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WO2025218499A1 - Tondeuse et système de commande pour tondeuse - Google Patents

Tondeuse et système de commande pour tondeuse

Info

Publication number
WO2025218499A1
WO2025218499A1 PCT/CN2025/086942 CN2025086942W WO2025218499A1 WO 2025218499 A1 WO2025218499 A1 WO 2025218499A1 CN 2025086942 W CN2025086942 W CN 2025086942W WO 2025218499 A1 WO2025218499 A1 WO 2025218499A1
Authority
WO
WIPO (PCT)
Prior art keywords
lawn mower
bus network
module
control modules
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2025/086942
Other languages
English (en)
Chinese (zh)
Inventor
吴迪
冯继丰
谭鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Chervon Industry Co Ltd
Original Assignee
Nanjing Chervon Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Chervon Industry Co Ltd filed Critical Nanjing Chervon Industry Co Ltd
Publication of WO2025218499A1 publication Critical patent/WO2025218499A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks

Definitions

  • the present application relates to the technical field of electric tools, for example, to a lawn mower and a control system for the lawn mower.
  • Outdoor power equipment OPE
  • OPE Outdoor power equipment
  • Lawn mowers are a common example of outdoor power equipment, primarily cordless lawn mowers. These include push mowers, manned mowers like riding mowers and stand-on mowers, and intelligent mowers like self-propelled mowers and robotic mowers.
  • One object of the present application is to solve or at least alleviate a part or all of the above problems.
  • the present application provides a lawn mower and a control system for the lawn mower.
  • a lawn mower comprises: a frame; a blade assembly operably attached to the frame and configured to perform a cutting function; a travel assembly supporting the frame and configured to drive the lawn mower forward; at least one drive module comprising an electric drive axle and an electric drive motor and configured to drive the blade assembly and/or drive the travel assembly; a power supply device comprising at least one energy storage device and configured to supply power to at least one drive module; a bus network configured to transmit signals between multiple components of the lawn mower; multiple control modules, each control module comprising a processor and a memory and configured to programmably control various functions of the lawn mower; wherein the bus network is constructed using at least two different communication protocols and at least one of which belongs to the Ethernet protocol, and the drive module and each control module transmit signals through the bus network under the rules of the corresponding communication protocol.
  • the communication protocol used by the bus network also includes the CAN protocol.
  • the communication protocol used by the bus network further includes the FlexRay protocol.
  • the bus network includes a gateway module configured to perform protocol conversion for at least the driver modules or the control modules using different communication protocols in the bus network.
  • the bus network includes multiple subnets, and control modules belonging to the same subnet perform signal transmission under the rules of the same communication protocol.
  • control modules under each subnet are divided based on the location of the control modules in the lawn mower.
  • control modules under each subnet are divided based on the functions performed by the control modules in the lawn mower.
  • the data transmission rates of signals in different subnets are different.
  • the bus network includes multiple subnets, and control modules in at least two subnets perform signal transmission based on rules of different communication protocols.
  • the bus network includes multiple subnets, each subnet includes its own subnet gateway module, and the communication protocol followed when transmitting signals between subnet gateway modules is at least different from the communication protocol followed when transmitting signals between control modules under a subnet.
  • the bus network is constructed by combining wired communication protocols with wireless communication protocols.
  • a lawn mower comprises: a frame; a blade assembly operably attached to the frame and configured to perform a cutting function; a travel assembly supporting the frame and configured to drive the lawn mower forward; at least one drive module comprising an electric drive axle and an electric drive motor, and configured to drive the blade assembly and/or drive the travel assembly; a power supply device comprising at least one energy storage device and configured to supply power to at least one drive module; a bus network configured to transmit signals between multiple components of the lawn mower; multiple control modules, each control module comprising a processor and a memory, and configured to programmably control various functions of the lawn mower; wherein one or more of the control modules transmit signals and receive power via the bus network, and the maximum power of the bus network for transmitting signals and feeding power to the multiple control modules is greater than or equal to 60W.
  • the bus network is constructed using at least the Ethernet protocol, and the bus network uses twisted-pair cables that comply with the PoE standard at the physical layer.
  • the plurality of control modules include a vision positioning module and are configured to receive power through the bus network to power a camera component in the vision positioning module.
  • the plurality of control modules include a battery control module, a charging control module, and a PD control module, and are configured to receive power through a bus network to power processors in the battery control module, the charging control module, and the PD control module.
  • At least one control module powered by the bus network has no electrical connection to the power supply device.
  • a lawn mower comprises: a frame; a blade assembly operably attached to the frame and configured to perform a cutting function; a travel assembly supporting the frame and configured to drive the lawn mower forward; at least one drive module comprising an electric drive axle and an electric drive motor, and configured to drive the blade assembly and/or drive the travel assembly; a power supply device comprising at least one energy storage device, and configured to supply power to at least one drive module; a bus network configured to transmit signals between multiple components of the lawn mower; multiple control modules, each control module comprising a processor and a memory, and configured to programmably control various functions of the lawn mower, and the multiple control modules transmit signals via the bus network; wherein the bus network comprises a maintenance interface, configured to be accessed by a diagnostic device or a flashing device; when the diagnostic device or the flashing device is accessed to the bus network via the maintenance interface, one or more of the multiple control modules interact with the diagnostic device or the flashing device via the bus network to exchange data so as to perform fault diagnosis or software upgrade on the control module.
  • the lawn mower has a normal mode, a diagnostic mode, and a programming mode; the lawn mower switches from the normal mode to the diagnostic mode after the diagnostic device is connected to the bus network through the maintenance interface, and/or the lawn mower switches from the normal mode to the programming mode after the flashing device is connected to the bus network through the maintenance interface.
