Mowing robot and control method therefor

Abstract

A mowing robot and a control method therefor, which relate to the technical field of mowing robots. The method comprises: acquiring working state parameters of a photovoltaic module; and when the working state of the photovoltaic module meets a cooling condition, a mowing robot travelling to a target shaded area, the target shaded area being an area in which the illuminance is less than a preset light threshold. By utilizing the characteristic that the mowing robot can move, when the photovoltaic module meets the cooling condition, the photovoltaic module is cooled by driving into the target shaded area, guaranteeing that the photovoltaic module can work normally. In addition, the light energy conversion rate of the photovoltaic module is increased, and the problems of a shortened service life of the photovoltaic module and reduced output power due to the temperature being too high are avoided. In addition, a cooling structure does not need to be added, and hardware and manpower mounting costs caused by the mounting of additional cooling equipment are reduced.

Description

Lawn mowing robot and control method thereof

[0001] This application claims priority to Chinese patent application number 202311451163.7, filed with the Patent Office of China on November 2, 2023, entitled “Mobile Device Control Method, Device and Electronic Device”, the entire contents of which are hereby incorporated by reference into this application. This application claims priority to Chinese patent application number 202311667939.9, filed with the Patent Office of China on December 6, 2023, entitled “Lawn Mowing Robot and Control Method Thereof”, the entire contents of which are hereby incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of lawn mowing robots, and in particular to a lawn mowing robot and a control method thereof. Background Art

[0003] With the development of science and technology, more and more intelligent products have entered people's lives. As one of them, lawn mower robots are used to mow the grass.

[0004] Photovoltaic robotic lawn mowers are powered by photovoltaic modules. Specifically, when exposed to sunlight, the modules absorb solar energy and convert it into electrical energy. This exposure causes the temperature of the modules to rise gradually. To ensure proper operation, they are typically equipped with cooling devices.

[0005] However, adding a cooling device will complicate the structure of the lawn mowing robot and increase its cost.

[0006] Summary of the Invention

[0007] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0008] Some embodiments of the present application provide a control method for a lawn mower robot, the method being applied to the lawn mower robot and comprising:

[0009] Obtain working status parameters of photovoltaic modules;

[0010] When it is determined according to the working state parameters of the photovoltaic modules that the photovoltaic modules meet the cooling conditions, the mowing robot drives to a target shadow area, where the target shadow area is an area where the light intensity is less than a preset light threshold.

[0011] Some embodiments of the present application also provide a lawn mowing robot, including a lawn mowing robot body and a control device, the lawn mowing robot body including a photovoltaic component, and the control device is used to execute the control method of the lawn mowing robot involved in the above embodiments.

[0012] The lawn mower robot and control method provided in this application have the following technical advantages: Utilizing the robot's mobility, the robot can cool down the photovoltaic panels by driving into a target shaded area when the panels meet cooling conditions. This ensures the panels can function normally, improves their light energy conversion efficiency, and avoids issues such as shortened panel life and reduced output power caused by excessive temperatures. Furthermore, the robot eliminates the need for additional cooling structures, saving hardware and labor installation costs associated with installing additional cooling equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0014] FIG1 is a schematic diagram of a lawn mowing robot operation scenario provided by an embodiment of the present application;

[0015] FIG2 is a schematic diagram of the structure of a control method for a lawn mowing robot provided in Example 1 of the present application;

[0016] FIG3 is a schematic diagram of a lawn mowing robot provided in a sixth embodiment of the present application, driving alternately between a target shadow area and a target working area;

[0017] FIG4 is a schematic diagram of a lawn mowing robot provided in a seventh embodiment of the present application, driving alternately between a target shadow area and a target working area;

[0018] FIG5 is a schematic diagram of a process of randomly searching for a target shadow area according to the first embodiment of the present application;

[0019] FIG6 is a schematic diagram showing the principle of randomly searching for a target shadow area shown in FIG5 ;

[0020] FIG7 is a schematic diagram of the structure of a control device provided in some embodiments of the present application.

[0021] Reference numerals:

[0022] 111. Target shadow area; 112. Target working area; t1. First time period; t2. Second time period; t3. Third time period; t4. Fourth time period; t5. Fifth time period; t6. Sixth time period; t7. Seventh time period; t8. Eighth time period; t9. Ninth time period. DETAILED DESCRIPTION

[0023] With the advancement of technology, more and more intelligent products are entering people's lives. One of these products is a lawn mower robot, which is used to mow lawns. The device used to power a lawn mower robot can be a rechargeable battery pack or a photovoltaic module. This application primarily relates to powering a lawn mower robot using a photovoltaic module.

[0024] To facilitate understanding, the terms involved in this application are first explained.

[0025] Hot spot effect: Under certain conditions, a shaded solar panel in a series circuit acts as a load, consuming the energy generated by other illuminated solar panels. This causes the shaded panel to heat up. This can damage solar cells to a certain extent, shortening their lifespan.

[0026] Below, the application scenario of the current lawn mowing robot (also called lawn mower) for mowing operations is described. Figure 1 is a schematic diagram of a lawn mower operation scenario provided by this application. As shown in Figure 1, the scenario includes: a mowing operation area and a lawn mower.

[0027] The mowing area includes an illuminated area and a shadowed area. The shadowed area is an area where sunlight cannot directly reach, such as an area blocked by the shadow of a building or a tree, and the illuminated area is an area where sunlight can directly reach.

[0028] A robotic lawn mower is equipped with photovoltaic modules (also known as solar panels) to provide energy. The principle behind this power supply is that when exposed to sunlight, the modules absorb solar energy and convert it into electrical energy. However, exposure to sunlight gradually increases the temperature of the modules. To ensure proper operation, they are typically equipped with cooling devices.

[0029] As a method of cooling photovoltaic modules, a cooling water pipe is laid on the back of the photovoltaic module, and coolant is passed into the cooling water pipe. The flowing coolant takes away the heat in the photovoltaic module, thereby achieving a cooling effect. As a method of cooling photovoltaic modules, a fan is laid on the back of the photovoltaic module. The fan blows air toward the photovoltaic module, taking away the heat in the photovoltaic module, thereby achieving a cooling effect. As another method of cooling photovoltaic modules, a water spray pipe is installed on the photovoltaic module bracket, and water is continuously sprayed onto the photovoltaic module through the water spray pipe to cool it. As another method of cooling photovoltaic modules, a nozzle is installed in the middle or lower end of the photovoltaic module. The nozzle is controlled to spray water onto the surface of the module according to parameters such as the current temperature and temperature threshold, thereby reducing the temperature of the photovoltaic module.

[0030] However, all of the above methods require cooling devices to be installed on the PV modules, making their structure more complex and increasing their cost. Furthermore, laying cooling pipes on the back of the PV modules is difficult to construct, and driving the coolant requires additional electricity. Installing sprinkler pipes on the PV module brackets to spray water on the PV modules also requires cooling the water, resulting in high water and power consumption. Installing sprinklers in the middle or lower end of the PV modules to spray water for cooling also consumes a lot of water and is not economical.

[0031] This application provides a control method and device for a lawn mower robot. Leveraging the robot's mobility, the robot can be driven into shaded areas to mow or park, thereby cooling the photovoltaic modules. This ensures their proper function, improves their light energy conversion efficiency, and avoids issues such as overheating that shorten their lifespan and reduce their output power. Furthermore, the robot eliminates the need for additional cooling structures, saving on the hardware and labor costs associated with installing additional cooling equipment.

[0032] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0033] Example 1

[0034] As shown in FIG2 , some embodiments of the present application provide a control method for a lawn mowing robot, which specifically includes the following steps:

[0035] S101: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0036] The working state parameters of the photovoltaic module include any one or more combinations of the current temperature of the photovoltaic module, the output power of the photovoltaic module, the light intensity detected by the sensor, and the temperature of the photovoltaic module at a historical moment.

[0037] S102: The lawn mowing robot determines whether a cooling condition is met according to the working status parameters of the photovoltaic module.

[0038] In some embodiments, the operating state parameter of the photovoltaic assembly may determine the temperature of the photovoltaic assembly at a current moment or determine the temperature of the photovoltaic assembly at a future moment.

[0039] The cooling condition includes that the current temperature of the photovoltaic component is greater than a first preset temperature threshold, or the cooling condition includes that the time period from when the temperature of the photovoltaic component is greater than a second preset temperature threshold is less than a preset time difference.

[0040] The cooling condition is not met when the current temperature of the photovoltaic component is less than or equal to a first preset temperature threshold, or the cooling condition is not met when the time period from when the temperature of the photovoltaic component is greater than a second preset temperature threshold is greater than or equal to a preset time difference.

[0041] The first preset temperature threshold and the second preset temperature threshold are determined based on the structure and / or material of the photovoltaic module. The preset time difference can be determined based on the distance between the target shadow area and the current position.

[0042] In some embodiments, the first preset temperature threshold is lower than the second preset temperature value, so that if the temperature of the photovoltaic component is higher than the first preset threshold, the photovoltaic component starts to travel to the target shadow area, and the photovoltaic component will not overheat during the period of traveling to the target shadow area.

[0043] In some embodiments, if the operating status parameter includes the current temperature of the photovoltaic assembly, whether the cooling condition is met may be determined based on the current temperature of the photovoltaic assembly.

[0044] In some embodiments, if the working status parameters include the temperature of the photovoltaic component at the current moment and the output power of the photovoltaic component, the temperature at a future moment can be predicted based on the temperature of the photovoltaic component at the current moment and the output power of the photovoltaic component, and whether the cooling condition is met can be determined based on the temperature of the photovoltaic component at the future moment.

[0045] Among them, the output power of the photovoltaic module affects the temperature rise rate of the photovoltaic module. Based on the output power of the photovoltaic module, the temperature rise rate of the photovoltaic module at each moment can be predicted. Based on the temperature of the photovoltaic module at the current moment and the temperature rise rate at each moment, the temperature of the photovoltaic module at the future moment can be determined.

[0046] In some embodiments, if the working status parameters include the temperature of the photovoltaic component at the current moment and the light intensity detected by the sensor, the temperature at a future moment can be predicted based on the temperature of the photovoltaic component at the current moment and the light intensity detected by the sensor, and whether the cooling condition is met can be determined based on the temperature of the photovoltaic component at the future moment.

[0047] Among them, light intensity affects the temperature rise rate of photovoltaic modules. Based on the light intensity, the temperature rise rate of photovoltaic modules at each moment can be predicted, and the temperature of photovoltaic modules at future moments can be determined based on the temperature of photovoltaic modules at the current moment and the temperature rise rate at each moment.

[0048] In some embodiments, if the working status parameters include the temperature of the photovoltaic component at the current moment, the light information detected by the sensor, and the output power of the photovoltaic component, the temperature at a future moment can be predicted based on the temperature of the photovoltaic component at the current moment, the light intensity detected by the sensor, and the output power of the photovoltaic component, and whether the cooling conditions are met can be determined based on the temperature of the photovoltaic component at the future moment.

[0049] To improve prediction accuracy, the temperature rise rate at each moment is determined based on the light intensity detected by the sensor and the output power of the PV module. The temperature of the PV module at a future moment is determined based on the current temperature of the PV module and the temperature rise rate at each moment. Existing machine learning models can be used to predict the temperature rise rate at each moment based on the light information collected by the sensor and the output power of the PV module. The sensor can be a vision module or a more accurate light intensity sensor.

