CN117561869A - Mower charging method, mower charging system, storage medium and intelligent terminal - Google Patents
Mower charging method, mower charging system, storage medium and intelligent terminal Download PDFInfo
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- CN117561869A CN117561869A CN202311552836.8A CN202311552836A CN117561869A CN 117561869 A CN117561869 A CN 117561869A CN 202311552836 A CN202311552836 A CN 202311552836A CN 117561869 A CN117561869 A CN 117561869A
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- 238000000034 method Methods 0.000 title claims abstract description 91
- 238000006243 chemical reaction Methods 0.000 claims abstract description 43
- 230000005611 electricity Effects 0.000 claims description 36
- 230000002452 interceptive effect Effects 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 6
- 238000012216 screening Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 2
- 238000004364 calculation method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 7
- 230000003993 interaction Effects 0.000 description 4
- 238000013507 mapping Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/001—Accessories not otherwise provided for
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
Abstract
The application relates to a charging method, a charging system, a storage medium and an intelligent terminal for a mower, and relates to the field of mowers, wherein the method comprises the steps of obtaining current electric quantity and a current working position; determining a residual mowing path; calculating the required electric quantity; when the current electric quantity is smaller than the required electric quantity, determining adjacent electric quantity, adjacent working positions, adjacent residual mowing paths and adjacent required electric quantity; calculating a conversion electric quantity value when the adjacent electric quantity is larger than the adjacent required electric quantity; searching for adjacent region numbers again when the conversion power value is equal to 0; determining adjacent boundary positions when the conversion electric quantity value is greater than 0; the mower all moves to the adjacent boundary position time on the mower that corresponds adjacent regional number charge to the mower that corresponds of mowing regional number, this application has the mower and need not to return before incomplete mowing work and charge the electric pile and charge, has practiced thrift the electric quantity that returns journey and charges, has improved the effect of the availability factor of electric quantity.
Description
Technical Field
The application relates to the field of mowers, in particular to a mowing machine charging method, a mowing machine charging system, a storage medium and an intelligent terminal.
Background
In recent years, the green space of urban squares and living communities is increased, the maintenance workload of lawns is becoming heavy, and people start to try to realize an intelligent mowing method by utilizing an electronic information technology. Each manufacturer disputes to put forward respective intelligent mower products, and strives to find a safer, simpler and more efficient mowing method on the premise of controlling the cost, thereby providing more intelligent service for users.
At present, intelligent mowers developed by some companies can automatically mow and charge in a user's lawn without user intervention. The automatic mowing system is very popular because the automatic mowing system does not need to be managed again after primary setting, and a user is liberated from tedious, time-consuming and labor-consuming household work such as cleaning, lawn maintenance and the like. The existing intelligent mower is automatically controlled to return to charge, usually a fixed working time is set in the mower, and after the working time is reached, the mower is automatically controlled to return to charge.
In the prior art, the mower needs to return to the charging device with a fixed position for charging every time, then returns to the interruption area to restart mowing, a large amount of electric quantity is wasted in the middle, mowing efficiency is low, and improvement is still provided.
Disclosure of Invention
In order to solve the problem that a mower needs to return to a charging device with a fixed position for charging every time and then returns to an interruption area to restart mowing, a large amount of electric quantity is wasted in the middle, the application provides a mower charging method, a mower charging system, a storage medium and an intelligent terminal.
In a first aspect, the present application provides a charging method for a mower, which adopts the following technical scheme:
a mower charging method comprising:
acquiring current electric quantity and current working position;
searching corresponding mowing area numbers and adjacent area numbers from a preset area database according to the current working position;
searching a corresponding planned mowing path and a corresponding planned charging path from a preset information database according to the mowing area number;
determining a residual mowing path according to the current working position and the planned mowing path;
calculating based on the residual mowing path, the planned charging path, the preset unit mowing electric quantity and the preset unit moving electric quantity to obtain the required electric quantity;
when the current electric quantity is larger than the required electric quantity, mowing along the residual mowing path is continued;
determining the current electric quantity, the current working position, a residual mowing path and the required electric quantity of the mower in the adjacent area number when the current electric quantity is smaller than the required electric quantity, defining the current electric quantity as the adjacent electric quantity, defining the current working position as the adjacent working position, defining the residual mowing path as the adjacent residual mowing path, and defining the required electric quantity as the adjacent required electric quantity;
Searching for the adjacent area number again when the adjacent electric quantity is smaller than the adjacent required electric quantity;
calculating a conversion electric quantity value based on the adjacent electric quantity, the adjacent required electric quantity, the current electric quantity, the required electric quantity and a preset interactive conversion rate when the adjacent electric quantity is larger than the adjacent required electric quantity;
searching for adjacent region numbers again when the conversion power value is equal to 0;
analyzing the residual mowing path and the adjacent residual mowing path to determine an adjacent boundary position when the conversion power value is greater than 0;
when the mowers corresponding to the mowing area numbers and the adjacent area numbers are moved to the adjacent boundary positions, charging electricity on the mowers corresponding to the adjacent area numbers to the mowers corresponding to the mowing area numbers until the mowers consume converted electricity values, and then continuously mowing along the planned mowing path.
Through adopting above-mentioned technical scheme, when the electric quantity is not enough, through the lawn mower in adjacent region can accomplish the prerequisite of mowing down to the lawn mower in this region on adjacent boundary line of guaranteeing self electric quantity to make the lawn mower in this region need not to return before incomplete mowing work and charge the electric pile, practiced thrift the electric quantity that returns journey and charges, improved the availability factor of electric quantity.
