A charging control method and related device

Abstract

The embodiment of the application provides a charging control method and related device, which are applied to a mowing robot in a mowing control system, the mowing control system comprising a mowing robot and a user equipment connected wirelessly, the mowing robot comprising a plurality of power modules; the method comprises the following steps: obtaining mowing task data from the user equipment; predicting the power consumption required for the mowing robot to complete the mowing task according to the basic parameters and the mowing task data; judging whether charging is required in the process of executing the mowing task according to the residual power of the mowing robot and the power consumption; when it is judged that charging is required, determining a first charging position based on at least the basic parameters, the mowing task data, a preset charging position and the current position of the mowing robot; and finally executing the mowing operation according to the mowing task data, stopping the mowing operation when the first charging position is reached, and driving to the preset charging position to execute automatic charging operation, thereby improving the intelligence and mowing efficiency of the mowing robot.

Description

Technical Field

[0001] This application belongs to the field of communication control, specifically relating to a charging control method and related devices. Background Technology

[0002] Currently, existing lawnmower robots require manual recharging or battery replacement after running out of power, which sometimes interrupts the mowing process and increases the frequency of human intervention, thus affecting the intelligence of the lawnmower robot and reducing mowing efficiency. Summary of the Invention

[0003] This application provides a charging control method and related apparatus to improve the intelligence and mowing efficiency of lawn mowing robots.

[0004] In a first aspect, embodiments of this application provide a charging control method applied to a lawnmower robot in a lawnmower control system. The lawnmower control system includes at least the lawnmower robot and a user device. The lawnmower robot is wirelessly connected to the user device. The lawnmower robot includes multiple power-consuming modules, where each power-consuming module refers to a device, unit, or module that consumes electrical energy to operate. The method includes:

[0005] Acquire lawn mowing task data from the user device;

[0006] Based on the basic parameters and the lawn mowing task data, predict the power consumption required for the lawn mowing robot to complete the lawn mowing task;

[0007] Based on the remaining battery power and power consumption of the lawnmower robot, determine whether it needs to be charged during the lawnmower task.

[0008] When it is determined that charging is needed, the first recharging position is determined based at least on the basic parameters, the lawn mowing task data, the preset charging position, and the current position of the lawn mowing robot.

[0009] The lawn mowing operation is performed based on the lawn mowing task data. When the vehicle reaches the first recharge location, the lawn mowing operation is stopped, and the vehicle travels to the preset charging location to perform an automatic charging operation.

[0010] Secondly, this application provides a charging control method applied to a server in a lawn mowing control system. The lawn mowing control system includes a lawn mowing robot, a server, and user equipment. The lawn mowing robot is wirelessly connected to the user equipment. The lawn mowing robot includes multiple power-consuming modules, which are devices, units, or modules that consume electrical energy to operate. The method includes:

[0011] Obtain basic parameters, current location, and remaining battery power from the lawnmower robot;

[0012] Acquire lawn mowing task data from the user device;

[0013] Based on the basic parameters and the lawn mowing task data, predict the power consumption required for the lawn mowing robot to complete the lawn mowing task;

[0014] Based on the remaining battery power and the power consumption, it is determined whether the lawnmower robot needs to be charged during the lawnmower task.

[0015] When it is determined that charging is needed, the return charging location is determined based on at least the basic parameters, the lawn mowing task data, the preset charging location, and the current location;

[0016] The recharge location and mowing task data are sent to the mowing robot so that the mowing robot can perform mowing operations according to the mowing task data and perform automatic charging operations according to the recharge location and the preset charging location.

[0017] Thirdly, this application provides a charging control device for a lawnmower robot in a lawnmower control system. The lawnmower control system includes at least the lawnmower robot and a user device. The lawnmower robot is wirelessly connected to the user device. The lawnmower robot includes multiple power-consuming modules, which are devices, units, or modules that consume electrical energy to operate. The device includes:

[0018] The first acquisition unit is used to acquire lawn mowing task data from the user device;

[0019] The first prediction unit is used to predict the power consumption required for the lawn mowing robot to perform the current lawn mowing task based on the basic parameters and the lawn mowing task data.

[0020] The judgment unit is used to determine whether the lawn mowing robot needs to be charged during the lawn mowing task based on the current remaining power of the lawn mowing robot and the power consumption.

[0021] The determining unit is used to determine the first recharge position when it is determined that charging is required, based at least on the basic parameters, the mowing task data, the preset charging position and the current position of the mowing robot.

[0022] The navigation unit is used to perform a mowing operation based on the mowing task data. When it reaches the first recharge location, it stops the mowing operation and drives to the preset charging location to perform an automatic charging operation.

[0023] Fourthly, this application provides a charging control device applied to a server in a lawn mowing control system. The lawn mowing control system includes a lawn mowing robot, a server, and user equipment. The lawn mowing robot is wirelessly connected to the user equipment. The lawn mowing robot includes multiple power-consuming modules, which are devices, units, or modules that consume electrical energy to operate. The device includes:

[0024] The first acquisition unit is used to acquire basic parameters, current position, and remaining battery power from the lawnmower robot.

[0025] The second acquisition unit is used to acquire lawn mowing task data from the user device;

[0026] The prediction unit is used to predict the power consumption required for the lawn mowing robot to complete the lawn mowing task based on the basic parameters and the lawn mowing task data.

[0027] The judgment unit is used to determine whether the lawnmower needs to be charged during the lawnmower task based on the remaining power and the power consumption.

[0028] The determining unit is used to determine the recharge location based at least on the basic parameters, the lawn mowing task data, the preset charging location, and the current location when the determination bit indicates that charging is required;

[0029] The sending unit is used to send the recharge location and the mowing task data to the mowing robot, so that the mowing robot can perform mowing operations according to the mowing task data and perform automatic charging operations according to the recharge location and the preset charging location.

[0030] Fifthly, embodiments of this application provide an electronic device including a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps of any one of the first to third aspects of embodiments of this application.

[0031] In a sixth aspect, embodiments of this application provide a computer storage medium, characterized in that it stores a computer program for electronic data interchange, wherein the computer program causes a computer to perform some or all of the steps described in any one of the first to third aspects of this embodiment.

[0032] In a seventh aspect, embodiments of this application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in any one of the first to third aspects of embodiments of this application. The computer program product may be a software installation package.

