CN121404029A

CN121404029A - Outdoor walking equipment

Info

Publication number: CN121404029A
Application number: CN202410971465.5A
Authority: CN
Inventors: 李同豪; 李陈飞; 王磊; 潘丽; 王守彬
Original assignee: Nanjing Chervon Industry Co Ltd
Current assignee: Nanjing Chervon Industry Co Ltd
Priority date: 2024-07-18
Filing date: 2024-07-18
Publication date: 2026-01-27

Abstract

This application discloses an outdoor walking device, comprising: a walking mechanism including a first drive wheel and a second drive wheel, and a first walking motor and a second walking motor that independently drive the first drive wheel and the second drive wheel, respectively; a power limiting unit configured to limit the input power of the first walking motor or the second walking motor; and a controller configured to: control the first walking motor to enter a power limiting mode through the power limiting unit when the electrical parameters of the first walking motor meet preset conditions; output a corresponding speed attenuation factor based on the speed of the first walking motor in the power limiting mode; and correct a second target speed based on the speed attenuation factor to drive the second walking motor to rotate. This outdoor walking device ensures safe operation.

Description

Outdoor walking equipment

Technical Field

The application relates to an electric tool for outdoor gardens, in particular to outdoor walking equipment.

Background

The outdoor walking equipment is used for working outdoors. Such as utility vehicles, farm machinery vehicles, farmer vehicles, beach vehicles, golf carts, lawn mowers, and the like. The outdoor walking equipment generally uses a Zero roll-over radius (ZTR) walking mechanism, so that in-situ turning can be realized, the working efficiency is high, and the in-situ turning is realized through left and right driving wheels respectively driven by two motors. The assistance of the two motors under different working conditions influences the running safety of the outdoor running equipment.

This section provides background information related to the application, which is not necessarily prior art.

Disclosure of Invention

It is an object of the present application to solve or at least mitigate some or all of the above problems. To this end, an object of the present application is to provide an outdoor walking apparatus that is safe to travel.

In order to achieve the above object, the present application adopts the following technical scheme:

An outdoor walking device comprises a walking mechanism, a power supply mechanism, a controller, a power limiting unit and a controller, wherein the walking mechanism comprises a first driving wheel and a second driving wheel, a first walking motor and a second walking motor which respectively drive the first driving wheel and the second driving wheel, the power supply mechanism comprises at least one battery pack and is used for supplying power to the walking mechanism, the controller is configured to respectively control the first walking motor and the second walking motor to operate based on an input first target rotating speed and an input second target rotating speed, the power limiting unit is configured to limit the input power of the first walking motor or the input power of the second walking motor, the controller is configured to control the first walking motor to enter a power limiting mode through the power limiting unit when the electric parameters of the first walking motor meet preset conditions, the corresponding rotating speed attenuation factor is output based on the rotating speed of the first walking motor in the power limiting mode, and the second target rotating speed is corrected based on the rotating speed attenuation factor to drive the second walking motor to rotate.

In some embodiments, the controller is configured to control the first travel motor to enter the power limiting mode by the power limiting unit when the bus current of the first travel motor is greater than or equal to a current threshold.

In some embodiments, the controller is configured to output the speed decay factor based on the first target speed and the first limited-speed in the power limiting mode.

In some embodiments, the controller is configured to decrease the rotational speed decay factor according to a defined procedure after the first travel motor exits the power limiting mode.

In some embodiments, the controller is configured to increase the rotational speed of the second travel motor according to a defined procedure after the first travel motor exits the power limiting mode.

In some embodiments, the controller is configured to control the first and second travel motors to enter the power limiting mode by the power limiting unit, respectively, when the electrical parameter of the first travel motor meets a preset condition while the electrical parameter of the second travel motor meets a preset condition.

In some embodiments, a corresponding first rotational speed attenuation factor is output based on the rotational speed of the first travel motor in the power limiting mode, a corresponding second rotational speed attenuation factor is output based on the rotational speed of the second travel motor in the power limiting mode, the first rotational speed attenuation factor is determined to be greater than the second rotational speed attenuation factor, and the second target rotational speed is corrected based on the first rotational speed attenuation factor to drive rotation of the second travel motor.

In some embodiments, the system further comprises a detection unit, wherein the detection unit is connected with the controller and is used for detecting the bus current of the first travelling motor.

An outdoor walking device comprises a walking mechanism, a power supply mechanism, a controller, a power limiting unit and a controller, wherein the walking mechanism comprises a first driving wheel and a second driving wheel, a first walking motor and a second walking motor which respectively drive the first driving wheel and the second driving wheel independently, the power supply mechanism comprises at least one battery pack for supplying power to the walking mechanism, the controller is configured to respectively control the first walking motor and the second walking motor to operate based on an input first target rotating speed and an input second target rotating speed, the power limiting unit is configured to limit the input power of the first walking motor or the second walking motor, and the controller is configured to control the first walking motor to enter a power limiting mode through the power limiting unit and reduce the rotating speed of the second walking motor when the electric parameters of the first walking motor meet preset conditions.

In some embodiments, the controller decreases the speed of the second travel motor based on the speed decay factor based on the speed of the first travel motor in the power limit mode outputting a corresponding speed decay factor.

The power limiting unit is used for controlling the first travelling motor to enter a power limiting mode when the electric parameters of the first travelling motor meet preset conditions, outputting a corresponding rotation speed attenuation factor based on the rotation speed of the first travelling motor in the power limiting mode, and correcting the second target rotation speed based on the rotation speed attenuation factor to drive the second travelling motor to rotate. The output torque of the walking motor is guaranteed, when the power of the walking motor exceeds a threshold value according to the fact that the electric parameters of the walking motor meet preset conditions, the power limiting unit is used for limiting the power of the walking motor, and further the rotation speed difference of the first walking motor and the second walking motor is guaranteed to be within a certain range, and therefore the running safety of outdoor walking equipment is guaranteed.

Drawings

FIG. 1 is a schematic view of a structure of an outdoor traveling apparatus according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a block diagram of another view of the outdoor walking device of the present application as one embodiment;

FIG. 3 is a schematic view of the power supply mechanism of the present application as one embodiment adapted to different vehicles;

FIG. 4 is a schematic view of the structure of the running gear and control mechanism of the present application as an example;

FIG. 5 is a schematic view of another view of the running gear of the present application as an embodiment;

FIG. 6 is a schematic view of a portion of the structure of the running gear and frame of the present application as one embodiment;

FIG. 7 is a control block diagram of a parking brake mechanism of the present application as one embodiment;

FIG. 8 is a control block diagram of another parking brake mechanism of the present application as one embodiment;

FIG. 9 is a control block diagram of a first and second parking brake mechanism of the present application as one embodiment;

FIG. 10 is a schematic diagram of a control circuit of the travel motor as one embodiment of the application;

fig. 11 is a control circuit configuration diagram of a first travel motor and a second travel motor as one embodiment of the present application;

fig. 12 is a flowchart of a control method of the outdoor traveling apparatus as one embodiment of the present application;

FIG. 13 is a flow chart of another control method of the outdoor walking device of the present application as one embodiment;

FIG. 14 is a schematic diagram of a human-machine interaction mechanism according to an embodiment of the present application;

FIG. 15 is a system block diagram of a human-machine interaction mechanism of the present application as one embodiment;

FIG. 16 is a schematic view showing a partial structure of a first travel mechanism, a second travel and control mechanism as one embodiment of the present application;

FIG. 17 is a control block diagram of a first travel mechanism and a second travel mechanism of the present application as one embodiment;

FIG. 18 is a flowchart of a control method of the outdoor walking device as one embodiment of the present application;

FIG. 19 is a flowchart of another control method of the outdoor walking device of the present application as an embodiment;

FIG. 20 is a flowchart of a third control method of the outdoor walking device as an embodiment of the present application;

FIG. 21 is an exploded view of the structure of the travel motor and position sensor of the present application as one embodiment;

FIG. 22 is a control block diagram of rotor position detection of the travel motor as one embodiment of the application;

FIG. 23 is a control block diagram of another embodiment of the present application for rotor position detection of a travel motor;

FIG. 24 is a flow chart of a method of detecting a rotational position of a rotor of a brushless motor of an outdoor unit according to one embodiment of the application;

FIG. 25 is a flowchart of another method of detecting a rotational position of a rotor of a brushless motor of an outdoor walking device, as one embodiment of the present application;

FIG. 26 is a control block diagram of a first circuit board and a control circuit board as one embodiment of the present application;

Fig. 27 is a schematic view of a structure of a power tool as an embodiment of the present application;

FIG. 28 is an exploded view of the motor of FIG. 27;

Fig. 29a is a perspective view of a first connector and battery pack of the power mechanism of fig. 3;

Fig. 29b is a perspective view of a second connector and battery pack of the power mechanism of fig. 3;

Fig. 30 is a schematic view of a second connector and a third battery pack according to an embodiment of the present application;

fig. 31 is a perspective view of a power supply mechanism of the outdoor walking device of fig. 1.

Detailed Description

Before any embodiments of the application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings.

In the present disclosure, the terms "comprises," "comprising," "has," "having," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the present application, the term "and/or" is an association relationship describing an association object, meaning that three relationships may exist. For example, A and/or B may mean that A alone, both A and B, and B alone are present. In the present application, the character "/" generally indicates that the front and rear related objects are in an "and/or" relationship.

In the present application, the terms "connected," "coupled," and "mounted" may be directly connected, coupled, or mounted, or indirectly connected, coupled, or mounted. By way of example, two parts or components are connected together without intermediate members, and by indirect connection is meant that the two parts or components are respectively connected to at least one intermediate member, through which the two parts or components are connected. Further, "connected" and "coupled" are not restricted to physical or mechanical connections or couplings, and may include electrical connections or couplings.

In the present application, one of ordinary skill in the art will understand that relative terms (e.g., "about," "approximately," "substantially," etc.) used in connection with quantities or conditions are intended to encompass the values and have the meanings indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a particular value, the tolerance associated with a particular value resulting from manufacture, assembly, use, and the like. Such terms should also be considered to disclose a range defined by the absolute values of the two endpoints. Relative terms may refer to the addition or subtraction of a percentage (e.g., 1%,%,1% or more) of the indicated value. Numerical values, not employing relative terms, should also be construed as having specific values of tolerance. Further, "substantially" when referring to relative angular positional relationships (e.g., substantially parallel, substantially perpendicular) may refer to adding or subtracting a degree (e.g., 1 degree, 1 degree, or more) from the indicated angle.

In the present application, those of ordinary skill in the art will appreciate that the functions performed by a component may be performed by a component, a plurality of components, a part, or a plurality of parts. Also, the functions performed by the elements may be performed by one element, by an assembly, or by a combination of elements.

In the present application, the terms "upper", "lower", "left", "right", "front", "rear", and the like are described in terms of orientation and positional relationship shown in the drawings, and should not be construed as limiting the embodiments of the present application. In the context of this document, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on the other element or be indirectly on the other element through intervening elements. It should also be understood that the terms upper, lower, left, right, front, back, etc. are not only intended to represent positive orientations, but also to be construed as lateral orientations. For example, the lower side may include a right lower side, a left lower side, a right lower side, a front lower side, a rear lower side, and the like.

