Charging device control method of self-moving equipment and charging device

Abstract

The invention relates to the field of self-moving devices, and provides a charging device control method of a self-moving device and a charging device, the method is applied to the charging device, the charging device comprises a wireless charging module and a positioning module, and a projection of the wireless charging module in a preset direction forms a device charging position. In the wireless charging process of the self-moving equipment, the projection of the equipment charging position and the projection of the self-moving equipment in the preset direction at least partially coincide; the method comprises the following steps: determining first distance information between the self-moving equipment and the equipment charging position according to detection information of the positioning module; and when it is detected that the first distance information satisfies a preset charging condition, starting the wireless charging module to wirelessly charge the self-moving device. The stability of the charging equipment of the self-moving equipment is improved through wireless charging, and the charging process is prevented from being influenced by external factors.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of self-moving devices, in particular to a charging device control method of a self-moving device and a charging device. BACKGROUND

[0002] The existing self-moving devices are usually charged through charging piles. The positive and negative poles of the charging interface of the self-moving device need to be aligned with the positive and negative poles of the charging pile. Therefore, the self-moving device needs to approach the charging pile in a specific direction to ensure that the positions of the positive and negative poles of the charging interface correspond to the positions of the positive and negative poles of the charging pile. Moreover, the charging pile is usually arranged outdoors, and the charging interface is exposed to the outdoor environment and is easily blocked by stains. The self-moving device is also easily affected by rain and snow when charging outdoors, resulting in short circuit. How to improve the charging method of the self-moving device and improve the stability of the charging device of the self-moving device has become a problem to be solved. SUMMARY

[0003] The main purpose of the present application is to provide a charging device control method of a self-moving device and a charging device, which aims to improve the stability of the charging device of the self-moving device.

[0004] In a first aspect, the present application provides a charging device control method of a self-moving device, which is applied to a charging device. The charging device comprises a wireless charging module and a positioning module. A projection of the wireless charging module in a preset direction forms a device charging position. During wireless charging of the self-moving device, the device charging position and a projection of the self-moving device in the preset direction at least partially coincide. The charging device control method comprises the following steps:

[0005] According to the detection information of the positioning module, first distance information between the self-moving device and the device charging position is determined.

[0006] In the case where it is detected that the first distance information meets a preset charging condition, wireless charging of the self-moving device by the wireless charging module is started.

[0007] In a second aspect, the present application further provides a charging device of a self-moving device. The charging device comprises a wireless charging module and a positioning module. A projection of the wireless charging module in a preset direction forms a device charging position. During wireless charging of the self-moving device, the device charging position and a projection of the self-moving device in the preset direction at least partially coincide. The charging device is further provided with a processor, a memory, and a computer program stored in the memory and executable by the processor. When the computer program is executed by the processor, the steps of the charging device control method according to any one of the embodiments of the present application are implemented.

[0008] The charging device control method of the self-moving device provided by the embodiment of the application is applied to a charging device, the charging device comprises a wireless charging module and a positioning module, a projection of the wireless charging module in a preset direction forms a device charging position, and a projection of the self-moving device in the preset direction at least partially overlaps with the device charging position during wireless charging of the self-moving device. The method comprises the following steps: determining first distance information between the self-moving device and the device charging position according to detection information of the positioning module; and starting wireless charging of the self-moving device by the wireless charging module when it is detected that the first distance information meets preset charging conditions. The stability of the charging device of the self-moving device is improved by wireless charging, and the charging process is prevented from being affected by external factors. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0010] Figure 1 A flowchart of a charging device control method of a self-moving device provided by an embodiment of the application is shown in the figure.

[0011] Figure 2 A top view of a charging device provided by an embodiment of the application is shown in the figure.

[0012] Figure 3 A side view of a charging device provided by an embodiment of the application is shown in the figure.

[0013] Figure 4 A structural schematic block diagram of a charging device of a self-moving device provided by an embodiment of the application is shown in the figure. DETAILED DESCRIPTION

[0014] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are some embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.