  • the diagnostic device or flashing device and at least one driver module and multiple control modules use a master-slave question-and-answer mechanism to perform fault diagnosis or software upgrades through a bus network.
  • the diagnostic device or flashing device is the host, and at least one driver module and multiple control modules are slaves.
  • the flashing device after the lawn mower enters the programming mode, performs software upgrade on a single control module through the bus network, or controls multiple control modules through the bus network for batch upgrade.
  • the diagnostic device sends fault diagnosis requests to multiple control modules in sequence through the bus network, receives fault information returned by the control modules, and performs fault analysis.
  • a control system for a lawn mower comprises: a high-speed bus network configured to transmit signals or commands between multiple components of the lawn mower; a drive module comprising an electric drive bridge and an electric drive motor, and configured to drive a travel component of the lawn mower to control the speed and direction of the lawn mower; at least one control module comprising a processor and a memory, and configured to programmably control various functions of the lawn mower; wherein the at least one control module is configured to obtain output signals from one or more components of the lawn mower through the high-speed bus network, or to issue drive commands corresponding to a target speed and target direction of the lawn mower through the high-speed bus network, the maximum data transmission rate of the high-speed bus network is greater than or equal to 100 Mps, and the drive module is configured to obtain and process the drive commands through the high-speed bus network to generate corresponding drive signals, and then drive the electric drive motor to operate at the target speed and target direction.
  • the lawn mower includes a riding lawn mower, a stand-on lawn mower, and a robotic lawn mower.
  • the lawn mower is a manned lawn mower
  • the input signals of the one or more components include a steering wheel signal and an accelerator pedal signal.
  • the lawn mower is a manned lawn mower
  • the input signal of the one or more components includes a first lever sensor signal and a second lever sensor signal.
  • the lawn mower is a self-propelled lawn mower and the input signals from one or more components include vision sensor signals.
  • the lawn mower is a self-propelled lawn mower and the input signals to one or more components include GNSS signals.
  • the high-speed bus network is a high-speed real-time bus network constructed using one or more of the EtherCAT protocol and the TSN protocol.
  • the high-speed bus network is a high-speed non-real-time bus network constructed using the EtherNet protocol.
  • multiple control modules occupy the high-speed bus network and issue driving commands based on a priority competition principle.
  • multiple control modules occupy the high-speed bus network based on the TDMA principle and issue driving commands.
  • the benefit of the present application lies in improving the efficiency and quality of data transmission between multiple modules in a lawn mower by designing protocol mixing, rate adjustment, synchronous power feeding, and diagnostic/flash access of a bus network.
  • FIG1 is a perspective view of a riding lawn mower as an embodiment of the present application.
  • FIG2 is a perspective view of a stand-on lawn mower as an embodiment of the present application.
  • FIG3 is a perspective view of a self-propelled lawn mower as an embodiment of the present application.
  • FIG4 is a schematic diagram of a bus network as an embodiment of the present application.
  • FIG5 is a schematic diagram of a bus network as an embodiment of the lawn mower shown in FIG1 to FIG3;
  • FIG6 is a schematic diagram of a bus network in the lawn mower shown in FIG1 to FIG3 as another embodiment
  • FIG7 is a schematic diagram of a bus network as another embodiment of the lawn mower shown in FIG1 to FIG3;
  • FIG8 is a schematic diagram of a bus network in the lawn mower shown in FIG1 to FIG3 as yet another embodiment
  • FIG9 is a schematic diagram of data interaction between modules in the bus network shown in FIG5 to FIG8 as an embodiment
  • FIG10 is a schematic diagram of data interaction between modules in the bus network shown in FIG5 to FIG8 as another embodiment
  • FIG11 is a schematic diagram of data interaction between modules in the bus network shown in FIG5 to FIG8 as yet another embodiment
  • FIG. 12 is a schematic diagram of a bus network and power lines in the lawn mower shown in FIG. 1 to FIG. 3 as yet another embodiment.
  • connection may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation.
  • a direct connection refers to two parts or components being connected together without an intermediary
  • an indirect connection refers to two parts or components being connected to at least one intermediary, with the two parts or components being connected via the intermediary.
  • connect and “couple” are not limited to physical or mechanical connections or couplings and may include electrical connections or couplings.
  • relative terms e.g., "about,” “approximately,” “substantially,” etc.
  • the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerance caused by manufacturing, assembly, use, etc. associated with a specific value.
  • Such terms should also be considered to disclose a range defined by the absolute values of the two endpoints.
  • Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value.
  • Numerical values that do not use relative terms should also be disclosed as specific values with tolerances.
  • substantially may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).
  • an assembly can be performed by one assembly, multiple assemblies, one part, or multiple parts.
  • the function performed by a part can also be performed by one part, one assembly, or a combination of multiple parts.
  • controller central processing unit
  • CPU central processing unit
  • MCU central processing unit
  • the terms “calculate”, “judge”, “control”, “determine”, “identify”, etc. refer to the operations and processes of a computer system or similar electronic computing device (e.g., controller, processor, etc.).
  • the lawn mower in this application includes at least a riding lawn mower 100a, a standing lawn mower 100b and a self-propelled lawn mower 100c. In some cases, it can also include a push lawn mower, etc. Among them, the riding lawn mower 100a and the standing lawn mower 100b can be collectively referred to as a manned lawn mower. In a broad sense, a lawn mower can also include all functional machines that can trim the lawn to make it flat. In the absence of conflict, it is not ruled out that the relevant technical solutions can be applied to other types of lawn mowers.
  • the common structure of the various types of lawn mowers described above generally includes a frame 10, a travel assembly 20, a blade assembly 30, and a power supply 200.
  • the frame 10, which comprises the frame and housing of the lawn mower, is the primary component of the machine.
