Charging control method, device and system of autonomous operation equipment and storage medium

Abstract

The invention discloses a charging control method, device and system for autonomous operation equipment and a storage medium. The charging control method comprises the following steps: acquiring working information of autonomous operation equipment; determining whether the working information meets a charging regression condition or not; if the working information meets the charging regression condition, controlling the autonomous operation equipment to move to a charging station, obtaining an energy module temperature obtained by monitoring an energy module through a temperature monitoring part, and determining whether the energy module temperature is smaller than a first preset temperature threshold value or not; if the temperature of the energy module is smaller than the first preset temperature threshold value, the energy module is controlled to start charging; if the temperature of the energy module is larger than or equal to the first preset temperature threshold value, the energy module is controlled to be in a non-charging state, and the charging state of the energy module is adjusted based on the working information. By adopting the scheme, the problem that the autonomous operation equipment is easy to damage when being charged at an unsuitable temperature is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and in particular to a charging control method, device, system and storage medium for autonomous operating equipment. Background Art

[0002] Autonomous operating equipment refers to equipment that can move within a preset area and autonomously perform specific operations according to set operating objectives. Autonomous operating equipment generally includes lawn mowing robots, sweeping and mopping robots, etc.

[0003] For a lawn mowing robot, a charging station of the lawn mowing robot is usually set up outdoors, so an energy module (usually a battery) serving as an energy source for the lawn mowing robot is usually charged in an outdoor environment.

[0004] Among all environmental factors, temperature has the greatest impact on the charging performance of the battery. If the temperature is too low, the diffusion process in the battery will slow down and the charging efficiency will decrease. If the temperature is too high, the side reactions in the battery will dominate, affecting the battery life. When the temperature rises rapidly, thermal runaway may occur, causing the entire battery to burn or explode. Therefore, it is necessary to detect and control the charging temperature of the autonomous operating equipment to prevent the energy module of the autonomous operating equipment from being damaged due to charging at an inappropriate temperature. Summary of the invention

[0005] The present invention provides a charging control method, device, system and storage medium for autonomous operating equipment to solve the problem that the energy module of the autonomous operating equipment is easily damaged when charged at an inappropriate temperature.

[0006] According to one aspect of the present invention, a charging control method for an autonomous operation device is provided, which is used in an autonomous operation system. The autonomous operation system includes an autonomous operation device, a charging station and a temperature monitoring component. The autonomous operation device includes an energy module. The temperature monitoring component is used to monitor the temperature of the energy module. The charging station is used to charge the energy module of the autonomous operation device. The charging control method includes:

[0007] Obtain working information of autonomous operating equipment;

[0008] Determining whether the working information satisfies a charging return condition;

[0009] If the working information satisfies the charging return condition, controlling the autonomous working device to move to the charging station, obtaining the energy module temperature obtained by the temperature monitoring component monitoring the energy module, and determining whether the energy module temperature is less than a first preset temperature threshold;

[0010] If the temperature of the energy module is lower than the first preset temperature threshold, controlling the energy module to start charging;

[0011] If the temperature of the energy module is greater than or equal to the first preset temperature threshold, the energy module is controlled to be in a non-charging state, and the charging state of the energy module is adjusted based on the working information.

[0012] In an optional embodiment of the present invention, the work information includes work plan information, the work plan information includes at least two work cycles, and each of the work cycles is associated with a work task;

[0013] The adjusting the charging state of the energy module based on the working information includes:

[0014] Determine a current working cycle of the autonomous operating device, wherein the current working cycle is the working cycle that the autonomous operating device is currently in;

[0015] Determining the completion status of the work tasks associated with the current work cycle;

[0016] The charging state of the energy module is adjusted based on the completion status.

[0017] In an optional embodiment of the present invention, adjusting the charging state of the energy module based on the completion status includes:

[0018] Determine whether all the work tasks associated with the current work cycle are completed based on the completion status;

[0019] If all the work tasks associated with the current work cycle are completed, the energy module is controlled to be in a non-charging state, and a step of determining whether the temperature of the energy module is less than a first preset temperature threshold is performed;

[0020] If the work tasks associated with the current work cycle are not all completed, determining whether the temperature of the energy module is less than a second preset temperature threshold, and the second preset temperature threshold is greater than the first preset temperature threshold;

[0021] If the temperature of the energy module is lower than the second preset temperature threshold, controlling the energy module to start charging;

[0022] If the temperature of the energy module is greater than or equal to the second preset temperature threshold, the energy module is controlled to remain in a non-charging state, and a step of determining whether the temperature of the energy module is less than the second preset temperature threshold is executed.

[0023] In an optional embodiment of the present invention, the current working cycle includes at least two working periods, and before determining whether the temperature of the energy module is less than the second preset temperature threshold, the method further includes:

[0024] Get the current time;

[0025] Determining whether the current working period has ended based on the current moment, wherein the current working period is the working period that the autonomous operating device is currently in;

[0026] If the current working period has not ended, executing the step of determining whether the temperature of the energy module is less than a second preset temperature threshold;

[0027] If the current working period has ended, determine the length of the time interval from the current moment to the next working period, determine the time required for the energy module to be charged to a preset power level, and adjust the charging state of the energy module based on the length of the time interval and the time required for charging.

[0028] In an optional embodiment of the present invention, adjusting the charging state of the energy module based on the length of the time interval and the duration required for charging includes:

[0029] Continuously determining whether the time interval is longer than the time required for charging;

[0030] If the time interval is longer than the time required for charging, the energy module is controlled to remain in a non-charging state, and whether the time interval is equal to the time required for charging is continuously determined. When the time interval is equal to the time required for charging, a step of determining whether the temperature of the energy module is less than a second preset temperature threshold is executed;

[0031] If the length of the time interval is less than or equal to the time required for charging, a step of determining whether the temperature of the energy module is less than a second preset temperature threshold is performed.

[0032] In an optional embodiment of the present invention, the working information includes at least one of current power, current voltage and working plan information; the working plan information includes at least two working cycles, each of the working cycles is associated with a working task, and the working cycle includes at least two working periods;

[0033] The charging return condition includes any one of the current power of the energy module dropping to a preset charging power, the current voltage of the energy module dropping to a preset charging voltage, entering a non-working period, and completing the work tasks associated with the current working cycle.

[0034] In an optional embodiment of the present invention, before obtaining the working information of the autonomous operating device, the method further includes:

[0035] Acquire a device type of the autonomous operation device, where the device type includes one of a random path robot and a planned path robot;

[0036] When the device type of the autonomous operating device is the random path robot, determining the work task is that the accumulated working time in the specified area within the current working cycle reaches the preset working time, wherein the current working cycle is the working cycle that the autonomous operating device is currently in;

[0037] When the device type of the autonomous operating device is the planned path robot, the work task is determined to be that the cutting coverage rate in the specified area within the current work cycle reaches a preset coverage rate.

