Mower system, method for setting rotating speed of cutter and mower system management method

Patent metadata

Field	Value
Publication number	US-12514154-B2
Application number	US-202117385864-A
Country	US
Kind code	B2
Filing date	Jul 26, 2021
Priority date	Aug 7, 2020
Publication date	Jan 6, 2026
Grant date	Jan 6, 2026

Abstract

The disclosure provides a mower system, a method for setting the rotating speed of a cutter and a mower system management method. The system comprises: a vehicle control unit for controlling the mower to operate; a walking unit for receiving a control signal of the vehicle control unit to control the walking of the mower and perform state feedback to the vehicle control unit; a cutter unit for receiving a control signal sent by the vehicle control unit to control the cutter to run and carrying out state feedback to the vehicle control unit; and a battery management system for performing state feedback on the working state of the battery to the vehicle control unit. The cutter rotating speed can be adjusted instantly according to the vehicle speed, and when the cutter motor enters limit state, the speed can be limited.

First claim

What is claimed is:

1 . A mower system comprising:
a vehicle control unit, which is used for controlling a mower to operate; a walking unit, including a walking motor controller and a walking motor, which are used for receiving a control signal from the vehicle control unit to control the walking of the mower and provide a state feedback to the vehicle control unit; a cutter unit, including at least one cutter, a cutter motor used for driving the cutter to operate, and a cutter motor control unit used for controlling the cutter motor, wherein the cutter motor control unit receives a control signal sent by the vehicle control unit to control the cutter to operate and carries out a state feedback to the vehicle control unit; and a battery management system, which is used for performing a state feedback on the working state of a battery to the vehicle control unit, wherein a rotating speed of the cutter is adjusted by the vehicle control unit according to a vehicle speed to reduce an energy consumption of the mower; wherein, when the vehicle speed of the mower is V, the rotating speed of the cutter is set as follows:
n=n 0 +( V−V 0 )* K g
wherein, n is the current rotating speed of the cutter, V is greater than or equal to V 0 , K g is a ratio of rotating speed of the cutter to vehicle speed and K g is a fixed value; the formula of the cutter rotating speed to vehicle speed ratio K g is as follows:
K g =( n max −n 0 )/( V max −V 0 ),
wherein V 0 is the lowest speed for normal operation of mower, n 0 is the lowest operating speed of the cutter, V max is the highest speed for normal operation of mower, and n max is the highest operating speed of the cutter; wherein, when a state of any one of the battery management system, the cutter motor control unit, the walking motor controller, the walking motor or the cutter motor meets a preset protection condition and a duration of meeting the protection condition exceeds a preset trigger duration, the vehicle speed is reduced according to a reduction ratio coefficient, so as to reduce the rotating speed of the cutter, and when the state of any one of the battery management system, the cutter motor control unit, the walking motor controller, the walking motor or the cutter motor is lower than a preset recovery condition and the duration exceeds a response duration, the vehicle speed is increased according to an acceleration ratio coefficient, so as to increase the rotating speed of the cutter.

2 . The mower system according to claim 1 , wherein
the vehicle control unit adjusts the rotating speed of the cutter based on a fixed ratio to the vehicle speed.

3 . The mower system according to claim 2 , further comprising a cutter governor switch, wherein
the vehicle control unit receives a signal generated by the cutter governor switch to regulate the rotating speed of the cutter based on an adjustable ratio to the vehicle speed.

4 . The mower system according to claim 1 , wherein
the state feedback of the walking unit comprises: a vehicle speed of the mower, a rotating speed of the walking motor, a temperature of the walking motor, a temperature of the walking motor controller, and a power of the walking motor.

5 . The mower system according to claim 1 , wherein
the state feedback of the cutter unit comprises: a temperature of the cutter motor control unit, a power of the cutter motor, a rotating speed of the cutter motor, and a temperature of the cutter motor.

6 . The mower system according to claim 1 , wherein
the state feedback of the battery management system comprises: an output power and a temperature of the battery.

7 . A method for setting a rotating speed of a cutter of a mower system, the mower system having:
a vehicle control unit, which is used for controlling a mower to operate; a walking unit, including a walking motor controller and a walking motor, which are used for receiving a control signal from the vehicle control unit to control the walking of the mower and provide a state feedback to the vehicle control unit; a cutter unit, including at least one cutter, a cutter motor used for driving the cutter to operate and a cutter motor control unit used for controlling the cutter motor, wherein the cutter motor control unit receives a control signal sent by the vehicle control unit to control the cutter to operate and carries out a state feedback to the vehicle control unit; and a battery management system, which is used for performing a state feedback on the working state of a battery to the vehicle control unit; wherein a rotating speed of the cutter is adjusted by the vehicle control unit according to a vehicle speed, so that an energy consumption of the mower is reduced while a mowing efficiency is improved, wherein the ratio of the rotating speed of the cutter to the vehicle speed is a fixed value, the method comprising: starting the mower; setting the rotating speed of the cutter to be as a lowest rotating speed n 0 for the operation of the cutter when the vehicle speed V of the mower is less than a lowest speed V 0 for normal operation of mower; and setting the rotating speed of the cutter to be as a current rotating speed n, when the vehicle speed V is greater than or equal to V 0 ; wherein, when the vehicle speed of the mower is V, the rotating speed of the cutter is set as follows:
n=n 0 +( V−V 0 )* K g
wherein V is greater than or equal to V 0 , K g is a ratio of rotating speed of the cutter to vehicle speed and K g is a fixed value; the formula of the cutter rotating speed to vehicle speed ratio K g is as follows:
K g =( n max −n 0 )/( V max −V 0 ),
wherein V 0 is the lowest speed for normal operation of mower, n 0 is the lowest operating speed of the cutter, V max is the highest speed for normal operation of mower, and n max is the highest operating speed of the cutter; wherein, when a state of any one of the battery management system, the cutter motor control unit, the walking motor controller, the walking motor or the cutter motor meets a preset protection condition and a duration of meeting the protection condition exceeds a preset trigger duration, the vehicle speed is reduced according to a reduction ratio coefficient, so as to reduce the rotating speed of the cutter, and when the state of any one of the battery management system, the cutter motor control unit, the walking motor controller, the walking motor or the cutter motor is lower than a preset recovery condition and a duration of being lower than the recovery condition exceeds a preset response duration, the vehicle speed is increased according to an acceleration ratio coefficient, so as to increase the rotating speed of the cutter.

8 . The method for setting the rotating speed of the cutter according to claim 7 , wherein
the mower system further comprises a cutter governor switch to output a control signal to the vehicle control unit, and the vehicle control unit regulates the ratio of the rotating speed of the cutter to the vehicle speed according to the control signal.

9 . The method for setting the rotating speed of the cutter according to claim 8 , wherein
the mower system is provided with the cutter governor switch, the formula of the rotating speed of the cutter to vehicle speed ratio is as follows:
K b =K 1 *( n max −n 0 )/( V max −V 0 ),
K b is a cutter rotating speed to vehicle speed ratio, and the value of K 1 depends on the control signal input by the cutter governor switch.

10 . A method for managing a mower system and improving the stability of the mower system, the mower system being the mower system of claim 1 , the

Assignees

• Globe Jiangsu Co Ltd

Inventors

• Xue Jiafu
• Ding Shiyuan
• Wang Jing
• Wei Qunli
• Zhao Peng

Classifications

• A01D2101/00

  Lawn-mowers · CPC title

• A01D69/02

  electric · CPC title

• A01D34/78

  electric · CPC title

• A01D34/66

  with two or more cutters · CPC title

• A01D34/58

  electric · CPC title