues to maintain the operating state.

Step S12: acquiring the rotating speed of the second motor;

upon determining that the riding mower 100 requires entry into the park mode, the speed detection module 20 detects and transmits the speed of the second motor to the control module 16, which acquires the detected speed of the second motor 123.

Step S13: and judging whether the rotating speed of the second motor is less than or equal to a preset rotating speed threshold value or not.

The control module 16 compares the rotation speed value of the second motor 123 detected by the rotation speed detection module 19 with a preset rotation speed threshold value, and determines whether the rotation speed of the second motor 123 is less than or equal to the preset rotation speed threshold value. If the rotation speed of the second motor 123 is greater than or equal to the preset rotation speed threshold, the process goes to step S12 to continue to obtain the rotation speed of the second motor 123 and determine whether the rotation speed is less than or equal to the preset rotation speed threshold.

Step S14: applying a first torque to the second motor opposite the second motor rotational tendency to enable the riding lawn mower to rest in a position.

After the rotation speed of the second motor 123 is judged to be less than or equal to the preset rotation speed threshold, a first torque opposite to the rotation trend of the second motor is applied to the second motor. Specifically, the control module 16 outputs a control signal to the driving circuit 21, and adjusts the magnitude and direction of the first current through the driving circuit 21, so that the second motor 123 generates the first torque. The first torque is equal in magnitude and opposite in direction to an external force moment applied to the riding mower 100 that tends to cause the riding mower 100 to slip. The first torque is used to enable the riding lawn mower to rest in one position.

Step S15: determining whether the riding mower needs to exit the park mode;

specifically, when the user needs to go forward or backward by releasing the parking mode, the user operates the operation unit 13 to issue an acceleration signal to trigger the riding mower 100 to exit the parking mode. In the embodiment using the operation lever 131, the user triggers the riding mower 100 to exit the triggered parking mode by pushing the operation lever 131 forward from the parking position to a certain position or backward to a certain position, the target state detection module 18 detects that the operation lever 131 is away from the parking position and at another position, and sends the detected position information to the control module 16, and the control module 16 obtains the rotation direction and the rotation speed of the second motor corresponding to the current position of the operation lever 131 by looking up a table or calculating according to the detected position information of the operation lever 131. If the signal that the riding mower 100 needs to exit the parking mode is not detected, the flow goes to step S15 to continue to determine whether the riding mower 100 needs to exit the parking mode while the riding mower 100 remains in the parking mode.

Step S16: judging whether the acceleration direction is the same as the direction of the first torque or not;

the user, via the acceleration signal from the operating assembly 13, includes setting a target direction and a target speed of the second motor 123, thereby controlling the riding mower 100 to operate in accordance with the set target direction and target speed of the second motor 123. The acceleration signal corresponds to a second torque required to be generated by the second motor 123, which enables the riding mower 100 to quickly reach the traveling speed of the second motor 123 that the user needs to set. The control module 16 is capable of obtaining the state of the operating assembly 13 to determine the direction of acceleration of the riding mower 100 based on the state of the operating assembly and to determine whether the direction of acceleration of the riding mower 100 is the same as the direction of the first torque, and if so, to step S17, otherwise to step S18 to directly exit the park mode. In the embodiment using the operation lever 131, the control module 16 obtains the target speed and the target direction corresponding to the second motor 123 at which the position is located through the current position of the operation lever 131 detected by the target state detection module 18, and determines the acceleration direction according to the target speed and the target direction.

Step S17: judging whether the acceleration torque is greater than or equal to a first torque;

the control module 16 may calculate an acceleration torque, i.e., the second torque, by the above-described target speed of the second motor 123 set by the operating assembly 13. The control module 16 determines whether the acceleration torque is greater than or equal to the second torque. If the acceleration torque is judged to be greater than or equal to the first torque, the process proceeds to step S19, otherwise, the process proceeds to step S18, and the riding mower 100 is kept in the parking mode.

Step S18: the parking mode is continuously maintained.

If the acceleration torque is judged to be less than the first torque, the riding mower 100 is caused to continue to maintain the parking mode.

Step S19: the riding mower exits the park mode.

If it is determined that the acceleration torque is greater than or equal to the first torque, the riding mower exits the park mode and the control module 16 controls the second motor 123 to operate at the target speed and direction based on the target speed and direction of the second motor 123 as set by the operating assembly 13.

Referring to fig. 5, as a method for controlling a riding mower according to another embodiment, the operating unit 13 of the riding mower 100 includes an operating lever 131, and the operating lever 131 may be a push-type operating lever as shown in fig. 1 to 2, or may be a foot-operated accelerator pedal, or a forward pedal and a backward pedal.