[0038] According to another aspect of the present invention, a charging control device for autonomous operating equipment is provided, the charging control device for autonomous operating equipment comprising:

[0039] An information acquisition module is used to obtain working information of autonomous operation equipment;

[0040] A regression determination module, used to determine whether the working information meets the charging regression condition;

[0041] a motion control module, configured to control the autonomous operating device to move to a charging station if the operating information satisfies the charging return condition, obtain the energy module temperature obtained by the temperature monitoring component monitoring the energy module, and determine whether the energy module temperature is less than a first preset temperature threshold;

[0042] A charging control module, configured to control the energy module to start charging if the temperature of the energy module is lower than the first preset temperature threshold;

[0043] The adjustment module is used to control the energy module to a non-charging state if the temperature of the energy module is greater than or equal to the first preset temperature threshold, and adjust the charging state of the energy module based on the working information.

[0044] According to another aspect of the present invention, a charging control system for an autonomous operating device is provided, the charging control system comprising:

[0045] at least one processor; and

[0046] a memory communicatively connected to the at least one processor; wherein,

[0047] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the charging control method for autonomous operating equipment described in any embodiment of the present invention.

[0048] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the charging control method for autonomous operating equipment described in any embodiment of the present invention when executed by a processor.

[0049] The beneficial effects that can be achieved by the present invention are described in detail in the specific implementation section.

[0050] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 is a schematic diagram of an autonomous operation system according to a specific embodiment of the present invention.

[0053] Figure 2 It is a schematic diagram of a charging station according to a specific embodiment of the present invention.

[0054] Figure 3 It is a circuit framework diagram of an autonomous operation system according to a specific embodiment of the present invention.

[0055] Figure 4 It is a schematic diagram of a first switch circuit and a second switch circuit according to a specific embodiment of the present invention.

[0056] Figure 5 This is a flow chart of a charging control method for autonomous operating equipment provided in Example 1 of the present invention.

[0057] Figure 6 This is a flow chart of a charging control method for autonomous operating equipment provided in Embodiment 2 of the present invention.

[0058] Figure 7 This is a flow chart of another charging control method for autonomous operating equipment provided in Embodiment 2 of the present invention.

[0059] Figure 8 This is a flow chart of a charging control method for autonomous operating equipment provided in Example 3 of the present invention.

[0060] Fig. 9It is a structural schematic diagram of a charging control device for autonomous operating equipment provided according to Embodiment 5 of the present invention.

[0061] Fig.10 It is a structural schematic diagram of a charging control system of an autonomous operating device that implements a charging control method for autonomous operating devices according to an embodiment of the present invention. DETAILED DESCRIPTION

[0062] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0063] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0064] The charging control method of an autonomous operation device provided by an embodiment of the present invention can be used in an autonomous operation system, such as Figure 1 and Figure 2 As shown, the autonomous operation system includes an autonomous operation device 100 and a charging station 900 .

[0065] The autonomous operation equipment 100 is especially a robot that can autonomously move in a preset area and perform specific operations, such as a smart sweeper / vacuum cleaner that performs cleaning operations, or a smart lawn mower that performs mowing operations. Among them, the specific operation especially refers to the operation of processing the working surface and changing the state of the working surface. The present invention is described in detail using a smart lawn mower as an example. The autonomous operation equipment 100 can autonomously walk on the surface of the working area, and especially as a smart lawn mower, it can autonomously perform mowing operations on the ground. The autonomous operation equipment 100 includes at least a main body mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module, and the like.

[0066] The main mechanism usually includes a chassis and a shell, and the chassis is used to install and accommodate functional mechanisms and functional modules such as a mobile mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module. The shell is usually constructed to at least partially cover the chassis, mainly to enhance the aesthetics and recognition of the autonomous working equipment 100. In this embodiment, the shell is constructed to be able to translate and / or rotate relative to the chassis in a resettable manner under the action of an external force, and cooperates with an appropriate detection module, such as a Hall sensor, to further sense events such as collisions and lifting. The mobile mechanism is constructed to support the main mechanism on the ground and drive the main mechanism to move on the ground, and usually includes a wheeled mobile mechanism, a crawler or semi-crawler mobile mechanism, and a walking mobile mechanism. In this embodiment, the mobile mechanism is a wheeled mobile mechanism, including at least one driving wheel and at least one walking prime mover. The walking prime mover is preferably an electric motor, and in other embodiments, it can also be an internal combustion engine or a machine that uses other types of energy to generate power. In this embodiment, a left driving wheel, a left traveling prime mover driving the left driving wheel, a right driving wheel, and a right traveling prime mover driving the right driving wheel are preferably provided. In this embodiment, the straight-line travel of the autonomous working equipment is achieved by the left and right driving wheels rotating in the same direction and at the same speed, and the turning travel is achieved by the left and right driving wheels rotating in the same direction and at the same speed or in opposite directions. In other embodiments, the mobile mechanism may also include a steering mechanism independent of the driving wheel and a steering prime mover independent of the traveling prime mover. In this embodiment, the mobile mechanism also includes at least one driven wheel, which is typically configured as a universal wheel, and the driving wheel and the driven wheel are respectively located at the front and rear ends of the autonomous working equipment.

[0067] The working mechanism is constructed to perform specific work tasks, including a working part and a working prime mover that drives the working part to run. For example, for an intelligent sweeper / vacuum cleaner, the working part includes a roller brush, a dust suction tube, and a dust collection chamber, etc.; for an intelligent lawn mower, the working part includes a cutting blade or a cutting disc, and further includes a height adjustment mechanism for adjusting the mowing height and other components for optimizing or adjusting the mowing effect. The working prime mover is preferably an electric motor, and in other embodiments it can also be an internal combustion engine or a machine that uses other types of energy to generate power. In some other embodiments, the working prime mover and the travel prime mover are constructed as the same prime mover.

[0068] The energy module is configured to provide energy for various operations of the autonomous working device 100. In this embodiment, the energy module includes a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed outside the autonomous working device.

[0069] The detection module is constructed as at least one sensor that senses the environmental parameters of the autonomous operating equipment or its own working parameters. Typically, the detection module may include sensors related to the limitation of the working area, such as magnetic induction, collision, ultrasonic, infrared, radio and other types, and the sensor type is adapted to the position and quantity of the corresponding signal generating device. The detection module may also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, acceleration sensors, odometers, angle sensors, geomagnetic sensors, etc. The detection module may also include sensors related to its own working safety, such as obstacle sensors, lifting sensors, battery pack temperature sensors, etc. The detection module may also include sensors related to the external environment, such as ambient temperature sensors, ambient humidity sensors, light sensors, rain sensors, etc. In a specific embodiment, the detection module includes a temperature monitoring component, which is used to monitor the temperature of the energy module. The temperature monitoring component refers to a device that can monitor the temperature value. Preferably, the temperature monitoring component is a temperature sensor.

[0070] The interaction module is constructed to at least receive control command information input by the user, send information that needs to be perceived by the user, communicate with other systems or devices to send and receive information, etc. In this embodiment, the interaction module includes an input device provided on the autonomous operation equipment, which is used to receive control command information input by the user, typically such as a control panel, an emergency stop button, etc.; the interaction module also includes a display screen, an indicator light and / or a buzzer provided on the autonomous operation equipment, which allows the user to perceive information by emitting light or sound. In other embodiments, the interaction module includes a communication module provided on the autonomous operation equipment 100 and a terminal device independent of the autonomous operation equipment 100, such as a mobile phone, a computer, a network server, etc. The user's control command information or other information can be input on the terminal device and reach the autonomous operation equipment 100 via a wired or wireless communication module.

