A method, system, storage medium and intelligent terminal for autonomous charging of lawn mower

Abstract

The present application relates to a method, system, storage medium and intelligent terminal for autonomous charging of a lawn mower, and relates to the technical field of lawn mowers. The method includes the following steps: the lawn mower switches to a driving mode, drives along the current direction to the boundary line corresponding to the preset boundary line information, and then drives along the route and direction corresponding to the boundary line information; determines whether the charging pile set on the boundary line sends the preset avoidance action information; if there is avoidance action information, the lawn mower drives in an avoidance manner according to the avoidance action information; if there is no avoidance action information, the lawn mower drives to the charging pile for charging and sends avoidance action information for the next lawn mower to obtain. The problem that lawn mowers need to queue up, which affects the charging efficiency and mowing efficiency, is improved. The present application has the effect of not wasting time in queuing and improving the charging efficiency of the lawn mower.

Description

Technical Field

[0001] The present application relates to the technical field of lawn mowers, and in particular to an autonomous charging method, system, storage medium and intelligent terminal for lawn mowers. Background Art

[0002] Smart lawn mowers mainly help people complete mowing tasks. They are lawn mowers that can achieve intelligent and autonomous mowing. Smart lawn mowers can be separated from human control factors, thus avoiding excessive waste of human resources, while also saving material resources, and also have the advantages of high efficiency and high safety.

[0003] During the mowing process, the mowing motor consumes a lot of power, so the power may be insufficient. At this time, the mower needs to be able to charge itself and enter the charging pile for charging without human help. Among the current charging methods, the most commonly used is the electronic fence guidance method, that is, the mower moves in a straight line to the boundary and then moves along the boundary line until it reaches the charging pile on the boundary line for charging.

[0004] With respect to the above-mentioned related technologies, the inventor believes that when there are multiple lawn mowers in the same area that needs to be mowed, when one lawn mower is charging, the other lawn mowers need to queue up, which affects the charging efficiency and mowing efficiency of the lawn mowers, and there is still room for improvement. Summary of the invention

[0005] In order to improve the problem that when one lawn mower is charging, the other lawn mowers need to queue up, which affects the charging efficiency and mowing efficiency of the lawn mowers, the present application provides a lawn mower autonomous charging method, system, storage medium and intelligent terminal.

[0006] In a first aspect, the present application provides a method for autonomously charging a lawn mower, which adopts the following technical solution:

[0007] A method for autonomously charging a lawn mower, comprising:

[0008] The lawn mower switches to the driving mode, drives along the current direction to the boundary line corresponding to the preset boundary line information, and then drives according to the route and direction corresponding to the boundary line information;

[0009] Determine whether the charging pile arranged on the boundary line sends the preset avoidance action information;

[0010] If there is avoidance action information, the lawn mower performs avoidance driving according to the avoidance action information;

[0011] If there is no avoidance action information, the lawn mower drives to the charging pile for charging and sends out avoidance action information for the next lawn mower to obtain.

[0012] By adopting the above technical solution, by sensing whether there is a lawn mower charging at the current charging pile, the lawn mower can choose an evasive action to avoid the current charging pile. Each lawn mower can automatically select an idle charging pile without queuing behind a charging pile and wasting time, thereby improving the charging efficiency of the lawn mower.

[0013] Optionally, the method for determining the avoidance action information includes:

[0014] Matching the avoidance route and the straight route stored in the charging route database of the charging pile with the preset charging pile location information to determine the avoidance route and the straight route of the charging pile location information, defining the avoidance route as the current avoidance route information, and defining the straight route as the current straight route information;

[0015] Obtain the charging information corresponding to the charging pile location information;

[0016] Determine whether charging information exists;

[0017] If there is charging information, the lawn mower selects the current avoidance route information to drive;

[0018] If there is no charging information, the lawn mower selects the current straight route information to travel.

[0019] Optionally, the method for determining the avoidance action information includes:

[0020] Obtain the charging information corresponding to the charging pile location information;

[0021] Determine whether charging information exists;

[0022] If there is charging information, the avoidance route stored in the preset charging pile charging route database is matched with the charging pile location information to determine the avoidance route of the charging pile location information, and the avoidance route is defined as the current avoidance route information;

[0023] The charging pile corresponding to the charging pile location information sends out current avoidance route information;

[0024] The lawn mower forms avoidance route information according to the current avoidance route information and boundary line information obtained and drives according to the avoidance route information;

[0025] If there is no charging information, the straight route stored in the preset charging pile charging route database is matched with the charging pile location information to determine the straight route of the charging pile location information, and the straight route is defined as the current straight route information;

[0026] The charging pile corresponding to the charging pile location information sends out the current straight route information;

[0027] The lawn mower combines the acquired current straight route information and boundary line information to form straight route information and travels according to the straight route information.

