U.S. patent application number 16/684783 was filed with the patent office on 2020-05-28 for lawn mower.
The applicant listed for this patent is Changzhou Globe Co., Ltd.. Invention is credited to Hui Chen, Zhizheng Ding, Kai Huang, Zhaochong Liu, Jing Wang, Jiafu Xue, Peng Zhao.
Application Number | 20200163275 16/684783 |
Document ID | / |
Family ID | 65673169 |
Filed Date | 2020-05-28 |
United States Patent
Application |
20200163275 |
Kind Code |
A1 |
Zhao; Peng ; et al. |
May 28, 2020 |
LAWN MOWER
Abstract
The present invention provides a lawn mower comprising a battery
system, a walking system and a cutter system. The lawn mower
further comprises: a fault detection module, configured to detect
if at least one of the battery system, walking system and cutter
system has a fault; a fault determination module, configured to
judge the fault level of the detected fault; and a control module,
to control the current-limiting or outage of the corresponding
battery system, the slowdown or stop of the walking system, as well
as the slowdown or stop of the cutter system according to the fault
level; compared with the prior art, the invention not only makes
the fault detection more intelligent, but also the lawn mower can
adjust the working state in real time according to the fault level,
thereby improving the working efficiency.
Inventors: |
Zhao; Peng; (Changzhou,
CN) ; Xue; Jiafu; (Changzhou, CN) ; Chen;
Hui; (Changzhou, CN) ; Ding; Zhizheng;
(Changzhou, CN) ; Wang; Jing; (Changzhou, CN)
; Liu; Zhaochong; (Changzhou, CN) ; Huang;
Kai; (Changzhou, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Changzhou Globe Co., Ltd. |
Changzhou |
|
CN |
|
|
Family ID: |
65673169 |
Appl. No.: |
16/684783 |
Filed: |
November 15, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60L 58/10 20190201;
G07C 5/08 20130101; A01D 2101/00 20130101; B60L 50/60 20190201;
G05B 23/0259 20130101; B60L 2240/547 20130101; A01D 34/006
20130101; B60L 2240/545 20130101; A01D 34/008 20130101 |
International
Class: |
A01D 34/00 20060101
A01D034/00; G05B 23/02 20060101 G05B023/02; G07C 5/08 20060101
G07C005/08; B60L 50/60 20060101 B60L050/60; B60L 58/10 20060101
B60L058/10 |
Foreign Application Data
Date |
Code |
Application Number |
Nov 26, 2018 |
CN |
201811415924.2 |
Claims
1. A lawn mower, comprising a battery system, a walking system and
a cutter system, wherein further comprising: a fault detection
module, configured to detect if at least one of the battery system,
walking system and cutter system has a fault respectively; a fault
determination module, configured to judge the fault level of the
detected fault; a control module, configured to control the
current-limiting or outage of the corresponding battery system, the
slowdown or stop of the walking system, as well as the slowdown or
stop of the cutter system according to the fault level.
2. The lawn mower according to claim 1, wherein said lawn mower
further comprises a main controller, and said fault detection
module comprises a plurality of fault detection module provided in
the battery system, the walking system and the cutter system
respectively, to detect faults thereof respectively.
3. The lawn mower according to claim 2, when said fault detection
module detects that said walking system has a fault, said fault
detection module sends a fault code to the fault determination
module through CAN communication to determine a fault level, and
said control module sends a control command to the walking system
through CAN communication according to the fault level to control
said walking system to slow down or stop.
4. The lawn mower according to claim 3, when a minor fault occurs
in the walking system, said control module sends a speed down
command to said walking system through CAN communication to slow
down the walking speed; when a severe fault occurs in the walking
system, said control module sends a stop command to said cutter
system through CAN communication, and simultaneously sends a
throttle supply shutdown signal to said walking system, so that the
lawn mower is in the mode: stop walking, and the cutter is not
running.
5. The lawn mower according to claim 2, when said fault detection
module detects that said cutter system has a fault, said fault
detection module sends a fault code to the fault determination
module through CAN communication to determine a fault level, and
said control module sends a control command to the cutter system
through CAN communication according to the fault level to control
said cutter system to slow down or stop.
