Lawn mower cleaning method, lawn mower, self-moving device, system and base station

Abstract

Embodiments of the present application provide a lawn mower cleaning method, a lawn mower, a self-moving device, a system and a base station. The method comprises: charging at a first position; wherein a charging current is provided by a base station to which the lawn mower is docked; during the charging process, a trigger event meeting a cleaning condition is monitored; in response to the monitored trigger event, moving to a second position; wherein during the process of moving from the first position to the second position, the lawn mower and the base station are both in a docking state; at the second position, a start signal is sent to the base station to enable the base station to start a cleaning mode and clean the lawn mower. The scheme provided by the embodiments of the present application can realize self-cleaning of the lawn mower; after the trigger event meeting the cleaning condition is monitored, the action of moving the lawn mower from the first position to the second position is added, so that the relative position of the base station and the lawn mower is more reasonable, which helps to improve the cleaning rate of the lawn mower.

Description

Technical Field

[0001] This application relates to the field of lawnmower technology, and more particularly to a lawnmower cleaning method, a lawnmower, a self-moving device, a system, and a base station. Background Technology

[0002] Self-moving devices possess specific self-movement capabilities. By installing corresponding functional components, self-moving devices can perform specific tasks, such as cleaning flat surfaces (e.g., floors, desktops, walls, or windows), mowing lawns, and absorbing water. Based on their functions, self-moving devices can be further categorized as: intelligent cleaning devices (or cleaning robots), intelligent lawnmowers (or lawnmower robots), service robots (e.g., domestic service robots), etc. Self-moving devices typically have rechargeable batteries, and when the battery is low, they can automatically return to a base station to recharge.

[0003] Self-moving devices collect environmental parameters through sensors to plan their travel paths and avoid obstacles. These sensors can include cameras, radar, proximity sensors, and more. After a period of operation, dirt and grime may accumulate on the device, potentially landing on the sensors and affecting its normal operation. Summary of the Invention

[0004] This application provides a lawnmower cleaning method, a lawnmower, a self-moving device, a system, and a base station.

[0005] In one embodiment of this application, a method for cleaning a lawnmower is provided. This method is applicable to lawnmowers. Specifically, the method includes:

[0006] Charging is performed at a first location; wherein the charging current is provided by the base station to which the lawnmower is connected;

[0007] During charging, monitor trigger events that meet cleaning conditions;

[0008] In response to the detected triggering event, the lawnmower moves to a second position; wherein, during the process of moving from the first position to the second position, both the lawnmower and the base station are in a docked state;

[0009] At the second location, a start signal is sent to the base station to activate the cleaning mode and clean the lawnmower.

[0010] In another embodiment of this application, a lawnmower cleaning method is provided. This method is applicable to base stations. Specifically, the method includes:

[0011] After detecting that a lawnmower has successfully docked, the lawnmower at the first location is charged.

[0012] Upon receiving a start signal from the lawnmower after it has moved from the first position to the second position, the cleaning mode is activated to clean the lawnmower at the second position.

[0013] During the process of moving from the first position to the second position, both the lawnmower and the base station are in a docked state.

[0014] In another embodiment of this application, a method for cleaning a lawnmower is provided. This method is applicable to base stations and includes:

[0015] After detecting that a lawnmower has successfully docked, the lawnmower at the first location is charged.

[0016] Monitor trigger events that meet cleaning conditions;

[0017] In response to the detected triggering event, a movement command is sent to the lawnmower so that the lawnmower moves to the second position;

[0018] When the lawnmower is determined to be in the second position, the cleaning mode is activated to clean the lawnmower.

[0019] During the process of moving from the first position to the second position, the lawnmower and the main body of the station are in a docked state.

[0020] This application also provides an embodiment of a lawnmower system. The lawnmower system includes:

[0021] A lawnmower is used to charge at a first position; during charging, a trigger event that meets cleaning conditions is monitored; in response to the monitored trigger event, it moves to a second position; wherein, during the process of moving from the first position to the second position, the lawnmower and the base station are in a docked state; at the second position, a start signal is sent to the base station;

[0022] The base station is used to charge the lawnmower at the first location by providing charging current; when it receives a start signal sent by the lawnmower after it moves from the first location to the second location, it stops charging the lawnmower; and it starts a cleaning mode to clean the lawnmower at the second location.

[0023] This application also provides another embodiment of a lawnmower system. The lawnmower system includes:

[0024] The base station is configured to charge the lawnmower at a first location after detecting that a docked lawnmower has been successfully docked; monitor trigger events that meet cleaning conditions; and send a movement command to the lawnmower in response to the monitored trigger events.

[0025] The lawnmower is used to move to the second position after receiving the moving command;

[0026] The base station is also configured to activate a cleaning mode to clean the lawnmower when it determines that the lawnmower is in the second position.

[0027] This application provides an embodiment of a lawnmower. The lawnmower includes:

[0028] Organism;

[0029] A first control device, disposed on the machine body, is used to control the machine body to charge at a first position; wherein the charging current is provided by a base station to which the lawnmower is docked; during the charging process, a trigger event that meets cleaning conditions is monitored; in response to the monitored trigger event, the machine body is controlled to move to a second position; wherein during the process of moving from the first position to the second position, both the lawnmower and the base station are in a docked state; at the second position, the machine body is controlled to send a start signal to the base station, so that the base station starts a cleaning mode to clean the lawnmower.

[0030] This application also provides an embodiment of a base station. The base station includes:

[0031] Main body of the station;

[0032] The second control device, installed on the main body of the station, is used to charge the lawnmower at the first position after detecting that the lawnmower has completed docking with the main body of the station; and to control the main body of the station to start the cleaning mode to clean the lawnmower at the second position when it receives a start signal sent by the lawnmower after it moves from the first position to the second position.

