CN108829103A - Control method, weeder, terminal, equipment and the storage medium of weeder - Google Patents

Control method, weeder, terminal, equipment and the storage medium of weeder Download PDF

Info

Publication number
CN108829103A
CN108829103A CN201810622785.4A CN201810622785A CN108829103A CN 108829103 A CN108829103 A CN 108829103A CN 201810622785 A CN201810622785 A CN 201810622785A CN 108829103 A CN108829103 A CN 108829103A
Authority
CN
China
Prior art keywords
weeder
control
control instruction
working region
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810622785.4A
Other languages
Chinese (zh)
Inventor
杨生
董俊川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongjun New Energy Co ltd
Original Assignee
Miaso Solar Technologies Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Miaso Solar Technologies Ltd filed Critical Miaso Solar Technologies Ltd
Priority to CN201810622785.4A priority Critical patent/CN108829103A/en
Publication of CN108829103A publication Critical patent/CN108829103A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • 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
    • H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
    • H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
    • 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]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping

Abstract

This application involves a kind of control method of weeder, weeder, terminal, equipment and storage mediums.The method includes：Weeding machine testing waits for the environmental information of working region；The weeder sends the environmental information；The weeder receives the control instruction generated according to the environmental information；The weeder is described to execute corresponding operation according to the control instruction in working region.Using this method, participated in without staff, to save a large amount of human resources.

Description

Control method, weeder, terminal, equipment and the storage medium of weeder
Technical field
This application involves fields of communication technology, more particularly to a kind of control method of weeder, weeder, terminal, set Standby and storage medium.
Background technique
Weeder is also known as grass trimmer, grass mower, lawn mower etc., weeder be it is a kind of for cutting the grass on a lawn, vegetation etc. Machine tool, since it brings great convenience to the weeding work that gardens, agricultural or family afforest, using wide It is general.
Currently, common weeder has auto-manual system weeder, drag type weeder, pusher line weeder, sitting type Weeder, tractor mounted weeder etc., these weeders need staff to participate in when working, for example, staff opens Weeder is opened, pushes weeder to carry out weeding, controls the direction of weeder, the broken grass of manual cleaning weeder etc..
However, above-mentioned weeder needs to expend a large amount of human resources.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide a kind of control of weeder that can save human resources Method, weeder, terminal, equipment and storage medium.
In a first aspect, the application provides a kind of control method of weeder, the method includes：
Weeding machine testing waits for the environmental information of working region；
The weeder sends the environmental information；
The weeder receives the control instruction generated according to the environmental information；
The weeder is described to execute corresponding operation according to the control instruction in working region.
Second aspect, the application provide a kind of control method of weeder, including：
Terminal receives environmental information；
The terminal analyzes the environmental information, generates control instruction；
The terminal sends the control instruction, to control weeder described to refer in working region according to the control It enables and executes corresponding operation.
The third aspect, the application provide a kind of control method of weeder, including：
After terminal receives the trigger action of input, log-in interface is shown by the display device of the terminal；
The terminal receives the authentication information of input, and carries out proof of identity according to the authentication information；
If receiving by the display device display control interface of the terminal by proof of identity and responding input For controlling the control instruction of weeder work.
Fourth aspect, the application provide a kind of weeder, including：
Module is obtained, for detecting the environmental information to working region；
Sending module, for sending the environmental information；
Receiving module, for receiving the control instruction generated according to the environmental information；
Processing module is used for described to execute corresponding operation according to the control instruction in working region.
5th aspect, the application provide a kind of terminal, including：
Receiving module, for receiving environmental information；
Generation module generates control instruction for analyzing the environmental information；
Sending module, for sending the control instruction, to control weeder described to basis in working region The control instruction executes corresponding operation.
6th aspect, the application provide a kind of terminal, including：
Display module after the trigger action for receiving input for terminal, is shown by the display device of the terminal and is stepped on Lithosphere face；
Correction verification module, authentication information for receiving input, and proof of identity is carried out according to the authentication information；
Respond module receives for the display device display control interface by the terminal and responds being used for for input Control the control instruction of weeder work.
7th aspect, the application provide a kind of weeding machine equipment, including memory and processor, and the memory is stored with The step of computer program, the processor realizes first aspect the method when executing the computer program.
Eighth aspect, the application provide a kind of computer equipment, including memory and processor, and the memory is stored with The step of computer program, the processor realizes second aspect the method when executing the computer program.