In the present application, the terms "controller", "processor", "central processing unit", "CPU", "MCU" are interchangeable. Where a unit "controller", "processor", "central processing unit", "CPU", or "MCU" is used to perform a particular function, such function may be performed by a single unit or by a plurality of units unless otherwise indicated.

In the present application, the terms "means," "module," or "unit" may be implemented in hardware or software for the purpose of realizing a specific function.

In the present application, the terms "computing," "determining," "controlling," "determining," "identifying," and the like refer to the operation and process of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

As shown in fig. 1, 2 and 3, the outdoor walking device 100 of the present disclosure, specifically, a wheeled working vehicle or an outdoor working vehicle, such as an electric mower 200 or an electric lawn mower, can be operated by a user to cut lawns or other vegetation. Alternatively, a manned mower 200a may be used for riding or standing on to maneuver to cut lawns, other vegetation, etc. In the present specification, the front, rear, left, right, upper and lower directions are described as directions shown in fig. 1. When a user sits on the outdoor walking device 100 on the ground, the direction in which the user faces is defined as the front, the direction in which the user faces away is defined as the rear, the direction in which the user faces left is the left, the direction in which the user faces right is the right, the direction in which the user approaches the ground is the lower, and the direction in which the user is away from the ground is the upper. Of course, the outdoor walking device 100 of the present disclosure also includes an all-terrain Vehicle 100c (UTV). Related art ATVs 100c include four-wheeled ATVs (ATV, all Terrain Vehicle), multi-function ATVs, and recreational vehicles. In addition, the outdoor walking device 100 of the present application further includes a manned snowplow, a walk-behind mower, a walk-behind snowplow 100d, an electric motorcycle, and the like.

The outdoor traveling apparatus 100 includes a vehicle body 10, a power supply mechanism 20, and a traveling mechanism 40. The vehicle body 10 includes a frame 11, the frame 11 extending substantially in the front-rear direction, the frame 11 being used for mounting the power supply mechanism 20 and the running mechanism 40. The power supply mechanism 20 is used to provide electrical energy to the power unit 30.

The running gear 40 comprises at least a running wheel set 41. The travelling wheel set 41 comprises travelling wheels 411 and 412, and the travelling wheels 411 and 412 are connected to the vehicle body 10 to support the vehicle body 10 and drive the vehicle body 10 to move.

In the present embodiment, the power supply mechanism 20 includes a battery pack 21 and a connector 22 for mounting the battery pack 21 to connect the battery pack 21 to the outdoor walking apparatus 100. The battery pack 21 supplies at least power unit 30 with power in cooperation with a corresponding power circuit. The power unit 30 outputs power to drive the traveling mechanism 40 so that the outdoor traveling apparatus 100 travels according to the operation.

The battery pack 21 is detachably connected to the connection member 22, and the connection member 22 is detachably mounted to the outdoor walking apparatus 100 so that it can be taken out to fit other electric appliances. Other powered devices include, but are not limited to, ATVs 100c, walk-behind mowers, walk-behind snowploughs 100d, and walk-behind mowers 200a. Specifically, referring to fig. 3, the power supply mechanism 20 of the outdoor walking device 100 is detachably removed from the outdoor walking device 100, and then is mounted to the all-terrain vehicle 100c, the push mower, the push snowplow 100d, the riding mower 100a, and the standing mower 100b to supply power to the electric devices to achieve the functions of the power supply devices.

As shown in fig. 4, the outdoor walking device 100 further includes a control mechanism 70, and the control mechanism 70 is used to control the operation of the outdoor walking device 100. The control mechanism 70 includes a controller 72 and a detection assembly 74.

As shown in fig. 1 and 6, the present application provides an outdoor walking apparatus 100, and the outdoor walking apparatus 100 includes a power supply mechanism 20, a walking mechanism 40, a parking brake mechanism 44, and a control mechanism 70. The running gear 40 includes running wheels and a running motor 42 that drives the running wheels to rotate. The running gear 40 includes a first running gear 40a composed of a first running wheel and a running motor assembly driving it to rotate, and a second running gear 40b composed of a second running wheel and a running motor driving it to rotate.

In the present embodiment, the running gear 40 includes a rear running wheel 411 and a front running wheel 412. The rear road wheels 411 include a left rear road wheel 411L and a right rear road wheel 411R. The front road wheels 412 include a left front road wheel 412L and a right front road wheel 412R. The traveling motor 42 drives the rear traveling wheel 411 or the front traveling wheel 412 to rotate for realizing the traveling function of the outdoor traveling apparatus 100. Alternatively, the number of travel motors 42 may be one, two, three, or four. In the present embodiment, the number of the travel motors 42 is two, and the two travel motors 42 drive the left-side rear travel wheel 411L and the right-side rear travel wheel 411R, respectively, so that the outdoor travel apparatus 100 can turn in other directions that deviate from the front-rear direction. For convenience of reference, the travel motor 42 driving the left rear travel wheel 411L is set as the first travel motor 42L, and the travel motor 42 driving the right rear travel wheel 411R is set as the second travel motor 42R. In the present embodiment, the first traveling mechanism 40a includes a left rear traveling wheel 411L and a first traveling motor 42L. The second running gear 40b includes a right rear running wheel 411R and a second running motor 42R.

The parking brake mechanism 44 is for braking rotation of the running mechanism 40. The transmission mechanisms 45L, 45R are used to convert or transmit the torque output from the motor and transmit the torque to the road wheels 411, 412. Illustratively, the park brake mechanism 44 is provided as an electromagnetic brake mechanism, alternatively, the electromagnetic brake mechanism is an electromagnetic brake 441. The electromagnetic brake mechanism will be replaced with an electromagnetic brake 441 hereinafter, but it is not intended as a limitation of the present application. The electromagnetic brake 441 is configured to brake rotation of the output shaft 423. Illustratively, the rotation of the output shaft 423 is automatically braked when the electromagnetic brake 441 is de-energized. Illustratively, when the outdoor walking apparatus 100 is powered off, the electromagnetic brake 441 will automatically brake the rotation of the output shaft 423, thereby disabling the motor-driven walking wheels 411, 412 from rotating. The electromagnetic brake 441 is arranged to realize a safer parking braking scheme in an emergency, the electromagnetic brake 441 does not depend on manual operation, and the output shaft 423 of the motor is actively braked when power is lost, so that the braking is more timely and reliable.

The park brake mechanism 44 includes a manual release assembly 442. The manual release assembly 442 is used for a user to operate to manually release the brake of the electromagnetic brake 441 or to actuate the electromagnetic brake 441 to brake the output shaft 423. So that the user can manually make a brake and release the brake setting when the electromagnetic brake 441 is not activated or deactivated for some reason. For example, when the outdoor walking device 100 is powered off and the electromagnetic brake 441 brakes the output shaft 423 due to power-off, after the outdoor walking device 100 is powered on, the electromagnetic brake 441 is powered on and started, so that the braking of the output shaft 423 is canceled, the walking motor 42 rotates the output shaft 423 after receiving the driving signal of the operation command, and the outdoor walking device 100 walks normally. However, if the electromagnetic brake 441 is not activated after the outdoor walking device 100 is powered on for some reasons, the user can manually activate the electromagnetic brake 441 through the manual release assembly 442, so that the electromagnetic brake 441 releases the brake of the output shaft 423, and the outdoor walking device 100 can walk normally.

In the present embodiment, the parking brake mechanism 44 includes a first parking brake mechanism 44a for braking rotation of the first running mechanism 40a, and a second parking brake mechanism 44b for braking rotation of the second running mechanism 40 b. The power supply mechanism 20 is configured to supply power to at least the running mechanism 40 and the parking brake mechanism 44.

As shown in fig. 7, the control mechanism 70 includes a controller 72, and the controller 72 is configured to control the parking brake mechanism 44 to switch between a braking state of the brake running mechanism 40 and an unlocking state of the release running mechanism 40. The control mechanism 70 further includes an anomaly detection circuit 74 that is coupled, including electrically and communicatively coupled, to the parking brake mechanism 44 and the controller 72. The abnormality detection circuit 74 is configured to detect a power supply input signal to the parking brake mechanism 44. The power supply input signal includes a power supply signal output by the power supply mechanism 20 and transmitted to the parking brake mechanism 44. The controller 72 is further configured to open a current loop through the parking brake mechanism 44 to control the parking brake mechanism 44 to enter a braking state in response to when the power input signal is outside of a preset range. The parking brake mechanism 44 includes an electromagnetic brake 441, among others. The controller 72 controls the switching of the braking state and the unlocking state of the parking brake mechanism 44, thereby improving the intelligentization and the use condition of the parking brake. The power supply input signal is detected by the abnormality detection circuit 74, when the power supply input signal exceeds a preset range, the power supply state of the parking brake mechanism 44 is represented to be abnormal, and then the controller 72 breaks a current loop flowing through the parking brake mechanism 44 to enable the parking brake mechanism 44 to be in a power-off state and then enter a braking state, so that the power supply safety and the operation safety of the parking brake mechanism 44 are protected.

In the present embodiment, as shown in fig. 8, the abnormality detection circuit 74 includes a current sampling circuit 75, and the current sampling circuit 75 is configured to detect a current value in a current loop of the parking brake mechanism 44. In some embodiments, when electromagnetic brake 441 is in the unlocked state, controller 72 is configured to open the current loop in response to a current of 0.2A or greater than 2A to control electromagnetic brake 441 to enter the braking state. For example, when the current value in the current loop is equal to or less than 0.2A or equal to or greater than 2A, it is indicated that a signal abnormality occurs in the current loop, unlike the state in which the electromagnetic brake 441 is powered off due to the outdoor walking device 100 being powered off, the current value in the circuit loop is abnormal, the range of the current value is not within the current range of the power-off state, and the current is equal to or less than 0.2A. In some embodiments, the range of current values is neither within the current range of the power loss state, and the current is 0.3A, 0.4A, 0.5A, 0.6A, 0.7A, 0.8A, 0.9A, 1.0A or less. In some embodiments, the signal abnormality in the characterization current loop includes not only a small current abnormality, but also an abnormality in which the current in the current loop is greater than a preset range, and, illustratively, when the current value in the current loop is greater than or equal to 2A, the abnormality in which the current in the current loop is greater than the preset range is characterized. Illustratively, when the current value in the current loop is greater than or equal to 2A, 5A, 10A, an anomaly is characterized in that the current in the current loop is greater than a preset range.

In some embodiments, the current sampling circuit 75 includes one or more of a current sensing resistor, a hall current sensor or a Metal-Oxide-semiconductor field effect transistor (MOSFET), an on-resistance, so that one or more current parameters of the bus current and the phase current of the parking brake mechanism 44 may be detected and signaled to the controller 72.