[0033] As can be seen, in this embodiment, the lawn mowing task data from the user device is first obtained; then, the power consumption required for the lawn mowing robot to complete the lawn mowing task is predicted based on the basic parameters and the lawn mowing task data; then, based on the remaining power of the lawn mowing robot and the power consumption, it is determined whether charging is needed during the execution of the lawn mowing task; when it is determined that charging is needed, a first recharge position is determined based at least on the basic parameters, the lawn mowing task data, the preset charging position, and the current position of the lawn mowing robot; finally, the lawn mowing operation is performed according to the lawn mowing task data, and the lawn mowing operation stops when the robot reaches the first recharge position, and the robot moves to the preset charging position to perform an automatic charging operation, thereby improving the intelligence and lawn mowing efficiency of the lawn mowing robot. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1A This is a schematic diagram of a lawn mowing control system provided in an embodiment of this application;

[0036] Figure 1B This is a schematic diagram of an electronic device provided in an embodiment of this application.

[0037] Figure 2 This is a flowchart of a charging control method provided in an embodiment of this application;

[0038] Figure 3 This is a flowchart of another charging control method provided in an embodiment of this application;

[0039] Figure 4 This is a schematic diagram of the structure of a charging control device provided in an embodiment of this application;

[0040] Figure 5 This is a schematic diagram of another charging control device provided in an embodiment of this application. Detailed Implementation

[0041] 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. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0042] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, systems, products, or apparatuses.

[0043] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0044] The following is an introduction to the relevant terminology used in this application.

[0045] RTK: Real-time kinematic (RTK) carrier phase differential technology is a method for processing the carrier phase observations of two measurement stations in real time. The carrier phase data collected by the base station is sent to the user receiver for differential calculation of coordinates. This is a new and commonly used satellite positioning measurement method. Previous static, rapid static, and dynamic measurements all required post-processing to achieve centimeter-level accuracy. RTK, however, is a measurement method that can obtain centimeter-level positioning accuracy in real time in the field. It employs a dynamic real-time carrier phase differential method and is a major milestone in GPS applications. Its emergence has brought new measurement principles and methods to engineering layout, topographic mapping, and various control surveys, greatly improving operational efficiency.

[0046] Currently, existing lawnmower robots require manual recharging or battery replacement after running out of power, which sometimes interrupts the mowing process and increases the frequency of human intervention, thus affecting the robot's intelligence and reducing mowing efficiency.

[0047] To address the aforementioned issues, this application provides a charging control method. This method can be applied to scenarios where lawnmowers automatically charge during mowing. It involves acquiring mowing task data from the user's device; predicting the power consumption required for the mowing robot to complete the task based on basic parameters and the mowing task data; then determining whether charging is needed during the mowing task based on the remaining battery power and the power consumption; when charging is deemed necessary, determining a first recharge location based at least on the basic parameters, the mowing task data, a preset charging location, and the current location of the mowing robot; finally, executing the mowing operation based on the mowing task data; stopping the mowing operation upon reaching the first recharge location and proceeding to the preset charging location for automatic charging, thus improving the intelligence and mowing efficiency of the lawnmower. This solution is applicable to various scenarios, including but not limited to the aforementioned applications.

[0048] The system architecture involved in the embodiments of this application is described below.

[0049] This application also provides a lawn mowing control system 100, please refer to [link to relevant documentation]. Figure 1A The lawn mowing control system 100 includes at least a lawn mowing robot 101, a charging station 102, and a user device 103. The lawn mowing robot 101 is wirelessly connected to both the charging station 102 and the user device 103. The lawn mowing robot 101 includes multiple power-consuming modules, which are devices, units, or modules that consume electrical energy to operate. The user device 103 has an application / APP (such as a smart home APP or other IoT software) installed. The user device 103 displays the operation interface of the application / APP to input lawn mowing task data and wirelessly connects with the lawn mowing robot for data interaction. The lawn mowing robot 101 performs lawn mowing tasks based on the lawn mowing task data and automatically charges. The charging station 102 assists in the lawn mowing robot 101 in locating and navigating the charging station 102.

[0050] Specifically, an RTK base station is fixedly installed on the charging pile 102, and the lawn mowing robot 101 transmits data with the RTK base station through a wireless communication link between the RTK rover station installed on the lawn mowing robot 101 and the RTK base station.

[0051] In addition, please continue to refer to Figure 1A The lawn mowing control system may also include a server 104, which stores data. When data needs to be accessed, the server 104 sends relevant data (such as lawn mowing task data) to the lawn mowing robot 101. Alternatively, the server 104 can perform relevant calculations and then send the data to the lawn mowing robot 101 for use.

[0052] The connection between the user equipment 103 and the lawnmower robot 101 can be wireless (e.g., Bluetooth, Wi-Fi, 2 / 3 / 4 / 5G, etc.). The user equipment 103 may be a mobile phone, tablet, desktop computer, laptop computer, all-in-one computer, vehicle terminal, virtual reality (VR) terminal device, augmented reality (AR) terminal device, wireless terminal in industrial control, wireless terminal in self-driving, wireless terminal in remote medical surgery, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, wireless terminal in smart home, cellular phone, cordless phone, session initiation protocol (SIP) phone, wireless local loop (WLL) station, personal digital assistant (PDA), handheld device with wireless communication function, computing device or other processing device connected to a wireless modem, wearable device, terminal device in future mobile communication network, or terminal device in future evolved public land mobile network (PLMN), etc., and is not limited to any one of them here.

[0053] The lawn mowing robot may be a lawn mowing vehicle, lawn mower, etc., and is not limited to a single type.

[0054] This application also provides an electronic device 10, such as... Figure 1B As shown, it includes at least one processor 11, a display screen 12, and a memory 13, and may also include a communications interface 15 and a bus 14. The processor 11, display screen 12, memory 13, and communications interface 15 can communicate with each other via the bus 14. The display screen 12 is configured to display a preset user guide interface in the initial setup mode. The communications interface 15 can transmit information. The processor 11 can call logical instructions in the memory 13 to execute the methods described in the above embodiments.

[0055] Optionally, the electronic device 10 may be a mobile electronic device, an electronic device or other device, and is not limited to a single type.

[0056] Furthermore, the logic instructions in the aforementioned memory 13 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0057] The memory 13, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, such as program instructions or modules corresponding to the methods in the embodiments of this disclosure. The processor 11 executes functional applications and data processing by running the software programs, instructions, or modules stored in the memory 13, thereby implementing the methods in the above embodiments.

[0058] The memory 13 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the electronic device 10. Furthermore, the memory 13 may include high-speed random access memory (RAM) and may also include non-volatile memory. For example, various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, may be used, or they may be transient storage media.

[0059] The specific methods will be described in detail below.

[0060] Please see Figure 2 This application also provides a charging control method applied to the lawnmower robot, the method comprising:

[0061] Step 201: Obtain lawn mowing task data from the user device.

[0062] In practice, the user creates a lawn mowing task through the user device and inputs the lawn mowing task data.