9th aspect, the application provide a kind of computer equipment, including memory and processor, and the memory is stored with The step of computer program, the processor realizes the third aspect the method when executing the computer program.
Tenth aspect, the application provide a kind of computer readable storage medium, are stored thereon with computer program, the meter The step of method described in first aspect is realized when calculation machine program is executed by processor.
Tenth on the one hand, and the application provides a kind of computer readable storage medium, is stored thereon with computer program, described The step of method described in second aspect is realized when computer program is executed by processor.
12nd aspect, the application provides a kind of computer readable storage medium, is stored thereon with computer program, described The step of method described in the third aspect is realized when computer program is executed by processor.
Control method, weeder, terminal, equipment and the storage medium of above-mentioned weeder, weeder are detected to working region Environmental information, and send environmental information, receive the control instruction generated according to environmental information, weeder is in working region Corresponding operation is executed according to control instruction, environmental information can be analyzed automatically, weeder is controlled by control instruction Work is participated in without staff, to save a large amount of human resources.
Detailed description of the invention
Fig. 1 is the application environment schematic diagram of the control method of weeder in one embodiment；
Fig. 2 is a kind of flow chart of the control method for weeder that one embodiment of the application provides；
Fig. 3 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Fig. 4 is the schematic diagram to working region that the application one embodiment provides；
Fig. 5 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Fig. 6 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Fig. 7 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Fig. 8 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Fig. 9 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Figure 10 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Figure 11 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Figure 12 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Figure 13 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Figure 14 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Figure 15 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Figure 16 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Figure 17 is a kind of flow chart of the control method for weeder that another embodiment of the application provides；
Figure 18 is a kind of flow chart of the control method for weeder that the another embodiment of the application provides；
Figure 19 is the log-in interface schematic diagram that one embodiment of the application provides；
Figure 20 is the control interface schematic diagram that one embodiment of the application provides；
Figure 21 is a kind of block diagram for weeder that one embodiment of the application provides；
Figure 22 is a kind of block diagram for terminal that one embodiment of the application provides；
Figure 23 is a kind of block diagram for terminal that another embodiment of the application provides；
Figure 24 is a kind of block diagram for terminal that another embodiment of the application provides；
Figure 25 is a kind of block diagram for terminal that the another embodiment of the application provides；
Figure 26 is the internal structure chart of computer equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not For limiting the application.
The control method of weeder provided by the present application can be applied in application environment as shown in Figure 1.Wherein, eventually End 1 is communicated by wireless network with weeder 2, weeder 3, weeder 4, and wireless network can be bluetooth, wireless local area Net (WLAN), 2G network, 3G network, 4G network, 5G network etc..Wherein, terminal 102 can be, but not limited to be various individual calculus Machine, laptop, smart phone, tablet computer and portable wearable device, weeder 2, weeder 3, weeder 4 have There is wireless communication function.Three weeders are shown in Fig. 1, also may include a weeder in the application environment, for example, A weeder may be needed in the garden working region Deng little of family, which can also be farm, forest farm, herds Etc. large-scale working region may include greater number of weeder in these large-scale working regions, multiple weeders can be with By a terminal control, can also be limited in the application with Fig. 1 by more terminal controls.
Fig. 2 is a kind of flow chart of the control method for weeder that one embodiment of the application provides.The execution master of this method Body is the weeder in scene shown in Fig. 1, as shown in Fig. 2, this approach includes the following steps：
Step 101, weeding detect the environmental information to working region.
In the present embodiment, working region can need for the small garden of family, Urban Parks, large-scale farm, forest farm, pasture etc. Want the place of weeder.Environmental information may include that plant information in workplace, weeds height, topography information, light are strong The information such as degree, temperature, humidity.Various types of sensors can be installed to obtain environmental information, for example, in weeding on weeder Mounting temperature sensor obtains temperature information on machine, and light sensor is installed on weeder and obtains light information, in weeder Upper installation imaging sensor obtains the image information etc. to working region.Can also be arranged in working region it is a plurality of types of Sensor, sensor send the data to weeder, for example, infrared sensor is arranged in working region, weeder is connect Receive the infrared signal that infrared sensor issues.
Step 102, weeder send environmental information.