[0033] During the process of moving from the first position to the second position, the lawnmower and the main body of the station are in a docked state.

[0034] This application also provides another embodiment of a base station. The base station includes:

[0035] Main body of the station;

[0036] A second control device, mounted on the main body of the station, is used to charge the lawnmower at the first position after detecting that it has completed docking with the main body; monitor trigger events that meet cleaning conditions; in response to the monitored trigger events, control the main body to send a movement command to the lawnmower so that the lawnmower moves to the second position; and when the lawnmower is determined to be at the second position, control the main body to start the cleaning mode to clean the lawnmower.

[0037] During the process of moving from the first position to the second position, the lawnmower and the main body of the station are in a docked state.

[0038] The above embodiments are all illustrated using a lawnmower as an example. The technical solutions provided in this application are applicable to various self-moving devices and systems. Specifically, this application also provides a self-moving device. The self-moving device includes:

[0039] Equipment body;

[0040] A third control device, disposed on the device body, is used to control the device body to charge at a first position; wherein the charging current is provided by the base station to which the device body is connected; during the charging process, a trigger event that meets the cleaning conditions is monitored; in response to the monitored trigger event, the device body is controlled to move to a second position; wherein during the process of moving from the first position to the second position, both the device body and the base station are in a connected state; at the second position, the device body is controlled to send a start signal to the base station, so that the base station starts the cleaning mode to clean the device body.

[0041] Another embodiment of this application provides a self-moving device system. The self-moving device system includes:

[0042] The self-moving device is used to charge at a first location; during charging, it monitors a trigger event that meets cleaning conditions; in response to the detected trigger event, it moves to a second location; wherein, during the process of moving from the first location to the second location, the self-moving device and the base station are in a docked state; at the second location, it sends a start signal to the base station;

[0043] The base station is configured to charge the self-moving device at the first location by providing charging current; when it receives a start signal sent by the self-moving device after moving from the first location to the second location, it stops charging the self-moving device; and it initiates a cleaning mode to clean the self-moving device at the second location.

[0044] The technical solution provided in this application embodiment involves a self-cleaning mobile device (such as a lawnmower) that is docked with a base station and is in a first position while charging. If a trigger event that meets cleaning conditions is detected during charging, the self-cleaning mobile device (such as a lawnmower) moves to a second position. During the movement from the first position to the second position, both the self-cleaning mobile device (such as a lawnmower) and the base station are docked. After moving to the second position, the self-cleaning mobile device (such as a lawnmower) sends a start signal to the base station, causing the base station to activate a cleaning mode to clean the self-cleaning mobile device (such as a lawnmower). Therefore, the solution provided in this application embodiment can achieve self-cleaning of the self-cleaning mobile device (such as a lawnmower). By adding the action of the self-cleaning mobile device (such as a lawnmower) moving from the first position to the second position after detecting a trigger event that meets cleaning conditions, the relative positions of the base station and the self-cleaning mobile device (such as a lawnmower) are more reasonable, which helps to improve the cleaning rate of the self-cleaning mobile device (such as a lawnmower). Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 A front view of a base station provided in an embodiment of this application;

[0047] Figure 2 A side view of a base station provided in an embodiment of this application;

[0048] Figure 3 A side view of a lawnmower robot provided in an embodiment of this application;

[0049] Figure 4 This is a schematic diagram illustrating the relative positional relationship between a base station and a lawnmower in a lawnmower system provided in an embodiment of this application.

[0050] Figure 5 This is a schematic diagram illustrating another relative positional relationship between a base station and a lawnmower in a lawnmower system provided in one embodiment of this application.

[0051] Figure 6 A schematic flowchart illustrating a lawnmower cleaning method according to an embodiment of this application;

[0052] Figure 7 This is a comparison diagram showing a lawnmower in a first position and a second position, according to an embodiment of this application.

[0053] Figure 8 A schematic flowchart of a lawnmower cleaning method provided in another embodiment of this application;

[0054] Figure 9 This is a schematic flowchart of a lawnmower cleaning method provided in another embodiment of this application. Detailed Implementation

[0055] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0056] In some processes described in the specification, claims, and accompanying drawings of this application, multiple operations appearing in a specific order are included. These operations may be executed out of order or in parallel. Operation numbers such as 101, 102, etc., are merely used to distinguish different operations and do not represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the terms "first," "second," etc., used herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types. Moreover, the following embodiments are merely some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0057] A self-moving device is a device with drive wheels that can move on its own. Self-moving devices can operate in indoor or outdoor areas to perform specific tasks, such as cleaning work surfaces (e.g., floors, desktops, walls, windows), mowing lawns, and vacuuming. Functionally, self-moving devices can be, but are not limited to, cleaning robots, sweeping robots, floor scrubbers, lawnmowers, and household service robots; this embodiment does not specifically limit them.

[0058] One embodiment of this application provides a self-moving device. This self-moving device can be various devices (or robots) with autonomous movement capabilities, such as path planning and obstacle avoidance. Specifically, the self-moving device may include a device body and a third control device. The third control device is disposed on the device body and is used to control the device body to charge at a first position; wherein the charging current is provided by a base station to which the device body is connected; during charging, a trigger event that meets cleaning conditions is monitored; in response to the monitored trigger event, the device body is controlled to move to a second position; wherein during the movement from the first position to the second position, both the device body and the base station are in a docked state; at the second position, the device body is controlled to send a start signal to the base station, causing the base station to activate a cleaning mode to clean the device body.

[0059] Accordingly, one embodiment of this application also provides a self-moving device system. The self-moving device system includes: a self-moving device and a base station. Wherein,

[0060] The self-moving device is used to charge at a first location; during charging, it monitors a trigger event that meets cleaning conditions; in response to the detected trigger event, it moves to a second location; wherein, during the process of moving from the first location to the second location, the self-moving device and the base station are in a docked state; at the second location, it sends a start signal to the base station;

[0061] The base station is configured to charge the self-moving device at the first location by providing charging current; when it receives a start signal sent by the self-moving device after moving from the first location to the second location, it stops charging the self-moving device; and it initiates a cleaning mode to clean the self-moving device at the second location.

