CN106300578B

CN106300578B - Autonomous mobile device and wireless charging system thereof

Info

Publication number: CN106300578B
Application number: CN201610480228.4A
Authority: CN
Inventors: 孙根; 刘芳世; 董永明; 周昶; 焦石平; 杜江
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2015-06-26
Filing date: 2016-06-27
Publication date: 2021-08-10
Anticipated expiration: 2036-06-27
Also published as: CN106300578A

Abstract

The invention relates to an autonomous mobile equipment wireless charging system, which comprises autonomous mobile equipment and a wireless charging station, wherein the wireless charging station comprises a wireless charging transmitting terminal; the autonomous mobile device includes: the wireless charging receiving terminal is used for transmitting a charging signal to the wireless charging receiving terminal wirelessly so as to transmit electric energy; the charging battery is electrically connected with the wireless charging receiving end and receives the electric energy transmitted by the wireless charging interface; the wireless charging positioning module judges whether the autonomous mobile equipment is in a charging position; a driving module driving the autonomous mobile device to move; and the control module is connected with the wireless charging positioning module and the driving module, and controls the driving module to enable the autonomous mobile equipment to be parked at the charging position when the wireless charging positioning module judges that the autonomous mobile equipment is at the charging position. The invention can avoid the bad phenomena of pole piece oxidation, power exposure and the like in wired charging.

Description

Autonomous mobile device and wireless charging system thereof

Technical Field

The invention relates to the field of robots, in particular to an autonomous mobile device and a wireless charging system thereof.

Background

Along with the development trend of intellectualization is faster and faster, the manual operation of the mower is changed into the intelligent operation, so that the mowing progress of people is obviously accelerated, and great convenience is brought. Meanwhile, the application range of the wireless charging technology is more and more extensive, and the wireless charging technology is particularly applied to intelligent equipment, including various intelligent equipment such as mobile phones. The adoption of wireless charging reduces the complicated interface connection of users during wired charging, so that the charging is simpler, and the experience effect of the users is facilitated.

However, the existing intelligent lawn mower generally adopts a wired charging mode, so that a wired charging station needs to be built on the lawn, and vegetation cannot grow normally in the place covered by the charging station. The wired charging station usually forms a protrusion relative to the ground, and the pole piece is sharp, so that the old and the children are easily tripped and cause accidental injuries. The wired charging station needs the pole piece to expose, is easily corroded and oxidized to cause poor contact, and the wired charging often can have problems, and the pole piece exposes and also easily takes place to reveal electricity simultaneously.

In addition, the wireless charging device includes a receiving end and a transmitting end, and when the receiving end and the transmitting end are charged correspondingly, the receiving end and the transmitting end are difficult to be aligned completely, so that the receiving end and the transmitting end cannot achieve optimal charging efficiency. In order to align the receiving end with the transmitting end conveniently, the transmitting end can be fixed on a bracket or a charging seat, and the receiving end and the transmitting end can be aligned manually; the charging area may also be drawn for the transmitting end, and the receiving end is artificially aligned with the transmitting end of the charging area. The conventional technology adopts a charging technology, and the transmitting end and the receiving end are aligned by manual operation, and the charging mode is obviously not suitable for large-scale machine equipment, namely an intelligent mower. Therefore, a need exists for a device capable of automatically aligning and fixing a receiving end and a transmitting end so as to charge large-scale equipment such as an intelligent mower.

Disclosure of Invention

Based on the above problems, the present invention provides an autonomous mobile device wireless charging system, including an autonomous mobile device and a wireless charging station, where the wireless charging station includes a wireless charging transmitting terminal; the autonomous mobile device includes: the wireless charging receiving terminal is used for transmitting a charging signal to the wireless charging receiving terminal wirelessly so as to transmit electric energy; the charging battery is electrically connected with the wireless charging receiving end and receives the electric energy transmitted by the wireless charging interface; the wireless charging positioning module judges whether the autonomous mobile equipment is in a charging position; a driving module driving the autonomous mobile device to move; and the control module is connected with the wireless charging positioning module and the driving module, and controls the driving module to enable the autonomous mobile equipment to be parked at the charging position when the wireless charging positioning module judges that the autonomous mobile equipment is at the charging position.

In one embodiment, in the charging position, the wireless charging transmitting terminal and the wireless charging receiving terminal are aligned.

In one embodiment, the autonomous mobile device comprises a wireless charging station location module that locates the location of the wireless charging station, sends the location of the wireless charging station to the control module; the control module controls the driving mode according to the position of the wireless charging station, so that the autonomous mobile equipment moves to the wireless charging station.

Further, the wireless charging station positioning device further comprises a guide line extending outwards from the wireless charging station, the wireless charging station positioning module comprises a guide line searching module, the guide line searching module searches the guide line, and the control module controls the driving module to enable the autonomous moving equipment to move along the guide line to reach the wireless charging station.

Further, the guide line is a signal line for emitting electromagnetic signals to the outside, and the guide line searching module is an electromagnetic signal sensor.

Further, the wireless charging station positioning module comprises at least one of a GPS module, a bluetooth module, a Zigbee module, and a Wifi module.

In one embodiment, the wireless charging positioning module determines a distance from the autonomous mobile device to the charging location, and the control module controls the driving module to move the autonomous mobile device toward the charging location according to the distance or a change in the distance.

Further, when the distance is reduced to a first preset distance, the control module controls the driving module to reduce the moving speed of the autonomous mobile device.

In one embodiment, the wireless charging positioning module includes a charging signal detection module, and the charging signal detection module detects whether the strength of the charging signal received by the wireless charging receiving terminal reaches a predetermined value, and determines that the autonomous mobile device is in a charging position when the strength of the charging signal reaches the predetermined value.

Further, the charging signal detection module judges whether the intensity of the charging signal reaches a preset value by detecting whether the current or the voltage generated by the charging signal on a charging loop of the rechargeable battery reaches a preset value.

Further, the charging signal detection module judges the distance from the autonomous mobile device to the charging position according to the strength of the charging signal, and the control module controls the driving module according to the distance or the change of the distance, so that the autonomous mobile device moves towards the charging position.

In one embodiment, a positioning element is arranged on the wireless charging station, the wireless charging positioning module comprises a positioning sensor for detecting the positioning element, and when the positioning sensor detects that the positioning sensor and the positioning element are in a preset position relationship, the wireless charging positioning module judges that the autonomous mobile device is in a charging position.

Furthermore, the positioning part is magnetic steel, and the positioning sensor is a magnetic sensing element.

In one embodiment, an electromagnet is respectively arranged on the autonomous moving equipment and the wireless charging station, or a permanent magnet is arranged on one of the autonomous moving equipment and the wireless charging station; the wireless charging positioning module is a magnetic force detection module which monitors the intensity of magnetic force between the autonomous mobile equipment and the wireless charging station and judges that the autonomous mobile equipment is in a charging position when the magnetic force is greater than a preset value.

In one embodiment, the autonomous mobile device further includes a receiving processing circuit, the receiving processing circuit is communicatively connected to the wireless charging receiving terminal, and is configured to detect energy received by the wireless charging receiving terminal, and output a second electrical signal when the detected energy is greater than a first threshold, otherwise not output the second electrical signal; the control module is in communication connection with the wireless charging receiving terminal and the receiving processing circuit, detects a first electric signal of the charging receiving terminal and is used for receiving a second electric signal, when the first electric signal is detected but the second electric signal is not received, compares whether the first electric signal is larger than a second threshold value or not, if the first electric signal is larger than the second threshold value and the second electric signal is not detected within time T, controls the mower to move towards a direction far away from the wireless charging station, and then docks the wireless charging receiving terminal and the wireless charging transmitting terminal again.

Further, the second threshold is zero.

In one embodiment, a shielding case is arranged above the wireless charging receiving end, and the area of the shielding case is larger than that of the wireless charging transmitting end and that of the wireless charging receiving end.

In one embodiment, the wireless charging system further comprises a wireless charging switching device, wherein the wireless charging switching device is arranged between the wireless charging transmitting terminal and the wireless charging receiving terminal, and is used for receiving a charging signal sent by the wireless charging transmitting terminal and transmitting the charging signal to the wireless charging receiving terminal.

Further, the wireless charging transfer device is arranged on one of the wireless charging station and the autonomous mobile equipment.

Further, when the autonomous mobile device is located at the charging position, the distance between the wireless charging transmitting terminal and the wireless charging receiving terminal is greater than 5 centimeters.

Further, when the autonomous mobile device is located at the charging position, the area of the wireless charging transmitting terminal facing the wireless charging receiving terminal is less than 80% of the area of the wireless charging transmitting terminal facing the wireless charging receiving terminal.

In one embodiment, the autonomous mobile device further comprises a battery voltage detection module for detecting the voltage of the rechargeable battery, and the control module controls the driving module to return the autonomous mobile device to the wireless charging station when the voltage of the rechargeable battery is lower than a preset value.

The invention also provides an autonomous mobile device comprising an autonomous mobile device as described in any of the preceding.

The invention provides a wireless charging device of intelligent mobile equipment, aiming at the problems of poor contact, power exposure and the like faced by wired charging.

A wireless charging device of intelligent mobile equipment, intelligent mobile equipment removes in the active area, be provided with wireless charging station in the active area, wireless charging station includes wireless charging transmitting terminal, wireless charging station is provided with the signal line that can follow its location wireless charging station, wireless charging device still includes:

the signal line searching module is arranged in the intelligent mobile equipment and used for searching the signal line when the intelligent mobile equipment needs to be charged and guiding the intelligent mobile equipment to move along the signal line when the signal line is searched;

the wireless charging positioning module is arranged in the intelligent mobile equipment and used for positioning the position of the wireless charging station when the intelligent mobile equipment moves along the signal line and guiding the intelligent mobile equipment to stop moving when the position of the wireless charging station is positioned;

and the wireless charging receiving module is arranged in the intelligent mobile equipment and used for receiving a signal sent by a wireless charging transmitting terminal of the wireless charging station and charging the intelligent mobile equipment through a charging loop while the wireless charging positioning module positions the wireless charging station and guides the intelligent mobile equipment to stop moving.

In one embodiment, the wireless charging apparatus further includes:

and the wireless positioning module is arranged in the intelligent mobile equipment and is used for determining the position of the wireless charging station and guiding the intelligent mobile equipment to move to the position of the wireless charging station.

In one embodiment, the wireless positioning module comprises one or more than two of a GPS module, a bluetooth module and a Zigbee module.

In one embodiment, the GPS module is a differential GPS module.

In one embodiment, the signal line searching module includes two signal line sensors distributed on two symmetrical sides of the smart mobile device, and when the two signal line sensors search the signal line, the smart mobile device is adjusted to enable the signal line to be longitudinally located at the center of the smart mobile device, and the smart mobile device is guided to move along the signal line.

In one embodiment, the two signal line sensors adjust the smart mobile device to enable the signal line to be longitudinally positioned at the center of the smart mobile device by comparing the signal strength of the received signal line; or

The two signal line sensors adjust the intelligent mobile equipment by enabling the distance between the left wheel and the right wheel of the intelligent mobile equipment and the signal line to be equal, so that the signal line is longitudinally located at the center of the intelligent mobile equipment.

In one embodiment, the two signal sensors make the left and right wheels of the smart mobile device rotate slowly so that the left and right wheels are at the same distance from the signal line or the signal strength of the signal line received by the two signal line sensors is the same.

The wireless charging positioning module comprises a signal detection circuit, the intelligent mobile device is arranged along the signal line, when the intelligent mobile device moves, the wireless charging transmitting terminal transmits a charging signal to the wireless charging receiving module, the signal detection circuit detects whether the intensity of the charging signal received by the wireless charging receiving module reaches a preset value, and when the intensity of the charging signal reaches the preset value, the wireless charging positioning module is positioned out of the position of the wireless charging station and guides the intelligent mobile device to stop moving.

In one embodiment, the charging signal transmitted by the wireless charging transmitting terminal to the wireless charging receiving module is a discontinuous charging signal, and when the signal detection circuit detects whether the magnitude of the charging signal received by the wireless charging receiving module reaches a predetermined value, the signal detection circuit determines whether the magnitude of the charging signal reaches the predetermined value by detecting whether the current or the voltage generated on the charging loop by the charging signal received by the wireless charging receiving module reaches the predetermined value in real time.

In one embodiment, the wireless charging positioning module includes a positioning sensor, a positioning block corresponding to the positioning sensor is pre-installed in the wireless charging station, and the wireless charging positioning module detects whether the signal strength between the positioning sensor and the positioning block reaches a predetermined value when the smart mobile device moves along the signal line, and if the signal strength reaches the predetermined value, locates the position of the wireless charging station and guides the smart mobile device to stop moving.

In one embodiment, the positioning sensor is a hall sensor, and correspondingly, the positioning block is magnetic steel.

In one embodiment, the wireless charging positioning module further includes a sensing signal detection unit connected to the positioning sensor, and the wireless charging positioning module detects whether the signal strength between the positioning sensor and the positioning block reaches a predetermined value through the sensing signal detection unit when the smart mobile device moves along the signal line.

The wireless charging device of the intelligent mobile equipment determines the wireless charging station through the signal line, so that the intelligent mobile equipment is intelligently charged in a wireless mode, and the possible adverse phenomena of pole piece oxidation, power exposure and the like in the traditional wired charging are avoided.

In view of the above, there is a need for a wireless charging system and a method thereof, which are effectively applicable to charging large-scale devices such as intelligent lawn mowers.

The utility model provides a wireless charging system, includes emitter and installs in the receiving arrangement of mobile device, emitter includes the transmitting terminal, receiving arrangement include the receiving terminal, with the charge management device that the receiving terminal is connected and with the rechargeable battery that the charge management device is connected, the receiving terminal all is provided with circular telegram magnet with the transmitting terminal or one of them is provided with the permanent magnet of receiving terminal and transmitting terminal, the charge management device includes:

the charging detection module is used for detecting whether the rechargeable battery needs to be charged or not;

the power-on module is used for electrically connecting the rechargeable battery with the receiving end when the rechargeable battery needs to be charged;

the magnetic force detection module is used for detecting the magnetic force between the receiving end and the transmitting end;

and the control module is used for controlling the mobile equipment to move to the transmitting terminal according to the magnetic force and aligning the receiving terminal and the transmitting terminal to charge the rechargeable battery.

