WO2024213154A1 - 割草机及全地形车 - Google Patents

割草机及全地形车 Download PDF

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Publication number
WO2024213154A1
WO2024213154A1 PCT/CN2024/087658 CN2024087658W WO2024213154A1 WO 2024213154 A1 WO2024213154 A1 WO 2024213154A1 CN 2024087658 W CN2024087658 W CN 2024087658W WO 2024213154 A1 WO2024213154 A1 WO 2024213154A1
Authority
WO
WIPO (PCT)
Prior art keywords
channel
control module
lawn mower
communication
component
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2024/087658
Other languages
English (en)
French (fr)
Inventor
王守彬
王磊
杨德中
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Chervon Industry Co Ltd
Original Assignee
Nanjing Chervon Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202410296976.1A external-priority patent/CN118844189A/zh
Priority claimed from CN202410323098.8A external-priority patent/CN118790171A/zh
Application filed by Nanjing Chervon Industry Co Ltd filed Critical Nanjing Chervon Industry Co Ltd
Priority to EP24788249.1A priority Critical patent/EP4668568A1/en
Publication of WO2024213154A1 publication Critical patent/WO2024213154A1/zh
Priority to US19/330,293 priority patent/US20260019299A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/4013—Management of data rate on the bus
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle

Definitions

  • the present application specifically relates to a communication method for a lawn mower and an all-terrain vehicle.
  • the functional modules are generally networked and communicated through wired or wireless means to achieve data interaction and communication between the functional modules.
  • wiring harness failures or functional device failures often occur, resulting in the inability of the functional devices behind the fault point to communicate normally, thereby affecting the normal operation of the functional devices.
  • a fault occurs during the bus communication process, it is difficult to determine the cause of the fault.
  • One object of the present application is to solve or at least alleviate part or all of the above problems.
  • one object of the present application is to provide a lawn mower and an all-terrain vehicle, which can provide a lawn mower with a fault self-diagnosis function by adopting the above technical solution, and the lawn mower can realize communication between other functional devices when communication of some functional devices is abnormal.
  • a lawn mower comprising: a vehicle body, including a frame; a plurality of functional devices, including at least: a walking assembly, including walking wheels for driving the lawn mower to walk on the ground and a walking motor for driving the walking wheels; an operating assembly, configured to be operated by a user to control the lawn mower, and a power supply assembly, providing energy for the walking assembly;
  • a communication system the communication system includes a control module connected to the functional device; multiple control modules can communicate through a first channel; the communication system also includes a second channel, the second channel is used to transmit communication information between at least two control modules.
  • multiple functional devices are electrically connected to corresponding control modules respectively to The control modules communicate in a first channel.
  • the second channel is capable of connecting at least two control modules on the first channel.
  • the second channel enables communication connection between the head control module and the tail control module of the first channel.
  • the communication system is configured to re-plan the communication path including the second channel when a failure occurs in the first channel, and the functional devices perform data exchange based on the re-planned communication path through the control module.
  • the head control module or the tail control module of the first channel can send information to the remaining control modules through the first channel or the second channel to locate the specific location of the fault.
  • the tail control module of the first channel accesses multiple control modules connected to the first channel in sequence starting from the tail control module of the first channel; obtains the first control module that the tail control module cannot access through the first channel, and the first control module serves as the second control module; and locates the specific location of the fault according to the first control module and the second control module.
  • the failure of the first channel includes a module failure, a wiring harness failure, or a connector failure.
  • the functional device further includes a mowing assembly, a support assembly, a control panel, and a lighting assembly.
  • the communication method of the first channel or the second channel includes a 485 bus, a controller area network (CAN) bus, and a LINE bus.
  • CAN controller area network
  • the communication mode of the first channel or the second channel includes at least one of wired communication, wireless communication and frame carrier communication.
  • the first signal or the second signal when configured to communicate using a vehicle frame carrier, information or instructions are transmitted between the plurality of control modules through the vehicle frame.
  • control module includes a controller and a transceiver component;
  • the transceiver component includes a modulation and demodulation module, a signal amplification circuit, a detection circuit and a signal coupling component;
  • the modulation and demodulation module and the signal coupling component constitute a transmitting unit;
  • the signal coupling component, the detection circuit, the signal amplification circuit and the modulation and demodulation module constitute a receiving unit;
  • the carrier center frequency of the modulation and demodulation module 3121 is greater than or equal to 10MHz and less than or equal to 12MHz.
  • the communication mode of the first channel is the same as the communication mode of the second channel.
  • the communication mode of the first channel is different from the communication mode of the second channel.
  • a lawn mower comprising: a vehicle body, including a frame; a plurality of functional devices, including at least: a walking component, including a driving component to drive the lawn mower on the ground;
  • the present invention relates to a lawn mower comprising: a lawn mower comprising: a lawn mower having a plurality of moving wheels and a lawn mower motor for driving the lawn mower; an operating component configured for a user to operate to control the lawn mower, and a power supply component for providing energy to the walking component; wherein the present invention also includes: a communication system, the communication system comprising a control module connected to the functional device; the communication system being configured to re-plan a communication path including a second channel when a failure occurs in the first channel, and the functional device performs data exchange based on the re-planned communication path through the control module.
  • an all-terrain vehicle comprising: a seat for a user to sit on;
  • a frame for supporting a seat a plurality of functional devices, including at least: a travel assembly, including travel wheels for driving the all-terrain vehicle to travel on the ground and a travel motor for driving the travel wheels; an operating assembly, configured for a user to operate to control the all-terrain vehicle;
  • a power supply component provides energy for the walking component;
  • a communication system includes multiple control modules connected to functional devices; multiple control modules can communicate with each other through a first channel; the communication system also includes a second channel, and the second channel is configured to be used for transmitting communication information between at least two control modules.
  • the benefit of the present application lies in that, by configuring a communication system in the lawn mower, and the communication system including a first channel and a second channel, it can ensure that when a partial failure occurs in the communication system, each control module can still maintain a normal communication state, effectively avoiding the problem of failure of the correlation of various functional devices caused by a failure of the communication system, reducing the coupling degree of communication between the control modules, enhancing the controllability of the lawn mower in a faulty state, and can also accurately locate the fault position in the communication system for easy maintenance.
  • FIG1 is a structural perspective view of a lawn mower as a specific embodiment of the present application.
  • FIG2 is a plan view of the lawn mower of FIG1 ;
  • FIG3 is a schematic diagram of a communication system of the lawn mower of FIG1 ;
  • FIG4 is a schematic diagram of a communication structure of a communication system of the lawn mower of FIG3 ;
  • FIG5 is a structural perspective view of an all-terrain vehicle as a specific embodiment of the present application.
  • FIG6 is a perspective view of an electric driving device as a specific embodiment of the present application.
  • FIG7 is a schematic diagram of a communication system of the electric travel device of FIG6 ;
  • FIG8 is a schematic diagram of the communication structure of the communication system of the electric driving device of FIG7;
  • FIG9 is a schematic structural diagram of a riding lawn mower as a specific embodiment of the present application.
  • FIG. 10 is a structural block diagram of a riding lawn mower as another specific embodiment of the present application.
  • the term "and/or” is a description of the association relationship between related objects, indicating that three relationships can exist.
  • a and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone.
  • the character "/" in this application generally indicates that the related objects before and after are in an "and/or” relationship.
  • connection may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation.
  • direct connection refers to two parts or components being connected together without the need for an intermediate piece
  • indirect connection refers to two parts or components being connected to at least one intermediate piece respectively, and the two parts or components being connected via the intermediate piece.
  • connect and “couple” are not limited to physical or mechanical connections or couplings, and may include electrical connections or couplings.
  • relative terms e.g., "about,” “approximately,” “substantially,” etc.
  • the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerances caused by manufacturing, assembly, and use associated with a specific value, 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 plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values that do not use relative terms should also be disclosed as specific values with tolerances.
  • substantially may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).
  • the function performed by a component can be performed by one component, multiple components, one part, or multiple parts.
  • the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.
  • controller In this application, the terms “controller”, “processor”, “central processing unit”, “CPU”, and “MCU” are interchangeable. When a unit “controller”, “processor”, “central processing unit”, “CPU”, or “MCU” is used to perform a specific function, unless otherwise specified, these functions can be performed by a single unit or multiple units.
  • the terms “device”, “module” or “unit” may be implemented in the form of hardware or software to achieve specific functions.
  • the terms “calculate”, “judge”, “control”, “determine”, “identify”, etc. refer to the operations and processes of a computer system or similar electronic computing device (e.g., controller, processor, etc.).
  • any other electric tool or vehicle with multiple functional devices that need to communicate with each other can fall within the protection scope of the present application as long as the essential content of the technical solution disclosed below can be adopted.
  • Figure 1 is a structural diagram of a lawn mower 100a according to an embodiment of the present application
  • Figure 2 is a plan structural diagram of a lawn mower 100b according to another embodiment
  • Figure 3 is a framework schematic diagram of a communication system of a lawn mower according to an embodiment of the present application
  • Figure 4 is a communication structure schematic diagram of a communication system of a lawn mower according to an embodiment.
  • the lawn mower 100a is specifically a manned lawn mower, and the lawn mower 100a includes a body 10, a plurality of functional devices and a communication system 30.
  • the body 10 includes a frame 11.
  • the plurality of functional devices 20 include, but are not limited to, a walking component 21, an operating component 22 and a power supply component 23 including at least a battery pack 231 and a power supply controller 232.
  • the walking component 21 includes a walking wheel 211 for driving the lawn mower 10a to walk on the ground and a walking motor 212 for driving the walking wheel 211.
  • the operating component 22 is configured for a user to operate to control the lawn mower 100a.
  • the power supply component 23 provides energy for the walking component 21.
  • the communication system 30 includes a plurality of control modules connected to the functional devices, and the plurality of control modules can communicate with each other through a first channel 31.
  • the communication system 30 also includes a second channel 32, and the second channel 32 is used to transmit communication information between at least two control modules.
  • the second channel 32 is configured to connect at least two control modules on the first channel 31.
  • the frame 11 may be used to provide support to other components of the lawn mower 100a.
  • the frame 11 can provide support for the seat or the support member.
  • the frame 11 can also provide support for the operating assembly 22 or the power supply assembly 23.
  • the travel wheels 211 and the travel motors 212 may be in a one-to-one correspondence or a many-to-one correspondence, and the number of the travel wheels 211 is not limited.
  • the user can control the motion state of the lawn mower through the operating component 22.
  • the operating component 22 can also be used to control the working posture of the mowing component configured on the lawn mower.
  • the power supply component 23 can provide energy to the travel motor 212 in the travel component 21, and can also provide energy to other functional devices on the lawn mower 100a.
  • the functional equipment of the lawn mower 100a may further include a mowing assembly 24, a support assembly 25, a lighting assembly 26, etc.
  • the mowing assembly 24 includes a mowing element 242 that can be driven to cut the lawn and a mowing motor 241 for driving the mowing element 241.
  • the support assembly 25 may be used to provide support to the user, and the form of the support assembly includes but is not limited to structures such as a seat and a support frame.
  • the lighting assembly 26 may be used to provide a light source.