[0050] In some embodiments, if the operating status parameter includes the historical temperature of the photovoltaic module, the temperature at a future time can be predicted based on the historical temperature of the photovoltaic module, and whether the cooling condition is met can be determined based on the temperature of the photovoltaic module at the future time. The prediction algorithm can use an existing machine learning algorithm, which will not be detailed here.

[0051] In some embodiments, the working status parameters include the temperature of the photovoltaic component at the current moment and the temperature of the photovoltaic component at the historical moment. In this way, the temperature at the future moment can be predicted based on the temperature of the photovoltaic component at the current moment and the temperature of the photovoltaic component at the historical moment, and whether the cooling conditions are met can be determined based on the temperature of the photovoltaic component at the future moment.

[0052] The historical temperature of the PV module includes the temperature changes at the robot's current location at those historical moments. The historical moments and the current moment are the same moment on the same day of the same month in different years. For example, the historical moments include the temperature information for Region A from 8:00 AM to 8:00 PM on November 13, 2020, the temperature information for Region A from 8:00 AM to 8:00 PM on November 13, 2021, and the temperature information for Region A from 8:00 AM to 8:00 PM on November 13, 2022. The current time is 4:00 PM on November 13, 2023, and the current location is Region A.

[0053] The temperature after 16:00 on November 13, 2023 can be predicted based on the temperature changes of photovoltaic modules in area A on November 13, 2020, November 13, 2021 and November 13, 2022.

[0054] The temperature at 16:00 on November 13, 2023 can also be matched with the temperature at 16:00 on November 13, 2020, the temperature at 16:00 on November 13, 2021, and the temperature at 16:00 on November 13, 2022. If it is determined that the temperature at 16:00 on November 13, 2020 is closest to the temperature at 16:00 on November 13, 2023, the temperature on November 13, 2020 can be used for prediction.

[0055] In some embodiments, if the operating status parameters include the output power of the photovoltaic module and the light intensity detected by the sensor, whether the cooling condition is met can be determined based on the output power of the photovoltaic module and the light intensity detected by the sensor. Since the output power of the photovoltaic module is affected by multiple factors, the two main factors being the operating temperature of the photovoltaic module and the light intensity, if the output power of the photovoltaic module decreases while the light intensity does not decrease, it can be determined that the photovoltaic module is overheating. Based on this, whether the cooling condition is met is determined as follows.

[0056] More specifically, the output power of the photovoltaic module and the light intensity detected by the sensor during the operation of the lawn mower robot are obtained, and the rated power corresponding to the light intensity is obtained. When the difference between the output power of the photovoltaic module and the rated power is greater than a preset power threshold, the photovoltaic module is determined to meet the cooling condition. When the difference between the output power of the photovoltaic module and the rated power is less than or equal to the preset power threshold, the operating state parameters of the photovoltaic module are determined to not meet the cooling condition.

[0057] In some embodiments, a photovoltaic assembly includes multiple photovoltaic units, each of which is configured to absorb solar energy and convert it into AC or DC power for output. The electrical output terminals of the photovoltaic units can be connected in series or in parallel, without limitation.

[0058] Detecting the working state parameters of each photovoltaic unit. The working state parameters of the photovoltaic unit include any one or more combinations of the current temperature of the photovoltaic unit, the output power of the photovoltaic unit, the light intensity detected by the sensor, and the temperature of the photovoltaic unit at a historical time.

[0059] In some embodiments, the operating parameters of the photovoltaic assembly are determined based on the operating parameters of each photovoltaic unit, and whether the photovoltaic assembly meets the cooling condition is determined based on the calculated operating parameters of the photovoltaic assembly. More specifically, the operating parameters of the photovoltaic assembly are averaged to obtain the operating parameters of the photovoltaic assembly, and whether the cooling condition is met is determined based on the operating parameters of the photovoltaic assembly.

[0060] For example, the current temperature of each photovoltaic cell can be calculated to obtain the current temperature of the photovoltaic module. The average output power of each photovoltaic cell can be calculated to obtain the output power of the photovoltaic module. The average light intensity of each photovoltaic cell can be calculated to obtain the light intensity of the photovoltaic module. The average temperature of each photovoltaic cell at the same historical moment can be calculated to obtain the temperature of the photovoltaic module at that historical moment.

[0061] In some embodiments, operating state parameters of at least one photovoltaic cell are obtained, and whether each photovoltaic cell satisfies a temperature reduction sub-condition is determined based on the operating state parameters of the photovoltaic cell. When the number of photovoltaic cells satisfying the temperature reduction sub-condition is greater than a preset threshold, the photovoltaic assembly is determined to satisfy the temperature reduction condition. If the number of photovoltaic cells satisfying the temperature reduction sub-condition is less than or equal to a preset number threshold, the photovoltaic assembly is determined to not satisfy the temperature reduction condition. The preset number threshold can be determined based on the total number of photovoltaic cells in the photovoltaic assembly.

[0062] In some embodiments, determining whether each photovoltaic unit meets the cooling sub-condition based on the operating state parameters of the photovoltaic unit specifically includes:

[0063] The temperature of each photovoltaic unit at a current moment is determined or the temperature at a future moment is predicted based on the operating state parameters of each photovoltaic unit.

[0064] For each photovoltaic cell, if the current temperature of the photovoltaic cell is greater than a first preset threshold, or if the time period since the photovoltaic cell's temperature exceeded a second preset temperature threshold is less than a preset time difference, the photovoltaic cell is determined to meet the temperature reduction sub-condition. If the current temperature of the photovoltaic cell is less than the first preset threshold, or if the time period since the photovoltaic cell's temperature exceeded the second preset temperature threshold is greater than a preset time difference, the photovoltaic cell is determined not to meet the temperature reduction sub-condition.

[0065] In some embodiments, determining whether each photovoltaic unit meets the cooling sub-condition based on the operating state parameters of the photovoltaic unit specifically includes:

[0066] The output power of the photovoltaic unit and the light intensity of the photovoltaic unit are obtained, and the rated power of the photovoltaic unit is determined according to the light intensity of the photovoltaic unit; when the difference between the output power of the photovoltaic unit and the rated power of the photovoltaic unit is greater than a preset power threshold, it is determined that the photovoltaic unit meets the temperature reduction sub-condition.

[0067] For example, a PV module includes 10 PV cells, the preset number threshold is set to 7, and the first preset temperature threshold is set to 70°C. When the current temperature of a PV cell is greater than 70°C, the PV cell meets the cooling sub-condition. When the number of PV cells meeting the cooling sub-condition is greater than 7, the PV module is determined to meet the cooling condition. When the number of overheated PV cells is less than or equal to 7, the PV module is determined to not meet the cooling condition.

[0068] S103: When the lawn mowing robot determines that the photovoltaic module meets the cooling condition, it drives to a target shadow area, where the target shadow area is an area where the light intensity is less than a preset light threshold.

[0069] Among them, since the target shadow area is an area where the light intensity is less than the preset light threshold, the lawn mowing robot absorbs less heat, which can reduce the operating temperature of the photovoltaic module, ensure that the efficiency of the photovoltaic module in converting light energy into electrical energy is improved, or the output power of the photovoltaic module is increased, ensuring that the photovoltaic module can work normally.

[0070] In some embodiments, after obtaining the working status parameters of the photovoltaic components, the lawn mower robot can monitor the working status parameters of the photovoltaic components locally to determine whether the photovoltaic components meet the cooling conditions, and drive to the target shadow area when it is determined that the cooling conditions are met.

[0071] In some embodiments, the lawn mower robot obtains the working status parameters of the photovoltaic component, and sends a cooling request to the server when it determines that the photovoltaic component meets the cooling conditions. The server generates a cooling instruction and returns the cooling instruction to the lawn mower robot. The cooling instruction is used to control the lawn mower robot to drive to the target shadow area.

[0072] This technical solution leverages the robot's mobility to cool down the PV panels by driving into a targeted shaded area when they meet cooling requirements. This ensures proper function, improves their light energy conversion efficiency, and prevents overheating that could shorten their lifespan. Furthermore, the robot eliminates the need for additional cooling equipment, saving both hardware and labor costs.

[0073] Example 2

[0074] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0075] S201: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0076] S202: When the lawn mowing robot determines that the photovoltaic module meets the cooling condition, it obtains information of the target shadow area.

[0077] The target shadow area is an area where the light intensity is less than a preset light threshold. The information of the target shadow area includes the type of the target shadow area and the location of the target shadow area. The types of the target shadow area include areas to be mowed and areas that do not need to be mowed.

[0078] S203: The mowing robot drives to the target shadow area according to the position of the target shadow area, and determines whether mowing operation needs to be performed in the target shadow area according to the type of the target shadow area.

[0079] If the target shadow area is an area to be mowed, the mowing robot performs mowing in the target shadow area. If the target shadow area is an area not to be mowed, the mowing robot remains stationary in the target shadow area.

[0080] In some embodiments, after obtaining the working status parameters of the photovoltaic components, the mowing robot can monitor the working status parameters of the photovoltaic components locally, and the local decision-making unit determines whether the photovoltaic components meet the cooling conditions. When it is determined that the cooling conditions are met, the information of the target shadow area is obtained, and the mowing robot drives to the target shadow area according to the position of the target shadow area, and also determines whether mowing operations are required in the target shadow area according to the type of the target shadow area.

[0081] In some embodiments, after obtaining the working status parameters of the photovoltaic component, the lawn mower robot sends a cooling request to the decision unit in the server when it determines that the photovoltaic component meets the cooling conditions. In response to the cooling request, the server obtains information about the target shadow area, and generates a cooling instruction based on the information of the target shadow area, and returns the cooling instruction to the lawn mower robot. The cooling instruction is used to control the lawn mower robot to travel to the target shadow area according to the position of the target shadow area, and also determines whether mowing operations are required in the target shadow area according to the type of the target shadow area.

[0082] In the above technical solution, when the photovoltaic module meets the cooling conditions, information about the target shadow area is obtained, including the location and type of the target shadow area. The robot then drives to the target shadow area based on the location of the target shadow area, thereby cooling the photovoltaic module, ensuring that the photovoltaic module can operate normally, improving the light energy conversion rate of the photovoltaic module, and avoiding the problems of shortening the life of the photovoltaic module and reducing output power caused by excessive temperature. In addition, there is no need to add a cooling structure, saving the hardware and labor installation costs incurred by installing additional cooling equipment. By determining whether to perform mowing operations based on the type of the target shadow area, the mowing efficiency of the mowing robot during cooling can be improved.

[0083] Example 3

[0084] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0085] S301: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0086] S302: When the lawn mowing robot determines that the photovoltaic module meets the cooling condition, it obtains information of the target shadow area.

[0087] The target shadow area is an area where the light intensity is less than a preset light threshold. The information of the target shadow area includes the type of the target shadow area and the location of the target shadow area. The type of the target shadow area is an area to be mowed.

[0088] S303: When determining that the photovoltaic module meets the cooling condition, the mowing robot drives to the target shadow area according to the position of the target shadow area, drives within the target shadow area, and performs mowing operations.

[0089] In the above technical solution, when the photovoltaic module meets the cooling conditions, information about the target shadow area is obtained, including the location and type of the target shadow area. The robot then drives to the target shadow area based on the location of the target shadow area, thereby cooling the photovoltaic module, ensuring that the photovoltaic module can operate normally, improving the light energy conversion rate of the photovoltaic module, and avoiding excessive temperatures that shorten the life of the photovoltaic module. In addition, there is no need to add a cooling structure, saving the hardware and labor installation costs incurred by installing additional cooling equipment. When the mowing robot determines that the target shadow area is the area to be mowed, it mows in the target shadow area, which can improve the mowing efficiency of the mowing robot during cooling.