[0063] Step 202: Predict the power consumption required for the lawn mowing robot to complete the lawn mowing task based on the basic parameters and the lawn mowing task data.

[0064] In practice, the lawnmower robot stores its multiple module hardware parameters as basic parameters in advance. When it receives the lawnmower task data, it calls the basic parameters and the lawnmower task data to predict the power consumption required for the lawnmower robot to perform the current lawnmower task.

[0065] Step 203: Based on the remaining battery power of the lawnmower robot and the power consumption, determine whether charging is required during the lawnmower task.

[0066] In one possible embodiment, the basic parameters include multiple rated power values ​​corresponding one-to-one with the plurality of power modules and the corresponding lawn mowing area per unit time when operating at the plurality of rated power values; the lawn mowing task data is used to indicate the lawn mowing area. The step of predicting the power consumption required for the lawn mowing robot to perform the current lawn mowing task based on the basic parameters and the lawn mowing task data includes:

[0067] Based on the area of ​​the mowing area and the area mowing per unit time, the first time required for the mowing robot to perform the current mowing task is predicted; based on the first time and the multiple rated power, the power consumption required for the mowing robot to perform the current mowing task is predicted.

[0068] In specific implementation, the user device's interface displays a first map of the target environment. The user selects the area to be mowed on the first map, and the user device calculates the actual area of ​​the mowing area based on preset map data. Then, after receiving the mowing area area, the mowing robot divides it by the area mowed per unit time to obtain the first time required for the robot to complete the mowing task. After predicting the first time, the product of the sum of the multiple rated power outputs and the first time can be further calculated to obtain the power consumption. This power consumption is the maximum power consumption for the mowing robot to complete the mowing task at its rated power.

[0069] In one possible embodiment, determining whether charging is needed during the mowing task based on the remaining battery power of the mowing robot and the power consumption includes: if the power consumption is greater than the current remaining battery power, then it is determined that the mowing robot needs to be charged during the mowing task; if the power consumption is less than the current remaining battery power, then it is determined that the mowing robot does not need to be charged during the mowing task.

[0070] In practice, if the power consumption is greater than the current remaining power, the lawnmower robot needs to be charged at least once during the lawnmower task; if the power consumption is less than the current remaining power, it does not need to be charged.

[0071] Step 204: When it is determined that charging is required, the first recharge location is determined based at least on the basic parameters, the lawn mowing task data, the preset charging location, and the current location of the lawn mowing robot.

[0072] In one possible embodiment, the lawn mowing control system further includes a charging pile, on which an RTK base station is fixedly installed. The lawn mowing robot transmits data via a wireless communication link between an RTK rover station installed on the lawn mowing robot and the RTK base station. The lawn mowing task data also includes the boundary of the mowing area. When it is determined that charging is required, a first recharge location is determined based at least on the basic parameters, the lawn mowing task data, a preset charging location, and the current location of the lawn mowing robot. This includes: obtaining a first coordinate corresponding to the current location of the lawn mowing robot and a second coordinate corresponding to the preset charging location of the charging pile. The first coordinate is determined by the RTK rover station. The station is determined, and the second coordinate is determined by the RTK base station; the first distance from the boundary of the mowing area to the second coordinate is calculated, and the first distance is the farthest distance from the boundary of the mowing area to the second coordinate; the first power required for the mowing robot to move the first distance is calculated; the maximum battery power of the mowing robot is obtained; if the power consumption is greater than the second power, the return-to-charge node is set at the first coordinate, and the second power refers to the difference between the maximum battery power and the first power and the first reserved power. The first reserved power is used to ensure that the mowing robot still has enough power to move when it returns to the preset charging position.

[0073] In specific implementation, when it is determined that the lawnmower robot needs to be charged during the lawnmower task, its own first coordinates and the user device's second coordinates are first obtained. Then, the first distance from the boundary of the mowing area to the second coordinates is calculated, and the first power required for the lawnmower robot to move the first distance is calculated. The first power is reserved as the power required for the lawnmower robot to return to the preset charging position. Furthermore, in order to deal with unexpected situations, such as obstacles or high power consumption during lawnmowering, an additional reserved power is required, namely the first reserved power. Therefore, the power to be reserved in the maximum battery capacity of the lawnmower robot is the first power + the first reserved power. Subtracting the first power and the first reserved power from the maximum current yields the second power available for performing the lawnmower operation. Comparing the power consumption and the second power, if the power consumption is less than the second power, it means that the lawnmower robot only needs to be fully charged to complete the current lawnmower task. Therefore, the current position (i.e., the first coordinate) of the lawnmower robot is the return charging position. The lawnmower robot only needs to be navigated to the preset lawnmower position for charging before proceeding with the lawnmower operation.

[0074] As can be seen, in this embodiment, the recharging position of the lawnmower is determined when the power consumption is greater than the current remaining power of the lawnmower but less than the second power available for performing lawnmower operations.

[0075] In one possible embodiment, the mowing task data further includes a mowing mode; after obtaining the maximum battery power of the mowing robot, the method further includes: if the power consumption is less than the second power, then planning a first mowing path based on the mowing mode, the boundary of the mowing area and the first coordinates, the first mowing path being used to navigate the mowing robot to perform mowing operations; and determining at least one first recharging location in the first mowing path.

[0076] For example, the mowing mode is a preset mowing method, such as a cross mowing mode, a bow mowing mode, etc., and is not limited to a single mode.

[0077] In specific implementation, after calculating the second power level, the power consumption is compared with the second power level. If the power consumption is greater than the second power level, it means that even if the lawn mowing robot is fully charged, it cannot complete the current lawn mowing task in one go. Therefore, the lawn mowing robot needs to be charged during the lawn mowing process. Therefore, at least one first recharge location is set in the planned first lawn mowing path.

[0078] As can be seen, in this embodiment, the charging timing and charging path of the lawnmower robot are determined when the power consumption is greater than the maximum battery capacity.

[0079] In one possible embodiment, determining at least one first recharging location in the first mowing path includes: calculating the quotient of the power consumption and the second power consumption to obtain a first number of times the mowing robot needs to be recharged, where the first number of times is N times and N is a positive integer greater than zero; dividing the first mowing path into N+1 segments based on the first number of times; and setting the connection point between every two segments in the N+1 segments as the first recharging location to obtain the at least one first recharging location.

[0080] In the specific implementation, the quotient is calculated based on the formula: (Electricity consumption - Current remaining electricity) / Second electricity. The quotient is then rounded up. For example, if the quotient is 1.2, it is rounded up to 2, and if the quotient is 0.5, it is rounded up to 1. The rounded quotient is the first number N. The number of the first number determines the number of first recharge positions.