[0028] By adopting the above technical solution, the charging pile chooses to send the current avoidance route information or the current straight route information according to the charging situation, so that the lawn mower does not need to judge whether there is avoidance route information during driving, but only needs to drive according to the existing route. Planning can be done in advance, and there is no need to make a judgment before entering the charging pile, which improves the driving efficiency of the lawn mower.

[0029] Optionally, when the number of lawn mowers that need to be charged is greater than the number of all charging piles, the driving method of the lawn mowers includes:

[0030] Obtain the charging quantity information of the charging pile that sends the charging information;

[0031] Compare the charging pile charging quantity information with the number of charging piles corresponding to the preset charging pile quantity information;

[0032] If the charging pile charging quantity information is the same as the charging pile quantity corresponding to the preset charging pile quantity information, the lawn mower drives along the boundary line to the starting point corresponding to the current avoidance route information, turns off the engine, and obtains the charging quantity information of the charging pile that sends the charging information in real time;

[0033] If the charging pile charging quantity information is different from the number of charging piles corresponding to the preset charging pile quantity information, the lawn mower drives along the avoidance route to the charging pile that does not send the charging information for charging.

[0034] By adopting the above technical solution, when the number of lawn mowers to be charged is greater than the number of charging piles, the lawn mowers can save remaining power during the period of non-use by turning off the engines at the starting point and monitoring the charging status of the charging piles in real time, and can immediately drive to an uncharged charging pile for charging after the charging piles are fully charged, making the entire charging process more orderly, more reasonable, and improving the charging efficiency.

[0035] Optionally, when the number of lawn mowers that need to be charged is greater than the number of all charging piles, the method for further driving the lawn mowers includes:

[0036] Obtain charging status information corresponding to each charging pile location information and filter out the charging pile location with the largest amount of electricity corresponding to the charging status information, and define the charging pile location as pre-vacant charging pile location information;

[0037] The current straight route information is sent out at the charging pile corresponding to the location information of the pre-vacant charging pile;

[0038] The lawn mower combines the acquired current straight route information, current avoidance route information and boundary line information to form pre-straight route information, and drives according to the pre-straight route information to the starting point of the current straight route information, turns off the engine and obtains the charging quantity information of the charging pile that sends the charging information in real time.

[0039] By adopting the above technical solution, the lawn mower is driven to the pre-empty charging pile position so that the lawn mower can be charged at the first time, thereby improving the charging efficiency of the lawn mower.

[0040] Optionally, the method for charging the lawn mower at the charging location corresponding to the charging pile location information includes:

[0041] Get the battery alarm location information;

[0042] Perform matching analysis on the remaining working distance and the power alarm position information stored in the preset working distance database to determine the remaining working distance corresponding to the power alarm position information, and define the remaining working distance as the current remaining working distance information;

[0043] Calculate return trip information based on the battery alarm location information and the charging pile location information;

[0044] Perform matching analysis based on the required power value stored in the working power database and the return information and the current remaining working distance information to determine the required power corresponding to the return information and the current remaining working distance information, and define the required power as the required power information;

[0045] Compare the charging status information corresponding to the charging pile location information with the power value corresponding to the required power information;

[0046] If the charging status information corresponding to the charging pile location information is greater than the power value corresponding to the required power information, the lawn mower being charged in the charging pile will be driven along the return route to the position corresponding to the power alarm location information to continue working, and the corresponding charging pile will stop sending the charging information. The lawn mower that is turned off at the starting point of the current straight route information will enter the charging pile along the current straight route information for charging.

[0047] By adopting the above technical solution, whether the lawn mower should continue to be charged is determined by judging whether the current power is sufficient for the lawn mower to complete the unfinished workload, so that the lawn mower does not need to be fully charged to affect the subsequent charging of the lawn mower, thereby making the time arrangement more reasonable and improving the charging efficiency of the lawn mower.

[0048] Optionally, the driving method after the lawn mower outputs the power alarm position information includes:

[0049] The power required to complete the work is compared with the power alarm location information stored in the mowing power database to determine the power required to complete the work corresponding to the power alarm location information, and the power is defined as the demand power information;

[0050] Compare the power value corresponding to the power alarm location information with the required power information;

[0051] If the power value corresponding to the power alarm position information is greater than the required power information, the lawn mower continues to work;

[0052] If the power value corresponding to the power alarm position information is less than the required power information, the lawn mower switches to the driving mode, drives in the current direction to the boundary line corresponding to the boundary line information, and then drives according to the route and direction corresponding to the boundary line information.