[0071] The control module generally includes at least one processor and at least one non-volatile memory, in which a pre-written computer program or instruction set is stored, and the processor controls the execution of the movement, work and other actions of the autonomous working device 100 according to the computer program or instruction set. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous working device 100, modify the parameters in the memory, etc. according to the signal of the detection module and / or the user control instruction.

[0072] In an optional embodiment of the present invention, the autonomous operation system also includes a boundary, which is used to define the working area of ​​the robot system, generally including an outer boundary and an inner boundary. The autonomous operation equipment 100 is limited to move and work within the outer boundary, outside the inner boundary, or between the outer boundary and the inner boundary. The boundary can be physical, typically such as a wall, a fence, a railing, etc.; the boundary can also be virtual, typically such as a boundary signal emitted by a boundary signal generating device, the boundary signal is usually an electromagnetic signal or an optical signal, or for the autonomous operation equipment 100 provided with a positioning device, a virtual boundary set in an electronic map exemplarily formed by two-dimensional or three-dimensional coordinates. In this embodiment, the boundary is constructed as a closed energized wire electrically connected to the boundary signal generating device, and the boundary signal generating device is usually arranged in the charging station 900.

[0073] The charging station 900 is usually constructed on or within a boundary for the autonomous working equipment 100 to park, and in particular, can supply energy to the autonomous working equipment 100 parked at the charging station 900. Specifically, the charging station 900 supplies energy to the energy module of the autonomous working equipment 100, and when the energy module includes a battery pack, the charging station 900 charges the battery pack.

[0074] The following is a specific example of a charging circuit structure for the charging station 900 to supply energy to the energy module. Figure 1 , Figure 3 and Figure 4 As shown, the energy module of the autonomous operation equipment 100 is configured to include an energy unit 12 and a charging connection structure X+, X-, the energy unit 12 is connected to the charging connection structure X+, and the charging station 900 is configured to include a power supply connection structure Y+, Y-, and the power supply connection structure Y+, Y- is configured to be docked with the charging connection structure X+, X-, so as to form a main power supply circuit between the charging station 900 and the autonomous operation equipment 100. An electronic switch module is provided on the main power supply circuit, and the control module is used to control the opening and closing of the electronic switch module, thereby controlling the on-off of the main power supply circuit. Specifically, when the autonomous operation equipment 100 is electrically connected to the charging station 900, that is, when the power supply connection structure Y+, Y- is docked with the charging connection structure X+, X-, the electronic switch module can be controlled to close, so that the main power supply circuit is in a pass state, and the charging station 900 provides electrical energy to the energy unit 12 of the autonomous operation equipment 100 for charging. When the autonomous operating device 100 is not electrically connected to the charging station 900, the electronic switch module is disconnected and the main power supply circuit is in an open circuit state. Even if the charging connection structures X+ and X- are short-circuited, the circuit will not be damaged.

[0075] In a specific embodiment, the control module is configured to include a control chip, and the electronic switch module includes a first switch circuit 141, a second switch circuit 142 and a capacitor C5; wherein, the input end 141i of the first switch circuit is connected to the charging connection structure X+, the output end 141o of the first switch circuit is connected to the power pin PA1 of the control module 11, the input end 142i of the second switch circuit is connected to the control end 141c of the first switch circuit, the output end 142c of the second switch circuit is grounded, and the control end 141c of the second switch circuit is connected to the control pin PA3 of the control chip 11; the first end of the capacitor C5 is connected to the control end 141c of the first switch circuit, and the second end of the capacitor C5 is grounded, that is, the capacitor C5 is connected in parallel with the input-output path of the second switch circuit 142, and the capacitor C5 is connected in parallel between the input end 142i of the second switch circuit and the ground end. By adopting the above scheme, when the control chip 11 is in the shutdown state, or when the energy unit 12 is exhausted and the control chip 11 cannot obtain the electric energy required for normal operation from the energy unit 12, the control chip 11 can be automatically powered on by docking the charging connection structure X+, X- of the autonomous operating equipment 11 with the power supply connection structure Y+, Y-, and then the energy unit 12 can be charged, that is, the energy module can be charged.

[0076] When the autonomous working device is a lawn mowing robot, since the charging station of the lawn mowing robot is usually set up outdoors, the energy module (generally a battery) serving as the energy source of the lawn mowing robot is usually charged in an outdoor environment. Among all environmental factors, temperature has the greatest impact on the charging performance of the battery. If the temperature is too low, the diffusion process in the battery will slow down and the charging efficiency will decrease. If the temperature is too high, the side reactions in the battery will dominate and affect the battery life. When the temperature rises rapidly, thermal runaway may occur, causing the entire battery to burn or explode. In order to prevent the battery of the lawn mowing robot from being damaged due to charging at an inappropriate temperature. An embodiment of the present invention provides a charging control method for autonomous working equipment.

[0077] Embodiment 1

[0078] Figure 5 This is a flow chart of a charging control method for autonomous operating equipment provided in the first embodiment of the present invention. This embodiment can be applied to the case of charging control of an energy module of an autonomous operating equipment in an autonomous operating system. The method can be executed by a charging control device of the autonomous operating equipment. The charging control device of the autonomous operating equipment can be implemented in the form of hardware and / or software. The charging control device of the autonomous operating equipment can be configured in the autonomous operating equipment. Figure 5 As shown, the charging control method includes:

[0079] S110. Obtain working information of the autonomous operating equipment.

[0080] Among them, the working information refers to the information related to the working parameters of the autonomous operating equipment in the process of completing the work. Preferably, the working information includes at least one of the current power, current voltage and work plan information; the current power is the current remaining power of the energy module of the autonomous operating equipment, the current voltage is the current voltage of the energy module of the autonomous operating equipment, and the work plan information is the work plan that the autonomous operating equipment needs to complete. The work plan information includes at least two working cycles, each of which is associated with a work task, and the working cycle includes at least two working time periods; the working cycle is the total time of a working cycle of the autonomous operating equipment. In a specific embodiment, a working cycle can be one day. The work task is the work that the autonomous operating equipment needs to complete in the working cycle. The working time period is the time period in which the autonomous operating equipment performs operations in a single working cycle.

[0081] Since there are many different types of autonomous operation equipment, the work tasks of different types of autonomous operation equipment will be correspondingly different. In an optional embodiment of the present invention, before obtaining the work information of the autonomous operation equipment, the method further includes:

[0082] The device type of the autonomous operation device is obtained, and the device type includes one of a random path robot and a planned path robot. The random path robot refers to a robot whose movement path is random when working, and the planned path robot refers to a robot that moves along a planned path when working.

[0083] When the device type of the autonomous operating device is the random path robot, the work task is determined to be the cumulative working time in the designated area within the current working cycle reaching the preset working time, wherein the current working cycle is the working cycle that the autonomous operating device is currently in. Since the movement path of the random path robot is random when working, repeated movements may occur. Therefore, it is more accurate to set the work tasks for the autonomous operating device based on the cumulative working time of the autonomous operating device at this time. The preset working time is the preset time that the autonomous operating device needs to work in the designated area. Users can adjust the length of each working cycle, the specific location of the designated area, and the preset working time according to different needs, and no specific restrictions are made here.