Optionally, the method further includes charging electricity on the mower corresponding to the adjacent area number to the mower corresponding to the mowing area number when the current working position falls in the planned mowing path and the adjacent working position falls in the adjacent planned charging path, and the method includes:
defining the planned charging paths in the adjacent area numbers as adjacent planned charging paths;
analyzing the residual mowing path and the adjacent area numbers when the current working position falls into the planned mowing path and the adjacent working position falls into the adjacent planned charging path so as to obtain residual passing boundary lines;
determining a movable route based on the adjacent working positions, the adjacent planned charging path and the remaining passing boundary line;
calculating a movable electric quantity based on the movable route and the unit movable electric quantity;
calculating a convertible electrical quantity value based on the adjacent electrical quantity, the movable electrical quantity, the current electrical quantity, the required electrical quantity and the interactive conversion rate;
reselecting the movable route when the convertible electric quantity value is equal to 0;
defining the movable route as a final movable route when the convertible electric quantity value is greater than 0;
determining the boundary intersection point position of the final moving route and the residual passing boundary line;
and moving the mowers corresponding to the mowing area numbers to the boundary intersection point position according to the planned mowing path, charging electricity on the mowers corresponding to the adjacent area numbers to the mowers corresponding to the mowing area numbers until the convertible electricity value is consumed on the adjacent mowers after the mowers corresponding to the adjacent area numbers are moved to the boundary intersection point position according to the final moving route, and then continuing mowing by the mowers corresponding to the mowing area numbers according to the planned mowing path, and returning the mowers corresponding to the adjacent area numbers to the charging pile for charging according to the final moving route.
By adopting the technical scheme, when the mower in the adjacent area finishes charging and returns, the path of the mower in the adjacent area for returning to the charging can be adjusted according to the position of the area close to the adjacent area, the charging failure caused by the fact that the adjacent boundary position is absent is avoided, and the charging occurrence stability is improved.
Optionally, the method further includes a method for determining a final moving route if the number of the movable routes corresponding to the convertible electric power value greater than 0 is greater than or equal to two, the method including:
determining an alternative boundary intersection position based on the movable route and the remaining passing boundary lines;
calculating the current arrival time based on the current working position, the residual mowing path, the optional boundary intersection point position and the preset mowing speed;
calculating adjacent arrival time based on the adjacent working position, the movable route, the optional boundary intersection point position and the preset moving speed;
calculating a time difference based on the current arrival time and the adjacent arrival time;
and screening a movable route with the minimum absolute value corresponding to the time difference, and defining the movable route as a final movable route for output.
By adopting the technical scheme, the route with the smallest time difference reaching the boundary line is adopted as the final moving route, so that waiting time of the mower in the adjacent area and the current area is minimized, and moving efficiency and mowing efficiency of the mower are improved.
Optionally, the method further includes a method for determining a final moving route if the current arrival time of the movable route with the smallest absolute value corresponding to the time difference is smaller than the adjacent arrival time, where the method includes:
screening a movable route with the current arrival time smaller than the adjacent arrival time, defining the movable route as a reasonable movement route, and defining a time difference corresponding to the reasonable movement route as a reasonable time difference;
calculating charging time based on the convertible electric quantity value and a preset conversion speed;
determining a waiting time based on the reasonable time difference and the charging time;
when the waiting time is smaller than a preset time threshold without influencing, defining the reasonable moving route as a final moving route for outputting;
and searching for the adjacent area numbers again when the waiting time is larger than the time threshold value.
By adopting the technical scheme, the return charging is used for indirectly indicating that the adjacent area is mowed, and the time interval of the next mowing is usually longer, so that the requirement of the return charging pile for charging is not high, the current area preferably selects the moving route with the least waiting time of the mowing machine, so that the mowing work can be reduced as much as possible, and the mowing efficiency of the mowing machine is improved.
Optionally, the method further comprises a further determination method of the final moving route, the method comprising:
determining an intersection point position of the area based on the current working position, the adjacent working position and the residual mowing path;
determining a charging distance based on the charging time and the mowing speed;
calculating a charging path and a charging completion position based on the charging distance, the area intersection point position and the residual mowing path;
calculating a mobile charging route based on the adjacent working position, the region intersection position, the charging completion position, the charging route and the adjacent planned charging route;
calculating a mobile charge amount based on the mobile charge route and the unit mobile charge amount;
calculating a mobile conversion electricity quantity value based on the adjacent electricity quantity, the mobile charging electricity quantity, the current electricity quantity, the required electricity quantity and the interactive conversion rate;
and outputting the mobile charging route as a final mobile route when the mobile conversion power value is greater than 0.
By adopting the technical scheme, the mowers in the adjacent areas reach the current area and then move along with the mowers in the current area to charge, so that the mowers in the current area do not need to wait at the boundary position or wait due to charging, the mowers in the area can continuously mow and do not need to stay, and the mowing efficiency of the mowers is improved.
Optionally, the method further comprises a method of charging the mower if the mobile conversion power value is equal to 0, the method comprising:
updating the residual mowing path, the adjacent electric quantity and the current electric quantity based on the position of the area intersection point, defining the updated residual mowing path as the latest mowing path, defining the updated adjacent electric quantity as the latest adjacent electric quantity, and defining the updated current electric quantity as the latest current electric quantity;
determining the latest required electric quantity based on the latest mowing path, the unit mowing electric quantity, the planned charging path and the unit moving electric quantity;
calculating a residual charging route based on the position of the regional intersection point and the adjacent planned charging route;
determining the latest adjacent required electric quantity based on the remaining charging route and the unit mobile electric quantity;
when the latest adjacent electric quantity is larger than the latest required electric quantity, mowing the mowing machines corresponding to the mowing area numbers to the area intersection point position according to the planned mowing path, linearly moving the mowing machines corresponding to the adjacent area numbers to the area intersection point position, and then moving the mowing machines corresponding to the mowing area numbers to the charging devices in the areas corresponding to the adjacent area numbers according to the residual charging route to charge, wherein the mowing machines corresponding to the adjacent area numbers mow according to the latest mowing path.
By adopting the technical scheme, when the charging at the intersection point position cannot meet the requirements that both the charging can be smoothly returned, if the purposes of the charging can be exchanged at the moment, the mowing of the current area is completed by the mowing machine of the adjacent area, and when the charging pile of the current area is returned to the charging pile of the adjacent area for charging, the mowing of the current area is completed by the mowing machine of the adjacent area, and the charging pile of the current area is returned to the charging pile for charging, so that the mowing and charging flexibility of the mowing machine is improved.