In the present embodiment, after weeder gets environmental information, environmental information can be sent to the equipment such as terminal, Alternatively, the environmental information to working region detected is sent to the place of weeder by the various kinds of sensors for being also possible to weeder Manage device.When weeder needs environmental information being sent to terminal, weeder can send environmental information periodically or in real time, It is also possible to after receiving the acquisition of information instruction of the equipment such as terminal transmission, reports the environment in current or preset time period Information.When the environmental information to working region detected is sent to the processor of weeder by the various kinds of sensors of weeder When, sensor actively can send environmental information to processor in real time, be also possible to control each sensor by processor and report Environmental information.
Step 103, weeder receive the control instruction generated according to environmental information.
In the present embodiment, it is alternatively possible to be terminal receive weeder send working region environmental information after, The environmental information is analyzed, control instruction is generated, for example, terminal is according to the weeds location information in environmental information, work Current location information of the road information in region, the location information of other objects, weeder etc. generates control instruction, and weeder is pressed Weeds are removed according to the control instruction.Alternatively, terminal generates control according to the location information of humidity information, plant in environmental information Instruction, control weeder are plant watering etc. according to control instruction.Alternatively it is also possible to be the processor of weeder according to environment The control instruction that information generates.
Step 104, weeder execute corresponding operation according to control instruction in working region.
In the present embodiment, weeder receives the control instruction that terminal is sent, according to the control instruction to working region Middle execution corresponding operation, alternatively, weeder executes corresponding operation according to the control instruction that the processor of itself generates.Example Such as, weeder according to control instruction can remove weeds, for plant watering etc. operation.
It should be noted that being sent out in the present embodiment to terminal in the scene that environmental information is sent to terminal by weeder The weeder for sending the weeder of environmental information and receiving the control instruction of terminal can be the same weeder, can also be different Weeder.For example, terminal receives the environmental information of the transmission of weeder 1, terminal can control the work of weeder 1, can also control Weeder 2 and/or weeder 3 work processed, works together alternatively, terminal can also control three weeders simultaneously.Also, terminal Control instruction can be sent to multiple weeders simultaneously, the content for the control instruction that each weeder receives is identical or different, That is, multiple weeders may be performed simultaneously identical task, different tasks also may be performed simultaneously.
The control method of weeder provided by the embodiments of the present application, weeder detect the environmental information to working region, and Environmental information is sent, receives the control instruction generated according to environmental information, weeder is in working region according to control instruction Corresponding operation is executed, environmental information can be analyzed automatically, weeder work is controlled by control instruction, is not necessarily to work Personnel participate in, to save a large amount of human resources.
In the biggish scene of area that gardens, the grassland of some large sizes wait working region, to possible in working region Multiple weeders can be set, then terminal can control different weeders by control instruction and execute corresponding operation.Optionally, On the basis of embodiment shown in Fig. 2, if in control instruction further including device identification, " weeder is to workspace for step 104 Corresponding operation is executed according to the control instruction in domain ", including：Weeder parses control instruction, obtains device identification；If removing Careless machine determines that the self identification of device identification and weeder matches, then controls weeder and referred in working region according to control It enables and executes corresponding operation.
In the present embodiment, after weeder receives the control instruction that terminal is sent, by the equipment mark in the control instruction Know and match with the self identification of weeder, if weeder determines that device identification matches with self identification, is referred to according to control It enables and executes corresponding operation.
Wherein, the self identification of device identification and weeder corresponds, and control instruction can control a weeder work Make, multiple weeder work can also be controlled simultaneously.For example, when terminal determines one weeder work of needs, control instruction One device identification of middle addition can be added more when terminal determines, and multiple weeders is needed to work at the same time in control instruction A device identification.
The method of the present embodiment, in the workplaces such as large-scale playground, gardens, terminal can control multiple weedings simultaneously Machine work, also, terminal Portable device can also identify in control instruction, so that specified weeder work, improves weeding The working efficiency of machine.
In one embodiment, control instruction includes weeder to the motion profile in working region, then step 204 " weeder is described to execute corresponding operation according to control instruction in working region ", including：The weeder is according to It works to the motion profile in working region.
Wherein, motion profile can be weeder and analyze environmental information, and the weeder cooked up is to workspace Motion profile in domain believes environment by terminal alternatively, motion profile, which is also possible to weeder, is sent to terminal for environmental information Breath is analyzed, and the weeder cooked up is to the motion profile in working region.
For example, weeder goes to cut weeds according to the motion profile if the motion profile is the track cut weeds, or Person, if the motion profile is the motion profile of watering, weeder moves to the position of plant to be watered according to the motion profile, For plant watering.