[0084] When the device type of the autonomous working device is the planned path robot, the work task is determined to be the cutting coverage rate in the designated area within the current working cycle to reach the preset coverage rate. Since the movement path of the planned path robot is planned when it is working, it is more accurate to set the work task for the autonomous working device based on the cutting coverage rate of the autonomous working device at this time. The preset coverage rate is the coverage rate that the preset autonomous working device needs to achieve when mowing the grass in the designated area. Users can adjust the length of each working cycle, the specific location of the designated area, and the preset coverage rate according to different needs, and no specific restrictions are made here.

[0085] S120: Determine whether the working information satisfies a charging return condition.

[0086] Among them, the charging return condition refers to the condition that the autonomous operation equipment needs to return to the charging station for charging. Preferably, the charging return condition includes any one of the current power of the energy module drops to the preset charging power, the current voltage of the energy module drops to the preset charging voltage, entering the non-working period, and completing the work tasks associated with the current working cycle. The preset charging power refers to the power that needs to be charged when the preset energy module is out of power. When the current power of the energy module drops to the preset charging power, it means that the autonomous operation equipment needs to be charged, so it needs to return to the charging station. The preset charging voltage refers to the voltage value when the preset energy module is out of power and needs to be charged. When the current voltage of the energy module drops to the preset charging voltage, it means that the autonomous operation equipment needs to be charged, so it needs to return to the charging station. The non-working period refers to the period other than the working period. When entering the non-working period, it means that the autonomous operation equipment does not need to work at this time, so it can return to the charging station and wait for the next work. When the autonomous operation equipment has completed the work tasks associated with the current working cycle, it means that the autonomous operation equipment no longer needs to work in the current working cycle, so it returns to the charging station and waits for the next work.

[0087] If the working information satisfies the charging return condition, steps S130, S140, and S150 are sequentially executed; if the working information does not satisfy the charging return condition, step S120 is executed.

[0088] S130: Control the autonomous operating equipment to move to a charging station.

[0089] Among them, when the working information of the autonomous operation equipment meets the charging return condition, it means that the autonomous operation equipment needs to return to the charging station at this time, so the autonomous operation equipment is controlled to move to the charging station at this time, so as to charge the autonomous operation equipment. When the energy module of the autonomous operation equipment is configured to include charging connection structures X+ and X- and the charging station is configured to include power supply connection structures Y+ and Y-, when the autonomous operation equipment moves to the charging station, the charging connection structures X+ and X- will dock with the power supply connection structures Y+ and Y-. At this time, it is only necessary to control the opening and closing of the electronic switch module to control the energy module to start charging or to be in a non-charging state, that is, to control the charging state of the energy module.

[0090] S140, obtaining the energy module temperature obtained by monitoring the energy module with a temperature monitoring component.

[0091] The energy module temperature refers to the temperature value of the energy module. When the energy module includes a battery pack, the energy module temperature is the battery pack temperature.

[0092] S150, determining whether the temperature of the energy module is less than a first preset temperature threshold.

[0093] If the temperature of the energy module is lower than the first preset temperature threshold, step S160 is executed; if the temperature of the energy module is higher than or equal to the first preset temperature threshold, step S170 is executed.

[0094] S160, controlling the energy module to start charging.

[0095] Among them, the first preset temperature threshold refers to the value that the suitable temperature of the energy module will be lower than when it is working. When the temperature of the energy module is less than the first preset temperature threshold, it means that the temperature of the energy module is the adaptive temperature at this time, so the energy module is controlled to start charging at this time. Preferably, the determination of whether the temperature of the energy module is less than the first preset temperature threshold includes continuously determining whether the temperature of the energy module is less than the first preset temperature threshold. Among them, continuously determining whether the temperature of the energy module is less than the first preset temperature threshold means continuously and uninterruptedly determining whether the temperature of the energy module is less than the first preset temperature threshold, that is, the step of determining whether the temperature of the energy module is less than the first preset temperature threshold is performed more than once, and will be performed multiple times. Therefore, when executing subsequent steps, the step of determining whether the temperature of the energy module is less than the first preset temperature threshold will also be executed, so that when the charging state of the energy module is subsequently adjusted based on the working information, as long as the temperature of the energy module is less than the first preset temperature threshold, the energy module will be controlled to start charging.

[0096] S170, controlling the energy module to be in a non-charging state, and adjusting the charging state of the energy module based on the working information.

[0097] Among them, when the temperature of the energy module is greater than or equal to the first preset temperature threshold, it means that the temperature of the energy module is not the adaptation temperature at this time, so the energy module is first controlled to be in a non-charging state. Since autonomous operating equipment usually has work tasks, adjusting the charging state of the energy module based on the work information at this time can better match the work needs of the autonomous operating equipment.

[0098] The above scheme obtains the working information of the autonomous working equipment, controls the autonomous working equipment to move to the charging station when the working information meets the charging return condition, and then obtains the energy module temperature obtained by the temperature monitoring component monitoring the energy module, determines whether the energy module temperature is less than the first preset temperature threshold, controls the energy module to start charging when the energy module temperature is less than the first preset temperature threshold, controls the energy module to be in a non-charging state when the energy module temperature is greater than or equal to the first preset temperature threshold, and adjusts the charging state of the energy module based on the working information, thereby preventing the energy module of the autonomous working equipment from being damaged due to charging at an inappropriate temperature. In addition, when the autonomous working equipment is a lawn mower robot, since the lawn mower robot usually works in the hot summer, the most common situation is that the temperature is too high. By determining whether the energy module temperature is less than the first preset temperature threshold, rather than determining whether the energy module temperature is in an appropriate temperature range, the speed of process execution can be increased.

[0099] Embodiment 2

[0100] Figure 6 A flowchart of a charging control method for an autonomous operating device is provided for the second embodiment of the present invention. The relationship between this embodiment and the above embodiment is that the first embodiment is an improvement. Optionally, the working information includes working plan information, and the working plan information includes at least two working cycles, each of which is associated with a working task; the charging state of the energy module is adjusted based on the working information, including: determining the current working cycle of the autonomous operating device, wherein the current working cycle is the working cycle that the autonomous operating device is currently in; determining the completion status of the working task associated with the current working cycle; and adjusting the charging state of the energy module based on the completion status. Figure 6 As shown, the charging control method includes:

[0101] S210: Acquire working information of the autonomous operation equipment, wherein the working information includes working plan information, the working plan information includes at least two working cycles, and each working cycle is associated with a working task.

[0102] The work plan information is the work plan that the autonomous operation equipment needs to complete. The work cycle is the total time of a work cycle of the autonomous operation equipment. In a specific embodiment, a work cycle can be one day. The work task is the work that the autonomous operation equipment needs to complete in the work cycle.

[0103] S220: Determine whether the working information satisfies a charging return condition.

[0104] If the working information satisfies the charging return condition, steps S230, S240, and S250 are sequentially executed; if the working information does not satisfy the charging return condition, step S220 is executed.