[0081] Specifically, when the first number of times is greater than or equal to 2, the first recharge location is set in the following way: Based on the first coordinate, the second coordinate, and the coordinate set, predict the third coordinate of the lawnmower robot on the second mowing path when the current remaining power is consumed, and predict the first distance from the third coordinate to the charging station, calculate the third power consumption required for the lawnmower robot to move the first distance; subtract the third power consumption from the current remaining power to obtain the second remaining power; then replan the fourth coordinate of the lawnmower robot on the second mowing path when the second remaining power is consumed, and set the fourth coordinate as the first working discontinuity point; use the maximum battery power value... Subtract the third power consumption to obtain the third remaining power; predict the fifth coordinate of the mowing robot on the second mowing path when the third remaining power is consumed starting from the fourth coordinate; calculate the second distance from the fifth coordinate to the charging station; calculate the fourth power consumption required for the mowing robot to move the second distance; subtract the fourth power consumption from the third remaining power to obtain the fourth remaining power; then replan the sixth coordinate of the mowing robot on the second mowing path when the fourth remaining power is consumed, and set the sixth coordinate as the second working discontinuity point; continue to determine subsequent working discontinuity points according to the method of determining the second working discontinuity point, until the number of working discontinuity points reaches N.

[0082] It is understandable that when the first count is 1, it is only necessary to determine the first working discontinuity point.

[0083] As can be seen, in this embodiment, the coordinates of the work discontinuity point are determined in order to connect the mowing path and the charging path.

[0084] Step 205: Perform the mowing operation according to the mowing task data. When the vehicle reaches the first recharge position, stop the mowing operation and drive to the preset charging position to perform the automatic charging operation.

[0085] In practice, after the work path is planned, it is only necessary to send instruction information to the mowing robot to navigate it, so that the mowing robot can mow the grass and charge along the work path.

[0086] In one possible embodiment, the step of driving to the preset charging location to perform an automatic charging operation includes: driving in a straight line to the preset charging location; if an obstacle is detected during the driving process, scanning the outline of the obstacle; bypassing the obstacle along the outline; replanning a straight line route for the preset charging location; and continuing to drive in a straight line to the preset charging location along the straight line route.

[0087] In practice, during the recharging journey, the lawnmower robot scans the environment ahead using sensing devices (such as sensors, cameras, etc.). If an obstacle is detected, the robot determines the outline of the obstacle and plans its position on the mowing area, i.e., determines the set of coordinates of the obstacle in the mowing area. Then, it avoids the location of the set of coordinates and replans its straight-line route to the preset charging location, continuing to travel in a straight line towards the preset charging location.

[0088] As can be seen, this embodiment realizes the obstacle avoidance function during the recharging process, which improves the intelligence of the lawnmower robot.

[0089] In one possible embodiment, the method further includes: monitoring power consumption trends; if a first average power consumption within a first time interval is detected to be higher than a preset average power consumption, then when the current power of the mowing robot is equal to a third power consumption, determining the current location as a temporary recharge location, and moving from the temporary recharge location to the preset charging location to perform an automatic charging operation, wherein the first average power consumption is the power consumption per unit time during the mowing robot's mowing operation, and the third power consumption is the sum of the first power consumption and the first reserved power consumption; calculating a first mowing area that can be harvested by consuming the second power consumption based on the first average power consumption; calculating the quotient of the remaining mowing area and the first mowing area to obtain a second number of times the mowing robot needs to be charged, wherein the second number of times is M, where M is a positive integer of zero or greater than zero, and the remaining mowing area refers to the area of ​​the mowing area that has not yet been mowed. The second mowing path is divided into M+1 segments based on the second number of times. The second mowing path refers to the mowing path that the mowing robot did not complete when it reached the temporary recharging position in the first mowing path. The connection between every two segments in the M+1 segments is set as a recharging position, resulting in M ​​second charging positions. The mowing operation is performed according to the second mowing path. When the robot reaches the second recharging position, the mowing operation stops, and the robot moves to the preset charging position to perform an automatic charging operation.

[0090] In practice, the lawnmower robot monitors its own power consumption in real time and analyzes power consumption trends. If power consumption exceeds a preset range within a first time interval, this embodiment sets a return-to-charge threshold to ensure the lawnmower robot has sufficient power to return to the preset charging location for automatic recharging. Specifically, when the remaining power of the lawnmower robot drops to a third level, it must return to charge. The location reached when it reaches the third circuit is set as a temporary return-to-charge location, and the lawnmower robot is guided back to the preset charging location for automatic recharging. Afterward, a second charging location is planned to ensure the lawnmower robot can continue to operate normally.

[0091] As can be seen, this embodiment avoids the problem of the lawnmower robot being unable to return to the preset charging position from the first recharge position due to excessive power consumption.

[0092] In one possible embodiment, the method further includes: upon reaching the first recharge position, if the actual power consumption in this stage is lower than the second power consumption and exceeds a first preset threshold, then calculating the second average power consumption in this stage; the current stage refers to the time period from the start of mowing after charging to reaching the first recharge position, or the time period from the first coordinate point to the first first charging position; based on the current remaining power consumption, the second average power consumption, the remaining mowing area, and the current fourth coordinate of the mowing robot, re-determining the recharge position to obtain at least one third recharge position; performing mowing operations according to the mowing task data, stopping the mowing operation when reaching the third recharge position, and driving towards the preset charging position to perform an automatic charging operation.

[0093] In practice, if the actual power consumption of the lawnmower robot when it reaches the first charging position is lower than the second power consumption, it generally will not have an impact if the difference is not too large. However, if the actual power consumption is lower than the second power consumption and exceeds the first preset threshold, the lawnmower robot may return to the preset charging position to charge when it still has a lot of power left, which will lead to a waste of power resources. Therefore, in this case, this embodiment re-plans at least a third charging position to adjust the situation and avoid the waste of power resources.

[0094] In one possible embodiment, the lawn mowing control system further includes a charging pile, in which an RTK base station is fixedly installed. The lawn mowing robot transmits data via a wireless communication link between the RTK rover and the RTK base station. The lawn mowing task data also includes the lawn mowing area boundary, the lawn mowing mode, and navigation data. After traveling to the preset charging position to perform automatic charging, the method further includes: moving to a starting point on the lawn mowing area boundary according to the navigation data, where the starting point is any point on the lawn mowing area boundary; starting from the starting point, performing lawn mowing operations in the lawn mowing area according to the lawn mowing mode; calculating the real-time distance between the current position and the preset charging position; predicting the target battery level required for the lawn mowing robot to return to the preset charging position based on the real-time distance; determining the current position of the lawn mowing robot as the first return-to-charging position when the remaining battery level is equal to the target battery level, or when the difference between the remaining battery level and the target battery level is less than a first preset value; stopping the lawn mowing operation when traveling to the first return-to-charging position, traveling to the preset charging position to perform automatic charging, and returning to the first return-to-charging position to continue performing lawn mowing after charging is completed.