[0015] The flowchart shown in the figure is only an example, and it is not necessary to include all the contents and operations / steps, and it is not necessary to execute in the described order. For example, some operations / steps can be decomposed, combined or partially combined, so that the actual execution order can be changed according to the actual situation.

[0016] The embodiments of the present application provide a method for controlling a charging device of a mobile device and a charging device.

[0017] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0018] Please refer to Figure 1 , Figure 1 This is a flow chart of a method for controlling a charging device for a self-mobile device according to an embodiment of the present application. This method can be used in a terminal or server to wirelessly charge a self-mobile device via a charging device. The terminal can be a self-mobile device such as a lawn mower robot or a snowplow robot.

[0019] Among them, the charging device includes a wireless charging module for wirelessly charging the mobile device; the charging device is also provided with a positioning module for locating the mobile device, and when it is determined that the position of the mobile device meets the conditions for wireless charging, wireless charging of the mobile device is started.

[0020] Illustratively, the projection of the wireless charging module in a preset direction forms a device charging position. During wireless charging of the mobile device, the device charging position and the projection of the mobile device in the preset direction at least partially overlap.

[0021] Please refer to Figure 2 , Figure 2 A top view of a charging device provided in one embodiment of the present application.

[0022] like Figure 2 As shown, when the mobile device is wirelessly charged with the charging device, it can have a certain distance from the wireless charging module of the charging device within the allowable error range. Therefore, the area of ​​the device charging position in the top view is slightly larger than the area of ​​the wireless charging module in the top view. Figure 2 For example, the position of the self-mobile device does not need to completely coincide with the position of the wireless charging module. As long as the self-mobile device enters the device charging position that is less than a preset distance from the wireless charging module, wireless charging can be performed.

[0023] Please refer to Figure 3 , Figure 3 A side view of a charging device provided in one embodiment of the present application.

[0024] like Figure 3 As shown, the wireless charging module of the charging device is suspended above the device charging position. When the mobile device is wirelessly charged at the device charging position, there is a gap between the top of the mobile device and the bottom of the wireless charging module.

[0025] It can be understood that, since the self-moving device is usually used outdoors, the device charging station is also usually set outdoors, and when the self-moving device is charging at the device charging station, the wireless charging module can shield the self-moving device, avoid the influence of rain and sunlight on the self-moving device, especially avoid the charging short circuit caused by rain, and provide stability for the charging of the self-moving device.

[0026] As shown in Figure 1 The charging device control method of the self-moving device includes steps S101 to S102.

[0027] Step S101, according to the detection information of the positioning module, determine the first distance information between the self-moving device and the device charging station.

[0028] Illustratively, the charging device can determine the distance between the self-moving device and the device charging station through the positioning module, for example, determine the distance between the positioning module and the self-moving device, so as to calculate the first distance information between the self-moving device and the device charging station according to the positional relationship between the positioning module and the device charging station; or determine the position of the self-moving device, so as to calculate the first distance information between the self-moving device and the device charging station according to the position of the device charging station.

[0029] In some embodiments, the positioning module includes at least two infrared sensors, and the first distance information between the self-moving device and the device charging station is determined according to the detection information of the positioning module, including:

[0030] According to the difference of the detection information of the at least two infrared sensors, determine the position information of the self-moving device;

[0031] According to the position information of the self-moving device, determine the first distance information between the self-moving device and the device charging station.

[0032] Illustratively, the positioning module can be an infrared sensor, and specifically, at least two infrared sensors are arranged at the center and / or vertex of the wireless charging module, for example, four infrared sensors are arranged at the four vertices of the wireless charging module.

