Charging switching method for self-moving equipment, self-moving equipment and readable storage medium

Abstract

The invention belongs to the technical field of self-moving device charging control, and discloses a self-moving device charging switching method, a self-moving device and a readable storage medium, and the method comprises the steps: determining whether the self-moving device needs to be charged or not when the self-moving device is in a power-on state; when it is determined that the self-moving device needs to be charged, whether the self-moving device is in a charging switching state or not is determined according to the current working parameters; the charging switching state refers to a state of switching a default wired charging state of the self-moving equipment into a wireless charging state; when it is determined that the self-moving device is in the charging switching state, the self-moving device is controlled to achieve wireless charging; the method is not limited to one charging mode any more, under the condition that the wireless charging mode is met, automatic charging mode switching can be achieved, the charging intelligent degree is improved, and then the follow-up working efficiency of the self-moving device is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of self-mobile device charging control, and in particular to a self-mobile device charging switching method, a self-mobile device and a readable storage medium. Background Art

[0002] A self-moving device is an intelligent robot used in a courtyard. A power supply device is provided in the self-moving device, and a charging device for charging the power supply device is provided in the external environment. The charging device can be divided into a wired charging device and a wireless charging device. However, at present, when the self-moving device needs to be charged, once a charging method is selected, it will be charged in this way all the time, and the charging method cannot be automatically switched under different demand environments. The intelligent degree of charging is obviously not high.

[0003] Therefore, those skilled in the art are in urgent need of finding a method that can solve the current charging problem of mobile devices. Summary of the invention

[0004] Based on this, it is necessary to provide a self-mobile device charging switching method, a self-mobile device and a readable storage medium to address the above technical problems, so as to solve the problem of low charging intelligence in the prior art.

[0005] To achieve the above object, a method for switching charging of a mobile device is provided, the method comprising:

[0006] When the self-mobile device is in a powered-on state, determining whether the self-mobile device needs to be charged;

[0007] When it is determined that the self-mobile device needs to be charged, determining whether the self-mobile device is in a charging switching state according to current working parameters; the charging switching state refers to a state in which the default wired charging of the self-mobile device is switched to wireless charging;

[0008] When it is determined that the device is in the charging switching state, the self-mobile device is controlled to realize wireless charging.

[0009] Optionally, the determining that the mobile device needs to be charged includes:

[0010] After determining that the current power of the self-moving device is lower than a preset power threshold, determining that the self-moving device needs to be charged;

[0011] Or, after receiving a charging instruction sent by the terminal, determining that the mobile device needs to be charged;

[0012] Alternatively, the current available working time of the self-moving device is determined according to the current power level of the automatic device, and after determining that the available working time is less than the estimated completion time of the remaining work tasks, it is determined that the self-moving device needs to be charged.

[0013] Optionally, the current working parameter includes the current power level of the mobile device after receiving the wireless charging instruction; and determining whether the mobile device is in a charging switching state according to the current working parameter includes:

[0014] Determine whether the current power of the current working parameter is lower than a required power threshold; the required power threshold is a minimum power value that supports wireless charging of the mobile device;

[0015] After determining that the current power level is not lower than the required power level threshold, determining that the mobile device is in the charging switching state;

[0016] After determining that the current power level is lower than the required power level threshold, it is determined that the self-mobile device is not in the charging switching state.

[0017] Optionally, the current working parameters include current power and location information of the mobile device after receiving the wireless charging instruction; and determining whether the mobile device is in a charging switching state according to the current working parameters includes:

[0018] Determine whether the current power of the current working parameter is lower than the required power threshold, and determine whether the self-mobile device has moved to the charging position of the wireless charging device according to the position information; the required power threshold is the minimum power value supporting the self-mobile device;

[0019] After determining that the current power level is not lower than the required power level threshold and determining that the self-mobile device has moved to the charging position of the wireless charging device, determining that the self-mobile device is in the charging switching state;

[0020] After determining that the current power level is not lower than the required power level threshold and determining that the self-mobile device has not moved to the charging position of the wireless charging device, determining that the self-mobile device is not in the charging switching state;

[0021] After determining that the current power level is lower than the required power level threshold, it is determined that the self-mobile device is not in the charging switching state; the current power level is lower than the required power level threshold, and the mobile device cannot move the self-mobile device to the charging position of the wireless charging device.