[0062] The following embodiments of the application use lawnmowers as examples. The lawnmowers in the embodiments of this application can be: self-propelled lawnmowers, intelligent lawnmowers (or lawnmower robots), etc.

[0063] Most lawnmowers are equipped with a base station, which has specific, but not limited to, functions such as: docking, charging, and cleaning. The docking function provided by the base station can serve to store the lawnmower when not in use, provide shelter from rain, and prevent loss, among other things.

[0064] After a lawnmower has been working for a period of time, some dirt will accumulate on its body, and may even fall onto the locations corresponding to the sensors. In the embodiments provided in this application, the base station can be equipped with cleaning components, such as cleaning brushes and cloths. In this way, in addition to providing services such as charging and docking for the lawnmower, the base station can also clean the lawnmower. For example, after the lawnmower moves to the base station and completes docking, the base station can activate the cleaning mode to clean the lawnmower. Alternatively, the base station can activate the cleaning mode to clean the lawnmower after it has been charged to a certain level. Or, the base station can activate the cleaning mode to clean the lawnmower first, and then charge the lawnmower; etc., this embodiment does not specifically limit this.

[0065] The base station can clean the lawnmower's exterior or only specific areas on the lawnmower. For example, lawnmowers are equipped with sensors for detecting environmental information, including but not limited to radar, cameras (such as binocular cameras), and distance sensors. Typically, lawnmowers have multiple sensors to cover a data collection area (such as the area in front, to the sides, and behind the lawnmower). The environmental information collected by these sensors can be used for obstacle detection, area boundary recognition, visual positioning, and so on. When these sensors are dirty, it will affect the normal operation of the lawnmower, so it is necessary to clean the sensor areas regularly.

[0066] In addition, the base station provides various functions for the lawnmower, such as charging, docking, and cleaning. These functions can be performed simultaneously, or in a certain order (such as docking first, then charging, and then starting the cleaning function after charging is complete), or executed according to the user's preset function order, or the lawnmower or the base station can automatically select a function to execute first according to the current state.

[0067] Regarding the scheme of "executing functions according to the user-preset function sequence," users can set the function execution sequence through interactive devices (such as touch screens, controls, etc.) on the base station or smart client (such as smartphones, tablets, computers, or smart wearable devices connected to the base station). For example, after docking is completed, the cleaning function can be started first, and the charging function can be started after the cleaning function is completed. Alternatively, users can set the charging function to be started after the docking function is completed, and the cleaning function to be started after charging is completed, through interactive devices (such as touch screens, controls, etc.).

[0068] Regarding the scheme where "the lawnmower or base station automatically selects a function to execute first based on the current state," for example, if the lawnmower's current state is that the remaining battery power is greater than or equal to a set threshold (such as 60%, or other values, which are not limited in this embodiment), the lawnmower or base station can choose to start the cleaning function first. If the lawnmower's current state is that the remaining battery power is less than the set threshold (such as 60%), the lawnmower or base station can choose to start the charging function first, and then start the cleaning function after the battery is fully charged.

[0069] like Figure 1 and Figure 2 The base station 1 shown includes a main body. The main body may include, but is not limited to, a second charging terminal 11, a docking platform 14, a cleaning component 12, a fixing component 13, a guiding device 15, etc. The second charging terminal 11 may be a charging electrode plate, and may include two charging electrode plates. The docking platform 14 is a platform for docking. Furthermore, a guiding mechanism may be connected to the docking platform 14 to guide the lawnmower to dock with the base station. This guiding mechanism may be a guide spring, a guide rail, etc., which is not limited in this embodiment. The cleaning component 12 may be a cleaning brush, a rag, a cleaning sponge, etc. Figure 1 In the example shown, the cleaning component 12 includes two cleaning brushes 121 and 122 at different angles. One cleaning brush 121, with bristles facing downwards, can be used to clean the top of the lawnmower; the other cleaning brush 122, with bristles facing outwards (or towards the lawnmower inlet), can be used to clean the front of the lawnmower. The fixing component 13 can be a screw or similar device used to secure the station body to the ground. The guiding device 15 can be a reflector that works with the lawnmower to guide its docking with the base station, or it can be an infrared transmitter / receiver that uses infrared signals for guidance.

[0070] Figure 3 A schematic diagram of a lawnmower is shown. The upper front and top of the lawnmower are areas that need to be cleaned by a base station. This location can be used to install data collection devices for gathering environmental parameters, such as cameras, radar, distance sensors, etc.

[0071] The above Figures 1-3 Only one type of base station and lawnmower structural diagram is shown. The location of the cleaning components on the base station is related to the area on the lawnmower that needs to be cleaned. The solutions provided in the following embodiments of this application are not limited to... Figures 1-3 The base station and lawnmower shown are of one type, but other types of base stations and lawnmowers can also be shown.

[0072] Normally, the second charging terminal 11 set on base station 1 is flexible. Figure 3The first charging terminal on the lawnmower is not shown in the diagram. It can be understood that after the lawnmower 2 travels onto the docking platform 14, it contacts the second charging terminal 11 under the guidance of the guide device 15, and the first and second charging terminals 11 are electrically connected, thus completing the docking. Therefore, the position of the first charging terminal on the lawnmower 2 corresponds to the position of the second charging terminal 11 on the base station 1. Because the second charging terminal 11 on the base station 1 is flexible, even if the docking position of the lawnmower 2 is not perfectly precise, such as being slightly to the left, right, forward, or backward, the first charging terminal on the lawnmower can still make contact and electrically connect with the first charging terminal on the base station.