6. The lawn mower according to claim 5, when a minor fault occurs
in the cutter system, said control module sends a speed down
command to said cutter system through CAN communication to slow
down the revolving speed of the cutter; when a severe fault occurs
in the cutter system has, said control module sends a stop command
to said cutter system through CAN communication, so that the lawn
mower is in the mode: normal walking, and the cutter is not
running.
7. The lawn mower according to claim 2, wherein said battery system
is connected to said main controller through CAN communication to
realize real-time transmission of a fault code and a control
command, and said battery system has a discharge mode and a
charging mode.
8. The lawn mower according to claim 7, when a minor fault occurs
in said battery system in the discharge mode, said control module
sends a current limiting command to said battery system,
simultaneously sends a speed down command to said walking system,
sends a stop command to the cutter system, to make the lawn mower
in the mode: low speed walking, and the cutter is not running; when
said battery system experiences a severe fault in the discharge
mode, said control module sends a power-off command to the battery
system, and simultaneously sends a stop command to said cutter
system, and sends a throttle supply shutdown signal to said walking
system, so that the mower is in the mode: stop walking, and the
cutter is not running.
9. The lawn mower according to claim 7, when said battery system
experiences a minor fault in the charging mode, said control module
sends a current limiting command to the battery system, and
controls a battery to continue charging; when said battery system
experiences a severe fault in the charging mode, said control
module sends a power-off command to said battery system, and cuts
off the charging relay to stop a battery from charging.
10. The lawn mower according to claim 7, wherein failures of said
battery system in the discharge mode include the individual voltage
is too low, the individual voltage difference is too high, the
discharge temperature is too low, the discharge current is too
high, the insulation resistance is too low, the master-slave MCU
communication failure, the master-slave MCU hardware failure, and
the feedback current is too high; failures of the battery system in
the charging mode include the individual voltage is too high, the
individual voltage difference is too high, the charging temperature
is too high, the charging temperature is too low, the insulation
resistance is too low, the master-slave MCU communication failure,
and the master-slave MCU hardware failure.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a US application which claims the
priority of CN Application Serial No. 201811415924.2, filed on Nov.
26, 2018, the disclosures of which are hereby incorporated by
reference in their entirety.
TECHNICAL FIELD
[0002] The present invention relates to a lawn mower.
BACKGROUND ART
[0003] Lawn mower is a dedicated equipment for mechanically mowing
the lawn. Because it is a dedicated equipment, so the lawn mower
will have a sharp blade. The sharp blade is in a high-speed
rotation state when working. Therefore, in order to ensure safety,
the lawn mower must be checked if there is a failure in real time
manner, in case the sharp blade is still in high-speed rotation
when a fault occurs, and this will cause a danger which is
difficult to predict.
[0004] At present, when the mower experiences a failure, it is
displayed through the instrument panel, reminding the operator to
shut down for fault diagnosis, and shutting down directly in
serious cases, without automatically detecting the fault and making
corresponding actions, the intelligence of the lawn mower is
poor.
[0005] In view of this, it is indeed necessary to make further
improvements to the existing lawn mower to solve the above
problems.
SUMMARY OF INVENTION
[0006] The object of the present invention is to provide a novel
lawn mower which can detect faults and classify the detects faults
into different level automatically in order to make corresponding
actions based on the fault level.
[0007] To achieve the above objectives, the invention provides a
lawn mower comprising a battery system, a walking system and a
cutter system, and the lawn mower further comprising: a fault
detection module, configured to detect if at least one of the
battery system, walking system and cutter system has a fault
respectively; a fault determination module, configured to judge the
fault level of the detected fault; a control module, configured to
control the current-limiting or outage of the corresponding battery
system, the slowdown or stop of the walking system, as well as the
slowdown or stop of the cutter system according to the fault
level.
[0008] In some embodiments, said lawn mower further comprises a
main controller, and said fault determination module and said
control module are disposed on said main controller, fault
detection module comprises a plurality of fault detection module
provided in the battery system, the walking system and the cutter
system respectively, to detect faults thereof respectively.