  • the various components described below may be connected to or in contact with the frame 10 to provide support, fixation, protection, and positioning.
  • the travel assembly 20 supports the frame 10 and drives the entire machine. It may include at least a travel element 21 and a travel motor.
  • the travel element 21 is the component that actually drives the lawn mower forward.
  • the travel element 21 may include travel wheels, travel tracks, etc.
  • the travel motor provides power for the lawn mower to move, and the operation of the travel motor drives the travel element 21.
  • the travel motor may be a hub motor or a wheel-side motor.
  • the blade assembly 30 is operably attached to the frame 10 and performs the cutting function of the lawn mower. It may include at least a cutting element 31 and a working motor.
  • the cutting element 31 is the component such as the blade that actually performs the cutting when the lawn mower is in operation.
  • the cutting element 31 is generally replaceable and available in a variety of different sizes.
  • the working motor provides power for the lawn mower to cut grass bundles, and the operation of the working motor drives the cutting element 31.
  • the power supply unit 200 includes at least one energy storage device, which can supply electrical energy to one or more modules in the lawn mower. It can be set on the frame 10 and can be removed from the frame 10.
  • the power supply unit 200 includes one or more battery packs, at least part of which can be detachably mounted to the lawn mower. In some embodiments, at least part of the one or more battery packs has a different nominal voltage from other battery packs. In some embodiments, at least part of the one or more battery packs power modules different from those of other battery packs. In some embodiments, at least part of the one or more battery packs can be removed from the lawn mower to power other power tools. For example, the power tools powered after removal can be handheld power tools.
  • a riding lawn mower 100a is shown as an embodiment of the present application.
  • the riding lawn mower 100a also includes a seat 50a and an operating assembly 40.
  • the seat 50a is mounted on the frame 10 and provides a user with a seat.
  • a stand-on lawn mower 100b is shown as an embodiment of the present application.
  • the stand-on lawn mower 100b also includes a standing platform 50b and an operating assembly 40.
  • the standing platform 50b is mounted on the frame 10 and provides a user with a standing platform.
  • the operating assembly 40 of the manned lawn mower may include a steering wheel, operating levers, pedals, and the like, which independently or in combination perform functions such as starting, shifting, steering, and braking the manned lawn mower.
  • the operating assembly 40 is generally electromechanical.
  • a self-propelled lawn mower 100c is shown as an embodiment of the present invention.
  • the self-propelled lawn mower 100c is a self-propelled intelligent device that analyzes and determines the path within the current working area and then automatically drives, avoids obstacles, and mows the lawn along the path.
  • the relevant solutions described below can also be applied by analogy to other types of outdoor power equipment.
  • the relevant solutions can be adaptively applied to equipment similar to the lawn mower described above that not only realizes the walking function but also realizes another function, including snow blowers, cleaning machines, agricultural harvesters, etc.
  • the relevant solutions can also be adaptively applied to other vehicles that only perform outdoor walking, including utility task vehicles (UTVs)/farm vehicles, all-terrain vehicles (ATVs)/beach cars, golf carts, etc.
  • UUVs utility task vehicles
  • ATVs all-terrain vehicles
  • the lawn mower further includes at least one drive module 60, at least one control module 70, and a bus network 80 in order to meet the development needs of diversified functions and efficient and stable data transmission.
  • the above-mentioned multiple modules and bus network 80 of the lawn mower in the present application constitute a distributed control system.
  • each control module 70 can include its own processor and memory.
  • the processor can be a microcontroller unit (MCU), a high-performance reduced instruction set processor (Advanced RISC Machines, ARM), etc., which are respectively configured to programmably control and implement their corresponding functions.
  • the memory can store programs to be executed and related data.
  • a control module 70 in the lawn mower can be an Internet of Things (IoT) control module, which can also include other units for accessing the Internet or for communicating with external devices in addition to the processor.
  • the data of other modules can be uploaded to user devices such as mobile phones and tablets or databases after being transmitted to the IoT module.
  • IoT Internet of Things
  • control module 70 in the lawn mower may further include one or more of the following modules:
  • the walking control module 71 can at least control the operation of the walking component 20, including executing tasks such as starting, stopping, speed regulation, and steering of the walking component 21, and can at least interact with one or more of the visual sensor, motion sensor, screen control module 74, drive module 60, etc. for data exchange.
  • the cutter head control module 72 can at least control the operation of the blade assembly 30, including starting, stopping, and speed regulation of the cutting member 31, and can at least interact with one or more of the screen control module 74, the drive module 60, and the like for data exchange.
  • the switch control module 73 can at least be operated by the user to issue start and stop commands for the entire machine or part of the control module 70. For example, it can exchange data with each module.
  • the screen control module 74 has a display screen and components such as keys and buttons that can be operated by the user.
  • the display screen can be a touch screen, which can at least be operated by the user to issue commands to regulate the execution of tasks of the above-mentioned travel control module 71 and the cutter disc control module 72, and can interact with one or more of the travel control module 71, the cutter disc control module 72, the battery control module 75, the auxiliary driving control module 78, the accessory control module 79, etc. for data.
  • the battery control module 75 can at least monitor the status of the power supply device 200 in the process of supplying power to the above-mentioned modules and perform power protection tasks such as over-temperature and over-current, and can also publish relevant status or warning information to the screen control module 74, etc.
  • the USB-PD (Power Delivery) control module 76 has an interface for access to user peripherals such as mobile phones and tablet computers. It can at least monitor the status of the power supply device 200 during the process of supplying power to the above-mentioned user peripherals and control the data transmission between the user peripherals and other modules.
  • the charging control module 77 is used to monitor and control the charging process of the power supply device 200.
  • the auxiliary driving control module 78 is used to assist the user in driving the manned lawn mower, realize unmanned driving and other intelligent driving functions, etc.