[0090] Example 4

[0091] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0092] S401: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0093] S402: When the lawn mowing robot determines that the photovoltaic module meets the cooling condition, it obtains information of the target shadow area.

[0094] The target shadow area is an area where the light intensity is less than a preset light threshold. The information of the target shadow area includes the type of the target shadow area and the location of the target shadow area. The type of the target shadow area includes an area that does not need to be mowed.

[0095] S403: When the mowing robot determines that the photovoltaic module meets the cooling condition, it drives to the target shadow area according to the position of the target shadow area, stays stationary in the target shadow area, and stops mowing.

[0096] In the above technical solution, when the photovoltaic module meets the cooling conditions, information about the target shadow area is obtained, including its location and type. The robot then drives to the target shadow area based on its location, thereby cooling the photovoltaic module, ensuring its normal operation, improving its light energy conversion rate, and avoiding the problems of shortening its lifespan and reducing its output power due to excessive temperatures. Furthermore, there is no need for additional cooling structures, saving the hardware and labor installation costs associated with installing additional cooling equipment. When the mowing robot determines that the target shadow area does not require mowing, it remains stationary in the target shadow area, reducing its power consumption.

[0097] Example 5

[0098] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0099] S501: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0100] S502: When the lawn mowing robot determines that the photovoltaic module meets the cooling condition, it obtains information about the target shadow area and information about the target working area.

[0101] The target shadow area is an area where the light intensity is less than a preset light threshold. The information about the target shadow area includes the location of the target shadow area. The information about the target working area includes the location of the target working area.

[0102] The target shadow area and the target working area are adjacently arranged areas, so when the photovoltaic components meet the cooling conditions, the mowing robot travels alternately between the target shadow area and the target working area.

[0103] S503: The mowing robot drives alternately in the target shadow area and the target working area according to the position of the target shadow area and the position of the target working area, and determines whether mowing operation needs to be performed in the target shadow area according to the type of the target shadow area.

[0104] The lawn mower robot alternates between the target shadow area and the target working area. Specifically, the lawn mower robot is located in the target shadow area during a first time period, in the target working area during a second time period, and in the target shadow area during a third time period. The first time period is earlier than the second time period, and the second time period is earlier than the third time period.

[0105] If the target shadow area is an area to be mowed, the mowing robot performs mowing in the target shadow area. If the target shadow area is an area not to be mowed, the mowing robot remains stationary in the target shadow area.

[0106] In some embodiments, after obtaining the working status parameters of the photovoltaic components, the mowing robot can monitor the working status parameters of the photovoltaic components locally, and the local decision-making unit determines whether the photovoltaic components meet the cooling conditions. When it is determined that the cooling conditions are met, the position of the target shadow area and the position of the target working area are obtained. The mowing robot travels alternately in the target shadow area and the target working area according to the position of the target shadow area and the position of the target working area, and determines whether mowing operations are required in the target shadow area according to the type of the target shadow area.

[0107] In some embodiments, after obtaining the working status parameters of the photovoltaic component, the lawn mower robot sends a cooling request to the decision unit of the server when it determines that the photovoltaic component meets the cooling conditions. In response to the cooling request, the server obtains information about the target shadow area and the target working area, and generates a cooling instruction based on the information of the target shadow area and the target working area, and returns the cooling instruction to the lawn mower robot. The cooling instruction is used to control the lawn mower robot to alternately travel between the target shadow area and the target working area according to the position of the target shadow area and the position of the target working area, and determine whether mowing operations are required in the target shadow area according to the type of the target shadow area.

[0108] In the above technical solution, when the photovoltaic module meets the cooling conditions, the position of the target shadow area and the position of the target working area are obtained, and the robot travels alternately in the target shadow area and the target working area according to the position of the target shadow area and the position of the target working area. It is determined whether mowing operations need to be performed in the target shadow area according to the type of the target shadow area. This can improve the mowing efficiency of the mowing robot during cooling.

[0109] Example 6

[0110] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0111] S601: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0112] S602: When the lawn mowing robot determines that the photovoltaic module meets the cooling condition, it obtains information about the target shadow area and information about the target working area.

[0113] The target shadow area is an area where the light intensity is less than a preset light threshold. The target shadow area information includes the location of the target shadow area and the type of the target shadow area. The type of the target shadow area is a mowing operation to be performed. The target shadow area information includes the location of the target shadow area.

[0114] S603: The mowing robot drives within the target shadow area and performs mowing operations in a first time period, drives within the target working area and performs mowing operations in a second time period, and drives within the target shadow area and performs mowing operations in a third time period.

[0115] The first time period is earlier than the second time period, and the second time period is earlier than the third time period.

[0116] Figure 3 is a schematic diagram of a lawn mower robot according to a sixth embodiment of the present application, alternately traveling between a target shadow area 111 and a target working area 112. During a first time period t1, the lawn mower robot travels within the target shadow area 111 and performs a mowing operation. Between the first time period t1 and the second time period t2, the lawn mower robot travels from the target shadow area 111 to the target working area 112.

[0117] The mowing robot drives in the target working area 112 during the second time period t2 and performs mowing operations. Between the second time period t2 and the third time period t3, the mowing robot drives from the target working area 112 to the target shadow area 111.

[0118] The lawn mowing robot travels in the target shadow area 111 during the third time period t3 and performs a lawn mowing operation.

[0119] In some embodiments, the first time period t1 includes a sixth time period t6 and a seventh time period t7, and the sixth time period t6 is earlier than the seventh time period t7. The mowing robot travels within the target shadow area 111 during the first time period t1 and performs a mowing operation, specifically including:

[0120] During the sixth time period t6 , the mowing robot travels in the target shadow area 111 in a direction away from the target working area 112 and performs a mowing operation.

[0121] During the seventh time period t7 , the mowing robot travels in the target shadow area 111 in a direction approaching the target working area 112 and performs a mowing operation.

[0122] In this way, the mowing robot can perform mowing operations in the target shadow area 111 during the first time period t1, and drive close to the target working area 112 during the end of the first time period t1, ensuring that it can enter the target working area 112 during the second time period t2, thereby realizing alternating driving and mowing in the target shadow area 111 and the target working area 112.

[0123] In some embodiments, the second time period t2 includes a fourth time period t4 and a fifth time period t5, and the fourth time period t4 is earlier than the fifth time period t5. The mowing robot travels within the target working area 112 during the second time period t2 and performs a mowing operation, specifically including:

[0124] During the fourth time period t4 , the mowing robot travels in the target working area 112 in a direction away from the target shadow area 111 and performs a mowing operation.

[0125] During the fifth time period t5 , the mowing robot travels in the target working area 112 in a direction approaching the target shadow area 111 and performs a mowing operation.

[0126] In this way, the mowing robot can perform mowing operations in the target working area 112 during the second time period t2, and drive close to the target shadow area 111 during the end of the second time period t2, ensuring that it can enter the target shadow area 111 during the third time period t3, thereby realizing alternating driving and mowing in the target shadow area 111 and the target working area 112.

[0127] In some embodiments, the third time period t3 includes an eighth time period t8 and a ninth time period t9, and the eighth time period t8 is earlier than the ninth time period t9. The mowing robot drives within the target shadow area 111 during the third time period t3 and performs a mowing operation, specifically including:

[0128] During the eighth time period t8 , the mowing robot travels in the target shadow area 111 in a direction away from the target working area 112 and performs a mowing operation.

[0129] During the ninth time period t9 , the mowing robot travels in the target shadow area 111 in a direction approaching the target working area 112 and performs a mowing operation.

[0130] In this way, the mowing robot can perform mowing operations in the target shadow area 111 during the third time period t3, and drive close to the target working area 112 during the end of the third time period t3, ensuring that it can enter the target working area 112 during the next time period of the third time period t3, thereby realizing alternating driving and mowing in the target shadow area 111 and the target working area 112.

[0131] In some embodiments, the area of ​​the target working area 112 is smaller than the area of ​​the target shadow area 111 , so that the mowing robot can stay in the target shadow area 111 longer and the temperature of the photovoltaic module can be reduced.

[0132] In the above technical solution, when the photovoltaic module meets the cooling conditions, the information of the target shadow area and the target working area are obtained. The information of the target shadow area includes the location and type of the target shadow area. According to the information of the target shadow area and the information of the target working area, the robot drives alternately in the target shadow area and the target working area. In this way, the photovoltaic module is cooled down, ensuring that the photovoltaic module can work normally, improving the light energy conversion rate of the photovoltaic module, and avoiding the problems of shortening the life of the photovoltaic module and reducing the output power due to excessive temperature. In addition, there is no need to add a cooling structure, saving the hardware and manpower installation costs caused by installing additional cooling equipment. And when the target shadow area is an area where mowing operations are required, mowing is performed alternately in the target shadow area and the target working area, which can improve the mowing efficiency of the mowing robot during cooling.

[0133] Example 7

[0134] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0135] S701: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0136] S702: When the lawn mowing robot determines that the photovoltaic module meets the cooling condition, it obtains information about the target shadow area and information about the target working area.

[0137] The target shadow area is an area where the light intensity is less than a preset light threshold.

[0138] The target shadow area information also includes the type of the target shadow area, which is the type where mowing is not required.

[0139] S703. When the target shadow area is of a type that does not require mowing operations, the mowing robot drives into the target shadow area in a first time period, remains stationary within the target shadow area, and stops mowing operations; drives into the target working area in a second time period and performs mowing operations; and controls the mowing robot to drive into the target shadow area in a third time period, remains stationary within the target shadow area, and stops mowing operations.

[0140] The first time period is earlier than the second time period, and the second time period is earlier than the third time period.

[0141] FIG4 is a schematic diagram of the lawn mowing robot provided in the seventh embodiment of the present application driving alternately between the target shadow area 111 and the target working area 112 .

[0142] During the first time period t1, the mowing robot travels into the target shadow area 111, which can cool the photovoltaic components. Since the target shadow area 111 is of a type that does not require mowing operations, the mowing robot is stationary in the target shadow area 111 during the first time period t1 and stops mowing operations, which can reduce the power consumption of the mowing robot.

[0143] In some embodiments, the second time period t2 includes a fourth time period t4 and a fifth time period t5, and the fourth time period t4 is earlier than the fifth time period t5.

[0144] In the fourth time period t4 , the mowing robot is controlled to travel in the target working area 112 in a direction away from the target shadow area 111 and perform a mowing operation.

[0145] In the fifth time period t5 , the mowing robot is controlled to travel in the target working area 112 in a direction close to the target shadow area 111 and perform a mowing operation.

[0146] In this way, the mowing robot can perform mowing operations in the target working area 112 during the second time period t2, and drive close to the target shadow area 111 during the end of the second time period t2, ensuring that it can enter the target shadow area 111 during the third time period t3, thereby realizing alternating driving in the target shadow area 111 and the target working area 112.

[0147] In the third time period t3, the mowing robot drives into the target shadow area 111, which can cool the photovoltaic components. Since the type of the target shadow area 111 is that no mowing operation is required, the mowing robot is in a stationary state in the target shadow area 111 during the third time period t3 and stops mowing, which can reduce the power consumption of the mowing robot.