In some embodiments, the anomaly detection circuit 74 includes a voltage sampling circuit 76, the voltage sampling circuit 76 being configured to detect an input voltage to the park brake mechanism 44. In some embodiments, when electromagnetic brake 441 is in the unlocked state, controller 72 is configured to open the current loop in response to the input voltage being 2V or less or 20V or more to control electromagnetic brake 441 to enter the braking state. For example, when the voltage value of the input voltage is less than or equal to 2V or greater than or equal to 20V, it is indicated that a signal abnormality occurs in the current loop, unlike the power-off state of the electromagnetic brake 441 caused by the power-off of the outdoor walking device 100, the voltage value in the input voltage is different, the range of the voltage value is not within the voltage range of the power-off state, and the voltage value is less than or equal to 2V. In some embodiments, the range of voltage values is neither within the voltage range of the power loss state, and the voltage value is less than or equal to 5V. The range of the voltage value is not within the voltage range of the power-off state, and the voltage value is less than or equal to 7V. In some embodiments, the signal anomalies that characterize the input voltage include not only small voltage anomalies, but also anomalies that the voltage in the input voltage is greater than a preset range, and illustratively, anomalies that characterize the input voltage that has a current greater than the preset range when the voltage value in the input voltage is greater than or equal to 20V. Illustratively, when the voltage value in the input voltage is 25V or greater, an abnormality is characterized in that the current of the input voltage is greater than the preset range.

In some embodiments, the voltage sampling circuit 76 includes one or more of an electromagnetic voltage transformer, a hall voltage sensor, a divided voltage sensor, a fiber optic voltage sensor, a resistive voltage divider so that the input voltage to the parking brake mechanism 44 can be detected and the input voltage parameter signaled to the controller 72.

The control mechanism 70 further includes a driving circuit 73a, the driving circuit 73a is connected to the controller 72, and the controller 72 controls the on/off of the current loop of the electromagnetic brake 441 through the driving circuit 73 a. Illustratively, the controller 72 employs a dedicated control chip, e.g., a single-chip microcomputer, micro-control module (Microcontroller Unit, MCU). The controller 72 controls the on or off state of the switching element in the driving circuit 73a specifically through the control chip, and further controls the on/off of the current loop of the electromagnetic brake 441. Illustratively, the drive circuit 73a includes a power tube (e.g., metal-Oxide-Semiconductor Field-Effect Transistor, MOSFET) that changes its on state in response to a control signal output from the controller 72, thereby changing the voltage and/or current state of the battery pack 21 applied to the electromagnetic brake 441 to switch the braking state and the unlocking state of the electromagnetic brake 441. The controller 72 is illustratively disposed on a control circuit board 71, the control circuit board 71 comprising a printed circuit board (Printed Circuit Board, PCB) and a flexible circuit board (Flexible Printed Circuit, FPC).

In the present embodiment, the parking brake mechanism 44 also includes a first parking brake mechanism 44a and a second parking brake mechanism 44b, respectively, for the outdoor traveling apparatus 100 having the first traveling mechanism 40a and the second traveling mechanism 40 b. The first parking brake mechanism 44a is for braking rotation of the first running mechanism 40a, and the second parking brake mechanism 44b is for braking rotation of the second running mechanism 40 b. The corresponding parking brake mechanism 44 and the running mechanism 40 make the control of the running more reliable, and when different running mechanisms 40 have different conditions, the parking brake mechanism 44 can provide corresponding braking force according to different rotating speeds and the like. Braking is more reliable.

As shown in fig. 9, the control mechanism 70 is configured to control the parking brake mechanism 44 to switch between a braking state of the brake running mechanism 40 and an unlocking state of the release running mechanism 40. The control mechanism 70 is also provided with a first abnormality detection circuit 74a and a second abnormality detection circuit 74b. Wherein the first anomaly detection circuit 74a is coupled to the first park brake mechanism 44a and the controller 72, including an electrical connection and a communication connection. The first abnormality detection circuit 74a is configured to detect a first power supply input signal to the first parking brake mechanism 44 a. The second abnormality detection circuit 74b is configured to detect a second power supply input signal to the second parking brake mechanism 44 b. The controller 72 is configured to control the first and second parking brake mechanisms 44a and 44b to enter a braking state, respectively, when the first power supply input signal exceeds a preset range. Optionally, the controller 72 is configured to control the first and second parking brake mechanisms 44a, 44b to enter the braking state, respectively, when the second power supply input signal is outside a preset range. In the present embodiment, the controller 72 controls the first parking brake mechanism 44a and the second parking brake mechanism 44b to enter the braking states, respectively, based on any one of the power supply input signals exceeding a preset range.

In this embodiment, when a plurality of parking brake mechanisms 44 are provided, when it is detected that any one of the parking brake mechanisms 44 generates abnormal power supply, the plurality of parking brake mechanisms 44 respectively enter a braking state, so as to ensure the parking stability of the outdoor walking equipment 100 and ensure the walking safety of the outdoor walking equipment 100.

The first parking brake mechanism 44a includes an electromagnetic brake 441, among others. The second parking brake mechanism 44b includes an electromagnetic brake 441. For ease of reference, the first parking brake mechanism 44a includes an electromagnetic brake 441. The second parking brake mechanism 44b includes an electromagnetic brake 441.

In the present embodiment, the first abnormality detection circuit 74a includes a current sampling circuit 75, and the current sampling circuit 75 is configured to detect a current value in a current loop of the first parking brake mechanism 44 a. In some embodiments, when magnetic brake 441 is in the unlocked state, controller 72 is configured to open the current loop in response to a current of 0.2A or greater than 2A to control magnetic brake 441 to enter the braking state. For example, when the current value in the current loop is equal to or less than 0.2A or equal to or greater than 2A, it is indicated that a signal abnormality occurs in the current loop, unlike the state in which the electromagnetic brake 441 is powered off due to the outdoor walking device 100 being powered off, the current value in the circuit loop is abnormal, the range of the current value is not within the current range of the power-off state, and the current is equal to or less than 0.2A. In some embodiments, the range of current values is neither within the current range of the power loss state, and the current is 0.3A, 0.4A, 0.5A, 0.6A, 0.7A, 0.8A, 0.9A, 1.0A or less. In some embodiments, the signal abnormality in the characterization current loop includes not only a small current abnormality, but also an abnormality in which the current in the current loop is greater than a preset range, and, illustratively, when the current value in the current loop is greater than or equal to 2A, the abnormality in which the current in the current loop is greater than the preset range is characterized. Illustratively, when the current value in the current loop is greater than or equal to 2A, 5A, 10A, an anomaly is characterized in that the current in the current loop is greater than a preset range.

In some embodiments, the first anomaly detection circuit 74a includes a voltage sampling circuit 76, the voltage sampling circuit 76 being configured to detect an input voltage to the first park brake mechanism 44 a. In some embodiments, controller 72 is configured to open the current loop to control magnetic brake 441 to enter the braking state in response to the input voltage being 2V or less or 20V or more when magnetic brake 441 is in the unlocked state. For example, when the voltage value of the input voltage is less than or equal to 2V or greater than or equal to 20V, it is indicated that a signal abnormality occurs in the current loop, unlike the power-off state of the electromagnetic brake 441 caused by the power-off of the outdoor walking device 100, the voltage value in the input voltage is different, the range of the voltage value is not within the voltage range of the power-off state, and the voltage value is less than or equal to 2V. In some embodiments, the range of voltage values is neither within the voltage range of the power loss state, and the voltage value is less than or equal to 5V. The range of the voltage value is not within the voltage range of the power-off state, and the voltage value is less than or equal to 7V. In some embodiments, the signal anomalies that characterize the input voltage include not only small voltage anomalies, but also anomalies that the voltage in the input voltage is greater than a preset range, and illustratively, anomalies that characterize the input voltage that has a current greater than the preset range when the voltage value in the input voltage is greater than or equal to 20V. Illustratively, when the voltage value in the input voltage is 25V or greater, an abnormality is characterized in that the current of the input voltage is greater than the preset range.

In some embodiments, the second anomaly detection circuit 74b is the same sampling circuit as the first anomaly detection circuit 74 a. For example, the first abnormality detection circuit 74a is a current sampling circuit 75, and the second abnormality detection circuit 74b is a current sampling circuit 75. For example, the first abnormality detection circuit 74a is a voltage sampling circuit 76, and the second abnormality detection circuit 74b is a voltage sampling circuit 76. In some embodiments, the second anomaly detection circuit 74b is a different sampling circuit than the first anomaly detection circuit 74 a. For example, the first abnormality detection circuit 74a is a current sampling circuit 75, and the second abnormality detection circuit 74b is a voltage sampling circuit 76. For example, the first abnormality detection circuit 74a is a voltage sampling circuit 76, and the second abnormality detection circuit 74b is a current sampling circuit 75.

In some embodiments, after breaking the current loop through the parking brake mechanism 44 to control the parking brake mechanism 44 to enter a braking state when the power input signal exceeds the preset range, the user needs to release the braking state of the parking brake mechanism 44 using the manual release assembly 442 and restart the outdoor walking apparatus 100. In some embodiments, restarting the outdoor unit 100 will automatically enter a low speed travel state, and after the controller 72 no longer receives a signal command that the power input signal is outside the preset range, the controller 72 will control the running gear 40 to enter a normal travel state.

In some embodiments, the outdoor walking device 100 further comprises a human-machine interaction mechanism 60 for issuing an abnormality alert. Details of the human-machine interaction mechanism 60 will be described in detail below. The man-machine interaction mechanism 60 is connected to the controller 72, and when the abnormality detection circuit 74 detects that the power supply input signal of the parking brake mechanism 44 exceeds the preset range, the controller 72 controls the man-machine interaction mechanism 60 to send out an abnormality alarm prompt, including but not limited to, static, dynamic display, sound or light prompt, etc.

The outdoor walking device 100 provided by the present application, the controller 72 is also used to control the running state of the walking motor 42. As shown in fig. 10, the driving circuit 73b is connected to the controller 72, and the controller 72 controls the on/off of the current circuit of the travel motor 42 through the driving circuit 73 b. The controller 72 controls the on or off state of the switching element in the driving circuit 73b, and thus controls the current applied to the travel motor 42, specifically by a control chip, for example. Illustratively, the drive circuit 73b includes a plurality of power transistors (e.g., Q1, Q2, Q3, Q4, Q5, and Q6) that change an on state according to a control signal output from the controller 72, thereby changing a voltage and/or current state of the battery pack 21 loaded on the travel motor 42 to control the operation of the travel motor 42. The driver circuit 73b may be a three-phase bridge driver circuit including six controllable semiconductor power devices (e.g., field effect transistors (FIELD EFFECT transistors, FETs), bipolar junction transistors (Bipolar Junction Transistor, BJTs), insulated gate bipolar transistors (Insulated Gate Bipolar Transistor, IGBTs), etc.). It will be appreciated that the switching elements described above may also be any other type of solid state switch, such as IGBTs, BJTs, etc.

The controller 72 is further configured to control the parking brake mechanism 44 to enter a braking state upon receiving a braking instruction, and in the braking state, acquire a parameter related to the current of the travel motor 42 and output a reverse control signal to the drive circuit 73b to control the travel motor 42 based on the parameter. By detecting the current related parameters of the travel motor 42, when it is determined that the current of the travel motor 42 is abnormal in a braking state, the travel motor 42 is braked by the control of the reverse rotation of the controller 72, so that when the parking brake mechanism 44 is disabled or abnormal, the outdoor travel equipment 100 cannot be braked to cause abnormal vehicle speed, and the safety problem is caused, thereby causing damage to the outdoor travel equipment 100 and personnel. At the same time, no additional sensor or sensing element is required to characterize the braking anomaly with the current related parameters of the travel motor 42 in terms of the sensor or sensing element that senses the parameters. In the present embodiment, the controller 72 outputs a reverse rotation control signal to the motor to brake the motor, and the parking brake mechanism 44 is always in a braking state.