Optionally, when the latest adjacent electric quantity is greater than the latest required electric quantity, and the latest current electric quantity is greater than the latest adjacent required electric quantity, moving the mower corresponding to the mowing area number to a charging device in an area corresponding to the adjacent area number for charging according to the residual charging route, and mowing the mower corresponding to the adjacent area number according to the latest mowing path, wherein the method comprises the following steps:
calculating an adjacent return charging path based on the planned charging path and the adjacent planned charging path;
determining an adjacent return demand charge based on the latest mowing path, the unit mowing charge, the adjacent return charge path, and the unit travel charge;
Calculating a return charging route based on the area intersection point position and the planned charging route;
determining a return required power amount based on the return charging route and the unit moving power amount;
when the latest adjacent electric quantity is larger than the adjacent return required electric quantity, mowing the mowing machine corresponding to the mowing area number to the area intersection point position according to the planned mowing path, linearly moving the mowing machine corresponding to the adjacent area number to the area intersection point position, then moving the mowing machine corresponding to the mowing area number to a charging device in the area corresponding to the mowing area number according to the return charging route to charge, mowing the mowing machine corresponding to the adjacent area number according to the latest mowing path, and then returning to charge according to the adjacent return charging path.
By adopting the technical scheme, although the mowing of the current area is completed by the mowing machine of the adjacent area, and the mowing machine of the current area returns to the charging pile of the adjacent area to be charged, the mowing machine is caused to belong to a more chaotic area, and the information accuracy of the mowing machine is improved.
In a second aspect, the present application provides a charging system for a mower, which adopts the following technical scheme:
A mower charging system comprising:
the acquisition module is used for acquiring the current electric quantity, the current working position, the adjacent electric quantity and the adjacent working position;
a memory for storing a program of a control method of any one of the mower charging methods described above;
and the processor can load and execute the program in the memory by the processor and realize the control method of any mower charging method.
Through adopting above-mentioned technical scheme, when the electric quantity is not enough, through the lawn mower in adjacent region can accomplish the prerequisite of mowing down to the lawn mower in this region on adjacent boundary line of guaranteeing self electric quantity to make the lawn mower in this region need not to return before incomplete mowing work and charge the electric pile, practiced thrift the electric quantity that returns journey and charges, improved the availability factor of electric quantity.
In a third aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:
the intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any mower charging method.
Through adopting above-mentioned technical scheme, when the electric quantity is not enough, through the lawn mower in adjacent region can accomplish the prerequisite of mowing down to the lawn mower in this region on adjacent boundary line of guaranteeing self electric quantity to make the lawn mower in this region need not to return before incomplete mowing work and charge the electric pile, practiced thrift the electric quantity that returns journey and charges, improved the availability factor of electric quantity.
In a fourth aspect, the present application provides a computer storage medium, capable of storing a corresponding program, and having a characteristic of fast interaction of big data in a memory.
A computer readable storage medium, adopting the following technical scheme:
a computer readable storage medium storing a computer program loadable by a processor and performing any of the methods of charging a mower described above.
Through adopting above-mentioned technical scheme, when the electric quantity is not enough, through the lawn mower in adjacent region can accomplish the prerequisite of mowing down to the lawn mower in this region on adjacent boundary line of guaranteeing self electric quantity to make the lawn mower in this region need not to return before incomplete mowing work and charge the electric pile, practiced thrift the electric quantity that returns journey and charges, improved the availability factor of electric quantity.
In summary, the present application includes at least the following beneficial technical effects:
1. the mowers in the adjacent areas are charged, so that the mowers in the areas do not need to return to the charging piles to be charged before the mowing work is completed, the electric quantity of return charging is saved, and the use efficiency of the electric quantity is improved;
2. the mowers in the adjacent areas reach the current area and then move along with the mowers in the current area to charge, so that the mowers in the area can continuously mow without stopping, and the mowing efficiency of the mowers is improved;
3. Mowing in the current area is completed by the mowing machines in the adjacent areas, and the mowing machines in the current area are returned to the charging piles in the adjacent areas for charging, so that the mowing and charging flexibility of the mowing machines is improved.
Drawings
Fig. 1 is a flowchart of a method of charging a lawn mower in an embodiment of the present application.
Fig. 2 is a schematic view of a mowing area in an embodiment of the present application.
Fig. 3 is a flowchart of a method for charging power on a mower corresponding to an adjacent zone number to a mower corresponding to a mowing zone number when a current working position falls in a planned mowing path and an adjacent working position falls in an adjacent planned charging path in an embodiment of the present application.
Fig. 4 is a flowchart of a method for determining a final moving route when the number of movable routes corresponding to the convertible electric power value greater than 0 is equal to or greater than two in the embodiment of the present application.
Fig. 5 is a flowchart of a method for determining a final moving route when a current arrival time corresponding to a movable route with a minimum absolute value corresponding to a time difference is smaller than an adjacent arrival time in an embodiment of the present application.
Fig. 6 is a flowchart of a further determination method of the final movement route in the embodiment of the present application.
Fig. 7 is a schematic path diagram of a final moving route further determining method in the embodiment of the present application.
FIG. 8 is a flow chart of a method of charging a mower if the mobile conversion power value is less than 0 in an embodiment of the present application.
Fig. 9 is a flowchart of a method for moving a mower corresponding to a mowing area number to a charging device in an area corresponding to an adjacent area number according to a remaining charging route to charge, and mowing the mower corresponding to the adjacent area number according to a latest mowing path in the embodiment of the present application.
Fig. 10 is a system block diagram of a method of charging a lawn mower in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to fig. 1 to 10 and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The embodiment of the application discloses a mower charging method. Referring to fig. 1, a mower charging method includes:
step 100: and acquiring the current electric quantity and the current working position.
The current power is the power of the mower in the area. The mode of acquisition can be obtained by directly reading the voltage of the battery. The current operating position is the position of the mower within the area. As shown in fig. 2, the position of the mower in the mowing area on the left side is indicated by the point E, and can be obtained by a GPS positioning system.
Step 101: and searching corresponding mowing area numbers and adjacent area numbers from a preset area database according to the current working position.