[0148] In the above technical solution, when the photovoltaic module meets the cooling conditions, the information of the target shadow area and the target working area is obtained. The information of the target shadow area includes the location and type of the target shadow area. According to the information of the target shadow area and the information of the target working area, the robot drives alternately in the target shadow area and the target working area, thereby cooling the photovoltaic module, ensuring that the photovoltaic module can work normally, improving the light energy conversion rate of the photovoltaic module, and avoiding the problem of shortening the life of the photovoltaic module and reducing the output power due to excessive temperature. In addition, there is no need to add a cooling structure, saving the hardware and manpower installation costs caused by installing additional cooling equipment. When the type of the target shadow area is an area where mowing operations are not required, the mowing robot is in a stationary state in the target shadow area and stops working, which can reduce the power consumption of the mowing robot.

[0149] Example 8

[0150] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0151] S801: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0152] S802: When it is determined that the photovoltaic module meets the cooling condition, the lawn mower robot controls the lawn mower robot to move in any direction to search for a target shadow area, where the target shadow area is an area where the light intensity is less than a preset light threshold.

[0153] S803: When the target shadow area is found, the target is located in the target shadow area.

[0154] In this technical solution, when the PV panels meet cooling conditions, the robot mower is controlled to move in a random direction, searching for a target shaded area. Upon finding the target shaded area, the search ceases, cooling the PV panels. This ensures their proper function, improves their light energy conversion efficiency, and avoids the problems of overheating that shorten their lifespan and reduce their output power. Furthermore, there is no need for additional cooling structures, saving on the hardware and labor costs associated with installing additional cooling equipment.

[0155] In some embodiments, FIG5 is a schematic diagram of the process of randomly searching for a target shadow area according to the first embodiment of the present application, and FIG6 is a schematic diagram of the principle of randomly searching for a target shadow area as shown in FIG5. As shown in FIG5 and FIG6, the lawn mower robot drives in any direction and searches for a target shadow area, specifically including the following steps:

[0156] Step a: The lawn mowing robot randomly determines the target driving direction.

[0157] The target driving direction is randomly determined to be direction d1 at position S1.

[0158] Step b: The mowing robot travels a preset distance along the target driving direction.

[0159] The preset distance is a predetermined distance that can be set as needed. At position S1, the vehicle travels the preset distance along direction d1 to position S2.

[0160] Step c: The mowing robot stops for a preset time and obtains the temperature of the photovoltaic module at the current moment.

[0161] Among them, the preset time is a time determined in advance and can be set according to needs.

[0162] Step d: When the temperature of the photovoltaic module at the current moment is greater than or equal to the temperature at the previous moment, the target driving direction is randomly updated and the process returns to step b.

[0163] The angle between the target driving direction before the update and the target driving direction after the update is smaller than a preset threshold.

[0164] After stopping at position S2 for a preset time, the temperature of the PV module is measured. The temperature of the PV module at position S2 is greater than or equal to the temperature at position S1. The target driving direction is randomly updated to direction d2. The angle between directions d1 and d2 is less than a preset threshold, for example, any angle between 90° and 180°, to ensure that the robot mower does not return to position S1.

[0165] At position S2, drive a preset distance along direction d2 to position S3, stay at position S3 for a preset time, determine the temperature of the photovoltaic module at position S3, and if the temperature of the photovoltaic module at position S3 is greater than or equal to the temperature at position S2, randomly generate direction d3.

[0166] At position S3, drive a preset distance along direction d3 to position S4, stay at position S4 for a preset time, determine the temperature of the photovoltaic module at position S4, and if the temperature of the photovoltaic module at position S4 is greater than or equal to the temperature at position S3, randomly generate direction d4.

[0167] At position S4, drive a preset distance along direction d4 to position S5, stay at position S5 for a preset time, determine the temperature of the photovoltaic module at position S5, and if the temperature of the photovoltaic module at position S5 is lower than that at position S4, the area at position S5 is defined as the target shadow area.

[0168] Step e: When the temperature of the photovoltaic module at the current moment is lower than the temperature at the previous moment, the current position is determined to be the target shadow area.

[0169] When the temperature of the photovoltaic component at the current moment is lower than the temperature at the previous moment, it indicates that the photovoltaic component begins to cool down, and the current position may be set as the target shadow area.

[0170] In the above technical solution, the mowing robot is controlled to search randomly to determine the target shadow area, so that the photovoltaic module is cooled in the searched target shadow area.

[0171] Example 9

[0172] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0173] S901: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0174] S902: When it is determined that the photovoltaic assembly meets the cooling condition, the lawn mowing robot drives in any direction to search for a target shadow area, and obtains the type of the target shadow area when the target shadow area is found.

[0175] S903: Determine whether to perform mowing in the target shadow area according to the type of the target shadow area, where the target shadow area is an area where the light intensity is less than a preset light threshold.

[0176] If the target shadow area is an area to be mowed, the mowing robot performs mowing in the target shadow area. If the target shadow area is an area not to be mowed, the mowing robot remains stationary in the target shadow area.

[0177] In some embodiments, when the type of the target shadow area is to be mowed, the mowing robot drives within the target shadow area in a first time period and performs mowing operations, drives within the target working area in a second time period and performs mowing operations, and the mowing robot drives within the target shadow area in a third time period and performs mowing operations.

[0178] In some embodiments, when the type of the target shadow area is that no mowing operation is required, the mowing robot travels into the target shadow area in a first time period, remains stationary in the target shadow area, and stops mowing operations; travels into the target working area in a second time period and performs mowing operations; and the mowing robot travels into the target shadow area in a third time period, remains stationary in the target shadow area, and stops mowing operations.

[0179] In the above technical solution, when the PV panels meet cooling conditions, the robot mower moves in the direction of the person in front of it, searching for a target shadow area. Upon finding a target shadow area, the robot determines its type. Based on the type of the target shadow area, the robot determines whether to perform mowing within the target shadow area. This cools the PV panels and improves the robot's mowing efficiency.

[0180] Example 10

[0181] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0182] S1001: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0183] S1002. When it is determined that the photovoltaic module meets the cooling condition, the lawn mowing robot drives in any direction to search for a target shadow area, obtains a target working area located near the target shadow area after finding the target shadow area, and drives alternately between the target shadow area and the target working area.

[0184] The target working area is an area where mowing operations need to be performed, and the target working area is located near the target shadow area.

[0185] The mowing robot drives alternately in the target shadow area and the target working area, specifically, the mowing robot is in the target shadow area in a first time period, in the target working area in a second time period, and in the target shadow area in a third time period.

[0186] The first time period is earlier than the second time period, and the second time period is earlier than the third time period.

[0187] In some embodiments, after obtaining the working status parameters of the photovoltaic components, the mowing robot can monitor the working status parameters of the photovoltaic components locally, and the local decision-making unit determines whether the photovoltaic components meet the cooling conditions. When in an overheating state, it searches for the target shadow area. When the target shadow area is found, it obtains information about the target shadow area and information about the target working area. The mowing robot travels alternately between the target shadow area and the target working area according to the position of the target shadow area and the position of the target working area, and determines whether mowing operations need to be performed in the target shadow area according to the type of the target shadow area.

[0188] In some embodiments, after obtaining the working status parameters of the photovoltaic components, the lawn mower robot can locally monitor whether the working status parameters of the photovoltaic components meet the cooling conditions, search for the target shadow area when in an overheating state, and send a cooling request to the decision unit of the server when the target shadow area is found. In response to the cooling request, the server obtains information about the target shadow area and information about the target working area, and generates a cooling instruction based on the information about the target shadow area and the information about the target working area, and returns the cooling instruction to the lawn mower robot. The cooling instruction is used to control the lawn mower robot to alternately travel between the target shadow area and the target working area according to the position of the target shadow area and the position of the target working area, and determine whether mowing operations need to be performed in the target shadow area according to the type of the target shadow area.

[0189] In the above technical solution, when the photovoltaic module meets the cooling conditions, the lawn mower robot is controlled to move along the human-machine direction to search for the target shadow area. When the target shadow area is found, the target working area located near the target shadow area is obtained, and the robot moves alternately between the target shadow area and the target working area. In this way, while cooling the photovoltaic module, the mowing efficiency of the lawn mower robot can also be improved.

[0190] Example 11

[0191] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0192] S1101: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0193] S1102: When it is determined that the photovoltaic module meets the cooling condition, obtain at least one candidate shadow area.

[0194] The candidate shadow area is an area where the light intensity is less than a preset light threshold.

[0195] S1103 : Select a target shadow area from the plurality of candidate shadow areas according to any one or more of the distance between the candidate shadow area and the current position, the type of the surrounding area of ​​the candidate shadow area, and whether the candidate shadow area needs to be mowed.

[0196] In some embodiments, a target shadow area is selected from a plurality of candidate shadow areas based on the distance between the candidate shadow area and the current location, specifically including selecting the nearest candidate shadow area as the target shadow area. This allows the robot mower to cool down quickly, avoiding issues such as overheating that shorten the life of the photovoltaic modules and reduce output power.

[0197] In some embodiments, a target shadow area is selected from multiple alternative shadow areas based on the type of the surrounding area of ​​the alternative shadow area, specifically including: selecting an alternative shadow area whose surrounding area type is the area where mowing operations are to be performed as the target shadow area, so that the mowing efficiency of the mowing robot can be improved while cooling down the mowing robot.

[0198] In some embodiments, whether the alternative shadow area needs to be mowed is determined by selecting a target shadow area from multiple alternative shadow areas, specifically including: selecting the alternative shadow area that needs to be mowed as the target shadow area, so that the mowing efficiency of the mowing robot can be improved while cooling the mowing robot.

[0199] In some embodiments, a target shadow area is selected from multiple alternative shadow areas based on the distance between the alternative shadow area and the current position and the type of the surrounding area of ​​the alternative shadow area, specifically including: if there are multiple alternative shadow areas whose surrounding area type is the area to be mowing, the alternative shadow area whose surrounding area type is the area to be mowing is called the first alternative shadow area, and the alternative shadow area closest to the multiple first alternative shadow areas is selected as the target shadow area, so that the mowing efficiency of the mowing robot can be improved while allowing the mowing robot to cool down as quickly as possible.

[0200] In some embodiments, a target shadow area is selected from multiple alternative shadow areas based on the distance between the alternative shadow area and the current position and whether the alternative shadow area requires mowing operations. Specifically, if there are multiple alternative shadow areas that are closest, the alternative shadow area that is closest is called the second alternative shadow area, and the area that requires mowing operations is selected from the multiple second alternative shadow areas as the target shadow area. In this way, the mowing efficiency of the mowing robot can be improved while allowing the mowing robot to cool down quickly.

[0201] In some embodiments, a target shadow area is selected from multiple alternative shadow areas based on the type of the surrounding area of ​​the alternative shadow area and whether the alternative shadow area needs to be mowed, specifically including: if there are multiple alternative shadow areas whose surrounding area type is to be mowed, the alternative shadow area whose surrounding area type is to be mowed is called the third alternative shadow area, and the alternative shadow area that needs to be mowed is selected from the multiple third alternative shadow areas as the target shadow area, so that the mowing efficiency of the mowing robot can be improved when the mowing robot is cooled down.

[0202] In some embodiments, a target shadow area is selected from multiple alternative shadow areas based on the distance between the alternative shadow area and the current position, the type of the surrounding area of ​​the alternative shadow area, and whether the alternative shadow area requires mowing operations. Specifically, if there are multiple alternative shadow areas with the shortest distance and the type that requires mowing operations, the alternative shadow area with the shortest distance and the type that requires mowing operations is called the fourth alternative shadow area, and the alternative shadow area with the type of the surrounding area that requires mowing operations is selected from multiple fourth alternative shadow areas as the target shadow area. In this way, the mowing efficiency of the mowing robot can be improved while allowing the mowing robot to cool down as quickly as possible.

