A docking adjustment method for a lawn mowing robot entering a station for charging

Abstract

The present invention discloses a method for adjusting a lawn mower robot to enter a charging station and dock. A wireless charging transmitting end coil (9) and a charging electrode (3) are arranged at a preset point, and a wireless charging receiving end coil (10) is arranged on the lawn mower robot (4). The method comprises the following steps: Step 1: When the lawn mower robot (4) returns to the preset point, the distance between the lawn mower robot (4) and the preset point is detected. When the distance is detected to be a set value L, a delay time T=L / V is calculated, where V is the driving speed of the lawn mower robot (4); Step 2: After the lawn mower robot (4) travels to the preset point for a time T, it arrives at the preset point for charging. The present invention detects the distance between the lawn mower robot and the base station through a sensor. When the distance reaches within the preset distance, the lawn mower robot stops using a tracking signal to enter the station for charging and adopts a walking method along a preset track to complete the charging docking action, thereby avoiding interference from the base station signal to the robot.

Description

Technical Field

[0001] The invention belongs to the technical field of lawn mowers, and in particular relates to a docking adjustment method for a lawn mower robot entering a station for charging. Background Art

[0002] Intelligent lawn mowing robots have been widely used. In today's applications, when the power of the lawn mowing robot is lower than a certain preset value or is set to return to the base station for charging, it will continue to mow the lawn.

[0003] However, current technology still has the following problems: in the application of lawn mower robots with boundaries, the lawn mower robots sense boundary signals through the signal head and return to the base station along the boundary line for charging. If there is signal interference at the base station, such as the radio frequency signal of the wireless charging transmitter, it will affect the receiving function of the lawn mower robot's signal terminal, causing the lawn mower to lose signal and go out of boundary or shut down, and unable to return to the base station for charging, which brings difficulties to actual application and a bad experience for users. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the present invention proposes a method for adjusting the docking of a lawn mower robot when it enters the station for charging, which can effectively solve the problem of interference in signal reception, so that the intelligent lawn mower robot can safely and stably return to the base station for charging, ensuring the stability of the system.

[0005] The technical solutions for achieving the purpose of the present invention are:

[0006] A method for adjusting a mowing robot's docking for charging is provided, wherein a wireless charging transmitting coil and a charging electrode are arranged at a preset point, and a wireless charging receiving coil is arranged on the mowing robot.

[0007] The method comprises the following steps:

[0008] Step 1: When the mowing robot returns to the preset point, the distance between the mowing robot and the preset point is detected. When the distance is detected to be a set value L, a delay time T = L / V is calculated, where V is the driving speed of the mowing robot;

[0009] Step 2: The mowing robot travels to the preset point for a time T and then arrives at the preset point for charging.

[0010] Furthermore, the lawn mowing robot is provided with a distance sensor, and in step 1, the direction and distance of the preset point are detected by the distance sensor.

[0011] Furthermore, a first 2.4G communication module is provided at the preset point, and a second 2.4G communication module is provided on the lawn mowing robot. In step 1, the distance is detected by the first 2.4G communication module and the second 2.4G communication module.

[0012] Furthermore, a coil is provided at a preset point, one end of the coil is located at the preset point, and the other end is set to an arc shape. The lawn mower robot is provided with a main signal detection head and two auxiliary signal detection heads located on both sides of the main signal detection head. The curvature of the line between the two auxiliary signal detection heads and the main signal detection head is consistent with the curvature of the arc. When the two auxiliary signal detection heads and the main signal detection head detect corresponding signals at the other end of the coil, it is considered that the lawn mower robot and the preset point are in a straight line and the distance between the lawn mower robot and the preset point at this time is L.

[0013] Furthermore, the main signal detection head is arranged on the central axis of the lawn mowing robot, and the two auxiliary signal detection heads are symmetrically arranged on both sides of the main signal detection head. When the two auxiliary signal detection heads and the main signal detection head detect the corresponding signals at the other end of the coil, the main signal detection head is located at the midpoint of the arc and the two auxiliary signal detection heads are located at the two end points of the arc.

[0014] Furthermore, the preset point is a charging base station. When it is detected that the distance is a set value L, the driving speed of the lawn mower robot is reduced to V and enters the charging base station.