[0009] In some embodiments, when said fault detection module
detects that said walking system has a fault, said fault detection
module sends a fault code to the fault determination module through
CAN communication to determine a fault level, and said control
module sends a control command to the walking system through CAN
communication according to the fault level to control said walking
system to slow down or stop.
[0010] In some embodiments, when a minor fault occurs in the
walking system, said control module sends a speed down command to
said walking system through CAN communication to slow down the
walking speed; when a severe fault occurs in the walking system,
said control module sends a stop command to said cutter system
through CAN communication, and simultaneously sends a throttle
supply shutdown signal to said walking system, so that the lawn
mower is in the mode: stop walking, and the cutter is not
running.
[0011] In some embodiments, when said fault detection module
detects that said cutter system has a fault, said fault detection
module sends a fault code to the fault determination module through
CAN communication to determine a fault level, and said control
module sends a control command to the cutter system through CAN
communication according to the fault level to control said cutter
system to slow down or stop.
[0012] In some embodiments, when a minor fault occurs in the cutter
system, said control module sends a speed down command to said
cutter system through CAN communication to slow down the revolving
speed of the cutter; when a severe fault occurs in the cutter
system, said control module sends a stop command to said cutter
system through CAN communication, so that the lawn mower is in the
mode: normal walking, and the cutter is not running.
[0013] In some embodiments, said battery system is connected to
said main controller through CAN communication to realize real-time
transmission of a fault code and a control command, and said
battery system has a discharge mode and a charging mode.
[0014] In some embodiments, when a minor fault occurs in said
battery system in the discharge mode, said control module sends a
current limiting command to said battery system, simultaneously
sends a speed down command to said walking system, sends a stop
command to the cutter system, to make the lawn mower in the mode:
low speed walking, and the cutter is not running; when said battery
system experiences a severe fault in the discharge mode, said
control module sends a power-off command to the battery system, and
simultaneously sends a stop command to said cutter system, and
sends a throttle supply shutdown signal to said walking system, so
that the mower is in the mode: stop walking, and the cutter is not
running.
[0015] In some embodiments, when said battery system experiences a
minor fault in the charging mode, said control module sends a
current limiting command to the battery system, and controls a
battery to continue charging; when said battery system experiences
a severe fault in the charging mode, said control module sends a
power-off command to said battery system, and cuts off the charging
relay to stop a battery from charging.
[0016] In some embodiments, failures of said battery system in the
discharge mode include the individual voltage is too low, the
individual voltage difference is too high, the discharge
temperature is too low, the discharge current is too high, the
insulation resistance is too low, the master-slave MCU
communication failure, the master-slave MCU hardware failure, and
the feedback current is too high; failures of the battery system in
the charging mode include the individual voltage is too high, the
individual voltage difference is too high, the charging temperature
is too high, the charging temperature is too low, the insulation
resistance is too low, the master-slave MCU communication failure,
and the master-slave MCU hardware failure.
[0017] The beneficial effects of the present invention are: as the
lawn mower in the invention is provided with a fault detection
module, a fault determination module and a control module, so that
the lawn mower in the invention can perform automatic detection
through a fault detection module, then perform a fault level
determination through a fault determination module when the battery
system, the walking system or the cutter system of the lawn mower
have a fault, so that the control module can control the
current-limiting or outage of the corresponding battery system, the
slowdown or stop of the walking system, as well as the slowdown or
stop of the cutter system; compared with the prior art, the
invention not only makes the fault detection more intelligent, but
also the lawn mower can adjust the working state in real time
according to the fault level, thereby improving the working
efficiency.
BRIEF DESCRIPTION OF DRAWINGS
[0018] FIG. 1 is a control system diagram of the lawn mower of the
present invention.
[0019] FIG. 2 is a control system diagram of the lawn mower in
discharge mode.
[0020] FIG. 3 is a control system diagram of the lawn mower in low
power mode.
[0021] FIG. 4 is a flow diagram of the lawn mower in charging
mode.