[0022] Optionally, controlling the mobile device to realize wireless charging includes:

[0023] When it is determined that the self-mobile device is in a wireless charging state, a locking control signal is sent to the relay within a preset interval time threshold to control the self-mobile device to achieve wireless charging; the locking control signal is used to control the self-mobile device to always be in a wireless charging state.

[0024] Optionally, controlling the mobile device to realize wireless charging includes:

[0025] Sending a handshake request to the battery in the mobile device;

[0026] When it is determined that the handshake is successful based on the handshake request, determining whether the battery is in a charging state according to charging information fed back by the successful handshake;

[0027] When it is determined that the battery is not in a charging state, feeding back charging state information to the wireless charging device;

[0028] Under the charging status information, the mobile device is controlled to realize wireless charging on the wireless charging device; the charging status information is information that instructs the wireless charging device to start power supply.

[0029] Optionally, controlling the mobile device to realize wireless charging includes:

[0030] Sending a handshake request to the wireless charging device in the mobile device;

[0031] When the handshake is successful based on the handshake request, determining whether the wireless charging device can supply power to the mobile device according to the charging information fed back by the successful handshake;

[0032] When it is determined that the wireless charging device can supply power to the self-moving device, the self-moving device is controlled to realize wireless charging on the wireless charging device.

[0033] Optionally, controlling the mobile device to realize wireless charging includes:

[0034] Determining whether the charging parameter received from the mobile device reaches a preset charging parameter;

[0035] When it is determined that the charging parameter received from the mobile device reaches the preset charging parameter, the mobile device is controlled to perform wireless charging on the wireless charging apparatus.

[0036] Optionally, determining whether the mobile device has moved to a charging position of the wireless charging device according to the position information includes:

[0037] Controlling the mobile device to move to a preset recharging position of the wireless charging device based on the positioning information;

[0038] After controlling the self-moving device to perform a preset cleaning action at the preset recharging position, determining whether the self-moving device has moved to the charging position of the wireless charging device by the range between the position information between the self-moving device and the wireless charging device and the preset position information;

[0039] After determining that the position information between the mobile device and the wireless charging device falls within the range of the preset position information, determining that the mobile device moves to the charging position of the wireless charging device;

[0040] When it is determined that the position information between the mobile device and the wireless charging device does not fall within the range of the preset position information, it is determined that the mobile device has not moved to the charging position of the wireless charging device.

[0041] Optionally, after determining that the mobile device has not moved to the charging position of the wireless charging device, the method further includes:

[0042] In the process of controlling the self-mobile device to continue adjusting the body and induction with the wireless charging device, after determining that the current power is lower than the second preset power threshold, the self-mobile device is controlled to realize wired charging.

[0043] To achieve the above object, a self-mobile device is also provided, wherein the memory stores a self-mobile device charging switching program, and the controller controls the self-mobile device charging switching program to implement the steps of the self-mobile device charging switching method.

[0044] To achieve the above-mentioned purpose, a computer-readable storage medium is further provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned self-charging switching method for mobile equipment are implemented.

[0045] The self-mobile device charging switching method provided by the present invention includes: when the self-mobile device is in the power-on state, determining whether the self-mobile device needs to be charged; when it is determined that the self-mobile device needs to be charged, determining whether the self-mobile device is in a charging switching state according to current working parameters; the charging switching state refers to switching the default wired charging of the self-mobile device to a wireless charging state; when it is determined that the self-mobile device is in the charging switching state, controlling the self-mobile device to realize wireless charging. In this way, it is no longer limited to one charging method. When the wireless charging method is satisfied, the charging method can be automatically switched, the charging intelligence level is improved, and the subsequent work efficiency of the self-mobile device is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0047] Figure 1 It is a flowchart of a method for switching charging of a mobile device in one embodiment of the present invention.