[0033] For example, after the infrared light emitted by the infrared sensor hits the self-moving device, part of the infrared light is reflected back. Based on the intensity and angle of the reflected infrared light, the distance between the self-moving device and the infrared sensor can be calculated, and the position of the self-moving device can be determined based on the distance between the self-moving device and multiple infrared sensors. For example, the first distance information can be determined by triangulation. Specifically, the infrared sensor includes an infrared transmitter and an infrared receiver. The infrared transmitter emits infrared light, which is reflected back after hitting the self-moving device and received by the infrared receiver. Since the position between the infrared transmitter and the infrared receiver is fixed, a triangle is formed. By measuring the angle of the reflected light (or the position of the light spot), the distance between the infrared sensor and the self-moving device can be calculated using trigonometric functions.

[0034] For example, the direction in which the mobile device enters and leaves the device charging position can be determined through the detection information of different infrared sensors, so as to better control the charging of the mobile device. For example, the direction in which the mobile device leaves the device charging position can be determined based on the disappearance order of the infrared sensor signals.

[0035] Exemplarily, the positioning module may also be other sensors, such as a magnetic field sensor, which locates the mobile device by sensing the magnetic field changes caused by metal parts on the mobile device.

[0036] Step S102: When it is detected that the first distance information meets a preset charging condition, the wireless charging module is started to wirelessly charge the mobile device.

[0037] For example, the principle of wireless charging is that the wireless charging module transmits power through the wireless charging coil, and the mobile device receives power through the wireless receiving coil. To achieve wireless charging, the distance between the wireless charging coil and the wireless receiving coil must be sufficiently small. In other words, the distance between the wireless charging module and the mobile device must be sufficiently small. Therefore, when the first distance information meets the preset charging conditions, the wireless charging module is activated to wirelessly charge the mobile device. For example, when the first distance information is sufficiently small, the wireless charging coil is controlled to output power, thereby avoiding energy waste.

[0038] In some embodiments, the wireless charging module includes a wireless charging coil, and when detecting that the first distance information satisfies a preset charging condition, starting the wireless charging module to wirelessly charge the mobile device includes:

[0039] Determine second distance information between the wireless charging coil and the wireless receiving coil of the mobile device according to the first distance information;

[0040] start the wireless charging module to wirelessly charge the self-moving device in a case that the second distance information is less than or equal to a first distance threshold.

[0041] In an example, determining whether the distance between the self-moving device and the wireless charging module meets the preset charging condition is actually determining the distance between the wireless receiving coil on the self-moving device and the wireless charging coil on the wireless charging module. Since the position of the wireless charging coil in the wireless charging module is determined and the position of the wireless receiving coil in the self-moving device is also determined, the second distance information between the wireless charging coil and the wireless receiving coil can be calculated according to the first distance information between the wireless charging module and the self-moving device, and whether to start the wireless charging module to wirelessly charge the self-moving device can be determined according to whether the second distance information is less than a first distance threshold.

[0042] In some embodiments, the starting the wireless charging module to wirelessly charge the self-moving device in the case that the second distance information is less than or equal to the first distance threshold comprises:

[0043] starting the wireless charging module to wirelessly charge the self-moving device in a case that the second distance information is less than or equal to a second distance threshold;

[0044] controlling the wireless charging coil to move towards the position of the self-moving device until the second distance information is less than or equal to the second distance threshold, and starting the wireless charging module to wirelessly charge the self-moving device in a case that the second distance information is greater than the second distance threshold and less than or equal to the first distance threshold.

[0045] In an example, the wireless charging coil in the wireless charging module can dynamically adjust the position, for example, can be a movable coil array.

[0046] In an example, when the second distance information is less than or equal to the second distance threshold, the distance between the wireless charging coil and the wireless receiving coil can meet the condition to realize wireless charging, and the wireless charging is directly started at this time; when the second distance information is greater than the second distance threshold and less than or equal to the first distance threshold, the distance between the wireless charging coil and the wireless receiving coil cannot meet the condition to realize wireless charging, but the distance between the wireless charging coil and the wireless receiving coil can be reduced by moving the wireless charging array in the wireless charging module until the second distance information between the wireless charging coil and the wireless receiving coil is less than or equal to the second distance threshold.