The control method of the riding mower of the present embodiment includes the following steps, wherein the steps S20 to S25 are the same as or similar to the previous embodiment, and are not repeated herein. The difference is that when the acceleration direction is determined to be different from the direction of the first torque, that is, when the direction of the second torque corresponding to the acceleration signal is opposite to the direction of the first torque, the parking mode is not directly exited, but it is necessary to determine whether the change of the operating lever from the parking position exceeds a preset threshold. The method comprises the following specific steps:

step S20 to step S25:

similar to steps S10 to S25, the description is omitted here.

Step S26: it is determined whether the acceleration direction is the same as the first torque direction.

The user sends an acceleration signal through the operating assembly 13, the acceleration signal corresponding to a second torque required to be generated by the second motor 123, and the second torque enables the riding mower 100 to quickly reach the traveling speed of the second motor 123 required by the user. The control module 16 can obtain the state of the operating assembly 13 to determine the direction of acceleration of the riding mower 100 based on the state of the operating assembly and determine whether the direction of acceleration of the riding mower 100 is the same as the direction of the first torque, and if so, go to step S27, otherwise go to step S28.

Step S27: judging whether the acceleration torque is greater than or equal to a first torque;

the control module 16 determines whether the acceleration torque is greater than or equal to the second torque. If the acceleration torque is greater than or equal to the first torque, go to step S30, otherwise go to step S29, so that the riding mower 100 continues to maintain the park mode.

Step S28: judging whether the position change of the operating rod exceeds a preset threshold value or not;

when the acceleration direction is determined to be different from the first torque direction, that is, the direction of the second torque corresponding to the acceleration signal is opposite to the first torque direction, it is determined whether the change of the operation lever 131 from the parking position exceeds a preset threshold, if so, the process proceeds to step S30, the parking mode is exited, and if not, the process proceeds to step S29, and the parking mode is continuously maintained.

Step S29: the parking mode is continuously maintained.

Step S30: the riding mower exits the park mode.

The riding mower 100 exits the park mode and the control module 16 controls the second motor 123 to operate at a target speed and direction based on the target speed and direction of the second motor 123 as set by the operating assembly 13.

The riding mower 100 disclosed by the invention can slide downwards when starting up on a slope, so that the driving safety of the riding mower is improved, frequent starting caused by mistakenly touching the operating lever when starting down on the slope can be avoided, the shaking is reduced, and the user experience and the driving safety are improved.

In some cases, the riding mower 100 only requires braking deceleration and does not require parking, and in other cases the automatic park function is triggered after a certain speed threshold is reached by braking deceleration. The riding mower 100 of the present invention has at least two different braking modes, which can adapt to different situations, and has good user experience and better safety.

In some embodiments, the control module 16 of the riding mower 100 is also used to control the second motor 123 to brake. Specifically, when the control module 16 receives a braking signal for triggering braking, the second motor 123 is controlled to brake. The brake signal has a plurality of kinds, and the braking mode also has a plurality of kinds.

In some embodiments, the riding mower 100 includes a brake pedal 132 for triggering braking of the second motor 123 of the riding mower. As an embodiment, the user presses the brake pedal to trigger the braking mode, specifically, the brake pedal is provided with a sensor capable of sensing the pressing of the user, when the user presses the brake pedal 132 to the riding mower 100, the riding mower 100 enters the braking mode, the control module 16 controls the second motor 123 to brake and decelerate, and specifically, the control module 16 controls the winding 242 of the second motor 123 to be short-circuited to realize the braking. As another embodiment, the brake pedal 132 is directly connected to the second motor 123, and specifically, a friction member is connected to the brake pedal 132, and when the brake pedal 132 is pressed, the friction member is driven to abut against the second motor 123, so that the second motor 123 is decelerated.

In some embodiments, a signal switch is associated with the brake pedal 132, and the signal switch is disposed at the bottom of the brake pedal 132, and when the brake pedal 132 is pressed to the bottom, the signal switch disposed at the bottom of the brake pedal 132 is triggered to change its state, so as to generate a parking signal, and the control module 16 controls the second motor 123 to park according to the parking method described above after receiving the parking signal. Alternatively, when the speed of the second motor 123 approaches zero after the brake pedal 132 is depressed to enter the braking mode, the parking mode is triggered and the riding mower 100 enters the parking mode.