[0073] In one embodiment, after the lawnmower 2 docks at base station 1, as follows: Figure 4 As shown, the second charging terminal of lawnmower 2 is electrically connected to the first charging terminal 11 of base station 1. At this time, base station 1 can provide charging current to lawnmower 2 to charge it. For example, the smart lawnmower has a camera at the top front end, and the camera is covered by a transparent cover. Correspondingly, base station 1 has two cleaning brushes 121 and 122. Because the lawnmower 2 does not penetrate deeply into base station 1, see... Figure 4 As shown, part of the brush head of one of the cleaning brushes 121 is in contact with the transparent cover. A portion of the transparent cover is not in contact with the cleaning brush 121. The other cleaning brush 122 may just be touching the front end of the transparent cover or there may be a very small gap between them. At this time, the base station activates the cleaning mode, and the cleaning brushes can only clean the area that has been in contact; other parts of the transparent cover cannot be cleaned, resulting in poor cleaning effectiveness.

[0074] Each time the lawnmower 2 docks with the base station 1, its stopping position may deviate, which greatly increases the probability of the aforementioned transparent cover not being cleaned properly.

[0075] It should be added here that the second charging terminal 11 on base station 1 and the first charging terminal on lawnmower 2 can be charging electrode plates.

[0076] Therefore, the solutions provided in the embodiments of this application add an action of moving from the first position to the second position when cleaning is required, so as to ensure that the lawnmower stops in a suitable position when being cleaned, thereby improving the cleaning efficiency of the lawnmower.

[0077] Figure 6 A schematic flowchart of a lawnmower cleaning method according to an embodiment of this application is shown. The method described in this embodiment can be performed by a lawnmower. Figure 6 As shown, the method may include:

[0078] 101. Charging at the first position; wherein the charging current is provided by the base station to which the lawnmower is connected.

[0079] 102. During the charging process, monitor the trigger events that meet the cleaning conditions.

[0080] 103. In response to the detected triggering event, move to the second position; wherein, during the process of moving from the first position to the second position, both the lawnmower and the base station are in a docked state.

[0081] 104. At the second position, a start signal is sent to the base station to enable the base station to start the cleaning mode and clean the lawnmower.

[0082] In the above 101, the first position can be the location where the lawnmower stops after successfully docking with the base station. At the first position, the first charging terminal on the lawnmower and the second charging terminal on the base station are electrically connected. The base station can provide charging current to the lawnmower through the second charging terminal and the first charging terminal.

[0083] In one feasible technical solution, the "monitoring of triggering events that meet cleaning conditions" in 102 above may include:

[0084] Detect the battery's charge level;

[0085] Detect the degree of soiling in at least one target area on the lawnmower;

[0086] When at least some of the conditions are met, such as the battery charge reaching a first threshold and the presence of areas in the at least one target area with a dirt level reaching a second threshold, the trigger event that satisfies the cleaning conditions is detected.

[0087] In the above 103, the second position may be the same as the first position, or it may be two different positions from the first position.

[0088] Specifically, in a feasible embodiment, "moving to the second position" in this 103 may include:

[0089] 1031. Move forward;

[0090] 1032. After detecting a collision signal or detecting that the distance from the corresponding side wall of the base station is less than or equal to a set distance, brake and stop at the second position.

[0091] If the first position the lawnmower stops at after docking with the base station is the front anti-collision mechanism 23 of the lawnmower (e.g.) Figure 3 If the lawnmower (as shown) comes into contact with the base station, or the distance from the corresponding side wall of the base station is equal to the set distance, then during step 1031, the drive unit of the lawnmower outputs forward power, and the lawnmower body has a forward movement tendency. However, because the anti-collision mechanism 23 at the front of the lawnmower has already come into contact with or collided with the base station, it does not move forward. In this case, the first position and the second position are the same position.

[0092] The collision signal mentioned above can be generated by the Hall sensor in the front anti-collision mechanism 23 of the lawnmower after detecting a collision. The distance detection can be detected by a sensor on the base station or by a sensor on the lawnmower; this embodiment does not limit this. The sensor for detecting distance can be a distance sensor.

[0093] See Figure 7 As shown, the lawnmower moves from the first position to the second position. Compared to the first position, the positional relationship between the objects being cleaned on the lawnmower and the cleaning components on the base station is more suitable, which helps to improve the cleaning efficiency of the lawnmower.

[0094] The lawnmower 2 is equipped with a first charging terminal (not shown in the attached diagram). For example... Figure 1 As shown, the base station 1 is equipped with a second charging terminal 11; when the first charging terminal 11 is electrically connected to the second charging terminal, the lawnmower 2 is in a docked state with the base station 1. Accordingly, the phrase "sending a start signal to the base station at the second position" in step 104 above can specifically include:

[0095] At the second position, the first charging terminal 11 and the second charging terminal, which are electrically connected, send the start signal to the base station 1.

[0096] The technical solution provided in this embodiment involves a lawnmower that, after docking with a base station, is in a first position and charging at that position. If a trigger event that meets cleaning conditions is detected during charging, the lawnmower moves to a second position. During this movement from the first to the second position, both the lawnmower and the base station are docked. After moving to the second position, the lawnmower sends a start signal to the base station, causing the base station to activate a cleaning mode to clean the lawnmower. Therefore, the solution provided in this embodiment can achieve self-cleaning of the lawnmower. By adding the action of moving the lawnmower from the first to the second position after detecting a trigger event that meets cleaning conditions, the relative positions of the base station and the lawnmower are more reasonable, which helps to improve the cleaning efficiency of the lawnmower.

[0097] Furthermore, to ensure the safe and reliable operation of the base station and the lawnmower, the method provided in this application embodiment also includes the following steps:

[0098] 105. In response to the detected trigger event, stop charging.