It may include different types of information in the embodiment of the present application, in environmental information, weeder can be by different Sensor obtains environmental information, can also be according to different types of environmental information programming movement track, in a manner of one, side below For formula two, mode three, the method that rule obtain environmental information is discussed in detail.
Mode one：It include positioning signal in environmental information.
On the basis of embodiment shown in Fig. 2, as shown in figure 3, " weeding is detected to be believed step 101 to the environment of working region Breath ", including：
Step 201, weeder detect the positioning signal to working region by sensor.
In the present embodiment, some alignment sensors can be set in working region, and alignment sensor can be sent Positioning signal, weeder can receive positioning signal.As shown in figure 4, can be in weeder 22 to be set in working region 24 Multiple alignment sensors 21 are set, after weeder 22 receives the positioning signal that each alignment sensor 21 is sent, by positioning signal As environmental information.
Step 202, weeder plan weeder to the motion profile in working region according to location information.
In the present embodiment, weeder can also plan weeder to the movement in working region according to the positioning signal Track.For example, to working region boundary, near barrier, pool edge equipotential install infrared sensor, laser Sensor etc., these sensors can issue signal in real time, and weeder can determine the position of alignment sensor according to positioning signal It sets, according to the position programming movement track of alignment sensor, according to motion profile.As shown in figure 4, can be true according to positioning signal The position of each alignment sensor 21 is made, thus programming movement track 24.
In the present embodiment, weeder detects the positioning signal to working region by sensor, can also be believed according to positioning Breath planning weeder allows weeder to work according to motion profile, ensure that and remove to the motion profile in working region The reliability of careless machine.
Mode two：It include image information in environmental information.
On the basis of embodiment shown in Fig. 2, as shown in figure 5, " weeding is detected to be believed step 101 to the environment of working region Breath ", including：
Step 301, weeder are acquired by image capture device to the image information in working region.
In the present embodiment, image information of the imaging sensor acquisition to working region, example can be set on weeder Such as, camera is set on weeder, the image information to working region is shot by camera.It is alternatively possible in weeding Different location on machine installs multiple cameras, to shoot the image of the working region under different perspectives.
Step 302, weeder plan weeder in the motion profile in working region according to image information.
In the present embodiment, weeder analyzes image information, plans movement rail of the weeder in working region Mark.Optionally, weeder can use image recognition technology, be identified according to image information to weeds, and determine weeds Location information, according to the location information of weeds plan weeder motion profile.For example, weeder can be according to the leaf of plant Son, stem, the shape spent etc. identify weeds, and the position of weeds is oriented further according to image information, is advised according to the position of weeds Draw the motion profile of weeder.Optionally, weeder can also be using stone, the vehicle in image recognition technology identification image information , pedestrian, animal, the barriers such as pool location information, the motion profile of weeder is planned according to the location information of barrier, Weeder can be enabled to avoid barrier automatically.
In the present embodiment, weeder is acquired by image capture device to the image information in working region, can be with root According to image information planning weeder in the motion profile in working region, enable weeder according to motion profile work Make, improves the accuracy and reliability of weeder weeding.
Mode three：It include remaining capacity in environmental information.
On the basis of embodiment shown in Fig. 2, as shown in fig. 6, " weeding is detected to be believed step 101 to the environment of working region Breath ", including：
The remaining capacity of step 401, weeding machine testing itself.
In the present embodiment, electric quantity detection apparatus can be set on weeder, the surplus of weeder can be detected in real time Remaining electricity.For example, electric quantity detection apparatus detects remaining capacity in the battery of weeder, or alternatively, electric quantity detection apparatus in real time Remaining capacity in the battery of weeder can also periodically be detected.
Step 402, weeder determine whether the remaining capacity of weeder is less than or equal to default power threshold, if so, raw At the environmental information including remaining capacity.
In the present embodiment, the remaining capacity of weeder real-time detection itself, and by remaining capacity and default power threshold It makes comparisons, when remaining capacity is less than or equal to preset threshold, generates the environmental information including remaining capacity.Optionally, when removing When careless machine determines that the remaining capacity of weeder is less than or equal to default power threshold, weeder can also export charge reminder letter Breath, the charge reminder information can be the forms such as short message, mail, voice, prompt tone.User receive the charge reminder information it Afterwards, it is timely weeder charging, alternatively, user indicates that the weeder of not enough power supply stops working by terminal, then controls electricity The sufficient weeder work of amount.