[0095] In practice, the lawnmower robot first moves to any point on the boundary of the mowing area according to navigation data, and starts mowing according to the mowing mode from that point. During the mowing process, the lawnmower robot calculates its real-time distance from the preset charging position and predicts the current total power consumption trend of the power modules involved in the movement. It then predicts the target power required to return to the preset charging position. When the remaining power is equal to the target power, it means that the current power is just enough to return to the preset charging point. At this time, the position of the lawnmower robot is the first return charging position. Then, it travels to the preset charging position according to navigation data to perform automatic charging. After charging is completed, it returns to the first return charging position to continue mowing.

[0096] As can be seen, in this embodiment, the real-time prediction of the first recharge position is realized, which enables the lawnmower robot to fully consume power and ensure that the required power is returned, thereby improving the power efficiency of the lawnmower robot.

[0097] Furthermore, if the remaining battery power is just enough to meet the target battery power required to return to the preset charging position, then in an emergency, if the lawnmower's power consumption increases, it may not have enough power to return to the preset charging position. Therefore, to avoid such emergencies, a reserve battery power, i.e., a first preset value, can be set. When the difference between the remaining battery power and the target battery power is less than the first preset value, the lawnmower's current position is determined as the first return-to-charging position.

[0098] In summary, this embodiment of the application acquires lawn mowing task data from the user device; then predicts the power consumption required for the lawn mowing robot to complete the task based on basic parameters and the lawn mowing task data; then determines whether charging is needed during the lawn mowing task based on the remaining power of the lawn mowing robot and the power consumption; when it is determined that charging is needed, a first recharge location is determined based on at least the basic parameters, the lawn mowing task data, a preset charging location, and the current location of the lawn mowing robot; finally, the lawn mowing operation is performed according to the lawn mowing task data, and the lawn mowing operation stops when the robot reaches the first recharge location, and the robot moves to the preset charging location to perform an automatic charging operation, thereby improving the intelligence and lawn mowing efficiency of the lawn mowing robot.

[0099] Please see Figure 3 This application also provides a charging control method applied to a server in a lawn mowing control system. The lawn mowing control system includes a lawn mowing robot, a server, and user equipment. The lawn mowing robot is wirelessly connected to the user equipment. The lawn mowing robot includes multiple power-consuming modules, which are devices, units, or modules that consume electrical energy to operate. The method includes:

[0100] Step 301: Obtain the basic parameters, current position, and remaining battery power from the lawnmower robot.

[0101] Step 302: Obtain lawn mowing task data from the user device.

[0102] Step 303: Predict the power consumption required for the lawn mowing robot to complete the lawn mowing task based on the basic parameters and the lawn mowing task data.

[0103] Step 304: Based on the remaining power and the power consumption, determine whether the lawnmower robot needs to be charged during the lawnmower task.

[0104] Step 305: When it is determined that charging is required, the return-to-charge location is determined based at least on the basic parameters, the lawn mowing task data, the preset charging location, and the current location.

[0105] Step 306: Send the recharge location and the mowing task data to the mowing robot so that the mowing robot can perform mowing operations according to the mowing task data and perform automatic charging operations according to the recharge location and the preset charging location.

[0106] In a specific implementation, the charging control method can be applied to a server. The server receives basic parameters, current location, and remaining battery power sent by the lawnmower robot, as well as lawnmower task data sent by the user device. Then, it predicts the power consumption of the lawnmower robot to complete the lawnmower task and determines the return-to-charge location. Finally, it sends the return-to-charge location and the lawnmower task data to the lawnmower robot, so that the lawnmower robot can perform lawnmower operation based on the lawnmower task data and perform automatic charging operation based on the return-to-charge location and the preset charging location.

[0107] As can be seen, in this embodiment, by acquiring lawn mowing task data from the user device; then predicting the power consumption required for the lawn mowing robot to complete the lawn mowing task based on basic parameters and the lawn mowing task data; then determining whether charging is needed during the execution of the lawn mowing task based on the remaining power of the lawn mowing robot and the power consumption; when it is determined that charging is needed, at least based on the basic parameters, the lawn mowing task data, the preset charging position, and the current position of the lawn mowing robot, determining the first recharge position; finally, performing the lawn mowing operation based on the lawn mowing task data, stopping the lawn mowing operation when reaching the first recharge position, and moving towards the preset charging position to perform the automatic charging operation, the intelligence and lawn mowing efficiency of the lawn mowing robot are improved.

[0108] The above primarily describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, mobile electronic devices include corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0109] This application embodiment can divide the electronic device into functional units according to the above method example. For example, each function can be divided into a separate functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0110] Please see Figure 4 This application also provides a charging control device 40, applied to a lawnmower robot in a lawnmower control system. The lawnmower control system includes at least the lawnmower robot and a user device. The lawnmower robot is wirelessly connected to the user device. The lawnmower robot includes multiple power modules, which are devices, units, or modules that consume electrical energy to operate. The device includes:

[0111] The first acquisition unit 401 is used to acquire lawn mowing task data from the user device;

[0112] The first prediction unit 402 is used to predict the power consumption required for the mowing robot to perform the current mowing task based on the basic parameters and the mowing task data.

[0113] The judgment unit 403 is used to determine whether the lawn mowing robot needs to be charged during the lawn mowing task based on the current remaining power of the lawn mowing robot and the power consumption.

[0114] The determining unit 404 is used to determine the first recharge position when it is determined that charging is required, based at least on the basic parameters, the mowing task data, the preset charging position and the current position of the mowing robot.

[0115] The navigation unit 405 is used to perform a mowing operation based on the mowing task data. When the vehicle reaches the first recharge position, the mowing operation is stopped, and the vehicle travels to the preset charging position to perform an automatic charging operation.

[0116] In one possible embodiment, the basic parameters include multiple rated power units corresponding one-to-one with the multiple power modules and the area mowed per unit time when operating at the multiple rated power units; the mowing task data is used to indicate the area of ​​the mowing area; the aspect of predicting the power consumption required by the mowing robot to perform the current mowing task based on the basic parameters and the mowing task data, the first prediction unit 402 is specifically used to: predict the first time required by the mowing robot to perform the current mowing task based on the area of ​​the mowing area and the area mowed per unit time; and predict the power consumption required by the mowing robot to perform the current mowing task based on the first time and the multiple rated power units.