[0048] Figure 2 It is a schematic block diagram of a self-moving device in one embodiment of the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are 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 are within the scope of protection of the present invention.

[0050] like Figure 1 and 2 As shown, a charging switching method for a self-mobile device provided by an embodiment of the present invention can be applied to a controller in a self-mobile device, wherein the controller can also be understood as an MCU (microcontroller unit) or other devices with the same function, and the method comprises the following steps:

[0051] S10, when the self-mobile device is in a powered-on state, determining whether the self-mobile device needs to be charged;

[0052] It can be understood that when the self-mobile device is in the turned-on state, it means that the self-mobile device is working or about to work (it also means that the self-mobile device can switch the default wired charging mode to the wireless charging mode), wherein the self-mobile device is a robot used in the courtyard, including but not limited to lawn mowing robots, snow sweeping robots and leaf blowing robots; the self-mobile device can be divided into two charging methods, one is a wired charging method, and the other is a wireless charging method, wherein the wired charging method is equivalent to inserting the charging connector on the machine when the self-mobile device is charging (including manually inserting the charging plug into the self-mobile device, and also including automatically inserting the charging plug of the self-mobile device into the charging device), and the wireless charging method is equivalent to coupling and charging the receiving module in the self-mobile device with the sending module in the wireless charging device.

[0053] In one embodiment, the method further comprises:

[0054] When the mobile device is in a powered-off state or the wireless charging mode is not started, the wired charging of the mobile device is implemented by a default wired charging circuit.

[0055] In this embodiment, when the self-mobile device is in the off state or the wireless charging mode is not started (the wireless charging mode and the wireless charging circuit are not activated), the wired charging circuit is used to provide power for the self-mobile device, that is, in the off state, the self-mobile device cannot achieve wireless charging. The scenario corresponding to the above embodiment is that when the self-mobile device has not been started for a long time, the self-mobile device can only be powered by the wired charging method.

[0056] In one embodiment, determining that the mobile device needs to be charged includes:

[0057] After determining that the current power of the self-moving device is lower than a preset power threshold, determining that the self-moving device needs to be charged;

[0058] Or, after receiving a charging instruction sent by the terminal, determining that the mobile device needs to be charged;

[0059] Alternatively, the current available working time of the self-moving device is determined according to the current power level of the automatic device, and after determining that the available working time is less than the estimated completion time of the remaining work tasks, it is determined that the self-moving device needs to be charged.

[0060] Understandably, the method for determining that the self-mobile device needs to be charged can be triggered by the current working power of the self-mobile device, or the charging instruction issued by the terminal connected to the self-mobile device, or the completion time of the remaining work tasks; the first power threshold can be 20% of the total power; the terminal can be a mobile phone, tablet or handle connected to the self-mobile device, wherein the connection method can be one or more of WiFi connection, 4g connection or Bluetooth connection; the working time refers to the time that the current power of the self-mobile device can work after the working motor is turned on; the remaining work tasks refer to the remaining work tasks of the current self-mobile device based on all work tasks, wherein the current remaining work tasks will correspond to an estimated completion time, and the estimated completion time will change with the task amount of the remaining work tasks, which means that when the self-mobile device completes the work tasks, it processes the work area in time.

[0061] S20, when it is determined that the self-mobile device needs to be charged, determining whether the self-mobile device is in a charging switching state according to the current working parameters; the charging switching state refers to a state in which the default wired charging of the self-mobile device is switched to wireless charging;

[0062] It can be understood that two charging circuits connected to the controller are provided in the mobile device, wherein the controller is first connected to the MOS tube, which is then connected to the relay, and finally the relay is connected to the wired charging circuit or the wireless charging circuit; the current working parameters include the current power of the mobile device after receiving the wireless charging instruction, or the current power and location information of the mobile device after receiving the wireless charging instruction.