[0053] By adopting the above technical solution, it is determined whether direct charging is needed by judging whether the current power can complete the remaining work, so that the mowing efficiency of the lawn mower is not easily greatly reduced due to charging operations, thereby improving the mowing efficiency of the lawn mower.

[0054] In a second aspect, the present application provides a lawn mower autonomous charging system, which adopts the following technical solution:

[0055] A lawn mower autonomous charging system, characterized by comprising:

[0056] A processing module, connected to the power acquisition module, the distance acquisition module and the judgment module, and used for processing and storing information;

[0057] A control module, connected to the processing module, is used for switching the lawn mower to a driving mode, and after driving along the current direction to the boundary line corresponding to the boundary line information, driving according to the route and direction corresponding to the boundary line information;

[0058] A judgment module, used to judge whether a charging pile arranged on the boundary line sends a preset avoidance action information;

[0059] If the judging module judges that there is avoidance action information, the control module controls the lawn mower to perform avoidance driving according to the avoidance action information;

[0060] If the determination module determines that there is no avoidance action information, the control module controls the lawn mower to drive to the charging pile for charging and sends out avoidance action information for the next lawn mower to obtain.

[0061] By adopting the above technical solution, an avoidance route is selected to avoid the current charging pile by sensing whether there is a lawn mower charging at the current charging pile. Each lawn mower can automatically select an idle charging pile without queuing behind a charging pile and wasting time, thereby improving the charging efficiency of the lawn mower.

[0062] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution:

[0063] An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any of the above-mentioned methods for autonomously charging a lawn mower.

[0064] By adopting the above technical solution, an avoidance route is selected to avoid the current charging pile by sensing whether there is a lawn mower charging at the current charging pile. Each lawn mower can automatically select an idle charging pile without queuing behind a charging pile and wasting time, thereby improving the charging efficiency of the lawn mower.

[0065] In a fourth aspect, the present application provides a computer-readable storage medium capable of storing corresponding programs, which has the characteristic of facilitating efficient long-distance detection.

[0066] A computer-readable storage medium adopts the following technical solution:

[0067] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned lawn mower autonomous charging methods.

[0068] By adopting the above technical solution, an avoidance route is selected to avoid the current charging pile by sensing whether there is a lawn mower charging at the current charging pile. Each lawn mower can automatically select an idle charging pile without queuing behind a charging pile and wasting time, thereby improving the charging efficiency of the lawn mower.

[0069] In summary, the present application includes at least one of the following beneficial technical effects:

[0070] Each mower can automatically select an idle charging station, eliminating the need to queue up behind a charging station and waste time, thus improving the mower's charging efficiency;

[0071] By judging the current power level, the mowing efficiency of the lawn mower is less likely to be greatly reduced due to charging operations, thereby improving the mowing efficiency of the lawn mower. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 It is a flow chart of a method for autonomous charging of a lawn mower in an embodiment of the present application.

[0073] Figure 2It is a flow chart of a method for determining an avoidance route and a straight route in an embodiment of the present application.

[0074] Figure 3 It is a path diagram of the method for determining the avoidance route and the straight route in the embodiment of the present application.

[0075] Figure 4 It is a flowchart of another method for determining an avoidance route and a straight route in an embodiment of the present application.

[0076] Figure 5 It is a path diagram of another method for determining the avoidance route and the straight route in the embodiment of the present application.

[0077] Figure 6 It is a flow chart of a method for driving a lawn mower when the number of lawn mowers that need to be charged is greater than the number of all charging piles in an embodiment of the present application.

[0078] Figure 7 It is a flow chart of a method for further driving of a lawn mower when the number of lawn mowers that need to be charged is greater than the number of all charging piles in an embodiment of the present application.

[0079] Figure 8 It is a flow chart of a method for charging a lawn mower in an embodiment of the present application at a charging location corresponding to the charging pile location information.

[0080] Fig. 9 It is a module schematic diagram of a lawn mower autonomous charging method in an embodiment of the present application. DETAILED DESCRIPTION

[0081] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-9 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0082] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0083] See also Figure 1 The embodiment of the present invention provides a method for autonomously charging a lawn mower. The main process of the method for autonomously charging a lawn mower is described as follows:

[0084] Step 100: Compare the power required to complete the work stored in the mowing power database with the power alarm location information to determine the power required to complete the work corresponding to the power alarm location information, and define the power as demand power information.

[0085] The power demand information refers to the amount of power required to complete the work corresponding to the power alarm location information. That is, the amount of power required to continue working at the location corresponding to the power alarm location information. The mowing power database stores the mapping relationship between the work location and the power demand information, that is, when a coordinate location is input, the corresponding amount of power required to complete the work can be found in the mowing power database. The database was obtained by the staff in this field through experiments and will not be described here. The purpose of obtaining the power demand information is to determine whether the location at the time of the alarm can use the remaining power to complete the work, and then manually charge it, which can speed up the mowing efficiency.