[0203] S1104: The mowing robot drives to the target shadow area according to the position of the target shadow area, and determines whether mowing operation needs to be performed in the target shadow area according to the type of the target shadow area.

[0204] In some embodiments, when the type of the target shadow area is to be mowed, the mowing robot drives within the target shadow area in a first time period and performs mowing operations, drives within the target working area in a second time period and performs mowing operations, and the mowing robot drives within the target shadow area in a third time period and performs mowing operations.

[0205] In some embodiments, when the type of the target shadow area is that no mowing operation is required, the mowing robot travels into the target shadow area in a first time period, remains stationary in the target shadow area, and stops mowing operations. The mowing robot travels to the target working area in a second time period, travels within the target working area, and performs mowing operations. The mowing robot travels into the target shadow area in a third time period, remains stationary in the target shadow area, and stops mowing operations.

[0206] In the above technical solution, a target shadow area is selected from multiple alternative shadow areas based on any one or more of the distance between the alternative shadow area and the current position, the type of the surrounding area of ​​the alternative shadow area, and whether the alternative shadow area needs to be mowed. The mowing robot travels to the target shadow area according to the position of the target shadow area, and determines whether mowing is needed in the target shadow area according to the type of the target shadow area. In this way, the mowing efficiency of the mowing robot can be improved while allowing the mowing robot to cool down as quickly as possible.

[0207] Example 12

[0208] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0209] S1201: Obtain map data of a preset geographical area.

[0210] The lawn mowing robot stores map data of a preset geographical area, and obtains the map data of the preset geographical area locally.

[0211] S1202: Obtain a marker in the map data, and obtain the height of the marker and the sun angle at the current moment.

[0212] In some embodiments, obtaining a marker in map data specifically includes:

[0213] A marking request sent by a user terminal and forwarded by the server is received, wherein the marking request includes a marker in the map data; or a marker extracted from the map data. In other words, the mowing robot can determine the marker itself or the user can determine the marker.

[0214] The sun angle at different times is obtained from the map data, specifically including:

[0215] First calculate the latitude of the sun at each moment in the observation area, and then based on the latitude of the sun at each moment, calculate the sun angle at different moments.

[0216] The calculation of the sun's latitude at each moment in the observation area specifically includes:

[0217] On the summer solstice, the sun shines directly on the Tropic of Cancer, which is 23.5 degrees north latitude. After half a year, the sun moves towards the Tropic of Capricorn, and on the winter solstice, the sun shines directly on the Tropic of Capricorn, which is 23.5 degrees south latitude.

[0218] The Tropic of Cancer and the Tropic of Capricorn are separated by 47 degrees of latitude, and half a year is 365.26 / 2 = 182.63 days. From the summer solstice to the winter solstice, the sun's direct point moves southward from 23.5 degrees north latitude, moving 47 / 182.63 = 0.2574 degrees of latitude per day.

[0219] Six months later, on the winter solstice, it moves to 23.5 degrees south latitude, then moves towards the Tropic of Cancer, also at a speed of 0.2574 degrees of latitude per day, and after 182.63 days, it returns to 23.5 degrees north latitude on the summer solstice.

[0220] By clicking this, you can accurately find the latitude of the sun every day, as well as the latitude for each time period of the day.

[0221] The solar angle includes the solar altitude angle and the solar azimuth angle. Formula (1) is used to calculate the solar altitude angle, and formula (2) is used to calculate the solar azimuth angle.

[0222] The solar altitude angle refers to the angle between the sun's rays at noon and the horizon, and is calculated according to formula (1):

[0223] α=90°-|β-γ| (1)

[0224] Among them, α is the solar altitude angle at noon, β is the latitude of the observer, and γ is the latitude of the point where the sun is directly above the sun.

[0225] The solar azimuth angle is calculated according to formula (2):

[0226] cosAs=sinhs·sinψ-sinδ / (coshs·cosψ) (2)

[0227] Where As = solar azimuth, hs is the altitude, ψ is the geographic latitude, and δ is the declination.

[0228] S1203: Calculate and obtain a candidate shadow area at the current moment according to the height of the marker and the sun angle at the current moment.

[0229] The shadow magnification is the ratio of the shadow length L to the object's height H. The shadow magnification is a variable value that is related to the sun's altitude and azimuth.

[0230] After obtaining the solar latitude at the current time of the day, the solar altitude and azimuth can be calculated based on the solar latitude at the current time of the day. Based on the solar altitude and azimuth, the shadow magnification can be obtained by querying the table. Based on the shadow magnification and the height of the marker, the candidate shadow areas at different times can be calculated.

[0231] S1204: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0232] S1205: When the lawn mowing robot determines that the photovoltaic module meets the cooling condition, it obtains at least one candidate shadow area.

[0233] S1206: The mowing robot selects a target shadow area from the multiple candidate shadow areas according to any one or more of the distance between the candidate shadow area and the current position, the light intensity of the candidate shadow area, and whether the candidate shadow area needs to be mowed.

[0234] S1207: The mowing robot drives to the target shadow area according to the position of the target shadow area, and determines whether mowing operation needs to be performed in the target shadow area according to the type of the target shadow area.

[0235] In the above technical solution, by obtaining a marker, the angle of the sun at different times and the height of the marker are used to determine the alternative shadow area. In this way, when the lawn mowing robot determines that the photovoltaic module is in an overheated state, it can select the target shadow area from the alternative shadow area, drive to the target shadow area, and reduce the operating temperature of the photovoltaic module.

[0236] Example 13

[0237] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0238] S1301: The lawn mowing robot obtains markers in map data.

[0239] In some embodiments, obtaining a marker in map data specifically includes:

[0240] A marking request sent by a user terminal is received, wherein the marking request includes a marker in the map data; or a marker extracted from the map data.

[0241] S1302: The mowing robot drives along the boundary of the shadow area of ​​the marker to obtain a candidate shadow area.

[0242] After the marker is obtained, the mowing robot is controlled to travel along the boundary of the shadow area of ​​the marker, and map data of the candidate shadow area is established, thereby obtaining the candidate shadow area.

[0243] Since the sun angle is different at different times, the shadow area will change. By recording the mapping time when the mowing robot builds the map data of the candidate shadow area, the candidate shadow areas at different times can be obtained.

[0244] S1303: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0245] S1304: When the lawn mowing robot determines that the photovoltaic component meets the cooling condition, it obtains at least one candidate shadow area.

[0246] S1305: The mowing robot selects a target shadow area from the multiple candidate shadow areas according to any one or more of the distance between the candidate shadow area and the current position, the light intensity of the candidate shadow area, and whether the candidate shadow area needs to be mowed.

[0247] S1306: The mowing robot drives to the target shadow area according to the position of the target shadow area, and determines whether mowing operation needs to be performed in the target shadow area according to the type of the target shadow area.

[0248] In the above technical solution, by obtaining a marker, the mowing robot is controlled to walk along the marker and map data of the alternative shadow area is established. In this way, the alternative shadow area is obtained. When the mowing robot determines that the photovoltaic module is in an overheated state, it can select the target shadow area from the alternative shadow area, drive to the target shadow area, and reduce the operating temperature of the photovoltaic module.

[0249] Example 14

[0250] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0251] S1401: The lawn mowing robot obtains a lighting map of a preset geographical area.

[0252] The light map includes the light intensity of each location in a preset geographical area at different times.

[0253] In some embodiments, the illumination map of the preset geographical area is collected by the mowing robot when operating in the preset geographical area. Specifically, the steps include:

[0254] When the mowing robot is mowing, the light intensity at the mowing location is collected and the collection time is obtained.

[0255] A light map is generated based on the light intensity and collection time of the collected mowing locations.

[0256] In this way, the light intensity at each location at different times can be obtained.

[0257] S1402: Determine at least one candidate shadow area according to a lighting map of a preset geographical area.

[0258] Among them, an area where the current light intensity is less than a preset light threshold is selected from the light map of the preset geographical area as the candidate shadow area.

[0259] S1403: The lawn mowing robot obtains working status parameters of the photovoltaic module.

[0260] S1404: When it is determined that the photovoltaic assembly meets the cooling condition, obtain at least one candidate shadow area.

[0261] S1405 : Select a target shadow area from the multiple candidate shadow areas according to any one or more of the distance between the candidate shadow area and the current position, the light intensity of the candidate shadow area, and whether the candidate shadow area needs to be mowed.

[0262] S1406: The mowing robot drives to the target shadow area according to the position of the target shadow area, and determines whether mowing operation needs to be performed in the target shadow area according to the type of the target shadow area.

[0263] In the above technical solution, a light map is generated by analyzing the historical data of the lawn mowing robot's operation, so that the alternative shadow area can be determined based on the light map. When the photovoltaic module meets the cooling conditions, the target shadow area is selected from the alternative shadow area and enters the target shadow area for cooling.

[0264] Example 15

[0265] Considering that the lawn mower robot may drive to the dividing line between the light area and the shadow area during operation, this will cause part of the solar panels on the lawn mower to be in the light area and part to be in the shadow area, resulting in uneven lighting.

[0266] If the solar panels on the lawn mower are exposed to uneven lighting for extended periods, this can impact the lifespan of the photovoltaic modules within the panels, damaging the panels and shortening their lifespan. Ideally, a solar panel operates under the same lighting conditions across all areas, meaning all areas receive the same light intensity. In this scenario, there is no hot spot effect. For example, all areas of a solar panel are exposed to sunlight of the same intensity, or completely in the shadows of buildings, trees, and other objects.

[0267] Some embodiments of the present application provide a control method for a lawn mowing robot, specifically comprising the following steps:

[0268] S1501. Obtain the light intensity value on the photovoltaic module.

[0269] It should be noted that photovoltaic modules can also be called solar panels.

[0270] The light intensity value represents the light conditions received by the photovoltaic module. For example, it can be an intensity value determined by the brightness or illuminance of the light. In addition, the light intensity value can also be indirectly determined by the temperature value or current value of the photovoltaic module. The light intensity value can be obtained by a sensor deployed on the photovoltaic module or on a mobile device. For example, a target parameter value can be obtained by a light sensor, a temperature sensor, an ammeter, etc., and transmitted to the mobile device.

[0271] S1502: If there are at least two areas with different light intensity values ​​on the photovoltaic module, determine the target movement direction according to the light intensity values.

[0272] In one possible scenario, if the area where the PV module is located has multiple light intensity values, then the PV module will have at least two areas with different light intensity values. Another possible scenario is if there is a shadowed area on the PV module, such as dust, leaves, or other objects stuck to the PV module, blocking part of the PV module. This causes the shadowed area to not receive light, while other areas can still receive light. This can also result in multiple light intensity values, affecting the lifespan of the PV module.

[0273] Optionally, in either of the above two situations, if either situation exists, whether the photovoltaic module has a hot spot effect can also be determined based on a preset duration. When the duration of the above situation is greater than or equal to the preset duration, the photovoltaic module is determined to have a hot spot effect; when the duration of the above situation is less than the preset duration, the photovoltaic module is not considered to have a hot spot effect.

[0274] Taking the example of multiple light intensity values ​​existing in the area where the photovoltaic component is located, the photovoltaic component can be divided into at least two areas in advance. The areas can be divided according to actual needs or according to the photovoltaic units included in the photovoltaic component, for example, each unit is an area, or several units are an area, etc.

