Charging control method, electronic equipment and storage medium

Abstract

The invention provides a charging control method, electronic equipment and a storage medium. The method comprises the following steps: in response to a charging instruction of first self-moving equipment, determining an idle charging pile closest to the first self-moving equipment as a first charging pile; determining an energy consumption estimated value based on a recharging path from the first self-moving device to the first charging pile; if the residual electric quantity of the first self-moving device is smaller than the energy consumption estimated value, based on the distance between the first self-moving device and the multiple charging piles, the charging pile closest to the first self-moving device is selected from the multiple charging piles to serve as a second charging pile; and if the second self-moving equipment meets the pile moving condition, disconnecting the connection between the second self-moving equipment and the second charging pile, and controlling the first self-moving equipment to move to the second charging pile for charging. By means of the method, reasonable distribution and scheduling of charging resources can be achieved under the scene that multiple charging piles and multiple devices work cooperatively.

Description

Technical Field

[0001] The present application relates to the technical field of mobile equipment, and in particular to a charging control method, electronic equipment, and storage medium. Background Art

[0002] To ensure continuous operation of self-moving devices, they must be charged promptly when their battery level drops below a threshold. Currently, in scenarios involving large operating areas and multiple devices working collaboratively, multiple charging stations are typically deployed to reduce charging wait times. However, efficiently coordinating charging operations and achieving the appropriate allocation and scheduling of charging resources in these scenarios, where multiple charging stations and multiple devices are working together, presents a pressing technical challenge. Summary of the Invention

[0003] The present application provides a charging control method, an electronic device, and a storage medium, which can solve the technical problem of how to achieve reasonable allocation and scheduling of charging resources in a scenario where multiple charging piles and multiple devices work together.

[0004] On the one hand, the present application provides a charging control method, the method comprising: in response to a charging instruction of a first self-mobile device, determining that an idle charging pile closest to the first self-mobile device is a first charging pile; based on a backcharging path from the first self-mobile device to the first charging pile, determining an energy consumption estimate, the energy consumption estimate indicating the amount of power required for the first self-mobile device to move to the first charging pile; if the remaining power of the first self-mobile device is less than the energy consumption estimate, based on the distance between the first self-mobile device and a plurality of charging piles, selecting a second charging pile closest to the first self-mobile device from the plurality of charging piles, the distance between the second charging pile and the first self-mobile device is less than the distance between the first charging pile and the first self-mobile device, and the second charging pile is in a state of charging the second self-mobile device; if the second self-mobile device meets the pile-moving condition, disconnecting the second self-mobile device from the second charging pile, and controlling the first self-mobile device to move to the second charging pile for charging.

[0005] In some embodiments of the present application, the triggering conditions of the charging instruction include one or more of the following combinations: the remaining power of the first self-moving device is less than or equal to a preset power; the remaining power of the first self-moving device is less than or equal to a preset multiple of a first required power, and the first required power indicates the power required for the first self-moving device to move to the nearest charging pile; the battery temperature of the first self-moving device is greater than a preset temperature; the voltage change value of the first self-moving device at adjacent moments is greater than a preset change value; the remaining power of the first self-moving device is less than a second required power, and the second required power indicates the power required for the first self-moving device to perform the remaining working area of ​​the unfinished work.

[0006] In some embodiments of the present application, the method further includes: determining a third power requirement based on the first power requirement and the second power requirement; if the remaining power of the first self-mobile device is less than the preset power, and the remaining power of the first self-mobile device is greater than the third power requirement, when it is detected that the first self-mobile device completes the operating task of the remaining operating area, generating a charging instruction for the first self-mobile device.

[0007] In some embodiments of the present application, determining the estimated energy consumption value based on the recharging path from the first self-mobile device to the first charging pile includes: determining the moving distance from the first self-mobile device to the first charging pile based on the recharging path; determining the path complexity of the recharging path based on the terrain characteristics of the recharging path; determining the slope resistance value based on the coefficient corresponding to the slope of the slope in the recharging path and the distance of the slope; and calculating the estimated energy consumption value based on the moving distance, the path complexity and the slope resistance value.

[0008] In some embodiments of the present application, the method also includes: determining a first power emergency coefficient based on the remaining power of the first self-moving device, the battery temperature of the first self-moving device, and the number of charge and discharge cycles of the battery in the first self-moving device; determining a second power emergency coefficient based on the remaining power of the second self-moving device, the battery temperature of the second self-moving device, and the number of charge and discharge cycles of the battery in the second self-moving device; if the difference between the first power emergency coefficient and the second power emergency coefficient is greater than or equal to a first preset threshold, determining that the second self-moving device meets the relocation condition.

[0009] In some embodiments of the present application, the method also includes: if the absolute value of the difference between the first power emergency coefficient and the second power emergency coefficient is less than the first preset threshold, determining the first value of the first task based on the priority of the first task being executed by the first self-mobile device, the execution progress of the first task and the time constraint information of the first task; determining the second value of the second task based on the priority of the second task being executed by the second self-mobile device, the execution progress of the second task and the time constraint information of the second task; if the difference between the first value and the second value is greater than or equal to the second preset threshold, determining that the second self-mobile device meets the relocation condition.

[0010] In some embodiments of the present application, the method also includes: if the absolute value of the difference between the first value and the second value is less than the second preset threshold, based on the distance between the first self-mobile device and the self-mobile device in the idle state, determining the target self-mobile device from the self-mobile devices in the idle state; determining the synergistic influence factor of the first self-mobile device according to the number of devices of the target self-mobile devices and the regional density of the target self-mobile devices; if the synergistic influence factor is less than the third preset threshold, determining that the second self-mobile device meets the pile moving condition.

[0011] In some embodiments of the present application, the method also includes: based on the charging piles in an idle state among the multiple charging piles, selecting the charging pile closest to the second self-mobile device as the third charging pile; determining a fourth required power according to the moving route of the second self-mobile device to the third charging pile, and the fourth required power indicates the power required for the second self-mobile device to move to the third charging pile; if the remaining power of the second self-mobile device is greater than the fourth required power, it is determined that the second self-mobile device meets the moving condition.

[0012] On the other hand, the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the electronic device implements the charging control method. On the other hand, the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the charging control method when executed by a processor in an electronic device.

[0013] In the charging control scheme of this embodiment, an estimated energy consumption value can be determined through the recharging path from the first self-moving device to the first charging pile. When the remaining power of the first self-moving device is less than the estimated energy consumption value, it indicates that the remaining power of the first self-moving device is insufficient to support the movement of the first self-moving device to the first charging pile. In this case, based on the distance between the first self-moving device and the multiple charging piles, a second charging pile that is currently charging a second self-moving device can be selected from the multiple charging piles. Then, when the second self-moving device meets the relocation conditions, the connection between the second self-moving device and the second charging pile is disconnected, and the first self-moving device is controlled to move to the second charging pile for charging. This ensures that both the first and second self-moving devices can be charged, thereby achieving the rational allocation and scheduling of charging resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is an application scenario diagram of the charging control method provided in one embodiment of the present application.

[0015] Figure 2 This is a flow chart of a charging control method provided in one embodiment of the present application.

[0016] Figure 3 This is a flowchart of a method for detecting whether a second self-moving device meets the pile-moving condition provided in an embodiment of the present application.