[0063] It should be noted that the mobile device is always connected to the wired charging circuit, that is, the above-mentioned relay is always connected to the wired charging circuit (even if the mobile device is out of power, the relay is always connected to the wired charging circuit). The specific reason is that when the mobile device uses wireless charging, the receiving module installed in it needs to have power to couple with the sending module in the wireless charging device, and it also needs to move to the wireless charging device and also needs to be positioned with the wireless charging device. That is, when the mobile device is low on power or out of power, it is difficult to achieve wireless charging.

[0064] In one embodiment, the current working parameter includes the current power of the mobile device after receiving the wireless charging instruction; and determining whether the mobile device is in a charging switching state according to the current working parameter includes:

[0065] Determine whether the current power of the current working parameter is lower than a required power threshold; the required power threshold is a minimum power value that supports wireless charging of the mobile device;

[0066] After determining that the current power level is not lower than the required power level threshold, determining that the mobile device is in the charging switching state;

[0067] After determining that the current power level is lower than the required power level threshold, it is determined that the self-mobile device is not in the charging switching state.

[0068] Understandably, the required power threshold refers to the minimum power value supporting wireless charging from a mobile device, which includes the power required for coupling between a receiving module in a mobile device and a transmitting module in a wireless charging device, the power required for positioning between a positioning module in a mobile device and a positioning beacon in a wireless charging device, and the power required for moving a mobile device from a current position to a wireless charging device, that is, the value is a dynamically changing value;

[0069] The specific method for determining the required power threshold is as follows: when the self-mobile device moves from the current position to the position of the wireless charging device for wireless charging, the first power required for the moving process is determined based on the distance between the two positions, the second power required for coupling with the sending module in the wireless charging device is determined based on the power required for starting the receiving module in the self-mobile device, and the third power required for positioning by the positioning module in the self-mobile device and the positioning beacon in the wireless charging device (a magnetic induction coil is provided in the self-mobile device, and a beacon for positioning is provided on the wireless charging device. Only after the magnetic induction coil senses the beacon can it be determined that the positioning of the self-mobile device and the wireless charging device is completed. At this time, the self-mobile device can be wirelessly charged. Therefore, the power required for the time required for the self-mobile device to locate the beacon can be reserved). Finally, the first power, the second power and the third power are added together to obtain the required power threshold;

[0070] This embodiment determines whether the mobile device has reached the state of switching to wireless charging by judging whether the current power level is lower than the required power level threshold, thereby improving the efficiency of judging the charging mode.

[0071] In one embodiment, the current power and location information of the self-moving device; and determining whether the self-moving device is in a charging switching state according to the current working parameters include:

[0072] Determine whether the current power of the current working parameter is lower than the required power threshold, and determine whether the self-mobile device has moved to the charging position of the wireless charging device according to the position information; the required power threshold is the minimum power value supporting the self-mobile device;

[0073] After determining that the current power level is not lower than the required power level threshold and determining that the self-mobile device has moved to the charging position of the wireless charging device, determining that the self-mobile device is in the charging switching state;

[0074] After determining that the current power level is not lower than the required power level threshold and determining that the self-mobile device has not moved to the charging position of the wireless charging device, determining that the self-mobile device is not in the charging switching state;

[0075] After determining that the current power level is lower than the required power level threshold, it is determined that the self-mobile device is not in the charging switching state; the current power level is lower than the required power level threshold, and the mobile device cannot move the self-mobile device to the charging position of the wireless charging device.

[0076] It is understandable that the required power threshold is as explained in the above embodiment and will not be repeated here; the charging position refers to the charging position where the receiving module in the mobile device is coupled with the sending module in the wireless charging device;

[0077] This embodiment simultaneously determines whether the current power level is lower than the required power level threshold, and whether the mobile device has moved to the charging position of the wireless charging device. Through the above two judgment conditions, it can be quickly determined whether the mobile device can switch to wireless charging, further improving the efficiency of wireless charging method judgment.