[0117] In one possible embodiment, the determination unit 403, which determines whether the lawnmower needs to be charged during the lawnmower task based on the current remaining battery power and the power consumption, is specifically configured to: determine that the lawnmower needs to be charged during the lawnmower task if the power consumption is greater than the current remaining battery power; and determine that the lawnmower does not need to be charged during the lawnmower task if the power consumption is less than the current remaining battery power.

[0118] In one possible embodiment, the lawn mowing control system further includes a charging station equipped with an RTK base station. The charging station is wirelessly connected to the lawn mowing robot, and the lawn mowing robot transmits data through a wireless communication link between an RTK rover on the lawn mowing robot and the RTK base station. The lawn mowing task data also includes the boundary of the mowing area. When it is determined that charging is needed, the determining unit 404 is specifically used to: obtain the first coordinates corresponding to the current position of the mowing robot and the second coordinates of the preset charging position corresponding to the charging pile, wherein the first coordinates are determined by the RTK rover and the second coordinates are determined by the RTK base station; calculate the first distance from the boundary of the mowing area to the second coordinates, wherein the first distance is the farthest distance from the boundary of the mowing area to the second coordinates; calculate the first power required for the mowing robot to move the first distance; obtain the maximum battery power of the mowing robot; if the power consumption is greater than the second power, set the return charging node at the first coordinate, wherein the second power refers to the difference between the maximum battery power and the first power and the first reserved power, wherein the first reserved power is used to ensure that the mowing robot still has enough power to move when it returns to the preset charging position.

[0119] In one possible embodiment, the mowing task data further includes a mowing mode; after obtaining the maximum battery power of the mowing robot, the determining unit 404 is further configured to: if the power consumption is less than the second power, plan a first mowing path based on the mowing mode, the mowing area boundary and the first coordinates, the first mowing path being used to navigate the mowing robot to perform mowing operations; and determine at least one first recharge location in the first mowing path.

[0120] In one possible embodiment, in determining at least one first recharge location in the first mowing path, the determining unit 404 is further configured to: calculate the quotient of the power consumption and the second power consumption to obtain a first number of times the mowing robot needs to be recharged, the first number being N times, where N is a positive integer greater than zero; divide the first mowing path into N+1 segments based on the first number; and set the connection point between every two segments in the N+1 segments as the first recharge location to obtain the at least one first recharge location.

[0121] In one possible embodiment, the device further includes:

[0122] The monitoring and setting unit is used to monitor the power consumption trend. If the first average power consumption in the first time interval is detected to be higher than the preset average power consumption, then when the current power of the lawnmower robot is equal to the third power, the current position is determined as the temporary return charging position, and the robot travels from the temporary return charging position to the preset charging position to perform an automatic charging operation. The first average power consumption is the power consumption per unit time during the lawnmower robot's lawnmower operation, and the third power is the sum of the first power and the first reserved power.

[0123] The first calculation unit is used to calculate the first mowing area that can be harvested by consuming the second power based on the first average power consumption.

[0124] The second calculation unit is used to calculate the quotient of the remaining mowing area and the first mowing area to obtain the second number of times the mowing robot needs to be charged. The second number of times is M, where M is a positive integer of zero or greater than zero. The remaining mowing area refers to the area of ​​the mowing area that has not yet been mowed.

[0125] The division unit is used to divide the second mowing path into M+1 segments according to the second number of times. The second mowing path refers to the mowing path that the mowing robot did not complete when it reached the temporary recharging position during the first mowing path.

[0126] The setting unit is used to set the connection point between every two segments in the M+1 segment as the recharge position, thereby obtaining M second charging positions;

[0127] The navigation unit is also used to perform a mowing operation according to the second mowing path, and when it reaches the second recharge position, it stops the mowing operation and drives to the preset charging position to perform an automatic charging operation.

[0128] In one possible embodiment, the device further includes:

[0129] The third calculation unit is used to calculate the second average power consumption of the current stage when the actual power consumption of the current stage is lower than the second power consumption and exceeds the first preset threshold after reaching the first recharge position; the current stage refers to the time period from the start of mowing after charging to the arrival of the first recharge position, or the time period from the first coordinate point to the first arrival of the first first charging position.

[0130] The determining unit 404 is also used to re-determine the recharge position based on the current remaining power, the second average power consumption, the remaining mowing area and the current fourth coordinate of the mowing robot, and obtain at least one third recharge position.

[0131] The navigation unit is also used to perform a mowing operation based on the mowing task data, and to stop the mowing operation when it reaches the third recharge location, and then drive to the preset charging location to perform an automatic charging operation.

[0132] In one possible embodiment, the driving to the preset charging location to perform the automatic charging operation includes:

[0133] The navigation unit is also used to guide the lawnmower robot to travel in a straight line to the preset charging location;

[0134] The scanning unit is used to scan the outline of an obstacle if it is detected during driving.

[0135] The navigation unit is also used to avoid the obstacle along the contour;

[0136] The planning unit is also used to replan the straight route for the preset charging location;

[0137] The navigation unit is also used to continue traveling in a straight line towards the preset charging location along the straight route.

[0138] In one possible embodiment, the lawn mowing control system further includes a charging station, on which an RTK base station is fixedly installed. The lawn mowing robot transmits data through a wireless communication link between an RTK rover station installed on the lawn mowing robot and the RTK base station. The lawn mowing task data also includes lawn mowing area boundaries, mowing mode, and navigation data.

[0139] Specifically, after the aspect of traveling to the preset charging location to perform the automatic charging operation, the device further includes:

[0140] The navigation unit 405 is also used to move to a starting point on the boundary of the mowing area according to the navigation data, wherein the starting point is any point on the boundary of the mowing area;

[0141] A mowing unit is used to perform mowing operations in the mowing area according to the mowing pattern, starting from the starting point.

[0142] The third calculation unit is used to calculate the real-time distance between the current location and the preset charging location;

[0143] The first prediction unit 402 is also used to predict the target amount of electricity required for the lawnmower robot to return to the preset charging position based on the real-time distance;

[0144] The determining unit 404 is further configured to determine the position of the lawnmower robot as the first recharging position when the remaining power is equal to the target power or the difference between the remaining power and the target power is less than a first preset value.

[0145] The navigation unit 405 is also used to stop mowing when it reaches the first recharge position, drive to the preset charging position to perform automatic charging, and return to the first recharge position to continue mowing after charging is completed.