According to the wireless charging system, the transmitting end and the receiving end are provided with the electrified magnets or one of the receiving end and the transmitting end is provided with the permanent magnet, and the electrified magnets and the receiving end and the transmitting end are aligned according to the magnetic force, so that the wireless charging of the receiving end and the transmitting end is effectively facilitated, and the wireless charging system can be effectively applied to equipment such as intelligent mowers.

In one embodiment, the control module aligns the receiving end with the transmitting end when the magnitude of the magnetic force is at a maximum value.

In one embodiment, the charging management apparatus further includes:

and the power-off module is used for aligning the receiving terminal and the transmitting terminal to the rechargeable battery during charging, and disconnecting the rechargeable battery from the electrified magnet arranged at the receiving terminal when the charging detection module detects that the rechargeable battery does not need to be charged.

In one embodiment, the charging detection module determines that the rechargeable battery needs to be charged when detecting that the voltage of the rechargeable battery is less than a preset minimum value, and determines that the rechargeable battery does not need to be charged when detecting that the voltage of the rechargeable battery is greater than or equal to a preset maximum value.

In one embodiment, the wireless charging system further includes an identification device disposed on the mobile device, and configured to identify the transmitting end, so that the control module guides the mobile device to move to the transmitting end.

In one embodiment, the identification device is a magnet, an infrared identification module, or an image identification module.

A wireless charging method based on the wireless charging system comprises the following steps:

detecting whether the rechargeable battery needs to be charged;

when the rechargeable battery needs to be charged, the rechargeable battery is electrically connected with a receiving end;

detecting the magnetic force between the receiving end and the transmitting end;

and controlling the mobile equipment to move to the transmitting terminal according to the magnetic force between the receiving terminal and the transmitting terminal, and aligning the receiving terminal and the transmitting terminal to charge the rechargeable battery.

According to the wireless charging method, the transmitting end and the receiving end are provided with the electrified magnets or one of the receiving end and the transmitting end is provided with the permanent magnet, and the electrified magnets and the receiving end and the transmitting end are aligned according to the magnetic force, so that the wireless charging of the receiving end and the transmitting end is effectively facilitated, and the wireless charging method can be effectively applied to equipment such as intelligent mowers.

In one embodiment, the receiving end is aligned with the transmitting end when the magnitude of the magnetic force is at a maximum value.

In one embodiment, the method further comprises the following steps:

when the receiving end and the transmitting end are aligned to charge the rechargeable battery, if the rechargeable battery is detected not to need to be charged, the rechargeable battery is disconnected from the electrified magnet arranged at the receiving end.

In view of the foregoing, it is desirable to provide a wireless charging apparatus and a wireless charging method for an autonomous mobile device, which are configured to add an additional wireless communication sensing module when the autonomous mobile device is used for wireless charging.

A wireless charging apparatus of an autonomous mobile device, comprising:

the wireless charging transmitting device is used for transmitting electromagnetic signals;

the wireless charging receiving device is arranged on the autonomous mobile equipment and used for detecting the electromagnetic strength of the electromagnetic signal of the wireless charging transmitting device;

and the control device is connected with the wireless charging receiving device and used for judging the distance between the wireless charging transmitting device and the wireless charging receiving device according to the electromagnetic intensity and controlling the state of the autonomous mobile equipment according to the distance.

According to the wireless charging device of the autonomous mobile equipment, the wireless charging receiving device detects the electromagnetic intensity of the electromagnetic signal of the wireless charging transmitting device, and the control device judges the distance between the wireless charging transmitting device and the wireless charging receiving device according to the electromagnetic intensity, so that the state of the autonomous mobile equipment is controlled according to the distance. If avoid wireless emitter that charges when autonomic mobile device need charge, make autonomic mobile device find the position of accurate wireless emitter that charges when autonomic mobile device needs charge and charge, avoided measuring the distance between autonomic mobile device and the charging station with the help of wireless communication sensing module such as WIFI or bluetooth, the cost reduction price/performance ratio of product improves.

In one embodiment, the wireless charging apparatus of the autonomous mobile device further comprises:

and the identification device is used for identifying the wireless charging transmitting device.

In one embodiment, the wireless charging receiving device is configured to receive an electromagnetic signal and transmit the electromagnetic signal to the identification device, and when a pulse interval of the electromagnetic signal received by the wireless charging receiving device is equal to a pulse interval of the electromagnetic signal transmitted by the wireless charging transmitting device, the wireless charging receiving device identifies the electromagnetic signal transmitted by the wireless charging transmitting device.

In one embodiment, the control means is further configured to control the autonomous mobile device to move towards the wireless charging transmission means when the autonomous mobile device requires charging.

In one embodiment, the wireless charging transmitting device includes a transmitting coil, the wireless charging receiving device includes a receiving coil, and the control device determines a distance between a center of the receiving coil and a center of the transmitting coil according to the electromagnetic intensity, and controls the autonomous mobile device to move toward a direction close to the transmitting coil.

In one embodiment, the control device is further configured to control the autonomous mobile apparatus to move slowly when the distance between the wireless charging transmitting device and the wireless charging receiving device is less than or equal to a first preset threshold.

In one embodiment, the control device is further configured to determine that the wireless charging receiving device is aligned with the wireless charging transmitting device and starts charging when the distance between the wireless charging transmitting device and the wireless charging receiving device is less than or equal to a second preset threshold, so that the electromagnetic energy transmission efficiency between the wireless charging transmitting device and the wireless charging receiving device is the highest.

A wireless charging method of an autonomous mobile device, comprising the steps of:

the wireless charging transmitting device transmits electromagnetic signals;

the wireless charging receiving device receives and detects the electromagnetic intensity of the electromagnetic signal transmitted by the wireless charging transmitting device;

judging the distance between the wireless charging receiving device and the wireless charging transmitting device according to the electromagnetic intensity;

controlling a state of the autonomous mobile device.

According to the wireless charging method of the autonomous mobile equipment, the state of the autonomous mobile equipment is controlled by detecting the electromagnetic intensity of the electromagnetic signal of the wireless charging transmitting device and judging the distance between the wireless charging receiving device and the wireless charging transmitting device according to the electromagnetic intensity. If avoid wireless emitter that charges when autonomic mobile device need charge, make autonomic mobile device find the position of accurate wireless emitter that charges when autonomic mobile device needs charge and charge, avoided measuring the distance between autonomic mobile device and the charging station with the help of wireless communication sensing module such as WIFI or bluetooth, the cost reduction price/performance ratio of product improves.

In one embodiment, before the wireless charging receiving apparatus receives and detects the electromagnetic strength of the electromagnetic signal transmitted by the wireless charging transmitting apparatus, the method further comprises the following steps:

identifying the wireless charging transmitting device.

In one embodiment, the step of identifying the wireless charging transmission device comprises:

the wireless charging transmitting device transmits an electromagnetic signal, and the pulse interval of the electromagnetic signal is time T;

receiving an electromagnetic signal, judging whether the pulse interval T of the received electromagnetic signal is equal to the pulse interval T of the electromagnetic signal transmitted by the wireless charging transmitting device, and if so, judging the wireless charging transmitting device; if not, continuing to search the wireless charging transmitting device.

In one embodiment, the step of determining the distance between the wireless charging receiving device and the wireless charging transmitting device according to the electromagnetic intensity includes:

detecting a peak value delta A of the electromagnetic intensity;

and judging the distance delta r between the center of the receiving coil of the wireless charging receiving device and the center of the transmitting coil of the wireless charging transmitting device according to the delta A.

In one embodiment, the method further comprises the following steps:

and when the autonomous mobile equipment needs to be charged, controlling the autonomous mobile equipment to move to the position of the wireless charging transmitting device.

In one embodiment, the step of controlling the autonomous mobile device to move to the location of the wireless charging transmission apparatus comprises:

and when the distance between the wireless charging receiving device and the wireless charging transmitting device is smaller than or equal to a first preset threshold value, the autonomous mobile equipment slowly moves to the position of the wireless charging transmitting device.

In one embodiment, when the distance between the wireless charging transmitting device and the wireless charging receiving device is less than or equal to a second preset threshold, the wireless charging receiving device is determined to be aligned with the wireless charging transmitting device and starts charging, so that the electromagnetic energy transmission efficiency between the wireless charging transmitting device and the wireless charging receiving device is the highest.

Therefore, it is necessary to provide a wireless docking charging method and system for a lawn mower, aiming at the problems that when the lawn mower in the prior art returns to a charging station for charging, alignment between a charging receiving end of the lawn mower and a power supply transmitting end of the charging station is problematic, and the situation that the alignment cannot be performed in time often occurs, so that the lawn mower cannot be charged in time and the next use is influenced.

The embodiment provides a wireless docking charging method of a mower, which comprises the following steps: controlling the mower to move towards a charging station, and butting a charging receiving end of the mower with a power supply transmitting end of the charging station; detecting the received energy and a first electric signal of the charging receiving end; judging whether the detected energy is greater than or equal to a first threshold value; if the detected energy is larger than or equal to a first threshold value, outputting a second electric signal; if the detected energy is less than a first threshold value, not outputting a second electric signal; when the first electric signal is detected and the second electric signal is not received, comparing whether the first electric signal is larger than a second threshold value or not, if the first electric signal is larger than the second threshold value and the second electric signal is not detected within time T, controlling the mower to move towards a direction far away from the charging station, and then re-docking the charging receiving terminal and the power supply transmitting terminal; and controlling the mower to start charging after receiving the second electric signal.

When the first electric signal is detected and the second electric signal is not received, if the first electric signal is larger than a second threshold value and the second electric signal is not detected within the time T, the mower is controlled to move away from the charging station, for example, to move backwards, and then the charging receiving end and the power supply transmitting end are connected again until the second electric signal is received, and the mower is controlled to start charging. The situation that butt joint charging cannot be carried out due to the fact that the mower walks through the power supply transmitting end or the traveling path of the mower is deviated is avoided.

In one embodiment, the time T is zero.

In one embodiment, the second threshold is zero.

And starting timing when the first electric signal is detected, and if the second electric signal is not received after the time T is exceeded, re-butting the charging receiving end and the power supply transmitting end, so that the butting efficiency is improved.

In one embodiment, the method further comprises the following steps: and when the first electric signal is detected, controlling the speed of the mower to be reduced until the speed of the mower is reduced to zero after the second electric signal is detected.

The mower is controlled to decelerate after the first electric signal is detected, so that the situation that the charging receiving end and the power supply transmitting end are just aligned and then missed due to the fact that the speed of the mower is too high can be effectively prevented, and the charging receiving end and the power supply transmitting end can be aligned slowly and accurately.

In one embodiment, the first electrical signal is an output voltage or an output current of the charging receiving terminal.

In one embodiment, the mower is controlled to start charging while the mower stops moving.

In one embodiment, the charging receiving end is a receiving coil, the power supply transmitting end is a transmitting coil, and the size and the shape of the receiving coil are respectively the same as those of the transmitting coil.

Correspondingly, this embodiment still provides a wireless butt joint charging system of lawn mower, includes: the charging receiving end is used for being butted with a power supply transmitting end of a charging station, receiving the energy of the power supply transmitting end and converting the energy into a first electric signal; the receiving processing circuit is in communication connection with the charging receiving end and is used for detecting the energy received by the charging receiving end, judging that the charging receiving end is aligned with the power supply transmitting end when the detected energy is larger than a first threshold value, and outputting a second electric signal, otherwise, not outputting the second electric signal; the control board is in communication connection with the charging receiving end, is in communication connection with the receiving processing circuit, and is used for controlling the mower to move, detecting a first electric signal of the charging receiving end, and receiving a second electric signal; and when the control board receives the second electric signal, controlling the mower to start charging.

The control panel is in communication connection with the receiving and processing circuit and the charging receiving end. Therefore, after the first electric signal is received but the second electric signal is not received, whether the detected first electric signal is greater than a second threshold value or not can be compared, if the first electric signal is greater than the second threshold value and the second electric signal is not detected within the time T, the mower is controlled to move towards a direction away from the charging station, and then the charging receiving end and the power supply transmitting end are connected again. The situation that the butt joint charging cannot be carried out due to the fact that the mower walks through the power supply transmitting end or the deviation of the traveling path of the mower is effectively avoided.

In one embodiment, the time T is zero.

In one embodiment, the second threshold is zero.

The control board limits the time from the detection of the first electric signal to the reception of the second electric signal, so that the condition that the energy received by the charging receiving end is effective and the alignment requirement is difficult to achieve due to the deviation of the docking path is avoided, the condition can be found early, the charging receiving end and the power supply transmitting end are docked again, and the docking efficiency is improved.

In one embodiment, the control board is further configured to control the mower to decelerate after detecting the first electric signal until the speed of the mower is reduced to zero after receiving the second electric signal.

The control board controls the mower to decelerate after detecting the first electric signal, so that the situation that the charging receiving end and the power supply transmitting end are just aligned and then missed due to the fact that the speed of the mower is too high is effectively prevented, the charging receiving end and the power supply transmitting end can be aligned slowly and accurately, and the docking accuracy of the wireless docking and charging system is improved.

In one embodiment, the receive processing circuit includes an A/D converter, a comparator communicatively coupled to the A/D converter, and a signal output unit communicatively coupled to the comparator.

The detected energy of the charging receiving end is converted from an analog signal into a digital signal, so that subsequent comparison is facilitated, the processing efficiency of the receiving processing circuit is higher, and the second electric signal can be output faster when the charging receiving end and the power supply transmitting end are aligned.

It is necessary to provide a wireless charging system for an automatic traveling device for the magnetic flux leakage phenomenon of the conventional wireless charging.