[0078] S30, when it is determined that the device is in the charging switching state, controlling the mobile device to realize wireless charging.

[0079] It can be understood that when in the charging switching state, the controller switches the above-mentioned default wired charging to wireless charging, that is, the above-mentioned relay is connected to the wireless charging circuit. At this time, the receiving module on the mobile device can be coupled with the sending module of the wireless charging device.

[0080] In the embodiment of step S10 to step S30, there is no longer a limit to one charging method. When the wireless charging method is satisfied, the charging method can be automatically switched to improve the intelligent charging level, thereby ensuring the subsequent work efficiency of the mobile device.

[0081] In one embodiment, controlling the mobile device to realize wireless charging includes:

[0082] When it is determined that the self-mobile device is in a wireless charging state, a locking control signal is sent to the relay within a preset interval time threshold to control the self-mobile device to achieve wireless charging; the locking control signal is used to control the self-mobile device to always be in a wireless charging state.

[0083] Understandably, in the above-mentioned circuit, no matter whether the current relay is connected to a wired charging circuit or a wireless charging circuit, as long as the relay is connected to one of the circuits, the controller will always send a lock control signal to the relay (equivalent to maintaining the voltage of the current circuit through the MOS tube to maintain the current state);

[0084] In this embodiment, when the mobile device is in the wireless charging state, the mobile device is controlled to be in the wireless charging state all the time.

[0085] In one embodiment, controlling the mobile device to realize wireless charging includes:

[0086] Sending a handshake request to the battery in the mobile device;

[0087] When it is determined that the handshake is successful based on the handshake request, determining whether the battery is in a charging state according to charging information fed back by the successful handshake;

[0088] When it is determined that the battery is not in a charging state, feeding back charging state information to the wireless charging device;

[0089] Under the charging status information, the mobile device is controlled to realize wireless charging on the wireless charging device; the charging status information is information that instructs the wireless charging device to start power supply.

[0090] Understandably, the battery may include a battery MCU, wherein the battery MCU may establish a communication link with the controller, a handshake request is equivalent to the controller sending a handshake request to the battery MCU, and a successful handshake request is equivalent to a successful establishment of a communication link between the controller and the battery MCU; the charging information is the battery information fed back by the battery MCU after the communication link is established, and the charging information may be used to determine whether the current battery is being charged by wire;

[0091] This embodiment determines whether wireless charging is possible through a communication link between a controller and a battery in a mobile device, thereby improving the efficiency of determining the wireless charging method.

[0092] In another embodiment, when it is determined that the battery is in a charging state, the slave mobile device continues to be controlled to maintain a default wired charging state.

[0093] Furthermore, the controlling the mobile device to realize wireless charging includes:

[0094] Determining whether the charging parameter received from the mobile device reaches a preset charging parameter;

[0095] When it is determined that the charging parameter received from the mobile device reaches the preset charging parameter, the mobile device is controlled to perform wireless charging on the wireless charging apparatus.

[0096] Understandably, the charging parameter may be the charging voltage or charging current received by the receiving module in the mobile device; the preset charging parameter refers to the parameter range that can realize wireless charging;

[0097] This embodiment determines whether wireless charging can be performed by judging whether the charging parameters reach preset charging parameters, thereby improving the efficiency of wireless charging mode judgment.

[0098] In another embodiment, when it is determined that the charging parameters received from the mobile device do not reach the preset charging parameters, after restarting the wireless charging device, it is re-determined whether the charging parameters received from the mobile device reach the preset charging parameters; understandably, the restart of the wireless charging device can be achieved by the controller feeding back information that the charging parameters do not reach the preset charging parameters to the wireless charging device.

[0099] In one embodiment, controlling the mobile device to realize wireless charging includes:

[0100] Sending a handshake request to the wireless charging device in the mobile device;

[0101] When the handshake is successful based on the handshake request, determining whether the wireless charging device can supply power to the mobile device according to the charging information fed back by the successful handshake;

[0102] When it is determined that the wireless charging device can supply power to the self-moving device, the self-moving device is controlled to realize wireless charging on the wireless charging device.

