Self-moving equipment, control method and control method of self-moving working system

Abstract

The invention provides a self-moving device, a control method and a control method of a self-moving working system.The control method is applied to the self-moving device, the self-moving device is provided with a charging switch, and the control method comprises the steps that the self-moving device is controlled to move towards a charging station; when the self-moving equipment reaches the first preset position, controlling a charging switch arranged on the self-moving equipment to be closed; controlling the self-moving equipment to continuously move to the charging station; and when the self-moving device reaches the second preset position, controlling the self-moving device to stop moving and start charging. According to the control method provided by the invention, the charging switch is closed before the self-moving equipment is completely butted with the charging station, verification after complete butting is not needed, so that when the self-moving equipment is completely butted with the charging station, the charging station can directly charge the self-moving equipment, meanwhile, the self-moving equipment directly stops moving, and the charging efficiency is improved. Therefore, the self-moving equipment is prevented from rushing out of the charging station, and the safety is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of charging technology, and in particular to a self-moving device and a control method, and a control method for a self-moving working system. Background Art

[0002] With the development of science and technology, mobile devices are widely used in people's work and life, such as smart lawn mowers, smart vacuum cleaners or smart robots. They move and walk in a preset working area in a set manner to perform work, and return to the charging station for charging when charging is needed. Summary of the invention

[0003] In view of this, the purpose of the present disclosure is to provide a self-moving device and a control method, and a control method for a self-moving working system, which can control the self-moving device to stop moving in time before charging to prevent the self-moving device from rushing out of the charging station.

[0004] In order to achieve one of the above disclosed purposes, the present disclosure provides a charging control method, which is applied to a self-moving device, wherein the self-moving device is provided with a charging switch, and the control method comprises:

[0005] Controlling the mobile device to move toward the charging station;

[0006] When the self-moving device reaches a first preset position, controlling a charging switch disposed on the self-moving device to close;

[0007] Controlling the mobile device to continue moving toward the charging station;

[0008] When the self-moving device reaches the second preset position, the self-moving device is controlled to stop moving and start charging.

[0009] As a further improvement of the embodiment of the present disclosure, the control method further includes: when the self-moving device reaches a first preset position, receiving preset information sent by the charging station, and controlling the charging switch to close according to the preset information.

[0010] As a further improvement of the embodiment of the present disclosure, the mobile device receives the preset information via wireless communication.

[0011] As a further improvement of the embodiment of the present disclosure, when the self-moving device reaches the first preset position, before the charging switch arranged on the self-moving device is controlled to be closed, the control method also includes: controlling the self-moving device to detect the positional relationship between the self-moving device and the charging station through magnetic field induction, collision induction, satellite positioning, radar or vision.

[0012] As a further improvement of the embodiment of the present disclosure, the second preset position is the position when the mobile device receives the charging current provided by the charging station;

[0013] When the self-moving device reaches the second preset position, the self-moving device is controlled to stop moving and start charging, including: when the self-moving device receives the charging current provided by the charging station, the self-moving device is controlled to stop moving and start charging.

[0014] As a further improvement of the embodiment of the present disclosure, the control method further includes: establishing a wireless communication connection with the charging station during the process of moving toward the charging station.

[0015] As a further improvement of the embodiment of the present disclosure, the wireless communication connection includes a Bluetooth communication connection.

[0016] In order to achieve one of the above disclosed purposes, the present disclosure provides a self-moving device that replenishes energy by returning to a charging station, and the self-moving device runs the control method described in any of the embodiments.

[0017] In order to achieve one of the above disclosed purposes, the present disclosure provides a control method of a self-moving working system, wherein the self-moving working system comprises a self-moving device and a charging station for charging the self-moving device, wherein the self-moving device is provided with a charging switch, and the control method of the self-moving working system comprises:

[0018] Controlling the mobile device to move toward the charging station;

[0019] When the self-moving device reaches a first preset position, controlling a charging switch disposed on the self-moving device to close;

[0020] Controlling the mobile device to continue moving toward the charging station;

[0021] When the self-moving device reaches the second preset position, the self-moving device is controlled to stop moving and start charging.

[0022] As a further improvement of the embodiment of the present disclosure, the control method further includes: when the self-moving device reaches the first preset position, the charging station sends preset information to the self-moving device.

[0023] The control method provided by the present disclosure controls the charging switch on the self-moving device to close when the self-moving device reaches the first preset position, and controls the self-moving device to stop moving and start charging when the self-moving device reaches the second preset position, thereby closing the charging switch before the self-moving device is fully docked with the charging station, and there is no need to verify again after the full docking, thereby achieving that when the self-moving device is fully docked with the charging station, the charging station can directly charge the self-moving device, and at the same time, the self-moving device directly stops moving, thereby preventing the self-moving device from rushing out of the charging station, thereby improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A flow chart of a control method provided in one embodiment of the present disclosure.