The utility model provides an automatic walking equipment's wireless charging system, automatic walking equipment includes the shell, shell internally mounted has the battery, the battery is connected with and is used for receiving the signal of wireless transmitting terminal transmission of charging and right the wireless receiving terminal that charges is carried out to the battery, the higher authority of wireless receiving terminal that charges is provided with the area and is greater than the wireless receiving terminal that charges and the wireless shield cover that transmits terminal that charges.

In one embodiment, the shield can is a circular or square shield can.

In one embodiment, two boundary line sensors for identifying the boundary line of the wireless charging station are further arranged inside the housing of the automatic traveling device, and the two boundary line sensors are symmetrically arranged on two sides of the automatic traveling device.

In one embodiment, a detection circuit for detecting whether the wireless charging receiving terminal reaches an optimal charging state is further arranged inside the housing, and the detection circuit is connected between the battery and the wireless charging receiving terminal.

In one embodiment, the detection circuit comprises a voltage detection circuit.

In one embodiment, the detection circuit comprises a current detection circuit.

In one embodiment, the shield is a MnZn power ferrite material shield.

In one embodiment, the shield is secured directly to the interior of the housing.

In one embodiment, the shield is directly fixed to the inside of the housing by screws.

In one embodiment, the center position of the shielding case is aligned with the center position of the wireless charging receiving end.

Above the wireless charging system of automatic walking equipment sets up the area size of shield cover into being greater than the area of wireless receiving terminal and the wireless transmitting terminal that charges, when carrying out wireless charging, if wireless receiving terminal that charges can not all receive electromagnetic signal, electromagnetic signal can effectively be filtered to the shield cover, prevents the production of magnetic leakage phenomenon.

It is necessary to provide a wireless charging device that does not need to align the transmitting end and the receiving end of the charging device as much as possible, in order to solve the above-mentioned problem that the receiving end cannot receive the charging signal because the receiving end and the transmitting end cannot be aligned.

An intelligent lawn mower wireless charging device comprising: the signal transmitting terminal is used for transmitting a charging signal; the signal receiving end is arranged at one end of the intelligent mower and used for receiving the charging signal sent by the signal transmitting end; and the signal switching device is arranged between the signal transmitting end and the signal receiving end and is used for receiving the charging signal transmitted by the signal transmitting end and transmitting the charging signal to the signal receiving end.

The charging signal sent by the signal transmitting end is switched by the signal switching device, the signal receiving end is close to the signal switching device, the charging effect can be achieved, the signal receiving end is not required to be in butt joint with the signal transmitting end, the transmitting end and the receiving end of the charging device are not required to be aligned as far as possible, and the charging effect can be achieved.

In one embodiment, the signal switching device is disposed on one of the signal transmitting end and the signal receiving end.

In one embodiment, the signal transfer apparatus includes: and the signal conversion unit is used for receiving the charging signal and transmitting the charging signal to the signal receiving end.

In one embodiment, the signal conversion unit generates an electric field by the variable magnetic field generated by the signal transmitting terminal through an electric coupling effect, converts the electric field into the variable magnetic field again, and exchanges energy with the receiving terminal by the magnetic field to realize that the receiving terminal receives the charging signal.

In one embodiment, the signal transfer device is electrically connected with the signal transmitting terminal.

In one embodiment, the signal adapter is electrically connected to the signal receiver.

In one embodiment, the signal receiving end is located on one side of the intelligent mower.

In one embodiment, the wireless charging device further includes a battery and a power management module, the battery is electrically connected to the signal receiving terminal through the power management module, the power management module is configured to convert a charging signal into a current signal, and the battery is configured to store the current signal.

In one embodiment, the charging signal transmitted by the signal transmitting terminal is an electromagnetic signal.

In one embodiment, the distance between the position where the signal receiving end receives the charging signal and the signal transmitting end is greater than 5 cm.

In one embodiment, the area of the signal receiving end opposite to the signal transmitting end is less than 80% of the area of the signal receiving end or the signal transmitting end.

Drawings

Fig. 1 is a block diagram of a wireless charging apparatus of an intelligent mobile device according to an embodiment;

fig. 2 is a block diagram of a wireless charging apparatus of an intelligent mobile device according to another embodiment;

FIG. 3 is a top view of the smart lawn mower being charged by one of the wireless charging devices of the smart mobile device;

FIG. 4 is a cross-sectional view of the intelligent mower corresponding to FIG. 3 as it is being charged;

FIG. 5 is a top view of a smart lawn mower being charged in another manner within the wireless charging device of the smart mobile device;

FIG. 6 is a cross-sectional view of the intelligent mower corresponding to FIG. 5 when charged;

FIG. 7 is a top view of the smart lawn mower being charged by yet another manner of the wireless charging device of the smart mobile device;

fig. 8 is a sectional view of the intelligent lawnmower corresponding to fig. 7 when charged.

Fig. 9 is a schematic diagram of a wireless charging system according to an embodiment;

fig. 10 is a schematic diagram illustrating an aligned charging of a wireless charging system according to an embodiment;

FIG. 11 is a flow chart of a wireless charging method according to an embodiment;

fig. 12 is a flowchart of a wireless charging method according to another embodiment.

Fig. 13 is a hardware block diagram of a wireless charging apparatus of an autonomous mobile device according to an embodiment of the present invention;

fig. 14 is a schematic diagram of a charging mechanism of a wireless charging device of an autonomous mobile apparatus according to an embodiment of the present invention;

fig. 15 is a flowchart of a wireless charging method for an autonomous mobile device according to an embodiment of the present invention.

FIG. 16 is a schematic flow chart illustrating a method for wirelessly docking and charging a lawn mower according to an embodiment;

FIG. 17 is a schematic view of a traveling path planned by the lawn mower of the embodiment of FIG. 16 according to the position of the charging station after receiving the charging signal;

FIG. 18 is a schematic top view of the lawn mower of the embodiment of FIG. 16 docked with a charging station;

FIG. 19 is a side view schematic of the lawn mower of the embodiment of FIG. 16 docked with a charging station;

FIG. 20 is a schematic view of the docking of the receiver coil and the transmitter coil of the mower of FIG. 16;

fig. 21 is a schematic structural diagram of a wireless docking charging system of a lawn mower according to yet another embodiment.

FIG. 22 is a block diagram of a wireless charging station;

fig. 23 is a top view of a shield case of a wireless charging system of an automatic walking device of an embodiment;

fig. 24 is a cross-sectional view of a shield case of a wireless charging system of an automatic walking device according to an embodiment;

fig. 25 is a diagram illustrating an aligned configuration of a wireless charging transmitter and a wireless charging receiver according to an embodiment;

fig. 26 is a configuration diagram of the self-propelled device when it is a lawnmower.

FIG. 27 is a block diagram of a wireless charging device of a smart lawn mower in accordance with a preferred embodiment of the present invention;

fig. 28 is a first structural schematic diagram of a wireless charging device of the intelligent lawn mower according to a preferred embodiment of the present invention;

fig. 29 is a second structural schematic diagram of a wireless charging device of an intelligent lawn mower according to a preferred embodiment of the present invention.

110 wireless positioning module 120 signal line searching module

140 wireless charging positioning module 160 wireless charging receiving module

1000 intelligent mower 1100 controller

1200 wireless charging receiving terminal of battery 1300

1401 signal line sensor 1402 signal line sensor

1500 wireless positioning module 1600 wireless charging management module

1700 connecting wire 1801 wireless transmitting terminal that charges

1802 ground 1803 signal line

1901 road wheel 1902 road wheel

1903 mower disc 1904 walking motor driving module

1905 mowing motor driving module 1906 hall sensor

110a wireless charging transmitting terminal 120a wireless charging receiving terminal

130a charging management device 140a charging battery

150a electromagnet 151a electromagnet

160a motor 10 wireless charging emitter

20 wireless charging receiving device 30 control device

40 identification device 12 transmitting coil

22 receiving coil 200 intelligent mower

300 charging station 400 boundary

320 transmit coil 220 receive coil

210 first inclined plane 310 second inclined plane

350 docking area 500 charging receiving end

510 receive processing circuit 520 control board

1 wireless charging transmitting terminal 2 wireless charging receiving terminal

3 shield 4 boundary line

100b. wireless charging equipment 110b. signal transmitting terminal

120b signal switching device 130b signal receiving end

140b power management module 150b battery

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Smart mobile devices, or autonomous mobile devices, self-moving devices, self-walking devices, are typically required to move within an activity area. The range that intelligent mobile device can remove has been drawn forth to the active area, and what correspond, can be provided with the wireless charging station that charges to intelligent mobile device in the active area. The wireless charging station typically comprises a wireless charging transmitting terminal, in this example the wireless charging station is further provided with a guiding wire along which the wireless charging station can be positioned, such as a signal wire for externally transmitting electromagnetic signals, or a graphical guiding wire, a metal wire, etc. When the signal lines are arranged, the signal lines with the radius of about 1m or even smaller can be arranged around the wireless charging station. The signal line may also be a straight line across the center of the wireless charging station. The signal line may be an electrical loop or an open loop similar to an antenna.

The intelligent mobile device or the called autonomous mobile device comprises a wireless charging receiving end, a rechargeable battery, a wireless charging positioning module, a driving module and a control module. The wireless charging transmitting terminal wirelessly transmits a charging signal to the wireless charging receiving terminal to transmit electric energy. The charging battery is electrically connected with the wireless charging receiving end and receives the electric energy transmitted by the wireless charging interface. The wireless charging positioning module judges whether the autonomous mobile equipment is in a charging position. In this embodiment, the wireless charging transmitting terminal and the wireless charging receiving terminal are aligned at the charging position, but in other alternative embodiments, the charging position is a range rather than a definite point, and the wireless charging transmitting terminal and the wireless charging receiving terminal may not be aligned completely within the range, have a certain deviation, and still can be charged normally. Generally, the acceptable deviation range of magnetic resonance type wireless charging is large, while the acceptable deviation range of magnetic induction type wireless charging is small, and even strict alignment is required. The driving module drives the autonomous mobile equipment to move, and comprises moving elements such as wheels or crawler belts, a driving motor and the like. The control module is connected with the wireless charging positioning module and the driving module, and when the wireless charging positioning module judges that the autonomous mobile equipment is located at a charging position, the driving module is controlled to enable the autonomous mobile equipment to be parked at the charging position.

The autonomous mobile equipment also comprises a wireless charging station positioning module, wherein the wireless charging station positioning module is used for positioning the position of the wireless charging station and sending the position of the wireless charging station to the control module; the control module controls the driving mode according to the position of the wireless charging station, so that the autonomous mobile equipment moves to the wireless charging station.

In one embodiment, the wireless charging positioning module determines a distance from the autonomous mobile device to the charging location, and the control module controls the driving module according to the distance or a change in the distance, so that the autonomous mobile device moves to the charging location. When the distance is reduced to a first preset distance, the control module controls the driving module to reduce the moving speed of the autonomous mobile equipment, so that the docking precision and success rate are improved, and the autonomous mobile equipment is prevented from rushing through a charging position due to inertia. The wireless charging positioning module can judge the distance according to the detected intensity of the charging signal, and can also be used for subsequent detailed description in other modes.

As shown in fig. 1, the wireless charging apparatus of the smart mobile device of an embodiment includes a wireless charging station positioning module, a wireless charging positioning module 140 and a wireless charging receiving module 160 disposed in the smart mobile device.

In this embodiment, the wireless charging station positioning module is a guiding line searching module, more specifically, a signal line searching module 120, which is used for searching a signal line when the smart mobile device needs to be charged, and guiding the smart mobile device to move along the signal line when the signal line is found. In this embodiment, the guide line finding module is an electromagnetic signal sensor. In other optional embodiments, if the guide line is a graphical guide line, the guide line finding module may be a camera; if the guiding line is a metal wire, the guiding line searching module can be a metal detector.

The wireless charging positioning module 140 disposed in the intelligent mobile device is configured to position the wireless charging station when the intelligent mobile device moves along the signal line, and guide the intelligent mobile device to stop moving when the position of the wireless charging station is positioned;

the wireless charging receiving module 160 disposed in the smart mobile device is configured to receive a signal sent by the wireless charging transmitting terminal of the wireless charging station while the wireless charging positioning module positions the wireless charging station and guides the smart mobile device to stop moving, and charge the smart mobile device through the charging loop. The wireless charging receiving module 160 includes a wireless charging receiving terminal and an auxiliary charging and detecting circuit.

When the intelligent mobile device is wirelessly charged, the position requirement of wireless charging is generally required to be met, namely, the position between the wireless transmitting end of the wireless charging station and the wireless charging receiving module of the intelligent mobile device is required to meet the charging condition, namely, the autonomous mobile device reaches the charging position, and the wireless charging transmitting end is aligned with the wireless charging receiving end, so that the optimal charging state can be reached. To this end, in an embodiment, the signal line searching module 120 includes two signal line sensors distributed on two symmetrical sides of the smart mobile device, and when the two signal line sensors search for a signal line, the smart mobile device is adjusted to longitudinally locate the signal line at a central position of the smart mobile device, and the smart mobile device is guided to move along the signal line. The signal line is a well-arranged signal line, and the best position of the intelligent mobile equipment which is in accordance with charging can be found by moving along the signal line, so that the charging state reaches the best level. Specifically, when the two signal line sensors adjust the smart mobile device to enable the signal line to be longitudinally located at the center of the smart mobile device, the signal line can be longitudinally located at the center of the smart mobile device by comparing the signal intensity of the received signal line. When the signal intensity received by the two signal line sensors is different, the left wheel and the right wheel of the intelligent mobile device can be adjusted to rotate slightly, if the left wheel and the right wheel move slowly in the left-right direction, the intelligent mobile device rotates slightly in the left-right direction, and the signal intensity of the signal lines received by the two signal line sensors is equal. The two signal line signal sensors can also enable the signal line to be longitudinally positioned at the center of the intelligent mobile device by enabling the distance between the left wheel and the right wheel of the intelligent mobile device to be equal to the distance between the signal line and the signal line. When the distance between the left wheel and the right wheel of the intelligent mobile equipment and the signal line is unequal, the left wheel and the right wheel of the intelligent mobile equipment can be adjusted to slightly rotate, so that the intelligent mobile equipment slightly rotates leftwards and rightwards, and the distance between the left wheel and the right wheel of the intelligent mobile equipment and the signal line is equal. In other embodiments, the number of signal line sensors may also be varied, for example, only one, and the autonomous mobile device is protected from walking equidistantly along the signal line to the wireless charging station by monitoring the distance from the signal line sensor to the signal line.