The mowing area number is the number of the area where the mowing machine is located, and as shown in fig. 2, each mowing machine corresponds to one area. The adjacent area number is the number of the area adjacent to the area corresponding to the mowing area number. The database stores the mapping relation of the current working position, the mowing area number and the adjacent area number, the staff in the field numbers according to the actual area, then obtains the number of the adjacent area according to the number, and then determines the position falling into the range according to the range of the area corresponding to each number for recording. When the system receives the corresponding current working position, the system automatically searches the falling area range from the database, and then searches the corresponding mowing area number and the adjacent area number for output.
Step 102: and searching a corresponding planned mowing path and a planned charging path from a preset information database according to the mowing area number.
The mowing path is planned to be a mowing track in the area corresponding to the mowing area number. As shown in fig. 2, the track moving from a to B along the direction of the dotted line is the planned mowing path. The planned charging path is a track moving from the mowed place to the position of the charging pile in the area corresponding to the mowing area number, as shown in fig. 2, and the track moving from the straight line of the point B to the point A is the planned charging path. The database stores the mapping relation of mowing area numbers, planned mowing paths and planned charging paths, and the mapping relation is obtained by planning according to the actual numbers and the shapes of the areas by workers in the field. When the system receives the corresponding mowing area number, the corresponding planned mowing path and the planned charging path are automatically searched from the database and output.
Step 103: and determining a residual mowing path according to the current working position and the planned mowing path.
The remaining mowing path is a path where mowing is needed. The method is that the planned mowing path is disconnected at the current working position, and then a section along the mowing direction is taken as the residual mowing path. As shown in fig. 2, the remaining mowing path is the E to B section.
Step 104: and calculating based on the residual mowing path, the planned charging path, the preset unit mowing electric quantity and the preset unit moving electric quantity to obtain the required electric quantity.
The unit mowing electric quantity is the electric quantity of each meter of movement required by the mower according to the working mode of mowing while moving. The unit mobile electric quantity is the electric quantity of each meter of movement required by the mower according to the working mode of only moving without mowing. The required electric quantity is the electric quantity for walking the residual mowing path and returning to charge. The calculation mode is that the residual mowing path is multiplied by the unit mowing electric quantity, then the planned charging path is multiplied by the unit moving electric quantity, and then the sum of the products of the planned charging path and the unit moving electric quantity is the required electric quantity.
It should be noted that the mower is provided with a mode, namely when the mower reaches the point B, the mower is automatically switched to a moving mode, and when the mower reaches the point A and is charged, the mower is automatically switched to an operating mode after coming out of the point A. Therefore, if the residual mowing path does not exist, that is, when the current working position has entered the moving mode, the residual mowing path may be set to 0.
Step 105: and when the current electric quantity is larger than the required electric quantity, mowing along the residual mowing path is continued.
When the current is greater than the current, the work can be completed and the charging can be returned, so that mowing can be continued.
Step 106: when the current electric quantity is smaller than the required electric quantity, determining the current electric quantity, the current working position, a residual mowing path and the required electric quantity of the mowers in the adjacent area numbers, defining the current electric quantity as the adjacent electric quantity, defining the current working position as the adjacent working position, defining the residual mowing path as the adjacent residual mowing path, and defining the required electric quantity as the adjacent required electric quantity.
When the current electric quantity is smaller than the required electric quantity, the charging is performed after the work cannot be completed at the moment.
Step 107: and searching for the adjacent area number again when the adjacent electric quantity is smaller than the adjacent required electric quantity.
If the number of the mower is smaller than the number of the mower, the mower in the area corresponding to the adjacent area number cannot complete the process of charging after the operation, and the mower in the area cannot be charged, so that other adjacent areas need to be searched, for example, an area which is not displayed on the left side or the right side lower part or the right side upper part can be used as the adjacent area when the left side area is long enough.
Step 108: and calculating a conversion electric quantity value based on the adjacent electric quantity, the adjacent required electric quantity, the current electric quantity, the required electric quantity and the preset interactive conversion rate when the adjacent electric quantity is larger than the adjacent required electric quantity.
The interactive conversion rate is the percentage of the electric quantity on the mower corresponding to the mowing area number converted from the electric quantity consumed by the power supply on the mower corresponding to the adjacent area number when the plug on the mower corresponding to the mowing area number is inserted into the power supply on the mower corresponding to the adjacent area number for charging. The converted electricity value is the electricity consumed by the power supply on the mower corresponding to the adjacent area number required for completing the required electricity. Here, the current power is subtracted from the required power, and then divided by the power obtained after the conversion rate interaction. It is also desirable to define the charge value as not greater than the quotient of the adjacent charge minus the adjacent required charge, and the converted charge value is 0 when greater.
Step 109: the adjacent region numbers are found again when the conversion power value is equal to 0.
When the number is smaller than 0, the indication is not converted, the indication is not supplied, and the adjacent area numbers are searched again.
Step 110: and analyzing the residual mowing path and the adjacent residual mowing path to determine the adjacent boundary position when the conversion power value is greater than 0.
The adjacent boundary position is any one of the positions of the area on the boundary line where C, D is located as shown in fig. 2, but this position is on the remaining mowing path and the adjacent remaining mowing path, such as the point on the remaining mowing path closest to the G point and the point on the adjacent remaining mowing path in fig. 2.
Step 111: when the mowers corresponding to the mowing area numbers and the adjacent area numbers are moved to the adjacent boundary positions, charging electricity on the mowers corresponding to the adjacent area numbers to the mowers corresponding to the mowing area numbers until the mowers consume converted electricity values, and then continuously mowing along the planned mowing path.
The mowers corresponding to the mowing area numbers and the adjacent area numbers are moved to adjacent boundary positions, and at the moment, if one mower arrives first, the work is stopped and waiting is performed. And then after the two mowing machines reach the vicinity of the G point, automatically inserting a plug on the mower corresponding to the mowing area number into a power supply on the mower corresponding to the adjacent area number to charge, and after the electric quantity consumption in the mower corresponding to the adjacent area number converts the electric quantity value, finishing the charging and mowing respectively.
Referring to fig. 3, the method further includes charging electricity on the mower corresponding to the adjacent area number to the mower corresponding to the mowing area number if the current working position falls in the planned mowing path and the adjacent working position falls in the adjacent planned charging path, the method includes:
step 200: the planned charging paths in the adjacent region numbers are defined as adjacent planned charging paths.