DESCRIPTION OF EMBODIMENTS
[0022] In order to make the objects, technical solutions and
advantages of the present invention more clearly, the present
invention will be described in detail below with reference to the
drawings and specific embodiments.
[0023] The invention provides a lawn mower comprising a battery
system, a walking system, a cutter system, and a control system for
controlling the walking system and the cutter system. The battery
system is configured to provide power to a lawn mower; said walking
system is configured to drive the lawn mower to perform
self-propelling, and the walking system comprises a walking wheel
and a self-propelled motor for driving the walking wheel to
self-propelled; said cutter system includes a cutter and a cutter
motor for driving the cutter to rotate. Of course, said lawn mower
further comprises other structures, such as a switch system, a
control lever, a casing, etc., and since these structures are prior
art, they will not be described in detail herein.
[0024] The lawn mower further comprises a fault detection module, a
fault determination module and a control module, and the fault
detection module, the fault determination module and the control
module are electrically connected by CAN communication. The fault
detection module is configured to detect if at least one of the
battery system, walking system and cutter system has a fault
respectively; the fault determination module is configured to judge
the fault level of the detected fault; and the control module is
configured to control the current-limiting or outage of the
corresponding battery system, the slowdown or stop of the walking
system, as well as the slowdown or stop of the cutter system
according to the fault level.
[0025] It should be noted that, in this embodiment, the fault level
is divided into a minor fault and a severe fault. Under a minor
fault, the control module controls the battery system to limit the
current, the walking system to reduce the speed by 20-80%, and the
cutter system to reduce the speed by 20-80%. However, it does not
affect the work of the entire mower; under severe faults, the
control module controls the battery system to be powered off, the
walking system to stop, the cutter system to stop, and the entire
mower to stop working. Of course, the fault level may also include
a medium fault. In this case, the working state of the lawn mower
can be adjusted only by limiting the control command issued by the
control module; at the same time, the ratio of the speed reduction
of the walking system and the cutter system can be arbitrarily
selected. There are no restrictions here.
[0026] Preferably, fault detection module comprises a plurality of
fault detection module provided in the battery system, the walking
system and the cutter system respectively, to detect faults thereof
respectively; The fault determination module and the control module
are provided in the control system to adjust/control the working
state of the battery system, the walking system, and the cutter
system.
[0027] Referring to FIG. 1, the control system comprises a main
controller, a slave controller and a cutter controller respectively
connected to the main controller through CAN communication, and the
fault determination module and the control module are disposed on
the main controller. Specifically, the slave controller corresponds
to the walking system, and the slave controller is configured to
collect the state of the first self-propelled motor and the fault
of the walking system in real time, and send the fault information
to the control module in real time. The cutter controller
corresponds to the cutter system, and the cutter controller is
configured to collect the state of the cutter motor and the fault
of the cutter system in real time, and send the fault information
to the control module in real time. As the control core of the
mower, the main controller is responsible for real-time acquisition
of the state of the second self-propelled motor and the failure of
the walking system, and on the other hand, collecting information
of the battery system, the slave controller and the cutter
controller, and the main controller will send the control command
and status information to the cutter controller, the slave
controller and the instrument after processing, to realize the
running or stopping of the walking system and the cutter system,
and also realize the real-time display of the whole machine state,
and then realize the systematic protection of the whole
machine.
[0028] When the fault detection module detects that the walking
system has a fault, the fault detection module sends a fault code
to the fault determination module through CAN communication to
determine a fault level, and said control module sends a control
command to the walking system through CAN communication according
to the fault level to control the walking system to slow down or
stop. Specifically, when a minor fault occurs in the walking
system, the control module sends a speed down command to the
walking system through CAN communication, the walking system
reduces the walking speed by 20-80% according to the speed down
command; when a severe fault occurs in the walking system, the
control module sends a stop command to the cutter controller
through CAN communication, the main controller and the slave
controller close the throttle supply signal respectively, so that
the walking speed of the mower is reduced to 0, and the
electromagnetic brake 1 and electromagnetic brake 2 are released,
at this time, the mower is in the mode:stop walking, and the cutter
is not running.