[0017] Figure 4 This is a flowchart of a method for detecting whether a second self-moving device meets the pile-moving condition provided by another embodiment of the present application.

[0018] Figure 5 This is a flowchart of a charging control method provided by another embodiment of the present application.

[0019] Figure 6 It is a structural diagram of a self-moving device provided in one embodiment of the present application.

[0020] Figure 7 1 is a schematic structural diagram of an electronic device for implementing a charging control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of this application clearer, this application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] It should be noted that, in this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A alone, A and B together, and B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," and so on (if any) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or precedence.

[0023] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0024] To ensure continuous operation of self-moving devices, they must be charged promptly when the battery level drops below a threshold. Currently, in scenarios where multiple devices operate collaboratively over a wide area, multiple charging stations are typically deployed to reduce charging wait times.

[0025] However, traditional charging control methods lack intelligence, making it difficult to coordinate charging across multiple mobile devices. Therefore, efficiently coordinating charging operations and achieving the proper allocation and scheduling of charging resources in scenarios where multiple charging stations and multiple devices operate together has become a pressing technical challenge.

[0026] To this end, the present invention provides a charging control method that can ensure that multiple mobile devices can be charged, thereby achieving reasonable allocation and scheduling of charging resources. The following first describes the application scenario of the control method of the present invention.

[0027] Figure 1 This is a schematic diagram of the application of the charging control method provided by an embodiment of the present application. Figure 1 As shown, the charging control method can be applied to the electronic device 100, and the electronic device 100 can be connected to the mobile device and the charging pile for communication. Figure 1 As shown, the electronic device can be connected to the mobile device 11, the mobile device 12 and the mobile device 13, and the electronic device 100 can also be connected to the charging pile 21, the charging pile 22 and the charging pile 23. In this application, there is no limit on the number of mobile devices and charging piles.

[0028] In some embodiments, the communication connection method may include a wireless communication connection method. The wireless communication connection method may include one or more wireless communication connection methods such as Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication network, Frequency Modulation (FM), Near Field Communication (NFC), and infrared technology (IR). The communication connection method between the mobile device 10 and the second terminal device 30 may also include a wired communication connection method. The wired communication connection method may include one or more wired communication connection methods such as Universal Serial Bus (USB) and Controller Area Network (CAN).

[0029] In some embodiments, the electronic device 100 may be an independent server or server cluster, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication security services, content distribution networks, and other basic cloud computing services. The electronic device 100 may also be a mobile phone, a tablet computer, a smart wearable device, an augmented reality (AR) / virtual reality (VR) device, a laptop computer, a netbook, an energy storage device, a power distribution device, a vehicle-mounted device, a self-moving device, etc. The embodiments of the present application do not impose any restrictions on the specific type of electronic device.

[0030] In some embodiments, from a mobile device (e.g. Figure 1 The autonomous devices 11, 12, and 13 shown may be semi-autonomous devices or fully autonomous devices, and may be any of a variety of autonomous devices, such as a lawn mower, a sweeper, a snowplow, or a cleaning robot. This application does not limit the specific types of autonomous devices.

[0031] It should be noted that the mobile device is only an example, and other existing or future electronic products that can be adapted to the present application should also be included in the scope of protection of the present application and incorporated herein by reference.

[0032] Charging stations (e.g. Figure 1 The charging piles 21, 22, and 23 shown can be used to charge mobile devices. The embodiment of the present application does not impose any restrictions on the specific types of charging piles.

[0033] Hint Figure 1It is only an example of an application scenario and does not constitute a limitation of the application scenario. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the application scenario may also include more terminal devices than shown in the figure.

[0034] like Figure 2 FIG. 1 is a flow chart of a charging control method provided by an embodiment of the present application. The charging control method is applied to electronic devices (such as Figure 1 According to different requirements, the order of each step in the flowchart can be adjusted according to actual requirements, and some steps can be omitted.

[0035] S201: In response to a charging instruction from a first self-mobile device, determine that an idle charging pile closest to the first self-mobile device is a first charging pile.

[0036] In some embodiments of the present application, the triggering conditions of the charging instruction may include one or more of the following combinations: the remaining power (State-of-Charge, SOC) of the first self-moving device is less than or equal to a preset power; the remaining power of the first self-moving device is less than or equal to a preset multiple of the first required power, and the first required power indicates the power required for the first self-moving device to move to the nearest charging pile; the battery temperature of the first self-moving device is greater than the preset temperature; the voltage change value of the first self-moving device at adjacent moments is greater than the preset change value; the remaining power of the first self-moving device is less than the second required power, and the second required power indicates the power required for the first self-moving device to perform the remaining working area of ​​the unfinished work.

[0037] In the embodiment of the present application, the preset power level can be set and adjusted according to actual needs. For example, the preset power level can be set according to the battery capacity of the first self-moving device. When the remaining power of the first self-moving device is less than or equal to the preset power level, the first self-moving device can be triggered to charge.

[0038] In an embodiment of the present application, in order to ensure that the remaining power of the first self-mobile device can support the first self-mobile device to move to the nearest charging pile, the electronic device can predetermine the power required for the first self-mobile device to move to the nearest charging pile, for example, the first required power. In order to further cope with emergencies, a preset multiple can also be set. The preset multiple can usually be set to a value greater than 1, for example, the preset multiple can be set to 1.3. If the first self-mobile device receives a charging instruction sent by the user's terminal device, and the remaining power of the first self-mobile device is less than or equal to the preset multiple of the first required power, the first self-mobile device can be triggered to charge.

[0039] In an embodiment of the present application, when the first self-moving device experiences a discharge abnormality such as over-discharge, the battery temperature of the first self-moving device may exceed a preset temperature. The preset temperature may be set and adjusted according to actual needs, for example, the preset temperature may be set to 45° C. When the battery temperature of the first self-moving device exceeds the preset temperature, the first self-moving device may be triggered to charge.

[0040] In an embodiment of the present application, if the battery of the first self-moving device ages, the internal resistance of the battery increases, and the first self-moving device experiences a voltage drop during high-current discharge. A preset change value can be set based on actual needs, for example, 10%. If the voltage change of the first self-moving device at adjacent moments exceeds the preset change value, the first self-moving device can be triggered to charge.

[0041] In an embodiment of the present application, the remaining work area of ​​an unfinished operation can be determined based on the operation task performed by the first self-moving device. To ensure that the first self-moving device can complete the remaining work area in one go, the electronic device can determine the amount of power required by the first self-moving device to perform the remaining work area of ​​the unfinished operation, for example, a second required power amount. If the remaining power of the first self-moving device is less than the second required power amount, it indicates that the first self-moving device cannot complete the remaining work area in one go, and in this case, the first self-moving device can be triggered to charge.

[0042] By setting multiple triggering conditions for the charging instruction, the embodiment of the present application can coordinate the charging process of the mobile device in multiple dimensions, thereby meeting the charging needs of the mobile device.