  • the accessory control module 79 is used to power and control accessories outside the lawn mower body, such as laser radar, camera components, RTK mobile station, etc.
  • the number of modules in the lawn mower can be one or more.
  • the lawn mower can be provided with a travel control module 71a and a travel control module 71b for controlling the left and right travel members 21, respectively, and can also be provided with cutterhead control modules 72a to 72c.
  • the type of control module 70 in the lawn mower is not limited to the above-mentioned types.
  • the drive module 60 may include at least an electric drive bridge and an electric drive motor 62.
  • the electric drive bridge adjusts the current transmitted to the electric drive motor 62 based on the input control signal to control the operation of the electric drive motor 62.
  • the electric drive motor 62 described here can be the travel motor and/or working motor described above. Accordingly, the drive module 60 can drive and control the operation of the above-mentioned travel component 20 and/or blade component 30.
  • the modules described in this application are generally implemented by combining software and hardware, wherein the software program provides logic and the hardware executes the corresponding functions.
  • the above-mentioned drive module 60 can be an integrated module of the above-mentioned travel control module 71 or multiple travel control modules 71, or an integrated module of the above-mentioned cutterhead control module 72 or multiple cutterhead control modules 72, or a module that combines the above-mentioned travel control module 71 and the above-mentioned cutterhead control module 72.
  • the travel control module 71 and/or the cutterhead control module 72 can be distinguished from other control modules. It can be understood that the division of components and modules is not absolute.
  • the bus network 80 facilitates the transmission and intercommunication of signals, data, and commands between the aforementioned modules.
  • the bus network 80 has both predefined data forwarding rules and a corresponding physical structure.
  • Each module, acting as a node in the bus network 80, is connected in a wired or wireless manner in accordance with the rules defined by the bus network 80 to form the bus network 80.
  • the bus network 80 in the lawn mower is constructed using at least two different communication protocols, at least one of which is an Ethernet protocol.
  • the driver module 60 and each control module 70 transmit signals, etc., through the bus network 80 according to the rules of the corresponding communication protocol based on their position in the bus network 80 topology, thereby fully leveraging the advantages of different communication protocols to meet lawn mower design requirements and control costs.
  • the communication protocol used to construct the above-mentioned lawn mower bus network 80 may also include a Controller Area Network (CAN) bus.
  • the above-mentioned communication protocol may also include a FlexRay bus.
  • the above-mentioned communication protocol may also include an EtherCAT bus.
  • the above-mentioned communication protocol may also include a Time-Sensitive Networking (TSN) bus.
  • TSN Time-Sensitive Networking
  • the above-mentioned communication protocol may also include a Media Oriented Systems Transport (MOST) bus.
  • MOST Media Oriented Systems Transport
  • the bus network 80 may be in any of bus topology, star topology, tree topology, mesh topology, and ring topology; the bus network 80 may also be in a hybrid topology, consisting of a mixture of one or more of linear topology, star topology, tree topology, mesh topology, and ring topology.
  • the lawn mower may further include a gateway module 81 deployed in the bus network 80, and the gateway module 81 is configured to at least be able to perform protocol conversion for modules using different communication protocols.
  • the gateway module 81 includes a main gateway module 81 and a sub-gateway module 81.
  • the gateway module 81 can be integrated with any control module 70 into one module, for example, it can be integrated into a control module 70 with faster computing speed and/or larger storage capacity.
  • the gateway module 81 includes a router and/or a switch.
  • the gateway module 81 also has a data filtering function, which can filter out some data forwarding requests according to the current working mode of the lawn mower.
  • the bus network 80 in the above embodiment will be described below with reference to specific topologies and rules.
  • the bus network 80 may include multiple subnets, i.e., multiple domains, wherein one or more modules are connected to form a subnet, and multiple subnets are connected to form the bus network 80.
  • the topology when multiple modules form the subnets can be star-shaped, tree-shaped, bus-shaped, mesh-shaped, or hybrid.
  • the topology when multiple subnets form the bus network 80 is also adaptable and variable.
  • the subnets that make up the bus network 80 can be further divided into hierarchical levels, such that the bus network 80 includes one or more first-level subnets, which can further include one or more second-level subnets, and so on.
  • the bus network 80 as a whole is in a tree-like structure.
  • the control modules 70 under different subnets can be completely different or partially overlapping, i.e., a control module 70 can belong to two subnets, thereby forming a ring topology in the bus network 80 to improve system reliability.
  • gateway 1 and modules 1-1, 1-2, and 1-3 form the bus for subnet 1 (domain 1) using a bus topology.
  • Gateway 2 and modules 2-1, 2-1-1, 2-1-2, 2-1-2a, and module 1-3 form the bus for subnet 2 (domain 2) using a hybrid topology, with a tree topology as the primary framework and a ring topology.
  • Gateway 3 and modules 3-1, 3-2, and module 2-1-2a form the bus for subnet 3 (domain 3) using a star topology.
  • Subnets 1 through 3 and gateway 0 can be considered to form an inter-gateway bus using a hybrid topology, with a star topology as the primary framework and a ring topology as well.
  • the communication protocols implemented within the same subnet are the same, the communication protocols implemented within different subnets may be the same or different, and the communication protocol implemented between subnets may be the same as or different from the communication protocol implemented within any subnet.
  • at least two subnets implement different communication protocols, i.e., the two subnets use different communication protocols to construct a subnet bus.
  • at least the communication protocol implemented between subnets is different from the communication protocol implemented within the subnet, i.e., the communication protocol used when constructing the subnet bus within a subnet is different from the communication protocol used when the subnet is connected to other external subnets and/or gateways.
  • subnets 1 to 3 can implement different communication protocols to construct a bus within this subnet.