[0029] The faults of the walking system include the failure of the
main controller and/or the slave controller and the fault of the
self-propelled motor. The faults of the self-propelled motor mainly
include the over temperature of the motor, the stall of the motor,
the abnormality of the encoder of the motor, and the open circuit
of the motor; The main controller fault is the same as the slave
controller fault, which mainly includes the controller's own fault
and the user-defined fault. The controller's own fault mainly
includes the working voltage abnormality, the working temperature
abnormality, the motor overcurrent, the precharge abnormality, the
input abnormality, the output abnormality and the communication
abnormality; user-defined faults are mainly the additional
protection functions based on the needs of the whole machine.
[0030] When the fault detection module detects that the cutter
system has a fault, the fault detection module sends a fault code
to the fault determination module through CAN communication to
determine a fault level, and said control module sends a control
command to the cutter system through CAN communication according to
the fault level to control the cutter system to slow down or stop.
Specifically, when a minor fault occurs in the cutter system, the
control module sends a speed down command to the cutter system
through CAN communication, the cutter system reduces revolving
speed of the cutter by 20-80% according to the speed down command;
when a severe fault occurs in the cutter system, the control module
sends a stop command to the cutter controller through CAN
communication, so that the lawn mower is in the mode: the walking
system works normally and the cutter system does not work. At the
same time, the meter displays a fault message to alert the user to
troubleshooting.
[0031] The faults of the cutter system include the cutter motor
fault, the cutter fault and the cutter controller fault. The cutter
motor fault mainly includes the motor over temperature, the motor
stall, the motor encoder abnormality, the circuit phase open
circuit, etc.; the cutter controller fault mainly includes working
voltage abnormality, working temperature abnormality, motor
overcurrent, MOS tube abnormality, precharge abnormality, CAN
communication abnormality and so on.
[0032] Since there are a plurality of cutters in the lawn mower,
the cutter controller is also provided in plurality so that one
cutter controller corresponds to one cutter. When any cutter fails
(such as over temperature), the cutter controller can automatically
detect and send the fault code to the fault determination module
through CAN communication, after which the control module sends a
stop command to all cutter controllers, controlling all cutters to
stop working, to avoid the situation that the cutters does not work
at the same time. At this time, the lawn mower is in the mode: the
walking system works normally and the cutter system does not
work.
[0033] In addition, under normal circumstances, the cutter
controller will monitor the cutter speed, current, voltage and
other information in real time, and send the information to the
main controller in real time. If the main controller doesn't
receive the message sent from the cutter controller in 2 s, the
main controller can determine that the cutter controller is
abnormal in communication, and the control module controls the lawn
mower to enter the mode: the walking system works normally and the
cutter system does not work.
[0034] The battery system is connected to said main controller
through CAN communication to realize real-time transmission of a
fault code and a control command. Because the battery system is the
link between the battery and the user, the main purpose is to
improve the utilization of the battery and prevent the battery from
being overcharged and over-discharged. Therefore, the battery
system has a discharge mode and a charging mode. Because the
battery system has a fault self-detection function, so after the
battery system receives the power-on signal/charge signal, the
fault detection and level determination are automatically
performed, and then the fault code is sent to the control module
through the CAN communication, and the control module issues a
corresponding control command.
[0035] Please refer to FIG. 2, in discharge mode, when a minor
fault occurs in the battery system, the control module sends a
current limiting command to the battery system, simultaneously
sends a speed down command to the walking system, sends a stop
command to the cutter system, to make the lawn mower in the mode:
low speed walking, and the cutter is not running; when a severe
fault occurs in the battery system, control module sends a
power-off command to the battery system, and simultaneously sends a
stop command to the cutter system, and sends a throttle supply
shutdown signal to the walking system, so that the mower is in the
mode: stopwalking, and the cutter is not running.