[0146] As can be seen, in this embodiment of the application, the charging control device 40 first acquires the lawn mowing task data from the user equipment; then, based on the basic parameters and the lawn mowing task data, it predicts the power consumption required for the lawn mowing robot to perform the current lawn mowing task; further, based on the current remaining power of the lawn mowing robot and the power consumption, it determines whether the lawn mowing robot needs to be charged during the lawn mowing task; when it is determined that the lawn mowing robot needs to be charged, a working path is generated based on the charging path and the lawn mowing path; finally, the lawn mowing robot is navigated to complete the lawn mowing task and automatically charged according to the working path, thereby improving the intelligence and lawn mowing efficiency of the lawn mowing robot.

[0147] Please see Figure 5 This application also provides a charging control device 50, applied to a server in a lawn mowing control system. The lawn mowing control system includes a lawn mowing robot, a server, and user equipment. The lawn mowing robot is wirelessly connected to the user equipment. The lawn mowing robot includes multiple power-consuming modules, which are devices, units, or modules that consume electrical energy to operate. The device includes:

[0148] The first acquisition unit 501 is used to acquire basic parameters, current position and remaining battery power from the lawnmower robot;

[0149] The second acquisition unit 502 is used to acquire lawn mowing task data from the user device;

[0150] Prediction unit 503 is used to predict the power consumption required for the mowing robot to complete the mowing task based on the basic parameters and the mowing task data;

[0151] The judgment unit 504 is used to determine whether the lawn mowing robot needs to be charged during the lawn mowing task based on the remaining power and the power consumption.

[0152] The determining unit 505 is used to determine the recharge location based at least on the basic parameters, the lawn mowing task data, the preset charging location, and the current location when the determination bit indicates that charging is required;

[0153] The sending unit 506 is used to send the recharge location and the mowing task data to the mowing robot, so that the mowing robot can perform mowing operation according to the mowing task data and perform automatic charging operation according to the recharge location and the preset charging location.

[0154] As can be seen, in this embodiment of the application, the charging control device 50 first acquires the lawn mowing task data from the user equipment; then, based on the basic parameters and the lawn mowing task data, it predicts the power consumption required for the lawn mowing robot to perform the current lawn mowing task; further, based on the current remaining power of the lawn mowing robot and the power consumption, it determines whether the lawn mowing robot needs to be charged during the lawn mowing task; when it is determined that the lawn mowing robot needs to be charged, a working path is generated based on the charging path and the lawn mowing path; finally, the lawn mowing robot is navigated to complete the lawn mowing task and automatically charged according to the working path, thereby improving the intelligence and lawn mowing efficiency of the lawn mowing robot.

[0155] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0156] This application also provides a computer storage medium storing a computer program for electronic data interchange, which causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments, wherein the computer includes an electronic device.

[0157] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer may include an electronic device.

[0158] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0159] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, the division of units is merely a logical functional division, and other division methods may exist in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0160] 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0161] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware or in the form of hardware plus software functional units.

[0162] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, volatile memory, or non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM), etc., various media capable of storing program code.

[0163] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can easily conceive of variations or substitutions without departing from the spirit and scope of the present invention, and various modifications and alterations can be made, including combinations of the different functions and implementation steps described above, as well as software and hardware implementation methods, all of which are within the protection scope of the present invention.

Claims

1. A charging control method, characterized in that, A lawnmower robot used in a lawnmower control system, wherein the lawnmower control system includes at least the lawnmower robot and user equipment; the method includes: Acquire lawn mowing task data from the user device, the lawn mowing task data including at least the area of ​​the mowing area, the boundary of the mowing area, and the mowing mode; The power consumption required for the lawn mowing robot to complete the lawn mowing task is predicted based on the basic parameters and the lawn mowing task data. The basic parameters include multiple rated power corresponding to multiple power modules of the lawn mowing robot and the lawn area mowed per unit time when working under the multiple rated power. Based on the remaining battery power of the lawnmower robot and the power consumption, it is determined whether charging is required during the lawnmower task; wherein, the farthest distance from the boundary of the lawnmower area to the preset charging position is calculated, as well as the first power required for the lawnmower robot to move the farthest distance; the second power is obtained by subtracting the first power and the first reserved power from the maximum battery power. When it is determined that charging is required, at least one first recharge location is determined based on the basic parameters, the mowing task data, the preset charging location, and the current location of the mowing robot. If the power consumption is greater than the second power level, a first mowing path is planned based on the mowing mode, the mowing area boundary, and the current location. The first number of times N, where N is a positive integer, needs to be charged to complete the mowing task is determined based on the power consumption and the second power level. The first mowing path is divided into N+1 segments based on the first number of charges, and the connection point between adjacent segments is determined as the first recharge location, resulting in at least one first recharge location. The first recharge location is a point of interruption in the mowing robot's operation during the mowing task. The mowing operation is performed according to the mowing task data. When the vehicle reaches each of the first recharge locations, the mowing operation is stopped and the vehicle is driven to the preset charging location to perform an automatic charging operation. After charging is completed, the vehicle returns to the corresponding first recharge location to continue the mowing operation. Monitor power consumption trends. If the actual average power consumption exceeds the preset average power consumption, when the current power of the mowing robot is equal to the third power, determine the current position as a temporary recharge position and return to charge. The third power is the sum of the first power and the first reserved power. After charging is completed, at least one second recharge position is re-determined on the remaining mowing path based on the actual average power consumption and the remaining mowing area. Upon reaching the first recharge position, if the actual power consumption in this stage is lower than the second power consumption and exceeds the first preset threshold, the recharge position is re-determined based on the current remaining power consumption, the average power consumption in this stage, the remaining mowing area, and the current position of the mowing robot, resulting in at least one third recharge position.

2. The method according to claim 1, characterized in that, The lawn mowing control system also includes a charging pile, on which an RTK base station is fixedly installed. The lawn mowing robot transmits data through a wireless communication link between the RTK rover station installed on the lawn mowing robot and the RTK base station. The lawn mowing task data also includes navigation data; After driving to the preset charging location to perform the automatic charging operation, the method further includes: Based on the navigation data, move to the starting point on the boundary of the mowing area, where the starting point is any point on the boundary of the mowing area; Starting from the starting point, mowing operations are performed in the mowing area according to the mowing pattern; Calculate the real-time distance between the current location and the preset charging location; Based on the real-time distance, predict the target battery level required for the lawnmower robot to return to the preset charging position; When the remaining power is equal to the target power, or the difference between the remaining power and the target power is less than a first preset value, the position of the lawnmower robot at this time is determined to be the first recharging position; When the vehicle reaches the first recharge position, it stops mowing and drives to the preset charging position to perform automatic charging. After charging is completed, it returns to the first recharge position to continue mowing.