In the present embodiment, the parking brake mechanism 44 includes an electromagnetic brake 441, and switching of the braking state and the unlocking state of the parking brake mechanism 44 is controlled by the controller 72. When the electromagnetic brake 441 is powered down, rotation of the output shaft 423 is automatically braked, and the electromagnetic brake 441 enters a braking state.

In this embodiment, control mechanism 70 includes a detection assembly 74, detection assembly 74 being configured to detect a current-related parameter of travel motor 42. Illustratively, the detection component 74 is configured to detect a phase current of the travel motor 42, and the controller 72 determines that an abnormality has occurred in the braking of the parking brake mechanism 44, i.e., the electromagnetic brake 441, when it is determined that the phase current related parameter of the travel motor 42 is greater than or equal to a preset threshold value. Optionally, a braking failure of the output shaft 423 by the electromagnetic brake 441 is determined. In some embodiments, detection component 74 includes one or more of a current sensing resistor, a hall current sensor, or a Metal-Oxide-semiconductor field effect transistor (MOSFET), an on-resistance, such that a phase current related parameter of travel motor 42 of travel mechanism 40 may be detected and signaled to controller 72. It is understood that the phase current related parameter is logically processed by the detected phase current, for example, calculating a change rate, calculating an integrated value of the change rate, and the like. In some embodiments, the phase current related parameters are logically processed by the detected phase current, such as by well known formulas, to obtain output power, output torque, motor commutation parameters, etc.

In some embodiments, the detection component 74 is configured to detect a degaussing time of the windings of the travel motor 42, and the controller 72 obtains the degaussing time of the windings of the travel motor 42, estimates a phase current using the degaussing time via a stored algorithm, and obtains a phase current related parameter of the travel motor 42 of the travel mechanism 40.

In some embodiments, detection component 74 is configured to detect a degaussing time of windings of travel motor 42, and controller 72 determines that braking of parking brake mechanism 44, i.e., electromagnetic brake 441, is abnormal when it is determined that a degaussing time related parameter of windings of travel motor 42 is greater than or equal to a preset threshold. Optionally, a braking failure of the output shaft 423 by the electromagnetic brake 441 is determined.

In the present embodiment, the travel motor 42 is specifically a first travel motor 42L and/or a second travel motor 42R. This is related to the number of travel motors 42 provided for the outdoor travel apparatus 100, the number of rotating travel motors 42 braked by the parking brake mechanism 44.

As shown in fig. 11, the parking brake mechanism 44 includes a first parking brake mechanism 44a for braking rotation of the first running mechanism 40a, and a second parking brake mechanism 44b for braking rotation of the second running mechanism 40 b. Taking the first parking brake mechanism 44a as an example, the first parking brake mechanism 44a includes an electromagnetic brake 441, and the first traveling mechanism 40a includes a first traveling motor 42L and a left rear traveling wheel 411L. The controller 72 detects the phase current of the first travel motor 42L through the detection assembly 74, the detection assembly 74 sends the phase current of the first travel motor 42L to the controller 72 in the form of a signal, and when the controller 72 determines that the phase current is greater than or equal to a preset threshold value, the controller 72 determines that the braking of the first parking brake mechanism 44a, i.e., the electromagnetic brake 441 is abnormal. The controller 72 outputs a control signal for reversing the first travel motor 42L to brake the first travel motor 42L and stop the rotation of the left rear travel wheel 411L. When the parking brake mechanism 44 is disabled or abnormal, the outdoor traveling equipment 100 cannot brake to cause abnormal vehicle speed, so that safety problems are caused, and the outdoor traveling equipment 100 and personnel are damaged. In this embodiment, the preset threshold is 50A or more. In this embodiment, the preset threshold is 40A or more. In this embodiment, the preset threshold is 55A or more. In this embodiment, the preset threshold is 60A or more.

In the present embodiment, the controller 72 outputs a control signal for reversing the first travel motor 42L to reverse the first travel motor 42L at a constant speed, or a preset acceleration, or a preset torque, thereby generating braking of the first travel motor 42L. In some embodiments, the controller 72 outputs a control signal that reverses the first travel motor 42L to reverse the first travel motor 42L at a fixed preset speed, or acceleration, or torque. In some embodiments, controller 72 outputs a control signal that reverses first travel motor 42L to reverse first travel motor 42L at a dynamically adjusted speed, or acceleration, or torque. The controller 72 dynamically adjusts the speed, the acceleration, or the torque of the inversion of the first traveling motor 42L based on the phase current data of the first traveling motor 42L, so that the first traveling motor 42L dynamically adjusts the magnitude of the inversion signal according to the operation condition, and the adjustment is more intelligent and can perform braking control on the first traveling motor 42L according to the operation condition. Illustratively, the controller 72 is configured to control the drive circuit 73b to short brake the first travel motor 42L at a fast speed upon receiving a braking command. In the present embodiment, the first traveling motor 42L is a three-phase brushless motor, and the controller 72 is further configured to control the driving circuit 73b to cause the first traveling motor 42L to perform three-phase short-circuit braking upon receiving a braking instruction.

In some embodiments, second parking brake mechanism 44b includes an electromagnetic brake 441 and second travel mechanism 40b includes a second travel motor 42R and a right rear travel wheel 411R. The controller 72 controls the second parking brake mechanism 44b in the same control method as the first parking brake mechanism 44 a. In the present embodiment, the controller 72 detects the phase currents of the first traveling motor 42L and the second traveling motor 42R by the detection module 74, the detection module 74 sends the phase currents of the first traveling motor 42L and the second traveling motor 42R to the controller 72 in the form of signals, respectively, and the controller 72 determines that the braking is abnormal when the controller 72 determines that the phase current of any one of the first traveling motor 42L and the second traveling motor 42R is greater than or equal to a preset threshold. The controller 72 outputs a control signal for reversing the first travel motor 42L and the second travel motor 42R to stop the rotation of the left rear travel wheel 411L and the right rear travel wheel 411R. When any one of the parking brake mechanisms 44 is disabled or abnormal, the outdoor traveling equipment 100 cannot be braked to generate abnormal vehicle speed, so that safety problems are caused, the outdoor traveling equipment 100 and personnel are damaged, and the first traveling motor 42L and the second traveling motor 42R are braked as long as the controller 72 determines that any one of the parking brake mechanisms 44 is disabled or abnormal.

In some embodiments, the brake command is output by a user operation. For example, the user operates to de-energize the electromagnetic brake 441 of the parking brake mechanism 44 to enter a braking state. In some embodiments, the braking instructions are output by the control device upon failure of the outdoor unit 100. For example, the abnormality detection circuit 74 of the control device detects that the power supply input signal exceeds the preset range, and outputs a braking instruction to the controller 72 to enter a braking state.

As shown in fig. 12, the present application also provides a control method of braking failure or abnormality of the parking brake mechanism 44 of the outdoor walking device 100 based on the same concept. The control scheme of the outdoor walking device 100 includes the steps of:

s101, receiving a braking instruction.

S102, controlling the parking brake mechanism to enter a braking state according to a braking instruction.

S103, acquiring parameters related to the current of the motor.

S104, outputting a reverse control signal to the driving circuit based on the current related parameter of the motor to control the motor.

By detecting the current related parameter of the motor, when it is determined that the current of the motor is abnormal in the braking state, the motor is braked by the control of the reverse rotation of the controller 72, so that the outdoor traveling apparatus 100 cannot brake to generate abnormal vehicle speed when the parking brake mechanism 44 is invalid or abnormal, thereby causing a safety problem and causing damage to the outdoor traveling apparatus 100 and personnel.

As shown in fig. 13, another control method for braking failure or abnormality of the parking brake mechanism of the outdoor walking device 100 is disclosed, and the specific steps of the control method are as follows:

S201, receiving a braking instruction, and enabling the outdoor walking equipment to enter a shutdown state.

S202, controlling the parking brake mechanism to enter a braking state according to a braking instruction.

The parking brake mechanism 44 continues to brake the rotation of the running gear 40. The parking brake mechanism 44 includes an electromagnetic brake 441, and the controller 72 controls a power supply state of the electromagnetic brake 441, and thus controls a braking state and an unlocking state of the parking brake mechanism 44. When the electromagnetic brake 441 enters a braking state, the controller 72 controls the electromagnetic brake 441 to be deenergized, and the electromagnetic brake 441 restricts the rotation of the rotor 422 of the travel motor 42.

S203, acquiring parameters related to phase currents of the motor.

The phase current related parameter is subjected to logic processing by the detected phase current, such as calculating a change rate, calculating an integrated value of the change rate, and the like.

S204, generating a quadrature component Iq of the current by using the phase current parameters;

In the present embodiment, the controller walks the motor 42 using a vector control (FOC), and it is known in the related art that in the control of the motor by the FOC control, the three-phase current of the motor can be decomposed into two components, i.e., a direct axis component Id of the current and an intersecting axis component Iq of the current. Wherein the control of the direct axis component of the current, i.e. the direct axis current, is mainly used for controlling the magnetic flux of the motor. The control of the quadrature component of the current, i.e. the quadrature current, is mainly used to control the torque of the motor.

S205, determining that the quadrature component Iq of the current is greater than a preset threshold, if yes, executing S206, and if no, executing S201.

When determining that the quadrature component Iq > of the current is preset to a threshold, the quadrature component Iq > of the current is exemplified as >100. The controller 72 determines that the braking of the parking brake mechanism 44, i.e., the electromagnetic brake 441, is abnormal. Optionally, a braking failure of the output shaft 423 by the electromagnetic brake 441 is determined.

S206, the controller enters position loop control.

The loop is a closed loop feedback, the position loop is that the difference between the target and the current position is reflected by the motor encoder and transmitted back to the controller 72, and the function of the position loop is to generate a speed command of the motor and enable the motor to be accurately positioned and tracked.

S207, automatically adjusting the torque of the walking motor and braking the rotor of the walking motor.

In the present embodiment, the controller 72 automatically adjusts the torque of the travel motor 42 based on the state of the phase current or the quadrature current of the travel motor 42. Illustratively, the controller 72 controls the travel motor 42 to output a negative torque, which in turn brakes the rotor 422 of the travel motor 42.

Referring to fig. 2 and 14 to 15, the outdoor walking apparatus 100 of the present application further includes a man-machine interaction mechanism 60. In this embodiment, the outdoor walking device 100 includes a display device 60a for feeding back, i.e., information prompting, to the user. The display device 60a may be, for example, an audio prompter, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, an Organic Light Emitting Diode (OLED) display, or an organic Electroluminescent (EL) display. The display device 60a includes a display screen 61, a switch assembly 61b, and a plurality of operation keys 61c. In some embodiments, the display device 60a includes a touch screen or a touch screen, so that the switch assembly 61b and the plurality of operation keys 61c are combined on the screen. Touch screens or touch screens include resistive, capacitive, infrared, and surface acoustic wave touch screens. In the present embodiment, the display screen 61 reflects the operation state of the outdoor walking device 100 on the display interface 61 a. The display interface 61a is understood as a display area directly observed by the user.