  • the functional devices of the lawn mower 100a may further include a control panel 27.
  • the control panel 27 may be used to display the working status of the lawn mower, information about the surrounding environment of the lawn mower, etc. to the user.
  • the control panel 27 may also be used to provide the user with buttons for controlling the various functional devices of the lawn mower, but is not limited to the above uses.
  • the control panel 27 may be connected to the lawn mower by means of an external control panel 27.
  • the control panel 27 may be a fixed control panel 27 on the lawn mower, and the control panel 27 may be configured at any visible position on the lawn mower.
  • each functional device can be connected to a control module, and the communication between the various functional devices is achieved through the communication between the various control modules.
  • the functional devices on the lawn mower can also be functional devices with direct communication capabilities. At this time, there is no need to connect a control module to the functional device, and the structure for communication in the functional device can be equivalent to the functional module proposed in the present application.
  • each control module of the lawn mower 100a may be connected to the functional device it controls, and the control module of each functional device may be connected to the bus.
  • the functional devices of the lawn mower 100a may also include a throttle 281, an Internet of Things (IOT) interface 282, a parking brake 283, and a steering operating member 284.
  • IOT Internet of Things
  • the functional devices in FIG3 are only exemplary and do not cover all functional devices.
  • the communication system 30 includes N nodes, each of which is equivalent to a combination of a functional device and a control module connected thereto.
  • the nodes in the lawn mower 100a can be connected in a daisy chain in the first channel 31.
  • the drawings in the specification of the present application are only for illustrative purposes and are not limited to the control modules and functional devices shown in FIG3 , nor are they limited to the connection method between the nodes shown in FIG4 .
  • the communication system 30 in the lawn mower 100a includes a plurality of control modules, and each control module is connected to a functional device in the functional device, and each control module can communicate through the first channel 31 in the communication system 30.
  • the communication mode of the first channel 31 or the second signal 32 can be bus communication, and the bus communication includes but is not limited to bus structures such as 485 bus, CAN bus and LINE bus.
  • the communication system 30 may also include a second channel 32, and the second channel 32 may connect the head control module of the first channel 31 and the tail control module of the first channel 31.
  • node 1 is used as the head node of the first channel 31, and node N is used as the tail node of the first channel 31.
  • the second channel 32 is used to connect node 1 and node N, so that the N nodes in the communication system are connected into a ring closed loop.
  • each control module in the communication system 30 communicates through the first channel 31.
  • the control module sends the communication information including the destination address information to the bus.
  • Other control modules can obtain the above communication information in the bus and determine whether the destination address information in the communication information is consistent with their own address information. If they are consistent, the communication information can be processed; if they are inconsistent, the communication information can be ignored.
  • the communication mode of the first signal 31 or the second channel 32 may include at least one of the following modes: wired communication, wireless communication, and frame carrier communication.
  • wired communication includes but is not limited to bus communication.
  • Wireless communication includes but is not limited to communication modes such as Bluetooth, ZIGBEE, and wireless network.
  • Frame carrier communication can be understood as using the frame body as a communication channel.
  • the communication mode of the second channel 32 can be the same as the communication mode of the first channel 31, for example, both are bus communication.
  • the communication mode of the second channel 32 can also be different from the communication mode of the first channel 31.
  • the communication system 30 may also be configured with other components that match the communication mode of the second channel 32.
  • the communication system 30 should also be configured with Bluetooth transceiver equipment, which are not listed here one by one.
  • the specific communication mode of the second channel 32 can be determined according to actual needs. For example, if the reliability and flexibility of communication need to be ensured, wired communication can be considered as the second channel 32. In some embodiments, if the second channel 32 needs to be free from the constraints of the wire harness, wireless communication can be considered as the second channel 32. In some embodiments, if the number of wire harnesses needs to be minimized, wireless communication can be considered as the second channel 32. To ensure strong anti-interference capability and high communication rate, the frame carrier communication can be considered as the second channel 32. The above selection of the communication mode of the second channel 32 is only for illustrative purposes and does not limit the selection method of the communication mode of the second channel 32.
  • the second channel 32 may also connect any two non-adjacent control modules in the first channel 31. Taking FIG. 4 as an example, the second channel 32 may also connect node 1 and node 3, or node 2 and node N.
  • the communication between the control modules can be achieved through the second channel 32.
  • the first channel 31 failure may include a module failure, a wiring harness failure, or a connector failure.
  • the wiring harness failure includes but is not limited to a wiring harness open circuit or a wiring harness short circuit.
  • the head control module of the first channel 31 can access multiple control modules connected to the first channel 31, so as to determine whether the first channel 31 has a fault. When there is a control module among the multiple control modules connected to the first channel 31 that the head control module cannot access, it can be determined that the first channel 31 has a fault. In another embodiment, if a control module in the communication system 30 sends communication information to other control modules but fails to obtain feedback information within a specified time, it can also be determined that the first channel 31 has a fault.
  • the communication path including the second channel 32 can be replanned in the communication system 30.
  • Each control module can exchange data through the replanned communication path.
  • the re-planned communication path may include the first channel 31 that is not in a fault state in addition to the second channel 32.
  • the re-planned communication channel can realize normal communication between various control modules.
  • node 1 if the control module in node 2 fails, node 1 cannot communicate normally with node 3 and the nodes after it. At this time, if node 1 wants to communicate with node 3, it can send the data to node N through the second channel 32 first, and then continue to transmit it through the first channel 31 on the node N side. In another embodiment, if the wiring harness between node 2 and node 3 is broken or short-circuited, if node 1 wants to communicate with node 2 at this time, it can still use the original first channel 31. However, if node 1 wants to communicate with node 3, it can send the data to node N through the second channel 32 first, and then continue to transmit it to node 3 through the first channel 31 on the node N side.
  • the re-planned communication path only needs to be able to complete the target communication task through the loop communication structure formed by the second channel 32.
  • the head control module of the first channel 31 or the tail control module of the first channel 31 can provide the remaining communication modules with a fault through the first channel 31 or the second channel 32.
  • the block sends information to locate the specific location of the fault.
  • first, multiple control modules connected to the first channel 31 can be accessed backward in sequence starting from the head control module of the first channel 31, and the first control module that the head control module cannot access through the first channel 31 is obtained as the first control module. Then, the head control module of the first channel 31 can send a fault detection instruction to the tail control module of the first channel 31 through the re-planned communication path. After receiving the fault detection instruction, the tail control module of the first channel 31 accesses multiple control modules connected to the first channel 31 in sequence starting from the tail control module of the first channel 31. The first control module that the tail control module cannot access through the first channel 31 is obtained as the second control module. Finally, the specific location of the fault is located according to the first control module and the second control module. Generally, the specific location of the fault is between the first control module and the second control module.
  • a fault detection instruction can be sent from the middle control module of the first channel 31 to the head control module of the first channel 31. If the middle control module can receive the detection feedback information returned by the head control module, it can be said that the fault point is at a certain position after the middle control module. If the middle control module cannot receive the detection feedback information returned by the head control module, it can be said that the fault point is at a certain position before the middle control module. In some embodiments, if the fault point is at a certain position after the middle control module, the number of control modules after the middle control module and the preset threshold value can be judged.
  • the middle control module can send detection feedback information to the control modules behind it one by one until a certain control module cannot return detection feedback information. Assuming that the Xth control module cannot return detection feedback information, the Xth control module to the tail control module will send fault detection instructions to the head control module one by one through the re-planned communication channel. When the head control module cannot receive the fault detection instruction of a certain control module, it is considered that the location of the control module is in a fault state.
  • the above technical solution can provide a lawn mower with a fault self-diagnosis function, and the lawn mower can realize communication between other functional devices when communication of some functional devices is abnormal.
  • the fault location method for the first channel is not limited to the above implementation mode, and any other method that can realize the fault location of the first channel through the second channel is within the protection scope of the present application.
  • the technical solution of the embodiment of the present application by configuring a communication system in the lawn mower, and the communication system includes a first channel and a second channel, can ensure that when a partial failure occurs in the communication system, each control module can still maintain a normal communication state, effectively avoiding the problem of failure of the correlation of various functional devices caused by a failure of the communication system, reducing the coupling degree of communication between the control modules, enhancing the controllability of the lawn mower in a faulty state, and can also accurately locate the fault position in the communication system for easy maintenance.
  • the above communication system can also be used on the lawn mower 100b shown in Figure 2 and the all-terrain vehicle 100c shown in Figure 5.
  • the working principle of each component of the lawn mower 100b shown in Figure 2 is the same as that of the lawn mower 100a described above, and will not be repeated here.
  • the all-terrain vehicle 100c includes a seat 40, a frame 50, a plurality of functional devices and a communication system.
  • the seat 40 is used for a user to sit on.
  • the frame 50 is used to support the seat.
  • the plurality of functional devices include but are not limited to a walking component 61, an operating component 62 and a power supply component 63.
  • the walking component 61 includes a walking wheel 611 for driving the all-terrain vehicle 100c to walk on the ground and a walking motor for driving the walking wheel.
  • the operating component 62 is configured for the user to operate to control the all-terrain vehicle.
  • the power supply component 63 provides energy for the walking component 61.
  • the communication system includes a plurality of control modules connected to the functional devices, and the plurality of control modules communicate with each other through a first channel.
  • the communication system also includes a second channel, which is connected to at least two control modules connected to the first channel and is used to transmit communication information between at least two control modules.
  • each functional device can be connected to a control module, and the communication between the various functional devices can be achieved through the communication between the various control modules.
  • the functional devices on the all-terrain vehicle can also be functional devices with direct communication capabilities. In this case, there is no need to connect the control module to the functional device, and the structure for communication in the functional device can be equivalent to the functional module proposed in the present application.
  • the communication structure diagram in FIG4 is also applicable to the communication system of the all-terrain vehicle 100c.
  • each node in FIG4 may be equivalent to a combination of a functional device in the all-terrain vehicle and a control module connected thereto.
  • a plurality of control modules are respectively connected to corresponding functional devices, and each functional device can communicate in the first channel 31 through the corresponding control module.
  • the communication system in the all-terrain vehicle 100c includes a plurality of control modules, and each control module is connected to a functional device in the functional device. Each control module can communicate through the first channel 31 in the communication system.
  • the communication mode of the first channel 31 can be bus communication.
  • the bus communication mode includes but is not limited to 485 bus, CAN bus and LINE bus.
  • the communication system may also include a second channel 32, which is at least used to transmit communication information between two control modules.
  • the second channel 32 can connect the head control module of the first channel 31 and the tail control module of the first channel 31.
  • node 1 when each node is connected in series in a daisy chain manner, node 1 can be regarded as the head node of the first channel 31, and node N can be regarded as the tail node of the first channel 31.
  • the second channel 32 is used to connect node 1 and node N, so that the nodes are connected into a ring closed loop.
  • the communication mode of the second channel 32 may include at least one of the following: wired communication
  • the second channel 32 may be a wireless communication channel, a wireless communication channel, and a frame carrier communication channel.
  • wired communication includes but is not limited to bus communication.
  • Wireless communication includes but is not limited to communication modes such as Bluetooth, ZIGBEE, and wireless network.
  • Frame carrier communication can be understood as using the frame body as a communication channel.