3. The method according to claim 1, characterized in that, The lawn mowing control system also includes a charging station, on which an RTK base station is fixedly installed. The lawn mowing robot transmits data through a wireless communication link between the RTK rover station installed on the lawn mowing robot and the RTK base station. The lawn mowing task data also includes the boundary of the mowing area. When it is determined that charging is needed, the first recharging location is determined based on at least the basic parameters, the lawn mowing task data, the preset charging location, and the current location of the lawn mowing robot, including: The first coordinates corresponding to the current position of the lawnmower robot and the second coordinates corresponding to the preset charging position of the charging pile are obtained. The first coordinates are determined by the RTK rover and the second coordinates are determined by the RTK base station. Calculate the first distance from the boundary of the mowing area to the second coordinate, where the first distance is the farthest distance from the boundary of the mowing area to the second coordinate; Calculate the first amount of electricity required for the lawnmower robot to move the first distance; Obtain the maximum battery level of the lawnmower robot; If the power consumption is less than the second power, the recharge node is set at the first coordinate. The second power refers to the difference between the maximum battery power and the first power and the first reserved power. The first reserved power is used to ensure that the lawnmower robot still has enough power to move when it returns to the preset charging position.

4. The method according to claim 3, characterized in that, After obtaining the maximum battery power of the lawnmower robot, the method further includes: If the power consumption is greater than the second power consumption, then the first mowing path is planned according to the mowing mode, the boundary of the mowing area and the first coordinates. The first mowing path is used to navigate the mowing robot to perform mowing operations. At least one first recharge location is determined in the first mowing path.

5. The method according to claim 4, characterized in that, Determining at least one first recharge location in the first mowing path includes: Calculate the quotient of the power consumption and the second power consumption to obtain the first number of times the lawnmower robot needs to be charged, where the first number of times is N, and N is a positive integer greater than zero; The first mowing path is divided into N+1 segments based on the first number of times; The connection point between every two segments in the N+1 segments is set as the first recharge position, thus obtaining the at least one first recharge position.

6. The method according to claim 3, characterized in that, The method further includes: The system monitors power consumption trends. If the first average power consumption within a first time interval is higher than the preset average power consumption, then when the current power of the lawnmower robot is equal to the third power, the current location is determined as a temporary recharge location, and the robot travels from the temporary recharge location to the preset charging location to perform an automatic charging operation. Here, the first average power consumption is the power consumption per unit time during the lawnmower robot's lawnmower operation, and the third power is the sum of the first power and the first reserved power. The first mowing area that can be harvested by consuming the second power is calculated based on the first average power consumption. Calculate the quotient of the remaining mowing area and the first mowing area to obtain the second number of times the mowing robot needs to be charged. The second number of times is M, where M is a positive integer of zero or greater than zero. The remaining mowing area refers to the area of ​​the mowing area that has not yet been mowed. The second mowing path is divided into M+1 segments based on the second number of times. The second mowing path refers to the mowing path that the mowing robot did not complete when it reached the temporary recharging position during the first mowing path. The connection point between every two segments in the M+1 segment is set as the recharge position, resulting in M ​​second charging positions; The grass-cutting operation is performed according to the second grass-cutting path. When the vehicle reaches the second recharge position, the grass-cutting operation stops and the vehicle travels to the preset charging position to perform an automatic charging operation.

7. The method according to claim 3, characterized in that, The method further includes: When the first recharge location is reached, if the actual power consumption in this stage is lower than the second power consumption and exceeds the first preset threshold, then the second average power consumption in this stage is calculated; the stage refers to the time period from the start of mowing after charging to the arrival of the first recharge location, or the time period from the first coordinate point to the first arrival of the first first charging location. Based on the current remaining power, the second average power consumption, the remaining mowing area, and the current fourth coordinates of the mowing robot, the recharge location is re-determined to obtain at least one third recharge location. The lawn mowing operation is performed based on the lawn mowing task data. When the vehicle reaches the third recharge location, the lawn mowing operation is stopped, and the vehicle travels to the preset charging location to perform an automatic charging operation.

8. The method according to claim 3, characterized in that, The process of driving to the preset charging location to perform automatic charging includes: Travel in a straight line toward the preset charging location; If an obstacle is detected during driving, its outline is scanned. Avoid the obstacle by following the outline; Replan the straight-line route for the preset charging location; Continue traveling in a straight line towards the preset charging location.

9. A charging control method, characterized in that, A server is used in a lawn mowing control system, the lawn mowing control system including a lawn mowing robot, a server, and user equipment. The lawn mowing robot is wirelessly connected to the user equipment. The lawn mowing robot includes multiple power-consuming modules, which are devices, units, or modules that consume electrical energy to operate. The method includes: The basic parameters, current position, and remaining power of the lawnmower robot are obtained. The basic parameters include multiple rated power corresponding to multiple power modules of the lawnmower robot and the lawn mowing area per unit time when working under the multiple rated power. Acquire lawn mowing task data from the user device, the lawn mowing task data including at least the area of ​​the mowing area, the boundary of the mowing area, and the mowing mode; Based on the basic parameters and the lawn mowing task data, predict the power consumption required for the lawn mowing robot to complete the lawn mowing task; Based on the remaining battery power and the power consumption, it is determined whether the lawnmower robot needs to be charged during the lawnmower task; wherein, the farthest distance from the boundary of the mowing area to the preset charging position is calculated, and the first power required for the lawnmower robot to move the farthest distance is calculated; the second power is obtained by subtracting the first power and the first reserved power from the maximum battery power. When it is determined that charging is required, at least one recharge location is determined based on the basic parameters, the mowing task data, the preset charging location, and the current location. If the power consumption is greater than the second power level, a first mowing path is planned based on the mowing mode, the mowing area boundary, and the current location. The first number of times N, where N is a positive integer, needs to be charged to complete the mowing task is determined based on the power consumption and the second power level. The first mowing path is divided into N+1 segments based on the first number of charges, and the connection point between adjacent segments is determined as the first recharge location, resulting in at least one first recharge location. The recharge location is a point of interruption in the mowing robot's operation during the mowing task. The robot sends the return-to-charge location and the mowing task data to the mowing robot so that the mowing robot can perform mowing operations according to the mowing task data, and perform automatic charging operations according to the return-to-charge location and the preset charging location, and return to the corresponding return-to-charge location to continue performing the mowing operations after charging is completed.

10. An electronic device, characterized in that, The method includes a processor, a memory, a communication interface, and one or more programs, said one or more programs being stored in the memory and configured to be executed by the processor, said programs including instructions for performing the steps of the method as described in any one of claims 1-7.

11. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange is provided, wherein the computer program causes a computer to execute instructions for the steps of the method as described in any one of claims 1-7.

12. A computer program product, characterized in that, It includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform instructions in the method as described in any one of claims 1-7.

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