[0047] In an example, by setting the movable wireless charging coil, the charging distance and the flexibility of the wireless charging module are improved.

[0048] In some embodiments, the charging device further comprises a wireless communication module, and the method further comprises:

[0049] obtaining, by the wireless communication module, battery parameter information of a battery management system of the self-moving device;

[0050] adjusting a charging mode of the wireless charging module according to the battery parameter information.

[0051] For example, the battery of the self-moving device is provided with a battery management system (BMS), which can continuously monitor the battery parameter information such as battery capacity, voltage, and current in real time during wireless charging, and send the battery parameter information to the charging device through the wireless charging module, so that the charging device adjusts the charging mode of the wireless charging module according to the battery parameter information, thereby improving the flexibility of the charging device.

[0052] For example, the wireless communication module can be a Bluetooth module, a ZigBee module, or the like. By providing the wireless charging module, the self-moving device and the charging device can communicate information without contact, thereby improving the intelligence of the self-moving device charging.

[0053] In some embodiments, the battery parameter information includes battery capacity information, and adjusting the charging parameter of the wireless charging module according to the battery parameter information comprises:

[0054] controlling the wireless charging module to charge the self-moving device in a first charging mode when the battery capacity information is less than a first capacity threshold;

[0055] controlling the wireless charging module to charge the self-moving device in a second charging mode when the battery capacity information is greater than or equal to the first capacity threshold, wherein the charging rate of the second charging mode is less than that of the first charging mode;

[0056] controlling the wireless charging module to stop charging the self-moving device when the battery capacity information is greater than or equal to a second capacity threshold, wherein the second capacity threshold is greater than the first capacity threshold.

[0057] For example, the charging mode of the charging device is adjusted according to the battery circuit information, different charging modes are adopted for the battery of the self-moving device at different capacities, the life of the battery is prolonged, the service life of the self-moving device is prolonged, and the maintenance cost of the self-moving device is reduced.

[0058] Specifically, when the battery power information is less than the first power threshold, the self-moving device is charged at a large charging rate, so as to reduce the waiting time of charging; when the battery power information reaches the first power threshold, the self-moving device is charged at a small charging rate, for example, the charging power is reduced, the trickle charging mode is adopted, and overcharging is avoided to protect the battery health. The size of the first power threshold can be set according to actual needs, for example, the first power threshold can be 95%.

[0059] For example, when the battery power information reaches the second power threshold, it indicates that the battery is fully charged, at which time the charging can be stopped, and the wireless charging coil can be turned off to avoid waste of electric energy and occurrence of electric accidents. The size of the second power threshold can be, for example, 100%.

[0060] For example, the battery parameter information can further include the battery temperature, and in the case that the battery temperature is too high, the charging is paused, and the charging is continued after the battery is cooled, so as to improve the safety of wireless charging.

[0061] In some embodiments, the charging device further includes a power indication module, and the wireless charging module is controlled to stop wireless charging of the self-moving device when the battery power information is greater than or equal to the second power threshold, and the method further includes:

[0062] When the battery power information is greater than or equal to the second power threshold, the power indication module is controlled to display an indication signal indicating that the charging is completed, and the wireless charging module is controlled to stop wireless charging of the self-moving device.

[0063] For example, the charging device can be further provided with a power indication module, such as an indicator light, or a power display module, for displaying the power of the battery of the self-moving device. Taking the indicator light as an example, when the battery power information is less than the second power threshold, the indicator light can display red, and when the battery power information reaches the second power threshold, the indicator light can be switched to green, so as to prompt the user that the charging is completed, but the present application is not limited thereto.

[0064] In some embodiments, the method further includes:

[0065] When the detection information of the infrared sensor reflects that there is a living object in the device charging position, the wireless charging module is paused to wirelessly charge the self-moving device;

[0066] When the detection information of the infrared sensor reflects that the living object leaves the device charging position, the wireless charging module is continued to wirelessly charge the self-moving device.