[0036] Specifically, when a minor fault occurs, the battery system
sends a minor fault to the control module of the main controller
through CAN communication. After receiving the fault, the control
module sends the fault to the slave controller, and then the slave
controller controls the corresponding first self-propelled motor
and the main controller controls the corresponding second
self-propelled motor, and controls the running speeds of the two
self-propelled motors to the low speed mode, and the control module
sends a stop command to the cutter controller to make the mower in
the mode: low-speed walking, and the cutter is not running, thereby
reducing the discharge current and preventing other abnormalities
from been raised due to the a large discharge current when the
battery has a failure.
[0037] When a severe fault occurs, the battery system sends the
severe fault to the control module of the main controller through
CAN communication. After receiving the fault, the control module
sends the fault to the slave controller. At this time, the master
controller and the slave controller respectively close the throttle
supply signal to reduce the walking speed of the mower to 0,
release the electromagnetic brake 1 and the electromagnetic brake
2, and the control module sends a stop command to the cutter
controller, so that the mower is in the mode: stop walking, and the
cutter is not running And after 15 s, the relay inside the battery
is cut off, so that the battery stops outputting.
[0038] Failures of said battery system in the discharge mode mainly
include the individual voltage is too low, the individual voltage
difference is too high, the discharge temperature is too low, the
discharge current is too high, the insulation resistance is too
low, the master-slave MCU communication failure, the master-slave
MCU hardware failure, and the feedback current over high and other
major failures; of course, it includes but not limiting to the
above failures.
[0039] Please refer to FIG. 3, in the discharge mode, the battery
system also has low-power protection function. Low-power protection
mainly means that when the battery is in low power status, the
mower reduces the operation power, and meter displays the battery
power and flashes to remind the user to charge in time to prevent
the mower from unable to walk due to excessive use, and prevent the
battery from over-discharging, which affects the service life.
[0040] Low power of the battery is mainly divided into two grades,
the high grade is 5% rated capacity of the battery, and the low
grade is 2% of the rated capacity of the battery. When the
remaining capacity of the battery is .ltoreq.5%, the control module
of the main controller sends a low speed command to the cutter
controller through CAN communication to slow down the cutter, and
simultaneously sends a low speed command to the slave controller to
reduce the walking speed. At the moment, the meter is flashing and
the mower is in low power mode. When the remaining capacity of the
battery is .ltoreq.2%, the control module of the main controller
sends a low speed command to the slave controller through CAN
communication to make the walking system remain in low speed
status, and simultaneously sends a stop running command to the
cutter controller to make the cutter stall. Thereby, the power
consumption of the mower is further reduced, and the meter power is
flashing, and the mower is in a charging preparation state.
[0041] Please refer to FIG. 4, in the charging mode, when said
battery system experiences a minor fault, the control module sends
a current limiting command to the battery system, and controls a
battery to continue charging; when the battery system experiences a
severe fault, the control module sends a power-off command to the
battery system, and cuts off the charging relay to stop a battery
from charging.
[0042] Failures of said battery system in the charging mode mainly
include the individual voltage is too high, the individual voltage
difference is too high, the charging temperature is too high, the
charging temperature is too low, the insulation resistance is too
low, the master-slave MCU communication failure, the master-slave
MCU hardware failure and other major failures.
[0043] In the charging mode, the battery system also has a heating
protection function at low temperatures. The heating protection at
low temperature is mainly to improve the temperature inside the
battery by the heating module to reduce damage to the battery core
due to low temperature charging, thereby prolonging the service
life of the battery core. When the battery is ready to be charged,
if the battery system detects that the lowest temperature in the
battery box is higher than 2.degree. C., the battery system sends a
charging command to the charger, the charger starts to work, and
the battery enters the charging mode; If the battery system detects
that the lowest temperature in the battery box is lower than
2.degree. C., the battery system sends a heating command to the
charger, and at the same time closes the heating relay, and the
battery enters the heating mode; when the temperature inside the
battery box reaches 5.degree. C., the battery system sends a
charging command to the charger, and the battery enters a mode of
charging while heating; when the temperature inside the battery box
reaches 10.degree. C., the charger enters the charging mode, the
battery system disconnects the heating relay, closes the negative
relay and the charging relay, and the battery enters the charging
mode.