  • Gateway 1 can convert data sent from at least one module in subnet 1 to any module in subnet 2 into the format required by the communication protocol implemented between gateways 0 to 3, and then send it to gateway 2.
  • gateway 2 After receiving the data forwarded by gateway 1, gateway 2 can convert the data back to the format required by the communication protocol implemented by subnet 2 and send it to the destination module.
  • Gateway 1 can also convert data sent from at least one module in subnet 1 to any module in subnet 3 into the format required by the communication protocol implemented between gateways 0 to 3, and then send it to gateway 0.
  • gateway 0 can send the data back to gateway 3.
  • gateway 3 After receiving the data forwarded by gateway 0, gateway 3 can convert the data back to the format required by the communication protocol implemented by subnet 3 and send it to the destination module. It will be understood that the above data exchange process is carried out around the bus network 80 shown in Figure 4. Depending on the actual module arrangement within the lawn mower, the topology of bus network 80 and the interaction process between each module will be adaptively adjusted. For example, gateway 0 may not be set in the bus network 80 of the lawn mower shown in Figure 4, gateway 2 may be integrated into module 2-1, and data transmission between subnet 1 and subnet 3 is from the source module through gateway 1, module 2-1, gateway 3 to the destination module.
  • the one or more control modules 70 within each subnet are divided based on their physical location within the lawn mower, thereby simplifying and simplifying the circuitry of the bus network 80.
  • the lawn mower's bus network 80 may include a front domain and a rear domain.
  • the one or more control modules 70 located at the front of the lawn mower along its longitudinal length belong to the front domain, while the one or more control modules 70 located at the rear belong to the rear domain.
  • the bus network 80 may also include a front domain, a middle domain, and a rear domain, or may include a left front domain, a right front domain, a left rear domain, and a right rear domain.
  • one or more of the lawn mower's disc control module 72, auxiliary driving control module 78, IoT control module 710, battery control module 75, and charging control module 77 constitute the front domain of the bus network 80, and the front domain bus 82a can have a bus topology; one or more of the travel control module 71, accessory control module 79, screen control module 74, switch control module 73, and PD control module 76 constitute the back domain of the bus network 80, and the back domain bus 82b can also have a bus topology.
  • the front domain of the lawn mower also includes a front gateway 81a
  • the back domain also includes a back gateway 81b. Data transmission between the front and back domains is achieved via a gateway bus 82c between the front and back gateways.
  • one or more control modules 70 under each subnet are divided based on the functional tasks undertaken by the control module 70 in the lawn mower, so that the relevant control logic of the bus network 80 is more coherent and accurate.
  • the above-mentioned bus network 80 of the lawn mower may include a power domain, an electric energy domain and an intelligent driving domain, wherein the power domain realizes the walking and mowing functions, the electric energy domain controls the power supply of the entire machine, and the intelligent driving domain provides intelligent driving services.
  • one or more of the blade control module 72, the walking control module 71, the accessory control module 79, the screen control module 74, and the switch control module 73 of the lawn mower constitute the power domain in the bus network 80, and the power domain bus 82a can be in a bus topology.
  • one or more of the battery control module 75, the charging control module 77, and the PD control module 76 of the lawn mower constitute the electric energy domain in the bus network 80, and the electric energy domain bus 82c can be in a bus topology.
  • the lawn mower's auxiliary driving control module 78 and IoT control module 710 constitute the intelligent driving domain in the bus network 80, and the intelligent driving domain bus 82b can have a bus topology.
  • the power domain includes a power gateway 81a
  • the intelligent driving domain includes an intelligent driving gateway 81b
  • the electric energy domain includes an electric energy gateway 81c.
  • Data transmission between the power domain, the electric energy domain, and the intelligent driving domain is achieved via a gateway bus 82d between the gateways of each domain, and the gateway bus 82d can have a bus topology.
  • the bus network 80 uses a CAN bus in subnets and an Ethernet bus between gateways. In other embodiments, the bus network 80 uses a FlexRay bus in subnets and an Ethernet bus between gateways. In still other embodiments, the bus network 80 uses a CAN bus in some subnets, an Ethernet bus in some subnets, and an Ethernet bus between gateways.
  • the bus network 80 is constructed based on wireless communication protocols and wired communication protocols. For example, communication between modules within a domain can be wired communication, and communication between gateways outside the domain can be wireless communication.
  • different subnets have different data transmission rates.
  • the data transmission rate in the power domain is greater than the data transmission rate in the intelligent driving domain to ensure efficient implementation of the core functions of the lawn mower.
  • the data transmission rate of some subnets within bus network 80 is greater than or equal to 100 Mbps, while the data transmission rate of other subnets is greater than or equal to 20 Mbps and less than or equal to 100 Mbps.
  • the bus network 80 between some control modules 70 is a real-time bus, and the bus network 80 between some control modules 70 is a non-real-time bus.
  • the same control module 70 has the ability to communicate under at least two different bus protocols, which can be switched depending on the target module for data transmission and/or the functional task to be executed.
  • the bus network 80 in the lawn mower is a high-speed bus network 80
  • the control modules 70 and the drive modules 60 can at least achieve real-time control of the speed and direction of the lawn mower during its movement through the high-speed bus network 80 at a data transmission rate greater than or equal to 100 Mbps.
  • at least one control module 70 is configured to obtain output signals from one or more components of the lawn mower through the high-speed bus network 80, or to issue drive commands related to the target speed and target direction of the lawn mower;
  • the drive module 60 is configured to obtain and process the drive commands through the high-speed bus network 80, and then drive the electric drive motor to operate at the target speed and target direction.
  • at least the travel and/or mowing functions of the lawn mower can be achieved through the high-speed bus network 80 with a data transmission rate greater than or equal to 100 Mbps.