[0103] Understandably, the wireless charging device can supply power to the mobile device, so there is no problem with the wireless charging device (such as the problem of being occupied by other devices or the problem of the charging device being damaged);

[0104] The wireless charging device in this embodiment may also be provided with a control chip or a communication chip, and implement the above-mentioned handshake request with the controller, that is, establish a communication link between the wireless charging device and the controller, and determine whether wireless charging can be performed by judging whether the wireless charging device can supply power to the mobile device, thereby improving the efficiency of judging the wireless charging method.

[0105] In another embodiment, when it is determined that the wireless charging device cannot supply power to the self-mobile device, the self-mobile device continues to be controlled to maintain a default wired charging state.

[0106] In one embodiment, determining whether the mobile device has moved to a charging position of the wireless charging device according to the position information includes:

[0107] Controlling the mobile device to move to a preset recharging position of the wireless charging device based on the positioning information;

[0108] After controlling the self-moving device to perform a preset cleaning action at the preset recharging position, determining whether the self-moving device has moved to the charging position of the wireless charging device by the range between the position information between the self-moving device and the wireless charging device and the preset position information;

[0109] After determining that the position information between the mobile device and the wireless charging device falls within the range of the preset position information, determining that the mobile device moves to the charging position of the wireless charging device;

[0110] When it is determined that the position information between the mobile device and the wireless charging device does not fall within the range of the preset position information, it is determined that the mobile device has not moved to the charging position of the wireless charging device.

[0111] Understandably, the preset cleaning action refers to a cleaning action performed when the mobile device first moves to the surface of the wireless charging device, such as at a preset recharging position at a certain distance from the wireless charging device, first pile up from the preset recharging position in the direction of the functional module, clean the impurities on the surface of the wireless charging device, then kick from the back of the wireless charging device to the preset recharging position, and finally rotate the body and move to the charging position of the wireless charging device, wherein a positioning module is provided at a position away from the functional module, and the functional module refers to the front of the vehicle set by the mobile device, such as the front of a lawn mowing vehicle, a front of a snow sweeping vehicle, or a front of a leaf blowing vehicle, etc., and the impurities may be grass, snow, or leaves, etc.; the position information is information located by RTK, a wheel speed meter, and an imu sensor; the position information is information located by the positioning module, that is, a type of information determined by magnetic induction; the preset position information is the position information of the positioning beacon in the wireless charging device, which has a position range, wherein whether the position information falls within the range of the preset position information can be determined by whether the magnetic induction intensity sensed by the positioning module is within the magnetic induction intensity range corresponding to the positioning beacon;

[0112] This embodiment determines whether the mobile device has moved to the charging position of the wireless charging device by determining the size relationship between the position information and the preset position information, thereby improving the recognition of the charging position by the mobile device. At the same time, a preset cleaning action can be performed to remove impurities that affect positioning identification.

[0113] In one embodiment, after determining that the mobile device has not moved to the charging position of the wireless charging device, the method further includes:

[0114] In the process of controlling the self-mobile device to continue adjusting the body and induction with the wireless charging device, after determining that the current power is lower than the required power threshold, the self-mobile device is controlled to realize wired charging.

[0115] Understandably, the trigger logic for wired charging is from the mobile device being powered on, and the logic for wireless charging is not triggered;

[0116] In the present embodiment, the current power level at the beginning is not lower than the required power level threshold. However, during the charging process after the mobile device is positioned by the wireless charging device, after the body position is adjusted multiple times, the current power level may be lower than the required power level threshold. At this time, the mobile device can be directly controlled to achieve wired charging, thereby ensuring that there is an effective charging method for the mobile device.