[0025] Figure 2 The present invention is a flowchart of a control method of a self-moving working system provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific implementation methods and with reference to the accompanying drawings.

[0027] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not represent any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0028] A self-moving device is a robot that has its own necessary components, such as visual recognition components, controllers, batteries, etc., and can independently complete certain tasks without external human information input and control during operation. Among them, the battery is used to provide power to the self-moving device when it is working. Usually, the self-moving device is part of the self-moving device system; the self-moving device system also includes charging equipment that cooperates with the self-moving device, such as charging stations, charging warehouses, etc. The self-moving device walks and works in the working area, especially when the battery energy is insufficient, the self-moving device returns to the charging device to charge the battery to replenish energy. The self-moving device can be an automatic vacuum cleaner, an intelligent lawn mower, an automatic trimmer, etc., which automatically walk on the ground or surface of the working area to perform tasks such as cleaning, mowing or snow removal.

[0029] The inventors have found that when charging a mobile device, the existing charging station needs to first connect the charging terminals (usually two) of the charging station with the charging terminals (usually two) of the mobile device; then, the mobile device and the charging station are verified based on the voltage and / or current in the circuit. After the verification is successful, the mobile device closes the charging switch and stops moving, and the charging station charges the mobile device. The following problems exist: Since the charging station cannot charge the mobile device during the verification period, the mobile device continues to move during the verification period. Once the verification time is too long or the verification fails, the mobile device will not be able to stop at the predetermined position and will rush out of the charging station, which poses a serious safety hazard.

[0030] like Figure 1 As shown, an embodiment of the present disclosure provides a control method, which is applied to a self-moving device, and the self-moving device is provided with a charging switch. The control method includes:

[0031] Step S1, control the mobile device to move to the charging station. Preferably, control the mobile device to move to the charging station at a low speed to ensure safety. The low speed may be 1 km / h, 2 km / h, 0.2 m / s, etc., and is not specifically limited.

[0032] Step S2: When the self-moving device reaches the first preset position, the charging switch disposed on the self-moving device is controlled to be closed.

[0033] In one embodiment, step S2 includes: when the self-mobile device reaches the first preset position, receiving the preset information sent by the charging station, and controlling the charging switch to close according to the preset information. The charging station indirectly controls the charging switch to close. Specifically, the charging station detects the position of the self-mobile device and learns whether the self-mobile device has reached the first preset position. When the self-mobile device reaches the first preset position, the charging station sends the preset information to the self-mobile device, and the self-mobile device receives the preset information sent by the charging station and controls the charging switch to close according to the preset information. Further, by setting a Hall sensor on the charging station, the positional relationship between the self-mobile device and the charging station is detected by the Hall sensor; specifically, collision induction detection can be selected, when the self-mobile device collides with the charging station and triggers the Hall sensor, the charging station determines that the self-mobile device has reached the first preset position; or, through magnetic field induction detection, when a charging terminal of the self-mobile device is docked with a charging terminal of the charging station, the Hall sensor can be triggered by magnetic field induction, and the positional relationship between the self-mobile device and the charging station can be learned; when a charging terminal of the self-mobile device is docked with a charging terminal of the charging station and the Hall sensor is triggered, the charging station determines that the self-mobile device has reached the first preset position.

[0034] It should be noted that when the charging terminal of the mobile device is docked with the charging terminal of the charging station, usually one charging terminal is first docked with one charging terminal of the charging station, and the other terminal is docked with the other terminal of the charging station later; therefore, when one charging terminal of the mobile device is docked with one charging terminal of the charging station, the other terminal has not yet docked with the other terminal of the charging station, that is, the charging terminal of the mobile device and the charging terminal of the charging station have not yet been fully docked, and the charging station cannot charge the mobile device. However, at this time, the charging switch on the mobile device is controlled to be closed, that is, the mobile device is ready for charging, and the charging terminal of the mobile device and the charging terminal of the charging station have not yet been fully docked. Among them, the Hall sensor has a high sensitivity and can quickly detect that the mobile device has reached the first preset position, thereby saving the closing time of the charging switch and improving safety.

[0035] Furthermore, the self-mobile device receives preset information through wireless communication. No wiring is required, high flexibility and lower cost. Among them, the above-mentioned wireless communication methods include Bluetooth communication, Wi-Fi communication, ZigBee communication, etc. Among them, Bluetooth communication is preferred. As a small-range wireless connection technology, Bluetooth communication can realize convenient, fast, flexible, safe, low-cost, and low-power data communication and voice communication between devices. Therefore, it is one of the mainstream technologies for realizing wireless communication. Connection with other networks can bring wider applications. It is a cutting-edge open wireless communication.