[0275] Obtain the light intensity values ​​of all areas on the photovoltaic module. If these light intensity values ​​include at least two different light intensity values, it indicates that the photovoltaic module is currently in at least two lighting conditions, such as the direct sunlight, shadow and other lighting conditions mentioned above. At this time, it is necessary to move the mobile device to change the lighting conditions on the photovoltaic module to reduce the hot spot effect.

[0276] The target movement direction is used to indicate the direction in which the mobile device should move to reduce the hot spot effect. For example, a direction that increases the area of ​​any region can be used as the target movement direction, so that the mobile device can reduce the hot spot effect of the photovoltaic module after moving in the target movement direction.

[0277] One possible implementation involves determining the target movement direction based on a mapping relationship between at least two regions with different light intensity values ​​and the target movement direction, and using the at least two regions with different light intensity values. The mapping relationship may be pre-set in the mobile device, and the target movement direction is determined by determining the at least two regions with different light intensity values ​​and obtaining the corresponding mapping relationship.

[0278] Another possible implementation manner is to select the target movement direction corresponding to the first target area from at least two areas with different light intensity values.

[0279] In another possible implementation, the target moving direction is determined according to the ambient light intensity value in the surrounding environment of the mobile device and the light intensity value on the photovoltaic component.

[0280] S1503: Control the mowing robot to move in the target moving direction to reduce the difference in light intensity values ​​on the photovoltaic modules.

[0281] Here, reducing the difference between different light intensity values ​​on the photovoltaic module may, for example, reduce the number and / or area of ​​regions with different light illuminance values ​​on the photovoltaic module, or reduce the difference between different light illuminance values ​​on the solar panel.

[0282] When reducing the difference in different light intensity values ​​on the PV module means reducing the number and / or area of ​​regions with different light illuminance values ​​on the PV module:

[0283] In one possible implementation, when the mobile device is controlled to move in a target direction, the number of areas with different light intensity values ​​on the photovoltaic module gradually decreases. When this number decreases to 1, or when the change in this number changes from decreasing to increasing, movement in the target direction is stopped. It is considered that the impact of the hot spot effect of the photovoltaic module is minimized at this time. Optionally, when the change in this number changes from decreasing to increasing, movement can also be carried out in the opposite direction of the target direction until the number reaches the value before the increase, and then the movement is stopped.

[0284] In another possible implementation, when the mobile device is controlled to move in the target movement direction, the sum of the areas of the photovoltaic module whose light illuminance values ​​differ from the light illuminance values ​​of the first target area gradually decreases, and movement stops when the sum of the areas of these areas reaches 0 or when the change in the sum of the areas of these areas changes from decreasing to increasing. Optionally, when the change in the sum of the areas of these areas changes from decreasing to increasing, movement can also be performed in the opposite direction of the target movement direction until the sum of the areas of these areas reaches the value before the increase, stopping.

[0285] When reducing the difference between different light intensity values ​​on the photovoltaic module is to reduce the difference between different light intensity values ​​on the photovoltaic module, the maximum light illumination value and the minimum light illumination value on the photovoltaic module can be obtained. The difference between the maximum light illumination value and the minimum light illumination value is used as the difference. By controlling the mobile device to move in the target moving direction, the difference is reduced, thereby reducing the hot spot effect.

[0286] The method provided in the embodiment of the present application obtains the light intensity value on the photovoltaic module. If there are at least two areas with different light intensity values ​​on the photovoltaic module, the target movement direction is determined according to the light intensity value, and the mobile device is controlled to move in the target movement direction to reduce the difference between different light intensity values ​​on the photovoltaic module, thereby alleviating the hot spot effect and reducing the shortening of the life of the photovoltaic module.

[0287] The following describes how to confirm the light intensity value according to the lighting conditions and how to confirm the light intensity value according to the temperature value and / or the current value as examples.

[0288] First, we will introduce how the light intensity value is confirmed according to the lighting conditions:

[0289] Implementation A: Taking determining the target moving direction based on at least two areas with different light intensity values ​​as an example, how to determine the target moving direction based on the light intensity values ​​in the aforementioned step S1602 is described in detail.

[0290] The target movement direction is used to indicate the direction in which the mobile device should move to reduce the hot spot effect. For example, a direction that increases the area of ​​any region can be used as the target movement direction, so that the mobile device can reduce the hot spot effect of the photovoltaic module after moving in the target movement direction.

[0291] One possible implementation involves determining the target movement direction based on a mapping relationship between at least two regions with different light intensity values ​​and the target movement direction, and using the at least two regions with different light intensity values. The mapping relationship may be pre-set in the mobile device, and the target movement direction is determined by determining the at least two regions with different light intensity values ​​and obtaining the corresponding mapping relationship.

[0292] Another possible implementation is to select the target movement direction corresponding to the first target area from at least two areas with different light intensity values. In this implementation, the aforementioned step S1502 may include:

[0293] S1601: Determine a first target area from the at least two areas with different light intensity values.

[0294] The first target area may be any area of ​​the at least two areas with different light intensity values.

[0295] In one possible implementation, based on at least two regions with different light intensity values, an area with a target light intensity value is determined as a first target area. The target light intensity value can be the maximum light intensity value among the light intensity values ​​of these regions, or the minimum light intensity value among the light intensity values ​​of these regions, or any light intensity value set according to actual needs, which is not limited in this application.

[0296] Taking the target light intensity value as the maximum light intensity value among the light intensity values ​​of these areas as an example, the light intensity values ​​of the two areas with different light intensity values ​​can be sorted to determine the area corresponding to the maximum light intensity value as the first target area. In this implementation, the movement of the mobile device is controlled based on the area with the maximum light intensity value. After the mobile device completes the movement, the areas on the photovoltaic module with the same light intensity value can receive the most sufficient light, thereby facilitating a better working environment for the photovoltaic module.

[0297] Another possible implementation method is to determine a target area as a first target area based on at least two areas with different light intensity values. The target area can be the largest area value among the areas of these areas, or the smallest area value among the areas of these areas, or any area value set according to actual needs, which is not limited by this application.

[0298] Under this implementation method, taking the target area as an example, which can be the largest area value among the areas of these areas, the first target area determined at this time can enable the mobile device to complete the adjustment so that most or all areas of the photovoltaic component are under the light corresponding to the first target area over a shorter distance or time when moving, thereby further improving the efficiency of adjusting the position of the mobile device while reducing the hot spot effect of the photovoltaic component.

[0299] S1602: Determine a target moving direction according to the first target area.

[0300] One possible implementation method is to control the mobile device to perform movement tests in multiple directions, and use the direction corresponding to the fastest change in the area of ​​the first target area as the target movement direction to improve the efficiency of reducing the hot spot effect.

[0301] Another possible implementation manner is to calculate and determine the target moving direction according to the position of the first target area. For example, the target moving direction may be calculated according to the relative positions of the first target area and other areas.

[0302] Optionally, if all areas of the photovoltaic module cannot be made to belong to the first target area regardless of how the mobile device is controlled to move and adjust, a third target area can be determined from the remaining areas. For example, the area with the second largest light intensity value can be determined as the third target area, or the area with the second largest area can be determined as the third target area, etc. Any other area can be selected as the third target area here, and this application does not impose any restrictions on this. For the third target area, the above method can be used repeatedly until all areas of the photovoltaic module can belong to areas with the same light intensity value, or all areas belong to the last area in the circular queue.

[0303] This implementation method can increase the probability that all areas of the photovoltaic module belong to areas with the same light intensity value after the mobile device is moved and adjusted, thereby improving the effect of completely eliminating the hot spot effect.

[0304] Next, how to determine the target moving direction according to the first target area in the aforementioned step S1602 is described in detail.

[0305] One possible implementation method is to control the mobile device to perform movement tests in multiple directions, and use the direction corresponding to the fastest change in the area of ​​the first target area as the target movement direction. The aforementioned step S1602 may include:

[0306] S1701: Control the lawn mowing robot to move a preset distance in each preset moving direction in a preset moving direction set.

[0307] The preset movement direction set includes at least two preset movement directions. For example, the preset movement direction set may include multiple preset movement directions, each of which is determined based on an initial direction and a target angle. For example, if the initial direction is due east and the target angle is 60 degrees, the preset movement direction set includes six preset movement directions, each with an angle of 60 degrees between them. The initial direction and target angle may be determined based on actual needs, and this application does not impose any restrictions thereon.

[0308] The preset distance is used to perform a mobile test of the mobile device to test the effect of moving the preset distance on the area change speed of the first target area. The preset distance can be determined according to actual needs, for example, it can be 10 centimeters, and this application does not impose any restrictions on this.

[0309] The mobile device is controlled to move preset distances in sequence according to preset moving directions in the preset moving direction set.

[0310] S1702: Obtain an area change parameter of the first target area corresponding to each preset moving direction.

[0311] After the mobile device moves a preset distance in a preset moving direction, the area of ​​the first target area after the movement is obtained and compared with the area of ​​the first target area before the movement to obtain the area change parameter.

[0312] The area change parameter may be a parameter that can characterize the speed of area change, such as an area change value or an area change rate. For example, if the area change parameter is an area change value, then if the area before the movement is 5 square centimeters and after the movement is 6 square centimeters, the area change parameter is 1 square centimeter.

[0313] S1703: Determine the target moving direction according to the area change parameter.

[0314] The target moving direction is determined according to the area change parameter corresponding to each preset moving direction. For example, the preset moving direction corresponding to the largest area change parameter can be used as the target moving direction, or the preset moving direction corresponding to any other area change parameter can be used as the target moving direction.

[0315] When the preset moving direction corresponding to the largest area change parameter is used as the target moving direction, the target moving direction with the highest efficiency in reducing the hot spot effect can be determined, thereby improving the efficiency of reducing the hot spot effect.

[0316] Another possible implementation manner is to calculate and determine the target moving direction according to the position of the first target area.

[0317] The aforementioned step S1602 may include:

[0318] S1801: Obtain a position of a first target area on a photovoltaic module.

[0319] The center position of the photovoltaic module can be used as a reference to determine the position of the first target area on the photovoltaic module, for example, it can be above, below, left, right, upper left, upper right, etc., of the center position of the photovoltaic module.

[0320] S1802: Determine a target moving direction according to a position of the first target area on the photovoltaic module.

[0321] According to the position of the first target area on the photovoltaic assembly, the direction of the first target area relative to the center position of the photovoltaic assembly can be determined, and the direction is used as the target movement direction.

[0322] Alternatively, the center of the first target area may be connected to the center of the photovoltaic assembly, and the direction on the connection line away from the center of the photovoltaic assembly may be used as the target movement direction.

[0323] The method provided in the embodiment of the present application determines whether a photovoltaic module has a hot spot effect by obtaining a light intensity value from the photovoltaic module. If so, the target movement direction is determined based on at least two areas with different light intensity values, and the mobile device is controlled to move in the target movement direction to reduce the difference between different light intensity values ​​on the photovoltaic module, thereby reducing the impact of the hot spot effect on the photovoltaic module and reducing the life span of the photovoltaic module.

[0324] Implementation method B: Taking the determination of the target moving direction based on the ambient light intensity value in the surrounding environment of the lawn mower robot and the light intensity value on the photovoltaic module as an example, how to determine the target moving direction based on the light intensity value in the aforementioned step S1502 is described in detail.