  • control module 70 can receive output signals from components such as operating elements or sensors via the high-speed bus network 80 to analyze and issue drive commands indicating target speeds and target directions. In other embodiments, the control module 70 can also receive output signals from other control modules 70 via the high-speed bus network 80 to obtain information about target speeds and target directions. In other embodiments, the control module 70 can also receive output signals from other control modules 70 via the high-speed bus network 80 to obtain information about target speeds and target directions. In other embodiments, the control module 70 can be integrated into a new control module 70, with the processor in the control module 70 coordinating the output signals to the other control modules 70.
  • the lawn mower is a manned lawn mower
  • its operating component 40 includes a steering wheel and an accelerator pedal, which can output signals to the control module 70 in real time via the high-speed bus network 80 in response to user operations.
  • the control module 70 receives the output signals from the steering wheel and accelerator pedal via the high-speed bus network 80 and can analyze and obtain the target speed and target direction currently intended by the user. For example, the angle at which the steering wheel is rotated can indicate the target direction, and the angle at which the accelerator pedal is depressed can indicate the target speed, etc.
  • the control module 70 can then send a drive command corresponding to the target speed and target direction to the drive module 60 in real time via the high-speed bus network 80. After receiving the drive command via the high-speed bus network 80, the drive module 60 will immediately control the motor to operate at the expected speed and direction.
  • the lawn mower is a manned lawn mower
  • its operating assembly 40 includes a first operating lever and a second operating lever, and a first lever sensor and a second lever sensor for detecting the movement status of the first and second operating levers, respectively.
  • the first lever sensor outputs different signals to the control module 70 via the high-speed bus network 80 in response to each user's operation of the first operating lever
  • the second lever sensor outputs different signals to the control module 70 via the high-speed bus network 80 in response to each user's operation of the second operating lever.
  • the movement status of the first and second operating levers can be used to control the travel of the left and right walking members 21, respectively.
  • the control module 70 can analyze and determine the target speed and target direction currently intended by the user, and then immediately issue a drive command via the high-speed bus network 80 so that the drive module 60, upon receiving the drive command, can immediately control the motor to operate at the desired speed and direction.
  • the lawn mower is a self-propelled lawn mower 100c, which is equipped with visual sensors such as a camera assembly and an infrared scanning assembly.
  • the visual sensors can periodically or in response to specific events instantly output real-time captured images and other signals to the control module 70 via the high-speed bus network 80.
  • the control module 70 processes and analyzes them and immediately issues relevant drive commands.
  • the drive module 60 immediately receives these drive commands via the high-speed bus network 80 and drives the motor to operate as expected.
  • the lawn mower is a self-propelled lawn mower 100c, which is equipped with a global navigation satellite system (GNSS) positioning unit.
  • the GNSS positioning unit can instantly output GNSS signals obtained using the global navigation satellite system, such as global positioning system (GPS) signals, to the control module 70 via the high-speed bus network 80.
  • the GNSS signals can indicate the coordinates of the lawn mower.
  • the control module 70 processes and analyzes them and instantly issues relevant drive commands.
  • the drive module 60 drives the motor to operate as expected.
  • the drive module 60 includes, in addition to the electric drive axle and electric drive motor, a processor.
  • the processor in the drive module 60 receives and processes drive commands carrying target speed and target direction via the high-speed bus network 80, then outputs a control signal corresponding to the speed and direction obtained from the processed command to the electric drive axle.
  • the electric drive axle is controlled by this control signal to drive the electric drive motor as intended.
  • the drive module 60 controls the operation of the electric drive motor of the travel assembly 20. In other embodiments, the drive module 60 controls the operation of the electric drive motor of the working assembly.
  • the high-speed bus network 80 with a data transmission rate greater than or equal to 100 Mbps is also a real-time bus network 80.
  • the high-speed real-time bus network 80 can be constructed using one or more of the EtherCAT protocol and the TSN protocol. Referring to FIG5 , the high-speed real-time bus network 80 is constructed using the FlexRay protocol; referring to FIG7 , the high-speed real-time bus network 80 is constructed using the EtherCAT protocol. In other embodiments, the high-speed bus network 80 with a data transmission rate greater than or equal to 100 Mbps is also a non-real-time bus network 80.
  • the high-speed non-real-time bus network 80 can be constructed using the EtherNet protocol, as shown in FIG8 .
  • the modules are more diverse, and the network topology and protocol are more complex.
  • the following further describes the data interaction process between multiple modules in the bus network 80.
  • the control module 70 that acts as the host will initiate requests to other control modules 70 in a time-sharing manner and receive their feedback.
  • each control module 70 serving as a slave station can receive and process the request for itself when the data passes through this module. For example, it can add, delete or modify some fields in the original data frame, and then transfer the processed new data to the next slave station.
  • the data processed by each slave station along the ring topology can eventually return to the host, thereby avoiding problems such as bus occupancy conflicts.
  • each control module 70 in the bus network 80 or a portion of the bus network 80 can act as a host to request responses from other control modules 70. This means there is no master request-answer mechanism. If the bus is busy, a control module 70 with pending requests can wait until the bus is free before issuing them. If multiple control modules 70 simultaneously initiate requests when the bus is free, the bus can be occupied by the control module 70 with higher priority based on the principle of competition for priority, while the control module 70 with lower priority waits. Referring to FIG. 10 , assuming that the screen control module 74 has a higher priority than the IoT control module 710, at time t0, the screen control module 74 and the IoT control module 710 simultaneously initiate requests to occupy the bus.
  • the screen control module 74 Because the screen control module 74 has a higher priority, the screen control module 74 is able to interact with the driving control module 71 via the bus during the subsequent T0 period. Starting at another time tx after the T0 period, the bus becomes free, allowing the IoT control module 710 to successfully occupy the bus and interact with the auxiliary driving control module 78.