The control method of weeder provided in this embodiment, the remaining capacity information of weeding machine testing itself, determines weeding Whether the remaining capacity of machine is less than or equal to default power threshold, if so, generating the environmental information including remaining capacity, weeder Corresponding operation can be made according to the remaining capacity in environmental information, for example, prompt user is weeder charging, avoid and remove The problem of careless machine can not be worked due to not enough power supply improves the high efficiency of weeder work.
In the embodiment of the present application, weeder is in addition to that can generate control instruction according to environmental information to control weeder execution Except corresponding operation, solar charging device can also be installed on weeder, solar power generation be carried out, separately below to scheme For 7- Fig. 8, the specific implementation that terminal control weeder utilizes solar energy equipment power generation is introduced respectively.
Fig. 7 is a kind of flow chart of the control method for weeder that another embodiment of the application provides.The present embodiment is related to Be control weeder on solar charging device power generation implementation.As shown in fig. 7, this method includes：
Step 501, weeder receive the first charging instruction.
In the present embodiment, the first charging instruction is used to indicate weeder control solar charging device and charges.It can Selection of land, which can be terminal and determine generates when the motion state of weeder meets the first preset operating conditions Instruction, alternatively, this first serve as instruction can be weeder determine itself motion state meet the first preset operating conditions when The instruction of generation.Optionally, the first operation preset condition may include the remaining capacity of weeder less than the first power threshold.Example Such as, it when judging the remaining capacity of weeder in terminal or weeder lower than preset first power threshold, generates the first charging and refers to It enables, wherein the first power threshold is less than the default power threshold in above-mentioned steps 402.
Step 502, weeder control solar charging device and charge to weeder according to the first charging instruction.
In the present embodiment, it can be judged whether to need to carry out solar recharging to weeder according to environmental information, if so, The first charging instruction is generated, weeder controls solar charging device and charge to weeder according to the first charging instruction, can To guarantee that weeder has sufficient electricity, moreover, solar recharging is more environmentally friendly, weeder can also be by solar charging Denso The power output set is used to other equipment, improves the utilization rate of weeder.
Optionally, if solar charging device includes folding multiple solar panels, the electricity of weeder it is lower or Person's weeder can not connect in the scenes such as cable power, and can control the solar panels expansion progress day sun folded can generate electricity. As shown in fig. 7, this method further includes：
Step 503, weeder receive the second charging instruction.
In the present embodiment, the solar energy equipment of weeder may include multiple solar-powered collapsible plates, when weeder When state meets the second preset operating conditions, the second charging instruction is generated.Second charging instruction, which can be terminal and detect, to be removed The operating status of careless machine generates and sends when meeting the second preset operating conditions to the instruction of weeder, is also possible to weeder The instruction that processor is generated when the operating status for detecting itself meets the second preset operating conditions.Optionally, second is default Service condition may include that the remaining capacity of weeder is less than preset second power threshold, which is less than above-mentioned The first power threshold；Alternatively, the second preset operating conditions may include that the charge volume of weeder is not able to satisfy the need of electricity consumption It asks.For example, weeder detects that the remaining capacity of itself when lower electricity, generates the second charging less than preset second power threshold Instruction；Alternatively, weeder detect current charge volume be unable to satisfy the current electricity consumption of weeder and it is standby when, generate second Charging instruction.
According to the second charging instruction, control expansion solar-powered collapsible plate generates electricity, and is for step 504, weeder Weeder power supply.
In the present embodiment, step 503- step 504 can sequentially be executed with step 501- step 502, can also be held parallel Row.
In the present embodiment, according to the second charging instruction, the solar panels that control expansion has folded generate electricity weeder, And it powers for weeder.Optionally, the electric energy that weeder can generate solar panels supplies weeder, and weeder can also incite somebody to action Too can plate generate electric energy store into battery, the electric energy in the battery can for weeder power, or it is other Equipment power supply.The battery can be a part of solar charging device.For example, weeder can use solar energy ability daytime Device charging, electric energy is stored in battery, and battery is the weeder power supply in work.
In the embodiment of the present application, step 501-504 can be executed with the step 101-104 sequence in Fig. 2, can also be parallel It executes, the present embodiment is without restriction for the sequential relationship between the step 101-104 in step 501-504 and Fig. 2.
The electricity of weeder is lower or weeder can not connect the electricity mistake that cable power or weeder need In the scenes such as big, weeder can also include receiving grass with random, receive grass with being provided with solar charging device on random, can be with Control receives grass with the solar charging device power generation on random.As shown in figure 8, after step 502, this method can also wrap It includes：
Step 505, weeder receive third charging instruction.