[0043] In some embodiments of the present application, in response to a charging instruction from a first mobile device, the electronic device may determine that the idle charging pile closest to the first mobile device is the first charging pile, wherein the idle charging pile may represent a charging device that is not connected to or used by the mobile device and is accessible for charging. Figure 1 As shown, if the distance between the mobile device 11 and the charging pile 21 is 20 meters, the distance between the mobile device 11 and the charging pile 22 is 50 meters, and the distance between the mobile device 11 and the charging pile 23 is 60 meters, and it is assumed that the charging pile 21 is charging the mobile device 12, after detection, the charging piles 22 and 23 are idle charging piles. Since the distance between the mobile device 11 and the charging pile 22 (50 meters) is less than the distance between the mobile device 11 and the charging pile 23 (60 meters), it can be determined that the idle charging pile closest to the mobile device 11 is the first charging pile, for example, the first charging pile is the charging pile 22.

[0044] S202: Determine an estimated energy consumption value based on a first charging path from the mobile device to the first charging pile.

[0045] In some embodiments of the present application, the recharging path from the first self-mobile device to the first charging pile may represent a path from the location of the first self-mobile device to the first charging pile.

[0046] In some embodiments of the present application, the electronic device determines an estimated energy consumption value based on a recharging path from a first mobile device to a first charging pile, including: determining a moving distance from the first mobile device to the first charging pile based on the recharging path; determining a path complexity of the recharging path based on terrain features of the recharging path; determining a slope resistance value based on a coefficient corresponding to the slope of the slope in the recharging path and the distance of the slope; and calculating an estimated energy consumption value based on the moving distance, path complexity, and slope resistance value.

[0047] In an embodiment of the present application, the electronic device can use a map and / or a positioning system (such as a real-time differential positioning system) to determine the shortest distance between the first mobile device and the first charging pile as the moving distance from the first mobile device to the first charging pile.

[0048] In this embodiment of the present application, the terrain features of the recharging path may include, but are not limited to, the shape of the recharging path and information about obstacles along the recharging path. The electronic device may set a corresponding path complexity based on different terrain features. For example, if the recharging path is shaped like at least one of an irregular polygon, a spiral, and an elongated strip, the path complexity of the recharging path may be determined to be K1. For another example, if the terrain feature of the recharging path is ordinary grassland, the path complexity of the recharging path may be set to 10%.

[0049] In this embodiment of the present application, the electronic device can calculate the slope resistance value by multiplying the coefficient corresponding to the slope of the recharging path by the distance of the slope. For example, if the slope of the recharging path is 10° and the corresponding slope distance is 5 meters, the coefficient corresponding to the slope of 10° is 0.2%. After calculation, the slope resistance value is: 5m × 0.2% = 1%.

[0050] In an embodiment of the present application, in the process of calculating the estimated energy consumption, an average unit power consumption can be set based on the actual test data of the mobile device. For example, the average unit power consumption can be set to 0.1% / meter. The electronic device can calculate the basic power consumption of the first mobile device moving to the first charging pile based on the product of the moving distance and the average unit power consumption. For example, if the moving distance of the recharging path from the first mobile device to the first charging pile is 30m, the basic power consumption can be calculated as: 30m×0.1%=3%. The electronic device can also calculate the compensation amount for the path complexity of the first mobile device moving to the first charging pile based on the basic power consumption and path complexity as: 3%×10%=0.3%. The electronic device calculates the sum of the basic power consumption, the compensation amount for the path complexity, and the slope resistance value to obtain the estimated energy consumption value. The estimated energy consumption value can indicate the amount of power required for the first mobile device to move to the first charging pile. Continuing with the above example, the estimated energy consumption value can be 3%+0.3%+1%=4.3%.

[0051] In other embodiments, to ensure the first autonomous device can successfully move to the first charging station, a safety margin can be calculated based on the base power consumption, the path complexity compensation, and the slope resistance value. The safety margin calculation formula can be expressed as: y = (a + b + c) × k, where y represents the safety margin, a represents the base power consumption, b represents the path complexity compensation, c represents the slope resistance value, and k represents a preset coefficient. k can be set and adjusted based on actual needs, for example, k can be set to 20%. Continuing with the above example, the safety margin is calculated to be (3% + 0.3% + 1%) × 20% ≈ 0.86%. The electronic device can calculate an estimated energy consumption based on the sum of the base power consumption, the path complexity compensation, the slope resistance value, and the safety margin. Based on the above information, the estimated energy consumption is calculated to be: 3% + 0.3% + 1% + 0.86% ≈ 5.16%.

[0052] The embodiment of the present application can more accurately estimate the energy consumption required for the first mobile device to move to the first charging pile by comprehensively considering factors such as the terrain characteristics, slope, and moving distance of the recharging path.

[0053] S203: If the remaining power of the first mobile device is less than the estimated energy consumption, based on the distances between the first mobile device and the multiple charging piles, select the charging pile closest to the first mobile device as the second charging pile.

[0054] In some embodiments of the present application, if the remaining power of the first self-moving device is less than the estimated energy consumption, it may indicate that the remaining power of the first self-moving device is insufficient to support the movement of the first self-moving device to the first charging station. In this case, based on the distance between the first self-moving device and the multiple charging stations, the charging station closest to the first self-moving device may be selected as the second charging station. If the distance between the second charging station and the first self-moving device is less than the distance between the first charging station and the first self-moving device, the second charging station is in a state of charging the second self-moving device.

[0055] S204: If the second autonomous mobile device meets the charging pile moving condition, disconnect the second autonomous mobile device from the second charging pile, and control the first autonomous mobile device to move to the second charging pile for charging.

[0056] In some embodiments of the present application, the electronic device may determine whether the second self-moving device meets the relocation condition based on the relationship between the first power emergency coefficient of the first self-moving device and the second power emergency coefficient of the second self-moving device. In the case where it is not possible to determine whether the second self-moving device meets the relocation condition based on the first power emergency coefficient of the first self-moving device and the second power emergency coefficient of the second self-moving device, the electronic device may determine whether the second self-moving device meets the relocation condition based on the relationship between the first value of the first task being performed by the first self-moving device and the second value of the second task being performed by the second self-moving device. In the case where it is not possible to determine whether the second self-moving device meets the relocation condition based on the first value of the first task and the second value of the second task, the electronic device may determine whether the second self-moving device meets the relocation condition based on the synergistic influence factor of the first self-moving device. In the embodiment of the present application, the specific method for the electronic device to detect whether the second self-moving device meets the relocation condition can be referred to. Figure 3 The specific method for the electronic device to detect whether the second self-moving device meets the conditions for moving the pile can also be referred to Figure 4 The process shown.

[0057] In other embodiments, when it is impossible to determine whether the second self-moving device meets the relocation conditions based on the first value of the first task and the second value of the second task, the electronic device may determine the first score of the first self-moving device based on the first power emergency coefficient, the task continuity of the first task, the gap area of ​​the first task, the task completion rate of the first self-moving device, and the health of the first self-moving device. The task continuity of the first task may represent the time cost required for the first self-moving device to restart the first task after the first task is interrupted. The gap area of ​​the first task may represent the unfinished work area around the location of the first self-moving device. For example, the gap area of ​​the first task may be the unfinished work area within 50 square meters of the location of the first self-moving device. The task completion rate of the first self-moving device may represent the proportion of the number of tasks completed on time by the first self-moving device to the total number of tasks. The health of the first self-moving device may be determined based on the degree of wear of the motor and / or blade of the first self-moving device.