[0044] It should be noted that when the battery is ready to be
charged, if it is detected that the lowest temperature in the
battery box is higher than 2.degree. C., it means that the external
temperature at this time is suitable, and `the charging mode can be
directly entered. If it is detected that the lowest temperature in
the battery box is lower than 2.degree. C., it means that the
external temperature at this time is very low, such as minus ten
degrees, so the charger needs to be heated first, and the charger
does not enter the charging mode at this time; when the temperature
in the battery box reaches 2.degree. C. (or 5.degree. C.), if the
heating is stopped at this time, the temperature in the battery box
will directly drop below 2.degree. C., thereby damaging the life of
the battery, so it is necessary to continue heating the charger to
ensure that the temperature does not drop, at this time the charger
is charged while heating; when the temperature in the battery box
reaches 10.degree. C., it means that the temperature of the battery
at this time is balanced with the external temperature. It is not
necessary to continue heating, and the battery directly enters the
charging mode.
[0045] In the present invention, taking the battery system as an
example, for the level determination of minor faults and severe
faults, please refer to the following table. When the battery
status reaches the alarm threshold of each level and continues to
exceed the "alarm delay", the battery system will report the
corresponding level of alarm; when reporting the first level alarm
(corresponding to a severe fault) and continues to exceed the
"cutoff delay", the battery system will turn off the corresponding
relay; when the parameter is configured as "/", the corresponding
alarm and cut-off functions are disabled.
TABLE-US-00001 Serial Set Restore Alarm Cutout Fault Number Project
Value Value Requirements Delay Delay Level 1 Upper Limit 52 47 Set
the upper 2 S / Minor of Discharge limit of Fault Temperature
temperature 1 (.degree. C.) threshold 1, alarm, the maximum
discharge power is reduced to 50% 2 Upper Limit 56 / Set the upper
2 S 15 S Severe of Discharge limit of Fault Temperature temperature
2 (.degree. C.) threshold 2, alarm, the maximum discharge power is
reduced to 0%, cut off the high voltage after 15 s delay 3 Upper
Limit 50 45 Set the upper 2 S / Minor of Charging limit of Fault
Temperature temperature 1 (.degree. C.) threshold 1, alarm 4 Upper
Limit 56 / Set the upper 2 S 15 S Severe of Charging limit of Fault
Temperature temperature 2 (.degree. C.) threshold 2, alarm, the
maximum feedback power is reduced to 0% 5 Lower Limit -15 -10 Set
the lower 2 S / Minor of Discharge limit of Fault Temperature
temperature 1 (.degree. C.) threshold 1, alarm, the maximum
discharge power is reduced to 50% 6 Lower Limit -20 / Set the lower
2 S 15 S Severe of Discharge limit of Fault Temperature temperature
2 (.degree. C.) threshold 2, alarm, the maximum discharge power is
reduced to 0%, cut off the high voltage after 15 s delay 7 Lower
Limit 5 10 Set the lower 5 S / Minor of Charging limit of Fault
Temperature temperature 1 (.degree. C.) threshold 1, alarm 8 Lower
Limit 2 / Set the lower 5 S 1 S Severe of Charging limit of Fault
Temperature temperature 2 (.degree. C.) threshold 2, alarm, the
maximum charging power is reduced to 0%, cut off the charging loop
after 1 s delay 9 Individual 0.5 0.3 The maximum 2 S / Minor
voltage voltage Fault difference is imbalance too high 1 value
allowed (V) between all cabinets 1, alarm, the maximum discharge
power is reduced to 50%. 10 Individual 0.7 / The maximum 2 S 15 S
Severe Voltage voltage Fault difference is imbalance too high 2
value allowed (V) between all cabinets 2, alarm, the maximum
discharge power is reduced to 0%, cut off the high voltage after 15
s delay 11 Battery 12 7 The maximum 2 S / Minor temperature
temperature Fault difference is imbalance too large 1 value allowed
(.degree. C.) between all cabinets 1, alarm, the maximum discharge
power is reduced to 50%. 12 Battery 15 / Alarm, the 2 S 15 S Severe
temperature maximum Fault difference is discharge too large 2 power
is (.degree. C.) reduced to 0%, cut off the high voltage after 15 s