  • the communication mode of the second channel 32 may be the same as the communication mode of the first channel 31, for example, both are bus communication, or it may be different from the communication mode of the first channel 31.
  • other components matching the communication mode of the second channel 32 may also be configured in the communication system.
  • the communication system should also be configured with a Bluetooth transceiver device, which is not listed here one by one.
  • the second channel 32 may also connect any two non-adjacent control modules in the first channel 31. Taking FIG. 4 as an example, the second channel 32 may also connect node 1 and node 3 or node 2 and node N.
  • the first channel 31 in the communication system after determining that the first channel 31 in the communication system fails, communication between control modules can be achieved via the second channel 32.
  • the failure of the first channel 31 may include module failure, wiring harness disconnection or wiring harness short circuit.
  • the head control module of the first channel 31 can access multiple control modules connected to the first channel 31, so as to determine whether the first channel 31 has a fault. When there is a control module that cannot be accessed by the head control module among the multiple control modules connected to the first channel 31, it can be determined that the first channel 31 has a fault. In another embodiment, if a control module in the communication system 70 sends communication information to other control modules, but does not obtain feedback information within a specified time, it can also be determined that the first channel 31 has a fault.
  • the communication path including the second channel 32 can be re-planned in the communication system 70, and each control module can exchange data through the re-planned communication path.
  • the technical solution disclosed in the present application by configuring a communication system in an all-terrain vehicle, and the communication system includes a first channel and a second channel, can ensure that when a partial failure occurs in the communication system, each control module can still maintain a normal communication state, effectively avoiding the problem of correlation failure of various functional devices caused by a failure of the communication system, reducing the coupling degree of communication between the control modules, enhancing the controllability of the all-terrain vehicle in a faulty state, and can also accurately locate the fault position in the communication system for easy maintenance.
  • the electric driving device includes: a body 10, a plurality of operating devices 20 and a communication system 30.
  • the body 10 includes a frame 11.
  • the plurality of operating devices 20 include a traveling component 21, an operating component 22 and a power supply component 23.
  • the communication system 30 includes a plurality of control modules 31 connected to the operating devices 20.
  • the control module 31 includes a control module A electrically connected to the operating component 22, a control module B electrically connected to the traveling component 21, and a control module C electrically connected to the power supply component 23.
  • Information or instructions are transmitted between the plurality of control modules 31 through the frame 11.
  • the operating devices 20 cooperate with each other.
  • the corresponding control module 31 works to operate the electric travel device. It should be noted that the operating device in this embodiment can be understood as the functional device in the above embodiment.
  • the operating component 22 receives the walking instruction sent by the user and sends it to the control module A.
  • the control module A receives and transmits the walking instruction to the control module B through the frame 11.
  • the control module B reads the walking instruction and executes it, and controls the walking component 21 to start working.
  • the walking component 21 includes a walking motor and a wheel, that is, the walking motor is controlled to work, and the walking motor is connected to and drives the wheel to roll and drive the electric travel device to walk on the ground.
  • the control module C is connected to the control module A and the control module B through the frame 11. During the operation of the electric travel device, the control module C can receive the operating information of the walking component 21 transmitted by the control module B on the frame 11.
  • the operating information of the operating component 22 transmitted by the control module A and the power parameter information in the power supply component 23 send a charging instruction to the power supply component 23 so that the power supply component 23 supplies power to the walking component 21 according to the charging instruction.
  • each control module 31 communicates data between each node through a dedicated communication harness.
  • a dedicated communication harness When the device is walking or performing functions outdoors, it is easy to have problems such as poor contact between the communication harnesses due to bumpy roads.
  • the communication quality and communication efficiency between the control modules in the electric driving device are achieved through the frame 11, thereby improving the operating efficiency of the electric driving device.
  • the technical solution of this application can avoid problems such as poor contact caused by the use of a dedicated communication harness, or problems such as redundant interference of each harness.
  • the first control module and the second control module here can be any two control modules of the above-mentioned control module A, control module B and control module C, and the specific types of the first control module and the second control module are not limited here
  • the first control module and the second control module when the first control module and the second control module communicate, the first control module sends information or instructions containing address information to the frame 11, and the second control module is configured to obtain the information or instructions transmitted on the frame 11, and determine whether to receive and execute the above-mentioned information or instructions based on the address information.
  • control module when receiving a signal or instruction, can directly read the address information of the signal and instruction transmission to obtain the type and source of the signal or instruction, and determine the execution object of the signal or instruction transmission according to the type and source of the signal or instruction, thereby improving the efficiency and accuracy of the communication system's transmission data, which is conducive to the integration and deployment of information.
  • each control module 31 includes a controller 311 and a transceiver component 312.
  • the transceiver component 312 includes a modulation and demodulation module 3121, a signal amplification circuit 3122, a detection circuit 3123 and a signal coupling component 3124.
  • the modulation and demodulation module 3121 and the signal coupling component 3124 constitute a transmitting unit.
  • the controller 311 transmits information or instructions to the modulation and demodulation module 3121 so that the modulation and demodulation module 3121 modulates and processes the information or instructions, and transmits the modulated information or instructions to the frame 11 through the signal coupling component 3124 .
  • the signal coupling component 3124, the detection circuit 3123, the signal amplifying circuit 3122 and the modulation and demodulation module 3121 constitute a receiving unit.
  • the signal coupling component 3124 couples the information or instructions transmitted through the frame 11 to the detection circuit 3123, and the detection circuit 3123 filters the information or instructions coupled and transmitted by the signal coupling component 3124.
  • the signal amplifying circuit 3122 amplifies the filtered information or instructions and outputs them to the modulation and demodulation module 3121, and the controller 311 can receive the information or instructions demodulated by the modulation and demodulation module 3121.
  • the carrier center frequency of the modulation and demodulation module 3121 is greater than or equal to 10 MHz and less than or equal to 12 MHz. In some embodiments, the carrier center frequency of the modulation and demodulation module 3121 is approximately 10.7 MHz.
  • the information or instructions output by the controller 311 are parallel digital signals.
  • the modulation and demodulation module 3121 loads the digital signal onto the carrier center frequency of 10.7 MHz, and modulates the digital signal loaded onto the carrier center frequency of 10.7 MHz. Then, the signal coupling component 3124 couples the modulated digital signal to the frame 11, thereby realizing the transmission of the information or instructions output by the controller 311.
  • the specific process of the controller 311 receiving information or instructions sent by another controller through the vehicle frame 11 is as follows: the detection circuit 3123 filters the information or instructions coupled and transmitted by the signal coupling component 3124 to obtain an analog signal with a carrier center frequency of 10.7 MHz, and then the signal amplification circuit 3122 amplifies the analog signal with a carrier center frequency of 10.7 MHz, and the modulation and demodulation module 3121 demodulates the analog signal with a carrier center frequency of 10.7 MHz after amplification and outputs a digital signal to the controller 311.
  • the signal amplification circuit 3122 can also be integrated in the modulation and demodulation module 3121, that is, the modulation and demodulation module 3121 can simultaneously amplify the analog signal with a carrier center frequency of 10.7 MHz, and also demodulate the analog signal with a carrier center frequency of 10.7 MHz after amplification and output a digital signal to the controller 311.
  • the signal coupling component 3124 can play a role in bypassing high-frequency noise.
  • the signal coupling component 3124 is set as a safety capacitor, and the capacitance range of the safety capacitor is: C ⁇ 1000pF.
  • the signal coupling component 3124 can also be set as an inductor for coupling signals.
  • the capacitance range of the signal coupling component 3124 is: C ⁇ 1000pF.
  • the typical value of the distributed inductance of this capacitance value range is L ⁇ 5 ⁇ H, that is, a coupling capacitor of 1000pF has a distributed inductance of ⁇ H, and its parallel resonance frequency is f ⁇ 7MHz.
  • the capacitance range of the signal coupling component 3124 is: C ⁇ 1000pF, it has a better decoupling effect for noise below 10MHz.
  • the information or instructions coupled and transmitted by the signal coupling component 3124 are filtered and processed by the detection circuit 3123 to obtain an analog signal with a carrier center frequency of 10.7MHz, so that the signal quality of the demodulated signal input to the modulation and demodulation module 3121 can be guaranteed. It should be noted that the technical personnel in this field need to select the capacitance value of the coupling capacitor according to the The present application does not impose any restrictions on the capacitance of the coupling capacitor.
  • the controller 311 and the transceiver assembly 312 are coated with insulating materials; a conductive layer is provided at one end of the detection circuit 3123 close to the frame 11; or a conductive layer is provided at one side of the modulation and demodulation module 3121 close to the frame 11; a signal coupling assembly 3124 is formed between the conductive layer and the frame 11; that is, the signal coupling assembly 3124 in the above embodiment can be composed of a conductive layer and the frame 11; the conductive layer is electrically connected to the detection circuit 3123 and the modulation and demodulation module 3121; in this way, the signal coupling assembly 3124 is directly composed of the conductive layer and the frame 11, which saves the setting of the signal coupling assembly 3124 and improves the space utilization of the overall communication system.
  • the capacitance range of the signal coupling assembly 3124 formed between the conductive layer and the frame 11 needs to meet: C ⁇ 1000pF
  • the cross-sectional area of the conductive layer and the distance between the conductive layer and the frame 11 can be set according to the value range of the coupling capacitance C ⁇ 1000pF.
  • control module 31 is configured to send information or instructions to the frame when it is detected that the communication system is in idle mode.
  • the control module is also configured to set the communication system to idle mode when no information or instructions transmitted by the frame are received within a preset time.
  • each two control modules need to transmit information or instructions through the frame 11 at the same time.
  • the control module A transmits information or instructions to the control module B through the frame 11
  • the control module C also transmits information or instructions to other control modules through the frame 11.
  • control module A In order to avoid the transmission competition of information or instructions on the frame 11, when the control module A does not receive the information or instructions transmitted by the frame 11 within the preset time (it should be noted here that the control module A can send information or instructions to the specific control module according to the address information, and can also receive information or instructions sent by the control module C). In other words, if the control module C does not send information or instructions to the frame 11 within the preset time, the control module A can send information or instructions to the frame, so that the transmission competition of information or instructions on the frame 11 can be avoided.
  • the communication system disclosed in this embodiment can be applied to various types of electric driving equipment.
  • it can be applied to riding lawn mowers, and can also be applied to other riding electric machines that work indoors or outdoors.
  • other functions other than walking can be achieved by outputting other forms of power.
  • They can all be considered riding electric machines, such as riding snow sweepers, riding agricultural machinery, riding mops, riding sweepers, and all-terrain vehicles.
  • the specific types of specific electric driving equipment are not specifically limited here.
  • FIG9 is a schematic diagram of the structure of a riding lawn mower according to an embodiment of the present application
  • FIG10 is a block diagram of the structure of a riding lawn mower according to the first preferred embodiment of the present application.
  • the riding lawn mower includes: a vehicle body 100, including a vehicle frame 101; an operating device 200, including a power output component 201, a walking component 202, and an operating component 203; a communication system 300, including a control module 301 connected to the operating device 200; and a plurality of control modules 301 and 302. Information or instructions are transmitted between blocks 301 through the frame 101 .