[0105] S230: Control the autonomous operating equipment to move to a charging station.

[0106] S240, obtaining the energy module temperature obtained by monitoring the energy module with a temperature monitoring component.

[0107] S250: Determine whether the temperature of the energy module is less than a first preset temperature threshold.

[0108] If the energy module temperature is lower than the first preset temperature threshold, step S260 is executed; if the energy module temperature is greater than or equal to the first preset temperature threshold, steps S270, S280 and S290 are executed sequentially.

[0109] S260, controlling the energy module to start charging.

[0110] S270, controlling the energy module to be in a non-charging state, and determining a current working cycle of the autonomous operating device, wherein the current working cycle is the working cycle that the autonomous operating device is currently in.

[0111] Among them, since the autonomous operating equipment has at least two working cycles, each working cycle is associated with a specific work task. By determining the current working cycle of the autonomous operating equipment, it is more convenient to know the work tasks that the autonomous operating equipment should complete in the current working cycle, that is, the work tasks associated with the current working cycle.

[0112] S280: Determine the completion status of the work tasks associated with the current work cycle.

[0113] The completion status of the work tasks associated with the current work cycle refers to whether the work tasks associated with the current work cycle are fully completed or not fully completed.

[0114] S290. Adjust the charging state of the energy module based on the completion status.

[0115] Among them, since the autonomous operating equipment has work tasks to be completed in each working cycle, if the charging status of the energy module of the autonomous operating equipment is only controlled according to the temperature of the energy module, it may cause the work tasks of the autonomous operating equipment to be unable to be completed. By adjusting the charging status of the energy module based on the completion status, the autonomous operating equipment can better achieve a balance between safe operation and completion of work tasks.

[0116] In an optional embodiment of the present invention, Figure 7 As shown, adjusting the charging state of the energy module based on the completion status includes:

[0117] S291. Determine whether all the work tasks associated with the current work cycle are completed based on the completion status.

[0118] If all the work tasks associated with the current work cycle are completed, step S292 is executed, and after step S292, the process returns to step S250 to determine whether the temperature of the energy module is less than the first preset temperature threshold. If all the work tasks associated with the current work cycle are not completed, step S293 is executed.

[0119] S292, controlling the energy module to be in a non-charging state.

[0120] Among them, when all the work tasks associated with the current work cycle are completed, it means that there are no subsequent work tasks in the current work cycle, so the energy module can be controlled to be in a non-charging state first, and then determine whether the temperature of the energy module is less than the first preset temperature threshold, and wait for the energy module temperature to return to a suitable temperature before starting charging, that is, charging will only start when the energy module temperature is less than the first preset temperature threshold. Since two adjacent work cycles usually have a long period of time, and usually experience a relatively low temperature at night, waiting for the temperature of the energy module to drop below the first preset temperature threshold before starting charging can also meet the charging time requirement.

[0121] S293: Determine whether the temperature of the energy module is less than a second preset temperature threshold, and the second preset temperature threshold is greater than the first preset temperature threshold.

[0122] If the temperature of the energy module is lower than the second preset temperature threshold, execute step S260 to control the energy module to start charging; if the temperature of the energy module is greater than or equal to the second preset temperature threshold, execute step S294 to control the energy module to remain in a non-charging state; and after executing step S294, execute step S293 to determine whether the temperature of the energy module is lower than the second preset temperature threshold.

[0123] Among them, when the work tasks associated with the current work cycle are not fully completed, if charging is performed only when the energy module temperature is less than the first preset temperature threshold, the work tasks may not be fully completed. Therefore, at this time, it is determined whether the energy module temperature is less than the second preset temperature threshold. The second preset temperature threshold is greater than the first preset temperature threshold. When the energy module temperature is less than the second preset temperature threshold, charging is performed. Although the energy module temperature is not a suitable temperature at this time, it is only slightly higher than the suitable temperature, which causes less damage to the energy module. At the same time, the autonomous operation equipment can complete the work tasks, so the autonomous operation equipment can successfully complete the work tasks while the energy module is less damaged. In addition, step S293, determining whether the energy module temperature is less than the second preset temperature threshold, can be continuously executed, that is, uninterruptedly executed, until the energy module temperature is less than the second preset temperature threshold, the energy module is controlled to start charging.

[0124] S294, controlling the energy module to remain in a non-charging state.

[0125] Among them, when the temperature of the energy module is greater than or equal to the second preset temperature threshold, it means that the temperature of the energy module is too high at this time. If charging is performed, there is a risk of thermal runaway causing damage to the energy module. Therefore, the energy module is controlled to remain in a non-charging state at this time, and the step of determining whether the temperature of the energy module is less than the second preset temperature threshold is executed. Charging is performed when the temperature of the energy module is less than the second preset temperature threshold, effectively preventing the energy module from being damaged due to charging when the temperature is too high.

[0126] Embodiment 3

[0127] Figure 8 A flowchart of a charging control method for an autonomous operating device provided in the third embodiment of the present invention. The relationship between this embodiment and the above embodiment is that the second embodiment is an improvement. Optionally, the current working cycle includes at least two working periods. Before determining whether the temperature of the energy module is less than the second preset temperature threshold, it also includes: obtaining the current moment; determining whether the current working period is over based on the current moment, wherein the current working period is the working period that the autonomous operating device is currently in; if the current working period is not over, executing the step of determining whether the temperature of the energy module is less than the second preset temperature threshold; if the current working period is over, determining the length of the time interval from the current moment to the next working period, determining the time required for the energy module to charge to a preset power, and adjusting the charging state of the energy module based on the length of the time interval and the time required for charging. Figure 8 As shown, the charging control method includes:

[0128] S310, obtaining working information of the autonomous operation equipment. The working information includes working plan information, the working plan information includes at least two working cycles, each of the working cycles is associated with a working task. The current working cycle includes at least two working periods.

[0129] The working period is the time period during which the autonomous operating equipment operates in a single working cycle.

[0130] S320: Determine whether the working information satisfies a charging return condition.

[0131] If the working information satisfies the charging return condition, steps S230, S240, and S250 are sequentially executed; if the working information does not satisfy the charging return condition, step S220 is executed.

[0132] S330, controlling the autonomous operating equipment to move to a charging station.

[0133] S340, obtaining the energy module temperature obtained by the temperature monitoring component monitoring the energy module.

[0134] S350, determining whether the temperature of the energy module is less than a first preset temperature threshold.

[0135] If the energy module temperature is lower than the first preset temperature threshold, step S360 is executed; if the energy module temperature is greater than or equal to the first preset temperature threshold, steps S370, S380 and S390 are executed sequentially.

[0136] S360, controlling the energy module to start charging.

[0137] S370, controlling the energy module to be in a non-charging state, and determining a current working cycle of the autonomous operating device, wherein the current working cycle is the working cycle that the autonomous operating device is currently in.

[0138] S380: Determine the completion status of the work tasks associated with the current work cycle.

[0139] S390. Determine whether all the work tasks associated with the current work cycle are completed based on the completion status.