delay 13 Individual 3.65 3.6 The maximum 2 S / Minor voltage is
individual Fault too high 1 voltage (V) allowed in the battery 1,
alarm, the maximum discharge power is reduced to 50% 14 Individual
3.7 / The maximum 2 S 5 S Severe voltage is individual Fault too
high 2 voltage (V) allowed in the battery 2, alarm, the maximum
discharge power is reduced to 0%, cut off the high voltage after 5
s delay 15 Individual 2.8 / The minimum 2 S 15 S Severe voltage is
individual Fault too low 2 voltage (V) allowed in the battery 2,
alarm, the maximum discharge power is reduced to 0%, cut off the
high voltage after 15 s delay 16 Charging 35 30 The maximum 2 S /
Minor current is too current allowed Fault high 1 (A) when charging
1, alarm, the maximum charging power is reduced to 50%. 17 Charging
40 / The maximum 2 S 15 S Severe current is too current allowed
Fault high 2 (A) when charging 2, alarm, the maximum charging power
is reduced to 0%, cut off the high voltage after 15 s delay 18
Discharge 250 200 The maximum 2 S / Minor current is too current
allowed Fault high 1 (A) when discharging 1, alarm, the maximum
discharging power and feedback power are reduced to 50%. 19
Discharge 270 / The maximum 2 S 3 S Severe current is too current
allowed Fault high 2 (A) when discharging 2, alarm, the maximum
discharging power is reduced to 0%, cut off the high voltage after
3 s delay 20 Minor 40 100 Alarm, the 60 S / Minor insulation
maximum Fault faults (K.OMEGA.) discharging power and feedback
power are reduced to 80%. 21 Severe 10 / Alarm, the 60 S 15 S
Severe insulation maximum Fault fault (K.OMEGA.) discharge power
and feedback power is reduced to 0%, cut off the high voltage after
15 s delay, if the power is being self- tested, high voltage is not
allowed. 22 Battery 5 s / Alarm, the 5 S 30 S Severe system maximum
Fault internal discharge master-slave power and communication
feedback fault power is reduced to 0%, cut off the high voltage
after 30 s delay 23 Battery 2 s / Alarm, the 2 S 15 S Severe system
self-test maximum Fault hardware discharge fault power and feedback
power is reduced to 0%, cut off the high voltage after 15 s delay
24 Feedback 80 50 The maximum 2 S / Minor current is too feedback
Fault high 1 (A) current allowed when discharging 1, alarm, the
maximum discharging power and feedback power are reduced to 50%. 25
Feedback 100 / The maximum 2 S 15 S Severe current is too feedback
Fault high 2 (A) current allowed when discharging 2, alarm, the
maximum discharging power is reduced to 0%, cut off the high
voltage after 15 s delay
[0046] Of course, for the determination rules of the fault level of
the walking system and the cutter system, please set by referring
to the above table, which is not limited herein.
[0047] In conclusion, the beneficial effects of the present
invention are: as the lawn mower in the invention is provided with
a fault detection module, a fault determination module and a
control module, so that the lawn mower in the invention can perform
automatic detection through a fault detection module, then perform
a fault level determination through a fault determination module
when the battery system, the walking system or the cutter system of
the lawn mower have a fault, so that the control module can control
the current-limiting or outage of the corresponding battery system,
the slowdown or stop of the walking system, as well as the slowdown
or stop of the cutter system; compared with the prior art, the
invention not only makes the fault detection more intelligent, but
also the lawn mower can adjust the working state in real time
according to the fault level, thereby improving the working
efficiency.
[0048] The above embodiments are only used to illustrate the
technical solutions of the present invention, not for limitation.
Although the present invention is described in detail with
reference to the preferred embodiments, ordinary technicians in the
field should understand that the technical solutions of the present
invention may be modified or substituted without departing from the
spirit and scope of the technical solutions of the present
invention.
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