The display interface 61a may display different status information as desired, for example, as described above, the controller 72 displays the status of the position of the handle 442a of the manual release assembly 442 via the display interface 61 a. For example, when it is detected that the handle 442a of the manual release assembly 442 is in the unlocked position, the controller 72 displays a warning alert through the display interface 61a prompting the user to reset the handle 442a, may appear in the display interface 61a for a graphic representation of the handle 442a, may be illuminated for a graphic representation of the handle 442a, may flash for a graphic representation of the handle 442a, or may be displayed in a special color, etc. For example, the display interface 61a is provided with different display contents indicating different position states of the handle 442a, and a user can clearly distinguish which position state the handle 442a is in from the different display contents.

For another example, an abnormality alert may be displayed that characterizes an abnormality in the power state of the parking brake mechanism 44 when the power input signal exceeds a preset range. An abnormality warning indication that the braking function of the parking brake mechanism 44 is abnormal is displayed when the current of the motor is abnormal in the braking state. Other warning information and fault information are not specifically listed here. The above abnormality alert prompt includes a chart lighting, a chart blinking, or a special color display of the display interface 61 a. Of course, the method also comprises the steps of displaying special codes, special symbols and the like and prompting known alarm contents according to the instruction book.

For another example, the display interface 61a may display information such as the traveling speed of the traveling mechanism 40, the rotational speed of the working element, the energy efficiency state of the outdoor traveling device 100, and the state of normal braking or release of the remaining power information of the battery pack 21. And, parking or parking prompt, parking release or start prompt, etc. by the outdoor walking apparatus 100 according to the user operation instruction.

In the traveling mechanism 40 of the outdoor traveling apparatus 100 shown in fig. 1 to 4 and fig. 16 to 17, the first traveling mechanism 40a includes a left rear traveling wheel 411L and a first traveling motor 42L. The second running gear 40b includes a right rear running wheel 411R and a second running motor 42R. The first travel motor 42L and the second travel motor 42R independently drive the left rear travel wheel 411L and the right rear travel wheel 411R, respectively. The outdoor walking device 100 has a heavy weight of itself, for example, more than 500kg. The outdoor walking equipment 100 provided by the application has high running speed, for example, the running speed is greater than or equal to 19.5Km/h, when a heavy object is dragged at a high speed or sudden acceleration and deceleration is performed, the output power of the walking motor 42 is too high for the walking motor 42, and the outdoor walking equipment 100 powered by the direct current battery pack 21 is easy to cause damage to the battery pack 21.

In the present embodiment, the controller 72 is configured to control the operations of the first and second travel motors 42L and 42R, respectively, based on the input first and second target rotational speeds. A power limiting unit 79 for limiting the input power of the first traveling motor 42L or the second traveling motor 42R is also included.

Since the outdoor traveling apparatus 100 is provided with the first traveling motor 42L and the second traveling motor 42R that are independently controlled, if the first traveling motor 42L or the second traveling motor 42R is power-limited by the power limiting unit 79, in order to avoid steering runaway of the outdoor traveling apparatus 100, the power limitation between the first traveling motor 42L and the second traveling motor 42R should be cooperatively controlled.

In the present embodiment, the controller 72 is configured to control the first traveling motor 42L to enter the power limiting mode by the power limiting unit 79 when the electric parameter of the first traveling motor 42L satisfies the preset condition, and output the corresponding rotation speed attenuation factor based on the rotation speed of the first traveling motor 42L in the power limiting mode. The second target rotation speed is corrected based on the rotation speed attenuation factor to drive the rotation of the second travel motor 42R.

As known in the related art, p=at×n, where a is a constant, T is an output torque of the motor, and N is an output rotation speed of the motor. From the above formula, the output torque T of the motor is proportional to the motor power P, and the torque T is inversely proportional to the output rotation speed N of the motor. Thus, the motor output torque is ensured, and the rotational speed is reduced when the power exceeds a threshold value.

During the use of the actual outdoor walking device 100, when the power clipping occurs in one side motor (for example, the first walking motor 42L), the controller 72 on the side where the power clipping occurs (for example, the first walking motor 42L side) will send the current power occurrence state and the speed attenuation factor of the speed before the speed is relatively unattenuated to the controller 72 on the opposite side motor (for example, the second walking motor 42R) through the bus (the acceleration sending frequency), and the controller 72 on the opposite side (for example, the second walking motor 42R) will gradually change the current speed to the given speed of the current passing speed attenuation factor according to the received speed attenuation factor as the speed attenuation factor controlled by the target speed. The output torque of the walking motor 42 is ensured, when the power of the walking motor 42 exceeds the threshold value according to the fact that the electric parameter of the walking motor 42 meets the preset condition, the power limiting unit 79 is used for limiting the power of the walking motor 42, and further the rotation speed difference of the first walking motor 42L and the second walking motor 42R is ensured to be within a certain range, so that the running safety of the outdoor walking equipment 100 is ensured.

In some embodiments, the controller 72 is configured to control the first traveling motor 42L to enter the power limiting mode via the power limiting unit 79 when the bus current of the first traveling motor 42L is equal to or greater than the current threshold. In this embodiment, the control mechanism 70 includes a detection assembly 74 coupled to the controller 72, the detection assembly 74 being configured to detect the bus current of the first travel motor 42L. In some embodiments, the sensing component 74 includes one or more of a current sensing resistor, a hall current sensor or a Metal-Oxide-semiconductor field effect transistor (MOSFET), an on-resistance, such that a bus current related parameter of the first conveyor 42L may be sensed and signaled to the controller 72. It is understood that the bus current-related parameter includes performing logic processing such as calculating a change rate, calculating an integrated value of a change rate, and the like by the detected bus current.

Illustratively, the detection component 74 detects the bus current of the first stepper motor 42L, signals the detected data of the bus current to the controller 72, and after the controller 72 determines that the bus current of the first stepper motor 42L is greater than or equal to the current threshold, controls the first stepper motor 42L to enter the power limiting mode via the power limiting unit 79. Optionally, in the power limiting mode, the running speed of the first running motor 42L is reduced, and in the power limiting mode, the running speed of the first running motor 42L is a first current limiting speed, and illustratively, the first current limiting speed is dynamically adjusted according to the state of the bus current of the first running motor 42L. The first current-limiting rotational speed includes a plurality of preset rotational speeds, and a corresponding preset rotational speed value of the first current-limiting rotational speed is correspondingly selected according to a state of the bus current of the first traveling motor 42L.

In some embodiments, the power limiting unit 79 is an arithmetic unit of the controller 72. In some embodiments, the power limiting unit 79 is a stand-alone control chip, such as a single-chip microcomputer, a micro-control module (Microcontroller Unit, MCU), or the like. The above is not intended to limit the essential aspects of the present application.

In the present embodiment, the controller 72 is further configured to output a speed decay factor based on the first target speed and the first limited-current speed in the power limiting mode. Optionally, the speed decay factor is output by a ratio of the first target speed to the first limited speed. Optionally, an attenuation factor calculation model is established through the first target rotational speed and the first current limiting rotational speed, and a corresponding operation model is stored in the controller 72, so that the corresponding attenuation factor is adjusted through different first target rotational speeds and different first current limiting rotational speeds.

In the present embodiment, after the first travel motor 42L exits the power limiting mode, the controller 72 decreases the rotational speed reduction factor of the second travel motor 42R according to a defined procedure so that the second travel motor 42R also exits the power limiting mode. Optionally, the rotational speed attenuation factor is reduced to further reduce the difference between the second limiting rotational speed of the second walking motor 42R in the power limiting mode and the second target rotational speed, so as to gradually restore the rotational speed of the second walking motor 42R to the second target rotational speed.

In some embodiments, the controller 72 may also be configured to control the second traveling motor 42R to enter the power limiting mode through the power limiting unit 79 when the electrical parameter of the second traveling motor 42R satisfies the preset condition, and output a corresponding rotational speed attenuation factor based on the rotational speed of the second traveling motor 42R in the power limiting mode. The first target rotational speed is corrected based on the rotational speed attenuation factor to drive the rotation of the first travel motor 42L.

In some embodiments, the controller 72 is configured to control the first and second travel motors 42L, 42R to enter the power limiting mode respectively by the power limiting unit 79 when the electrical parameter of the first travel motor 42L meets the preset condition while the electrical parameter of the second travel motor 42R meets the preset condition, output a corresponding first rotational speed damping factor based on the rotational speed of the first travel motor 42L in the power limiting mode, output a corresponding second rotational speed damping factor based on the rotational speed of the second travel motor 42R in the power limiting mode, determine that the first rotational speed damping factor is greater than the second rotational speed damping factor, and correct the second target rotational speed based on the first rotational speed damping factor to drive the rotation of the second travel motor 42R. Or determining that the second rotational speed reduction factor is greater than the first rotational speed reduction factor, correcting the first target rotational speed based on the second rotational speed reduction factor to drive the rotation of the first travel motor 42L. And further, the difference in rotation speed between the first traveling motor 42L and the second traveling motor 42R is ensured within a certain range, thereby ensuring the traveling safety of the outdoor traveling apparatus 100.

Based on the same concept, the outdoor traveling apparatus 100 includes a power limiting unit 79 to limit the input power of the first traveling motor 42L or the second traveling motor 42R. The controller 72 is configured to control the first traveling motor 42L to enter a power limiting mode and to reduce the rotation speed of the second traveling motor 42R by the power limiting unit 79 when the electric parameter of the first traveling motor 42L satisfies a preset condition. Or the controller 72 is configured to control the second travel motor 42R to enter the power limiting mode and to reduce the rotation speed of the first travel motor 42L by the power limiting unit 79 when the electrical parameter of the second travel motor 42R satisfies a preset condition. Or the controller 72 is configured to control the first traveling motor 42L and the second traveling motor 42R to enter into the power limiting mode respectively by the power limiting unit 79 when the electric parameter of the first traveling motor 42L satisfies the preset condition while the electric parameter of the second traveling motor 42R satisfies the preset condition, determine that the first current limiting rotational speed of the first traveling motor 42L is smaller than the second current limiting rotational speed of the second traveling motor 42R, and the controller 72 decreases the rotational speed of the second traveling motor 42R.

In the present embodiment, the controller 72 independently controls the first travel motor 42L and the second travel motor 42R, respectively. In some embodiments, control is performed using dual controllers 72, and the controller 72 is illustratively provided using a dual MCU arrangement wherein the dual controllers 72 independently control the first and second travel motors 42L, 42R, respectively. It will be appreciated that the dual controller 72 may be disposed on the same control circuit board, or the dual controller 72 may be disposed on two control circuit boards, respectively. The two controllers are communicatively connected to each other, and the first travel motor 42L and the second travel motor 42R are cooperatively controlled when the rotational speed and the power are changed as described above.

In some embodiments, the controller 72 employs an algorithmic approach to independently control the first and second travel motors 42L, 42R. And the first travel motor 42L and the second travel motor 42R are coordinated and controlled by an algorithm when the rotational speed, the power, and the like are varied as described above.

As shown in fig. 18, the present application also provides a control method of the outdoor walking device 100 based on the same concept. The control method of the outdoor walking device 100 includes the steps of:

And S301, respectively controlling the operation of the first walking motor and the second walking motor based on the input first target rotating speed and the second target rotating speed.