The signal line searching module 120 needs to accurately locate the position of the wireless charging station on the signal line when searching for the signal line and guiding the smart mobile device to move along the signal line. To this end, in an embodiment, the wireless charging positioning module 140 may include a charging signal detection module, and the charging signal monitoring module includes a signal detection circuit. When the intelligent mobile device moves along the signal line, the wireless charging transmitting terminal transmits a charging signal to the wireless charging receiving module, the signal detection circuit detects whether the intensity of the charging signal received by the wireless charging receiving module reaches a preset value, and when the detected intensity of the charging signal reaches the preset value, the position of the wireless charging station is located and the intelligent mobile device is guided to stop moving. The wireless charging receiving module is used for receiving a charging signal transmitted by the wireless charging transmitting terminal, and the charging signal is a discontinuous charging signal and is a tentative charging signal. When the current or the voltage generated on the charging loop by the charging signal reaches a preset value, the intensity of the charging signal can be determined to reach the preset value, the position of the wireless charging station is located, the intelligent mobile device is judged to be in the charging position, and the intelligent mobile device can stop moving for charging. The optimal state for wirelessly charging the smart mobile device may be preset, including a voltage or current reaching a predetermined value, which generally indicates that the position requirement for wireless charging has been met, i.e., the position between the wireless transmitting terminal of the wireless charging station and the wireless charging receiving module 160 of the smart mobile device can reach the optimal state for charging. When the signal detection circuit detects that the charging loop has a current or voltage signal, the wireless charging receiving module is indicated to receive the charging signal, and the distance between the intelligent mobile device and the wireless charging station is also indicated to be relatively short.

When the charging signal received by the wireless charging receiving end exceeds a specific strength, the charging voltage and the charging current can be generated in the charging loop, and only when the wireless charging receiving end is close to the wireless charging transmitting end, the induction voltage can be generated on the wireless charging receiving end. Therefore, in one embodiment, the signal detection circuit directly detects the induced voltage at the wireless charging receiving terminal to determine the intensity of the charging signal, and the induced voltage may be detected by detecting the induced voltage itself or detecting the induced current. The embodiment has the advantages that the detection range is wider, and the mobile equipment can be confirmed to arrive near the wireless charging station when the mobile equipment is farther away from the charging position, so that measures such as speed reduction are taken; meanwhile, the situation that the mobile equipment directly crosses over the charging position due to the fact that the charging current or the charging voltage does not appear in the charging loop all the time because the walking direction is deviated can be avoided.

In another embodiment, the wireless charging positioning module 140 may also include a positioning sensor, a positioning block is pre-installed in the wireless charging station, the wireless charging positioning module 140 detects whether the positioning sensor and the positioning block are in a preset position relationship when the smart mobile device moves along the signal line, and the wireless charging positioning module determines that the autonomous mobile device is in the charging position when the positioning sensor detects that the positioning sensor and the positioning block are in the preset position relationship.

Specifically, the wireless charging positioning module judges whether the signal intensity detected by the positioning sensor reaches a preset value, if so, the position of the wireless charging station is positioned, the autonomous mobile equipment is judged to be in a charging position, and the intelligent mobile equipment is guided to stop moving. The pre-installed positioning block of the wireless charging station can indicate the specific position of the wireless charging station, and when the signal between the positioning sensor and the positioning block reaches a predetermined value (the predetermined value is usually the maximum value which can be generated by the movement of the intelligent mobile device along the signal line), the intelligent mobile device and the wireless charging station are indicated to reach the optimal charging position, and at this time, the intelligent mobile device can be guided to enter the optimal charging state. The positioning sensor can be a Hall sensor, and can also be other magnetic sensing elements, such as magneto-resistance and other sensors. The positioning block can be magnetic steel correspondingly arranged below the wireless charging station, and signals generated by the positioning sensor and the magnetic steel can reach a preset value. The wireless charging positioning module 140 may further include a sensing signal detection unit connected to the positioning sensor, and the wireless charging positioning module 140 detects whether the signal intensity between the positioning sensor and the positioning block reaches a predetermined value when the smart mobile device moves along the signal line through the sensing signal detection unit. Specifically, when the sensing signal detection unit detects that the positioning sensor has a signal, it indicates that the distance between the intelligent mobile device and the wireless charging station is relatively short, and at this time, the moving speed of the intelligent mobile device can be immediately reduced, so that the intelligent mobile device moves along the signal line at a slower speed, and the intelligent mobile device is stopped moving until the signal intensity detected by the sensing signal detection unit reaches a predetermined value.

As shown in fig. 2, the wireless charging apparatus for a smart mobile device according to another embodiment further includes a wireless location module 110 disposed in the smart mobile device. The wireless location module 110 and the signal line searching module 120 belong to the same wireless charging station location module, but the difference is that the wireless location module 110 is used for roughly locating the approximate position of the wireless charging station in this embodiment. In alternative embodiments, the wireless positioning module 110 may separately implement positioning of the wireless charging station without the signal line searching module 120, and in these embodiments, the wireless positioning module 110 is preferably a high-precision positioning module capable of positioning to the meter level, the decimeter level, or even the centimeter level.

The wireless location module 110 disposed in the smart mobile device is used to determine the approximate location of the wireless charging station and guide the smart mobile device to move to the approximate location of the wireless charging station. Generally, the smart mobile device may be located far away from the wireless charging station, and the wireless location module 110 may roughly locate the position of the wireless charging station, so as to guide the smart mobile device to move to the approximate position of the wireless charging station, and when the smart mobile device moves to a distance that is closer to the signal line, the signal line searching module 120 may search for the corresponding signal line. The wireless positioning module can be one or more than two of a GPS module, a Bluetooth module, a Zigbee module, a Wifi module and the like, and can be adopted as long as the wireless charging station can be roughly positioned. For example, the wireless location module may be a bluetooth 5.0 module, or a combination of a bluetooth module and a Wifi module. The GPS module can also be a differential GPS module or a Dgps module, and the precision of the differential GPS module reaches centimeter, so that the intelligent mobile equipment can be directly guided to the wireless charging station to be charged through the differential GPS module alone.

Above intelligent mobile device's wireless charging device can have 4 kinds of implementation at least when specifically realizing, specifically include:

mode 1, the wireless charging device of intelligent mobile device can only adopt difference GPS module, because the accuracy of alignment of difference GPS module reaches centimetre, consequently, can directly guide intelligent mobile device to wireless charging station through difference GPS module alone, can charge intelligent mobile device through wireless receiving module 160 that charges. In this manner the smart mobile device may not have a signal line finding module.

In the mode 2, the wireless charging device of the intelligent mobile device may adopt the wireless positioning module 110 to approximately position the wireless charging station, when the intelligent mobile device reaches a signal line or is close to the signal line, the signal line searching module 120 may search for the signal line, and the signal detection circuit of the wireless charging positioning module 140 detects whether the current or voltage of the charging loop of the wireless charging receiving module 160 reaches a predetermined value, so as to position the specific position of the wireless charging station, and the intelligent mobile device may be charged through the wireless charging receiving module 160.

In the mode 3, the wireless charging device of the intelligent mobile device can directly find the signal line by the signal line finding module 120, when the intelligent mobile device moves along the signal line, the sensing signal detecting unit of the wireless charging positioning module 140 detects whether the signal intensity between the positioning sensor of the wireless charging positioning module 140 and the pre-installed positioning block of the wireless charging station reaches the predetermined value, and locates the specific position of the wireless charging station, and the intelligent mobile device can be charged through the wireless charging receiving module 160.

In the mode 4, the wireless charging device of the intelligent mobile device can directly find the signal line by the signal line finding module 120, the wireless charging positioning module 140 can locate the specific position of the wireless charging station, and the signal detection circuit of the wireless charging positioning module 140 detects whether the current or voltage of the charging loop of the wireless charging receiving module 160 reaches the predetermined value, so as to locate the specific position of the wireless charging station, and the intelligent mobile device can be charged by the wireless charging receiving module 160.

The above four combinations can achieve the purpose of the invention. The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The following embodiments further illustrate the present invention by selecting one of the smart mobile devices. The invention selects the intelligent mower as a specific description object to specifically describe the four modes.

For the mode 1, the intelligent mower can be accurately charged by installing the differential GPS on the intelligent mower.

As shown in fig. 3 and 4, the intelligent mower 1000 according to the embodiment includes an intelligent mower controller 1100, a battery 1200 connected to the intelligent mower controller 1100, a wireless charging receiver 1300 and a corresponding circuit connected to the battery 1200, a wireless charging management module 1600 connected to the wireless charging receiver 1300, two left and right

signal line sensors

1401 and 1402 connected to the controller 1100, a wireless positioning module 1500 connected to the controller 1100, a mower internal connection line 1700, and the like. The mower further comprises traveling wheels 1901 and 1902, a mower disc 1903, a traveling motor driving module 1904, a mower motor driving module 1905 and the like. The wireless charging receiver 1300, the battery 1200, the mower controller 1100, the mowing motor, the walking motor and the like in the mower can be connected by using wires. The wireless positioning module 1500 can be GPS or bluetooth, etc. The wireless charging management module 1600 may detect a current or a voltage of the charging loop generated by the wireless charging receiving terminal 1300.

The wireless charging station comprises a wireless charging transmitting terminal 1801, the wireless charging transmitting terminal 1801 can be buried under the ground 1802 or slightly protrudes out of the ground 1802, and a signal wire 1803 is arranged on the wireless charging station.

When the intelligent lawn mower 1000 needs to be charged, the wireless location module 1500 can be used to approximately locate the location of the wireless charging station and guide the lawn mower 1000 to move to the location of the wireless charging station. When the lawn mower 1000 reaches the signal line 1803 or is close to the signal line 1803, the left and right

signal line sensors

1401 and 1402 connected to the controller 1100 can find the signal line 1803 and locate the signal line 1803 longitudinally at the center of the lawn mower 1000. When the lawn mower 1000 moves along the signal line 1803, the wireless charging management module 1600 detects whether a charging loop generated by the wireless charging receiving terminal 1300 has a current or voltage signal, and reduces the moving speed of the lawn mower when detecting the current or voltage signal. When the wireless charging management module 1600 detects that the current or voltage of the charging loop generated by the wireless charging receiving terminal 1300 reaches a predetermined value, the specific position of the wireless charging station is located, and the signal sent by the wireless charging transmitting terminal 1801 can be received by the wireless charging receiving terminal 1300 to charge the mower.

In embodiment 3, as shown in fig. 5 and 6, the smart mower 1000 includes a smart mower controller 1100, a battery 1200 connected to the smart mower controller 1100, a wireless charging receiver 1300 and a corresponding circuit connected to the battery 1200, a wireless charging management module 1600 connected to the wireless charging receiver 1300, two left and right

signal line sensors

1401 and 1402 connected to the controller 1100, a mower internal connection line 1700, and the like. The lawn mower further comprises traveling wheels 1901 and 1902, a mowing cutter head 1903, a traveling motor driving module 1904, a mowing motor driving module 1905, a hall sensor 1906, a sensing signal detection unit for detecting an intensity signal of the hall sensor 1906 and the like. The wireless charging receiver 1300, the battery 1200, the mower controller 1100, the mowing motor, the walking motor and the like in the mower can be connected by using wires.

The wireless charging station comprises a wireless charging transmitting terminal 1801, the wireless charging transmitting terminal 1801 can be buried under the ground 1802 or slightly protrudes out of the ground 1802, and the wireless charging station is provided with a signal line 1803 and magnetic steel.

When the intelligent mower needs to be charged, the left and right

signal line sensors

1401 and 1402 connected to the controller 1100 can find the signal line 1803, and the signal line 1803 is longitudinally located at the center of the mower 1000. The sensing signal detection unit detects whether an intensity signal exists between the Hall sensor and the magnetic steel or not, and reduces the moving speed of the mower when the intensity signal exists. When the sensing signal detection unit detects that the signal intensity between the hall sensor and the magnetic steel reaches a preset value, the specific position of the wireless charging station is located, and the signal sent by the wireless charging transmitting terminal 1801 can be received through the wireless charging receiving terminal 1300 to charge the mower.

In embodiment 4, as shown in fig. 7 and 8, the smart mower 1000 includes a smart mower controller 1100, a battery 1200 connected to the smart mower controller 1100, a wireless charging receiver 1300 and a corresponding circuit connected to the battery 1200, a wireless charging management module 1600 connected to the wireless charging receiver 1300, two left and right

signal line sensors

1401 and 1402 connected to the controller 1100, a mower internal connection line 1700, and the like. The mower further comprises traveling wheels 1901 and 1902, a mower disc 1903, a traveling motor driving module 1904, a mower motor driving module 1905 and the like. The wireless charging receiver 1300, the battery 1200, the mower controller 1100, the mowing motor, the walking motor and the like in the mower can be connected by using wires. The wireless charging management module 1600 may detect a current or a voltage of the charging loop generated by the wireless charging receiving terminal 1300.