[0058] The electronic device may determine a second score for the second self-moving device based on the second power emergency coefficient, the task continuity of the second task, the gap area of ​​the second task, the task completion rate of the second self-moving device, and the health of the second self-moving device. If the first score is greater than or equal to the second score, the second self-moving device is determined to meet the relocation condition. If the first score is less than the second score, the second self-moving device is determined to not meet the relocation condition.

[0059] In some embodiments of the present application, if the second self-moving device meets the relocation condition, the electronic device can disconnect the second self-moving device from the second charging station and control the first self-moving device to move to the second charging station for charging. In this embodiment, if the second self-moving device meets the relocation condition, the connection between the second self-moving device and the second charging station is disconnected only after ensuring that the second self-moving device can charge, thereby achieving reasonable allocation and scheduling of charging resources.

[0060] In multiple embodiments of the present application, an estimated energy consumption value can be determined through the recharging path from the first self-moving device to the first charging pile. When the remaining power of the first self-moving device is less than the estimated energy consumption value, it means that the remaining power of the first self-moving device cannot support the first self-moving device to move to the first charging pile. At this time, based on the distance between the first self-moving device and the multiple charging piles, a second charging pile that is charging the second self-moving device can be selected from the multiple charging piles. Then, when the second self-moving device meets the recharging conditions, by disconnecting the second self-moving device from the second charging pile and controlling the first self-moving device to move to the second charging pile for charging, it can be ensured that both the first self-moving device and the second self-moving device can be charged, thereby achieving reasonable allocation and scheduling of charging resources. like Figure 3FIG. 1 is a flow chart of a method for detecting whether a second self-moving device meets the pile-moving condition according to an embodiment of the present application. The order of the steps in the flow chart can be adjusted according to actual requirements, and some steps can be omitted.

[0061] S301 : Determine a first power emergency coefficient according to the remaining power of a first self-moving device, the battery temperature of the first self-moving device, and the number of charge and discharge cycles of the battery in the first self-moving device.

[0062] In some embodiments, the formula for determining the first power emergency coefficient can be expressed as: .

[0063] In the embodiments of this application, It can represent a first power emergency coefficient of the first self-mobile device; It can indicate the remaining power of the first mobile device; It can represent the dynamic power critical value of the first mobile device. It can be adjusted according to the ambient temperature, ground slope and battery charge and discharge cycle times of the first self-moving device. For example, initially, It can be set to 20%. If the ambient temperature of the first self-equipping device is greater than 35°C, it can be increased based on the first adjustment value (such as 5%). If the slope of the ground where the first self-moving device is located is greater than 15°, the second adjustment value (such as 3%) can be increased. If the number of charge and discharge cycles of the battery in the first self-mobile device is greater than 500 times, the battery capacity can be increased based on the third adjustment value (such as 2%). The first adjustment value, the second adjustment value, and the third adjustment value can be set and adjusted according to actual needs.

[0064] In the embodiment of the present application, a first temperature threshold may be set. For example, the first temperature threshold may be set to 10° C. When the ambient temperature of the first self-moving device is greater than or equal to the first temperature threshold, .in, It can represent the battery temperature of the first self-mobile device, It can indicate the ideal operating temperature of the first self-moving device. Can be set to 25℃, It can be set and adjusted according to actual needs, for example, It can be set to 20. When the temperature is greater than a second temperature threshold, the first self-mobile device is forcibly triggered to charge. The second temperature threshold can be set and adjusted according to actual needs. For example, the second temperature threshold can be set to 45°C.

[0065] When the ambient temperature of the first self-moving device is lower than the first temperature threshold, .at this time, Can be set to 15℃.

[0066] In the embodiments of this application, .in, It can indicate the number of charge and discharge cycles of the battery in the first mobile device. and It can be set and adjusted according to actual needs, for example, It can be set to 2000. Can be set to 0.5.

[0067] In the embodiments of this application, 、 and Can be set and adjusted according to actual needs, =1. When the battery capacity of the first self-mobile device is less than the preset capacity, the ; When the dynamic power threshold is greater than the preset threshold, the Among them, the preset capacity and the preset critical value can be set and adjusted according to actual needs. For example, assuming the preset critical value is 20% and the dynamic power critical value is 20%, then It can be 0.6; if the dynamic power critical value is 25%, then It can be 0.7.

[0068] In other embodiments, the first power emergency coefficient can be corrected based on the priority of the task being executed by the first self-mobile device. Specifically, the correction coefficient of the first power emergency coefficient can be determined based on the priority of the task being executed by the first self-mobile device. For example, the correction coefficient of the first power emergency coefficient can be the product of the priority of the task being executed by the first self-mobile device and a first configuration value. The first configuration value can be set and adjusted according to actual needs. For example, the first configuration value can be set to 0.2.

[0069] For example, assuming that the ambient temperature of the first self-moving device is 35°C, the remaining power of the first self-moving device is 18%, the battery temperature is 38°C, the number of cycles is 800, and the task being performed by the first self-moving device is a normal mowing task, the priority of the normal mowing task is 0.7. After calculation, the dynamic power critical value of the first self-moving device can be obtained: =20%+5% (high temperature compensation) =25%, assuming is 0.6, is 0.3, is 0.1, is 20, is 2000, is 0.5, and the first configuration value is 0.2, then ; =0.3 ; .

[0070] After calculation, the first power emergency coefficient of the first self-equipped device is The electronic device determines the correction coefficient of the first power emergency coefficient based on the priority of the task being executed by the first mobile device as follows: The electronic device corrects the first power emergency coefficient based on the correction coefficient, and the corrected first power emergency coefficient is .

[0071] S302: Determine a second power emergency coefficient according to the remaining power of the second mobile device, the battery temperature of the second mobile device, and the number of charge and discharge cycles of the battery in the second mobile device.

[0072] In some embodiments, the method for determining the second power emergency coefficient of the second self-moving device can refer to the method for determining the first power emergency coefficient in step S301 above, and this application will not repeat it again.

[0073] S303: Detect whether the difference between the first power emergency coefficient and the second power emergency coefficient is greater than or equal to a first preset threshold.

[0074] In some embodiments, a first preset threshold may be set. The first preset threshold may be set and adjusted according to actual needs. For example, the first preset threshold may be set to 0.15 or 0.2.

[0075] In some embodiments, if the difference between the first power emergency coefficient of the first self-moving device and the second power emergency coefficient of the second self-moving device is greater than or equal to a first preset threshold value, it can be determined that the first self-moving device is charged first, and that the second self-moving device meets the relocation condition. If the absolute value of the difference between the first power emergency coefficient and the second power emergency coefficient is less than the first preset threshold value, it can be indicated that the first power emergency coefficient of the first self-moving device is similar to the second power emergency coefficient of the second self-moving device, and it can be determined that it is impossible to determine whether the second self-moving device meets the relocation condition based on the power emergency coefficient. Therefore, it is necessary to further detect whether the second self-moving device meets the relocation condition.

[0076] In some embodiments, if the absolute value of the difference between the first power emergency coefficient and the second power emergency coefficient is less than the first preset threshold, execute step S304; if the difference between the first power emergency coefficient and the second power emergency coefficient is greater than or equal to the first preset threshold, execute step S310.