[0086] Step 101: Compare the power value corresponding to the power alarm location information with the required power information.

[0087] The purpose of the comparison is to determine whether the remaining power can be used to complete the work at the location when the alarm is triggered, and then manual charging can be performed to speed up the mowing efficiency.

[0088] Step 1011: If the power value corresponding to the power value of the power alarm position information is greater than the required power information, the lawn mower continues to work.

[0089] If the power value corresponding to the power alarm position information is greater than the required power information, it means that the power corresponding to the power alarm position information can continue to complete the work, and the lawn mower continues to work to complete the mowing task.

[0090] Step 1012: If the power value corresponding to the power alarm location information is less than the required power information, the lawn mower switches to the driving mode, drives in the current direction to the boundary line corresponding to the preset boundary line information, and then drives according to the route and direction corresponding to the boundary line information.

[0091] The boundary line information is the information of the boundary line of the mowing area, including the length and direction of the boundary line and the driving direction of the lawn mower when reaching the boundary line. The boundary line information is preset by technical personnel in this field before work, that is, when the lawn mower is preparing to work, the technical personnel in this field set it in the system in advance according to the area and shape of the working area. The charging pile position information refers to the information of the position coordinates of the charging pile on the boundary line. The driving mode is the mode in which the lawn mower only maintains the driving state without mowing. If the power value corresponding to the power alarm position information is less than the required power information, it means that the lawn mower needs to be charged. In order to ensure that the lawn mower can reach the location of the charging pile, the lawn mower only drives without mowing, and then maintains the direction of mowing just now to drive to the boundary. When arriving at the boundary, the boundary line information is received, and the lawn mower drives towards the charging pile according to the route and direction corresponding to the boundary line information.

[0092] Step 102: Determine whether a charging pile arranged on the boundary line sends out preset avoidance action information.

[0093] The avoidance action information refers to the information sent by the charging pile to let the subsequent lawn mower bypass the charging pile when there is a lawn mower charging on the current charging pile. The avoidance action information here can be a specified avoidance route, or it can be performed only to avoid without following the specified route. The purpose of the judgment is to determine whether there is a lawn mower on the current charging pile. That is, when there is avoidance action information, it means that there is a lawn mower charging on the current charging pile, and the next lawn mower needs to bypass the current charging pile and go to the next charging pile to charge.

[0094] Step 1021: If there is avoidance action information on the charging pile, the lawn mower drives according to the avoidance action information.

[0095] If there is avoidance action information on the charging pile, it means that there is a lawn mower being charged on the current charging pile, and the lawn mower drives according to the avoidance action information.

[0096] Step 1022: If the avoidance action information does not exist on the charging pile, the lawn mower drives to the charging pile to charge and sends out the avoidance action information for the next lawn mower to obtain.

[0097] If there is no avoidance action information on the charging pile, it means that there is no lawn mower being charged on the charging pile, and you can enter the charging pile to charge.

[0098] Reference Figure 2 and Figure 3 , the method for determining the avoidance route and the straight route includes:

[0099] Step 200: Match the avoidance route and straight route stored in the charging route database of the charging pile with the preset charging pile location information to determine the avoidance route and straight route of the charging pile location information, define the avoidance route as the current avoidance route information, and define the straight route as the current straight route information.

[0100] The charging pile location information refers to the location coordinates of the charging pile on the boundary line. The current avoidance route information refers to the avoidance route information issued by the charging pile at the current location, such as Figure 3 As shown in FIG. 1 , it is the route of the sum of the arc that bypasses the charging pile and the boundary line connected to the arc, so that the lawn mower is not easily disconnected from the driving route during the movement. The current straight route information is the straight route information issued by the charging pile at the current position, such as Figure 3 As shown, it is a route that is the sum of a straight line leading directly to the charging pile and boundary lines connected to the straight line, so that the lawn mower is not easily disconnected from the driving route during the movement.

[0101] Step 201: Obtain charging information corresponding to the charging pile location information.

[0102] Charging information refers to information that a lawn mower is being charged on the charging pile corresponding to the charging pile location information, which is expressed as information that can be identified by the system and can be used to obtain information on whether a lawn mower is being charged. The method of obtaining the information is that when there is a lawn mower on the charging pile, the circuit in the charging pile is turned on, and the circuit that sends the charging information is also turned on, so the charging information is sent to the system.

[0103] Step 202: Determine whether charging information exists.