When the intelligent mower needs to be charged, the left and right

signal line sensors

1401 and 1402 connected to the controller 1100 can find the signal line 1803, and the signal line 1803 is longitudinally located at the center of the mower 1000. When the lawn mower 1000 moves along the signal line 1803, the wireless charging management module 1600 detects whether a charging loop generated by the wireless charging receiving terminal 1300 has a current or voltage signal, and reduces the moving speed of the lawn mower when detecting the current or voltage signal. When the wireless charging management module 1600 detects that the current or voltage of the charging loop generated by the wireless charging receiving terminal 1300 reaches a predetermined value, the specific position of the wireless charging station is located, and the signal sent by the wireless charging transmitting terminal 1801 can be received by the wireless charging receiving terminal 1300 to charge the mower.

Another embodiment of the present invention is described below in conjunction with fig. 9-12.

In this embodiment, the autonomous moving device and the wireless charging station are respectively provided with an electromagnet, or one of the autonomous moving device and the wireless charging station is provided with a permanent magnet. The wireless charging positioning module is a magnetic force detection module which monitors the intensity of magnetic force between the autonomous mobile equipment and the wireless charging station and judges that the autonomous mobile equipment is in a charging position when the magnetic force is greater than a preset value.

Specifically, as shown in fig. 9, the wireless charging system of an embodiment includes a transmitting device and a receiving device installed on the autonomous mobile device, the transmitting device includes a wireless charging transmitting terminal 110a, the receiving device includes a wireless charging receiving terminal 120a, a charging management device 130a connected to the wireless charging receiving terminal 120a, and a charging battery 140a connected to the charging management device 130a, and the wireless charging receiving terminal 120a and the wireless charging transmitting terminal 110 are respectively provided with an energizing magnet 150a and an energizing magnet 151 a; or one of the wireless charging receiving terminal and the wireless charging transmitting terminal is provided with a permanent magnet, and the charging management device 130 includes:

the magnetic force detection module is used for detecting the magnetic force between the wireless charging receiving end and the wireless charging transmitting end;

and the control module is used for controlling the autonomous mobile equipment to move to the transmitting terminal according to the magnetic force between the wireless charging receiving terminal and the wireless charging transmitting terminal and aligning the receiving terminal and the transmitting terminal to charge the rechargeable battery.

According to the wireless charging system, the transmitting end and the receiving end are provided with the electrified magnets or the receiving end and the transmitting end are provided with the permanent magnets, and the electrified magnets and the permanent magnets are aligned according to the magnetic force, so that the wireless charging of the receiving end and the transmitting end is effectively facilitated, and the wireless charging system can be effectively applied to mobile equipment such as intelligent mowers.

To being applied to intelligent lawn mower, intelligent lawn mower usually works in the boundary line, is provided with the charging station on the boundary line, consequently, can install emitter in the charging station, with transmitting terminal lug connection charging station, the convenient power supply. The rechargeable battery in the intelligent mower can also be directly connected with the motor 160, and the motor 160 drives the blade to cut grass. The charging station is a wireless charging station. In further embodiments, the working environment of the intelligent lawn mower may also be borderline free, the intelligent lawn mower employing visual recognition or high precision positioning techniques to determine the working range.

And the control module aligns the receiving end with the transmitting end when the value of the magnetic force is maximum. When the receiving end is aligned with the transmitting end, if the electrified magnet of the receiving end does not move right above the electrified magnet of the transmitting end, the magnetic force between the receiving end and the transmitting end cannot reach the maximum value, and when the magnetic force reaches the maximum value, the electrified magnet of the receiving end just moves right above the electrified magnet of the transmitting end, and at the moment, the receiving end is aligned with the transmitting end, and then wireless charging can be started. As shown in fig. 10, a schematic diagram of the receiving end and the transmitting end charging in alignment is shown.

Wherein, the charge management device further includes:

and the power-off module is used for disconnecting the electric connection between the rechargeable battery and the electrified magnet arranged at the receiving end when the receiving end is aligned with the transmitting end and the rechargeable battery is charged and the charging detection module detects that the rechargeable battery does not need to be charged. After the electric connection between the receiving end and the transmitting end is disconnected, the receiving end and the transmitting end can be separated without magnetic force, the charging is stopped, and the mobile equipment can start to work after the charging is stopped.

The charging detection module can detect the current or the voltage of the rechargeable battery when detecting whether the rechargeable battery needs to be charged, and for convenient detection, the embodiment adopts a mode of detecting the voltage of the rechargeable battery to detect whether the rechargeable battery needs to be charged. The charging detection module judges that the rechargeable battery needs to be charged when detecting that the voltage of the rechargeable battery is smaller than a preset minimum value, and judges that the rechargeable battery does not need to be charged when detecting that the voltage of the rechargeable battery is larger than or equal to a preset maximum value. The preset minimum value may be a minimum voltage value allowing the mobile device to return to the transmitting end, and the preset maximum value may be a factory value of the rechargeable battery or other value set by a human.

Above wireless charging system is when the receiving terminal is close to the transmitting terminal distance, and the circular telegram magnet of the two can align under magnetic force (including direction and size) and charge, but when the two distance was far away, magnetic force between the two was less, then can't look for corresponding transmitting terminal, and for this reason, wireless charging system still including setting up in mobile device's recognition device for discernment transmitting terminal makes control module guide mobile device move to the transmitting terminal. The identification device can be a signal line, a GPS/DGPS infrared identification module, an image identification module or other specific devices as long as the transmitting end can be identified.

As shown in fig. 11, based on the above wireless charging system, the wireless charging method of an embodiment includes steps S120 to S180.

Step S120, detecting whether the rechargeable battery needs to be charged;

step S140, when the rechargeable battery needs to be charged, the rechargeable battery is electrically connected with the receiving end;

step S160, detecting the magnetic force between the receiving end and the transmitting end;

and step S180, controlling the mobile equipment to move to the transmitting terminal according to the magnetic force between the receiving terminal and the transmitting terminal, aligning the receiving terminal and the transmitting terminal, and charging the rechargeable battery.

According to the wireless charging method, the transmitting end and the receiving end are provided with the electrified magnets or one of the receiving end and the transmitting end is provided with the permanent magnet, and the electrified magnets and the permanent magnet are aligned according to the magnetic force, so that the wireless charging of the receiving end and the transmitting end is effectively facilitated, and the wireless charging method can be effectively applied to equipment such as intelligent mowers.

In step S180, the receiving end is aligned with the transmitting end when the magnitude of the magnetic force is the maximum. When the receiving end is aligned with the transmitting end, if the electrified magnet of the receiving end does not move right above the electrified magnet of the transmitting end, the magnetic force between the receiving end and the transmitting end cannot reach the maximum value, and when the magnetic force reaches the maximum value, the electrified magnet of the receiving end just moves right above the electrified magnet of the transmitting end, and at the moment, the receiving end is aligned with the transmitting end, and then wireless charging can be started.

As shown in fig. 12, the wireless charging method of another embodiment further includes step S190.

And step S190, when the receiving terminal and the transmitting terminal are aligned to charge the rechargeable battery, and if the rechargeable battery is detected not to need to be charged, the rechargeable battery is disconnected from the electrified magnet arranged on the receiving terminal.

Another embodiment of the present invention is described below in conjunction with fig. 13-15.

Referring to fig. 13, an embodiment of the present invention provides a wireless charging apparatus for an autonomous mobile device, including:

the wireless charging transmitting device 10 is used for transmitting electromagnetic signals;

the wireless charging receiving device 20 is arranged on the autonomous mobile device and is used for detecting the electromagnetic intensity of the electromagnetic signal of the wireless charging transmitting device 10;

and the control device 30 is connected with the wireless charging receiving device 20, and is configured to determine a distance between the wireless charging transmitting device 10 and the wireless charging receiving device 20 according to the electromagnetic intensity, and control a state of the autonomous mobile device according to the distance.

In the wireless charging device for the autonomous mobile device, the wireless charging receiver 20 detects the electromagnetic intensity of the electromagnetic signal of the wireless charging transmitter 10, and the control device 30 determines the distance between the wireless charging transmitter 10 and the wireless charging receiver 20 according to the electromagnetic intensity, so as to control the state of the autonomous mobile device according to the distance. If avoid wireless emitter 10 that charges when autonomic mobile device need charge, make autonomic mobile device find the position of wireless emitter 10 that charges when autonomic mobile device needs charge and charge, avoided measuring the distance between autonomic mobile device and the charging station with the help of wireless communication sensing module such as WIFI or bluetooth, the cost reduction price/performance ratio of product improves.

Specifically, the autonomous mobile device is an intelligent lawn mower, the wireless charging device of the autonomous mobile device further includes a wireless charging station, and the wireless charging transmitting device 10 is disposed on the wireless charging station. The wireless charging receiver 20 disposed on the intelligent lawn mower can detect the electromagnetic intensity of the electromagnetic signal of the wireless charging transmitter 10, the control device 30 disposed on the intelligent lawn mower can determine the distance between the wireless charging transmitter 10 and the wireless charging receiver 20 according to the electromagnetic intensity, and the control device 30 can control the state of the intelligent lawn mower according to the distance. When the electric quantity of the intelligent mower is sufficient, the control device 30 controls the intelligent mower to move according to the distance, namely if the distance is small, the control device 30 controls the intelligent mower to adjust the direction to bypass the wireless charging station, and when the distance is large, the control device 30 controls the intelligent mower to continue to move towards the original movement direction; when the electric quantity of the intelligent mower is insufficient and the intelligent mower needs to be charged, the control device 30 controls the intelligent mower to move forward to the position of the wireless charging station, after the intelligent mower reaches the wireless charging station, the wireless charging receiving device 20 on the intelligent mower is in butt joint with the wireless charging transmitting device 10 of the wireless charging station, the intelligent mower is charged, the distance between the wireless charging receiving device 20 and the wireless charging transmitting device 10 of the wireless charging station is the shortest, the battery intensity received by the wireless charging receiving device 20 is the strongest, and therefore the electromagnetic energy transmission efficiency between the wireless charging receiving device 20 and the wireless charging transmitting device 10 is the highest during charging.

In this embodiment, the wireless charging apparatus for an autonomous mobile device further includes:

and the identification device 40 is used for identifying the wireless charging and transmitting device 10.

The identification device 40 can identify the wireless charging transmitting device 10, after the identification device 40 identifies the wireless charging transmitting device 10, the wireless charging receiving device 20 detects the electromagnetic intensity of the wireless charging transmitting device 10, the control device 30 receives the electromagnetic intensity, and determines the distance between the wireless charging transmitting device 10 and the wireless charging receiving device 20 according to the electromagnetic intensity, when the electric quantity of the autonomous mobile device is insufficient, the control device 30 controls the autonomous mobile device to move towards the wireless charging transmitting device 10, so that the wireless charging receiving device 20 on the autonomous mobile device is aligned with the wireless charging transmitting device 10, and when the electromagnetic energy transmission efficiency between the wireless charging receiving device 20 and the wireless charging transmitting device 10 is the highest, the autonomous mobile device is charged.

When the wireless charging transmitting device 10 is applied to an intelligent mower, after the identification device 40 identifies the wireless charging transmitting device 10, the wireless charging receiving device 20 detects the electromagnetic intensity of the wireless charging transmitting device 10, the control device 30 receives the electromagnetic intensity and judges the distance between the wireless charging transmitting device 10 and the wireless charging receiving device 20 according to the electromagnetic intensity, and the control device 30 controls the intelligent mower to go to a charging station.

Further, since there may be a plurality of electromagnetic signals in the free space, the wireless charging receiver 20 is configured to receive the electromagnetic signals and transmit the electromagnetic signals to the identification device 40, and when the pulse interval of the electromagnetic signals received by the wireless charging receiver 20 is equal to the pulse interval of the electromagnetic signals transmitted by the wireless charging transmitter 10, the wireless charging transmitter 10 identifies the electromagnetic signals transmitted by the wireless charging receiver.

Because the resonant frequencies of the wireless charging transmitting device 10 and the wireless charging receiving device 20 are equal, when no charging equipment is connected to the wireless charging transmitting device 10, the wireless charging transmitting device 10 may send an electromagnetic signal to the outside at a long time interval, at the resonant frequency of the wireless charging transmitting device 10, the identifying device 40 identifies the electromagnetic signal of the free space at any time, and when the pulse interval of the identified electromagnetic signal is equal to the pulse interval of the electromagnetic signal of the wireless charging transmitting device 10, the identifying device 40 identifies the device having the electromagnetic signal as the wireless charging transmitting device 10.

Specifically, after the control device 30 determines the distance between the wireless charging transmitting device 10 and the wireless charging receiving device 20 according to the electromagnetic intensity, the control device 30 controls the autonomous mobile device to move toward the direction of the wireless charging transmitting device 10 when the autonomous mobile device needs to be charged.

Further, referring to fig. 14, in the present embodiment, the wireless charging transmitting device 10 includes a wireless charging transmitting terminal, specifically, a transmitting coil 12, the wireless charging receiving device 20 includes a wireless charging receiving terminal, specifically, a receiving coil 22, and the control device 30 determines a distance between a center of the receiving coil 22 and a center of the transmitting coil 12 according to the electromagnetic intensity, and controls the autonomous mobile apparatus to move toward a direction close to the transmitting coil 12.

During wireless charging, the center of the transmitting coil 12 of the wireless charging transmitting device 10 and the center of the receiving coil 22 of the wireless charging receiving device 20 need to be aligned to each other for charging, so as to determine the distance between the center of the transmitting coil 12 of the wireless charging transmitting device 10 and the center of the receiving coil 22 of the wireless charging receiving device 20, and align the wireless charging transmitting device 10 and the wireless charging receiving device 20.

Further, when the autonomous mobile device needs to be charged, and when the distance between the wireless charging transmitting device 10 and the wireless charging receiving device 20 is less than or equal to the first preset threshold, the control device 30 controls the autonomous mobile device to move slowly, and meanwhile, the control device 30 can also control the posture of the mobile device to be adjusted correspondingly, so that the wireless charging receiving device 20 and the wireless charging transmitting device 10 reach the optimal matching state. When the distance between the wireless charging transmitting apparatus 10 and the wireless charging receiving apparatus 20 is not less than the first preset threshold, the autonomous mobile device may approach the wireless charging transmitting apparatus 10 at an accelerated or faster speed.