  • the above-mentioned interaction process can also be carried out under the bus network 80 of the hybrid protocol architecture.
  • the gateway module 81 performs protocol conversion for cross-subnet data transmission. When forwarding data, it can wait for the bus in the domain to be idle, or also follow the priority competition principle.
  • each control module 70 in a bus network 80 or a portion of a bus network 80 performs ownerless Q&A.
  • These multiple control modules 70 share a synchronized clock and utilize the bus in a time-division multiple access (TDMA) manner.
  • TDMA time-division multiple access
  • Each control module 70 only occupies the bus and performs Q&A with other control modules 70 during its own time period, thereby preventing multiple control modules 70 from competing for the bus.
  • multiple control modules 70 within a subnet perform intra-domain clock synchronization.
  • a communication cycle T can be divided into multiple time periods equal to the number of control modules 70 within the subnet. That is, T includes time period T1 corresponding to control module 701, time period T2 corresponding to control module 70, and so on.
  • each control module 70 has the right to occupy the subnet bus for one time period.
  • a communication cycle T can also be divided into a static segment and a dynamic segment.
  • the static segment is divided into multiple sub-time periods based on the number of control modules 70, allowing each control module 70 to transmit data in a time-division manner.
  • the static segment allows multiple control modules 70 to compete for data transmission.
  • each of the above-mentioned control modules 70 performs decentralized arbitration, that is, each determines whether the control module 70 has the right to occupy the bus at the current moment.
  • the bus occupation can be sensed by whether the data of the module is successfully sent.
  • control modules 70 with different priorities simultaneously send requests and stipulate that the smaller the value of the field representing the priority in the data frame, the higher the priority.
  • the control module 70 that sends the request can determine whether its own priority field value is consistent with the original value after being linearly ANDed with the value actually transmitted on the bus. If it is consistent, the current bus is occupied by this module.
  • a bus control module 70 can also be provided in the lawn mower to perform centralized arbitration on the bus occupation requests of each control module 70.
  • the subnet gateway can act as the bus control module 70 to inquire or approve each control module 70 under the subnet to occupy the subnet bus based on the priority order.
  • bus network 80 or a portion of bus network 80 may include a dual-channel bus, and control module 70 may be equipped with dual transceivers, each using a pair of twisted-pair cables to redundantly exchange data with other modules.
  • bus network 80 or a portion of bus network 80 uses twisted-pair cables to transmit differential signals to enhance data stability.
  • one or more of the above-mentioned control modules 70 in the lawn mower not only transmits signals through the bus network 80 but also receives power through the bus network 80, that is, the data transmission and power supply of the above-mentioned control modules 70 are carried on the same link at the physical level, and the maximum power of the above-mentioned bus network 80 for transmitting signals and feeding power to the above-mentioned one or more control modules 70 is greater than or equal to 60W.
  • the bus network 80 is constructed using at least the Ethernet protocol. At the physical layer, the bus network 80 or a portion of the bus network 80 utilizes twisted-pair cables that comply with the Power over Ethernet (PoE) standard. In some embodiments, the bus network 80 utilizes a twisted-pair cable to transmit differential signals carrying data information and to provide a power supply voltage. In some embodiments, one or more of the display unit, audio unit, Bluetooth unit, GNSS positioning unit, and NFC unit utilize the PoE bus.
  • PoE Power over Ethernet
  • the lawn mower further includes a power cord 210, which is connected between the control module 70 and the power supply unit 200 to transmit power provided by the power supply unit 200 to the control module 70.
  • some control modules 70 are connected to both the bus network 80 and the power cord 210. Specifically, these control modules 70 are connected to both the bus network 80 and the power supply unit 200 via the power cord 210.
  • the bus network 82 only transmits data to these control modules 70, while the power cord 210 only provides power to these control modules 70.
  • Other control modules 70 are not electrically connected to the power supply unit 200.
  • the control modules 70 connected to the power cord 210 transmit signals to these control modules and provide them with power.
  • the processors of some control modules 70 are not electrically connected to the power supply unit 200 and are powered solely by signals transmitted from other control modules 70 via the bus network 80.
  • other components of the control modules 70 other than the processors may be electrically connected to the power supply unit 200 to execute corresponding tasks when the processors are activated and output control signals.
  • control module 70 further includes a visual positioning module 711, which is configured to receive power via the bus network 80 to power visual sensors such as a camera component and an infrared scanning component within the visual positioning module 711.
  • visual sensors within the visual positioning module 711 can receive control signals from the travel control module 71 via the bus network 80 while receiving power, and can collect and provide feedback on images of the lawn mower's surroundings in response to the control signals.
  • the battery control module 75, the charging control module 77, and the PD control module 76 are configured to receive power through the bus network 80 to supply power to the processor in the control module 70.
  • the processor in the battery control module 75 can be powered while receiving control signals from each control module 70 through the bus network 80, and adjust the battery discharge state in response to the control signals.
  • the bus network 80 in the lawn mower further includes a maintenance interface, which is a hardware interface configured to be accessed by a diagnostic device or a flashing device.
  • a maintenance interface which is a hardware interface configured to be accessed by a diagnostic device or a flashing device.
  • the diagnostic device or the flashing device accesses the bus network 80 through the maintenance interface, one or more of the control modules 70 exchange data with the diagnostic device or the flashing device via the bus network 80 and the maintenance interface to implement fault diagnosis or software upgrades for each control module 70.
  • the lawn mower can have a normal mode, a programming mode, and a diagnostic mode. In the normal mode, the lawn mower performs travel and mowing operations. In the programming mode, the lawn mower performs software upgrades for each module. In the diagnostic mode, fault location and diagnosis are performed on each module of the lawn mower. Switching between the three modes can be achieved based on whether there is an access device to the maintenance interface and the specific type of the access device.