[0015] Furthermore, when the distance between the lawn mower robot and the preset point is a set value L, the signal of the lawn mower robot is in an undisturbed state.

[0016] Furthermore, step 3 is also included: when the lawn mower robot starts charging, it has voltage and current data with the preset point and can establish communication service, and then starts to detect the charging power difference. If the charging power difference is greater than the preset value, the lawn mower robot exits the preset point and returns to the position where the distance was last detected to be the set value L. The delay time is readjusted to T+△T according to the charging power difference, and steps 1-2 are re-executed until the charging power difference is within the preset value.

[0017] Furthermore, the method for readjusting the delay time to T+ΔT according to the charging power difference in step 3 is: calculating the percentage difference between the detected charging power difference and the preset value and recording it as A%, then ΔT is T*A%.

[0018] Furthermore, the preset value is 20%.

[0019] Compared with the prior art, the present invention has the following significant advantages:

[0020] (1) When the lawn mower is encountering interference with the charging signal when returning to the base station, the present invention activates the 2.4G communication module or the infrared distance sensor to detect the actual distance from the base station and then feeds back to the main control processing chip of the lawn mower. At this time, the walking speed is first reduced, and then the actual time required to enter the base station is calculated by measuring the ratio of the actual distance and speed through the sensor. The intelligent lawn mower robot reaches the base station or the wireless charging transmitter at the agreed time through the chip clock to complete the charging alignment. It walks along a preset trajectory to complete the charging docking action, thereby avoiding interference from the base station signal to the robot.

[0021] (2) When charging starts, the charging efficiency is checked to see if it is within the normal preset value. If there is a deviation, multiple returns to the station are performed to ensure that the robot can charge normally with a high charging efficiency, and at the same time, there will be no abnormal situations such as signal interference causing out-of-bounds. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the distance sensor detection delay entry for the lawn mowing robot of the present invention Figure 1 .

[0023] Figure 2 This is a schematic diagram of the distance sensor detection delay entry for the lawn mowing robot of the present invention Figure 2 .

[0024] Figure 3 This is a schematic diagram of a 2.4G distance sensing delay base station for a lawn mowing robot according to the present invention.

[0025] Figure 4 This is a schematic diagram of a 2.4G distance sensing delayed entry base station with wireless charging for a lawn mowing robot according to the present invention.

[0026] Figure 5 This is a schematic diagram of a small coil distance sensing delay entering a base station for a lawn mowing robot according to the present invention.

[0027] Figure 6 This is a schematic diagram of the overlap process of the wireless charging transmitter coil and the wireless charging receiver coil.

[0028] Figure 1: Charging adapter; 2: Base station; 3: Charging electrode; 4: Smart lawn mower; 5: Grass; 6: Distance sensor; 7: Main signal detection head; 8: Auxiliary signal detection head; 9: Wireless charging transmitter coil; 10: Wireless charging receiver coil; 11: First 2.4G communication module; 12: Second 2.4G communication module; 13: Reserved small coil. DETAILED DESCRIPTION

[0029] The present invention sets a 2.4G communication module on the base station 2 and the intelligent lawn mower 4, or sets a distance sensor 6 on the intelligent lawn mower 4, or overlaps the wireless charging transmitter coil 9 and the wireless charging receiver coil 10 to calculate the fixed distance and speed. When the lawn mower is low on power or needs to return to the base station due to signal interference and cannot return, auxiliary positioning is achieved. After calculating the delay time, it continues to walk a certain distance towards the base station to reach the fixed charging point.

[0030] Example 1

[0031] like Figure 1 and 2 As shown, the base station 2 is set on the grass 5, and the edge of the base station 2 is flush with the grass 5 to facilitate the lawn mower 4 to enter the base station 2. Two charging electrodes 3 are set in the base station 2 to charge the low-power intelligent lawn mower 4. When the lawn mower returns to the base station 2 along the boundary line to charge and is about to be interfered with by the signal, the distance sensor 6 of the lawn mower is started to detect the direction and distance L of the base station 2 (when the distance between the intelligent lawn mower 4 and the preset point is the set value L, the signal of the intelligent lawn mower 4 is in an undisturbed state). The delay time T=L / V is obtained by internally calculating the real-time relationship between the uniform speed V of the lawn mower and the distance. The car continues to move forward for a delay of a period of time T before arriving at the base station 2 for charging.