Further, the control device 30 is further configured to determine that the wireless charging receiving device 20 is aligned with the wireless charging transmitting device 10 and starts charging when the distance between the wireless charging transmitting device 10 and the wireless charging receiving device 20 is less than or equal to the second preset threshold, and at this time, the distance between the wireless charging receiving device 20 and the wireless charging transmitting device 10 of the wireless charging station is the closest, the battery intensity received by the wireless charging receiving device 20 is the strongest, so that the electromagnetic energy transmission efficiency between the wireless charging receiving device 20 and the wireless charging transmitting device 10 is the highest during charging.

In practical applications, the first preset threshold and the second preset threshold may be determined according to the maximum intensity of the electromagnetic signal transmitted by the wireless charging transmitting device 10, that is, the magnitudes of the first preset threshold and the second preset threshold are related to the highest point of the electromagnetic energy transmission efficiency of the receiving coil 22 and the transmitting coil 12, where the second preset threshold is smaller than the first preset threshold.

Referring to fig. 14, an embodiment of the present invention further provides a wireless charging method for an autonomous mobile device, including:

s210: the wireless charging transmitting device transmits electromagnetic signals;

s220: the wireless charging receiving device receives and detects the electromagnetic intensity of the electromagnetic signal transmitted by the wireless charging transmitting device;

s230: judging the distance between the wireless charging receiving device and the wireless charging transmitting device according to the electromagnetic intensity;

s240: controlling a state of the autonomous mobile device.

According to the wireless charging method for the autonomous mobile equipment provided by the embodiment of the invention, the electromagnetic intensity of the electromagnetic signal of the wireless charging transmitting device 10 is detected, the distance between the wireless charging receiving device 20 and the wireless charging transmitting device 10 is judged according to the electromagnetic intensity, the state of the autonomous mobile equipment is controlled, the wireless charging transmitting device 10 is avoided when the autonomous mobile equipment does not need to be charged, the autonomous mobile equipment is aligned to the position of the wireless charging transmitting device 10 to be charged when the autonomous mobile equipment needs to be charged, the distance between the autonomous mobile equipment and a charging station is prevented from being measured by means of wireless communication sensing modules such as WIFI or Bluetooth, and the cost performance of the product is reduced and improved.

Further, before the wireless charging receiving apparatus 20 receives and detects the electromagnetic strength of the electromagnetic signal transmitted by the wireless charging transmitting apparatus 10, the following steps are also included:

the wireless charging transmission device 10 is identified.

In the present embodiment, the wireless charging transmitting device 10 is firstly identified, and then the electromagnetic intensity of the wireless charging transmitting device 10 is detected, and the distance between the wireless charging receiving device 20 and the wireless charging transmitting device 10 is determined according to the electromagnetic intensity.

Further, the step of identifying the wireless charging transmitting device 10 comprises:

the wireless charging and transmitting device 10 transmits an electromagnetic signal, and the pulse interval of the electromagnetic signal is time T;

receiving an electromagnetic pulse, and judging whether a pulse interval T of the electromagnetic pulse is equal to a pulse interval T of the wireless charging and transmitting device 10, if so, judging that the wireless charging and transmitting device 10 is a wireless charging and transmitting device; if not, the wireless charging transmitting device 10 is continuously searched.

In one embodiment, the step of determining the distance between the wireless charge receiving device 20 and the wireless charge transmitting device 10 according to the electromagnetic intensity includes:

detecting a peak value delta A of the electromagnetic intensity;

and determining the distance δ r between the center of the receiving coil 22 of the wireless charging receiving device 20 and the center of the transmitting coil 12 of the wireless charging transmitting device 10 according to the δ a.

Specifically, the δ a is inversely proportional to the δ r.

When δ a is smaller, δ r is larger, which proves that the distance between the wireless charging receiving device 20 and the wireless charging transmitting device 10 is farther; when δ a is larger, δ r is smaller, proving that the distance between the wireless charge receiving device 20 and the wireless charge transmitting device 10 is closer.

In one embodiment, when the autonomous mobile device needs to be charged, the autonomous mobile device is controlled to move to the position of the wireless charging transmission apparatus 10.

Further, the step of controlling the autonomous mobile device to move to the location of the wireless charging transmission apparatus 10 includes:

when the distance between the wireless charging receiver 20 and the wireless charging transmitter 10 is smaller than a first preset threshold, the autonomous mobile device slowly moves to the position of the wireless charging transmitter 10.

When the distance between the wireless charging transmitting device 10 and the wireless charging receiving device 20 is determined to be less than or equal to the first preset threshold, the autonomous mobile device may adjust the posture and enter the station at a slow speed until the electromagnetic intensity is detected to be the maximum value, and finally, the wireless charging receiving device 20 is aligned with the wireless charging transmitting device 10.

Specifically, when the distance between the wireless charging transmitting device 10 and the wireless charging receiving device 20 is less than or equal to a second preset threshold, it is determined that the wireless charging receiving device 20 is aligned with the wireless charging transmitting device 10 and starts charging.

Another embodiment of the present invention is described below in conjunction with fig. 16-21.

When the intelligent mower returns to the wireless charging station for charging, the alignment of the charging receiving end of the intelligent mower and the power supply transmitting end of the charging station is a technical problem, if the alignment cannot be solved, the situation that the intelligent mower cannot be aligned in time often occurs, so that the intelligent mower cannot be charged in time, and the next use is influenced.

In one embodiment, when a wireless charging receiving terminal (charging receiving terminal for short) of the intelligent mower is connected with a wireless charging transmitting terminal (power supply transmitting terminal for short) of a charging station in a butt joint mode, the charging receiving terminal receives energy from the power supply transmitting terminal, only when the charging receiving terminal is aligned with the power supply transmitting terminal of the charging station and the energy received by the charging receiving terminal reaches a preset size, the receiving and processing unit sends a rated voltage signal to the control board, and the control board starts to charge the mower after receiving the rated voltage signal.

However, when the mower travels along the boundary line, the mower cannot ensure the complete alignment of the charging receiving terminal and the power supply transmitting terminal due to the deflection of the mower during traveling, and has a certain deviation.

Through further research, the embodiment provides a wireless docking charging method and system for an intelligent mower, wherein the method comprises the steps of directly detecting a first electric signal of a charging receiving end, and controlling the mower to move correspondingly according to whether the first electric signal is larger than a preset value or not and whether a second electric signal is detected within time T or not before the rated voltage signal is received, so that docking between the charging receiving end of the mower and a power supply transmitting end of a charging station is completed.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

Referring to fig. 16, fig. 16 is a flowchart illustrating a wireless docking charging method of a lawn mower according to an embodiment.

A wireless docking charging method of a lawn mower comprises the following steps: executing step S301, controlling the mower to move towards the charging station, and butting a charging receiving end of the mower with a power supply transmitting end of the charging station; executing step S302, detecting the received energy of the charging receiving end; executing step S303, and judging whether the detected energy is greater than or equal to a first threshold value; if yes, namely the detected energy is greater than or equal to the first threshold, executing step S304, and outputting a second electrical signal; then, step S305 is executed, the second electric signal is received, and the mower is controlled to start charging; if not, namely the detected energy is smaller than the first threshold value, executing step S306, and not outputting the second electrical signal; executing step S307, detecting a first electric signal of the charging receiving end; if the first electrical signal is detected and the second electrical signal is not received, step S308 is executed to compare whether the detected first electrical signal is greater than the second threshold value and whether the second electrical signal is not detected within the time T, if so, step S309 is executed to control the lawn mower to move in a direction away from the charging station, and then step S301 is executed.

Referring to fig. 17, fig. 17 is a schematic view of a driving path planned according to the position of the charging station 300 after the intelligent lawn mower 200 receives the charging signal. When the intelligent mower 200 encounters insufficient energy (such as low voltage), long-time standby or bad weather at the place A, sending a charging signal, and acquiring the geographical position information of the mower 200 at the place A; in conjunction with the geographical location information of the charging station 300 located at B, a travel path (shown by a dotted line in the figure) for the lawn mower 200 to return to the charging station 300 is planned, and a part of the travel path coincides with the boundary line 400, so that the charging station 300 and the lawn mower 200 are located on the boundary line 400 for docking.

When the lawn mower 200 approaches the charging station 300, the charging receiving end of the lawn mower 200 is docked with the power supply transmitting end of the charging station, and the docking may be contact type or non-contact type, for example, a wireless docking manner is adopted, so that energy is transferred from the power supply transmitting end to the charging receiving end. In this embodiment, the charging receiving end of the lawn mower 200 is a receiving coil, the power supply transmitting end of the charging station is a transmitting coil, the two are connected in a wireless manner, and when the receiving coil starts to enter the area above the transmitting coil, the receiving coil starts to receive energy from the transmitting coil. However, the receiver coil and the transmitter coil are fully aligned only when the receiver coil is fully within the upper region of the transmitter coil, and the receiver coil is able to receive maximum energy from the transmitter coil. In the present embodiment, the shape and size of the receiving coil are the same as those of the transmitting coil, respectively.

It should be noted that, in other embodiments, the following may also be used: the receiving coil is the same shape as the transmitting coil, but the diameter of the receiving coil is smaller than that of the transmitting coil.

Referring to fig. 18 to 20, fig. 18 is a schematic top view illustrating the intelligent lawn mower 200 and the charging station 300 according to an embodiment, fig. 19 is a schematic side view illustrating the intelligent lawn mower 200 and the charging station 300 according to an embodiment, and fig. 20 is a schematic top view illustrating the transmitting coil 320 and the receiving coil 220 when they are docked.

In the present embodiment, the bottom of the front end of the intelligent lawn mower 200 has a first inclined surface 210, and the surface of the charging station 300 facing the intelligent lawn mower 200 has a second inclined surface 310. The receiving coil 220 of the intelligent lawn mower 200 is disposed in the area corresponding to the first inclined plane 210 of the lawn mower 200, and the transmitting coil 320 of the charging station 300 is disposed in the area corresponding to the second inclined plane 310. During docking, the intelligent mower 200 advances in the direction indicated by the arrow in the figure, and when the receiving coil 220 approaches the transmitting coil 320, the receiving coil 220 starts to receive energy from the transmitting coil 320.

When the charging receiving end of the intelligent mower 200 is connected with the power supply transmitting end of the charging station 300, the charging receiving end receives the energy of the power supply transmitting end, the energy received by the charging receiving end changes along with the change of the distance between the charging receiving end and the power supply transmitting end, and the charging requirement can be met only when the energy received by the charging receiving end reaches a certain value. In this embodiment, the energy received by the charging receiving terminal is detected, and the detected energy is compared with a first threshold, where the first threshold is an energy threshold, and is used to measure whether the charging receiving terminal is aligned with the power supply transmitting terminal, and whether the charging requirement can be met. Specifically, when the detected energy is greater than or equal to the first threshold, it is determined that the charging receiving terminal and the power supply transmitting terminal are aligned, and the requirement of subsequent charging can be met. On the contrary, when the detected energy is smaller than the first threshold, it is determined that the charging receiving terminal and the power supply transmitting terminal are not aligned yet, and the requirement of subsequent charging cannot be met.

In order to charge the lawn mower, in this embodiment, when the detected energy is greater than or equal to the first threshold, the second electrical signal is output, and the control board of the intelligent lawn mower controls the lawn mower to start charging only after receiving the second electrical signal. And when the detected energy is smaller than the first threshold value, the second electric signal is not output, so that the intelligent mower cannot be controlled to start charging. In the embodiment, the second electrical signal is a rated output voltage for providing a signal for charging the intelligent mower, and the second electrical signal is output to the control board by the receiving and processing circuit.

It should be noted that, in other embodiments, the second electrical signal may also be a rated output current or a rated output power, and details are not described herein again.

It should be noted that the first threshold is a corresponding energy threshold, and whether the energy received by the charging receiving end can meet the charging requirement is determined, and is influenced by various factors, such as an angle, a docking area, a docking distance, and the like when the charging receiving end is docked with the power supply transmitting end, so that the above factors need to be considered comprehensively when the first threshold is set. The specific size of the first threshold may be set by a person skilled in the art according to a specific situation, so as to meet the charging requirement, and will not be described herein again.

It should be noted that, in the docking of the charging receiving terminal and the power supply transmitting terminal, no matter the docking is contact docking or non-contact docking, that is, no matter whether the charging receiving terminal is in contact with the power supply transmitting terminal, as long as the energy received by the charging receiving terminal can meet the requirement of subsequent charging, both the two terminals can be considered to be aligned.

As described above, conventionally, if the second electric signal is not received, the intelligent lawn mower continues to be controlled to move forward. However, even if the intelligent mower walks past the charging station and is further away from the charging station, the conventional docking method cannot be noticed, or the intelligent mower can sense the output electric signal, but the output electric signal is always small, and the second electric signal is not received for a long time, so that the charging receiving terminal and the power supply transmitting terminal cannot be aligned in time, the charging is not timely, and the use of a user is seriously influenced.

Based on the above consideration, in this embodiment, the first electrical signal of the charging receiving end is also detected, and the moving direction of the lawn mower is correspondingly controlled by comparing whether the first electrical signal is greater than the second threshold value and whether the second electrical signal is not detected within the time T, so as to facilitate faster receiving of the second electrical signal.

Considering that when the intelligent lawn mower 200 returns to the charging station 300 for charging, a part of the section of the driving path of the intelligent lawn mower 200 is consistent with the boundary line 400, that is, the charging receiving end of the intelligent lawn mower 200 is always in butt joint with the power supply transmitting end of the charging station in a fixed direction and height, and the magnitude of the output electrical signal of the charging receiving end can approximately reflect the relative position relationship between the charging receiving end and the power supply transmitting end, thereby providing a reference for the next movement of the intelligent lawn mower 200. That is, the output electrical signal of the charging receiving terminal is detected, and when the second electrical signal is not received, the relative position between the charging receiving terminal of the intelligent mower 200 and the power supply transmitting terminal of the charging station 300 can be roughly determined by comparing the magnitude of the output electrical signal with the magnitude of the second threshold value, and the next moving direction of the intelligent mower 200 is determined.