[0099] In this embodiment, stopping charging can be achieved by switching the charging circuit on lawnmower 2 to an open circuit state under the control of the lawnmower 2 controller. Alternatively, in this embodiment, charging can also be stopped when the lawnmower sends a start signal to the base station. For example, after receiving the start signal from the lawnmower, the base station first cuts off the charging current to the lawnmower and then starts the cleaning mode.

[0100] Furthermore, the method provided in this embodiment may also include:

[0101] 106. After sending a start signal to the base station, move back and forth between the first position and the second position.

[0102] See Figure 5 As shown, the lawnmower 2 moves back and forth between the first and second positions along the XX direction in the figure, which helps to improve the cleaning efficiency of the lawnmower.

[0103] Alternatively, lawnmower 2 can remain stationary, such as... Figure 4 As shown, the two cleaning brushes 121 and 122 in the cleaning component 12 reciprocate. For example... Figure 4 The cleaning brush 121 located at the top of the lawnmower reciprocates in a horizontal direction (i.e., parallel to the plane of the paper shown in the figure). The cleaning brush 122 located at the front of the lawnmower can reciprocate in a direction perpendicular to the plane of the paper.

[0104] Figure 8 A flowchart illustrating a lawnmower cleaning method according to another embodiment of this application is shown. The executing entity of the method provided in this embodiment can be a base station. Specifically, as... Figure 8 As shown, the method includes:

[0105] 201. After detecting that the lawnmower has completed docking, charge the lawnmower at the first position.

[0106] 202. Upon receiving a start signal from the lawnmower after it has moved from the first position to the second position, the cleaning mode is activated to clean the lawnmower at the second position.

[0107] During the process of moving from the first position to the second position, both the lawnmower and the base station are in a docked state.

[0108] In the above-mentioned 201, the second charging terminal 11 on the base station 1 is electrically connected to the first charging terminal on the lawnmower 2, thus completing the docking between the base station and the lawnmower. For example, after the first charging terminal on the lawnmower 2 makes contact with the second charging terminal on the base station, the lawnmower sends an electrical signal to the base station through the contacting first and second charging terminals. After receiving the electrical signal, the base station can recognize that the lawnmower has completed the docking.

[0109] After the lawnmower completes docking, the base station can provide charging current to the lawnmower through the second charging terminal on the base station and the first charging terminal on the lawnmower.

[0110] In the above 202, the start signal can be a collision signal generated by the Hall sensor on the anti-collision mechanism 23 when the lawnmower 2 receives a collision signal, or it can be a signal generated when the lawnmower detects that the distance from the corresponding side wall of the base station is less than or equal to a set distance.

[0111] Furthermore, the method provided in this embodiment may also include the following steps:

[0112] 203. Upon receiving the start signal, stop charging the lawnmower.

[0113] Alternatively, 203', after receiving a stop charging instruction sent by the lawnmower after detecting a trigger event that the cleaning conditions are met, the charging of the lawnmower is stopped.

[0114] Furthermore, the method provided in this embodiment may also include the following steps:

[0115] 204. Detect the degree of dirtiness in at least one target area on the lawnmower;

[0116] 205. If there is a component in the at least one target area with a dirt level greater than a second threshold, a notification signal is sent to the lawnmower to notify the lawnmower to move from the first position to the second position when the battery level is greater than a first threshold.

[0117] The at least one target area may include, but is not limited to, areas where sensors are installed, areas where moving parts are installed (to prevent sludge from obstructing the moving parts from performing corresponding actions), etc. This embodiment does not specifically limit this.

[0118] If the target area is an area where sensors are installed, the sensors installed in that area may include, but are not limited to, cameras, radar, distance sensors, etc.

[0119] The above Figure 6 and Figure 8 The two method embodiments shown represent the method steps on the lawnmower side and the corresponding base station side, respectively. In reality, the lawnmower's position movement and timing are all controlled by the base station. That is, another embodiment of this application provides a lawnmower cleaning method. Figure 9 As shown, the method includes the following steps:

[0120] 301. After detecting that the lawnmower has completed docking, charge the lawnmower at the first position.

[0121] 302. Monitor trigger events that meet cleaning conditions.

[0122] 303. In response to the detected triggering event, a movement command is sent to the lawnmower so that the lawnmower moves to the second position.

[0123] 304. When the lawnmower is determined to be in the second position, the cleaning mode is activated to clean the lawnmower.

[0124] During the process of moving from the first position to the second position, the lawnmower and the main body of the station are in a docked state.

[0125] For details regarding Section 301 above, please refer to the above text; it will not be repeated here.

[0126] In one feasible technical solution, the "monitoring of trigger events that meet cleaning conditions" in 302 above may include:

[0127] 3021. Record charging time;

[0128] 3022. Receive the battery power information sent by the lawnmower;

[0129] 3023. Detect the degree of dirtiness in at least one target area on the lawnmower;

[0130] 3024. When the charging time exceeds the third threshold, the battery charge reaches the first threshold, and at least some of the conditions in the at least one target area are met, the trigger event that meets the cleaning conditions is detected.

[0131] In scenario 304 above, the lawnmower can send information to the base station after it has reached the second position, informing the base station that it has reached the second position. Upon receiving this information, the base station can confirm that the lawnmower has reached the second position. Alternatively, the base station can be equipped with corresponding sensors, such as Hall effect sensors or distance sensors. Specifically, after a Hall effect sensor detects a collision, it generates a collision signal; upon receiving this collision signal, the base station can determine that the lawnmower has reached the second position. Alternatively, the distance sensor on the base station can detect that the distance to the lawnmower is less than or equal to a set distance; based on the distance detection result of the distance sensor, the base station can determine that the lawnmower has reached the second position.