  • the power output component 201 includes a mowing element 2011 and a mowing motor 2012; the mowing element 2011 is connected to the mowing motor 2012, and the control module corresponding to the power output component 201 is a mowing control module 3011; the mowing control module 3011 is electrically connected to the mowing motor 2012; the control module corresponding to the operating component 203 is an operation control module 3013; the mowing control module 3011 and the operation control module 3013 transmit information or instructions through the frame 101; specifically, the operating component 203 receives the mowing instruction sent by the user, and sends it to the operation control module 3013, which receives the mowing instruction and transmits it to the mowing control module 3011 through the frame 101, the mowing control module 3011 reads the mowing instruction and executes it, and the mowing control module 3011 controls the mowing motor 2012 to operate to drive the mowing element 2011 to rotate at high speed to cut the grass.
  • the walking component 202 includes a walking motor 2021 and wheels 2022.
  • the control module electrically connected to the walking component 202 is a walking control module 3012.
  • the walking control module 3012 may be a motor controller; the motor controller is electrically connected to the walking motor 2021; the walking motor 2021 is mechanically connected to the wheels 2022; the motor controller and the operation control module 3013 transmit information or instructions through the frame 101; the operation component 203 receives the walking instruction sent by the user, and the operation control module 3013 sends the walking instruction to the motor controller to control the speed and direction of the wheels 2022.
  • the mowing control module 3011 and the motor controller can transmit information or instructions through the frame 101, and the mowing control module 3011 can control the running speed of the mowing motor 212 in real time according to the parameter information of the driving motor 2021 received by the motor controller.
  • the riding lawn mower further includes a power supply component 204 for providing electrical energy, the power supply component 204 including a power supply;
  • the control module corresponding to the power supply component 204 is a power management module 3014;
  • the power management module 3014 is electrically connected to the power supply;
  • the power management module 3014 is communicatively connected to the operation control module 3013, the motor controller and the mowing control module 3011 through the frame 11;
  • the power management module 3014 issues a power supply instruction according to the information output by the operation control module 3013, the motor controller and the mowing control module 3011, and the power supply supplies power to the operation component 203, the power output component 201 and the driving component 202 according to the power supply instruction.
  • the power source includes at least a battery, specifically at least a battery pack.
  • the battery pack is pluggable relative to the riding lawn mower, so that the endurance of the riding lawn mower can be extended by replacing the battery pack during use.
  • the power supply component 204 is also provided with a charging socket, through which the battery pack installed in the riding lawn mower can be charged.
  • the riding lawn mower also includes a seat 400, and the frame 101 is also used to carry various modules of the riding lawn mower.
  • the frame 101 is used to support the seat 400, the power output component 201, the walking component 202, the operating component 203 and the power supply, etc.;
  • the seat 400 is fixed on the body 100 of the riding lawn mower, so that the riding electric lawn mower can be ridden by the user.
  • the user can operate the riding electric lawn mower to save effort and quickly mow the lawn, vegetation, etc.
  • the user does not need to push the machine or walk on the ground.
  • due to its large size and long battery life it can be used to trim larger lawns.
  • the operating component 203 includes a first operating member 2031 and a second operating member 2032, and the operating control module 3013 is connected to the first operating member 2031 and the second operating member 2032 respectively.
  • the first operating member 2031 and the second operating member 2032 are used by the user to operate and control the riding lawn mower.
  • the first operating member 2031 is operated by the user to control the travel of the riding lawn mower, and the second operating member 2032 is operated by the user to control the operation of the riding lawn mower.
  • the user inputs a control instruction through the first operating member 2031 and the second operating member 2032, and sends it to the frame 101 through the operating control module 3013, and the control instruction is sent to the corresponding execution component through the frame 101.
  • the first operating member 2031 is implemented as an operating rod, which is arranged on both sides or around the seat 400.
  • the operation control module 3013 includes a steering controller and a speed controller.
  • the operating rod is connected to the steering controller and the speed controller through a data line.
  • the steering controller and the speed controller convert the action of the operating rod into a corresponding walking instruction.
  • the walking instruction includes a control operation instruction, a speed change instruction, a steering instruction, and a stop instruction.
  • the steering controller sends the converted walking instruction to the motor controller through the frame 101.
  • the motor controller executes the action according to the walking instruction to control the running motor 2021 to drive the wheel 2022 to rotate, and at the same time controls the speed and steering of the wheel 2022, thereby changing the running direction and speed of the riding lawn mower, so as to achieve the purpose of the user controlling the riding lawn mower to walk.
  • the first operating member 2031 can also be implemented as other control devices such as pedals, switches, and handles.
  • the second operating member 2032 is implemented as a control panel, which includes a plurality of switches, and different switches correspond to different control instructions.
  • the user inputs different control instructions through the switches to operate the riding lawn mower.
  • the user sends control instructions to the operation control module 3013 through the switches on the control panel, and the operation control module 3013 couples the control instructions to the execution instruction object through the frame 101, and the execution instruction object executes the control instructions, wherein the control instructions include instructions such as starting mowing and mowing power.
  • the operation component 203 also includes an IOT interface 2033 connected to the operation control module 3013, through which the operation component 2031 is connected wirelessly and via the network, and the user can connect the riding lawn mower to a mobile smart device such as a mobile phone, a smart watch, etc. through the IOT interface 2033, and control the operation of the riding lawn mower through the mobile smart device.
  • a mobile smart device such as a mobile phone, a smart watch, etc.
  • the user connects the mobile smart device to the IOT interface 2034 of the riding lawn mower and sends a control instruction
  • the IOT interface 2033 sends the control instruction to the operation control module 3013
  • the operation control module 3013 sends the instruction to the execution object through the frame, and the execution object executes it.
  • the operation component 203 also includes a maintenance and debugging port 2034 connected to the operation control module 3013.
  • the user inputs adjustment parameters through the maintenance and debugging port 2034, and the operation control module 3013 distributes the adjustment parameters to the corresponding execution objects through the frame 101 according to the adjustment parameter information. After the parameters are debugged, each execution object feeds back the operating data to the maintenance and debugging port 2034 through the frame 101 to achieve the purpose of detection and maintenance.
  • the riding lawn mower further includes a lighting assembly 500 for lighting, the lighting assembly 500 including a headlight 501
  • the front and rear lights 502 are mounted on the front and rear ends of the riding lawn mower, respectively, and are used for mowing grass and lighting intersections when the riding lawn mower is used.
  • the headlights 501 include shadowless lights, front headlights, left-traffic lights and rear-traffic lights.
  • the headlights 501 and rear-traffic lights 502 are respectively connected to the operation control module 3013.
  • the switch of the second operating element 2032 is provided with a switch for controlling the turning on of each headlight 501 and rear-traffic light 502.
  • the second operating element 2032 sends the light-on instruction to the operation control module 3013, and the operation control module 3013 sends the light-on instruction to the corresponding headlight 501 or rear-traffic light 502 to control the turning on of the headlight 501 or rear-traffic light 502; and when the lights need to be turned off, a light-off instruction is sent to the operation control module 3013 through the second operating element 2032, and the operation control module 3013 sends the light-off instruction to the corresponding headlight 501 or rear-traffic light 502 to control the turning off of the headlight 501 or rear-traffic light 502.
  • the riding lawn mower also includes at least one sensor disposed therein, and the sensor is implemented as one or any combination of a current sensor, a voltage sensor, a gyroscope, an accelerometer, an inertial measurement unit, a barometer, and a magnetometer.
  • the sensor is configured to be directly connected to the frame 101.
  • the sensor can detect operating information generated during the operation of the riding lawn mower, such as circuit current, travel position and speed, and transmit the information to different operating devices 20 through the frame 10, and adjust the operation of the riding lawn mower according to the content of the information feedback.
  • At least two of the walking control module 3012, the operation control module 3013 and the power management module 3014 transmit information or instructions through the frame 101, that is, when each control module cooperates with the riding lawn mower to operate, any two of the walking control module 3012, the operation control module 3013 and the power management module 3014 transmit information or instructions through the frame 101; any other two of the walking control module 3012, the operation control module 3013 and the power management module 3014 can also transmit information or instructions through the power distribution data line, so that the information or instruction transmission of the frame 101 and the power distribution data line can be realized, and the applicable scenarios are more abundant.
  • the above communication system can also be applied to an all-terrain vehicle (UTV) as shown in Figure 5;
  • the all-terrain vehicle may include a four-wheel all-terrain vehicle (ATV), a multi-functional all-terrain vehicle (UV) and a recreational field vehicle (Go-kart).