[0104] The method of judging is whether the system has received the charging information of the corresponding charging pile location information. The purpose of judging is to let the system know whether the corresponding lawn mower is already charging at the charging pile.

[0105] Step 2021: If there is charging information, the lawn mower selects the current avoidance route information to travel.

[0106] If there is charging information, it means that there is already a lawn mower at the current charging pile, and the next lawn mower needs to travel according to the current avoidance route information until it reaches the charging pile position where there is no charging information.

[0107] Step 2031: If there is no charging information, the lawn mower selects the current straight route information for driving.

[0108] If there is no charging information, it means that there is no lawn mower at the current charging pile, and the next lawn mower can travel according to the current straight route information until it reaches the charging pile.

[0109] Reference Figure 4 and Figure 5 In the embodiment of the present application, there is another method for determining an avoidance route and a straight route, which includes:

[0110] Step 300: Obtain charging information corresponding to the charging pile location information.

[0111] Charging information refers to information that a lawn mower is being charged on the charging pile corresponding to the charging pile location information, which is expressed as information that can be identified by the system and can be used to obtain information on whether a lawn mower is being charged. The method of obtaining the information is that when there is a lawn mower on the charging pile, the circuit in the charging pile is turned on, and the circuit that sends the charging information is also turned on, so the charging information is sent to the system.

[0112] Step 301: Determine whether charging information exists.

[0113] The method of judging is whether the system has received the charging information of the corresponding charging pile location information. The purpose of judging is to let the system know whether the corresponding lawn mower is already charging at the charging pile.

[0114] Step 3011: If there is charging information, the avoidance route stored in the charging route database of the charging pile is matched with the charging pile location information to determine the avoidance route of the charging pile location information, and the avoidance route is defined as the current avoidance route information.

[0115] The current avoidance route information is the avoidance route information sent by the charging pile at the current location, such as Figure 5 As shown, it is a curved route that bypasses the charging pile, so that the lawn mower drives along the boundary line in the previous time. When approaching the charging pile, since there is only the current avoidance route information, it only needs to bypass the charging pile according to the route, and the lawn mower does not need to determine whether it needs to avoid. If there is charging information, it means that there is already a lawn mower at the current charging pile, and the next lawn mower needs to bypass it according to the current avoidance route information.

[0116] Step 3012: If there is no charging information, the straight route stored in the preset charging pile charging route database is matched with the charging pile location information to determine the straight route of the charging pile location information, and the straight route is defined as the current straight route information.

[0117] The current straight route information is the straight route information sent by the charging pile at the current location, such as Figure 5 As shown, it is a straight line route to the charging pile, so that the lawn mower drives along the boundary line in the previous time. When approaching the charging pile, since there is only the current straight route information, it only needs to drive to the charging pile according to the route, and the lawn mower does not need to determine whether to avoid. If there is no charging information, it means that there is no lawn mower at the current charging pile, and the next lawn mower needs to drive according to the current straight route information.

[0118] Step 302: The charging pile corresponding to the charging pile location information sends out current avoidance route information.

[0119] If there is charging information, it means that there is already a lawn mower at the current charging pile, and the charging pile corresponding to the charging pile location information only needs to send the current avoidance route information.

[0120] Step 303: The charging pile corresponding to the charging pile location information sends out current straight route information.

[0121] If there is no charging information, it means that there is no lawn mower at the current charging pile, and the charging pile corresponding to the charging pile location information only needs to send the current straight route information.

[0122] Step 304: The lawn mower forms avoidance route information based on the current avoidance route information and the boundary line information obtained, and drives according to the avoidance route information.

[0123] If there is charging information, the lawn mower will detour according to the current avoidance route information.

[0124] Step 305: The lawn mower combines the acquired current straight route information and boundary line information to form straight route information and drives according to the straight route information.

[0125] If there is no charging information, the lawn mower needs to travel according to the current straight route information.

[0126] Reference Figure 6 When the number of lawn mowers that need to be charged is greater than the number of all charging piles, the driving methods of the lawn mowers include:

[0127] Step 400: Obtain the charging quantity information of the charging pile that sends the charging information.

[0128] The charging pile charging quantity information is the information about the number of charging piles where the lawn mower is being charged. The acquisition method is to count and acquire the information through a counter. When the charging pile sends out the charging information, the counter counts to 1, and then counts one by one. After the counting is completed and before re-acquiring, the counter needs to be reset to 0 and count again. The purpose of acquisition is to determine whether all charging piles are charging the lawn mower.

[0129] Step 401: Compare the charging pile charging quantity information with the charging pile quantity corresponding to the preset charging pile quantity information.