[0036] In another embodiment, the self-mobile device can also receive charging instruction information through wired communication. Before charging, the charging device can be connected to the self-mobile device through wires, optical fibers, etc. to establish communication between the charging device and the self-mobile device. Wired communication can ensure better signal stability.

[0037] In one embodiment, before step S2, the following steps are also included:

[0038] Control the position relationship between the mobile device and the charging station through magnetic field sensing, collision sensing, satellite positioning, radar or visual detection.

[0039] In another embodiment, the self-mobile device detects whether the self-mobile device has reached the first preset position by means of satellite positioning or image acquisition. Specifically, when detecting by satellite positioning, the position of the self-mobile device is located in real time by satellite to detect whether it has reached the first position. When detecting by image acquisition, the image of the first preset position is captured in real time by an image acquisition device such as a camera to detect whether the self-mobile device is at the first preset position.

[0040] In another embodiment, the first preset position may be a position at a certain distance from the charging station, and the distance may be set as required. The mobile device may determine the distance between the mobile device and the charging station based on satellite positioning data, radar detection data, or visual image data.

[0041] In another embodiment, a Hall sensor is provided on the self-moving device to detect the positional relationship between the self-moving device and the charging station. At this time, the self-moving device directly detects whether it has reached the first position through the Hall sensor; specifically, collision sensing detection can be selected. When the self-moving device collides with the charging station and triggers the Hall sensor, the self-moving device determines that the self-moving device has reached the first preset position; or, through magnetic field induction detection, when a charging terminal of the self-moving device is docked with a charging terminal of the charging station, the Hall sensor can be triggered by magnetic field induction, and the positional relationship between the self-moving device and the charging station can be known.

[0042] Step S3, controlling the self-moving device to continue to move toward the charging station. Preferably, as in step S1, controlling the self-moving device to move toward the charging station at a low speed to ensure safety.

[0043] Step S4: When the self-moving device reaches the second preset position, the self-moving device is controlled to stop moving and start charging.

[0044] In one embodiment, the second preset position is the position when the mobile device receives the charging current provided by the charging station; when the mobile device reaches the second preset position, the mobile device is controlled to stop moving and start charging, including: when the mobile device receives the charging current provided by the charging station, the mobile device is controlled to stop moving and start charging. Specifically, when the charging terminal of the mobile device is fully docked with the charging terminal of the charging station, the charging station provides the charging current to the mobile device, therefore, the second preset position is also the position when the charging terminal of the mobile device is fully docked with the charging terminal of the charging station; when the mobile device receives the charging current provided by the charging station, the mobile device will immediately stop moving and start charging.

[0045] In one embodiment, a wireless communication connection is established with the charging station during the process of moving the self-mobile device to the charging station. Preferably, during the working process of the self-mobile device, the self-mobile device does not establish a wireless communication connection with the charging station. Only when charging is needed, a wireless communication connection is established with the charging station during the process of moving to the charging station. This can effectively reduce energy consumption. At the same time, during the process of establishing the wireless communication connection, the self-mobile device does not need to stop, which can effectively save time and improve work efficiency. Preferably, the wireless communication method includes Bluetooth communication method, Wi-Fi communication method, ZigBee communication method, etc. Among them, the Bluetooth communication method is preferred, and the wireless communication method and the advantages of the Bluetooth communication method have been described in the previous text, so they will not be repeated here.

[0046] The control method provided in the disclosed embodiment realizes closing the charging switch before the self-moving device is fully docked with the charging station, without the need for verification after the full docking. As a result, when the self-moving device is fully docked with the charging station, the charging station can directly charge the self-moving device. At the same time, the self-moving device directly stops moving, thereby preventing the self-moving device from rushing out of the charging station, thereby improving safety.

[0047] Another embodiment of the present disclosure provides a self-moving device, which replenishes energy by returning to a charging station, and the self-moving device executes the control method described in any of the above embodiments.

[0048] A self-moving device provided by the embodiment of the present disclosure can close the charging switch before the self-moving device is fully docked with the charging station by operating the control method in the above embodiment, without the need to verify again after the full docking. As a result, when the self-moving device is fully docked with the charging station, the charging station can directly charge the self-moving device. At the same time, the self-moving device directly stops moving, thereby preventing the self-moving device from rushing out of the charging station, thereby improving safety.

[0049] Reference Figure 2As shown, another embodiment of the present disclosure provides a control method for a self-moving working system, wherein the self-moving working system comprises a self-moving device and a charging station for charging the self-moving device, wherein the self-moving device is provided with a charging switch, and the control method for the self-moving working system comprises the following steps:

[0050] Step S11, controlling the self-moving device to move toward the charging station; preferably, controlling the self-moving device to move toward the charging station at a low speed to ensure safety.