  • ATV four-wheel all-terrain vehicle
  • UV multi-functional all-terrain vehicle
  • Go-kart recreational field vehicle

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Abstract

一种割草机，包括车身（10）、行走组件（21）、操作组件（22）、供电组件（23）以及通信系统（30）；其中，行走组件包括带动割草机（10a）在地面上行走的行走轮（211）以及用于驱动行走轮的行走马达（212），操作组件被配置为供用户操作以控制割草机（100a），供电组件包括电池包（231）和电源控制器（232），供电组件为行走组件提供能量；通信系统包括多个与功能设备连接的控制模块。还包括一种全地形车。该割草机和全地形车具有通信链路自恢复及故障自诊断功能。

Description

割草机及全地形车
本申请要求在2023年04月13日提交中国专利局、申请号为202310396150.8，在2023年04月26日提交中国专利局、申请号为202310465722.3，在2024年03月14日提交中国专利局、申请号为202410296976.1，以及在2024年03月20日提交中国专利局、申请号为202410323098.8的中国专利申请的优先权，以上申请的全部内容通过引用结合在本申请中。
技术领域
本申请具体涉及一种割草机及一种全地形车的通信方式。
背景技术
随着割草机技术的发展以及用户使用需求的增加，割草机中的功能设备也逐渐增多，不同的功能设备可用于执行不同的功能任务。为使不同功能设备之间相互配合工作，一般将各功能模块通过有线、无线等方式组网通信，以实现各功能模块之间的数据交互通信。然而，在实际应用过程中经常会出现线束故障或功能设备故障，导致故障点后的功能设备无法正常通信，从而影响功能设备的正常工作。同时，若总线通信过程中出现故障，难以判断故障原因。
本部分提供了与本申请相关的背景信息，这些背景信息不一定是现有技术。
发明内容
本申请的一个目的是解决或至少减轻上述问题的一部分或者全部。为此，本申请的一个目的在于提供一种割草机以及全地形车，采用以上技术方案能够提供一种具有故障自诊断功能的割草机，且该割草机在部分功能设备通信异常时能够实现其余功能设备之间的通信。
为了实现上述目标，本申请采用如下的技术方案：一种割草机，包括：车身，包括车架；多个功能设备，至少包括：行走组件，包括带动割草机在地面上行走的行走轮和用于驱动行走轮的行走马达；操作组件，被配置为供用户操作以控制割草机，以及供电组件，为行走组件提供能量；
其中，还包括：通信系统，通信系统包括与功能设备连接的控制模块；多个控制模块之间能通过第一信道进行通信；通信系统还包括第二信道，第二信道用于传输至少两个控制模块之间的通信信息。
在一些实施例中，多个功能设备分别与对应的控制模块电连接，以通过多 个控制模块在第一信道中通信。
在一些实施例中，第二信道能够连接第一信道上的至少两个控制模块。
在一些实施例中，第二信道能够实现第一信道的头部控制模块和尾部控制模块的通信连接。
在一些实施例中，通信系统被配置为在第一信道发生故障时，重新规划包括第二信道的通信路径，功能设备通过控制模块基于重新规划的通信路径进行数据交互。
在一些实施例中，当第一信道发生故障时，第一信道的头部控制模块或尾部控制模块能够通过第一信道或第二信道给其余的控制模块发送信息，以定位故障的具体位置。
在一些实施例中，第一信道的尾部控制模块在接收到故障检测指令后，从第一信道的尾部控制模块开始向前依次访问与第一信道连接的多个控制模块；获取尾部控制模块通过第一信道无法访问的首个控制模块，首个控制模块作为第二控制模块；根据第一控制模块以及第二控制模块定位故障具体位置。
在一些实施例中，第一信道的故障包括模块故障、线束故障或连接器故障。
在一些实施例中，功能设备还包括割草组件、支撑组件、控制面板以及照明组件。
在一些实施例中，第一信道或第二信道的通信方式包括485总线、控制器局域网(Controller Area Network，CAN)总线以及LINE总线。
在一些实施例中，第一信道或第二信道的通信方式包括有线通信、无线通信以及车架载波通信中的至少一种。
在一些实施例中，第一信号或第二信号被配置为使用车架载波通信时，多个控制模块之间通过车架传输信息或指令。
在一些实施例中，控制模块包括控制器及收发组件；收发组件包括调制解调模块、信号放大电路、检波电路及信号耦合组件；调制解调模块和信号耦合组件组成发射单元；信号耦合组件、检波电路、信号放大电路及调制解调模块组成接收单元；调制解调模块3121的载波中心频率大于等于10MHz小于等于12MHz。
在一些实施例中，第一信道的通信方式与第二信道的通信方式相同。
在一些实施例中，第一信道的通信方式与第二信道的通信方式不同。
为了实现上述目标，本申请采用如下的技术方案：一种割草机，包括：车身，包括车架；多个功能设备，至少包括：行走组件，包括带动割草机在地面 上行走的行走轮和用于驱动行走轮的行走马达；操作组件，被配置为供用户操作以控制割草机，以及供电组件，为行走组件提供能量；其中，还包括：通信系统，通信系统包括与功能设备连接的控制模块；通信系统被配置为在所第一信道发生故障时，重新规划包括第二信道的通信路径，功能设备通过控制模块基于重新规划的通信路径进行数据交互。
为了实现上述目标，本申请采用如下的技术方案：一种全地形车，包括：座椅，供用户乘坐；
车架，用于支撑座椅；多个功能设备，至少包括：行走组件，包括带动全地形车在地面上行走的行走轮和用于驱动行走轮的行走马达；操作组件，被配置为供用户操作以控制全地形车；
供电组件，为行走组件提供能量；通信系统，包括多个与功能设备连接的控制模块；多个控制模块之间能通过第一信道进行通信；通信系统还包括第二信道，第二信道被配置为能够用于传输至少两个控制模块之间的通信信息。
本申请的有益之处在于，通过在割草机中配置通信系统，且通信系统中包括第一信道以及第二信道的方式，能够保证在通信系统发生部分故障时，各控制模块仍能保持正常通信状态，有效避免了在通信系统发生故障后导致的各功能设备的关联性失效问题，降低了各控制模块之间通信的耦合度，增强了割草机在故障状态下的可操控性，并且，还能够精准定位通信系统中的故障位置，便于维修。
附图说明
图1是本申请的作为具体实施例的割草机的结构立体图；
图2是图1的割草机的平面结构图；
图3是图1的割草机的通信系统的框架示意图；
图4是图3的割草机的通信系统的通信结构示意图；
图5是本申请的作为具体实施例的全地形车的结构立体图；
图6是本申请的作为具体实施例的一种电动行驶设备的立体图；
图7是图6的电动行驶设备的通信系统的框架示意图；
图8是图7的电动行驶设备的通信系统的通信结构示意图；
图9是本申请中作为具体实施例的骑乘式割草机的结构示意图；
图10是本申请中作为另一种具体实施例的骑乘式割草机的结构框图。
具体实施方式
在详细解释本申请的任何实施方式之前，应当理解，本申请不限于其应用到以下描述中阐述的或以上附图中所示的结构细节和组件布置。
在本申请中，术语“包括”、“包含”、“具有”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
在本申请中，术语“和/或”，是一种描述关联对象的关联关系，表示可以存在三种关系。例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本申请中字符“/”，一般表示前后关联对象是一种“和/或”的关系。
本申请中，术语“连接”、“结合”、“耦合”、“安装”可以是直接连接、结合、耦合或安装，也可以是间接连接、结合、耦合或安装。其中，进行举例示范，直接连接指的是两个零件或组件之间不需设置中间件而连接在一起，间接连接指的是两个零件或组件分别与至少一个中间件连接，这两个零件或组件通过中间件实现连接。此外，“连接”和“耦合”不限于物理或机械连接或耦合，并且可以包括电连接或耦合。
在本申请中，本领域普通技术人员将理解，结合数量或条件使用的相对术语(例如，“约”，“大约”，“基本”等)为包括所述值并且具有上下文所指示的含义。例如，该相对术语至少包括与特定值的测量相关的误差程度，与特定值相关的由制造，组装，使用造成的公差等。这种术语也应被视为公开了由两个端点的绝对值限定的范围。相对术语可指代所指示的值的一定百分比(例如1％，5％，10％或更多)的加或减。未采用相对术语的数值，也应该被揭示为具有公差的特定值。此外，“基本”在表达相对的角度位置关系时(例如，基本平行，基本垂直)，可指代在所指示的角度的基础上加或减一定度数(例如1度，5度，10度或更多)。
在本申请中，本领域普通技术人员将理解，由组件执行的功能可以为由一个组件，多个组件，一个零件，或多个零件执行。同样的，由零件执行的功能也可以由一个零件，一个组件，或多个零件组合来执行。
在本申请中，术语“上”、“下”、“左”、“右”、“前”、“后”等方位词是以附图所示的方位和位置关系来进行描述的，不应理解为对本申请实 施例的限定。此外，在上下文中，还需要理解的是，当提到一个元件连接在另一个元件“上”或者“下”时，其不仅能够直接连接在另一个元件“上”或者“下”，也可以通过中间元件间接连接在另一个元件“上”或者“下”。还应当理解的，上侧、下侧、左侧、右侧、前侧、后侧等方位词不仅代表正方位，也可以理解为侧方位。例如，下方可以包括正下方、左下方、右下方、前下方以及后下方等。
在本申请中，术语“控制器”、“处理器”、“中央处理器”、“CPU”、“MCU”可以互换。在使用单元“控制器”、“处理器”、“中央处理器”、“CPU”、或“MCU”来执行特定功能，除非另有说明，否则这些功能则可以由单个上述单元或多个上述单元来执行。
在本申请中，术语“装置”、“模块”或“单元”为了实现特定的功能，它们可以通过硬件或软件的形式来实现。
在本申请中，术语“计算”、“判断”、“控制”、“确定”、“识别”等指的是计算机系统或类似电子计算设备(例如，控制器，处理器等)的操作和过程。
除本申请的割草机以及全地形车之外，任意其他具有多个功能设备，且功能设备间需要进行通信的电动工具或车辆，只要能够采用以下披露的技术方案的实质内容即可落在本申请的保护范围内。
图1是一种本申请的一种实施方式的割草机100a的结构图，图2是另一种实施方式的割草机100b的平面结构图，图3是本申请的一种实施方式的割草机的通信系统的框架示意图，图4是一种实施方式的割草机的通信系统的通信结构示意图。
参见图1、图3以及图4所示，割草机100a具体为一种载人式割草机，割草机100a包括车身10、多个功能设备以及通信系统30。车身10包括车架11。多个功能设备20包括但不限于行走组件21、操作组件22以及至少包括电池包231和电源控制器232的供电组件23。其中，行走组件21包括带动割草机10a在地面上行走的行走轮211以及用于驱动行走轮211的行走马达212。操作组件22被配置为供用户操作以控制割草机100a。供电组件23为行走组件21提供能量。通信系统30包括多个与功能设备连接的控制模块，多个控制模块之间能通过第一信道31进行通信，通信系统30还包括第二信道32，第二信道32用于传输至少两个控制模块之间的通信信息。在一些实施例中，第二信道32被配置为连接第一信道31上的至少两个控制模块。
在一些实施例中，车架11可以用于向割草机100a的其他组件提供支撑。 例如，当割草机上配置有座椅或支撑构件以供支撑用户时，车架11可向座椅或支撑构件提供支撑。还例如，车架11还可以向操作组件22或供电组件23提供支撑。
在一些实施例中，行走轮211与行走马达212可以是一对一的对应关系，也可以是多对一的对应关系，行走轮211的数量不受限制。
