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.

We claim: 
     
         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.