In the present embodiment, weeder can also be arranged with random, with being provided with day sun energy charging unit on random, work as weeding When the state of machine meets third preset operating conditions, third charging instruction is generated.The third charging instruction can be terminal detection It generates and sends when meeting third preset operating conditions to the operating status of weeder to the instruction of weeder, is also possible to weeding The instruction that the processor of machine is generated when the operating status for detecting itself meets third preset operating conditions.Optionally, third Predetermined movement condition may include third power threshold, which is less than above-mentioned second power threshold, alternatively, third Predetermined movement condition may include that the remaining capacity of weeder is 0, alternatively, being connected to other electrical equipments etc. on weeder. For example, generating third charging instruction when weeder detects the remaining capacity of itself less than preset third power threshold；Or Person generates third charging instruction when weeder detects that the remaining capacity of itself is 0；Alternatively, weeder detects that itself is connected Other electrical equipments when needing very big electricity consumption, generate third charging instruction.
According to third charging instruction, control receives grass with the upper solar charging device being arranged at random and is for step 506, weeder Weeder power supply.
In the present embodiment, third charging instruction is used to indicate weeder control and receives grass with the upper solar charging being arranged at random Denso is set to weeder power supply.The receipts grass of weeder is with that can also be arranged solar charging device at random, when detecting weeding When the operating status of machine meets third preset operating conditions, third charging instruction is generated, weeder is according to third charging instruction control System receives grass with the solar charging device power generation on random.
In the present embodiment, step 505- step 506 can sequentially be executed with step 501- step 502, can also be held parallel Row.
In the present embodiment, various sun charging units can be installed on weeder and carry out solar power generation.Work as weeder It when receiving various charging instructions, controls various solar charging devices and charges, when weeder not enough power supply, can make The electric energy of solar charging device can be stored with the electric energy of solar charging device when weeder electricity abundance, It is used at night or not enough power supply, alternatively, weeder can also give the power output of solar charging device to other equipment It uses.Moreover, the solar charging device can be set on weeder, it also can be set and receiving grass on random, solar energy Charging unit can also use a variety of solar panels patterns, flexible and changeable, improve the charge efficiency of weeder.
Further, weeder according to motion profile weeding, control weeder using solar charging electric equipment in addition to being generated electricity Except, weeder can also be controlled and execute more operations, for example, it is also possible to which small-sized water tank is arranged on weeder, controlled Weeder is plant watering, alternatively, receipts grass can also be controlled with pouring out broken grass etc. automatically at random, introducing weeder separately below is Plant watering and the implementation for pouring out broken grass automatically.
Fig. 9 is a kind of flow chart of the control method for weeder that another embodiment of the application provides.The present embodiment is related to Mainly control weeder receipts grass with pouring out the implementation method of broken grass automatically at random, in the base of above-mentioned embodiment illustrated in fig. 2 On plinth, as shown in figure 9, the step 101 " environmental information that weeding machine testing waits for working region " in Fig. 2 includes：
Step 601, weeding machine testing receive grass with random load capacity.
In the present embodiment, receipts grass can also be set with random, receipts grass with that can collect weeding automatically at random on weeder The broken grass of machine, receive grass at random it is upper pressure sensor can also be set detect receive it is careless with random load capacity.
Step 602, when load capacity is greater than default load threshold, generate include excess load prompting message environmental information.
In the present embodiment, when receipts grass is greater than default load threshold with random load capacity, excess load can be generated and mention Awake information, and excess load prompting message is carried in environmental information.The excess load prompting message is for prompting to receive grass with random Excess load needs to clear up and receives grass with the broken grass in random.The default load threshold can be careless with random capacity, reality according to receiving Load capacity etc. determines, without restriction in the embodiment of the present application.
Above-mentioned excess load prompting message is needed to clear up and receives grass with broken in random for prompting to receive grass with random excess load Therefore, in the control instruction of generation grass may include broken careless location information, then " weeder is wait work for the step 204 in Fig. 2 Corresponding operation is executed according to control instruction in region " include：Weeder moves to specified position according to broken careless location information, Control, which is removed, receives grass with the broken grass in random.
In the present embodiment, it after weeder receives the control instruction including broken careless location information, obtains in control instruction Broken careless location information, and move to the position of the specified broken grass of stacking of broken careless location information, control is received careless with pouring out receipts at random Grass is with the broken grass in random.