[0132] Furthermore, the method provided in this embodiment may also include the following steps:

[0133] 305. In response to the detected triggering event, stop charging the lawnmower.

[0134] This application provides an embodiment of a lawnmower system. The lawnmower system may include a lawnmower 2 and a base station 1, such as... Figures 1-5As shown. The lawnmower 2 can perform the functions corresponding to steps 101-106 above. The base station can perform the functions corresponding to steps 201-205 or steps 301-305 above.

[0135] The operating modes of lawnmower 2 and base station 1 can be as follows:

[0136] The first feasible method

[0137] In the first implementation, the lawnmower 2 is used to charge at a first position; during charging, a trigger event that meets cleaning conditions is monitored; in response to the monitored trigger event, it moves to a second position; wherein, during the process of moving from the first position to the second position, the lawnmower 2 and the base station 1 are in a docked state; at the second position, a start signal is sent to the base station 1. The base station 1 is used to charge the lawnmower 2 at the first position by providing charging current; upon receiving the start signal sent by the lawnmower 2 after moving from the first position to the second position, it stops charging the lawnmower 2; and initiates a cleaning mode to clean the lawnmower at the second position.

[0138] The second feasible method

[0139] In the second possible implementation, base station 1 is used to charge the lawnmower 2 at a first location after detecting that the lawnmower 2 has completed docking; monitor a trigger event that meets cleaning conditions; and send a movement command to the lawnmower 2 in response to the monitored trigger event. The lawnmower 2 is used to move to a second location after receiving the movement command; base station 1 is also used to activate a cleaning mode to clean the lawnmower 2 when it determines that the lawnmower 2 is at the second location.

[0140] This application also provides device embodiments corresponding to the above-described method embodiments. For example, one embodiment of this application also provides a lawnmower, such as... Figure 3 As shown. The lawnmower 2 may include: a body and a first control device (not shown in the figure).

[0141] The first control device, mounted on the machine body, controls the machine body to charge at a first position; wherein the charging current is provided by a base station to which the lawnmower is docked; during charging, a trigger event that meets cleaning conditions is monitored; in response to the monitored trigger event, the machine body is controlled to move to a second position; wherein during the movement from the first position to the second position, both the lawnmower and the base station are docked; at the second position, the machine body is controlled to send a start signal to the base station, so that the base station starts a cleaning mode to clean the lawnmower.

[0142] It should be added here that, in addition to the functions described above, the first control device can also realize some or all of the functions corresponding to the steps in the corresponding method embodiments described above. For details, please refer to the above content, which will not be repeated here.

[0143] Furthermore, the device is equipped with a data acquisition device; the data acquisition device is used to collect environmental parameters; the data acquisition device is the cleaning target of the base station; wherein, the data acquisition device includes at least one: radar, camera and distance sensor.

[0144] like Figure 3 As shown, the data collection device 21 can be installed on the top of the machine body, or on the edge of the top corresponding to the front side of the machine body. In addition to the data collection device 21 on the top, other sensors can also be installed at other locations on the body of the lawnmower 2.

[0145] In addition to the collection device 21 and the first charging terminal (such as a charging electrode plate), the lawnmower 2 also includes: a drive device 22 (used to output propulsion power to make the body move forward, backward, turn and lateral, etc.), a communication device (used to communicate with user terminals, communicate with base stations, etc.), a cutting component, a battery (not shown in the figure), etc.

[0146] This application also provides an embodiment of a base station. For example... Figure 1 and 2 As shown, the base station 1 may include: a main body and a second control device (not shown in the figure). The second control device is disposed on the main body. The second control device is used to charge the lawnmower at a first position after detecting that a lawnmower has completed docking with the main body; and to control the main body to activate a cleaning mode to clean the lawnmower at the second position when it receives a start signal sent by the lawnmower after it moves from the first position to the second position.

[0147] During the process of moving from the first position to the second position, the lawnmower and the main body of the station are in a docked state.

[0148] Alternatively, in the base station provided in this application embodiment, the second control device is used to charge the lawnmower at the first position after detecting that the lawnmower has completed docking with the main station body; monitor a trigger event that meets cleaning conditions; in response to the monitored trigger event, control the main station body to send a movement command to the lawnmower so that the lawnmower moves to the second position; and when it is determined that the lawnmower is at the second position, control the main station body to start a cleaning mode to clean the lawnmower.

[0149] Similarly, it should be added that, in addition to the functions described above, the second control device can also perform some or all of the functions corresponding to the steps in the corresponding method embodiments described above. For details, please refer to the above content, which will not be repeated here.

[0150] Furthermore, the main body of the station may be equipped with, but is not limited to: a detection device (such as for detecting the position of a lawnmower), a second charging terminal (such as a charging electrode plate), a cleaning device (as shown in the figure, a cleaning brush, a cleaning liquid supply device), a communication device (for communicating with user terminals, communicating with base stations, etc.), etc.

[0151] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a computer, can implement the method steps or functions provided in the above embodiments.

[0152] This application also provides a computer program product that can be installed on or stored on a corresponding device, such as a lawnmower or base station. The computer program product includes a computer program or instructions that, when executed by a processor on the device, cause the processor to perform the steps described in the above method embodiments.

[0153] Additionally, it should be noted that the lawnmower mentioned in this article can be an intelligent lawnmower (or a lawnmower robot), or a push lawnmower, etc. This embodiment does not limit it to any particular type.

[0154] The technical solutions provided in the embodiments of this application will be described below in conjunction with specific application scenarios.