[0032] The distance sensor 6 can be an infrared, laser, ultrasonic or other sensor for distance detection.

[0033] like Figure 3 As shown, as a further delayed entry into the station, the base station 2 may be provided with a first 2.4G communication module 11 and the intelligent lawn mower 4 may be provided with a second 2.4G communication module 12. By means of the sensing distance L between the first 2.4G communication module 11 and the second 2.4G communication module 12, the speed and distance of the intelligent lawn mower 4 at this time are calculated, and the entry into the base station 2 is delayed and stopped within a certain time T=L / V. This can also effectively avoid the situation where the signal is interfered with and the station cannot be entered, and the machine freezes and goes out of bounds.

[0034] like Figure 4-5 As shown, in order to further effectively avoid the problem that the wireless charging transmitter coil 9 causes interference to the robot 4 due to excessive transmission energy, a distance sensor 6 can be set on the intelligent lawn mower 4 to sense the actual distance L between the wireless charging transmitter coil 9 and the wireless charging receiver coil 10, or a first 2.4G communication module 11 is set on the wireless charging transmitter coil 9 and a second 2.4G communication module 12 is set on the wireless charging receiver coil 10. By real-time monitoring and calculating the vehicle speed and the remaining distance L, the intelligent lawn mower 4 continues to move forward at a speed V, and enters the base station 2 after a delay of T=L / V, effectively solving the problem that the wireless charging coil interferes with the intelligent lawn mower signal reception due to excessive energy, causing the machine to go out of bounds and shut down.

[0035] The 2.4G module in the above embodiment may also be replaced by other devices that can be used for accurate distance detection.

[0036] Example 2

[0037] like Figure 5 As shown, in order to effectively cope with the influence of different sites, or when the distance sensor 6 and the 2.4G modules 11 and 12 cannot be used, a small coil 13 can be set at the base station 2 (for example, buried underground), and the rightmost side of the coil is set to be semicircular. The intelligent lawn mower 4 is provided with a main signal detection head 7 and two auxiliary signal detection heads 8 located on both sides of the main signal detection head 7. The curvature of the line between the two auxiliary signal detection heads 8 and the main signal detection head 7 is consistent with the curvature of the arc. When the two auxiliary signal detection heads 8 and the main signal detection head 7 detect the corresponding signal at the other end of the coil 13 (the signal detection head can, for example, detect the coil current pulse through the resonance of the capacitor and the inductor), it is considered that the intelligent lawn mower 4 and the base station 2 are in a straight line and the distance between the intelligent lawn mower 4 and the base station 2 is L. At this time, the driving speed of the intelligent lawn mower 4 is modified to a uniform speed, and the delayed entry time T=L / V is determined by the ratio of the fixed length L and the speed V, which can effectively avoid the problem of being unable to return to the base station 2 when the signal is interfered.

[0038] Example 3

[0039] like Figure 6As shown, when the wireless charging transmitter coil 9 and the wireless charging receiver coil 10 overlap to a predetermined degree (for example, when the boundary of the wireless charging receiver coil 10 touches the center of the wireless charging transmitter coil 9), voltage and current data are available to establish communication services with the intelligent lawn mower 4, and the system begins to detect the power difference. At this time, the distance between the two center points of the wireless charging is a fixed distance (that is, the radius of the wireless charging receiver coil 10). The lawn mower continues to move forward and stops to align after the delay calculated by the system is completed. It is determined whether this is the optimal position for the wireless charging transmitter coil 9 and the wireless charging receiver coil 10 to overlap (when the center distance between the wireless charging transmitter coil 9 and the wireless charging receiver coil 10 is set within a set distance, the charging power difference reaches a minimum, the charging efficiency is highest at this time, and it is the optimal position for overlap. The set distance is, for example, 1 cm). If a serious deviation is found (i.e., the power difference is greater than the preset value, such as 20%), it means that the charging effect and efficiency are not good. The system will prompt the user to exit and try again based on the efficiency difference. At this time, the power difference is detected based on the last delayed parking, and the delay time is calculated as the last T+△T. The percentage difference between the detected charging power difference and the preset value is recorded as A%, then △T is T*A%, thereby delaying entry into the base station again until the charging power difference is within the preset value. For example, if the detected charging power difference is 30%, the percentage difference between the detected charging power difference and the preset value is 10%, indicating that the robot needs to move forward a little further to achieve better charging efficiency. Then, T is increased by 10% based on the last time, that is, the error of the power difference is compensated to the time, and the corresponding time is increased so that the power difference meets the requirements. The present invention effectively saves electricity and solves the problem of signal interference and the machine being unable to enter the station or freezing.