Step 201: and analyzing the residual mowing path and the adjacent area number when the current working position falls into the planned mowing path and the adjacent working position falls into the adjacent planned charging path so as to obtain the residual passing boundary line.
The residual passing boundary line is the boundary line of the closest position of the mower corresponding to the mowing area number, which passes through the mowing area corresponding to the adjacent area number along the residual mowing path. As shown in fig. 2, the boundary line is a vertical line above the horizontal line where E is located and where G is located.
When the current working position falls into the planned mowing path and the adjacent working position falls into the adjacent planned charging path, the mower corresponding to the adjacent area number is indicated to complete mowing, and the mower corresponding to the mowing area number is mowing. At this time, it is stated that the mower corresponding to the adjacent area number is relatively less urgent to charge, because the grass in the adjacent area is not likely to grow immediately and mowing is needed.
Step 202: the movable route is determined based on the adjacent working positions, the adjacent planned charging path, and the remaining passing boundary line.
The movable route is a route in which the mower is moved from the adjacent working position to any one of the remaining positions passing the boundary line. The mode of determining is that any one position of adjacent working positions and residual passing boundary lines and the end point of adjacent planning charging paths are sequentially connected, for example: if the point F is the adjacent working position and the point on the residual passing boundary line is the point G, the movable route is the route of F-G-C.
Step 203: the movable electric quantity is calculated based on the movable route and the unit movable electric quantity.
The movable electric quantity is the movable electric quantity required by moving according to the movable route.
Step 204: the convertible electrical quantity value is calculated based on the adjacent electrical quantity, the movable electrical quantity, the current electrical quantity, the required electrical quantity, and the interactive conversion rate.
The convertible electric quantity value and the convertible electric quantity value are similar, and are all the electric quantity consumed by the power supply on the mower corresponding to the adjacent area number required for completing the required electric quantity. Here, the current power is subtracted from the required power, and then divided by the power obtained after the conversion rate interaction. The difference is that: this value is defined as the quotient of the adjacent charge minus the movable charge, and when greater, the convertible charge value is 0.
Step 205: and reselecting the movable route when the value of the convertible electric quantity is equal to 0.
And when the power is smaller than the preset value, indicating that the power is larger than the quotient of the adjacent electric quantity minus the movable electric quantity, and if the power cannot be supplied, searching the movable route again.
Step 206: the movable route is defined as the final movement route when the convertible electric quantity value is greater than 0.
When the electric power is larger than 0, the electric power can be charged, and the electric power can be moved according to a movable route and returned to charge.
Step 207: and determining the boundary intersection point position of the final moving route and the residual passing boundary line.
The boundary intersection point position is the intersection point of the final moving route and the remaining passing boundary line. As shown in fig. 2, if the final moving route is the route F-G-C, the boundary intersection position is the G point.
Step 208: and moving the mowers corresponding to the mowing area numbers to the boundary intersection point position according to the planned mowing path, charging electricity on the mowers corresponding to the adjacent area numbers to the mowers corresponding to the mowing area numbers until the convertible electricity value is consumed on the adjacent mowers after the mowers corresponding to the adjacent area numbers are moved to the boundary intersection point position according to the final moving route, and then continuing mowing by the mowers corresponding to the mowing area numbers according to the planned mowing path, and returning the mowers corresponding to the adjacent area numbers to the charging pile for charging according to the final moving route.
Referring to fig. 4, the method further includes a method for determining a final moving route if the number of the movable routes corresponding to the convertible electric power value greater than 0 is equal to or greater than two, the method including:
step 300: the selectable boundary intersection position is determined based on the movable route and the remaining passing boundary line.
The selectable boundary intersection position is an intersection of the movable route and the remaining passing boundary line.
Step 301: and calculating the current arrival time based on the current working position, the residual mowing path, the optional boundary intersection point position and the preset mowing speed.
The mowing speed is the moving speed of a preset mowing mode. The current arrival time is the time at which the mower moves along the remaining mowing path to the selectable boundary intersection location. The distance value from the current working position to the position of the optional boundary intersection point is calculated along the residual mowing path and then divided by the mowing speed.
Step 302: and calculating the adjacent arrival time based on the adjacent working position, the movable route, the optional boundary intersection point position and the preset moving speed.
The moving speed is the moving speed of the preset moving mode. The adjacent arrival time is the time when the mower moves along the movable path from the adjacent work position to the position of the optional boundary intersection. The distance from the adjacent working position to the position of the optional boundary intersection is calculated as divided by the speed of movement.
Step 303: a time difference is calculated based on the current arrival time and the adjacent arrival time.
The time difference is the difference in time between the arrival of the two at the location of the optional boundary intersection. The calculation is performed by subtracting the adjacent arrival time from the current arrival time.
Step 304: and screening a movable route with the minimum absolute value corresponding to the time difference, and defining the movable route as a final movable route for output.
The movable route description with the smallest absolute value corresponding to the time difference has the shortest waiting time at the position of the optional boundary intersection point.
Referring to fig. 5, the method further includes a method for determining a final moving route if a current arrival time of the movable route having the smallest absolute value corresponding to the time difference is smaller than an adjacent arrival time, the method including:
step 400: and screening out a movable route with the current arrival time smaller than the adjacent arrival time, defining the movable route as a reasonable movement route, and defining the time difference corresponding to the reasonable movement route as a reasonable time difference.
The movable route with the current arrival time being greater than the adjacent arrival time, namely the mower with the mowing area number arrives later, namely the mower which is mowing arrives first, and the mower which returns to charge arrives later, and the mower which arrives first needs to wait for charging.
Step 401: the charging time is calculated based on the convertible electric quantity value and a preset conversion speed.
The conversion speed is the charging speed corresponding to the electric quantity on the mower corresponding to the adjacent area number is charged on the mower corresponding to the mowing area number. The charging time is the time required to charge the convertible electrical quantity value. The manner of calculation is the convertible electrical quantity value divided by the conversion rate.
Step 402: the waiting time is determined based on the reasonable time difference and the charging time.