[0130] The number of charging piles is the number of all charging piles that can be used normally in the working area. It is preset in advance, that is, the corresponding charging piles are installed by the personnel in this field when constructing the lawn, and the number of charging piles is manually input before the project starts, and it is generally not changed later. The purpose of the comparison is to determine whether all the charging piles are charging the lawn mower.

[0131] Step 4011: If the charging pile charging quantity information is the same as the charging pile quantity corresponding to the preset charging pile quantity information, the lawn mower drives along the boundary line to the starting point corresponding to the current avoidance route information, turns off the engine, and obtains the charging pile charging quantity information of the charging pile that sends the charging information in real time.

[0132] If the charging pile charging quantity information is the same as the number of charging piles corresponding to the preset charging pile quantity information, it means that all charging piles are charging, and all charging piles have issued current avoidance route information, and the lawn mowers need to queue up and wait. Since it is not clear which charging pile is on which lawn mower, the next lawn mower that needs to be charged waits at the starting point of the first current avoidance route information, which is more efficient and consumes less power than stopping at other locations if the charging pile that has been charged first needs to return on the road that has been traveled.

[0133] Step 4012: If the charging pile charging quantity information and the charging pile quantity corresponding to the preset charging pile quantity information are different, the lawn mower drives along the avoidance route to the charging pile that does not send out the charging information for charging.

[0134] If the charging pile charging quantity information is different from the number of charging piles corresponding to the preset charging pile quantity information, it means that there are idle charging piles. In this case, the vehicle can drive to the idle charging piles for charging according to the current avoidance route.

[0135] Reference Figure 7 In an embodiment of the present application, when the number of lawn mowers that need to be charged is greater than the number of all charging piles, the further driving method of the lawn mower includes:

[0136] Step 500: Obtain the charging status information corresponding to each charging pile location information and filter out the charging pile location with the largest amount of electricity corresponding to the charging status information, and define the charging pile location as pre-vacant charging pile location information.

[0137] The pre-empty charging pile location information refers to the location information of the charging pile with the largest power corresponding to the charging situation. The charging situation information is the power information of the lawn mower on the corresponding charging pile, and the method of obtaining it is to install a device with power display on the lawn mower. The principle is similar or even the same as that of the software installed on the mobile phone and other software that can display power. The screening method is to compare the larger one between the two, and then select the largest charging pile. The purpose of screening is to find the charging pile that completes charging the fastest when charging at the same charging speed.

[0138] Step 501: The charging pile corresponding to the pre-vacant charging pile location information sends out the current straight route information.

[0139] The pre-empty charging pile position information sends out the current straight route information, which will cause the charging pile to not send out the current avoidance route information, and then make the end point of the complete route arrive at the position corresponding to the pre-empty charging pile position information.

[0140] Step 502: The lawn mower combines the acquired current straight route information, current avoidance route information and boundary line information to form pre-straight route information and drives to the starting point of the current straight route information according to the pre-straight route information, turns off the engine and obtains the charging quantity information of the charging pile that sends the charging information in real time.

[0141] The pre-straight route information is a route formed by combining the current straight route information, the current avoidance route information and the boundary line information. If the first charging pile is the pre-vacant charging pile position information, the current avoidance route information does not exist. The lawn mower then drives according to the pre-straight route information to the starting point of the current straight route information, that is, drives to a position at a safe distance before the pre-vacant charging pile position information and waits. The result is that the next lawn mower can directly enter charging without having to drive the avoidance route after the lawn mower at the charging pile corresponding to the pre-vacant charging pile position information is charged, thereby reducing the idle time when the charging pile is not charging and improving work efficiency.

[0142] Reference Figure 8 The method for charging the lawn mower at the charging location corresponding to the charging pile location information includes:

[0143] Step 600: Obtaining battery alarm location information.

[0144] The power alarm position information is the position coordinates of the lawn mower when the power reaches the alarm power information. The acquisition method is to measure with any instrument that can be positioned, such as GPS, which directly records the position of the lawn mower and transmits it to the system for processing.

[0145] Step 601: Perform matching analysis on the remaining working distance and the power alarm position information stored in the preset working distance database to determine the remaining working distance corresponding to the power alarm position information, and define the remaining working distance as the current remaining working distance information.

[0146] The current remaining working distance information is the length information of the remaining working distance corresponding to the current working position. The working distance database stores the mapping relationship between the power alarm position information and the remaining working distance. When the power alarm position information is input, the current remaining working distance information can be found from the database.

[0147] Step 602: Calculate return information based on the battery alarm location information and the charging pile location information.

[0148] The return trip information is the distance from the charging pile to the battery alarm location information, which is the distance between the location coordinates corresponding to the battery alarm location information and the location coordinates corresponding to the charging pile location information.