[0051] Step S21, when the self-moving device reaches a first preset position, controlling a charging switch disposed on the self-moving device to close;

[0052] In one embodiment, step S21 includes: when the self-moving device reaches the first preset position, the charging station sends preset information to the self-moving device. Specifically, the charging station detects the position of the self-moving device and learns whether the self-moving device reaches the first preset position. When the self-moving device reaches the first preset position, the charging station sends the preset information to the self-moving device, and the self-moving device receives the preset information sent by the charging station and controls the charging switch to close according to the preset information.

[0053] Step S31, controlling the mobile device to continue moving toward the charging station;

[0054] Step S41: When the self-moving device reaches a second preset position, the self-moving device is controlled to stop moving and start charging.

[0055] In one embodiment, the second preset position is the position when the self-mobile device receives the charging current provided by the charging station; when the self-mobile device reaches the second preset position, the self-mobile device is controlled to stop moving and start charging, including: when the self-mobile device receives the charging current provided by the charging station, the self-mobile device is controlled to stop moving and start charging.

[0056] The steps in a control method of a self-moving working system provided in an embodiment of the present disclosure are the same as the steps in a control method provided in the above-mentioned embodiment. The principles and technical effects thereof can be referred to the embodiments of the above-mentioned control method and will not be repeated here.

[0057] The disclosed embodiment provides a control method for a self-mobile working system, which realizes closing the charging switch before the self-mobile device is fully docked with the charging station, without the need for verification after the full docking. As a result, when the self-mobile device is fully docked with the charging station, the charging station can directly charge the self-mobile device. At the same time, the self-mobile device directly stops moving, thereby preventing the self-mobile device from rushing out of the charging station, thereby improving safety.

[0058] It should be noted that "some body" or "some part" can be a part of the corresponding "component", that is, "some body" or "some part" can be integrally formed with the "other parts of the component"; or it can be an independent component that can be separated from the "other parts of the component", that is, "some body" or "some part" can be independently manufactured and then combined with the "other parts of the component" into a whole. The expression of the above-mentioned "some body" or "some part" in this disclosure is only one of the implementation methods, for the convenience of reading, rather than limiting the scope of protection of this disclosure, as long as it contains the above-mentioned features and has the same function, it should be understood as an equivalent technical solution of this disclosure.

[0059] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results.

[0060] It should be understood by those skilled in the art that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples; based on the concept of the present disclosure, the above embodiments or technical features in different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0061] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A control method, applied to a self-moving device, wherein the self-moving device is provided with a charging switch, characterized in that: The control method comprises: Controlling the mobile device to move toward the charging station; When the self-moving device reaches a first preset position, controlling a charging switch disposed on the self-moving device to close; Controlling the mobile device to continue moving toward the charging station; When the self-moving device reaches the second preset position, the self-moving device is controlled to stop moving and start charging.

2. The control method according to claim 1, characterized in that: The control method further includes: when the self-moving device reaches a first preset position, receiving preset information sent by the charging station, and controlling the charging switch to close according to the preset information.

3. The control method according to claim 2, characterized in that: The mobile device receives the preset information via wireless communication.

4. The control method according to claim 1, characterized in that: When the self-moving device reaches the first preset position, before the charging switch set on the self-moving device is controlled to be closed, the control method also includes: controlling the self-moving device to detect the position relationship between the self-moving device and the charging station through magnetic field sensing, collision sensing, satellite positioning, radar or vision.

5. The control method according to claim 1, characterized in that: The second preset position is the position of the mobile device when it receives the charging current provided by the charging station; When the self-moving device reaches the second preset position, the self-moving device is controlled to stop moving and start charging, including: when the self-moving device receives the charging current provided by the charging station, the self-moving device is controlled to stop moving and start charging.

6. The control method according to claim 1, characterized in that: The control method further includes: establishing a wireless communication connection with the charging station during movement toward the charging station.

7. The control method according to claim 6, characterized in that: The wireless communication connection comprises a Bluetooth communication connection.

8. A self-propelled device that replenishes energy by returning to a charging station, characterized in that: The self-mobile device runs the control method as described in any one of claims 1-7.

9. A control method for a self-moving working system, the self-moving working system comprising a self-moving device and a charging station for charging the self-moving device, the self-moving device being provided with a charging switch, characterized in that: The control method of the self-moving working system comprises: Controlling the mobile device to move toward the charging station; When the self-moving device reaches a first preset position, controlling a charging switch disposed on the self-moving device to close; Controlling the mobile device to continue moving toward the charging station; When the self-moving device reaches the second preset position, the self-moving device is controlled to stop moving and start charging.

10. The control method of the self-moving working system according to claim 9, characterized in that: The control method further includes: when the self-moving device reaches the first preset position, the charging station sends preset information to the self-moving device.

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