[0040] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for adjusting a lawn mower robot for docking and charging, wherein a wireless charging transmitting end coil (9) and a charging electrode (3) are arranged at a preset point, and a wireless charging receiving end coil (10) is arranged on the lawn mower robot (4). It is characterized in that The method comprises the following steps: Step 1: When the mowing robot (4) returns to the preset point, the distance between the mowing robot (4) and the preset point is detected. When the distance is detected to be a set value L, a delay time T=L / V is calculated, where V is the driving speed of the mowing robot (4); Step 2: The mowing robot (4) travels to the preset point for a time T and then arrives at the preset point for charging; Step 3: When the mowing robot (4) starts charging, it has voltage and current data with the preset point and can establish a communication service. At this time, the charging power difference is detected. If the charging power difference is greater than the preset value, the mowing robot (4) exits the preset point and returns to the position where the distance was last detected as the set value L. The delay time is readjusted to T+△T according to the charging power difference, and steps 1-2 are re-executed until the charging power difference is within the preset value. The method for readjusting the delay time to T+△T according to the charging power difference in step 3 is: calculate the percentage difference between the detected charging power difference and the preset value and record it as A%, then △T is T*A%.

2. The method for adjusting the robot lawn mower's docking for charging according to claim 1, characterized in that: The mowing robot (4) is provided with a distance sensor (6), and in step 1, the direction and distance of the preset point are detected by the distance sensor (6).

3. The method for adjusting the robot lawn mower's docking for charging according to claim 1, characterized in that: A first 2.4G communication module (11) is provided at the preset point, and a second 2.4G communication module (12) is provided on the mowing robot (4). In step 1, the distance is detected by the first 2.4G communication module (11) and the second 2.4G communication module (12).

4. The method for adjusting the robot lawn mower's docking for charging according to claim 1, characterized in that: A coil (13) is provided at a preset point, one end of the coil (13) is located at the preset point, and the other end is set to be an arc. The mowing robot (4) is provided with a main signal detection head (7) and two auxiliary signal detection heads (8) located on both sides of the main signal detection head (7). The curvature of the line between the two auxiliary signal detection heads (8) and the main signal detection head (7) is consistent with the curvature of the arc. When the two auxiliary signal detection heads (8) and the main signal detection head (7) detect corresponding signals at the other end of the coil (13), it is considered that the mowing robot (4) and the preset point are on a straight line and the distance between the mowing robot (4) and the preset point is L.

5. The method for adjusting the robot lawn mower's docking for charging according to claim 4, characterized in that: The main signal detection head (7) is arranged on the central axis of the lawn mowing robot (4), and the two auxiliary signal detection heads (8) are symmetrically arranged on both sides of the main signal detection head (7). When the two auxiliary signal detection heads (8) and the main signal detection head (7) detect the corresponding signal at the other end of the coil (13), the main signal detection head (7) is located at the midpoint of the arc, and the two auxiliary signal detection heads (8) are located at the two end points of the arc.

6. The method for adjusting the robot lawn mower's docking for charging according to claim 1, characterized in that: The preset point is a charging base station (2), and when it is detected that the distance is a set value L, the driving speed of the mowing robot (4) is reduced to V and enters the charging base station (2).

7. The method for adjusting the robot lawn mower's docking for charging according to claim 1, characterized in that: When the distance between the mowing robot (4) and the preset point is a set value L, the signal of the mowing robot (4) is in an undisturbed state.

8. The method for adjusting the robot lawn mower's docking for charging according to claim 1, characterized in that: The preset value is 20%.

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