[0067] Exemplarily, since the charging device is arranged outdoors, a living object such as an animal or a child may enter the charging position of the device. In order to avoid hurting the living object, the infrared sensor can be used to detect the living object, and the charging can be paused when the living object is detected, thereby improving the safety of the self-moving device charging.

[0068] Exemplarily, the living object is equivalent to an infrared radiation source with a certain temperature, which radiates infrared rays with a specific wavelength. Therefore, the presence of the living object can be determined according to the detection information of the infrared sensor.

[0069] Exemplarily, an electromagnetic shielding layer can also be arranged around the charging device to avoid the influence of the electric signal emitted by the wireless charging coil on the surrounding environment, thereby further improving the safety of the charging device.

[0070] In some embodiments, after the wireless charging module starts to wirelessly charge the self-moving device under the condition that the first distance information meets the preset charging condition, the method further comprises:

[0071] Under the condition that the first distance information meets the charging end condition and the target time length during which the charging end condition is met is greater than a preset time length, the wireless charging of the self-moving device by the wireless charging module is stopped.

[0072] Exemplarily, under the condition that the first distance information is greater than the first distance threshold, it is determined that the first distance information meets the charging end condition. At this time, it can be considered that the self-moving device has left the charging position of the device.

[0073] When the target time length during which the first distance information meets the charging end condition is less than the preset time length, it indicates that the self-moving device may have temporarily left the charging position of the device. At this time, the charging device can be controlled to enter a standby state, and the charging can be continued when the self-moving device enters the charging position of the device again, thereby avoiding the frequent start and stop of the wireless charging module. When the target time length during which the first distance information meets the charging end condition reaches the preset time length, it can be considered that the self-moving device has left the charging position of the device for a period of time. At this time, the wireless charging coil of the wireless charging module can be turned off to avoid the waste of electric energy. The preset time length can be set according to actual needs, for example, the preset time length can be 5 minutes.

[0074] The charging device control method of the self-moving device provided in the embodiments of the present application is applied to a charging device, the charging device comprises a wireless charging module and a positioning module, a projection of the wireless charging module in a preset direction forms a device charging position, and projections of the self-moving device and the device charging position in the preset direction at least partially coincide during wireless charging of the self-moving device. The method comprises: determining first distance information between the self-moving device and the device charging position according to detection information of the positioning module; and starting wireless charging of the self-moving device by the wireless charging module when it is detected that the first distance information meets preset charging conditions. The stability of the charging device of the self-moving device is improved by wireless charging, and the charging process is prevented from being affected by external factors.

[0075] Please refer to Figure 4 , Figure 4 The structural schematic block diagram of the charging device of the self-moving device provided in an embodiment of the present application is shown.

[0076] As Figure 4 shown, the present application also provides a charging device of a self-moving device, the charging device comprising: a wireless charging module and a positioning module; a projection of the wireless charging module in a preset direction forms a device charging position, and projections of the self-moving device and the device charging position in the preset direction at least partially coincide during wireless charging of the self-moving device; the charging device is also provided with a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein the computer program is executed by the processor to implement the steps of the charging device control method according to any one of the embodiments of the present application.

[0077] It should be noted that, for the convenience and brevity of description, the specific working process of the charging device described above can refer to the corresponding process in the foregoing embodiments of the charging device control method of the self-moving device, and will not be described here.

[0078] It should be understood that the terms used herein in the present application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0079] It should also be understood that, in the specification and the appended claims, the terms "and / or" is used to mean one or more of the associated listed items, as well as any combination of any of the associated listed items. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

[0080] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling a charging device of a mobile device, applied to a charging device, characterized in that: The charging device includes a wireless charging module and a positioning module. The projection of the wireless charging module in a preset direction forms a device charging position, and during the wireless charging of the mobile device, the device charging position and the projection of the mobile device in the preset direction at least partially overlap. The method includes: Determining first distance information between the mobile device and the device charging position according to the detection information of the positioning module; When it is detected that the first distance information meets a preset charging condition, the wireless charging module is started to wirelessly charge the mobile device.