[0155] Scene 1

[0156] The intelligent lawnmower operates in the rain. On rainy days, the lawn soil is more slippery. During the mowing process, if... Figure 3As shown, the cover of the panoramic camera at the top front of the smart lawnmower is splattered with mud. When the smart lawnmower determines it needs cleaning by recognizing images captured by the panoramic camera, it plans a path to the base station based on its current location and follows the planned path. After reaching and docking with the base station, the smart lawnmower is in its first position. At this position, the smart lawnmower charges using the charging current provided by the base station, monitoring the battery level during charging to ensure it exceeds a first threshold. If the battery level reaches the threshold, charging stops, and the lawnmower moves forward until the anti-collision mechanism collides with the base station. The collision triggers a Hall sensor in the anti-collision mechanism, generating a collision signal. Upon detecting this collision signal, the smart lawnmower immediately stops moving and stops at its second position. From the second position, the smart lawnmower sends a start signal to the base station. Upon receiving this start signal, the base station activates the cleaning mode (i.e., the cleaning components and cleaning fluid supply device start working) to clean the cover of the smart lawnmower's panoramic camera.

[0157] Scene 2

[0158] The intelligent lawnmower works on the lawn, trimming the grass. During operation, if the intelligent lawnmower detects a low battery level (e.g., equal to or below 10%), it returns to the base station for charging. The intelligent lawnmower travels to the base station and docks. After docking, the base station charges the intelligent lawnmower. When the intelligent lawnmower's battery is at 100%, it checks the dirt level of the panoramic camera area. If the dirt level corresponding to the panoramic camera area is detected as moderate, the base station sends a movement command to the lawnmower. Upon receiving this movement command, the intelligent lawnmower moves forward until its anti-collision mechanism collides with the base station. The Hall sensor in the anti-collision mechanism generates a collision signal upon impact. After detecting this collision signal, the intelligent lawnmower stops moving forward and sends the collision signal back to the base station. Upon receiving the collision signal, the base station activates a cleaning mode to clean the cover of the intelligent lawnmower's panoramic camera.

[0159] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0160] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for cleaning a lawnmower, characterized in that, Applicable to lawnmowers, wherein the lawnmower is provided with a first charging terminal; The base station is equipped with a second charging terminal; when the first charging terminal and the second charging terminal are electrically connected, the lawnmower and the base station are in a docked state; the method includes: Charging is performed at a first location; wherein the charging current is provided by the base station to which the lawnmower is connected; During charging, monitor trigger events that meet cleaning conditions; In response to the detected triggering event, the lawnmower moves to a second position; wherein, during the process of moving from the first position to the second position, both the lawnmower and the base station are in a docked state; At the second position, a start signal is sent to the base station via the first charging terminal and the second charging terminal, which are electrically connected, so that the base station starts the cleaning mode to clean the lawnmower.

2. The method according to claim 1, characterized in that, Also includes: In response to the detected trigger event, charging is stopped.

3. The method according to claim 1, characterized in that, Moving to the second position includes: Move forward; Upon detecting a collision signal or upon detecting that the distance from the corresponding side wall of the base station is less than or equal to a set distance, the system brakes and stops at the second position.

4. The method according to any one of claims 1 to 3, characterized in that, Monitor trigger events that meet cleaning conditions, including: Detect the battery level of the lawnmower; Detect the degree of soiling in at least one target area on the lawnmower; When at least some of the conditions are met, such as the battery charge reaching a first threshold and the presence of areas in the at least one target area with a dirt level reaching a second threshold, the trigger event that satisfies the cleaning conditions is detected.

5. The method according to any one of claims 1 to 3, characterized in that, Also includes: After sending a start signal to the base station, it moves back and forth between the first position and the second position.

6. A method for cleaning a lawnmower, characterized in that, Applicable to base stations, the method includes: After detecting that a lawnmower has successfully docked, the lawnmower at the first position is charged. Upon receiving a start signal from the lawnmower after it has moved from the first position to the second position, the cleaning mode is activated to clean the lawnmower at the second position. The lawnmower is equipped with a first charging terminal; the base station is equipped with a second charging terminal; when the first charging terminal and the second charging terminal are electrically connected, the lawnmower and the base station are in a docked state; during the process of moving from the first position to the second position, the lawnmower and the base station are in a docked state; at the second position, the lawnmower sends the start signal through the electrically connected first charging terminal and the second charging terminal.

7. The method according to claim 6, characterized in that, The method further includes: Upon receiving the start signal, charging of the lawnmower is stopped.

8. The method according to claim 6, characterized in that, Also includes: Detect the degree of soiling in at least one target area on the lawnmower; If any component in the at least one target area has a dirt level greater than a second threshold, a notification signal is sent to the lawnmower to notify it to move from the first position to the second position when the battery level is greater than a first threshold.

9. A method for cleaning a lawnmower, characterized in that, Applicable to base stations, the method includes: After detecting that a lawnmower has successfully docked, the lawnmower at the first position is charged. Monitor trigger events that meet cleaning conditions; In response to the detected triggering event, a movement command is sent to the lawnmower so that the lawnmower moves to the second position; When the lawnmower is determined to be in the second position, the cleaning mode is activated to clean the lawnmower. The lawnmower is equipped with a first charging terminal; the base station is equipped with a second charging terminal; when the first charging terminal and the second charging terminal are electrically connected, the lawnmower and the base station are in a docked state; during the process of moving from the first position to the second position, the lawnmower and the base station are in a docked state; after receiving the start signal sent by the lawnmower through the electrically connected first charging terminal and second charging terminal, it is determined that the lawnmower is in the second position.

10. The method according to claim 9, characterized in that, Also includes: In response to the detected triggering event, charging of the lawnmower is stopped.

11. The method according to claim 9 or 10, characterized in that, Monitor trigger events that meet cleaning conditions, including: Record charging time; Receive the battery power sent by the lawnmower; Detect the degree of soiling in at least one target area on the lawnmower; When the charging time exceeds the third threshold, the battery charge reaches the first threshold, and at least some of the conditions in the at least one target area are met, the trigger event that satisfies the cleaning conditions is detected.