The waiting time is obtained by adding the charging time to the absolute value of a reasonable time difference, namely the time that the mower corresponding to the mowing area number needs to stay at the position of the optional boundary intersection point for charging in the mowing process.
Step 403: and when the waiting time is smaller than a preset time threshold which does not affect the time, defining the reasonable moving route as a final moving route for outputting.
The non-influencing time threshold is the maximum of the time span that does not influence the mowing process, i.e. below this value, can be ignored as not influencing the entire workflow. The value is set by man.
Step 404: and searching for the adjacent area numbers again when the waiting time is larger than the time threshold value.
When the movement path is larger than the final movement path, it is indicated that none of the movement paths can be output as the final movement path, and then other areas need to be found again.
Referring to fig. 6, a further determination method of a final moving route is also included, the method including:
step 500: and determining the intersection point position of the area based on the current working position, the adjacent working position and the residual mowing path.
The position of the intersection point of the area is the position where the two mowers corresponding to the adjacent area numbers just intersect when the mowers move into the area corresponding to the mowing area numbers, the point on the residual mowing path is arbitrarily selected, then a line segment corresponding to the adjacent working position is made, the time for moving to the point is calculated based on the line segment, the time required for moving from the current working position to the residual mowing path at the speed of mowing is calculated, and when the two times are identical, the point is the position of the intersection point of the area, such as the point I shown in fig. 7.
Step 501: the charging distance is determined based on the charging time and the mowing speed.
The charging distance is a distance that is moved according to the mowing speed during the charging time. The manner of calculation is the charge time multiplied by the mowing speed.
Step 502: and calculating a charging path and a charged position based on the charging distance, the area intersection position and the residual mowing path.
The charging path moves along the residual mowing path from the intersection position of the area, and the distance value is the path corresponding to the charging distance. The charged position is an end point except for the area intersection point position in the two end points of the charging path. The calculation mode is that distance accumulation is carried out along the residual mowing path from the point I until the charging distance is accumulated, the path which the distance passes through at the moment is the charging path, and the end point is the charging completion position.
Step 503: and calculating a mobile charging route based on the adjacent working position, the region intersection position, the charging completion position, the charging route and the adjacent planned charging route.
The mobile charging route is a route from the adjacent working position to the region intersection point position, then to the charged position along the charging path, and then to the position of the charging pile directly from the charged position. The calculation mode is that the distance is accumulated according to the positions from the adjacent working positions to the intersection points of the areas, then the charging paths are along the charging paths to the charging completion positions, and then the positions from the charging completion positions to the charging piles are directly obtained.
Step 504: the mobile charge amount is calculated based on the mobile charge route and the unit mobile charge amount.
The mobile charging electric quantity is the electric quantity required in the moving process. The manner of calculation here is to multiply the moving charge route by the unit moving charge amount.
Step 505: and calculating a mobile conversion electricity quantity value based on the adjacent electricity quantity, the mobile charging electricity quantity, the current electricity quantity, the required electricity quantity and the interactive conversion rate.
The mobile conversion electricity quantity value and the conversion electricity quantity value are similar and are all the electricity quantity consumed by the power supply on the mower corresponding to the adjacent area number required for completing the required electricity quantity. Here, the current power is subtracted from the required power, and then divided by the power obtained after the conversion rate interaction. The difference is that: this value is defined as the quotient of not more than the adjacent charge minus the mobile charge, and when greater, the mobile conversion charge value is 0.
Step 506: and outputting the mobile charging route as a final mobile route when the mobile conversion power value is greater than 0.
When the moving speed is larger than 0, the moving charging route can be output as a final moving route, so that the mowers corresponding to the adjacent area numbers move along with the mowers corresponding to the mowing area numbers to charge.
Referring to fig. 8, further comprising a method of charging the mower if the mobile conversion power value is equal to 0, the method comprising:
step 600: and updating the residual mowing path, the adjacent electric quantity and the current electric quantity based on the position of the area intersection point, defining the updated residual mowing path as the latest mowing path, defining the updated adjacent electric quantity as the latest adjacent electric quantity, and defining the updated current electric quantity as the latest current electric quantity.
Step 601: the latest required power is determined based on the latest mowing path, the unit mowing power, the planned charging path, and the unit moving power.
The latest required electric quantity is required electric quantity after the mower corresponding to the mowing area number moves to the intersection point position of the area. The calculation is similar to step 104 and will not be described in detail here.
Step 602: and calculating a residual charging route based on the area intersection point positions and the adjacent planned charging paths.
The remaining charging route is a straight line route which is directly moved from the region intersection position to the charging pile in the region corresponding to the adjacent region number for charging. The calculation mode is the line segment of I-C in FIG. 7.
Step 603: and determining the latest adjacent required electric quantity based on the remaining charging route and the unit mobile electric quantity.
The latest adjacent required electric quantity is required electric quantity after the mower corresponding to the adjacent area number moves to the intersection point position of the area. The calculation is similar to step 104 and will not be described in detail here.
Step 604: when the latest adjacent electric quantity is larger than the latest required electric quantity, mowing the mowing machines corresponding to the mowing area numbers to the area intersection point position according to the planned mowing path, linearly moving the mowing machines corresponding to the adjacent area numbers to the area intersection point position, and then moving the mowing machines corresponding to the mowing area numbers to the charging devices in the areas corresponding to the adjacent area numbers according to the residual charging route to charge, wherein the mowing machines corresponding to the adjacent area numbers mow according to the latest mowing path.
When the latest adjacent electric quantity is larger than the latest required electric quantity, the fact that the latest current electric quantity is larger than the latest adjacent required electric quantity indicates that the mower corresponding to the adjacent area number can finish the residual work corresponding to the mowing area number after the position of the area intersection point, and the mower corresponding to the mowing area number can charge on the charging pile corresponding to the adjacent area number.
Referring to fig. 9, when the latest adjacent electric quantity is greater than the latest required electric quantity, moving the mower corresponding to the mowing area number to the charging device in the area corresponding to the adjacent area number for charging according to the remaining charging route when the latest current electric quantity is greater than the latest adjacent required electric quantity, and mowing the mower corresponding to the adjacent area number according to the latest mowing path, the method comprises:
step 700: an adjacent return charge path is calculated based on the planned charge path and the adjacent planned charge path.