[0325] The aforementioned step S1502 may further include:

[0326] S1901: Obtain at least one ambient light intensity value in the surrounding environment of the lawn mowing robot.

[0327] At least one ambient light intensity value in the surrounding environment of the lawn mower robot can be obtained using an ambient light sensor or photoresistor on the lawn mower robot, or an image capture device on the lawn mower robot can capture an image of the surrounding environment and use image processing technology to estimate the light intensity. Alternatively, the lawn mower robot can obtain at least one ambient light intensity value in the surrounding environment of the lawn mower robot by communicating with other devices that are in communication with the lawn mower robot and are capable of obtaining light intensity values. For example, based on the light intensity value collected by the other device and the location of the other device, the light intensity value corresponding to the location can be determined.

[0328] S1902: Determine a target ambient light intensity value based on a similarity between the ambient light intensity value and the light intensity value on the photovoltaic module.

[0329] If the similarity between any ambient light intensity value and any light intensity value on a photovoltaic module is greater than or equal to a preset similarity threshold, then it indicates that an environmental area corresponding to a light intensity value on the photovoltaic module exists in the environment surrounding the mobile device. The mobile device can be moved to this area to ensure that the changes in the light intensity value on the photovoltaic module during movement are more stable. The preset similarity threshold can be determined based on actual needs and is not limited by this application.

[0330] In a possible implementation, any one of the ambient light intensity values ​​whose similarity to any light intensity value on the photovoltaic module is greater than or equal to a preset similarity threshold is selected as the target ambient light intensity value.

[0331] Another possible implementation is to select the largest value from the ambient light intensity values ​​whose similarity to any light intensity value on the photovoltaic module is greater than or equal to a preset similarity threshold as the target ambient light intensity value. This implementation can be achieved by the following steps:

[0332] S19021. Determine a candidate ambient light intensity value based on a similarity between the ambient light intensity value and the light intensity value on the photovoltaic module.

[0333] If the similarity between any ambient light intensity value and any light intensity value on the photovoltaic module is greater than or equal to a preset similarity threshold, the ambient light intensity value is used as a candidate ambient light intensity value. After comparing all ambient light intensity values ​​with all light intensity values ​​on the photovoltaic module one by one, all candidate ambient light intensity values ​​are determined.

[0334] S19022. Arrange the candidate ambient light intensity values.

[0335] The order of the arrangement is in descending order of the illumination intensity value, that is, the candidate environment illumination intensity value with the largest illumination intensity value is arranged first in the arrangement.

[0336] S19023. Use the first candidate ambient light intensity value in the arrangement as the target ambient light intensity value.

[0337] The first candidate ambient light intensity value in the arrangement is the candidate ambient light intensity value with the strongest light intensity among the candidate ambient light intensity values. Taking the candidate ambient light intensity value with the strongest light intensity as the target ambient light intensity value, the area where the mobile device is located can receive light with greater light intensity after the mobile device completes the movement, thereby improving the charging speed of the photovoltaic module.

[0338] S1903: Determine the target moving direction according to the region to which the target ambient light intensity value belongs and the position of the mobile device.

[0339] The area to which the target ambient light intensity value belongs is the area to which the mobile device is to go. Based on this area and the current position of the mobile device, it is possible to determine which direction the mobile device needs to move in as the target moving direction in order to move from the current position to the area to which the target ambient light intensity value belongs.

[0340] The method provided in this application collects ambient light intensity from a mobile device's surroundings and compares the ambient light intensity with the light intensity on a photovoltaic module to determine the area to which the mobile device should be directed to reduce the difference in light intensity values. Based on this area and the mobile device's current location, the target movement direction of the mobile device is determined. This method eliminates the need to control the mobile device to perform multiple movement tests in multiple directions, enabling faster determination of the target movement direction and improving the efficiency of reducing the difference in light intensity values ​​on photovoltaic modules.

[0341] The following describes how the light intensity value is determined based on the temperature value and / or current value:

[0342] If there is a second target area with abnormal temperature and / or current values ​​on the photovoltaic component, the charging circuit of the photovoltaic component is disconnected, or the circuit of the photovoltaic unit (also called solar panel unit) included in the second target area is blocked.

[0343] If there is a second target area with abnormal temperature and / or current values ​​on the photovoltaic module, it indicates that there may be obstructions such as dust, leaves, etc. on the photovoltaic module that block part of the photovoltaic units. These obstructions will prevent these photovoltaic units from receiving light, causing the obscured photovoltaic units to be treated as loads and consume the energy generated by other illuminated photovoltaic units. Therefore, the temperature value of the obscured photovoltaic units will increase abnormally and the current value will decrease or disappear.

[0344] If a second target area with an abnormally high temperature and / or low current is detected, it indicates that the second target area is abnormally shaded. Prolonged abnormal shading can cause a hot spot effect on the photovoltaic module, shortening its lifespan. The temperature value can be obtained by a temperature sensor, and the current value can be obtained from the circuit.

[0345] The mowing robot can disconnect the charging circuit of the photovoltaic module to prevent the continued operation of the photovoltaic module from affecting the life of the photovoltaic module. Alternatively, the mowing robot can block the circuit of the photovoltaic unit included in the second target area (i.e., the photovoltaic unit mentioned above), allowing the solar panel charging unit in other unshaded areas to form a new circuit and continue to operate. While continuing to operate the photovoltaic module, the hot spot effect caused by the photovoltaic unit in the second target area is eliminated.

[0346] The method provided in the embodiment of the present application disconnects the charging circuit of the photovoltaic module, or blocks the circuit of the photovoltaic unit included in the second target area when detecting abnormal temperature and / or current values ​​caused by abnormal shielding, thereby avoiding the problem of hot spot effect shortening the life of the photovoltaic module, thereby improving the life of the photovoltaic module.

[0347] Optionally, in this implementation, the user may be prompted that the photovoltaic unit has an abnormal shading fault, so that the user can manually clear the abnormal shading and eliminate the hot spot effect of the photovoltaic module.

[0348] In some examples, the method may further include:

[0349] S2001: Generate abnormal alarm information indicating that a photovoltaic unit included in a second target area has a fault.

[0350] The abnormal alarm information may only include information prompting the user that abnormal shielding exists in the photovoltaic assembly, for example, the abnormal alarm information may be "abnormal shielding exists in the photovoltaic assembly". Alternatively, the abnormal alarm information may further include information prompting the user that abnormal shielding exists in the photovoltaic units included in the second target area, for example, the abnormal alarm information may include "abnormal shielding exists in photovoltaic unit 01, photovoltaic unit 03, photovoltaic unit 04". Or, the abnormal alarm information may further output image information of the photovoltaic assembly, in which the photovoltaic unit with abnormal shielding problem is identified, so as to facilitate the user to find the faulty photovoltaic unit.

[0351] S2002. Output abnormal alarm information.

[0352] The abnormal alarm information can be output by the lawn mower robot, for example, the lawn mower robot outputs a voice prompt including the abnormal alarm information, or directly prompts the fault through a sound such as a buzzer, or outputs it on a display screen on the lawn mower robot.

[0353] The abnormal alarm information can also be output to the user's terminal device connected or bound to the lawn mowing robot, such as the user's mobile phone, computer, tablet computer, lawn mowing robot control device, etc. The output form is similar to the output form on the lawn mowing robot, or it can also be output through the push of the application corresponding to the lawn mowing robot on the terminal device, etc., which will not be repeated here.

[0354] Since the abnormal alarm information can only remind the user that the photovoltaic module of the lawn mower robot has a hot spot effect, or can only remind the user which photovoltaic unit on the photovoltaic module of the lawn mower robot has a fault, in order to further provide the specific situation of the fault, in one possible implementation, optionally, image information of the photovoltaic module can also be output to further provide the specific situation of the fault. In this implementation, after outputting the abnormal alarm information, the method can also include:

[0355] S2003: If an image acquisition request based on abnormal alarm information is received, an image of the photovoltaic assembly is acquired.

[0356] If the user responds to the mobile device with an image acquisition request based on the abnormal alarm information after receiving the abnormal alarm information, the mobile device can collect images on the photovoltaic component according to the received image acquisition request based on the abnormal alarm information. For example, the image can be collected by an image acquisition device deployed on the photovoltaic component, or by an image acquisition device (such as a monitoring device) that monitors the working area of ​​the mobile device.

[0357] The image of the photovoltaic assembly may be an image including the photovoltaic assembly, or may be an image including only the second target area where the fault occurs.

[0358] S2004: Output the image of the photovoltaic module to the user's terminal device.

[0359] The image of the photovoltaic module is output to the user's terminal device, so that the user can determine the specific cause of the fault on the photovoltaic module based on the image, thereby facilitating the user to handle the fault.

[0360] The method provided in the embodiment of the present application generates abnormal alarm information indicating that there is a fault in the photovoltaic unit included in the second target area, and outputs the abnormal alarm information to prompt the user to manually handle the fault. Furthermore, it can also output an image based on the abnormal alarm information to the user's terminal device to provide a richer situation of the fault, thereby improving the user experience.

[0361] Some embodiments of the present application also provide a lawn mowing robot, including a lawn mowing robot body and a control device. The lawn mowing robot body includes a photovoltaic component, which is used to absorb solar energy and convert the solar energy into electrical energy to provide energy for the lawn mowing robot. The control device is used to execute the control method of the lawn mowing robot involved in the above embodiments.

[0362] FIG7 is a schematic diagram of a control device provided in some embodiments of the present application. As shown in FIG7 , an embodiment of the present application provides a control device, and the control device includes a memory 1501 and a processor 1502 .

[0363] The memory 1501 is used to store computer instructions executable by the processor;

[0364] The processor 1502 implements each step of the method in the above embodiment when executing the computer instructions. For details, please refer to the relevant description in the above method embodiment.

[0365] Optionally, the memory 1501 can be independent or integrated with the processor 1502. When the memory 1501 is independent, the electronic device further includes a bus for connecting the memory 1501 and the processor 1502.

[0366] An embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored. When a processor executes the computer instructions, each step of the method in the above embodiment is implemented.

[0367] An embodiment of the present application further provides a computer program product, including computer instructions, which, when executed by a processor, implement the various steps of the method in the above embodiment.

[0368] It should be noted that, in the description of this specification, the solutions described in any two of the above embodiments can be explained in conjunction with each other. The descriptions with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the description of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0369] Finally, it should be noted that 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 or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for a lawn mowing robot, wherein: The method is applied to a lawn mowing robot, and the method comprises: Obtain working status parameters of photovoltaic modules; When it is determined according to the working state parameters of the photovoltaic assembly that the photovoltaic assembly meets the cooling condition, the lawn mowing robot drives to a target shadow area, where the target shadow area is an area where the light intensity is less than a preset light threshold.

2. The control method according to claim 1, wherein: The method further comprises: When the photovoltaic assembly meets the temperature reduction condition, obtaining information of a target shadow area, wherein the information of the target shadow area includes a type and a position, and the type includes an area to be mowed and an area that does not need to be mowed; Determining whether to perform mowing operation in the target shadow area according to the type of the target shadow area; Accordingly, when the photovoltaic assembly meets the temperature reduction condition, the lawn mowing robot drives to the target shadow area, specifically including: When the photovoltaic assembly meets the temperature reduction condition, the lawn mowing robot drives to the target shadow area according to the position of the target shadow area.