12. A lawnmower system, characterized in that, include: The lawnmower is used to charge at the first position; during charging, it monitors trigger events that meet cleaning conditions. In response to the detected triggering event, the lawnmower moves to a second position; wherein, during the process of moving from the first position to the second position, both the lawnmower and the base station are in a docked state; at the second position, a start signal is sent to the base station; The base station is used to charge the lawnmower at the first location by providing charging current; when it receives a start signal sent by the lawnmower after it moves from the first location to the second location, it stops charging the lawnmower; and it starts a cleaning mode to clean the lawnmower at the second location. The lawnmower is equipped with a first charging terminal; the base station is equipped with a second charging terminal; when the first charging terminal and the second charging terminal are electrically connected, the lawnmower and the base station are in a docked state; at the second position, the lawnmower sends a start signal to the base station through the electrically connected first charging terminal and second charging terminal.

13. A lawnmower system, characterized in that, include: The base station is used to charge the lawnmower at the first location after detecting that a docked lawnmower has been successfully docked; and to monitor trigger events that meet cleaning conditions. In response to the detected triggering event, a movement command is sent to the lawnmower; The lawnmower is used to move to the second position after receiving the moving command; The base station is also configured to activate a cleaning mode to clean the lawnmower when it determines that the lawnmower is in the second position. The lawnmower is equipped with a first charging terminal; the base station is equipped with a second charging terminal; when the first charging terminal and the second charging terminal are electrically connected, the lawnmower and the base station are in a docked state; at the second position, the lawnmower sends a start signal to the base station through the electrically connected first charging terminal and second charging terminal.

14. A lawnmower, characterized in that, include: The machine body is provided with a first charging terminal for electrical connection to a second charging terminal on the base station; when the first charging terminal is electrically connected to the second charging terminal, the lawnmower is in a docking state with the base station. A first control device, disposed on the machine body, is used to control the machine body to charge at a first position; wherein the charging current is provided by a base station to which the lawnmower is docked; during the charging process, a trigger event that meets cleaning conditions is monitored; in response to the monitored trigger event, the machine body is controlled to move to a second position; wherein, during the process of moving from the first position to the second position, both the lawnmower and the base station are in a docked state; at the second position, the machine body is controlled to send a start signal to the base station through the electrically connected first charging terminal and second charging terminal, so that the base station starts the cleaning mode to clean the lawnmower.

15. The lawnmower according to claim 14, characterized in that, The machine body is equipped with a data collection device; The data acquisition device is used to collect environmental parameters; The data collection device is the object to be cleaned by the base station; The data acquisition device includes at least one of the following: radar, camera, and distance sensor.

16. A base station, characterized in that, include: The main body of the station is equipped with a second charging terminal for electrical connection to the first charging terminal on the lawnmower. When the first charging terminal is electrically connected to the second charging terminal, the lawnmower is in a docked state with the base station; The second control device, installed on the main body of the station, is used to charge the lawnmower at the first position after detecting that the lawnmower has completed docking with the main body of the station; and to control the main body of the station to start the cleaning mode to clean the lawnmower at the second position when it receives a start signal sent by the lawnmower after it moves from the first position to the second position. During the process of moving from the first position to the second position, the lawnmower and the station body are in a docked state; at the second position, the lawnmower sends the start signal through the first charging terminal and the second charging terminal, which are electrically connected.

17. A base station, characterized in that, include: The main body of the station is equipped with a second charging terminal for electrical connection to the first charging terminal on the lawnmower. When the first charging terminal is electrically connected to the second charging terminal, the lawnmower is in a docked state with the base station; The second control device, installed on the main body of the station, is used to charge the lawnmower at the first position after detecting that the lawnmower has completed docking with the main body of the station; and to monitor trigger events that meet cleaning conditions. In response to the detected triggering event, the station body controls the sending of a movement command to the lawnmower so that the lawnmower moves to a second position; When the lawnmower is determined to be in the second position, the main body of the station is controlled to start the cleaning mode to clean the lawnmower; During the process of moving from the first position to the second position, the lawnmower and the station body are in a docked state; after receiving the start signal sent by the lawnmower through the first charging terminal and the second charging terminal connected by electricity, the lawnmower is determined to be in the second position.

18. A self-moving device system, characterized in that, include: The self-moving device is used to charge at a first location; during charging, it monitors trigger events that meet cleaning conditions. In response to the detected triggering event, the device moves to a second location; wherein, during the process of moving from the first location to the second location, both the self-moving device and the base station are in a docked state; at the second location, a start signal is sent to the base station; The base station is configured to charge the self-moving device at the first location by providing charging current; when it receives a start signal sent by the self-moving device after moving from the first location to the second location, it stops charging the self-moving device; and it initiates a cleaning mode to clean the self-moving device at the second location. The self-moving device is provided with a first charging terminal; the base station is provided with a second charging terminal; when the first charging terminal and the second charging terminal are electrically connected, the self-moving device and the base station are in a docking state; at the second position, the self-moving device sends the start signal through the electrically connected first charging terminal and the second charging terminal.

19. A self-moving device, characterized in that, include: The device body has a first charging terminal for electrical connection with a second charging terminal on the base station; when the first charging terminal is electrically connected to the second charging terminal, the device body and the base station are in a docking state. A third control device, disposed on the device body, is used to control the device body to charge at a first position; wherein the charging current is provided by the base station to which the device body is connected; during the charging process, a trigger event that meets the cleaning conditions is monitored; in response to the monitored trigger event, the device body is controlled to move to a second position; wherein during the process of moving from the first position to the second position, both the device body and the base station are in a connected state; at the second position, the device body is controlled to send a start signal to the base station through the electrically connected first charging terminal and second charging terminal, so that the base station starts the cleaning mode to clean the device body.

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