  • a master-slave question-and-answer mechanism is implemented during the above-mentioned diagnosis or flashing process.
  • the above-mentioned diagnostic device or flashing device is the host, and the other modules in the bus network 80 are slaves. After the above-mentioned diagnostic device or flashing device is connected to the bus network 80 through the maintenance interface, the working mode of the lawn mower is switched from normal mode to diagnostic mode or programming mode.
  • the above-mentioned diagnostic device or flashing device acts as the host and sends a request to the control module 70 through the bus network 80.
  • the control module 70 acts as the slave and receives and processes the request and then responds to the host with feedback.
  • the lawn mower switches from normal mode to diagnostic mode.
  • the diagnostic device as the host in the bus network 80, can initiate inquiries to each control module 70 to be diagnosed for fault in turn. After receiving the above inquiries, each of the above control modules 70, as the slave in the bus network 80, feeds back the fault information of the control module 70 to the diagnostic device.
  • the diagnostic information can at least carry the fault code currently cached by the control module 70, and can also include the fault level, data snapshot, etc. currently cached by the control module 70.
  • the diagnostic device after the diagnostic device is connected to the bus network 80 via the maintenance interface, it first interacts with each control module 70 to be diagnosed for a fault via the bus network 80 to confirm information such as the device model. After verifying that the diagnostic device and each control module 70 model match, the diagnostic device and the control module 70 enter diagnostic mode. In some embodiments, the diagnostic device also conducts a query and answer session with the potentially faulty control module 70 via the bus network 80 to reproduce the fault. In some embodiments, the diagnostic device also performs fault location and analysis after receiving fault information via the bus network 80.
  • the lawn mower switches from normal mode to programming mode.
  • the flashing device acting as the master in the bus network 80, can download and transmit data to one or more control modules 70 to be upgraded.
  • Each of these control modules 70 acting as a slave in the bus network 80, responds to the master's request and completes the software upgrade for that control module 70, thereby optimizing the old software.
  • the flashing device can upgrade a single control module 70, either one at a time or in batches.
  • the above-mentioned flashing device after the above-mentioned flashing device is connected to the bus network 80 through the maintenance interface, it first interacts with one or more control modules 70 to be upgraded through the bus network 80 to confirm the online status and existing version number of each of the above-mentioned control modules 70. After verifying that it meets the requirements of this upgrade, the flashing device controls the lawn mower to enter the programming mode, and the data transmission between the various control modules 70 is suspended. Only the software flashing data is valid until the flashing device controls the lawn mower to exit the programming mode. After each control module 70 triggers a reset, it executes the new version of the software and resumes normal operation.
  • the flashing device after the lawn mower enters programming mode, the flashing device periodically issues a mode hold request and receives a response from each control module 70. Otherwise, the lawn mower automatically exits programming mode.
  • the command issuance between the flashing device and each control module 70 follows the message sequence used in diagnostic mode. That is, the same field can be used in data frames in different modes to represent the command type, and the correspondence between the field value and the type remains unchanged, as shown in Table 1 below.
  • the multiple embodiments described above can be adaptively combined to form new technical solutions without conflicting with each other.
  • the bus network of a lawn mower can simultaneously adopt a hybrid protocol and a synchronous power feeding solution, and these technical solutions should also be within the scope of protection of this application.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
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Abstract

L'invention concerne une tondeuse et un système de commande pour une tondeuse. La tondeuse comprend : un châssis (10) ; un ensemble lame (30) ; un ensemble de déplacement (20) ; au moins un module d'entraînement (60), qui comprend un essieu d'entraînement électrique et un moteur d'entraînement électrique (62) et est conçu pour entraîner l'ensemble lame (30) et/ou l'ensemble de déplacement (20) ; un dispositif d'alimentation électrique (200), qui comprend au moins un dispositif de stockage d'énergie et est conçu pour fournir de l'énergie audit module d'entraînement (60) ; un réseau de bus (80), qui est configuré pour transmettre des signaux entre une pluralité de composants de la tondeuse ; et une pluralité de modules de commande (70), chaque module de commande (70) comprenant un processeur et une mémoire et configuré pour commander de manière programmable diverses fonctions de la tondeuse, le réseau de bus (80) étant construit à l'aide d'au moins deux protocoles de communication différents, dont au moins un est un protocole Ethernet, et le module d'entraînement (60) et chaque module de commande (70) transmettant des signaux par l'intermédiaire du réseau de bus (80) selon les règles du protocole de communication correspondant.
PCT/CN2025/086942 2024-04-15 2025-04-02 Tondeuse et système de commande pour tondeuse Pending WO2025218499A1 (fr)

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Citations (6)

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CN201054889Y (zh) * 2007-01-25 2008-05-07 上海罗宝信息技术有限公司 一种远程网络太阳能自动割草机装置
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CN113325780A (zh) * 2021-06-09 2021-08-31 中国第一汽车股份有限公司 一种车辆通信系统以及车辆
CN115039560A (zh) * 2022-07-01 2022-09-13 洛阳拖拉机研究所有限公司 一种基于can总线的电动割草机电气控制系统
WO2023039197A1 (fr) * 2021-09-10 2023-03-16 Milwaukee Electric Tool Corporation Systèmes et procédés pour une communication d'outil électrique multicanal

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Publication number Priority date Publication date Assignee Title
CN201054889Y (zh) * 2007-01-25 2008-05-07 上海罗宝信息技术有限公司 一种远程网络太阳能自动割草机装置
CN112367830A (zh) * 2018-05-25 2021-02-12 托罗公司 用于在自动和手动模式下操作机器人机器的系统和方法
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