[0077] S304: Determine a first value of the first task according to the priority of the first task being executed by the first mobile device, the execution progress of the first task, and the time constraint information of the first task.

[0078] In some embodiments, the formula for the first value of the first task can be expressed as: .

[0079] In the embodiments of this application, It can represent the first value of the first task, The priority of the first task currently being executed by the first mobile device may be represented by a value. Different task types correspond to different priorities. For example, a border patrol task involving security protection has a priority of 1; a regular lawn mowing task involving lawn maintenance has a priority of 0.7; a landscaping and trimming task involving edge trimming has a priority of 0.5; and an emergency task involving user-specified expedited work has a priority of 1.2.

[0080] The priority of the first task can also be dynamically adjusted based on the time when the first self-mobile device executes the first task. In one example, if the time when the first self-mobile device executes the first task is within a preset time period, the priority of the first task can be increased based on the fourth adjustment value, wherein the preset time period can be a night time period, for example, the preset time period can be a time period from 20:00 to 6:00, and the preset time period and the fourth adjustment value can be set and adjusted according to actual needs. For example, for a routine mowing task involving lawn maintenance, the corresponding priority is 0.7. If the time when the first self-mobile device executes the routine mowing task is within the time period from 20:00 to 6:00, and the fourth adjustment value is 0.1, the corresponding priority can be determined to be 0.8. In another example, if the time from the first self-mobile device to the time when the user enters the work area is less than a preset time length, the priority of the first task can be increased based on the fifth adjustment value. The preset time length and the fifth adjustment value can be set and adjusted according to actual needs. For example, for a routine mowing task involving lawn maintenance, the corresponding priority is 0.7. If the time from the first self-mobile device performing the first task to the time the user enters the work area is less than 2 hours, assuming the fifth adjustment value is 0.3, the corresponding priority can be determined to be 1.0.

[0081] In the embodiments of this application, It can represent the progress reward coefficient of the first task, the progress reward coefficient of the first task The calculation formula can be expressed as: ,in, and It can be set and adjusted according to actual needs, for example, It can be set to 0.4, It can be set to 1.5, but the actual application is not limited to this. It can indicate the execution progress of the first task. It can represent the area of ​​the completed work area in the first task, It can represent the total area of ​​the work area in the first task.

[0082] In some embodiments, the electronic device may obtain a captured image of the work area in the first task from a simultaneous localization and mapping (SLAM) map, determine a first pixel corresponding to the work area of ​​the first task from the captured image, and determine a second pixel corresponding to the completed work area in the first task. The electronic device may determine the execution progress of the first task based on the ratio of the number of pixels in the second pixel to the number of pixels in the first pixel.

[0083] In the embodiments of this application, It can represent the time penalty coefficient of the first task, the time penalty coefficient of the first task The time constraint information of the first task may be determined based on the time constraint information of the first task. The time constraint information of the first task may include a deadline of the first task and a remaining time of the first task. The deadline of the first task may indicate the maximum time allowed for the first mobile device to complete the first task, and the remaining time of the first task may indicate the duration between the current time and the deadline.

[0084] In one example, if the remaining time of the first task is greater than or equal to the deadline of the first task, the time penalty coefficient of the first task is determined. In another example, if the remaining time of the first task is less than or equal to a preset ratio of the deadline of the first task, the time penalty coefficient of the first task is determined to be for , It can be set and adjusted according to actual needs, for example, In another example, if the remaining time of the first task is less than the deadline of the first task, and the remaining time of the first task is greater than the preset ratio of the deadline of the first task, the time penalty coefficient of the first task is The calculation formula can be expressed as: , It can be set and adjusted according to actual needs, for example, Can be set to 0.8.

[0085] For example, assuming the first task is a regular lawn mowing task, the corresponding priority is 0.7, then the priority of the first task is is 0.7; assuming the execution progress of the first task is 60%, the progress reward coefficient of the first task is =0.19; Assume that the ratio of the remaining time to the deadline of the first task is 30%, is 0.5, is 0.8, then the time penalty coefficient of the first task is for =0.24. After calculation, we can get the first value of the first task For another example, assuming the first task is a border patrol task, the corresponding priority is 1.0, the execution progress of the first task is 60%, and the ratio of the remaining time of the first task to the deadline is 30%. After calculation, the first value of the first task can be obtained .

[0086] S305 : Determine a second value of the second task according to the priority of the second task being executed by the second mobile device, the execution progress of the second task, and the time constraint information of the second task.

[0087] In some embodiments, the electronic device may determine the second value of the second task in a manner similar to the manner of determining the first value of the first task in step S304 , which will not be further described in this application.

[0088] S306: Detect whether the difference between the first value and the second value is greater than or equal to a second preset threshold.

[0089] In some embodiments, a second preset threshold may be set. The second preset threshold may be set and adjusted according to actual needs. For example, the second preset threshold may be set to 0.5.

[0090] In some embodiments, if the difference between the first value and the second value is greater than or equal to a second preset threshold, it can be determined that the first self-moving device is prioritized for charging, and that the second self-moving device meets the relocation condition. If the absolute value of the difference between the first value and the second value is less than the second preset threshold, it can indicate that the first value of the first task and the second value of the second task are similar, and it can be determined that the second self-moving device cannot meet the relocation condition based on the first and second values. Therefore, further testing is required to determine whether the second self-moving device meets the relocation condition.

[0091] In some embodiments, if the absolute value of the difference between the first value and the second value is less than the second preset threshold, step S307 is executed; if the absolute value of the difference between the first value and the second value is greater than or equal to the second preset threshold, step S310 is executed.

[0092] S307: Determine a target autonomous mobile device from the autonomous mobile devices in the idle state based on the distance between the first autonomous mobile device and the autonomous mobile devices in the idle state.

[0093] In some embodiments, when the absolute value of the difference between the first value and the second value is less than a second preset threshold, the electronic device may perform collaborative operation analysis on the first self-moving device and the second self-moving device.

[0094] In this embodiment of the present application, the electronic device may select an idle mobile device within a preset distance from the first mobile device as a target mobile device based on the distance between the first mobile device and the idle mobile device. For example, the target mobile device may be an idle mobile device within 50 meters of the first mobile device.

[0095] S308 : Determine a collaborative impact factor of the first self-mobile device according to the number of target self-mobile devices and the regional density of the target self-mobile devices.

[0096] In some embodiments, the electronic device may determine the collaborative influence factor of the first self-mobile device according to the product of the number of target self-mobile devices and the regional density of the target self-mobile devices.

[0097] S309: Detect whether the synergistic impact factor is less than a third preset threshold.

[0098] In some embodiments, a third preset threshold may be set. The third preset threshold may be set and adjusted according to actual needs. For example, the second preset threshold may be set to 0.7.

[0099] In some embodiments, if the synergy impact factor is less than a third preset threshold, it can be determined that the first autonomous mobile device is prioritized for charging, and that the second autonomous mobile device meets the relocation condition. If the synergy impact factor is greater than or equal to the third preset threshold, it can indicate that a large number of target autonomous mobile devices exist that can assist the first autonomous mobile device in completing the first task, and it can be determined that the second autonomous mobile device does not meet the relocation condition.