3. The control method according to claim 2, wherein: The mowing robot determines whether to perform mowing operations in the target shadow area according to the type of the target shadow area, specifically including: If the target shadow area is an area to be mowed, the mowing robot drives within the target shadow area and performs mowing operations; If the target shadow area is an area that does not require mowing, the mowing robot is in a stationary state in the target shadow area and stops mowing.

4. The control method according to claim 2 or 3, wherein: The method further comprises: When the photovoltaic assembly meets the temperature reduction condition, obtaining the position of the target working area; Accordingly, when the photovoltaic assembly meets the cooling condition, driving to the target shadow area according to the position of the target shadow area specifically includes: According to the position of the target shadow area and the position of the target working area, driving is alternately performed in the target shadow area and the target working area.

5. The control method according to claim 4, wherein: The target shadow area is an area to be mowed, determining whether to perform mowing in the target shadow area according to the type of the target shadow area, and driving alternately in the target shadow area and the target working area according to the position of the target shadow area and the position of the target working area, specifically comprising: Driving in the target shadow area during a first time period and performing a lawn mowing operation; driving in the target working area during a second time period and performing a lawn mowing operation; driving in the target shadow area and performing a lawn mowing operation during a third time period; The first time period is earlier than the second time period, and the second time period is earlier than the third time period.

6. The control method according to claim 4, wherein: The target shadow area is an area that does not require mowing, determining whether to perform mowing in the target shadow area according to the type of the target shadow area, and driving alternately in the target shadow area and the target working area according to the position of the target shadow area and the position of the target working area, specifically including: Driving into the target shadow area in a first time period, being stationary in the target shadow area, and stopping the mowing operation; driving in the target working area during a second time period and performing a lawn mowing operation; Driving into the target shadow area in a third time period, being stationary in the target shadow area, and stopping the mowing operation; The first time period is earlier than the second time period, and the second time period is earlier than the third time period.

7. The control method according to claim 5 or 6, wherein: Driving in the target working area during the second time period and performing a mowing operation specifically includes: In a fourth time period, the vehicle drives in the target working area in a direction away from the target shadow area and performs a grass cutting operation; In a fifth time period, driving in the target working area in a direction close to the target shadow area and performing a grass cutting operation; The second time period includes a fourth time period and a fifth time period, and the fourth time period is earlier than the fifth time period.

8. The control method according to claim 5, wherein: The area of ​​the target shadow region is larger than the area of ​​the target working region.

9. The control method according to any one of claims 2 to 8, wherein: When the photovoltaic module meets the temperature reduction condition, obtaining information of the target shadow area specifically includes: When the photovoltaic assembly meets the cooling condition, the vehicle drives in any direction to search for the target shadow area.

10. The control method according to claim 9, wherein: When it is determined that the photovoltaic assembly meets the cooling condition, the mowing robot drives in any direction to search for the target shadow area, specifically including: Step a, randomly determining the target driving direction; Step b, the lawn mowing robot travels a preset distance along the target driving direction; Step c, the lawn mowing robot stops for a preset time and obtains the temperature of the photovoltaic module at the current moment; Step d, if the temperature of the photovoltaic module at the current moment is greater than or equal to the temperature at the previous moment, randomly update the target driving direction, and return to step b; the angle between the target driving direction before the update and the target driving direction after the update is less than a preset threshold; Step e: if the temperature of the photovoltaic module at the current moment is lower than the temperature at the previous moment, determine the current position as the target shadow area.

11. The control method according to any one of claims 2 to 10, wherein: When the photovoltaic module meets the cooling condition, information of the target shadow area is obtained. When it is determined that the photovoltaic assembly meets the temperature reduction condition, obtaining at least one candidate shadow area; The target shadow area is selected from the plurality of candidate shadow areas according to any one or more of the distance between the candidate shadow area and the current position, the light intensity of the candidate shadow area, and whether the candidate shadow area needs to be mowed.

12. The control method according to claim 11, wherein: The method further comprises: Acquire map data of a preset geographical area, wherein the preset geographical area includes the current location of the lawn mowing robot; Obtaining a marker in the map data, and obtaining the height of the marker and the sun angle at different times; The candidate shadow areas at different times are calculated according to the height of the marker and the sun angle at different times.

13. The control method according to claim 11, wherein: The method further comprises: Acquire map data of a preset geographical area, wherein the preset geographical area includes the current location of the lawn mowing robot; A marker in the map data is obtained, and the mowing robot drives along a boundary of a shadow area of ​​the marker to obtain a candidate shadow area.

14. The control method according to claim 12 or 13, wherein: Obtaining the markers in the map data specifically includes: receiving a marking request sent by a user terminal, wherein the marking request includes a marker in the map data; or The markers are extracted from the map data.

15. The control method according to any one of claims 11 to 14, wherein: The method further comprises: Obtaining a light map of a preset geographical area, wherein the light map includes light intensity at various locations in the preset geographical area at different times; At least one candidate shadow area is determined according to a lighting map of the preset geographical area.

16. The control method according to claim 15, characterized in that: The method further comprises: When the mowing robot is performing a mowing operation, collecting light intensity at a mowing position and acquiring a collection time; The illumination map is generated according to the collected illumination intensity at the mowing location and the collection time.

17. The control method according to any one of claims 1 to 16, wherein: The working state parameters of the photovoltaic assembly include any one or more combinations of the current temperature of the photovoltaic assembly, the output power of the photovoltaic assembly, the light intensity detected by the sensor, and the temperature of the photovoltaic assembly at a historical moment.

18. The control method according to claim 17, wherein: Acquiring the working state parameters of the photovoltaic assembly and determining that the photovoltaic assembly meets the cooling condition specifically includes: Obtaining the output power of the photovoltaic module and the light intensity detected by the sensor, and obtaining the rated power corresponding to the light intensity; If the difference between the output power of the photovoltaic component and the rated power is greater than a preset power threshold, it is determined that the photovoltaic component meets the temperature reduction condition.

19. The control method according to claim 17 or 18, wherein: Acquiring the working state parameters of the photovoltaic assembly and determining that the photovoltaic assembly meets the cooling condition specifically includes: Determine the temperature of the photovoltaic module at the current moment or predict the temperature at a future moment according to the working state parameters of the photovoltaic module; When the temperature of the photovoltaic component at the current moment is greater than the first preset temperature threshold or the time period from when the temperature of the photovoltaic component is greater than the second preset temperature threshold is less than the preset time difference, it is determined that the photovoltaic component meets the cooling condition.

20. The control method according to claim 18 or 19, wherein: The photovoltaic assembly includes at least one photovoltaic unit; obtaining the working state parameters of the photovoltaic assembly specifically includes: Acquire working state parameters of at least one photovoltaic unit, wherein the working state parameters of the photovoltaic unit include any one or more combinations of the current temperature of the photovoltaic unit, the output power of the photovoltaic unit, the light intensity detected by the sensor, and the temperature of the photovoltaic unit at a historical moment; An average value of the working state parameter of at least one photovoltaic unit is calculated to obtain the working state parameter of the photovoltaic assembly.

21. The control method according to any one of claims 17 to 20, wherein: The photovoltaic assembly includes at least one photovoltaic unit; obtaining the working state parameter of the photovoltaic assembly and determining that the photovoltaic assembly meets the cooling condition specifically includes: Obtaining working state parameters of at least one photovoltaic unit, and determining whether each photovoltaic unit meets the temperature reduction sub-condition according to the working state parameters of the photovoltaic unit; wherein the working state parameters of the photovoltaic unit include any one or more combinations of the current temperature of the photovoltaic unit, the output power of the photovoltaic unit, the light intensity detected by the sensor, and the temperature of the photovoltaic unit at a historical moment; When the number of photovoltaic units that meet the temperature reduction sub-condition is greater than a preset threshold, it is determined that the photovoltaic assembly meets the temperature reduction condition.

22. The control method according to claim 21, wherein: Determine whether each photovoltaic unit meets the cooling sub-condition according to the working state parameters of the photovoltaic unit, including: Obtaining the output power of the photovoltaic unit and the light intensity detected by the sensor, and obtaining the rated power corresponding to the light intensity; if the difference between the output power of the photovoltaic unit and the rated power is greater than a preset power threshold, determining that the photovoltaic unit meets the cooling sub-condition; or, The temperature of the photovoltaic unit at the current moment or the temperature at the predicted future moment is determined according to the working state parameters of the photovoltaic unit; when the temperature of the photovoltaic unit at the current moment is greater than a first preset temperature threshold or the time period from when the temperature of the photovoltaic unit is greater than a second preset temperature threshold is less than a preset time difference, it is determined that the photovoltaic unit meets the cooling sub-condition.

23. The control method according to any one of claims 1 to 22, wherein: The working state parameters of the photovoltaic assembly include the photovoltaic assembly The light intensity value on ; The method further comprises: If there are at least two areas with different light intensity values ​​on the photovoltaic assembly, determining the target moving direction according to the light intensity values; The lawn mowing robot moves according to the target moving direction to reduce the difference between different light intensity values ​​on the photovoltaic components.

24. The method according to claim 23, wherein: The step of determining the target moving direction according to the light intensity value comprises: According to the at least two areas with different light intensity values, determining an area with a target light intensity value as a first target area; Determining the target moving direction according to the first target area; or, Determining a target area as a first target area according to the at least two areas with different light intensity values; The target moving direction is determined according to the first target area.

25. The method according to claim 24, wherein: The step of determining the target moving direction according to the first target area includes: The mowing robot moves a preset distance according to a preset moving direction in a preset moving direction set. The direction set includes at least two of the preset moving directions; Acquire an area change parameter of the first target area corresponding to each preset moving direction; The target moving direction is determined according to the area change parameter.

26. The method according to claim 24, wherein: The step of determining the target moving direction according to the first target area includes: Acquire a position of the first target area on the photovoltaic module; The target moving direction is determined according to the position of the first target area on the photovoltaic assembly.

27. The method according to any one of claims 23 to 26, wherein: The step of determining the target moving direction according to the light intensity value comprises: Acquire at least one ambient light intensity value in the surrounding environment of the lawn mowing robot; Determining a target ambient light intensity value according to a similarity between the ambient light intensity value and the light intensity value on the photovoltaic module; The target moving direction is determined according to the area to which the target environment light intensity value belongs and the position of the lawn mowing robot.

28. The method according to claim 27, wherein: The step of determining a target ambient light intensity value according to the similarity between the ambient light intensity value and the light intensity value on the photovoltaic module comprises: Determining a candidate ambient light intensity value according to a similarity between the ambient light intensity value and the light intensity value on the photovoltaic module; Arrange the candidate ambient light intensity values ​​in descending order according to the light intensity values; The first candidate ambient light intensity value in the arrangement is used as the target ambient light intensity value.

29. The method according to any one of claims 23 to 28, wherein: The light intensity value is determined according to the temperature value and / or the current value; If there is a second target area with abnormal temperature value and / or abnormal current value on the photovoltaic component, the charging circuit of the photovoltaic component is disconnected, or the circuit of the photovoltaic unit included in the second target area is blocked.

30. The method of claim 29, wherein: Also includes: generating abnormal alarm information indicating that the photovoltaic units included in the second target area are faulty; Outputting the abnormal alarm information; If an image acquisition request based on the abnormal alarm information is received, an image of the photovoltaic assembly is acquired; The image of the photovoltaic assembly is output to a user's terminal device.

31. A lawn mowing robot, wherein: It comprises a lawn mowing robot body and a control device, wherein the lawn mowing robot body comprises a photovoltaic component, and the control device is used to execute the control method of the lawn mowing robot as claimed in any one of claims 1 to 31.

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