S302, when the electric parameter of the first traveling motor meets the preset condition, the first traveling motor is controlled to enter a power limiting mode through the power limiting unit.

And S303, outputting a corresponding rotation speed attenuation factor based on the rotation speed of the first walking motor in the power limiting mode.

And S304, correcting the second target rotating speed based on the rotating speed attenuation factor to drive the second walking motor.

The outdoor traveling equipment 100 is prevented from damaging the battery pack 21 due to the excessive output power of the traveling motor 42 when dragging heavy objects at high speed or accelerating and decelerating suddenly. The output torque of the walking motor 42 is ensured, when the power of the walking motor 42 exceeds the threshold value according to the fact that the electric parameter of the walking motor 42 meets the preset condition, the power limiting unit 79 is used for limiting the power of the walking motor 42, and further the rotation speed difference of the first walking motor 42L and the second walking motor 42R is ensured to be within a certain range, so that the running safety of the outdoor walking equipment 100 is ensured.

As shown in fig. 19, another control method of the outdoor walking device 100 is disclosed. The control method of the outdoor walking equipment comprises the following steps:

S401, respectively controlling the operation of the first walking motor and the second walking motor based on the input first target rotating speed and the second target rotating speed.

S402, the electric parameters of the first walking motor (or the second walking motor) meet the preset conditions, and the electric parameters of the second walking motor (or the first walking motor) do not meet the preset conditions, if yes, S403 is executed, and if not, S401 is executed.

S403 controlling the first traveling motor (or the second traveling motor) to enter a power limiting mode by the power limiting unit.

S404, outputting a corresponding rotation speed attenuation factor based on the rotation speed of the first walking motor (or the second walking motor) in the power limiting mode.

And S405, correcting the second target rotating speed (or the first target rotating speed) based on the rotating speed attenuation factor to drive a second traveling motor (a first traveling motor).

S406, the electric parameters of the first walking motor (or the second walking motor) still meet the preset conditions, and the electric parameters of the second walking motor (or the first walking motor) do not meet the preset conditions, if yes, S403 is executed, and if not, S407 is executed.

And S407, the first walking motor (or the second walking motor) exits the power limiting mode.

And S408, the controller reduces the rotation speed attenuation factor of the second walking motor according to the defined program so as to enable the second walking motor to exit the power limiting mode.

As shown in fig. 20, another control method of the outdoor traveling apparatus 100 is disclosed, in which electric parameters of the first traveling motor 42L and the second traveling motor 42R each satisfy a preset condition. The control method of the outdoor walking device 100 includes the steps of:

S501, controlling the operation of the first walking motor and the second walking motor respectively based on the input first target rotating speed and the second target rotating speed.

S502, the electric parameters of the first walking motor meet the preset conditions, and the electric parameters of the second walking motor meet the preset conditions, if yes, S503 is executed, and if no, S501 is executed.

S503, controlling the first traveling motor and the second traveling motor to enter a power limiting mode respectively through the power limiting unit.

S504, outputting a corresponding first rotational speed attenuation factor based on the rotational speed of the first walking motor in the power limiting mode, and outputting a corresponding second rotational speed attenuation factor based on the rotational speed of the second walking motor in the power limiting mode.

S505, determining that the first rotational speed attenuation factor is larger than the second rotational speed attenuation factor, if yes, executing S506, and if not, executing S507.

And S506, correcting the second target rotating speed based on the first rotating speed attenuation factor to drive the second walking motor to rotate.

And S507, correcting the first target rotating speed based on the second rotating speed attenuation factor to drive the first walking motor to rotate.

S508, the electric parameters of the first walking motor still meet the preset conditions, if yes, S506 is executed, and if not, S510 is executed.

S509, if the electric parameters of the second walking motor still meet the preset conditions, executing S507, and if not, executing S510.

S510, the first walking motor and the second walking motor exit from the power limiting mode.

As shown in fig. 1 to 4 and 21, the outdoor walking apparatus 100 provided by the present application includes a power supply mechanism 20, a walking mechanism 40, and a control mechanism 70. The power supply mechanism 20 includes a battery pack 21, and the power supply mechanism 20 includes at least one battery pack 21, as an example. The running gear 40 includes running wheels and a running motor 42 that drives the running wheels to rotate. The travel motor 42 is provided as an electric motor. The battery pack 21 supplies at least the motor. In the present embodiment, an inner rotor brushless motor is taken as an example, and a motor will be replaced with a motor hereinafter, but this is not a limitation of the present application.

Alternatively, the number of travel motors 42 may be one, two, three, or four. In the present embodiment, the number of the travel motors 42 is two, and the two travel motors 42 drive the left-side rear travel wheel 411L and the right-side rear travel wheel 411R, respectively, so that the outdoor travel apparatus 100 can turn in other directions that deviate from the front-rear direction. For convenience of reference, the travel motor 42 driving the left rear travel wheel 411L is set as the first travel motor 42L, and the travel motor 42 driving the right rear travel wheel 411R is set as the second travel motor 42R.

The first travel motor 42L is exemplified, and the first travel motor 42L includes a stator 421 and a rotor 422. In some embodiments, the first traveling motor 42L is a three-phase brushless motor including a rotor 422 with permanent magnets and electronically commutated three-phase stator 421 windings U, V, W. In some embodiments, star connections are used between three-phase stator 421 windings U, V, W, and in other embodiments, angular connections are used between three-phase stator 421 windings U, V, W. However, it must be understood that other types of brushless motors are also within the scope of the present disclosure. Brushless motors may include fewer or more than three phases.

The Control of the first travel motor 42L mainly employs a field-oriented Control (FOC) strategy in which the position of the motor rotor 422 needs to be detected in order to ensure the normal operation of the motor. In the related art, the motor rotor 422 position detection method generally includes a position sensor detection method and a no-position sensor detection method. The sensorless detection method is by the back electromotive force method. There are position sensor sensing algorithms that detect the position of rotor 422, either directly or indirectly, through various types of sensors. In practical product applications, one of the position sensor detection method or the sensorless detection method is generally selected for rotor position detection.

In this embodiment, the control mechanism 70 further includes a position sensor 77. The position sensor 77 is used to detect the rotational position of the rotor 422 based on a change in the electric field associated with the rotation of the rotor 422. The control mechanism 70 further includes a position estimation unit 78a. The position estimation unit 78a is configured to be able to estimate the rotational position of the rotor 422 based on the current-related parameter of the first traveling motor 42L.

As shown in fig. 22 to 23, the controller 72 is configured to detect a difference between a first rotational position obtained by the position sensor 77 when the first travel motor 42L rotates and a second rotational position obtained by the position estimation unit 78a, and calculate a correction value based on the difference to correct the first rotational position obtained by the position sensor 77. In the present embodiment, the position sensor 77 includes an eddy current sensor. The motor rotor position is detected by using an eddy current sensor with a change in an electric field instead of an electromagnetic sensor with a change in a magnetic field, and the motor rotor position detection device has high anti-interference capability. Meanwhile, the position estimation unit 78a is used for carrying out non-inductive detection on the position of the motor rotor 422 by using the current related parameters, and the position detection value of the eddy current sensor is corrected by using the accuracy of the non-inductive detection, so that the accuracy and the anti-interference degree of the position sensor 77 on the detection on the rotating position of the rotor 422 are further ensured. In the present embodiment, "difference" includes a difference in value between the first rotational position and the second rotational position, and also includes an average value or a calculated value of the difference between the first rotational position and the second rotational position, for example, a difference obtained by a single or binary calculation of the first rotational position and the second rotational position.

In the present embodiment, the controller 72 is further configured to acquire the first rotation position based on the position sensor 77 and control the motor operation based on the first corrected position corrected according to the correction value. The operation of motor is controlled to accurate first correction position that utilizes correction value to correct, and motor control is more accurate, and the motor feedback is more timely, further promotes motor efficiency.

In the present embodiment, the position sensor 77 includes a signal transceiver 77a and a sensing component 77e. The sensing component 77e and the signal receiving and transmitting element 77a are arranged at intervals, so that the sensing component is not easy to wear and fail, and the service life is prolonged. The signal transceiving element 77a is capable of transmitting an alternating excitation signal and generating an alternating electromagnetic signal field, the sensing assembly 77e is capable of responding to the alternating electromagnetic signal field and generating a secondary electromagnetic signal field, and the signal transceiving element 77a is capable of outputting a signal corresponding to the current position of the motor rotor 422 in response to the secondary electromagnetic signal field. Illustratively, the eddy current sensor includes a transmitting coil that transmits an alternating excitation signal to generate an alternating magnetic field during operation of the travel motor 42, and a receiving coil that receives an electrical signal generated by the movement of the sensing element 77e in the alternating magnetic field and detects positional information of the sensing element 77e based on the electrical signal. The transmitting coil is, for example, capable of transmitting an alternating excitation signal which generates an alternating electromagnetic field in space, and the receiving coil is capable of receiving a signal generated by the alternating electromagnetic field. The induction assembly 77e induces an electrical eddy current under the influence of the alternating electromagnetic field, which generates a secondary electromagnetic signal field. When the eddy current sensor and sensing assembly 77e are moved relative to each other, the signal received by the receiving coil of the eddy current sensor changes. The eddy current sensor can acquire the relative position of the eddy current sensor and the sensing component 77e by demodulating and processing the received signals, i.e. acquire the position information of the sensing component 77e. At this time, the eddy current sensor outputs a corresponding signal, and the controller 72 outputs information of the first rotational position based on the signal provided by the eddy current sensor.

Illustratively, the control mechanism 70 also includes a first circuit board. The transmitting coil and the receiving coil of the eddy current sensor are provided on the first circuit board 77 b. The first circuit board 77b is fixed to the stator 421 or the motor case 43. The sensing assembly 77e includes a target member that is fixed to the rotor 422 of the travel motor 42. Illustratively, the target member comprises a metallic member. The eddy current sensor and the target are arranged at intervals, so that the eddy current sensor is not easy to wear and lose efficacy, and the service life is prolonged. The above-mentioned interval arrangement means that the eddy current sensor and the target do not need stress contact.

The alternating excitation signal emitted by the transmitting coil is illustratively a sine signal, and the electrical signal received by the receiving coil is a cosine signal. The eddy current sensor determines position information of the target object according to the sine signal and the cosine signal. In some embodiments, the eddy current sensor may output two paths of demodulated sine and cosine signals, or may alternatively output four paths of signals with complementary sine and cosine signals. In order to avoid interference of common mode signals, four paths of signals with complementary sine and cosine are used as input of a differential amplifier of a controller, two paths of sine and cosine signals are needed through differential amplification processing, and at the moment, periodic signals of rotor electric frequency are obtained through arctangent processing of the sine and cosine signals. In the related art, the periodic signal of the rotor electrical frequency is directly used to modulate or convert to a signal indicative of the motor rotor position. However, in the use process of the high-current and high-power walking motor of the outdoor walking equipment, it is found that a deviation value which tends to be a fixed value exists between the periodic signal of the rotor electric frequency measured by the eddy current sensor and the actual position information of the rotor, so that the accurate rotor position information can be obtained after the periodic signal of the rotor electric frequency measured by the eddy current sensor is calibrated in the use environment of the walking motor of the outdoor walking equipment 100. In the present embodiment, the position estimation unit 78a is used to estimate the rotational position of the rotor 422 based on the current-related parameter of the first travel motor 42L, detect the difference between the first rotational position of the first travel motor 42L obtained by the position sensor 77 at the time of rotation and the second rotational position obtained by the position estimation unit 78a, and calculate the correction value based on the difference to correct the first rotational position obtained by the position sensor 77.