[0140] If all the work tasks associated with the current work cycle are completed, step S3100 is executed, and after executing step S3100, the process returns to execute step S350 to determine whether the temperature of the energy module is less than the first preset temperature threshold. If all the work tasks associated with the current work cycle are not completed, steps S3110 and S3120 are executed in sequence.

[0141] S3100, controlling the energy module to be in a non-charging state.

[0142] S3110. Get the current time.

[0143] The current moment is the current time point.

[0144] S3120. Determine whether the current working period has ended based on the current moment, wherein the current working period is the working period in which the autonomous operating device is currently in.

[0145] Among them, the current working period usually includes a start time point and an end time point, so whether the current working period has ended can be determined based on the current moment. For example, when the current moment is later than the end time point of the current working period, it means that the current working period has ended. When the current moment is between the current working periods, that is, the current moment is between the start time point and the end time point, it means that the current working period has not ended.

[0146] If the current working period has not ended, execute step S3130, the step of determining whether the temperature of the energy module is less than a second preset temperature threshold; if the current working period has ended, execute steps S3150, S3160 and S3170.

[0147] S3130. Determine whether the temperature of the energy module is less than a second preset temperature threshold, and the second preset temperature threshold is greater than the first preset temperature threshold.

[0148] If the temperature of the energy module is lower than the second preset temperature threshold, execute step S360 to control the energy module to start charging; if the temperature of the energy module is greater than or equal to the second preset temperature threshold, execute step S3140 to control the energy module to remain in a non-charging state; and after executing step S3140, execute step S3130 to determine whether the temperature of the energy module is lower than the second preset temperature threshold.

[0149] Among them, when the current working period has not ended, it means that the autonomous operation equipment is still in the working period and theoretically needs to work. If it waits for the energy module temperature to be lower than the first preset temperature threshold before working, the work task will be difficult to complete. Therefore, the step of determining whether the energy module temperature is lower than the second preset temperature threshold is executed at this time. When the energy module temperature is lower than the second preset temperature threshold, the energy module starts to charge. Although the energy module temperature is not a suitable temperature at this time, it is only slightly higher than the suitable temperature, and the damage to the energy module is relatively small. At the same time, the autonomous operation equipment can also complete the work task better, so the autonomous operation equipment can successfully complete the work task while the damage to the energy module is relatively small.

[0150] S3140, controlling the energy module to remain in a non-charging state.

[0151] S3150, determining the length of the time interval from the current moment to the next working period.

[0152] The time interval from the current moment to the next working period is the time interval from the current moment to the start time of the next working period.

[0153] S3160, determining the time required for charging the energy module to a preset power level.

[0154] Among them, the preset power refers to the power that is sufficient for the preset autonomous operating equipment to operate, and the charging time refers to the time required for the energy module to charge from the current power to the preset power.

[0155] S3170. Adjust the charging state of the energy module based on the length of the time interval and the duration required for charging.

[0156] Among them, since there is usually a certain time interval between two adjacent working periods, if the time interval is long and the charging time is short, the energy module can be charged after naturally cooling down for a period of time in the non-charging state; if the time interval is short and the charging time is long, the energy module should be charged as soon as possible. Therefore, the charging state of the energy module can be adjusted based on the time interval and the charging time, so that the autonomous operating equipment can reach the preset power as much as possible while minimizing the damage to the energy module so as to successfully complete the work task.

[0157] In an optional embodiment of the present invention, adjusting the charging state of the battery pack based on the length of the time interval and the duration required for charging includes:

[0158] Continue to determine whether the time interval is longer than the charging time.

[0159] If the length of the time interval is greater than the time required for charging, the battery pack is controlled to remain in a non-charging state, and a step is continuously performed to determine whether the length of the time interval is equal to the time required for charging. When the length of the time interval is equal to the time required for charging, a step is performed to continuously determine whether the battery pack temperature is less than a second preset temperature threshold.

[0160] If the length of the time interval is less than or equal to the time required for charging, the step of continuously determining whether the temperature of the battery pack is less than a second preset temperature threshold is performed.

[0161] Among them, when the length of the time interval is greater than the time required for charging, it means that the energy module can still reach the preset power after cooling down for a period of time in a natural state and then charging. Therefore, at this time, controlling the energy module to remain in a non-charging state can prevent the energy module from being damaged due to charging when the temperature is too high.

[0162] When the length of the time interval is equal to the time required for charging, it means that charging at this time can just charge the energy module to the preset power. Therefore, the step of determining whether the temperature of the energy module is less than the second preset temperature threshold is executed at this time. Charging is performed when the temperature of the energy module is less than the second preset temperature threshold. This enables the autonomous operating equipment to reach the preset power as much as possible while minimizing damage to the energy module so as to successfully complete the work task.

[0163] Embodiment 4

[0164] Embodiment 4 of the present invention provides a specific implementation method of a charging control method for an autonomous operating device. In this embodiment, the autonomous operating device is a lawn mowing robot, and the energy module is a battery pack. A natural day is regarded as a working cycle, and a working cycle includes several working periods. The lawn mowing robot is allowed to perform lawn mowing operations during the working period, and is not allowed to perform lawn mowing operations during non-working periods. Exemplarily, 9:00-11:30 (a total of 150 minutes) and 13:30-17:00 (a total of 210 minutes) are designated as working periods every day, and the interval between the two working periods is 120 minutes. All other times are non-working periods. In some other embodiments, a week can also be regarded as a working cycle.

[0165] The time length for the lawn mower robot to work continuously from full power to minimum power is 40 minutes, and the time length for the lawn mower robot to charge from minimum power to full power is 70 minutes. The two time lengths are related to factors such as battery pack capacity and usage environment, and are not specifically limited here.

[0166] Taking a lawn mower robot with a random path robot as an example, the preset value of the cumulative working time in the working area within a natural day is 90 minutes, that is, the preset working time is 90 minutes. The preset working time is related to the area and shape of the working area. Usually, the preset working time is positively correlated with the area of ​​the working area and the complexity of the shape, which can be determined through testing.

[0167] The lawn mower robot was fully charged and started working in the designated work area at 9:00. 40 minutes later (9:40), it returned to the charging station due to power loss and met the charging return conditions, and established a stable electrical connection with the charging station.

[0168] Determine whether the battery pack temperature is less than the first preset temperature threshold. If it is less than the first preset temperature threshold, start charging. If it is greater than or equal to the first preset temperature threshold, determine whether the work task is completed. Because the cumulative working time on that day is 40 minutes, which does not reach the preset working time of 90 minutes, the work task is not completed, and determine whether the current working period is over. Since the current working period has not ended, it is determined whether the battery pack temperature is less than the second temperature threshold. Exemplarily, when the battery pack temperature is higher than the second temperature threshold, it remains docked but not charging, allowing the battery pack to cool naturally in the non-charging state, and the battery pack temperature is detected in real time or at regular intervals. Exemplarily, at 9:55, the battery pack temperature drops below the second temperature threshold, and charging begins. The lawn mowing robot is fully charged after 70 minutes (11:05) and then enters the working state.