The adjacent return charging path is a straight path formed from the start point of the planned charging path to the end point of the adjacent planned charging path, that is, a path in which the mower corresponding to the adjacent area number is returned to the charging pile in the area corresponding to the adjacent area number for charging after the mowing work in the area corresponding to the mowing area number is completed, that is, a line segment B-C in fig. 7.
Step 701: an adjacent return demand charge is determined based on the latest mowing path, the unit mowing charge, the adjacent return charge path, and the unit travel charge.
The adjacent return required power is the power required in the process of mowing along the latest mowing path and then returning to charge along the adjacent return charging path. The calculation is similar to step 104 and will not be described in detail here.
Step 702: a return charging route is calculated based on the area intersection position and the planned charging path.
The return charging route is a route that the mower corresponding to the mowing area number returns from the area intersection position directly to the charging pile in the area corresponding to the mowing area number for charging, such as a line segment of I-A in fig. 7.
Step 703: a return demand power amount is determined based on the return charging route and the unit movement power amount.
The return required electric quantity is an electric quantity that moves along the return charging route. The calculation is performed by dividing the return charging route by the unit movement power.
Step 704: when the latest adjacent electric quantity is larger than the adjacent return required electric quantity, mowing the mowing machine corresponding to the mowing area number to the area intersection point position according to the planned mowing path, linearly moving the mowing machine corresponding to the adjacent area number to the area intersection point position, then moving the mowing machine corresponding to the mowing area number to a charging device in the area corresponding to the mowing area number according to the return charging route to charge, mowing the mowing machine corresponding to the adjacent area number according to the latest mowing path, and then returning to charge according to the adjacent return charging path.
The latest adjacent electric quantity is larger than the adjacent return required electric quantity, the latest current electric quantity is larger than the return required electric quantity, the mowers corresponding to the mowing area numbers are moved to the charging devices in the areas corresponding to the mowing area numbers according to the return charging route to charge, mowing is carried out on the mowers corresponding to the adjacent area numbers according to the latest mowing path, and then the scheme of returning charging according to the adjacent return charging path is feasible, so that the mowers in the areas are returned according to the areas corresponding to the mowers in order to avoid the condition that the mowers in the areas are disordered.
Based on the same inventive concept, the embodiment of the invention provides a mower charging system.
Referring to fig. 10, a mower charging system comprising:
the acquisition module is used for acquiring the current electric quantity, the current working position, the adjacent electric quantity and the adjacent working position;
a memory for storing a program of a control method of a mower charging method;
and the processor can load and execute the program in the memory by the processor and realize a control method of the mower charging method.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
Embodiments of the present invention provide a computer readable storage medium storing a computer program capable of being loaded by a processor and executing a method of charging a lawn mower.
The computer storage medium includes, for example: a U-disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RandomAccessMemory, RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
Based on the same inventive concept, the embodiment of the invention provides an intelligent terminal, which comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute a mower charging method.
The foregoing description of the preferred embodiments of the present application is not intended to limit the scope of the application, in which any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.
Claims (10)
1. A method of charging a lawn mower, comprising:
acquiring current electric quantity and current working position;
searching corresponding mowing area numbers and adjacent area numbers from a preset area database according to the current working position;
searching a corresponding planned mowing path and a corresponding planned charging path from a preset information database according to the mowing area number;
Determining a residual mowing path according to the current working position and the planned mowing path;
calculating based on the residual mowing path, the planned charging path, the preset unit mowing electric quantity and the preset unit moving electric quantity to obtain the required electric quantity;
when the current electric quantity is larger than the required electric quantity, mowing along the residual mowing path is continued;
determining the current electric quantity, the current working position, a residual mowing path and the required electric quantity of the mower in the adjacent area number when the current electric quantity is smaller than the required electric quantity, defining the current electric quantity as the adjacent electric quantity, defining the current working position as the adjacent working position, defining the residual mowing path as the adjacent residual mowing path, and defining the required electric quantity as the adjacent required electric quantity;
searching for the adjacent area number again when the adjacent electric quantity is smaller than the adjacent required electric quantity;
calculating a conversion electric quantity value based on the adjacent electric quantity, the adjacent required electric quantity, the current electric quantity, the required electric quantity and a preset interactive conversion rate when the adjacent electric quantity is larger than the adjacent required electric quantity;
searching for adjacent region numbers again when the conversion power value is equal to 0;
analyzing the residual mowing path and the adjacent residual mowing path to determine an adjacent boundary position when the conversion power value is greater than 0;
When the mowers corresponding to the mowing area numbers and the adjacent area numbers are moved to the adjacent boundary positions, charging electricity on the mowers corresponding to the adjacent area numbers to the mowers corresponding to the mowing area numbers until the mowers consume converted electricity values, and then continuously mowing along the planned mowing path.
2. The method of charging a lawn mower of claim 1, further comprising charging power on the lawn mower corresponding to the adjacent zone number to the lawn mower corresponding to the mowing zone number if the current working position falls in the planned mowing path and the adjacent working position falls in the adjacent planned charging path, the method comprising:
defining the planned charging paths in the adjacent area numbers as adjacent planned charging paths;
analyzing the residual mowing path and the adjacent area numbers when the current working position falls into the planned mowing path and the adjacent working position falls into the adjacent planned charging path so as to obtain residual passing boundary lines;
determining a movable route based on the adjacent working positions, the adjacent planned charging path and the remaining passing boundary line;
calculating a movable electric quantity based on the movable route and the unit movable electric quantity;
Calculating a convertible electrical quantity value based on the adjacent electrical quantity, the movable electrical quantity, the current electrical quantity, the required electrical quantity and the interactive conversion rate;
reselecting the movable route when the convertible electric quantity value is equal to 0;
defining the movable route as a final movable route when the convertible electric quantity value is greater than 0;
determining the boundary intersection point position of the final moving route and the residual passing boundary line;
and moving the mowers corresponding to the mowing area numbers to the boundary intersection point position according to the planned mowing path, charging electricity on the mowers corresponding to the adjacent area numbers to the mowers corresponding to the mowing area numbers until the convertible electricity value is consumed on the adjacent mowers after the mowers corresponding to the adjacent area numbers are moved to the boundary intersection point position according to the final moving route, and then continuing mowing by the mowers corresponding to the mowing area numbers according to the planned mowing path, and returning the mowers corresponding to the adjacent area numbers to the charging pile for charging according to the final moving route.