[0149] Step 603: Perform matching analysis based on the required power value stored in the working power database, the return information, and the current remaining working distance information to determine the required power corresponding to the return information and the current remaining working distance information, and define the required power as the required power information.

[0150] The power demand information is the power required by the lawn mower when driving and working according to the distance and working mode corresponding to the return information and the current remaining working distance information. If the lawn mower can complete the return information and the current remaining working distance information, the lawn mower can complete charging in advance and work, leaving the charging pile for the next lawn mower to charge, reducing the queuing time of the next lawn mower and improving the mowing efficiency.

[0151] Step 604: Compare the charging status information corresponding to the charging pile location information with the power value corresponding to the required power information.

[0152] The purpose of the comparison is to determine whether the power corresponding to the current charging status information of the lawn mower can complete the return trip information and the current remaining working distance information.

[0153] Step 6041: If the charging status information corresponding to the charging pile location information is greater than the power value corresponding to the required power information, the lawn mower being charged in the charging pile will be driven along the return route to the position corresponding to the power alarm location information to continue working and the corresponding charging pile will stop sending the charging information, and the lawn mower that is turned off at the starting point of the current straight route information will enter the charging pile along the current straight route information for charging.

[0154] If the charging status information corresponding to the charging pile location information is greater than the power value corresponding to the required power information, it means that the power corresponding to the current charging status information of the lawn mower can complete the return information and the current remaining working distance information. The lawn mower being charged in the charging pile will be driven along the return route to the position corresponding to the power alarm location information to continue working, leaving the charging pile for the next lawn mower to charge, thereby reducing the waiting time for the next lawn mower and improving the mowing efficiency.

[0155] Step 6042: If the charging status information corresponding to the charging pile location information is less than the power value corresponding to the required power information, the lawn mower corresponding to the charging pile location information continues to charge.

[0156] If the charging status information corresponding to the charging pile location information is less than the power value corresponding to the required power information, it means that the lawn mower in the charging pile cannot complete the previous work, and it needs to be charged, and the next lawn mower needs to wait.

[0157] Based on the same inventive concept, an embodiment of the present invention provides an autonomous charging system for a lawn mower, comprising:

[0158] Reference Fig. 9 , an autonomous charging system for a lawn mower, comprising:

[0159] The power acquisition module 703 is used to acquire the power of the power alarm position information of the lawn mower;

[0160] The processing module 701 is connected to the power acquisition module 703 and the judgment module 702, and is used to process and store information;

[0161] A judgment module 702 is used to judge whether a charging pile arranged on the boundary line sends a preset avoidance action information;

[0162] The control module 704 is connected to the processing module 701 and is used for the lawn mower to switch to the driving mode, and after driving along the current direction to the boundary line corresponding to the boundary line information, it drives according to the route and direction corresponding to the boundary line information;

[0163] The avoidance route information acquisition module 705 is connected to the processing module 701 and is used to determine the avoidance route information;

[0164] A straight route information acquisition module 706, connected to the processing module 701, is used to determine the straight route information;

[0165] If the determination module 702 determines that there is avoidance action information, the control module 704 controls the lawn mower to travel according to the avoidance action information;

[0166] If the determination module 702 determines that there is no avoidance action information, the control module 704 controls the lawn mower to travel for charging and sends out avoidance action information for the next lawn mower to obtain.

[0167] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a lawn mower autonomous charging method.

[0168] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0169] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes an autonomous charging method for a lawn mower.