Since the deviation values of each motor are random, the above controller calculates the difference between the first rotation position and the second rotation position by using the second rotation position obtained by the current correlation parameter by the position estimation unit 78a, for example, when the outdoor traveling apparatus 100 does not enter the user's use environment or the factory environment, the position sensor 77, that is, the eddy current sensor detects the change of the electric field related to the rotation of the rotor 422 to detect the rotation position of the rotor 422, that is, the first rotation position, during the working manufacturing process, and the controller 72 calculates the difference between the first rotation position and the second rotation position by using the second rotation position obtained by the current correlation parameter, for ensuring the accuracy, and then fits or averages the discrete values of the difference to obtain the deviation value tending to the fixed value, that is, the correction value of the first rotation position. In the subsequent use process from the factory, the electronic rotor position is represented by using the position sensor 77, namely the electric eddy current sensor, to detect the first rotation position and the correction value to obtain the corrected first rotation position, so as to control the motor to run. For example, the above controller detects and calibrates the rotor position of the motor, which occurs in the use environment or the factory leaving environment of the user of the outdoor walking device 100, and the controller 72 calculates the difference between the first rotation position and the second rotation position using the second rotation position obtained by the position estimation unit 78a through the current-related parameter in a fixed period, and then fits or averages the discrete value of the difference to obtain a deviation value tending to a fixed value, that is, a correction value of the first rotation position. In the subsequent working process, only the position sensor 77, namely the electric vortex sensor, is used for detecting the first rotation position and the correction value to obtain the corrected first rotation position to represent the position of the electronic rotor so as to control the operation of the motor, and the correction value is updated regularly to ensure that the motor can accurately obtain the position of the rotor even if being aged or worn in the using process. The above controller is exemplary of the detection and calibration process of motor rotor position, i.e., when the outdoor unit 100 has not entered the user's use environment, and also when the outdoor unit 100 is in the user's use environment.

The detection of the motion state information of the motor rotor 422 by adopting the eddy current sensor can avoid the interference of current to a magnetic field, solves the problem that the traveling motor 42 is easy to be interfered by current under the condition of high current, can control the motor more accurately, and is beneficial to improving the use experience of users. In this embodiment, the eddy current sensor operates at a temperature ranging from-40 degrees celsius to 160 degrees celsius. The problem of the motor control inefficiency that the rotor 422 position detection is inaccurate and then results in the walking motor 42 too high temperature is solved. The data of the eddy current sensor is calibrated by the position estimation unit 78a, so that very accurate data can be provided even in a severe environment, and meanwhile, compared with the motor control by using the position estimation unit 78a to provide the rotor position, the control algorithm is simple, the operand is small, and the requirement on a controller is reduced.

As shown in fig. 23, in the present embodiment, the position estimation unit 78a includes a flux linkage observer, a synovial membrane observer. The position estimation unit 78a estimates the rotational position of the rotor 422 based on the current-related parameter of the brushless motor. The current-related parameters include parameters in which logic processing is performed by the detected current, such as calculation of a change rate, calculation of an integrated value of a change rate, and the like. Since the contents of the estimated position information of the flux linkage observer and the synovial membrane observer are well disclosed in the related art, the details of the description are omitted for brevity.

The control mechanism 70 further includes a memory 781, and the memory 781 is connected to the controller 72 and stores a difference calculation correction value between the first rotational position obtained by the position sensor 77 and the second rotational position obtained by the position estimation unit 78 a.

To ensure the accuracy of the correction value, the control mechanism 70 updates the correction value according to a certain rule.

In some embodiments, the controller 72 is configured to recalculate the correction value when the rotational speed of the brushless motor is below a first threshold or above a second threshold. When the brushless motor is operated at a low speed or a high speed, the magnitude of the correction value needs to be reconsidered in order to ensure the accuracy of the correction.

In some embodiments, control mechanism 70 further includes an update determiner 78b. The update determiner 78b is configured to compare the correction value in the memory 781 with the correction value newly calculated by the controller 72, and determine whether to update the correction value in the memory 781. Wherein the processor of the memory 781 is configured to update the correction value in the memory 781 with the newly calculated correction value if the update determiner 78b determines to update the correction value in the memory 781. In some embodiments, control mechanism 70 also includes an anomaly detector 78c. The abnormality detector 78c determines whether the correction value is normal based on whether the correction value calculated by the controller 72 is within a specified range, and if it is determined that the calculated correction value is abnormal, performs warning of the user of occurrence of an abnormality. Illustratively, the anomaly alarm information is sent to the user via display interface 61 a.

As shown in fig. 24, the present application also provides a method for detecting a rotational position of a rotor of a brushless motor of the outdoor walking device 100, based on the same concept. The method comprises the following steps:

the first rotational position of the rotor is detected based on a change in the electric field associated with the rotation of the rotor S601.

In the present embodiment, the first rotation position is detected and obtained by the position sensor 77 detecting the change in the electric field, for example, the position sensor 77 is an eddy current sensor. The eddy current sensor detects the motion state information of the motor rotor 422, so that very accurate data can be provided even in a severe environment, the interference of current to a magnetic field can be avoided, the problem caused by the fact that the traveling motor 42 is easily interfered by the current under the condition of high current is solved, more accurate control can be carried out on the motor, and the use experience of a user is improved. In this embodiment, the eddy current sensor operates at a temperature ranging from-40 degrees celsius to 160 degrees celsius. The problem of the motor control inefficiency that the rotor 422 position detection is inaccurate and then results in the walking motor 42 too high temperature is solved.

S602 estimating a second rotational position of the rotor based on the related parameter of the current or voltage at the brushless motor.

In the present embodiment, a position estimation unit 78a is provided, and the position estimation unit 78a includes a flux linkage observer, a synovial membrane observer.

S603 detects a difference between a first rotational position obtained based on the brushless motor at the time of inertial rotation and a second rotational position obtained by estimation, and calculates a correction value based on the difference to correct the first rotational position.

And the accuracy of non-sensing detection is utilized to correct the position detection value of the eddy current sensor, so that the accuracy and the anti-interference degree of the position sensor on the rotor rotation position detection are further ensured.

As shown in fig. 25, in the present embodiment, in order to ensure the accuracy of the correction value, the method further includes updating the correction value. The method comprises the following steps:

s604 is to recalculate the correction value when it is determined that the rotational speed of the brushless motor is below the first threshold or above the second threshold.

S605 recalculates the correction value.

S606 updates the correction value in the memory. If yes, S607 is executed, and if no, S608 is executed.

The control mechanism 70 further includes an update determiner 78b. The update determiner 78b is used for comparing the correction value in the memory 781 with the correction value newly calculated by the controller 72 to determine whether to update the correction value in the memory 781

S607 updating the correction value in the memory with the newly calculated correction value.

The processor of the memory 781 is configured to update the correction value in the memory 781 with the newly calculated correction value if the update determiner 78b determines to update the correction value in the memory 781.

S608 of determining that the calculated correction value is abnormal, performing warning to the user of the abnormality.

The control mechanism 70 also includes an anomaly detector 78c. The abnormality detector 78c determines whether the correction value is normal based on whether the correction value calculated by the controller 72 is within a specified range, and if it is determined that the calculated correction value is abnormal, performs warning of the user of occurrence of an abnormality.

As shown in fig. 26, a first circuit board 77b where the eddy current sensor is located is communicatively connected to the control circuit board 71 where the controller 72 is located. The eddy current sensor outputs a sine and cosine signal to the controller 72, and the controller 72 in turn controls the operation of the travel motor 42. The eddy current sensor includes a register 77c and a detector 77d, and the detector 77d starts detection in real time or at a certain frequency and registers detected data in the register 77 c. During communication of the eddy current sensor with the controller 72, the controller 72 acquires the detection data in the register 77c, recognizes and signals that a fault has occurred. Illustratively, the faults described above include internal faults of the eddy current sensor itself, such as, for example, a receive coil fault, a transmit coil fault, an internal power supply fault, an internal oscillator fault, an internal bus fault, an operating Voltage (VDD) voltage anomaly, an operating analog Voltage (VDDA) under-voltage. When the controller 72 obtains that the change in the amplitude of the sine and cosine output signal exceeds a preset range, it is determined that the eddy current sensor is malfunctioning. The controller 72 transmits a stop signal to the travel motor 42 while transmitting a set signal, and the outdoor travel device 100 stops traveling. Alternatively, the parking brake mechanism 44 is activated, braking the running gear 40 to stably park the outdoor running apparatus 100. The controller 72 sends a fault code of the fault of the eddy current sensor to the display screen 61, and explicitly prompts the user of the prompt of the fault of the eddy current sensor on the display interface 61a, so that the user can quickly and accurately identify fault information and repair the fault. Illustratively, the fault includes an abnormal communication or configuration between the eddy current sensor and the controller 72, such as a wire harness disconnection of an output signal, a short circuit of a signal to ground, a fault of a short circuit of a signal to an operating Voltage (VDD), and the controller 72 recognizes that a communication frequency between the two is no longer within a set range of a communication protocol, or that a parameter configuration such as a voltage of a communication signal between the two is out of range, or that configuration information does not conform to a set of the communication protocol, and the controller 72 determines that the communication or configuration information between the eddy current sensor and the controller 72 is faulty. The controller 72 transmits a stop signal to the travel motor 42 while transmitting a set signal, and the outdoor travel device 100 stops traveling. Alternatively, the parking brake mechanism 44 is activated, braking the running gear 40 to stably park the outdoor running apparatus 100. The controller 72 sends the fault code of the communication or configuration fault between the eddy current sensor and the controller 72 to the display screen 61, and prompts the user to explicitly prompt the communication or configuration fault between the eddy current sensor and the controller 72 at the display interface 61a, so that the user can quickly and accurately identify the fault information and repair the fault.

It is to be understood that in the present embodiment, the second travel motor 42R has the same structure and control method as the first travel motor 42L, and in the present embodiment, the second travel motor 42R detects the rotor 422 position using the same control scheme as the above using the position sensor 77 and the position estimation unit 78 a.

As shown in fig. 27 to 28, the present application provides a power tool 800, which includes a motor 42' for driving an accessory, the motor being a brushless motor. The power supply includes at least one battery pack 21' to supply power to the motor 42', and an eddy current sensor 77' configured to detect a rotational position of the rotor 422' based on a change in an electric field associated with the rotation of the rotor 422 '. A position estimation unit configured to be able to estimate the rotational position of the rotor 422' based on relevant parameters of the brushless motor during operation.

Also included is a controller 72 'the controller 72' being configured to detect a difference between a first rotational position of the motor 42 'obtained by the eddy current sensor 77' upon inertial rotation and a second rotational position obtained by the position estimation unit, and calculate a correction value based on the difference to correct the first rotational position obtained by the eddy current sensor.

