US 11,940,813 B2
Mower fleet management device, method, and system
Jiafu Xue, Changzhou (CN); Shiyuan Ding, Changzhou (CN); Jing Wang, Changzhou (CN); Qunli Wei, Changzhou (CN); Hui Chen, Changzhou (CN); and Dongdong Shi, Changzhou (CN)
Assigned to Globe (Jiangsu) Co., Ltd., Changzhou (CN)
Filed by Globe (Jiangsu) Co., Ltd., Changzhou (CN)
Filed on May 20, 2021, as Appl. No. 17/326,308.
Claims priority of application No. 202010439031.2 (CN), filed on May 22, 2020.
Prior Publication US 2021/0365044 A1, Nov. 25, 2021
Int. Cl. G05D 1/02 (2020.01); A01D 34/00 (2006.01); G01C 21/00 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/0289 (2013.01) [A01D 34/008 (2013.01); G01C 21/3826 (2020.08); G05D 1/0022 (2013.01); G05D 1/0027 (2013.01); G05D 2201/0208 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A mower fleet management device configured to control a plurality of mowers to work in collaboration, each of the plurality of mowers comprising an on-board communication module, and an on-board positioning and navigation hardware, wherein the mower fleet management device comprises:
a map loading module configured to acquire a map of a working land for use by the on-board positioning and navigation hardware;
a control terminal communication module configured to wirelessly communicate with the on-board communication modules to acquire status information of the plurality of mowers or transmit a control command to the plurality of mowers, wherein the status information comprises at least one of charge amount of battery, speed and mowing widths of the plurality of mowers; and
a working region assigning module configured to assign a working region to each of the plurality of mowers according to the status information and the map; wherein the on-board positioning and navigation hardware of each of the plurality of mowers is configured to guide each mower to work in the working region assigned by the working region assigning module,
wherein the working region assigning module comprises a working area estimation unit and a path generation unit, the working area estimation unit is configured to estimate a working area value of each of the mowers according to the status information, and the path generation unit is configured to generate a working path according to the estimated working area value and the map of the working land,
when a sum of the estimated working area values of all of the mowers is less than an area value of the working land, the working region assigning module transmits a prompt message;
wherein, an estimation equation for the working area is:
Simax=Bi*SOCi*Ki, or
Simax=(Bimin−Biback)*SOCi*Ki, or
Simax=(Bimin−Biback)*SOCi*Ki*(1−Fi),
wherein Simax is an estimated working area of an ith mower, Bi is a current battery percentage of the battery of the ith mower, and Ki is a ratio of a mowing area to power consumption of the ith mower, SOCi is a full charge of a battery of the ith mower, Bimin is a preset minimum battery percentage for the battery of the ith mower, Biback is a preset back battery percentage according to a distance between a position of the mower when work completed and a starting point, Fi is a preset re-mowing rate for the ith mower.