That is, in this embodiment, the first electrical signal is an output electrical signal of the charging receiving terminal, and the second threshold is a corresponding electrical signal threshold. When the output electric signal of the charging receiving end is output voltage, the second threshold value is a voltage threshold value; when the output electric signal of the charging receiving end is the output current, the second threshold is the current threshold. In this embodiment, the first electrical signal is a dc output voltage of the receiving coil 320, the output electrical signal is detected by the control board, and the second threshold is a voltage threshold.

The second threshold may be preset to facilitate subsequent comparisons. In order to avoid the situation that the charging receiving end is aligned with the power supply transmitting end, the second electric signal is not output or received, and the mower is controlled to move towards the direction far away from the charging station. In one embodiment, the time T is zero, and the second threshold is an electrical signal threshold, where the magnitude of the electrical signal threshold should be slightly larger than an electrical signal corresponding to the alignment of the charging receiving end and the power supply transmitting end. For example, the charging receiving terminal is the receiving coil 220, the power supply transmitting terminal is the transmitting coil 320, and when the abutting area 350 between the receiving coil 220 and the transmitting coil 320 occupies at least 80% of the total area of the charging receiving terminal, the second electrical signal is outputted in an aligned manner, so that the second threshold value should be greater than the output voltage or output current of the corresponding charging receiving terminal when the abutting area between the charging receiving terminal and the power supply transmitting terminal is 80%. Preferably, the second threshold is set as an output voltage or an output current of the corresponding charging receiving terminal when the docking area of the charging receiving terminal and the power supply transmitting terminal is 90%.

It should be noted that, in other embodiments, the time T may also be set to be greater than zero, the size of the second threshold is consistent with the electrical signal corresponding to the alignment of the charging receiving end and the power supply transmitting end, or the size of the second threshold is slightly greater than the electrical signal corresponding to the alignment of the charging receiving end and the power supply transmitting end.

In this way, when it is detected that the output electrical signal of the charging receiving terminal is greater than the second threshold value, if the second electrical signal is not received within the time T, it means that the intelligent mower 200 has moved away from the charging station 300, and it is necessary to control the intelligent mower 200 to move away from the charging station 300, and then to dock the charging receiving terminal and the power supply transmitting terminal again, so that the intelligent mower 200 is charged in time.

In order to prevent the traveling path deviation of the lawn mower from being large, the first electric signal or the first electric signal is detected to reach a certain value, but the second electric signal cannot be received later.

In another embodiment, the first electrical signal is an output electrical signal of the charging receiving end, and the second threshold may also be zero. That is, after the first electric signal is detected, if the second electric signal is not detected within the time T, the mower is controlled to move in a direction away from the charging station.

In this embodiment, a method of wireless docking of a lawn mower includes: and recording the timing from the time when the first electric signal is detected, and controlling the intelligent mower 200 to move towards the direction away from the charging station 300 if the second electric signal is not received after the time T is exceeded, and then, re-connecting the charging receiving end and the power supply transmitting end. For example, if the second threshold is set to 0 volt and the time T is set to 100 seconds, the timer is started from the detection of the first electrical signal, and if the second electrical signal is not received for more than 100 seconds, the intelligent lawn mower 200 is controlled to move away from the charging station 300, and the charging receiving terminal and the power supply transmitting terminal are reconnected.

It should be noted that, in other embodiments, the second threshold may also be another value smaller than the electrical signal corresponding to the alignment of the charging receiving end and the power supply transmitting end, and the time T may also be another value. For example, if the second threshold is set to 5 volts and the time T is set to 110 seconds, the timer is started when the output voltage of the charging receiver reaches 5 volts, and if the second electrical signal is not received for more than 110 seconds, the intelligent mower 200 needs to be controlled to move in a direction away from the charging station 300, and then the charging receiver and the power supply transmitter are reconnected.

It should be noted that, in other embodiments, the wireless docking charging method of the lawn mower may also take the situations of the above embodiments into consideration, and details are not described herein.

Further, in order to prevent the situation that the charging receiving terminal and the power supply transmitting terminal are just aligned and then missed due to the fact that the speed of the lawn mower is too high, in this embodiment, the method further includes: and when the first electric signal is detected, the mower is controlled to decelerate until the second electric signal is detected, and the speed of the mower is controlled to be reduced to zero, so that the charging receiving end and the power supply transmitting end can be aligned slowly and accurately, and the alignment accuracy is improved.

In this embodiment, after receiving the second electric signal, the intelligent mower 200 is controlled to start charging and stop moving the intelligent mower 200.

It should be noted that, in other embodiments of the present invention, the intelligent mower may be continuously moved toward the charging station 300 during the charging process of the intelligent mower 200, so that the energy received by the charging receiving end of the intelligent mower 200 can reach the maximum, and the charging effect is better.

Referring to fig. 21, in another embodiment, a wireless docking charging system for an intelligent lawn mower is further provided, which includes a charging receiving terminal 500, a receiving processing circuit 510, and a control board 520.

The charging receiving terminal 500 is used for being connected to a power supply transmitting terminal (not shown) of the charging station, and receiving energy of the power supply transmitting terminal. In this embodiment, the charging receiving terminal 500 is a receiving coil, the power supply transmitting terminal of the charging station is a transmitting coil, and energy transfer is realized by butt joint of the receiving coil and the transmitting coil. In a preferred embodiment, the size and shape of the receiving coil are the same as those of the transmitting coil, respectively.

The receiving processing circuit 510 is in communication connection with the charging receiving terminal 500, and is configured to detect energy received by the charging receiving terminal 500, determine that the charging receiving terminal 500 is aligned with the power supply transmitting terminal when the detected energy is greater than a first threshold, and output a second electrical signal, otherwise, not output the second electrical signal. In this embodiment, an a/D converter is disposed in the receiving processing circuit 510, and is configured to detect energy received by the charging receiving terminal 500, and convert the detected energy from an analog signal into a digital signal, so as to facilitate subsequent comparison with the first threshold; the receiving processing unit 510 is further provided with a comparator connected in communication with the a/D converter, for comparing the relationship between the detected energy converted into the digital signal and the first threshold; in order to output the second electrical signal, a signal output unit communicatively connected to the comparator is further disposed in the receiving processing circuit 510, and the second electrical signal is output only when the detected energy is greater than or equal to the first threshold, and otherwise, the second electrical signal is not output. Due to the existence of the A/D converter, the detected energy of the charging receiving end can be converted into a digital signal from an analog signal, and subsequent comparison is facilitated, so that the processing efficiency of the receiving processing circuit is higher, and the second electric signal can be output more quickly when the charging receiving end is aligned with the power supply transmitting end. Wherein the second electrical signal is a nominal output voltage.

The control board 520 is in communication connection with the charging receiving terminal 500, is in communication connection with the receiving processing circuit 510, and is used for controlling the mower to move, detecting a first electric signal of the charging receiving terminal 500, and receiving a second electric signal, when the first electric signal is detected but the second electric signal is not received, comparing whether the first electric signal is greater than a second threshold value, if the first electric signal is greater than the second threshold value and the second electric signal is not detected within time T, controlling the mower to move in a direction away from the charging station, and then re-docking the charging receiving terminal 500 and the power supply transmitting terminal; when the control board 520 receives the second electric signal, the mower is controlled to start charging. In this embodiment, in order to compare whether the first electrical signal is greater than the second threshold, a comparator is also disposed in the control board 520.

The first electrical signal is an output electrical signal of the charging receiving end, and the second threshold is a corresponding electrical signal threshold. For example, when the first electrical signal is the output voltage of the charging receiving terminal, the second threshold is the corresponding voltage threshold; when the second electrical signal is the output current of the charging receiving terminal, the second threshold is the corresponding current threshold.

In this embodiment, a timing unit is further disposed in the control board 520, and the timing unit is configured to record the time from when the first electrical signal reaches the second threshold, and when the time T is exceeded, the control board determines that the traveling path of the lawn mower has a large deviation, and controls the lawn mower to move in a direction away from the charging station, and then docks the charging receiving terminal 500 and the power supply transmitting terminal again. After the first electric signal reaches the second threshold value, the time for receiving the second electric signal is limited, and the charging receiving end 500 and the power supply transmitting end can be butted again when the second electric signal is not received for a long time, so that the butting efficiency is improved.

In one embodiment, the second threshold may be set to zero, and the time T is greater than zero. That is, the time is counted from the time when the first electric signal is detected, and if the second electric signal is not received after the time T, the lawn mower is controlled to move away from the charging station, for example, to move backwards, and then the charging receiving terminal 500 and the power supply transmitting terminal are reconnected.

In yet another embodiment, the second threshold may be set to be greater than zero, with time T being greater than zero; or the second threshold may also be set to be greater than zero, and the time T may be set to be zero, which is not described herein again.

By adopting the wireless docking charging system of the intelligent mower, when the control board 520 receives the first electric signal but does not receive the second electric signal, the control board can control the mower to move in a targeted manner according to the relationship between the first electric signal and the second threshold value and the time T, for example, the mower moves towards the charging station or moves away from the charging station, and after the mower moves away from the charging station, the charging receiving terminal 500 of the mower and the power supply transmitting terminal of the charging station are docked again. The situation that the mower cannot be in butt joint charging when walking through the power supply transmitting end is avoided.

Considering that the situation that the charging receiving terminal 500 and the power supply transmitting terminal are just aligned and then missed easily occurs when the speed of the intelligent mower is fast in the docking process, in order to prevent the situation, in this embodiment, the control board 520 is further configured to control the intelligent mower to decelerate after detecting the first electric signal, and control the speed of the intelligent mower to be reduced to zero until receiving the second electric signal.

For more description on the wireless docking charging system of the intelligent lawn mower, please refer to the description related to the wireless docking charging method of the intelligent lawn mower, which is not repeated herein.

Another embodiment of the present invention is described below in conjunction with fig. 22-26.

Wireless charging requires a transmitting end and a receiving end of a wireless electromagnetic signal. The transmitting end and the receiving end can be charged wirelessly after meeting the corresponding position relation. For this reason, as shown in fig. 22, it is necessary to set a wireless charging station in the moving range of the autonomous moving apparatus, or the autonomous traveling apparatus. The wireless charging station comprises a wireless charging transmitting terminal 1. The wireless charging transmitting terminal 1 may be buried under the ground or slightly protrude from the ground.

An automatic walking device generally includes a housing and a walking wheel mounted under the housing. The battery is installed inside the shell. The battery is connected with a wireless charging receiving terminal 2 which is arranged in the shell and used for receiving signals transmitted by the wireless charging transmitting terminal 1 and charging the battery. In order to prevent the magnetic leakage phenomenon, as shown in fig. 23 and 24, the shield case 3 having an area larger than that of the wireless charging receiving terminal 2 and that of the wireless charging transmitting terminal 1 are disposed on the wireless charging receiving terminal 2 of the wireless charging system of the automatic traveling apparatus according to the embodiment. Because the area of shield cover 3 is great, when the charging distance between wireless receiving terminal 2 and the wireless transmitting terminal 1 that charges that needs to increase, if the area of increase wireless transmitting terminal 1 that charges, as long as the area of wireless transmitting terminal 1 that charges is less than the area of shield cover 3, just can guarantee not to appear the magnetic leakage phenomenon. This increases the area of the shield case 3 appropriately, and increases the degree of freedom and distance of wireless charging.

The shielding case 3 can be circular or square, the specific shape can be consistent with the wireless charging receiving end 2, the overall appearance is natural, manufacturing materials of the shielding case 3 can be reduced, and cost is saved. In order to sufficiently reduce magnetic flux leakage, the shielding case 3 can be made of a MnZn power ferrite material, and the MnZn power ferrite material has the characteristics of low loss and high stability (low drop and low temperature coefficient) and can better filter electromagnetic signals. The shielding 3 can be mounted directly inside the housing, for example, by screws, or by cement. Meanwhile, as shown in fig. 23, the center position of the shield case 3 needs to be aligned with the center position of the wireless charging receiving terminal 2.

The wireless charging requires that the wireless charging transmitting terminal 1 and the wireless charging receiving terminal 2 satisfy a certain positional relationship. Therefore, as shown in fig. 22, a boundary line 4 is usually set on the wireless charging station, the boundary line 4 can transmit a boundary line signal, the automatic traveling device can find the wireless charging station by moving along the boundary line 4, and charging can be performed after the wireless charging transmitting terminal 1 and the wireless charging receiving terminal 2 satisfy the positional relationship. In order to accurately find the position of the wireless charging station, two boundary line sensors that can detect the boundary line 4 can be arranged inside the housing of the self-propelled device, and both boundary line sensors can receive the boundary line signal. Two boundary line sensors can be symmetrically arranged on two sides of the automatic walking equipment, when the automatic walking equipment moves along the boundary line, the two boundary line sensors can compare the intensity of received boundary line signals in real time, the walking wheels of the automatic walking equipment are slowly adjusted left and right, and the boundary line 4 is longitudinally positioned at the center of the automatic walking equipment.