As shown in fig. 3, in some embodiments, the outdoor walking device 100 is a snowplow 100d. The motor is a drive motor for the snow shoveling mechanism 80 d.

The power tool 800 includes not only outdoor walking equipment but also garden tools such as a grass cutter, a blower, a chain saw, a cleaner, and the like. Alternatively, the power tool 800 may be a decorative tool such as a screwdriver/drill/wrench type, electric hammer, nail gun, sander, or the like. Alternatively, the power tool 800 may be a saw-type tool, such as a reciprocating saw, a curved saw, a circular saw, or the like. Or the power tool 800 may be another bench-type tool such as a bench saw, a metal cutting machine, an electric wood-milling machine, or the like. Alternatively, the power tool 800 may be a sanding type tool, such as an angle grinder, sander, or the like. Or the power tool 800 may be another power tool such as a fan or the like. The intelligent walking electric tool can also be an intelligent walking electric tool which uses a motor and a motor assembly to drive walking and implement operation functions, such as an intelligent mower and the like. The technical scheme disclosed in the embodiment can be adopted as long as the electric tool is provided with a motor drive. For example, the power tool 800 may also be a power head that includes a motor. The power head is used to adapt some work attachments to the function of the tool.

As shown in fig. 1 to 3, in the present embodiment, the outdoor walking apparatus 100 is a manned mower 200a. The deck mower 200a includes a vehicle body 10, a power supply mechanism 20, a mowing assembly 80, a running mechanism 40, an operating mechanism 50, and a supporting mechanism 90. The vehicle body 10 includes a frame 11, the frame 11 extending substantially in the front-rear direction, the frame 11 being for mounting a grass cutting assembly 80, a running gear 40, an operating mechanism 50, and a support mechanism 90. The mower assembly 80 includes a mower blade and a mower motor 82 for driving the mower blade. The operating mechanism 50 includes an operating member 511. The operation member 511 is operated by the user to control the walk-in mower 200a to advance, retreat, and turn. Illustratively, the operating member 511 is an operating lever, and the operating member 511 includes a left operating member 511L and a right operating member 511R that can be gripped by a user. In some embodiments, the operating mechanism 50 may also include a steering wheel assembly. The support mechanism 90 is for supporting an operator, and the support mechanism 90 is mounted on the vehicle body 10. Optionally, the support mechanism 90 includes a seat 91. A seat 91 is mounted to the frame 11 for seating by a user. In other alternative embodiments, support mechanism 90 also includes a platform for the user to stand. The power supply mechanism 20 is used to power the mower assembly 80 and the running gear 40, etc., so that the deck mower 200a can be used as a power tool capable of carrying a person. The electric manned mower 200a is more environmentally friendly and energy efficient than the fuel-based manned mower 200a. In some embodiments, the deck mower 200a further includes a grass collection device for collecting grass clippings cut by the mower assembly 80. The grass catcher includes a grass catcher basket assembly that is detachably mounted behind the seat 91. The deck mower 200a further includes a brake mechanism 46, the brake mechanism 46 being configured to perform a braking action to brake the running gear 40. The brake mechanism 46 includes a braking state that brakes the travel assembly and a release state that releases the travel assembly. The brake mechanism 46 is responsive to a user trigger command to enter a braking state and a release state.

As shown in fig. 29a, 29b and 31, in some embodiments, the connector of the power mechanism 20 includes a first connector 22a and a second connector 22b having different profile features. Specifically, the first connection member 22a is configured to electrically connect one battery pack 21, and the second connection member 22b is configured to electrically connect at least two battery packs 21. The second connector 22b has an outer dimension greater than that of the first connector 22 a. In this way, the connector 22 for mounting the battery pack 21 is provided with different external dimensions to meet the power consumption requirements of different outdoor walking devices 100. For example, for a walk behind mower or snowplow 100d, the power mechanism 20 may be configured with a first connector 22a to mount a battery pack. For the all-terrain vehicle 100c, a plurality of first connectors 22a to which the battery packs 21 are mounted, or one or more second connectors 22b to which at least two battery packs 21 are mounted, or a hybrid form of the first connectors 22a and the second connectors 22b may be employed. In this way, the connection piece for installing the battery pack is reasonably selected and arranged in combination with the power consumption requirement of the outdoor walking equipment 100 and the spatial characteristics of the outdoor walking equipment, so that the universality of the power supply mechanism 20 among all electric equipment is improved, the application scene of the power supply mechanism 20 is widened, and the convenience of users is provided.

In some embodiments, the connector 22 may be a battery compartment having a receiving space and a junction or other type of structure for mounting the battery pack 21 to the deck mower 200 a. The connector 22 is replaced by a battery compartment 22 hereinafter, although the connector may have other external features, such as a base.

The battery pack 21 integrally realizes the waterproof and dustproof requirements of IPX7, and the battery compartment end realizes the waterproof requirements of IPX 5. The average discharge current of the battery pack 21 is 30A or more, and may be 30A,35a,40A, or the like, for example. Alternatively, it is possible to achieve a rated current of 120A or more or an instantaneous peak current of about 350A output from the battery pack 21.

In the present embodiment, the weight of the battery pack 21 is 9Kg or more. In one embodiment, the weight of the battery pack 21 is 10Kg or more, or 11Kg or more, or 12Kg or more, or 13Kg or 14Kg or 15Kg or more, for example, the weight of the battery pack 21 is 9Kg,10Kg or 15Kg or the like. The nominal voltage of the battery pack 21 is about 56V, and may be 54V or 58V, for example. In one embodiment, the nominal voltage of the battery pack 21 is 56V or greater, or the nominal voltage of the battery pack 21 is 50V or greater, or the nominal voltage of the battery pack 21 is 48V or greater, or the nominal voltage of the battery pack 21 is 40V or greater. The capacity of the battery pack 21 is 20Ah or more. In one embodiment, the capacity of the battery pack 21 is 30Ah or more, or the capacity of the battery pack 21 is 40Ah or more, or the capacity of the battery pack 21 is 50Ah or more. For example, 20Ah,30Ah,40Ah,50Ah, etc. are possible. The ratio of the capacity to the weight of the battery pack 21 is 2Ah/kg or more, for example, 2Ah/kg,4Ah/kg,5Ah/kg, or the like. Alternatively, the energy of the battery pack 21 is 2kw·h or more. In one embodiment, the energy of the battery pack 21 is equal to or greater than 3 kW.h, or the energy of the battery pack 21 is equal to or greater than 4 kW.h, or the energy of the battery pack 21 is equal to or greater than 5 kW.h. For example, the energy of the battery pack 21 may be 2 kW.h, 3 kW.h, 4 kW.h, 5 kW.h, or the like. In some embodiments, the presently disclosed battery pack 21 may include a lithium iron phosphate cell. In some embodiments, the battery pack 21 may also be a super capacitor, also known as an electrochemical capacitor.

In some embodiments, referring to fig. 30, the second battery compartment 22b can also accommodate a third battery pack 21c that is distinct from the battery pack 21. Specifically, two third battery packs 21c are mounted to the adapter 21d and electrically connected to the adapter 21d, and the adapter 21d is electrically connected to the junction of the second battery compartment 22 b. Wherein the energy of the third battery pack 21c is 0.1 kW.h or more and less than 2 kW.h. Alternatively, the third battery pack 21c is a battery pack 21 having an energy of 0.1kw·h or more. In some embodiments, the third battery pack 21c is a battery pack 21 having an energy of 0.4kw·h or more. In some embodiments, the third battery pack 21c is a battery pack 21 having an energy of 0.6kw·h or more. In this embodiment, the third battery pack 21c is a lithium battery cell, and may be a nickel-cadmium battery, a graphene or other materials to realize different battery characteristic combinations.

With continued reference to fig. 31, the power supply mechanism 20 further includes a power management module 23, where the power management module 23 includes a housing 231, and all of the signal interfaces 232 and the high-current interfaces 233 are directly formed on the housing 231, without an additional wire harness, and capable of ensuring that the power management module 23 is waterproof to the IPX5 level. Specifically, the wire end of the high current interface 232 is added with a wire terminal cap, and the binding post is added with a waterproof rubber sleeve.

The foregoing has shown and described the basic principles, principal features and advantages of the application. It will be appreciated by persons skilled in the art that the above embodiments are not intended to limit the application in any way, and that all technical solutions obtained by means of equivalent substitutions or equivalent transformations fall within the scope of the application.

Claims

1. An outdoor walking device, comprising:

The walking mechanism includes a first drive wheel and a second drive wheel, and a first walking motor and a second walking motor that drive the first drive wheel and the second drive wheel independently, respectively.

A power supply mechanism, including at least one battery pack, is provided to power the walking mechanism;

The controller is configured to control the operation of the first travel motor and the second travel motor based on the input first target speed and second target speed, respectively;

Its characteristic is that it further includes:

The power limiting unit is configured to limit the input power of the first travel motor or the second travel motor;

The controller is configured to:

When the electrical parameters of the first walking motor meet the preset conditions, the power limiting unit controls the first walking motor to enter the power limiting mode.

Based on the speed output of the first traveling motor in the power limiting mode, a corresponding speed attenuation factor is generated; and

The second target rotational speed is corrected based on the rotational speed attenuation factor to drive the second walking motor to rotate.

2. The outdoor walking device according to claim 1, wherein the controller is configured to control the first walking motor to enter a power limiting mode through the power limiting unit when the bus current of the first walking motor is greater than or equal to a current threshold.

3. The outdoor walking device according to claim 1, wherein the controller is configured to output the speed attenuation factor based on the first target speed and the first current-limiting speed under the power limiting mode.

4. The outdoor walking device according to claim 1, wherein the controller is configured to reduce the speed attenuation factor according to a defined procedure after the first walking motor exits the power limiting mode.

5. The outdoor walking device according to claim 4, wherein the controller is configured to increase the rotational speed of the second walking motor according to a defined program after the first walking motor exits the power limiting mode.

6. The outdoor walking device according to claim 1, wherein the controller is configured to: when the electrical parameters of the first walking motor meet preset conditions and the electrical parameters of the second walking motor meet preset conditions, control the first walking motor and the second walking motor to enter power limiting modes respectively through the power limiting unit.

7. The outdoor walking device according to claim 6, characterized in that, based on the rotational speed of the first walking motor in the power limiting mode, a corresponding first rotational speed attenuation factor is output, based on the rotational speed of the second walking motor in the power limiting mode, a corresponding second rotational speed attenuation factor is output, the first rotational speed attenuation factor is determined to be greater than the second rotational speed attenuation factor, and the second target rotational speed is corrected based on the first rotational speed attenuation factor to drive the rotation of the second walking motor.

8. The outdoor walking device according to claim 1, characterized in that it further includes a detection unit, the detection unit being connected to the controller, the detection unit being used to detect the bus current of the first walking motor.

9. An outdoor walking device, comprising:

Its characteristic is that it further includes:

The controller is configured to:

When the electrical parameters of the first walking motor meet the preset conditions, the power limiting unit controls the first walking motor to enter the power limiting mode and reduces the speed of the second walking motor.

10. The outdoor walking device according to claim 9, characterized in that, based on the rotational speed of the first walking motor in the power limiting mode, a corresponding rotational speed attenuation factor is output, and the controller reduces the rotational speed of the second walking motor based on the rotational speed attenuation factor.