[0100] In some embodiments, if the synergistic impact factor is less than a third preset threshold, step S310 is executed; if the synergistic impact factor is greater than or equal to the third preset threshold, step S311 is executed.

[0101] S310: Determine whether the second autonomous moving device meets the pile-moving condition.

[0102] S311: Determine that the second autonomous moving device does not meet the pile-moving condition.

[0103] The embodiment of the present application can comprehensively determine the first power emergency coefficient of the first self-moving device from multiple dimensions by using the remaining power of the first self-moving device, the battery temperature of the first self-moving device, and the number of charge and discharge cycles of the battery in the first self-moving device, thereby improving the accuracy of the first power emergency coefficient and the accuracy of the second power emergency coefficient. The difference between the first power emergency coefficient and the second power emergency coefficient can be used to reasonably determine whether the second self-moving device meets the relocation condition. When the absolute value of the difference between the first power emergency coefficient and the second power emergency coefficient is less than a first preset threshold, it can be indicated that the first power emergency coefficient and the second power emergency coefficient are similar. Therefore, the first value of the first task being executed by the first self-moving device and the second value of the second task being executed by the second self-moving device can be further reasonably determined whether the second self-moving device meets the relocation condition. When the absolute value of the difference between the first value and the second value is less than a second preset threshold, it can be indicated that the first value and the second value are similar. Therefore, the synergistic influence factor of the first self-moving device can be used to further reasonably determine whether the second self-moving device meets the relocation condition.

[0104] like Figure 4 FIG. 1 is a flow chart of a method for detecting whether a second self-moving device meets the pile-moving condition according to another embodiment of the present invention. The order of the steps in the flow chart can be adjusted according to actual requirements, and some steps can be omitted.

[0105] S401: Based on idle charging piles among a plurality of charging piles, select a charging pile closest to a second mobile device as a third charging pile.

[0106] In some embodiments of the present application, the electronic device may select the charging pile closest to the second mobile device from the charging piles in an idle state as the third charging pile. Figure 1 As shown, if the distance between the mobile device 12 and the charging pile 21 is 40 meters, the distance between the mobile device 12 and the charging pile 22 is 20 meters, and the distance between the mobile device 12 and the charging pile 23 is 30 meters, after detection, the charging piles 22 and 23 are idle charging piles. Since the distance between the mobile device 12 and the charging pile 22 (20 meters) is less than the distance between the mobile device 12 and the charging pile 23 (30 meters), it can be determined that the idle charging pile closest to the mobile device 12 is the third charging pile, for example, the third charging pile is charging pile 22.

[0107] S402: Determine a fourth required power amount according to a moving route of the second mobile device to the third charging pile.

[0108] In some embodiments of the present application, the manner in which the electronic device determines the fourth power requirement based on the mobile route can refer to the manner in which the electronic device determines the estimated energy consumption based on the recharging path in step S202 above, and this application will not repeat this description. The fourth power requirement can indicate the power required for the second mobile device to move to the third charging station.

[0109] S403: Detect whether the remaining power of the second mobile device is greater than the fourth required power.

[0110] In some embodiments of the present application, if the remaining power of the second self-moving device is greater than the fourth required power, step S404 is executed; if the remaining power of the second self-moving device is less than or equal to the fourth required power, step S405 is executed.

[0111] S404: Determine whether the second autonomous moving device meets the pile-moving condition.

[0112] In some embodiments of the present application, if the remaining power of the second self-moving device is greater than the fourth required power, it can be indicated that the remaining power of the second self-moving device can support the second self-moving device to move to the third charging station. Therefore, it can be determined that the second self-moving device meets the charging station relocation condition.

[0113] S405: Determine that the second autonomous moving device does not meet the pile-moving condition.

[0114] In some embodiments of the present application, if the remaining power of the second self-moving device is less than or equal to the fourth required power level, it can be indicated that the remaining power of the second self-moving device is insufficient to support the movement of the second self-moving device to the third charging station. Therefore, it can be determined that the second self-moving device does not meet the charging station relocation condition.

[0115] In this embodiment of the present application, the charging pile closest to the second mobile device is selected as the third charging pile from among the idle charging piles of the plurality of charging piles, and the power required for the second mobile device to move to the third charging pile is determined based on the movement route of the second mobile device to the third charging pile. If the remaining power of the second mobile device is greater than the fourth required power, the second mobile device can be determined to meet the relocation condition, provided that the second mobile device can move to the idle third charging pile.

[0116] like Figure 5 FIG. 1 is a flow chart of a charging control method provided by another embodiment of the present application. The charging control method is applied to electronic devices (such as Figure 1 According to different requirements, the order of each step in the flowchart can be adjusted according to actual requirements, and some steps can be omitted.

[0117] S501 : Determine a third power requirement based on a first power requirement required for a first autonomous mobile device to move to a nearest charging pile and a second power requirement required for a remaining operation area where the first autonomous mobile device performs an unfinished operation.

[0118] In some embodiments of the present application, the first required power may indicate the power required for the first self-mobile device to move to the nearest charging station, and the second required power may indicate the power required for the first self-mobile device to perform the remaining working area of ​​the unfinished work.

[0119] In some embodiments of the present application, the electronic device may calculate the sum of the first power requirement and the second power requirement to obtain a third power requirement.

[0120] S502: If the remaining power of the first self-moving device is less than the preset power and the remaining power of the first self-moving device is greater than the third required power, when it is detected that the first self-moving device completes the operation task in the remaining operation area, a charging instruction is generated for the first self-moving device.

[0121] In some embodiments of the present application, the preset power level can be set and adjusted based on actual needs. For example, the preset power level can be set based on the battery capacity of the first self-moving device. If the remaining power level of the first self-moving device is greater than the third required power level, it can be indicated that the remaining power level of the first self-moving device is sufficient to support the first self-moving device to complete the remaining work tasks in the work area and then move to the nearest charging station.

[0122] S503: In response to the charging instruction of the first self-mobile device, determine that the idle charging pile closest to the first self-mobile device is the first charging pile.

[0123] S504: Determine an estimated energy consumption value based on a first charging path from the mobile device to the first charging pile.

[0124] In some embodiments of the present application, the energy consumption estimate indicates the amount of power required for the first mobile device to move to the first charging station.

[0125] The details of step S503 to step S504 can be found in the above text. Figure 2 The detailed description of steps S201 to S202 is not repeated here.

[0126] S505: Detect whether the remaining power of the first mobile device is less than the estimated energy consumption value.

[0127] In some embodiments of the present application, if the remaining power of the first self-moving device is greater than or equal to the estimated energy consumption value, it may indicate that the remaining power of the first self-moving device is sufficient to support the first self-moving device moving to the first charging station. If the remaining power of the first self-moving device is less than the estimated energy consumption value, it may indicate that the remaining power of the first self-moving device is insufficient to support the first self-moving device moving to the first charging station.

[0128] In some embodiments of the present application, if the remaining power of the first self-moving device is greater than or equal to the energy consumption estimate, step S506 is executed; if the remaining power of the first self-moving device is less than the energy consumption estimate, step S507 is executed.

[0129] S506: Control the first mobile device to move to the first charging pile for charging.