在一些实施例中，用户可以通过操作组件22控制割草机的运动状态。在一种实施方式中，操作组件22还可以用于控制割草机上配置的割草组件的工作姿态。
在一些实施例中，供电组件23可以向行走组件21中的行走马达212提供能量，还可以向割草机100a上的其他功能设备提供能量。
在一些实施例中，割草机100a的功能设备还可以包括割草组件24、支撑组件25、照明组件26等。其中，割草组件24包括可被驱动用于切割草坪的割草元件242和用于驱动割草元件241的割草马达241。支撑组件25可以用于向用户提供支撑，支撑组件的形式包括但不限于座椅、支撑架等结构。照明组件26可以用于提供光源。
在一些实施例中，割草机100a的功能设备还可以包括控制面板27。控制面板27可以用于向用户展示割草机的工作状态、割草机周边环境信息等。控制面板27还可以用于向用户提供用于操控割草机各功能设备的按钮，但不限于上述用途。在一种实施方式中，控制面板27可以通过外接控制面板27的方式与割草机相连接。在另一种实施方式中，控制面板27可以为割草机上固定的控制面板27，控制面板27可配置于割草机上的任意的可视位置。
可以理解的是，若要实现割草机上各个功能设备之间的协同工作，则需要建立各功能设备之间的通信连接。相关技术中，应用在割草机上的功能设备大多不具有直接通信的能力。因此，本申请中每个功能设备可连接一个控制模块，通过各个控制模块之间的通信，实现各个功能设备之间的通信。但还需说明的是，随着技术的发展，割草机上的功能设备也可以是具备直接通信能力的功能设备。此时，可无需在功能设备上连接控制模块，功能设备中进行通信的结构可等价于本申请中所提出的功能模块。
如图3所示，割草机100a的各控制模块可与其控制的功能设备相连，各功能设备的控制模块可与总线相连。在图3所示的例子中，割草机100a的功能设备还可以包括油门281、物联网(Internet Of Things，IOT)接口282、驻车283以及转向操作件284。但图3中的各功能设备仅为示例性说明，并不能涵盖全部的功能设备。
在图4所示的例子中，通信系统30中包括N个节点，每个节点相当于一个功能设备以及与其相连的控制模块的组合。割草机100a中的各节点在第一信道31中可以通过菊花链的形式相连接。本申请的说明书附图仅作示例性说明，并不限于图3中示出的控制模块以及功能设备，也不限于图4中示出的各节点之间的连接方式。
在一些实施例中，割草机100a中的通信系统30中包括多个控制模块，且每个控制模块均与功能设备中的一个功能设备相连接，各控制模块可通过通信系统30中的第一信道31进行通信。在一种实施方式中，第一信道31或第二信号32的通信方式可以为总线通信，总线通信包括但不限于485总线、CAN总线以及LINE总线等总线结构。在另一种实施方式中，通信系统30中还可以包括第二信道32，第二信道32可以连接第一信道31的头部控制模块和第一信道31的尾部控制模块。以图4为例，若各节点通过菊花链的方式串接，节点1作为第一信道31的头部节点，节点N作为第一信道31的尾部节点，此时，利用第二信道32连接节点1和节点N，从而将通信系统中的N个节点接连为环形闭合回路。
割草机100a的通信系统30无故障运行时，通信系统30中的各控制模块通过第一信道31进行通信。在一种实施方式中，控制模块将包含目的地址信息的通信信息发送至总线。其他的控制模块均可以在总线中获取上述的通信信息，并判断通信信息中的目的地址信息是否与自身的地址信息一致。若一致，则可以处理该通信信息，若不一致，则可以忽略该通信信息。
在一些实施例中，第一信号31或第二信道32的通信方式可以包括下述方式中的至少一种：有线通信、无线通信以及车架载波通信。其中，有线通信包括但不限于总线通信。无线通信包括但不限于蓝牙、ZIGBEE、无线网络等通信方式。车架载波通信可以理解为通过车架本体作为通信的信道。第二信道32的通信方式可以与第一信道31的通信方式相同，例如均为总线通信。第二信道32的通信方式也可以与第一信道31的通信方式不同。上述的车架载波通信在下文会详细描述。
在一些实施例中，通信系统30中还可以配置有与第二信道32通信方式相匹配的其他组件。例如，当第二信道32为蓝牙通信时，通信系统30中还应配置蓝牙收发设备，此处不一一列举。
在一些实施例中，第二信道32的具体通信方式可根据实际需求确定。例如，若需要保证通信的可靠性与灵活性，可考虑选取有线通信作为第二信道32。在一些实施例中，若需要保证第二信道32不受线束束缚，可考虑选取无线通信作为第二信道32。在一些实施例中，若需要在尽量减少线束数量的基础上，仍要 保证强抗干扰能力以及高通信速率，则可考虑选取车架载波通信作为第二信道32。上述关于第二信道32通信方式的选取仅起到示例性说明作用，并不限制第二信道32的通信方式选取方法。
在一些实施例中，第二信道32还可以连接第一信道31中任意两个不相邻的控制模块。以图4为例，第二信道32还可以连接节点1与节点3，或者节点2与节点N。
在一些实施例中，当判断通信系统30中的第一信道31故障之后，可借助第二信道32实现各控制模块之间的通信。第一信道31故障可以包括模块故障、线束故障或连接器故障。其中，线束故障包括但不限于线束断路或线束短路。
在一种实施方式中，可以通过第一信道31的头部控制模块访问与第一信道31连接的多个控制模块，从而判断第一信道31是否存在故障。当与第一信道31连接的多个控制模块中存在头部控制模块无法访问的控制模块时，可确定为第一信道31故障。在另一种实施方式中，若通信系统30中某个控制模块向其他控制模块发送通信信息，但在指定时间内未获取到反馈信息，也可以确定为第一信道31故障。
在一些实施例中，当第一信道31故障之后，为了保障各功能设备之间仍能够正常通信，从而实现协同工作，可在通信系统30中重新规划包括第二信道32的通信路径。各控制模块可以通过重新规划的通信路径进行数据交互。
在一些实施例中，重新规划的通信路径除了可以包括第二信道32之外，还可以包括未处于故障状态的第一信道31。重新规划的通信信道可以实现各控制模块之间的正常通信。
以图4示出的通信结构为例。在一种实施方式中，若节点2中的控制模块出现故障，则节点1与节点3及其之后的节点无法进行正常通信。此时，节点1若要和节点3通信，则可将数据通过第二信道32先发送至节点N，再由节点N侧的第一信道31继续传输。在另一种实施方式中，若节点2与节点3之间的线束断路或线束短路，此时节点1若要和节点2通信，仍可通过原有的第一信道31。但若节点1要和节点3通信，则可以将数据通过第二信道32先发送至节点N，再由节点N侧的第一信道31继续传输至节点3。
由于第二信道32所连接的节点是可变的，因此，不对重新规划的通信路径进行具体的限制。重新规划的通信路径能够通过第二信道32所构成的回环通信结构完成目标通信任务即可。
在一些实施例中，当第一信道31故障时，第一信道31的头部控制模块或第一信道31的尾部控制模块可以通过第一信道31或第二信道32给其余通信模 块发送信息，以定位故障的具体位置。
在一种实施方式中，首先，可以从第一信道31的头部控制模块开始向后依次访问与第一信道31连接的多个控制模块，并获取头部控制模块通过第一信道31无法访问的首个控制模块，作为第一控制模块。然后，第一信道31的头部控制模块可以通过重新规划的通信路径向第一信道31的尾部控制模块发送故障检测指令。第一信道31的尾部控制模块在接收到故障检测指令后，从第一信道31的尾部控制模块开始向前依次访问与第一信道31连接的多个控制模块。获取尾部控制模块通过第一信道31无法访问的首个控制模块，作为第二控制模块。最终，根据第一控制模块以及第二控制模块，定位故障具体位置。一般情况下，故障的具体位置位于第一控制模块与第二控制模块之间。
在另一种实施方式中，首先，可以从第一信道31的中部控制模块开始向第一信道31的头部控制模块发送故障检测指令。若中部控制模块能够接收到头部控制模块返回的检测反馈信息，则可说明故障点在中部控制模块之后的某一位置。若中部控制模块无法接收到头部控制模块返回的检测反馈信息，则可说明故障点在中部控制模块之前的某一位置。在一些实施例中，若故障点在中部控制模块之后的某一位置，可判断中部控制模块之后的控制模块数量与预设阈值大小。若控制模块数量大于预设阈值，可在中部控制模块与尾部控制模块之间再寻找其他控制模块向中部控制模块发送故障检测指令，重复前述操作。若控制模块数量小于预设阈值，中部控制模块可向其后面的控制模块逐个发送检测反馈信息，直至某个控制模块无法返回检测反馈信息为止。假设第X个控制模块无法返回检测反馈信息，则由第X个控制模块至尾部控制模块逐个通过重新规划的通信信道向头部控制模块发送故障检测指令，当头部控制模块无法接收到某个控制模块的故障检测指令，则认为该控制模块所在位置处于故障状态。
采用以上技术方案能够提供一种具有故障自诊断功能的割草机，且该割草机在部分功能设备通信异常时能够实现其余功能设备之间的通信。
可以理解的是，对于第一信道的故障定位方式不仅限于上述实施方式，任何其他可通过第二信道实现第一信道故障定位的方法均在本申请的保护范围之内。
本申请实施例的技术方案，通过在割草机中配置通信系统，且通信系统中包括第一信道以及第二信道的方式，能够保证在通信系统发生部分故障时，各控制模块仍能保持正常通信状态，有效避免了在通信系统发生故障后导致的各功能设备的关联性失效问题，降低了各控制模块之间通信的耦合度，增强了割草机在故障状态下的可操控性，并且，还能够精准定位通信系统中的故障位置，便于维修。
上述的通信系统还可以用于在如图2所示的割草机100b上以及如图5所示的全地形车100c上。其中，图2所示的割草机100b的各个部件的工作原理与上文中介绍的割草机100a相同，此处就不再赘述。
如图5所示，全地形车100c包括座椅40、车架50、多个功能设备以及通信系统。其中，座椅40用于供用户乘坐。车架50用于支撑座椅。多个功能设备包括但不限于行走组件61、操作组件62以及供电组件63。具体地，行走组件61中包括带动全地形车100c在地面上行走的行走轮611以及用于驱动行走轮的行走马达。操作组件62被配置为供用户操作以控制全地形车。供电组件63为行走组件61提供能量。通信系统包括多个与功能设备连接的控制模块，多个控制模块之间通过第一信道进行相互通信。通信系统还包括第二信道，第二信道与连接在第一信道上的至少两个控制模块连接，用于传输至少两个控制模块之间的通信信息。
可以理解的是，若要实现全地形车上各个功能设备的协同工作，则需要建立各功能设备之间的通信连接。本申请中每个功能设备可连接一个控制模块，通过各个控制模块之间的通信，实现各个功能设备之间的通信。但还需说明的是，全地形车上的功能设备也可以是具备直接通信能力的功能设备。此时，可无需在功能设备上连接控制模块，功能设备中进行通信的结构可等价于本申请中所提出的功能模块。
图4中的通信结构示意图同样适用于全地形车100c的通信系统。当图4所示的通信结构示意图应用于全地形车时，图4中每个节点可相当于全地形车中一个功能设备以及与其相连的控制模块的组合。在全地形车中，多个控制模块分别与对应的功能设备连接，各功能设备能通过相应的控制模块在第一信道31中进行通信。
在一些实施例中，全地形车100c中的通信系统中包括多个控制模块，且每个控制模块均与功能设备中的一个功能设备相连接。各控制模块可通过通信系统中的第一信道31进行通信。在一种实施方式中，第一信道31的通信方式可以为总线通信。总线通信的方式包括但不限于485总线、CAN总线以及LINE总线。在一种实施方式中，通信系统中还可以包括第二信道32，至少用于传输两个控制模块之间的通信信息。在一些实施例中，第二信道32可以连接第一信道31的头部控制模块以及第一信道31的尾部控制模块。以图4为例，当各节点通过菊花链的方式串接之后，节点1可看做第一信道31的头部节点，节点N可以作为第一信道31的尾部节点，此时利用第二信道32连接节点1与节点N，从而将节点接连为环形闭合回路。