[0169] The lawn mower robot will finish its work and return to the charging station at 11:30. Since it has only worked for 25 minutes, it will be fully charged in about 45 minutes. For example, after the lawn mower robot returns to the charging station at 11:30, the battery pack temperature is higher than the second temperature threshold. It is determined that the time interval between the current time 11:30 and the start time 13:30 of the next working period in the current working cycle is 120 minutes, and the time required for subsequent charging to the preset power is 45 minutes. As long as charging starts before 12:45, the lawn mower robot can be fully charged. Then, the non-charging state is maintained until 12:45 to determine whether the battery pack temperature is still higher than the second temperature threshold. If the battery pack temperature has dropped below the second temperature threshold, charging begins; otherwise, the non-charging state continues until the battery pack temperature is lower than the second temperature threshold or reaches 13:30. Between 11:30 and 12:45, once it is detected that the battery pack temperature drops to the first temperature threshold, charging begins.

[0170] In some embodiments, if the start time of the second working period is 12:00, the time interval length of 30 minutes (11:30 to 12:00) is not greater than the charging time required to charge to the preset power of 45 minutes, and charging starts as long as the battery pack temperature is not higher than the second temperature threshold. Further, in some embodiments, if the remaining power of the lawn mower robot is higher than the first power threshold, charging starts only when the temperature drops below the first temperature threshold, and if the remaining power is lower than the second power threshold, charging starts as long as the temperature is lower than the second temperature threshold.

[0171] The lawn mowing robot ends the work plan of the current cycle at 17:00, or returns to the charging station after the cumulative working time of the day reaches 90 minutes, and then starts charging after the battery pack temperature drops below the first temperature threshold.

[0172] Embodiment 5

[0173] Fig. 9 This is a schematic diagram of the structure of a charging control device for autonomous operation equipment provided in Embodiment 5 of the present invention. Fig. 9 As shown, the charging control device of the autonomous operation equipment includes:

[0174] An information acquisition module 51 is used to acquire working information of the autonomous operation equipment;

[0175] A regression determination module 52, used to determine whether the working information meets the charging regression condition;

[0176] A motion control module 53, configured to control the autonomous operating device to move to a charging station if the working information satisfies the charging return condition, obtain the energy module temperature obtained by the temperature monitoring component monitoring the energy module, and determine whether the energy module temperature is less than a first preset temperature threshold;

[0177] A charging control module 54, configured to control the energy module to start charging if the temperature of the energy module is lower than the first preset temperature threshold;

[0178] The adjustment module 55 is used to control the energy module to a non-charging state if the temperature of the energy module is greater than or equal to the first preset temperature threshold, and adjust the charging state of the energy module based on the working information.

[0179] In an optional embodiment of the present invention, the work information includes work plan information, the work plan information includes at least two work cycles, and each of the work cycles is associated with a work task;

[0180] The adjustment module 55 comprises:

[0181] A cycle determination submodule, used to determine the current working cycle of the autonomous operating device, wherein the current working cycle is the working cycle that the autonomous operating device is currently in;

[0182] A task determination submodule, used to determine the completion status of the work tasks associated with the current work cycle;

[0183] An adjustment submodule is used to adjust the charging state of the energy module based on the completion status.

[0184] In an optional embodiment of the present invention, the adjustment submodule includes:

[0185] A task determination unit, configured to determine whether all the work tasks associated with the current work cycle are completed based on the completion status;

[0186] a first control unit, configured to control the energy module to be in a non-charging state if all the work tasks associated with the current work cycle are completed, and to execute a step of determining whether the temperature of the energy module is less than a first preset temperature threshold;

[0187] a temperature determination unit, configured to determine whether the temperature of the energy module is less than a second preset temperature threshold if the work tasks associated with the current work cycle are not all completed, and the second preset temperature threshold is greater than the first preset temperature threshold;

[0188] A second control unit, configured to control the energy module to start charging if the temperature of the energy module is lower than the second preset temperature threshold;

[0189] The third control unit is used to control the energy module to remain in a non-charging state if the temperature of the energy module is greater than or equal to the second preset temperature threshold, and execute the step of determining whether the temperature of the energy module is less than the second preset temperature threshold.

[0190] In an optional embodiment of the present invention, the current working cycle includes at least two working periods, and the charging control device of the autonomous operating equipment further includes:

[0191] The time acquisition module is used to obtain the current time;

[0192] A time period determination module, used to determine whether the current working period has ended based on the current moment, wherein the current working period is the working period that the autonomous operating device is currently in;

[0193] A temperature determination module, configured to, if the current working period has not ended, execute a step of determining whether the temperature of the energy module is less than a second preset temperature threshold;

[0194] The duration determination module is used to determine the length of the time interval from the current moment to the next working period if the current working period has ended, determine the time required for charging the energy module to a preset power level, and adjust the charging state of the energy module based on the length of the time interval and the time required for charging.

[0195] In an optional embodiment of the present invention, the duration determination module includes:

[0196] A duration determination submodule, used to continuously determine whether the time interval is longer than the time required for charging;

[0197] a charging control submodule, configured to control the energy module to remain in a non-charging state if the time interval is longer than the time required for charging, and to continuously determine whether the time interval is equal to the time required for charging, and when the time interval is equal to the time required for charging, to execute a step of determining whether the temperature of the energy module is less than a second preset temperature threshold;

[0198] The temperature determination submodule is used to execute the step of determining whether the temperature of the energy module is less than a second preset temperature threshold if the length of the time interval is less than or equal to the time required for charging.

[0199] In an optional embodiment of the present invention, the working information includes at least one of current power, current voltage and working plan information; the working plan information includes at least two working cycles, each of the working cycles is associated with a working task, and the working cycle includes at least two working periods;

[0200] The charging return condition includes any one of the current power of the energy module dropping to a preset charging power, the current voltage of the energy module dropping to a preset charging voltage, entering a non-working period, and completing the work tasks associated with the current working cycle.

[0201] In an optional embodiment of the present invention, the charging control device of the autonomous operation equipment further includes:

[0202] A type acquisition module, used to acquire the device type of the autonomous operation device, wherein the device type includes one of a random path robot and a planned path robot;

[0203] A first task determination module is used to determine, when the device type of the autonomous operating device is the random path robot, that the work task is that the accumulated working time in the specified area within the current working cycle reaches the preset working time, wherein the current working cycle is the working cycle that the autonomous operating device is currently in;

[0204] The second task determination module is used to determine the work task as the cutting coverage rate in the specified area reaching a preset coverage rate within the current work cycle when the device type of the autonomous working device is the planned path robot.

[0205] The charging control device for autonomous operating equipment provided in the embodiment of the present invention can execute the charging control method for autonomous operating equipment provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0206] Embodiment 6

[0207] Fig.10A schematic diagram of the structure of a charging control system 60 of an autonomous operating device that can be used to implement an embodiment of the present invention is shown. The charging control system 60 of the autonomous operating device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The charging control system 60 of the autonomous operating device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0208] like Fig.10 As shown, the charging control system 60 of the autonomous operating equipment includes at least one processor 61, and a memory connected to the at least one processor 61 in communication, such as a read-only memory (ROM) 62, a random access memory (RAM) 63, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 61 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 62 or the computer program loaded from the storage unit 68 to the random access memory (RAM) 63. In RAM63, various programs and data required for the operation of the charging control system 60 of the autonomous operating equipment can also be stored. The processor 61, ROM62 and RAM63 are connected to each other through a bus 64. An input / output (I / O) interface 65 is also connected to the bus 64.

