| CPC A01D 34/006 (2013.01) [A01D 34/66 (2013.01); A01D 34/78 (2013.01); A01D 69/02 (2013.01); A01D 2101/00 (2013.01); B60K 1/02 (2013.01); B60L 58/12 (2019.02); B60L 2200/40 (2013.01); B60L 2240/545 (2013.01); B60L 2240/547 (2013.01); B60L 2240/549 (2013.01); B60R 16/0231 (2013.01)] | 8 Claims |
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1. A controller area network (CAN)-bus-based electrical control system for an electric mower, comprising: an energy source control module, an instrument display module, a traveling control module, a mowing control module, a sensor module, a high-speed CAN bus and a low-speed CAN bus, wherein the energy source control module is connected to the sensor module, the instrument display module, the mowing control module and the traveling control module respectively by the high-speed CAN bus, so that communication of the energy source control module with the sensor module, the instrument display module, the mowing control module and the traveling control module is implemented; a master controller and a slave controller of the energy source control module are in communication by the low-speed CAN bus, so that communication between the master controller and slave controller is implemented;
wherein the energy source control module provides final drive energy and stores feedback energy of the electric mower;
the instrument display module displays a system operation state and fault key information of the electric mower, and issues an alarm;
the traveling control module comprises a left traveling control sub-module and a right traveling control sub-module, and the two traveling control sub-modules respectively control operation of a left traveling motor and a right traveling motor to achieve traveling and differential steering of the electric mower; each of the traveling control sub-modules comprises functions of power source conversion, signal collection, CAN communication management, motor control, motor enable management and fault monitoring analysis; the function of power source conversion comprises converting a high-voltage direct-current power source into a low-voltage direct-current power source for internal use by the traveling control module and external output, and maintaining a stable and reliable voltage output; the function of signal collection comprises collection and conversion of signals from a travelling motor Hall position sensor, a seat state sensor, a control handle angle sensor, and an enable switch; the function of CAN communication management is configured for traveling control and comprises functions of CAN communication, diagnosis, calibration, and program update of the electric mower and electric mower state message interaction; the function of motor control comprises motor phase change control, and speed loop and current loop closed-loop control; the function of motor enable management is to determine a safety condition of motor driving by a safety analysis control module; and the function of fault monitoring analysis has a fault monitoring analysis function;
the mowing control module comprises a plurality of sub-modules to implement signal processing and drive control over a mowing motor;
the sensor module collects signals in forms of a hardwire signal, a switch signal, a voltage signal and a pulse signal, and performs state interaction by the high-speed CAN bus;
wherein the sensor module comprises the control handle angle sensor, the travelling motor Hall sensor, the seat state sensor, a braking state sensor, a charge state sensor, a handle enable sensor, a traveling speed state control switch, a mowing speed state control switch, and a light switch; wherein the seat state sensor is configured to detect whether a driver is present in a seat, the braking state sensor is configured to detect whether the electric mower is in a braking and parking state; the charge state sensor is configured to detect whether the electric mower is being charged; the handle enable sensor is configured to detect whether a handle is controlled effectively; wherein the seat state sensor, the braking state sensor, the charge state sensor, and handle enable sensor serve as safety devices, and the signals of the seat state sensor, the braking state sensor, the charge state sensor, and the handle enable sensor provide conditions for safety determination, so that a controller of the traveling motors and a controller of the mowing motor determine whether the electric mower is operable; the travelling motor Hall sensor is configured to monitor rotating speeds of the left traveling motor and the right traveling motor, and the control handle angle sensor converts a mechanical stroke of a control handle into a voltage analog quantity for a traveling motor controller to control an electric mower speed; the traveling speed state control switch and the mowing speed state control switch are configured to provide input command signals for determining an electric mower state; the signals collected by the control handle angle sensor, the travelling motor Hall sensor, the seat state sensor, the braking state sensor, the charge state sensor, the handle enable sensor, the traveling speed state control switch, a mowing speed state control switch, and the light switch are converted and complied by a controller of the sensor module, and are communicated via the high-speed CAN bus; and
a logic threshold-based control mode is used between the energy source control module and the instrument display module, the traveling control module, the mowing control module and the sensor module, and for processing of a motor signal, a safety switch signal, a battery signal, a braking signal and a control device signal, the signals are encapsulated, transmitted, analyzed and expressed by a CAN protocol packet, so that identification of a traveling state and a mowing state of the mower and control over fault diagnosis and alarming are implemented.
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