The control method of weeder provided by the embodiments of the present application, weeding machine testing receive grass with random load capacity, negative When carrying capacity is greater than default load threshold, the environmental information including excess load prompting message is generated, and according to broken in control instruction Careless location information, moves to the position for the broken grass of stacking that broken careless location information is specified, and control is received grass and followed with pouring out receipts grass at random Broken grass in machine can timely and conveniently clear up broken grass.
Optionally, if in control instruction including the location information and irrigation amount information of plant to be watered, the step in Fig. 2 104 " weeder is in working regions according to control instruction execution corresponding operation " include：Weeder is according to plant to be watered Location information move to the position of plant to be watered, and be that the plant to be watered is watered according to the irrigation amount information.
In the present embodiment, water tank can also be set on weeder, and weeder can also water for plant, the body of water tank Product can be arranged according to actual needs, but cannot influence the normal work of weeder.Terminal or weeder can be according to rings The location information of soil moisture and plant in the information of border determines the irrigation amount information and location information of plant to be watered, example Such as, when soil moisture is lower, some plants are easy water shortage, the location information of the plant of easy water shortage and irrigation amount can be believed Breath carries in control instruction, after weeder gets control instruction, parses the control instruction, obtains plant to be watered Location information and irrigation amount information, weeder moves to the position of location information instruction, according to irrigation amount information wait water Plant watering.
In the present embodiment, weeder can also water for plant, the available idle period in weeder weeding process For plant watering, improve the utilization rate of weeder, save a large amount of human resources, moreover, terminal can detect automatically to The plant of watering avoids plant dead because of water shortage.
Figure 10 is a kind of flow chart of the control method for weeder that another embodiment of the application provides.The execution of this method Main body is the terminal in scene shown in Fig. 1, and the present embodiment is generated according to the environmental information that weeder is sent what is involved is terminal and controlled System instruction, to control the specific method of weeder work.As shown in Figure 10, this method may comprise steps of：
Step 701, terminal receive environmental information.
In the present embodiment, environmental information is the environmental information in the working region of weeder, and environmental information may include work Make the information such as plant information, weeds height, topography information, light intensity, temperature, the humidity in place.It can pacify on weeder Various types of sensors are filled to obtain environmental information, for example, mounting temperature sensor obtains temperature information on weeder, Light sensor is installed on weeder and obtains light information, imaging sensor is installed on weeder and obtains the image to working region Information etc..It can also be and a plurality of types of sensors are set in working region, sensor sends the data to weeder, example Such as, infrared sensor, the infrared signal that weeder receiving infrared-ray sensor issues are set in working region.
Step 702, terminal analyze environmental information, generate control instruction.
In the present embodiment, after terminal receives environmental information, which is analyzed, generates control instruction, For example, terminal according to the road information of weeds location information, working region in environmental information, other objects location information, Current location information of weeder etc. generates control instruction, and weeder removes weeds according to the control instruction.Alternatively, terminal according to The location information of humidity information, plant in environmental information generates control instruction, and control weeder is plant according to control instruction Watering etc..
Step 703, terminal send control instruction, execute phase according to control instruction to control weeder in working region The operation answered.
In the present embodiment, terminal can send control instruction to a determining weeder, be also possible to broadcast Control instruction is sent to all weeders in working region by form.The control instruction refers to for controlling weeder according to control It enables and executes corresponding operation, for example, weeder is removed according to control instruction if the control instruction is used to indicate weeder weeding Weeds, if the control instruction is used to indicate weeder and waters to plant, weeder is plant watering etc. according to control instruction.Eventually The environmental information that end can receive weeder transmission every time just generates a control instruction, is also possible to receive a plurality of environmental information Afterwards, comprehensive analysis is carried out to a plurality of environmental information, generates a control instruction.
The control method of weeder provided by the embodiments of the present application, terminal receive environmental information, divide environmental information Analysis generates control instruction, and sends control instruction, is executed accordingly with controlling weeder in working region according to control instruction Operation, terminal can automatically analyze environmental information, be worked by network-control weeder, join without staff With to save a large amount of human resources.
In the biggish scene of area that gardens, the grassland of some large sizes wait working region, to possible in working region Multiple weeders can be set, then terminal can be by carrying the device identification of weeder in control instruction to control different remove Careless machine executes corresponding operation.Optionally, if in control instruction including device identification, as shown in figure 11, embodiment illustrated in fig. 10 In step " generate control instruction " include：
Step 801, the device identification for determining weeder to be worked.