[0170] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0171] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for autonomously charging a lawn mower, characterized in that: include: The lawn mower switches to the driving mode, drives along the current direction to the boundary line corresponding to the preset boundary line information, and then drives according to the route and direction corresponding to the boundary line information; Determine whether the charging pile arranged on the boundary line sends the preset avoidance action information; If there is avoidance action information, the lawn mower performs avoidance driving according to the avoidance action information; If there is no avoidance action information, the lawn mower drives to the charging pile to charge and sends out avoidance action information for the next lawn mower to obtain; When the number of lawn mowers that need to be charged is greater than the number of all charging piles, the driving method of the lawn mowers includes: Obtain the charging quantity information of the charging pile that sends the charging information; Compare the charging pile charging quantity information with the number of charging piles corresponding to the preset charging pile quantity information; If the charging pile charging quantity information is the same as the charging pile quantity corresponding to the preset charging pile quantity information, the lawn mower drives along the boundary line to the starting point corresponding to the current avoidance route information, turns off the engine, and obtains the charging quantity information of the charging pile that sends the charging information in real time; If the charging pile charging quantity information and the charging pile quantity corresponding to the preset charging pile quantity information are different, the lawn mower drives along the avoidance route to the charging pile that does not send the charging information for charging; When the number of lawn mowers that need to be charged is greater than the number of all charging piles, the further driving method of the lawn mowers includes: Obtain charging status information corresponding to each charging pile location information and filter out the charging pile location with the largest amount of electricity corresponding to the charging status information, and define the charging pile location as pre-vacant charging pile location information; The current straight route information is sent out at the charging pile corresponding to the location information of the pre-vacant charging pile; The lawn mower combines the acquired current straight route information, current avoidance route information and boundary line information to form pre-straight route information, drives according to the pre-straight route information to the starting point of the current straight route information, turns off the engine and acquires the charging quantity information of the charging pile that issues the charging information in real time; The method for charging the lawn mower at the charging location corresponding to the charging pile location information includes: Get the battery alarm location information; Perform matching analysis on the remaining working distance and the power alarm position information stored in the preset working distance database to determine the remaining working distance corresponding to the power alarm position information, and define the remaining working distance as the current remaining working distance information; Calculate return trip information based on the battery alarm location information and the charging pile location information; Perform matching analysis based on the required power value stored in the working power database and the return information and the current remaining working distance information to determine the required power corresponding to the return information and the current remaining working distance information, and define the required power as the required power information; Compare the charging status information corresponding to the charging pile location information with the power value corresponding to the required power information; If the charging status information corresponding to the charging pile location information is greater than the power value corresponding to the required power information, the lawn mower being charged in the charging pile will be driven along the return route to the position corresponding to the power alarm location information to continue working, and the corresponding charging pile will stop sending the charging information. The lawn mower that is turned off at the starting point of the current straight route information will enter the charging pile along the current straight route information for charging.

2. A lawn mower autonomous charging method according to claim 1, characterized in that: The method for determining the avoidance action information includes: Matching the avoidance route and the straight route stored in the charging route database of the charging pile with the preset charging pile location information to determine the avoidance route and the straight route of the charging pile location information, defining the avoidance route as the current avoidance route information, and defining the straight route as the current straight route information; Obtain the charging information corresponding to the charging pile location information; Determine whether charging information exists; If there is charging information, the lawn mower selects the current avoidance route information to drive; If there is no charging information, the lawn mower selects the current straight route information to travel.

3. The method for autonomously charging a lawn mower according to claim 1, characterized in that: The method for determining the avoidance action information includes: Obtain the charging information corresponding to the charging pile location information; Determine whether charging information exists; If there is charging information, the avoidance route stored in the preset charging pile charging route database is matched with the charging pile location information to determine the avoidance route of the charging pile location information, and the avoidance route is defined as the current avoidance route information; The charging pile corresponding to the charging pile location information sends out current avoidance route information; The lawn mower forms avoidance route information according to the current avoidance route information and boundary line information obtained and drives according to the avoidance route information; If there is no charging information, the straight route stored in the preset charging pile charging route database is matched with the charging pile location information to determine the straight route of the charging pile location information, and the straight route is defined as the current straight route information; The charging pile corresponding to the charging pile location information sends out the current straight route information; The lawn mower combines the acquired current straight route information and boundary line information to form straight route information and travels according to the straight route information.

4. A lawn mower autonomous charging method according to claim 1, characterized in that: The driving method after the lawn mower outputs the power alarm position information includes: The power required to complete the work is compared with the power alarm location information stored in the mowing power database to determine the power required to complete the work corresponding to the power alarm location information, and the power is defined as the demand power information; Compare the power value corresponding to the power alarm location information with the required power information; If the power value corresponding to the power alarm position information is greater than the required power information, the lawn mower continues to work; If the power value corresponding to the power alarm position information is less than the required power information, the lawn mower switches to the driving mode, drives in the current direction to the boundary line corresponding to the boundary line information, and then drives according to the route and direction corresponding to the boundary line information.

5. A lawn mower autonomous charging system, which executes any lawn mower autonomous charging method as claimed in any one of claims 1 to 4, characterized in that: include: A processing module, connected to the power acquisition module, the distance acquisition module and the judgment module, and used for processing and storing information; A control module, connected to the processing module, is used for switching the lawn mower to a driving mode, and after driving along the current direction to the boundary line corresponding to the boundary line information, driving according to the route and direction corresponding to the boundary line information; A judgment module, used to judge whether a charging pile arranged on the boundary line sends a preset avoidance action information; If the judging module judges that there is avoidance action information, the control module controls the lawn mower to perform avoidance driving according to the avoidance action information; If the determination module determines that there is no avoidance action information, the control module controls the lawn mower to drive to the charging pile for charging and sends out avoidance action information for the next lawn mower to obtain.

6. An intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes the method for autonomous charging of a lawn mower according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and executes the method for autonomously charging a lawn mower according to any one of claims 1 to 4.

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