The wireless charging station can be found by the two boundary line sensors, but when the automatic walking device moves along the boundary line 4, it needs to be determined whether the positions between the wireless charging transmitting terminal 1 and the wireless charging receiving terminal 2 are accurately aligned. Generally, when the wireless charging transmitting terminal 1 and the wireless charging receiving terminal 2 are aligned correctly, the voltage and the electric wave signal generated by the wireless charging receiving terminal 2 also reach the expected maximum values. For this reason, a detection circuit may be provided inside the housing to detect whether the wireless charging reception end reaches an optimal charging state. The detection circuit needs to be connected between the battery and the wireless charging receiving end, and the detection circuit can be a voltage detection circuit or a current detection circuit. As shown in fig. 25, when the automatic traveling device accurately moves onto the wireless charging transmitting terminal 1 along the boundary line 4, at this time, since the wireless charging transmitting terminal 1 and the wireless charging receiving terminal 2 are accurately aligned, the current and the voltage generated by the wireless charging receiving terminal 2 also reach the maximum values, the detection circuit may detect whether the current or the voltage generated in the wireless charging receiving terminal 2 reaches the predetermined value, and if so, it is determined that the wireless charging transmitting terminal 1 and the wireless charging receiving terminal 2 are accurately aligned, and the automatic traveling device may be guided to stop moving. Specifically, the detection circuit may be connected to a controller in the automatic walking device, and the detection circuit may detect whether a voltage or a current in a charging loop in the wireless charging receiving terminal 2 reaches a predetermined value, and if so, may send a stop movement instruction to the controller to guide the automatic walking device to stop moving; if not, the autonomous walking device can continue to move along the borderline 4 under the control of the two borderline sensors.

The automatic walking device can be a mower or other automatic walking devices. This embodiment further illustrates the present invention by taking a lawn mower as an example. As shown in fig. 26, the wireless charging receiving terminal 2 and the shielding case 3 may be disposed inside the housing of the lawn mower, and the area of the shielding case 3 is larger than the areas of the wireless charging receiving terminal 2 and the wireless charging transmitting terminal 1. Two boundary line sensors can be arranged in the housing of the mower, and a detection circuit can be arranged between the storage battery of the mower and the wireless charging receiving end 2.

Another embodiment of the present invention is described below in conjunction with fig. 27-29.

Referring to fig. 27, 28 and 29, fig. 27 is a block schematic diagram of a wireless charging device for an intelligent lawn mower according to the present embodiment, fig. 28 is a first structural schematic diagram of the wireless charging device for the intelligent lawn mower according to the present embodiment, and fig. 29 is a second structural schematic diagram of the wireless charging device for the intelligent lawn mower according to the present embodiment. The embodiment discloses a wireless charging device for wirelessly charging an intelligent mower 200. The wireless charging apparatus 100b includes a wireless charging transmitter, i.e., the signal transmitter 110b, a wireless charging receiver, i.e., the signal receiver 130b, and a signal adapter 120b. The signal transmitting terminal 110b is configured to transmit a charging signal, the signal receiving terminal 130b is disposed at one end of the intelligent lawn mower 200 and configured to receive the charging signal transmitted by the signal transmitting terminal 110b, and the signal adapter 120b is disposed between the signal transmitting terminal 110b and the signal receiving terminal 130b, and may be disposed on the signal transmitting terminal 110b or the signal receiving terminal 130b, and the signal adapter 120b may receive the charging signal transmitted by the signal transmitting terminal 110b and transmit the charging signal to the signal receiving terminal 130b.

Specifically, the charging signal transmitted by the signal transmitting terminal 110b is an electromagnetic signal. The signal adapter 120b includes a signal conversion unit, which may be a coil or a magnetic material, and the signal adapter 120b receives the electromagnetic signal from the signal transmitting end 110b and forwards the electromagnetic signal to the signal receiving end 130b. Specifically, the signal conversion unit may only include a relay terminal, such as a coil, which generates an electric field by a variable magnetic field generated by the signal transmitting terminal through an electric coupling effect, and converts the electric field into a variable magnetic field again, where the variable magnetic field exchanges energy with the receiving terminal 130b, so that the receiving terminal 130b receives the charging signal, and further, the signal receiving terminal 130b is located far away from the signal adapter 120b, and may also wirelessly charge the intelligent lawn mower.

The signal switching device may also include a wireless charging receiving terminal and a wireless charging transmitting terminal, where the wireless charging receiving terminal includes a receiving coil for receiving the charging signal of the signal transmitting terminal 110 b; the wireless charging transmitting terminal includes a transmitting coil for receiving the electric energy of the wireless charging receiving terminal, converting the electric energy into a charging signal, and transmitting the charging signal to the signal receiving terminal 130b.

In more detail, the signal receiving terminal 130b is located at a side of the intelligent lawn mower 200b, and the signal emitting terminal 110b is fixed at a position, which is preferably fixed at approximately the same height as the signal receiving terminal 130b, so that the signal receiving terminal 130b can better receive the signal.

In order to store the charging signal (electromagnetic signal) emitted by the signal emitting terminal 110b, the wireless charging device 100b further includes a battery 150b and a power management module 140 b. The power management module 140b is electrically connected to the signal receiving terminal 130b and the battery 150b, and the power management module 140b processes the electromagnetic signal received by the signal receiving terminal 120b, converts the electromagnetic signal into a current signal, and stores the current signal into the battery in the form of electric energy.

Thus, after the electric energy is stored in the battery 150b, when the mower needs to continue to work, the battery can continue to supply the electric energy to the motor of the mower, so that the mower continues to work.

The wireless charging device 100b can utilize the signal transferring apparatus 120b to transfer the charging signal (electromagnetic signal) emitted by the signal emitting terminal 110b, and amplify the electromagnetic signal emitted by the signal emitting terminal 110b. When the signal receiving end 130b approaches the signal transferring device 120b, the charging effect can be achieved without butt-jointing the signal receiving end and the signal transmitting end, so that the transmitting end and the receiving end of the charging device are not required to be aligned as much as possible, if a certain deviation occurs when the transmitting end and the receiving end are butt-jointed, generally, the dead-joint area of the signal receiving end 130b and the signal transmitting end 110b is less than 80% of the area of the signal receiving end 130b or the signal transmitting end 110b, and a better charging effect can be achieved, in addition, the signal receiving end 130b can receive the charging signal at a position more than 5cm away from the signal transmitting end 110b by using the signal transferring device 120b and charge the intelligent mower, thereby avoiding the problem that the signal receiving end 130b and the signal transmitting end 110b cannot be successfully butt-jointed and the charging is not possible, and reducing the process cost for controlling the butt-jointing of the signal receiving end 130b and the signal transmitting end 110b, on the other hand, the signal switching device 120b can receive the charging signal from the signal receiving terminal 130b, so that the charging efficiency of the intelligent mower is improved by 20% to 50%, and the charging efficiency of the intelligent mower is greatly improved.

The embodiment can also improve the convenience of installing the wireless charging equipment, and particularly can avoid pulling the power line out of the lawn to supply power to the wireless charging station. For example, in a specific scenario of this embodiment, the signal emitting terminal 110b is mounted on a wall of the room against the lawn, and the signal relay device 120b is mounted on the opposite side of the wall, and the signal emitting terminal 110b is directly or substantially directly opposite. The signal transmitting terminal 110b transmits the charging signal to the signal transferring device 120b, and the signal transferring device 120b transmits the charging signal to the signal receiving terminal 130b of the intelligent lawn mower. Thus, the intelligent mower travels to the signal transfer device 120b outside the wall to be charged. The user does not need to arrange a power cord outdoors.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An autonomous mobile device wireless charging system comprising an autonomous mobile device and a wireless charging station, characterized in that:

the wireless charging station comprises a wireless charging transmitting terminal;

the autonomous mobile device includes:

the wireless charging receiving terminal is used for transmitting a charging signal to the wireless charging receiving terminal wirelessly so as to transmit electric energy;

the charging battery is electrically connected with the wireless charging receiving terminal and receives the electric energy transmitted by the wireless charging receiving terminal;

the wireless charging positioning module judges whether the autonomous mobile equipment is in a charging position;

a driving module driving the autonomous mobile device to move;

the control module is connected with the wireless charging positioning module and the driving module, and controls the driving module to enable the autonomous mobile equipment to be parked at the charging position when the wireless charging positioning module judges that the autonomous mobile equipment is located at the charging position;

the autonomous mobile device further comprises a receiving processing circuit which is in communication connection with the wireless charging receiving terminal, is used for detecting the energy received by the wireless charging receiving end, judging whether the detected energy is larger than a first threshold value or not, if so, outputting a second electric signal, controlling the autonomous mobile equipment to start charging according to the received second electric signal, if the second electric signal is smaller than the first electric signal, not outputting the second electric signal, detecting the first electric signal output by the wireless charging receiving end, comparing the magnitude of the first electric signal with the magnitude of a second threshold value, if the first electric signal is larger than the second threshold value, outputting the second electric signal, controlling the autonomous mobile equipment to move towards a direction far away from the wireless charging station if the second electric signal is not detected within the time T, and then butting the wireless charging receiving end and the wireless charging transmitting end again;

the first threshold is a corresponding energy threshold and is used for judging whether the energy received by the wireless charging receiving end meets the charging requirement, the magnitude of the first electric signal is used for indicating the relative position relationship between the charging receiving end and the charging transmitting end, and the second electric signal is rated output voltage, rated output current or rated output power and is used for providing energy for charging the autonomous mobile equipment.

2. The autonomous mobile device wireless charging system of claim 1, wherein:

the autonomous mobile device comprises a wireless charging station positioning module, wherein the wireless charging station positioning module is used for positioning the position of the wireless charging station and sending the position of the wireless charging station to the control module;

the control module controls the driving mode according to the position of the wireless charging station, so that the autonomous mobile equipment moves to the wireless charging station.

3. The autonomous mobile device wireless charging system of claim 2, wherein: the wireless charging station positioning module comprises a guide line searching module which searches the guide line, and the control module controls the driving module to enable the autonomous moving equipment to move along the guide line to reach the wireless charging station.

4. The autonomous mobile device wireless charging system of claim 3, wherein: the guide line is a signal line for emitting electromagnetic signals to the outside, and the guide line searching module is an electromagnetic signal sensor.

5. The autonomous mobile device wireless charging system of claim 2, wherein: the wireless charging station positioning module comprises at least one of a GPS module, a Bluetooth module, a Zigbee module and a Wifi module.

6. The autonomous mobile device wireless charging system of claim 1, wherein: the wireless charging positioning module judges the distance from the autonomous mobile equipment to the charging position, and the control module controls the driving module according to the distance or the change of the distance to enable the autonomous mobile equipment to move towards the charging position.

7. The autonomous mobile device wireless charging system of claim 6, wherein: and when the distance is reduced to a first preset distance, the control module controls the driving module to reduce the moving speed of the autonomous mobile equipment.

8. The autonomous mobile device wireless charging system of claim 1, wherein: the wireless charging positioning module comprises a charging signal detection module, the charging signal detection module detects whether the intensity of a charging signal received by the wireless charging receiving end reaches a preset value, and when the intensity of the charging signal reaches the preset value, the autonomous mobile equipment is judged to be in a charging position.

9. The autonomous mobile device wireless charging system of claim 8, wherein: the charging signal detection module judges whether the intensity of the charging signal reaches a preset value by detecting whether the current or the voltage generated by the charging signal on a charging loop of the rechargeable battery reaches the preset value.

10. The autonomous mobile device wireless charging system of claim 8, wherein: the charging signal detection module judges the distance from the autonomous mobile equipment to the charging position according to the intensity of the charging signal, and the control module controls the driving module according to the distance or the change of the distance to enable the autonomous mobile equipment to move towards the charging position.

11. The autonomous mobile device wireless charging system of claim 10, wherein: and when the distance is reduced to a first preset distance, the control module controls the driving module to reduce the moving speed of the autonomous mobile equipment.

12. The autonomous mobile device wireless charging system of claim 1, wherein: the wireless charging station is characterized in that a positioning piece is arranged on the wireless charging station, the wireless charging positioning module comprises a positioning sensor for detecting the positioning piece, and when the positioning sensor detects that the positioning sensor and the positioning piece are in a preset position relation, the wireless charging positioning module judges that the autonomous mobile equipment is in a charging position.

13. The autonomous mobile device wireless charging system of claim 12, wherein: the positioning piece is magnetic steel, and the positioning sensor is a magnetic sensing element.

14. The autonomous mobile device wireless charging system of claim 1, wherein: electromagnets are respectively arranged on the autonomous mobile equipment and the wireless charging station, or permanent magnets are arranged on one of the autonomous mobile equipment and the wireless charging station; the wireless charging positioning module is a magnetic force detection module which monitors the intensity of magnetic force between the autonomous mobile equipment and the wireless charging station and judges that the autonomous mobile equipment is in a charging position when the magnetic force is greater than a preset value.

15. The autonomous mobile device wireless charging system of claim 1, wherein: the second threshold is zero.

16. The autonomous mobile device wireless charging system of claim 1, wherein: the wireless charging device is characterized in that a shielding cover is arranged above the wireless charging receiving end, and the area of the shielding cover is larger than that of the wireless charging transmitting end and that of the wireless charging receiving end.

17. The autonomous mobile device wireless charging system of claim 1, wherein: the wireless charging switching device is arranged between the wireless charging transmitting end and the wireless charging receiving end and used for receiving a charging signal sent by the wireless charging transmitting end and transmitting the charging signal to the wireless charging receiving end.

18. The autonomous mobile device wireless charging system of claim 17, wherein: the wireless charging transfer device is arranged on one of the wireless charging station and the autonomous mobile equipment.

19. The autonomous mobile device wireless charging system of claim 17, wherein: when the autonomous mobile equipment is located at the charging position, the distance between the wireless charging transmitting end and the wireless charging receiving end is larger than 5 centimeters.

20. The autonomous mobile device wireless charging system of claim 17, wherein: when the autonomous mobile equipment is located at the charging position, the area of the wireless charging transmitting end opposite to the wireless charging receiving end is smaller than 80% of the area of the wireless charging transmitting end opposite to the wireless charging receiving end.

21. The autonomous mobile device wireless charging system of claim 1, wherein: the autonomous mobile equipment further comprises a battery voltage detection module for detecting the voltage of the rechargeable battery, and the control module controls the driving module to enable the autonomous mobile equipment to return to the wireless charging station when the voltage of the rechargeable battery is lower than a preset value.

22. The autonomous mobile device wireless charging system of claim 1, wherein: in the charging position, the wireless charging transmitting terminal is aligned with the wireless charging receiving terminal.

23. An autonomous mobile device, characterized in that it comprises an autonomous mobile device according to any of claims 1-22.