[0130] In this embodiment, when the remaining power of the first self-moving device is greater than or equal to the estimated energy consumption value, the first self-moving device is controlled to move to the first charging pile for charging, which can ensure that the first self-moving device can be successfully charged.

[0131] S507 : Based on the distances between the first self-moving device and the plurality of charging piles, select a charging pile closest to the first self-moving device as a second charging pile from the plurality of charging piles.

[0132] In some embodiments of the present application, the distance between the second charging pile and the first self-moving device is smaller than the distance between the first charging pile and the first self-moving device, and the second charging pile is in a state of charging the second self-moving device.

[0133] The details of step S507 can be found above. Figure 2 The detailed description of step S203 is omitted here.

[0134] S508: Detect whether the second autonomous moving device meets the pile moving condition.

[0135] In some embodiments of the present application, when the remaining power of the first self-moving device is less than the estimated energy consumption, it means that the remaining power of the first self-moving device cannot support the first self-moving device to move to the first charging pile. At this time, the electronic device can detect whether the second self-moving device meets the conditions for moving to the charging pile.

[0136] In some embodiments of the present application, the electronic device detects whether the second self-moving device meets the pile moving condition. Figure 3 and / or Figure 4 The detailed description is not repeated here.

[0137] In some embodiments of the present application, if the second self-moving device meets the pile-moving condition, step S509 is executed; if the second self-moving device does not meet the pile-moving condition, step S510 is executed.

[0138] S509: disconnecting the second mobile device from the second charging pile, and controlling the first mobile device to move to the second charging pile for charging.

[0139] The details of step S509 can be found in the above text. Figure 2 The detailed description of step S204 is omitted here.

[0140] S510: Control the second charging pile to continue charging the second mobile device.

[0141] In various embodiments of the present application, if the remaining power of the first self-moving device is greater than the third required power, it can be indicated that the remaining power of the first self-moving device is sufficient to support the first self-moving device in completing the work tasks in the remaining work area and then moving to the nearest charging station. Therefore, if the remaining power of the first self-moving device is less than the preset power and the remaining power of the first self-moving device is less than the preset power, generating a charging instruction for the first self-moving device after the first self-moving device completes the work tasks in the remaining work area can avoid the first self-moving device incurring task restart costs, thereby saving resource overhead. If the remaining power of the first self-moving device is less than the estimated energy consumption, it means that the remaining power of the first self-moving device cannot support the first self-moving device in moving to the idle first charging station. In this case, based on the distance between the first self-moving device and the multiple charging stations, a second charging station that is currently charging the second self-moving device can be selected from the multiple charging stations. Then, when the second self-moving device meets the relocation conditions, the connection between the second self-moving device and the second charging station is disconnected, and the first self-moving device is controlled to move to the second charging station for charging. This ensures that both the first and second self-moving devices can be charged, thereby achieving reasonable allocation and scheduling of charging resources.

[0142] like Figure 6 FIG. 1 is a schematic diagram of the structure of a self-moving device provided by an embodiment of the present application. In the embodiment of the present application, the self-moving device 10 (eg Figure 1 The self-moving device 11, self-moving device 12, and self-moving device 13 shown may include a main body, and a storage device 610, a processing device 620, a power supply 630, a camera 640, a sensor 650, an operating device 660, a communication module 670, a positioning module 680, a driving wheel 690, and a bus 600 disposed on the main body. The processing device 620 is coupled to the storage device 610, the power supply 630, the camera 640, the sensor 650, the operating device 660, the communication module 670, the positioning module 680, and the driving wheel 690 via the bus 600.

[0143] Storage device 610 may include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). The RAM can be directly read and written by processing device 620 and can be used to store executable programs (e.g., machine instructions) for the operating system or other running programs, as well as user and application data. RAM may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), and the like.

[0144] The non-volatile memory can also store executable programs and user and application data, etc., which can be pre-loaded into the random access memory for direct reading and writing by the processing device 620. The non-volatile memory can include disk storage devices and flash memory.

[0145] The storage device 610 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processing device 620. The one or more computer programs include multiple instructions. When executed by the processing device 620, the multiple instructions can implement the charging control method or other methods executed on the mobile device 10.

[0146] In other embodiments, the mobile device 10 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the mobile device 10 .

[0147] The processing device 620 may include one or more processing units. For example, the processing device 620 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). The different processing units may be independent devices or integrated into one or more processors.

[0148] The processing device 620 provides computing and control capabilities. For example, the processing device 620 is used to execute a computer program stored in the storage device 610 to implement the above-mentioned device control method.

[0149] The power supply 630 is used to supply power to the mobile device 10. In one embodiment of the present application, the power supply 630 may include any one or more power supply devices such as a battery, a fuel generator, a solar power generation module, and a wind power generation module.

[0150] The camera 640 is used to capture still images or videos. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then converts the electrical signal into a digital image signal. In one embodiment of the present application, the mobile device 10 may include 1 or N cameras 640, where N is a positive integer greater than 1.

[0151] The sensor 650 is used to obtain data from the mobile device 10, such as environmental data and data related to the mobile device 10. In one embodiment of the present application, the sensor 650 may include one or more of a collision sensor, a current sensor, a voltage sensor, a rain detection sensor, a laser radar, a camera, and an ultrasonic sensor.

[0152] The operating device 660 is used to perform various operating functions, such as mowing, de-icing, patrolling, sweeping, and spraying pesticides. In one embodiment of the present application, the operating device 660 may include a drive mechanism such as a motor and a hydraulic cylinder, as well as a cutterhead including blades. In one embodiment of the present application, the motor can drive the blades to move to perform the mowing operation. The motor can control the movement of the blades to adjust the height and speed of the mowing.

[0153] The communication module 670 is used to enable communication between the mobile device 10 and other devices. In one embodiment of the present application, the communication module 670 can exchange data with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or a combination of communication methods such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0154] The positioning module 680 is used to determine the position and movement direction of the mobile device 10. In one embodiment of the present application, the positioning module 680 may include one or more positioning modules such as a global positioning system (GPS), an inertial navigation system, a real-time kinematic (RTK) positioning device, and the like.

[0155] The driving wheels 690 are used to enable the self-moving device 10 to move. In one embodiment of the present application, the driving wheels 690 can enable the self-moving device 10 to move along the target planned trajectory. In one embodiment of the present application, the self-moving device 10 may include driving wheels and passive wheels, and the driving wheels may further include left and right driving wheels.

[0156] The bus 600 is at least used to provide a channel for mutual communication between the storage device 610, processing device 620, power supply 630, camera 640, sensor 650, operating device 660, communication module 670, positioning module 680, and driving wheel 690 in the mobile device 10.

[0157] In other embodiments of the present application, the self-propelled device 10 may further include an anti-collision portion and a steering assembly. The anti-collision portion may be used to prevent the driving wheel 690 from colliding with obstacles in front of the self-propelled device. The steering assembly may be used to adjust the driving wheel 690 to adjust the driving direction.