[0117] The present invention provides a self-mobile device charging switching method, when the self-mobile device is in a power-on state, determining whether the self-mobile device needs to be charged; when determining that the self-mobile device needs to be charged, determining whether the self-mobile device is in a charging switching state according to current working parameters; the charging switching state refers to the state of switching the default wired charging of the self-mobile device to wireless charging; when it is determined to be in the charging switching state, controlling the self-mobile device to realize wireless charging. In this way, it is no longer limited to one charging method. When the wireless charging method is satisfied, the charging method can be automatically switched, the charging intelligence degree can be improved, and the subsequent work efficiency of the self-mobile device can be guaranteed; whether the self-mobile device needs to be switched to the wireless charging state can be determined by multiple methods, and the efficiency of the wireless charging method judgment can be improved; whether the self-mobile device moves to the charging position of the wireless charging device can be determined by the size relationship between the position information and the preset position information, and the self-mobile device can confirm the charging position, and the preset cleaning action can be performed to remove impurities that affect the positioning identification; after adjusting the fuselage for many times, it is ensured that there is an effective charging method for the self-mobile device; the default charging method is the wired charging method, which can also ensure that there is an effective charging method for the self-mobile device.

[0118] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0119] like Figure 2 As shown, a self-mobile device is also provided, the self-mobile device includes a controller and a memory, the memory stores a self-mobile device charging switching program, and the controller controls the self-mobile device charging switching program to implement the steps of the self-mobile device charging switching method.

[0120] The execution function of the controller corresponds one-to-one to the self-mobile device charging switching method in the above embodiment. For the specific definition of the controller, please refer to the definition of the self-mobile device charging switching method above, which will not be repeated here. Each submodule in the above controller can be implemented in whole or in part by software, hardware and a combination thereof. The above submodules can be embedded in or independent of the processor in the controller in hardware form, or stored in the memory in the controller in software form, so that the processor can call and execute the operations corresponding to the above submodules.

[0121] In one embodiment, the present invention also provides one or more readable storage media storing computer-readable instructions. The readable storage medium provided in this embodiment includes a non-volatile readable storage medium and a volatile readable storage medium. The readable storage medium stores computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors implement the steps of the self-mobile device charging switching method described in the above embodiment.

[0122] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0123] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0124] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A charging switching method for a mobile device, characterized in that: The method comprises: When the self-mobile device is in a powered-on state, determining whether the self-mobile device needs to be charged; When it is determined that the self-mobile device needs to be charged, determining whether the self-mobile device is in a charging switching state according to current working parameters; the charging switching state refers to a state in which the default wired charging of the self-mobile device is switched to wireless charging; When it is determined that the device is in the charging switching state, the self-mobile device is controlled to realize wireless charging.

2. The charging switching method for a mobile device as claimed in claim 1, characterized in that: The determining that the mobile device needs to be charged includes: After determining that the current power of the self-moving device is lower than a preset power threshold, determining that the self-moving device needs to be charged; Or, after receiving a charging instruction sent by the terminal, determining that the mobile device needs to be charged; Alternatively, the current available working time of the self-moving device is determined according to the current power level of the automatic device, and after determining that the available working time is less than the estimated completion time of the remaining work tasks, it is determined that the self-moving device needs to be charged.

3. The charging switching method for a mobile device as claimed in claim 1, characterized in that: The current working parameter includes the current power of the mobile device after receiving the wireless charging instruction; and determining whether the mobile device is in a charging switching state according to the current working parameter includes: Determine whether the current power of the current working parameter is lower than a required power threshold; the required power threshold is a minimum power value that supports wireless charging of the mobile device; After determining that the current power level is not lower than the required power level threshold, determining that the mobile device is in the charging switching state; After determining that the current power level is lower than the required power level threshold, it is determined that the self-mobile device is not in the charging switching state.