[0209] At least two components in the charging control system 60 of the autonomous operating device are connected to the I / O interface 65, including: an input unit 66, such as a keyboard, a mouse, etc.; an output unit 67, such as various types of displays, speakers, etc.; a storage unit 68, such as a disk, an optical disk, etc.; and a communication unit 69, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 69 allows the charging control system 60 of the autonomous operating device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0210] The processor 61 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 61 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 61 executes the various methods and processes described above, such as a charging control method for autonomous operating equipment.

[0211] In some embodiments, the charging control method of the autonomous operating equipment may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 68. In some embodiments, part or all of the computer program may be loaded and / or installed on the charging control system 60 of the autonomous operating equipment via the ROM 62 and / or the communication unit 69. When the computer program is loaded into the RAM 63 and executed by the processor 61, one or at least two steps of the charging control method of the autonomous operating equipment described above may be performed. Alternatively, in other embodiments, the processor 61 may be configured to execute the charging control method of the autonomous operating equipment in any other appropriate manner (for example, by means of firmware).

[0212] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or at least two computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0213] The computer programs for implementing the methods of the present invention may be written in any combination of one or at least two programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0214] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or at least two lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0215] To provide interaction with a user, the systems and techniques described herein may be implemented on a charging control system for an autonomous operating device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user can provide input to the charging control system for the autonomous operating device. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0216] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0217] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0218] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0219] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A charging control method for autonomous operation equipment, used in an autonomous operation system, wherein the autonomous operation system comprises autonomous operation equipment, a charging station and a temperature monitoring component, wherein the autonomous operation equipment comprises an energy module, the temperature monitoring component is used to monitor the temperature of the energy module, and the charging station is used to charge the energy module of the autonomous operation equipment, characterized in that: The charging control method comprises: Obtain working information of autonomous operating equipment; Determining whether the working information satisfies a charging return condition; If the working information satisfies the charging return condition, controlling the autonomous working device to move to the charging station, obtaining the energy module temperature obtained by the temperature monitoring component monitoring the energy module, and determining whether the energy module temperature is less than a first preset temperature threshold; If the temperature of the energy module is lower than the first preset temperature threshold, controlling the energy module to start charging; If the temperature of the energy module is greater than or equal to the first preset temperature threshold, the energy module is controlled to be in a non-charging state, and the charging state of the energy module is adjusted based on the working information.

2. The charging control method of the autonomous operation equipment according to claim 1, characterized in that: The work information includes work plan information, the work plan information includes at least two work cycles, and each of the work cycles is associated with a work task; The adjusting the charging state of the energy module based on the working information includes: Determine a current working cycle of the autonomous operating device, wherein the current working cycle is the working cycle that the autonomous operating device is currently in; Determining the completion status of the work tasks associated with the current work cycle; The charging state of the energy module is adjusted based on the completion status.

3. The charging control method of the autonomous operation equipment according to claim 2, characterized in that: The adjusting the charging state of the energy module based on the completion status includes: Determine whether all the work tasks associated with the current work cycle are completed based on the completion status; If all the work tasks associated with the current work cycle are completed, the energy module is controlled to be in a non-charging state, and a step of determining whether the temperature of the energy module is less than a first preset temperature threshold is performed; If the work tasks associated with the current work cycle are not all completed, determining whether the temperature of the energy module is less than a second preset temperature threshold, and the second preset temperature threshold is greater than the first preset temperature threshold; If the temperature of the energy module is lower than the second preset temperature threshold, controlling the energy module to start charging; If the temperature of the energy module is greater than or equal to the second preset temperature threshold, the energy module is controlled to remain in a non-charging state, and a step of determining whether the temperature of the energy module is less than the second preset temperature threshold is performed.

4. The charging control method of the autonomous operation equipment according to claim 3, characterized in that: The current working cycle includes at least two working periods, and before determining whether the temperature of the energy module is less than the second preset temperature threshold, the method further includes: Get the current time; Determining whether the current working period has ended based on the current moment, wherein the current working period is the working period that the autonomous operating device is currently in; If the current working period has not ended, executing the step of determining whether the temperature of the energy module is less than a second preset temperature threshold; If the current working period has ended, determine the length of the time interval from the current moment to the next working period, determine the time required for the energy module to be charged to a preset power level, and adjust the charging state of the energy module based on the length of the time interval and the time required for charging.

5. The charging control method of the autonomous operation equipment according to claim 4, characterized in that: The adjusting the charging state of the energy module based on the length of the time interval and the duration required for charging includes: Continuously determining whether the time interval is longer than the time required for charging; If the time interval is longer than the time required for charging, the energy module is controlled to remain in a non-charging state, and whether the time interval is equal to the time required for charging is continuously determined. When the time interval is equal to the time required for charging, a step of determining whether the temperature of the energy module is less than a second preset temperature threshold is executed; If the length of the time interval is less than or equal to the time required for charging, a step of determining whether the temperature of the energy module is less than a second preset temperature threshold is performed.

6. The charging control method for autonomous working equipment according to any one of claims 1 to 5, characterized in that: The working information includes at least one of current power, current voltage and working plan information; the working plan information includes at least two working cycles, each of the working cycles is associated with a working task, and the working cycle includes at least two working periods; The charging return condition includes any one of the current power of the energy module dropping to a preset charging power, the current voltage of the energy module dropping to a preset charging voltage, entering a non-working period, and completing the work tasks associated with the current working cycle.

7. The charging control method of the autonomous operation equipment according to claim 6, characterized in that: Before obtaining the working information of the autonomous operation equipment, the method further includes: Acquire a device type of the autonomous operation device, where the device type includes one of a random path robot and a planned path robot; When the device type of the autonomous operating device is the random path robot, determining the work task is that the accumulated working time in the specified area within the current working cycle reaches the preset working time, wherein the current working cycle is the working cycle that the autonomous operating device is currently in; When the device type of the autonomous operating device is the planned path robot, the work task is determined to be that the cutting coverage rate in the specified area within the current work cycle reaches a preset coverage rate.

8. A charging control device for autonomous operating equipment, characterized in that: include: An information acquisition module is used to obtain working information of autonomous operation equipment; A regression determination module, used to determine whether the working information meets the charging regression condition; a motion control module, configured to control the autonomous operating device to move to a charging station if the operating information satisfies the charging return condition, obtain the energy module temperature obtained by the temperature monitoring component monitoring the energy module, and determine whether the energy module temperature is less than a first preset temperature threshold; A charging control module, configured to control the energy module to start charging if the temperature of the energy module is lower than the first preset temperature threshold; The adjustment module is used to control the energy module to a non-charging state if the temperature of the energy module is greater than or equal to the first preset temperature threshold, and adjust the charging state of the energy module based on the working information.

9. A charging control system for autonomous operating equipment, characterized in that: The charging control system comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the charging control method of the autonomous working equipment described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the charging control method for the autonomous working equipment according to any one of claims 1 to 7 when executed.

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