[0158] It should be understood that the structures illustrated in the embodiments of this application do not constitute specific limitations on the self-mobile device 10. In other embodiments of this application, the self-mobile device 10 may include more or fewer components than shown, or may combine or separate certain components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0159] like Figure 7 As shown in FIG, it is a structural diagram of an electronic device for implementing a charging control method provided by an embodiment of the present application. Figure 7 As shown, the electronic device 100 may include a communication module 701, a memory 702, a processor 703, an input / output (I / O) interface 704, and a bus 705. The processor 703 is coupled to the communication module 701, the memory 702, and the input / output interface 704 via the bus 705.

[0160] The communication module 701 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions, such as a universal serial bus (USB) and a controller area network (CAN). The wireless communication module may provide one or more wireless communication solutions, such as Wi-Fi, Bluetooth, mobile communication networks, frequency modulation (FM), near field communication (NFC), and infrared (IR).

[0161] Memory 702 may include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). The RAM can be directly read and written by the processor 703 and can be used to store executable programs (e.g., machine instructions) of other running programs, as well as user and application data. RAM may include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), and the like.

[0162] The non-volatile memory can also store executable programs and user and application data, etc., and can be pre-loaded into the random access memory for direct reading and writing by the processor 703. The non-volatile memory can include disk storage devices and flash memory.

[0163] The memory 702 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 703. The one or more computer programs include multiple instructions. When the multiple instructions are executed by the processor 703, the charging control method executed on the electronic device 100 can be implemented.

[0164] In other embodiments, Figure 7 The electronic device 100 shown further includes an external memory interface for connecting to an external memory to expand the storage capacity of the electronic device 100 .

[0165] The processor 703 may include one or more processing units. For example, the processor 703 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), and / or a neural-network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors.

[0166] The processor 703 provides computing and control capabilities. For example, the processor 703 is used to execute a computer program stored in the memory 702 to implement the above-mentioned device control method.

[0167] The input / output interface 704 is used to provide a channel for user input or output. For example, the input / output interface 704 can be used to connect various input and output devices, such as a mouse, keyboard, touch device, display screen, etc., so that the user can enter information or visualize information.

[0168] The bus 705 is at least used to provide a channel for mutual communication among the communication module 701 , the memory 702 , the processor 703 , and the input / output interface 704 in the electronic device 100 .

[0169] It should be understood that the structures illustrated in the embodiments of the present application do not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may include more or fewer components than shown, or may combine or separate certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0170] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0171] The computer-readable storage medium may be the internal memory of the mobile device or base station device in the above-mentioned embodiment, for example, the hard disk or memory of the mobile device or base station device. The computer-readable storage medium may also be an external storage device of the mobile device or base station device, for example, a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the mobile device or base station device.

[0172] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, applications required for at least one function, etc.; the data storage area may store data created based on the use of the self-mobile device or base station device, etc.

[0173] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0174] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0175] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A charging control method, characterized in that: The method comprises: In response to a charging instruction from a first self-mobile device, determining that an idle charging pile closest to the first self-mobile device is a first charging pile; determining an estimated energy consumption value based on a recharging path from the first mobile device to the first charging post, the estimated energy consumption value indicating an amount of power required for the first mobile device to move to the first charging post; If the remaining power of the first self-moving device is less than the estimated energy consumption, based on the distances between the first self-moving device and a plurality of charging piles, a charging pile closest to the first self-moving device is selected from the plurality of charging piles as a second charging pile, the distance between the second charging pile and the first self-moving device is less than the distance between the first charging pile and the first self-moving device, and the second charging pile is in a state of charging the second self-moving device; If the second self-moving device meets the charging pile moving condition, the connection between the second self-moving device and the second charging pile is disconnected, and the first self-moving device is controlled to move to the second charging pile for charging.

2. The charging control method according to claim 1, wherein: The triggering conditions of the charging instruction include one or more of the following combinations: The remaining power of the first self-mobile device is less than or equal to a preset power; The remaining power of the first self-moving device is less than or equal to a preset multiple of a first required power, where the first required power indicates the power required for the first self-moving device to move to the nearest charging station; The battery temperature of the first self-mobile device is greater than a preset temperature; The voltage change value of the first self-moving device at adjacent moments is greater than a preset change value; The remaining power of the first self-moving device is less than a second required power, and the second required power indicates the power required by the first self-moving device to perform a remaining operation area of ​​an unfinished operation.

3. The charging control method according to claim 2, wherein: The method further comprises: determining a third power requirement based on the first power requirement and the second power requirement; If the remaining power of the first self-moving device is less than the preset power and the remaining power of the first self-moving device is greater than the third required power, a charging instruction for the first self-moving device is generated when it is detected that the first self-moving device completes the operation task in the remaining operation area.

4. The charging control method according to claim 1, wherein: The determining of the estimated energy consumption value based on the recharging path from the first mobile device to the first charging pile includes: Determining a travel distance of the first mobile device to the first charging station based on the recharging path; determining a path complexity of the recharging path based on terrain characteristics of the recharging path; determining a slope resistance value based on a coefficient corresponding to the slope of the slope in the recharging path and a distance of the slope; The energy consumption estimate is calculated based on the moving distance, the path complexity, and the slope resistance value.

5. The charging control method according to claim 1, wherein: The method further comprises: determining a first power emergency coefficient according to the remaining power of the first self-moving device, the battery temperature of the first self-moving device, and the number of charge and discharge cycles of the battery in the first self-moving device; determining a second power emergency coefficient according to the remaining power of the second self-mobile device, the battery temperature of the second self-mobile device, and the number of charge and discharge cycles of the battery in the second self-mobile device; If the difference between the first power emergency coefficient and the second power emergency coefficient is greater than or equal to a first preset threshold, it is determined that the second self-moving device meets the pile-moving condition.

6. The charging control method according to claim 5, wherein: The method further comprises: If the absolute value of the difference between the first power emergency coefficient and the second power emergency coefficient is less than the first preset threshold, determining a first value of the first task according to the priority of the first task being executed by the first mobile device, the execution progress of the first task, and the time constraint information of the first task; determining a second value of the second task according to the priority of the second task being executed by the second mobile device, the execution progress of the second task, and the time constraint information of the second task; If the difference between the first value and the second value is greater than or equal to a second preset threshold, it is determined that the second self-moving device meets the pile-moving condition.

7. The charging control method according to claim 6, wherein: The method further comprises: If the absolute value of the difference between the first value and the second value is smaller than the second preset threshold, determining a target autonomous mobile device from the autonomous mobile devices in the idle state based on the distance between the first autonomous mobile device and the autonomous mobile devices in the idle state; determining a collaborative impact factor of the first self-mobile device according to the number of the target self-mobile devices and the regional density of the target self-mobile devices; If the collaborative impact factor is less than a third preset threshold, it is determined that the second self-moving device meets the pile-moving condition.

8. The charging control method according to claim 1, wherein: The method further comprises: Based on the idle charging piles among the plurality of charging piles, selecting the charging pile closest to the second mobile device as the third charging pile; determining a fourth power requirement based on a movement route of the second self-mobile device to the third charging post, the fourth power requirement indicating a power requirement for the second self-mobile device to move to the third charging post; If the remaining power of the second self-moving device is greater than the fourth required power, it is determined that the second self-moving device meets the relocation condition.

9. An electronic device, characterized in that: The electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the electronic device implements the charging control method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor in an electronic device, implements the charging control method according to any one of claims 1 to 8.

Images