在一些实施例中，第二信道32的通信方式可以包括下述至少一项：有线通 信、无线通信以及车架载波通信。其中，有线通信包括但不限于总线通信。无线通信包括但不限于蓝牙、ZIGBEE、无线网络等通信方式。车架载波通信可以理解为利用车架本体作为通信的信道。第二信道32的通信方式可以与第一信道31的通信方式相同，例如均为总线通信，也可以与第一信道31的通信方式不同。当然，通信系统中还可以配置有与第二信道32通信方式相匹配的其他组件。例如，当第二信道32为蓝牙通信时，通信系统中还应配置有蓝牙收发设备，此处不一一列举。
在一些实施例中，第二信道32还可以连接第一信道31中任意两个不相邻的控制模块。以图4为例，第二信道32还可以连接节点1与节点3或节点2与节点N。
在一些实施例中，当判断通信系统中的第一信道31故障之后，可借助第二信道32实现各控制模块之间的通信。第一信道31故障可以包括模块故障、线束断路或线束短路。
在一种实施方式中，可以通过第一信道31的头部控制模块访问与第一信道31连接的多个控制模块，从而判断第一信道31是否存在故障。当与第一信道31连接的多个控制模块中存在头部控制模块无法访问的控制模块时，可确定为第一信道31故障。在另一种实施方式中，若通信系统70中某个控制模块向其他控制模块发送通信信息，但在指定时间内未获取到反馈信息，也可以确定为第一信道31故障。
在一些实施例中，当第一信道31故障之后，为了保障各功能设备之间仍能够正常通信，从而实现协同工作，可在通信系统70中重新规划包括第二信道32的通信路径，各控制模块可以通过重新规划的通信路径进行数据交互。
本申请公开的技术方案，通过在全地形车中配置通信系统，且通信系统中包括第一信道以及第二信道的方式，能够保证在通信系统发生部分故障时，各控制模块仍能保持正常通信状态，有效避免了在通信系统发生故障后导致的各功能设备的关联性失效问题，降低了各控制模块之间通信的耦合度，增强了全地形车在故障状态下的可操控性，并且，还能够精准定位通信系统中的故障位置，便于维修。
参见图6和图7所示，该电动行驶设备包括：车身10、多个运行设备20及通信系统30。其中，车身10包括车架11。多个运行设备20包括行走组件21、操作组件22及供电组件23。通信系统30包括多个与运行设备20连接的控制模块31。在本申请的一个实施例中，控制模块31包括与操作组件22电连接的控制模块A，与行走组件21电连接的控制模块B，与供电组件23电连接的控制模块C。多个控制模块31之间通过车架11传输信息或指令。运行设备20配合对 应的控制模块31工作以运行电动行驶设备。需要说明的是，本实施例中的运行设备可以理解为上述实施例中的功能设备。
具体的，操作组件22接收用户发送的行走指令，并发送至控制模块A，控制模块A接收并通过车架11传递行走指令至控制模块B，控制模块B读取该行走指令并执行，控制行走组件21启动工作，行走组件21包括行走马达及车轮，即控制行走马达工作，行走马达连接并驱动车轮滚动带动电动行驶设备在地面上行走。可理解的是，控制模块C通过车架11与控制模块A及控制模块B通讯连接。在电动行驶设备运行过程中，控制模块C可根据车架11上接收的控制模块B传输的行走组件21的运行信息。或者，控制模块A上传输的操作组件22的运行信息、以及供电组件23内的电量参数信息发送充电指令至供电组件23以使供电组件23根据充电指令为行走组件21供电。
需说明的是，本实施例中的多个控制模块31之间通过车架11传输指令或信息，是将各控制模块31发送或接受的指令或信息耦合至车架11上，而非采用数据配线的方式进行指令或信息传输。这里的车架11应该理解为作为支撑结构的具有导电能力的车架本体。当然，在另一些实施例中，车架本体包含贴合在车架表面的导电层，该导电层大致沿车架延伸。相关技术中，各控制模块31之间通过专用的通信线束进行各节点之间进行数据通信，当设备在户外行走或执行功能时，容易出现因为路面颠簸导致通信线束之间接触不良的问题。本申请中，通过车架11实现了电动行驶设备内各控制模块之间的通讯质量及通讯效率，从而提高电动行驶设备运行效率。采用本申请的技术方案能够避免由于采用专用的通信线束带来的接触不良等问题，或者会存在各线束冗余干扰等问题。
还需要说明的是，以控制模块包括第一控制模块和第二控制模块两个控制模块通讯为例(这里第一控制模块与第二控制模块可以为上述控制模块A、控制模块B及控制模块C任意两个控制模块，这里对第一控制模块与第二控制模块的具体类型不作限定)，当第一控制模块和第二控制模块通信时，第一控制模块发送包含地址信息的信息或指令至车架11上，第二控制模块被配置为获取车架11上传输的信息或指令，并基于地址信息判断是否接收并执行上述的信息或指令。如此，控制模块在接收信号或指令时，直接读取获取信号和指令传输的地址信息即可获取信号或指令的类型和来源，并根据信号或指令的类型和来源确定其将信号或指令传输的执行对象，从而提升通讯系统的传输数据的效率和准确性，有利于信息的整合和调配。
在一些实施例中，如图8所示，各控制模块31包括控制器311及收发组件312。收发组件312包括调制解调模块3121、信号放大电路3122、检波电路3123及信号耦合组件3124。调制解调模块3121及信号耦合组件3124组成发射单元。 这样，控制器311传递信息或指令至调制解调模块3121以使调制解调模块3121将信息或指令调制处理，并通过信号耦合组件3124将调制后的信息或指令至车架11上。
在一些实施例中，信号耦合组件3124、检波电路3123、信号放大电路3122及调制解调模块3121组成接收单元。这样，信号耦合组件信号耦合组件3124将通过车架11传输的信息或指令耦合传输至检波电路3123，检波电路3123将信号耦合组件信号耦合组件3124耦合传输的信息或指令过滤处理。信号放大电路3122将过滤处理后的信息或指令放大处理，并输出至调制解调模块3121，控制器311则可以接收调制解调模块3121解调处理后的信息或指令。
具体的，调制解调模块3121的载波中心频率大于等于10MHz小于等于12MHz。在一些实施例中，调制解调模块3121的载波中心频率大致为10.7MHz。控制器311输出的信息或指令为并行的数字信号，调制解调模块3121将该数字信号加载到载波中心频率为10.7MHz上，并将加载到载波中心频率为10.7MHz上的数字信号调制，然后信号耦合组件信号耦合组件3124将调制处理后的数字信号耦合至车架11上，实现了控制器311输出信息或指令的发送。
控制器311通过车架11接收另一控制器发送的信息或指令的具体过程为：检波电路3123将信号耦合组件3124耦合传输的信息或指令过滤处理以得到载波中心频率为10.7MHz上的模拟信号，然后信号放大电路3122将载波中心频率为10.7MHz上的模拟信号放大处理，调制解调模块3121将放大处理后的载波中心频率为10.7MHz上的模拟信号解调处理输出数字信号至控制器311内。在一些实施例中，信号放大电路3122也可以集成在调制解调模块3121内，即在调制解调模块3121同时可以将载波中心频率为10.7MHz上的模拟信号放大处理，还将放大处理后的载波中心频率为10.7MHz上的模拟信号解调处理输出数字信号至控制器311内。
信号耦合组件3124可以起到旁路掉高频噪声的作用。在一些实施例中，参照图8，信号耦合组件3124设置为安规电容，安规电容的容值范围为：C≤1000pF。在一些实施例中，信号耦合组件3124还可以设置为电感，用于耦合信号。其中，信号耦合组件3124的容值范围为：C≤1000pF。通常这个电容取值范围的分布电感的典型值是L≤5μH，即1000pF的耦合电容有μH的分布电感，其并行共振频率为f≤7MHz。也就是说，信号耦合组件3124的容值范围为：C≤1000pF时，对于10MHz以下的噪声有较好的去耦效果。进一步通过检波电路3123将信号耦合组件3124耦合传输的信息或指令过滤处理以得到载波中心频率为10.7MHz上的模拟信号，如此可以保证输入调制解调模块3121解调信号的信号质量。需要说明的是，本领域的技术人员在耦合电容的容值选择上还需根据电 动行驶设备的具体工况进行设定。本申请对于耦合电容的容值并不做限制。
在一些实施例中，控制器311及收发组件312采用绝缘材质包覆；检波电路3123靠近车架11的一端设置导电层；或者调制解调模块3121靠近车架11一侧设置导电层；导电层与车架11之间形成信号耦合组件3124；即上述实施例中的信号耦合组件3124可由导电层和车架11构成；导电层与检波电路3123和调制解调模块3121电连接；这样信号耦合组件3124直接由导电层及车架11组成，节省去了信号耦合组件3124的设置，提高整体通讯系统的空间利用率。当然可以理解的是，由于导电层与车架11之间形成信号耦合组件3124的容值范围需满足：C≤1000pF，因此导电层的设置横截面积大小及导电层与车架11的设置距离可根据耦合电容的取值范围C≤1000pF而设置。
在一些实施例中，控制模块31被配置为在检测到通信系统为空闲模式时发送信息或指令至所述车架。控制模块还被配置为在预设时间内未接收到车架传输的信息或指令时设置通信系统为空闲模式。其中，实际的通讯过程中，各两个控制模块之间需同时通过车架11进行信息或指令的传输。示例性的，上述实施例中控制模块A通过车架11向控制模块B进行信息或指令传输的同时，控制模块C通过车架11向其他控制模块也进行信息或指令的传输。为避免车架11上信息或指令的传输竞争，当其中控制模块A在预设时间内未接收到车架11传输的信息或指令时(这里需说明的是，控制模块A可以按照地址信息特定控制模块发送的信息或指令，也可以接收控制模块C发送的信息或指令)。换而言之，控制模块C在该预设时间内未发送信息或指令到车架11上，则控制模块A可以发送信息或指令至车架上，如此可以避免车架11上信息或指令的传输竞争性。
另外还需说明的是，本实施例中所揭露的通信系统，可以应用至各类电动行驶设备上。示例性的，可以应用到骑乘式割草机，还可以应用于在室内或室外进行工作的其它骑乘式电动机械，这里除了能够输出在地面上行走的动力之外，还能够通过输出其它形式的动力来实现除了行走之外的其它功能均可以认为是骑乘式电动机械，例如骑乘式扫雪机、骑乘式农业机械、骑乘式拖地车、骑乘式扫地机以及全地形车等。这里对具体电动行驶设备的具体类型不作具体的限定。
下面具体以通信系统应用在骑乘式割草机为例进行说明。图9是本申请的一个实施例的骑乘式割草机的结构示意图，图10是本申请的第一佳实施例的骑乘式割草机的结构框图。如图9和图10所示，骑乘式割草机包括：车身100，包括车架101；运行设备200，包括动力输出组件201、行走组件202及操作组件203；通信系统300，包括与运行设备200连接的控制模块301；多个控制模 块301之间通过车架101传输信息或指令。
在一些实施例中，动力输出组件201包括割草元件2011和割草马达2012；割草元件2011和割草马达2012连接，动力输出组件201对应的控制模块为割草控制模块3011；割草控制模块3011与割草马达2012电连接；操作组件203对应的控制模块为操作控制模块3013；割草控制模块3011及操作控制模块3013通过车架101传输信息或指令；具体的，操作组件203接收用户发送的割草指令，发送到操作控制模块3013，由操作控制模块3013接收并通过车架101传递割草指令到割草控制模块3011，割草控制模块3011读取割草指令并执行，割草控制模块3011控制割草马达2012运行以驱动割草元件2011高速旋转对草地进行切割。