2. The method for controlling a charging device of a mobile device according to claim 1, wherein: The wireless charging module includes a wireless charging coil, and when detecting that the first distance information meets a preset charging condition, starting the wireless charging module to wirelessly charge the mobile device includes: Determine second distance information between the wireless charging coil and the wireless receiving coil of the mobile device according to the first distance information; When the second distance information is less than or equal to the first distance threshold, the wireless charging module is started to wirelessly charge the mobile device.

3. The method for controlling a charging device of a mobile device according to claim 2, wherein: When the second distance information is less than or equal to the first distance threshold, starting the wireless charging module to wirelessly charge the mobile device includes: When the second distance information is less than or equal to a second distance threshold, starting the wireless charging module to wirelessly charge the mobile device; When the second distance information is greater than the second distance threshold and less than or equal to the first distance threshold, the wireless charging coil is controlled to move toward the location of the self-mobile device until the second distance information is less than or equal to the second distance threshold, and the wireless charging module is started to wirelessly charge the self-mobile device.

4. The method for controlling a charging device of a mobile device according to claim 1, wherein: The charging device further includes a wireless communication module, and the method further includes: Acquiring battery parameter information of the battery management system of the mobile device through the wireless communication module; The charging mode of the wireless charging module is adjusted according to the battery parameter information.

5. The method for controlling a charging device of a mobile device according to claim 4, wherein: The battery parameter information includes battery power information, and adjusting the charging parameters of the wireless charging module according to the battery parameter information includes: When the battery power information is less than a first power threshold, controlling the wireless charging module to wirelessly charge the mobile device in a first charging mode; When the battery power information is greater than or equal to a first power threshold, controlling the wireless charging module to wirelessly charge the mobile device in a second charging mode, wherein the charging rate of the second charging mode is lower than that of the first charging mode; When the battery power information is greater than or equal to a second power threshold, the wireless charging module is controlled to stop wireless charging of the mobile device, wherein the second power threshold is greater than the first power threshold.

6. The method for controlling a charging device of a mobile device according to claim 5, wherein: The charging device further includes a power indication module, which controls the wireless charging module to stop wireless charging of the mobile device when the battery power information is greater than or equal to a second power threshold, and further includes: When the battery power information is greater than or equal to a second power threshold, the power indication module is controlled to display an indication signal indicating that charging is complete, and the wireless charging module is controlled to stop wireless charging of the mobile device.

7. The method for controlling a charging device of a mobile device according to claim 1, wherein: The positioning module includes at least two infrared sensors, and determining the first distance information between the mobile device and the device charging position according to the detection information of the positioning module includes: Determining the location information of the mobile device according to a difference in detection information of at least two of the infrared sensors; The first distance information between the self-mobile device and the device charging position is determined according to the position information of the self-mobile device.

8. The method for controlling a charging device of a mobile device according to claim 7, wherein: The method further comprises: When the detection information of the infrared sensor indicates that there is a living thing at the device charging position, suspending the wireless charging module from wirelessly charging the mobile device; When the detection information of the infrared sensor reflects that the living object has left the device charging position, the wireless charging module continues to wirelessly charge the mobile device.

9. The method for controlling a charging device of a mobile device according to claim 1, wherein: The method further includes, after detecting that the first distance information satisfies a preset charging condition and starting the wireless charging module to wirelessly charge the mobile device: When it is detected that the first distance information satisfies a charging end condition and a target time duration for satisfying the charging end condition is longer than a preset time duration, the wireless charging module stops wirelessly charging the mobile device.

10. A charging device for a mobile device, characterized in that: The charging device includes: a wireless charging module and a positioning module; the projection of the wireless charging module in a preset direction forms a device charging position, and during the wireless charging of the self-mobile device, the device charging position and the projection of the self-mobile device in the preset direction at least partially overlap; the charging device is further provided with a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the charging device control method according to any one of claims 1 to 9 are implemented.

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