Alternatively, the riding mower 100 includes a sensor for detecting the amount of change in position or angle before and after the brake pedal 132 is depressed or a sensor of the position after being depressed, for example, the pivot angle of the brake pedal 132. The riding mower 100 further includes a friction plate disposed near the second motor 123 and a third motor driving the friction plate, the friction plate being movable by the third motor to rub the second motor to decelerate the second motor to achieve braking. Alternatively, the amount of change in the position or angle of the brake pedal 132 before and after being depressed is proportional to the rotational speed or torque of the third motor. The third motor drives the friction plate to move according to the variation of the position or the angle of the brake pedal 132 before and after being stepped on, which is detected by the position sensor, so that the second motor 123 is decelerated.

In some embodiments, the riding mower 100 comprises a power detection module (not shown) for detecting a remaining power of the power supply assembly 14, and when the remaining power is detected to be lower than a preset power threshold, a braking signal is generated, the riding mower 100 enters a braking mode, and the control module 16 controls the second motor 123 to brake and decelerate, and specifically, the control module 16 controls the winding 242 of the second motor 123 to be short-circuited to realize braking. In the braking mode, the braking torque is generated by utilizing the short-circuit current without the electric quantity of the power supply assembly, so that the electric energy can be saved, and the braking can be reliably realized.

In some embodiments, the riding lawn mower 100 includes a key socket (not shown) for inserting a key to start the riding lawn mower 100. Alternatively, when the key is withdrawn from said key-holder, the second motor 16 starts to decelerate, in particular, the control module 16 controls the drive circuit 21 to close the electrical connection of the power supply assembly 14 to the second motor 123, in such a way that the second motor 123 is free to decelerate to stop. Optionally, at this point, the control module 16 remains charged and enters a low power mode.

In some embodiments, riding lawn mower 100 includes a seat trigger (not shown), which may be in particular a signal switch, a capacitive sensor, an opto-electronic switch, or the like, disposed near seat 15 for sensing whether the user has risen off of seat 15, which when the user has risen off of seat 15 can trigger the seat trigger to change state, thereby triggering riding lawn mower 100 to enter a braking mode.

A seat trigger having a first state and a second state, the seat 15 bearing a weight greater than a first predetermined weight when the seat trigger is in the first state, and the seat 15 bearing a weight less than a second predetermined weight when the seat trigger is in the second state. The first preset weight is greater than or equal to the second preset weight. Optionally, the first predetermined weight may be a weight of a person, and the second predetermined weight is one fifth of the first predetermined weight. When seat 15 bears a weight greater than the first preset weight, it indicates that the operator is seated on seat 15, and when seat 15 bears a weight less than the second preset weight, it indicates that the operator is getting up off seat 15.

The control module 16 is configured to: when the seat trigger is changed from the first state to the second state, the second motor 123 is controlled to brake. That is, when the user gets up and gets out of the seat, the second motor 123 is braked to decelerate the second motor 123, so that the riding mower 100 can be stopped. Specifically, the control module 16 controls the winding short of the second motor 123 or controls the driving circuit 21 to control the braking current and the braking time.

Optionally, the control module 16 is capable of receiving information of a seat trigger state change, the control module 16 being configured to: when the seat trigger changes from the first state to the second state and the time length of the seat trigger in the second state is less than the preset time length, the second motor 123 is controlled to perform delayed braking, specifically, the delayed braking of the second motor 123 can be controlled by a delay circuit or the like, so that the condition change of the seat trigger caused by the bumping or body movement of an operator can be avoided, and the control module 16 controls the second motor 123 to perform undesired braking. Of course, the preset weight may be other weight set by the user, and in this way, it is possible to distinguish whether the operator is sitting on the seat, or only one article is placed, and so on.

In some embodiments, the operating assembly 13 of the riding lawn mower 100 includes left and right levers 131L, 132R and position sensors (not shown) for sensing the positions of the left and right levers 131L, 132R. Alternatively, the operation levers 131 have different braking effects when they are located at the inner side and the outer side in the left-right direction, and specifically, when the user sits on the seat 15, puts the two operation levers 131 on the left and right, and pushes them outward to the maximum inner position at the same time, the riding mower is triggered to enter the parking mode, that is, the control module 156 controls the second motor 123 to brake or freely decelerate to enter the parking mode; when the user pushes the operating lever 131 from the forward position or the backward position to the maximum inner position in the left-right direction, which is the middle position of the forward and backward positions, the riding mower 100 enters the braking mode to decelerate, and the control module 156 controls the second motor 123 to brake or freely decelerate without entering the parking mode.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.