行走组件202包括行走马达2021及车轮2022，行走组件202对应电连接的控制模块为行走控制模块3012，示例性的，行走控制模块3012可以为马达控制器；马达控制器与行走马达2021电连接；行走马达2021与车轮2022机械连接；马达控制器与操作控制模块3013通过车架101传输信息或指令；操作组件203接收用户发送的行走指令，由操作控制模块3013发送行走指令到马达控制器以控制车轮2022的转速和方向。另外，割草控制模块3011及马达控制器可通过车架101传输信息或指令，割草控制模块3011可根据马达控制器接收的行车马达2021的参数信息实时控制割草马达2012运行速度。
参照图9及图10，骑乘式割草机还包括提供电能的供电组件204，供电组件204包括电源；供电组件204对应的控制模块为电源管理模块3014；电源管理模块3014与电源电连接；电源管理模块3014通过车架11与操作控制模块3013、马达控制器及割草控制模块3011通讯连接；电源管理模块3014根据操作控制模块3013、马达控制器及割草控制模块3011输出的信息发出供电指令，电源根据供电指令为操作组件203、动力输出组件201及行车组件202供电。
在一些实施例中，电源包括至少电池，具体地为至少电池包。电池包相对骑乘式割草机可插拔，从而可以在使用过程中通过替换电池包延长骑乘式割草机的续航力。供电组件204还设置一充电接插口，通过充电接插口可对安装在骑乘式割草机中的电池包进行充电。
参照图9及图10，骑乘式割草机还包括座椅400，车架101还用于承载骑乘式割草机的各个模块，具体而言，车架101用于支撑座椅400、动力输出组件201、行走组件202、操作组件203以及电源等；座椅400固定在骑乘式割草机的车身100上，使得骑乘式电动割草机可以供用户骑坐，当用户坐在骑乘式电动割草机上时，用户可以通过对骑乘式电动割草机的操作来省力快捷的修剪草坪、植被等。本申请中的骑乘式电动割草机相对于手推式的割草机而言，其无 需用户自己推着机器，也无需用户自己在地面上行走，而且因为其体积较大，续航能力较长，从而可以供用户修整更大的草坪，而且用户也
操作组件203包括第一操作件2031及第二操作件2032，操作控制模块3013分别连接第一操作件2031和第二操作件2032。第一操作件2031和第二操作件2032供用户操作控制骑乘式割草机，第一操作件2031受用户操作控制骑乘式割草机的行进，第二操作件2032受用户操作控制骑乘式割草机的作业。具体的，用户通过第一操作件2031和第二操作件2032输入控制指令，并通过操作控制模块3013发送到车架101，通过车架101将控制指令发送至对应的执行组件上。
在一些实施例中，第一操作件2031被实施为操作杆，操作杆被设置于座椅400两侧或周边，此时操作控制模块3013包括转向控制器和速度控制器，操作杆与转向控制器、速度控制器通过数据线连接，转向控制器及速度控制器转换操作杆的动作到对应的行走指令，行走指令包括控制运行指令、改变速度指令、转向指令及停止指令等；转向控制器将转换的行走指令通过车架101发送到马达控制器，马达控制器根据行走指令执行动作控制行走马达2021运转以带动车轮2022转动，并同时控制车轮2022转速和转向，从而改变骑乘式割草机的运行方向和速度，以达到用户控制骑乘式割草机行走的目的。可以理解的是，第一操作件2031也可以被实施为踏板，开关，手柄等其它控制装置。
在一些实施例中，第二操作件2032被实施为控制面板，该控制面板包括多个开关，不同开关对应不同的控制指令，用户通过开关输入不同的控制指令以操作骑乘式割草机。同样的，用户通过控制面板的开关发送控制指令到操作控制模块3013，操作控制模块3013通过车架101耦合控制指令至执行指令对象，由执行指令对象执行，其中，控制指令包括开启割草，割草功率等指令。
操作组件203还包括与操作控制模块3013连接的IOT接口2033，通过该IOT接口2033使得操作组件2031通过无线和网络连接，用户通过IOT接口2033可以将骑乘式割草机与移动智能设备如手机，智能手表等，并通过移动智能设备操控所述骑乘式割草机的运行。具体的，用户将移动智能设备连接到骑乘式割草机的IOT接口2034，并发送控制指令，IOT接口2033将控制指令发送到操作控制模块3013，操作控制模块3013通过车架将指令发送到执行对象，并由其执行对象执行。
操作组件203还包括与操作控制模块3013连接的维修调试口2034，用户通过该维修调试口2034输入调节参数，并由操作控制模块3013根据调节参数信息将其通过车架101分配到对应的执行对象，并在调试参数后各执行对象将运行数据分别通过车架101反馈到维修调试口2034，以达到检测维修的目的。
骑乘式割草机还包括用于照明的照明组件500，照明组件500包括前灯501 和后灯502，分别安装于骑乘式割草机的前后端，用于使用骑乘式割草机时对割草和路口的照明。在一些实施例中，前灯501包括无影灯，前大灯，左行车灯和后行车灯，前灯501和后灯502分别与操作控制模块3013连接，第二操作件2032的开关设有控制各前灯501和后灯502开启的开关，在用户通过第二操作件2032发送开启灯光的开灯指令时，第二操作件2032将开灯指令发送到操作控制模块3013，由操作控制模块3013将开灯指令发送到对应的前灯501或后灯502，控制前灯501或后灯502的开启；并在需要灯光关闭时，通过第二操作件2032发送关灯指令到操作控制模块3013，由操作控制模块3013将关灯指令发送到对应的前灯501或后灯502，并控制前灯501或后灯502的关闭。
骑乘式割草机还包括设置其内的至少一个传感器，传感器被实施为电流传感器，电压传感器，陀螺仪，加速度计，惯性测量单元，气压计，磁力计的一种或任意组合，传感器被设置与车架101直接连接，传感器可以检测骑乘式割草机运行过程中产生的运行信息，如电路电流、行进位置和速度、并将信息传递通过车架10传递到不同的运行设备20上，并根据信息反馈的内容调节骑乘式割草机的运行。
另外需说明的是，上述实施例中行走控制模块3012、操作控制模块3013以及电源管理模块3014中的至少两个通过车架101传输信息或指令，即各控制模块在配合骑乘式割草机运行过程中，行走控制模块3012、操作控制模块3013以及电源管理模块3014中的任一两个通过车架101传输信息或指令；行走控制模块3012、操作控制模块3013以及电源管理模块3014中的其他任一两个还可以通过配电数据线进行信息或指令的传输，如此可以实现车架101及配电数据线两种方式的信息或指令传输，适用场景更丰富。可以理解的是，上述的通信系统还可以应用在如图5所示的全地形车(Utility Vehicle，UTV)上；全地形车可包括四轮全地形车(All Terrain Vehicle，ATV)、多功能全地形车(Utility Vehicle，UV)及娱乐用场地车(Go-kart)。
以上显示和描述了本申请的基本原理、主要特征和优点。本行业的技术人员应该了解，上述实施例不以任何形式限制本申请，凡采用等同替换或等效变换的方式所获得的技术方案，均落在本申请的保护范围内。

Claims (17)

  1. 一种割草机，包括：
    车身，包括车架；
    多个功能设备，至少包括：
    行走组件，包括带动所述割草机在地面上行走的行走轮和用于驱动所述行走轮的行走马达；
    操作组件，被配置为供用户操作以控制所述割草机，以及
    供电组件，为所述行走组件提供能量；
    其中，还包括：
    通信系统，所述通信系统包括与所述功能设备连接的控制模块；多个所述控制模块之间能通过第一信道进行通信；
    所述通信系统还包括第二信道，所述第二信道用于传输至少两个所述控制模块之间的通信信息。
  2. 根据权利要求1所述的割草机，其中，所述多个功能设备分别与对应的所述控制模块电连接，以通过多个所述控制模块在所述第一信道中通信。
  3. 根据权利要求1所述的割草机，其中，所述第二信道能够连接所述第一信道上的至少两个所述控制模块。
  4. 根据权利要求3所述的割草机，其中，所述第二信道能够实现所述第一信道的头部控制模块和尾部控制模块的通信连接。
  5. 根据权利要求1所述的割草机，其中，所述通信系统被配置为在所述第一信道发生故障时，重新规划包括第二信道的通信路径，所述功能设备通过所述控制模块基于重新规划的所述通信路径进行数据交互。
  6. 根据权利要求4所述的割草机，其中，当所述第一信道发生故障时，所述第一信道的头部控制模块或所述尾部控制模块能够通过所述第一信道或第二信道给其余的所述控制模块发送信息，以定位故障的具体位置。
  7. 根据权利要求6所述的割草机，其中，所述第一信道的尾部控制模块在接收到故障检测指令后，从所述第一信道的尾部控制模块开始向前依次访问与所述第一信道连接的多个所述控制模块；获取所述尾部控制模块通过所述第一信道无法访问的首个控制模块，所述首个控制模块作为第二控制模块；根据所述第一控制模块以及所述第二控制模块定位故障具体位置。
  8. 根据权利要求6所述的割草机，其中，所述第一信道的故障包括模块故障、线束故障或连接器故障。
  9. 根据权利要求1所述的割草机，其中，所述功能设备还包括割草组件、支撑组件、控制面板以及照明组件。
  10. 根据权利要求1所述的割草机，其中，所述第一信道或所述第二信道的通信方式包括485总线、控制器局域网CAN总线以及LINE总线。
  11. 根据权利要求1所述的割草机，其中，所述第一信道或所述第二信道的通信方式包括有线通信、无线通信以及车架载波通信中的至少一种。
  12. 根据权利要求11所述的割草机，其中，所述第一信号或所述第二信号被配置为使用车架载波通信时，多个所述控制模块之间通过所述车架传输信息或指令。
  13. 根据权利要求12所述的割草机，其中，所述控制模块包括控制器及收发组件；所述收发组件包括调制解调模块、信号放大电路、检波电路及信号耦合组件；所述调制解调模块和所述信号耦合组件组成发射单元；所述信号耦合组件、所述检波电路、所述信号放大电路及所述调制解调模块组成接收单元；调制解调模块3121的载波中心频率大于等于10MHz小于等于12MHz。
  14. 根据权利要求1所述的割草机，其中，所述第一信道的通信方式与所述第二信道的通信方式相同。
  15. 根据权利要求1所述的割草机，其中，所述第一信道的通信方式与所述第二信道的通信方式不同。
  16. 一种割草机，包括：
    车身，包括车架；
    多个功能设备，至少包括：
    行走组件，包括带动所述割草机在地面上行走的行走轮和用于驱动所述行走轮的行走马达；
    操作组件，被配置为供用户操作以控制所述割草机，以及
    供电组件，为所述行走组件提供能量；
    其中，还包括：
    通信系统，所述通信系统包括与所述功能设备连接的控制模块；
    所述通信系统被配置为在所第一信道发生故障时，重新规划包括第二信道的通信路径，所述功能设备通过所述控制模块基于重新规划的所述通信路径进行数据交互。
  17. 一种全地形车，包括：
    座椅，供用户乘坐；
    车架，用于支撑座椅；
    多个功能设备，至少包括：
    行走组件，包括带动所述全地形车在地面上行走的行走轮和用于驱动所述行走轮的行走马达；
    操作组件，被配置为供用户操作以控制所述全地形车；
    供电组件，为所述行走组件提供能量；
    其中，还包括：
    通信系统，包括多个与所述功能设备连接的控制模块；所述多个控制模块之间能通过第一信道进行通信；
    所述通信系统还包括第二信道，所述第二信道被配置为能够用于传输至少两个控制模块之间的通信信息。
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