4. The charging switching method for a mobile device as claimed in claim 1 or 3, characterized in that: The current working parameters include the current power and location information of the mobile device after receiving the wireless charging instruction; and determining whether the mobile device is in a charging switching state according to the current working parameters includes: Determine whether the current power of the current working parameter is lower than the required power threshold, and determine whether the self-mobile device has moved to the charging position of the wireless charging device according to the position information; the required power threshold is the minimum power value supporting the self-mobile device; After determining that the current power level is not lower than the required power level threshold and determining that the self-mobile device has moved to the charging position of the wireless charging device, determining that the self-mobile device is in the charging switching state; After determining that the current power level is not lower than the required power level threshold and determining that the self-mobile device has not moved to the charging position of the wireless charging device, determining that the self-mobile device is not in the charging switching state; After determining that the current power level is lower than the required power level threshold, it is determined that the self-mobile device is not in the charging switching state; the current power level is lower than the required power level threshold, and the mobile device cannot move the self-mobile device to the charging position of the wireless charging device.

5. The charging switching method for a mobile device as claimed in claim 1, characterized in that: The controlling the mobile device to realize wireless charging includes: When it is determined that the self-mobile device is in a wireless charging state, a locking control signal is sent to the relay within a preset interval time threshold to control the self-mobile device to achieve wireless charging; the locking control signal is used to control the self-mobile device to always be in a wireless charging state.

6. The charging switching method for a mobile device as claimed in claim 1 or 5, characterized in that: The controlling the mobile device to realize wireless charging includes: Sending a handshake request to the battery in the mobile device; When it is determined that the handshake is successful based on the handshake request, determining whether the battery is in a charging state according to charging information fed back by the successful handshake; When it is determined that the battery is not in a charging state, feeding back charging state information to the wireless charging device; Under the charging status information, the mobile device is controlled to realize wireless charging on the wireless charging device; the charging status information is information that instructs the wireless charging device to start power supply.

7. The charging switching method for a mobile device as claimed in claim 1 or 5, characterized in that: The controlling the mobile device to realize wireless charging includes: Sending a handshake request to the wireless charging device in the mobile device; When the handshake is successful based on the handshake request, determining whether the wireless charging device can supply power to the mobile device according to the charging information fed back by the successful handshake; When it is determined that the wireless charging device can supply power to the self-moving device, the self-moving device is controlled to realize wireless charging on the wireless charging device.

8. The charging switching method for a mobile device as claimed in claim 1 or 5, characterized in that: The controlling the mobile device to realize wireless charging includes: Determining whether the charging parameter received from the mobile device reaches a preset charging parameter; When it is determined that the charging parameter received from the mobile device reaches the preset charging parameter, the mobile device is controlled to perform wireless charging on the wireless charging apparatus.

9. The charging switching method for a mobile device as claimed in claim 4, characterized in that: The determining, according to the position information, whether the mobile device has moved to the charging position of the wireless charging device includes: Controlling the mobile device to move to a preset recharging position of the wireless charging device based on the positioning information; After controlling the self-moving device to perform a preset cleaning action at the preset recharging position, determining whether the self-moving device has moved to the charging position of the wireless charging device by the range between the position information between the self-moving device and the wireless charging device and the preset position information; After determining that the position information between the mobile device and the wireless charging device falls within the range of the preset position information, determining that the mobile device moves to the charging position of the wireless charging device; When it is determined that the position information between the mobile device and the wireless charging device does not fall within the range of the preset position information, it is determined that the mobile device has not moved to the charging position of the wireless charging device.

10. The charging switching method for a mobile device as claimed in claim 9, characterized in that: After determining that the mobile device has not moved to the charging position of the wireless charging device, the method further includes: In the process of controlling the self-mobile device to continue adjusting the body and induction with the wireless charging device, after determining that the current power is lower than the second preset power threshold, the self-mobile device is controlled to realize wired charging.

11. A self-propelled device, characterized in that: The device comprises a controller and a memory, wherein the memory stores a self-mobile device charging switching program, and the controller controls the self-mobile device charging switching program to implement the steps of the self-mobile device charging switching method according to any one of claims 1 to 10.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for switching charging of a mobile device according to any one of claims 1 to 10 are implemented.

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