3. The method of charging a lawn mower according to claim 2, further comprising a method of determining a final moving route if the number of moving routes corresponding to a convertible electric power value greater than 0 is equal to or greater than two, the method comprising:
Determining an alternative boundary intersection position based on the movable route and the remaining passing boundary lines;
calculating the current arrival time based on the current working position, the residual mowing path, the optional boundary intersection point position and the preset mowing speed;
calculating adjacent arrival time based on the adjacent working position, the movable route, the optional boundary intersection point position and the preset moving speed;
calculating a time difference based on the current arrival time and the adjacent arrival time;
and screening a movable route with the minimum absolute value corresponding to the time difference, and defining the movable route as a final movable route for output.
4. A method of charging a lawn mower according to claim 3, further comprising a determination method of a final moving route if a current arrival time of a movable route corresponding to an absolute value of which a time difference is smallest is smaller than an adjacent arrival time, the method comprising:
screening a movable route with the current arrival time smaller than the adjacent arrival time, defining the movable route as a reasonable movement route, and defining a time difference corresponding to the reasonable movement route as a reasonable time difference;
calculating charging time based on the convertible electric quantity value and a preset conversion speed;
Determining a waiting time based on the reasonable time difference and the charging time;
when the waiting time is smaller than a preset time threshold without influencing, defining the reasonable moving route as a final moving route for outputting;
and searching for the adjacent area numbers again when the waiting time is larger than the time threshold value.
5. A method of charging a lawn mower as claimed in claim 3, further comprising a further method of determining a final travel path, the method comprising:
determining an intersection point position of the area based on the current working position, the adjacent working position and the residual mowing path;
determining a charging distance based on the charging time and the mowing speed;
calculating a charging path and a charging completion position based on the charging distance, the area intersection point position and the residual mowing path;
calculating a mobile charging route based on the adjacent working position, the region intersection position, the charging completion position, the charging route and the adjacent planned charging route;
calculating a mobile charge amount based on the mobile charge route and the unit mobile charge amount;
calculating a mobile conversion electricity quantity value based on the adjacent electricity quantity, the mobile charging electricity quantity, the current electricity quantity, the required electricity quantity and the interactive conversion rate;
and outputting the mobile charging route as a final mobile route when the mobile conversion power value is greater than 0.
6. The method of claim 5, further comprising the step of charging the mower if the mobile conversion power value is equal to 0, the method comprising:
updating the residual mowing path, the adjacent electric quantity and the current electric quantity based on the position of the area intersection point, defining the updated residual mowing path as the latest mowing path, defining the updated adjacent electric quantity as the latest adjacent electric quantity, and defining the updated current electric quantity as the latest current electric quantity;
determining the latest required electric quantity based on the latest mowing path, the unit mowing electric quantity, the planned charging path and the unit moving electric quantity;
calculating a residual charging route based on the position of the regional intersection point and the adjacent planned charging route;
determining the latest adjacent required electric quantity based on the remaining charging route and the unit mobile electric quantity;
when the latest adjacent electric quantity is larger than the latest required electric quantity, mowing the mowing machines corresponding to the mowing area numbers to the area intersection point position according to the planned mowing path, linearly moving the mowing machines corresponding to the adjacent area numbers to the area intersection point position, and then moving the mowing machines corresponding to the mowing area numbers to the charging devices in the areas corresponding to the adjacent area numbers according to the residual charging route to charge, wherein the mowing machines corresponding to the adjacent area numbers mow according to the latest mowing path.
7. The method for charging a mower according to claim 6, wherein when the latest adjacent electric quantity is larger than the latest required electric quantity, moving the mower corresponding to the mowing area number to a charging device in an area corresponding to the adjacent area number for charging according to the remaining charging route when the latest current electric quantity is larger than the latest adjacent required electric quantity, and mowing the mower corresponding to the adjacent area number according to the latest mowing path comprises:
calculating an adjacent return charging path based on the planned charging path and the adjacent planned charging path;
determining an adjacent return demand charge based on the latest mowing path, the unit mowing charge, the adjacent return charge path, and the unit travel charge;
calculating a return charging route based on the area intersection point position and the planned charging route;
determining a return required power amount based on the return charging route and the unit moving power amount;
when the latest adjacent electric quantity is larger than the adjacent return required electric quantity, mowing the mowing machine corresponding to the mowing area number to the area intersection point position according to the planned mowing path, linearly moving the mowing machine corresponding to the adjacent area number to the area intersection point position, then moving the mowing machine corresponding to the mowing area number to a charging device in the area corresponding to the mowing area number according to the return charging route to charge, mowing the mowing machine corresponding to the adjacent area number according to the latest mowing path, and then returning to charge according to the adjacent return charging path.
8. A mower charging system, comprising:
the acquisition module is used for acquiring the current electric quantity, the current working position, the adjacent electric quantity and the adjacent working position;
a memory for storing a program of a control method of a mower charging method according to any one of claims 1 to 7;
a processor, a program in a memory being loadable by the processor and implementing a control method of a mower charging method according to any one of claims 1 to 7.
9. Intelligent terminal, characterized in that it comprises a memory and a processor, on which a computer program is stored which can be loaded by the processor and which performs a method for charging a lawn mower according to any one of claims 1 to 7.
10. Computer readable storage medium, characterized in that it stores a computer program that can be loaded by a processor and that performs a method of charging a lawn mower according to any one of claims 1 to 7.
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| CN202311552836.8A CN117561869B (en) | 2023-11-20 | Mower charging method, mower charging system, storage medium and intelligent terminal |
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| CN202311552836.8A CN117561869B (en) | 2023-11-20 | Mower charging method, mower charging system, storage medium and intelligent terminal |
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