Wherein, device identification and the device identification of weeder correspond.
In the present embodiment, the corresponding relationship between each weeder and device identification can be pre-established, terminal receives After the environmental information that weeder reports, weeder to be worked is determined according to environmental information, further according to weeder and device identification Between corresponding relationship, determine the device identification of weeder to be worked.Optionally, terminal can determine a weeding to be worked Machine can also determine multiple weeders to be worked.
Step 802 adds the device identification in the control instruction, so as to which control instruction is sent to and equipment mark After knowing corresponding weeder, weeder carries out authentication according to the device identification.
In the present embodiment, control instruction can control a weeder job, can also control multiple weeder works simultaneously Make.For example, a device identification is added in control instruction, when terminal determines when terminal determines one weeder work of needs When multiple weeders being needed to work at the same time, multiple equipment mark can be added in control instruction.
The method of the present embodiment, in the workplaces such as large-scale playground, gardens, terminal can control multiple weedings simultaneously Machine work, also, terminal Portable device can also identify in control instruction, so that specified weeder work, improves weeding The working efficiency of machine.
Optionally, control instruction includes weeder in the motion profile in working region.In the embodiment of the present application, It may include different types of information in environmental information, terminal can plan the movement of weeder according to different environmental informations The method that terminal generates control instruction is discussed in detail below by taking Figure 12-Figure 17 as an example in track.
Figure 12 is a kind of flow chart of the control method for weeder that another embodiment of the application provides.The embodiment is related to Be terminal according to the motion profile of the positioning signal planning weeder in environmental information, to generate the realization side of control instruction Formula.On the basis of embodiment illustrated in fig. 10, as shown in figure 12, " terminal analyzes environmental information to step 702, generates control System instruction ", including：
Step 901 obtains the positioning signal to working region carried in environmental information.
In the present embodiment, some alignment sensors can be set in working region, and alignment sensor can be sent Positioning signal, weeder receive positioning signal, are sent to terminal using the positioning signal as environmental information.For example, to work Make the boundary in region, barrier nearby, pool edge equipotential install infrared sensor, laser sensor etc., these sensings Device can issue signal in real time, and the positioning signal received can be sent to terminal by weeder.As shown in figure 4, can be Weeder 22 to be arranged multiple alignment sensors 21 in working region 24, weeder 22 receives each alignment sensor 21 and sends Positioning signal after, be sent to terminal for positioning signal as environmental information.
Step 902 plans weeder to the motion profile in working region according to location information.
In the present embodiment, terminal can plan weeder to the movement rail in working region according to the positioning signal Mark.For example, to working region boundary, near barrier, pool edge equipotential install infrared sensor, laser sensing The position signal that these sensors issue is sent to terminal by device etc., weeder, and terminal is according to the position signal of alignment sensor Plan the motion profile of weeder.As shown in figure 4, the position of each alignment sensor 21 can be determined according to positioning signal, To programming movement track 24.
Step 903 generates control instruction according to the motion profile in working region.
In the present embodiment, terminal generates control instruction according to motion profile, for example, terminal can carry motion profile Be sent to weeder in control instruction, weeder according to control instruction instruct in motion profile move, complete corresponding behaviour Make.
In the present embodiment, terminal can also plan weeder in the movement rail in working region according to positioning signal The control instruction generated according to motion profile is sent to weeder by mark, so that weeder is according to the movement rail in control instruction Mark movement, completes corresponding operation, improves the accuracy and reliability of weeder weeding.
Figure 13 is a kind of flow chart of the control method for weeder that another embodiment of the application provides.The embodiment is related to To be terminal plan the motion profile of weeder according to image information to generate the implementation of control instruction.It is real shown in Figure 10 On the basis of applying example, as shown in figure 13, step 702 " terminal analyzes environmental information, generates control instruction ", including：
Step 1001, obtain environmental information in carry to the image information in working region.
In the present embodiment, image information of the imaging sensor acquisition to working region, example can be set on weeder Such as, camera is set on weeder, the image information to working region, the figure that weeder will acquire are shot by camera As information is sent to terminal as environmental information.It is alternatively possible to the different location on weeder installs multiple cameras, with Shoot the image of the working region under different perspectives.
Step 1002 plans weeder to the motion profile in working region according to image information.
In the present embodiment, terminal analyzes image information, plans motion profile of the weeder in working region. Optionally, terminal can use image recognition technology, be identified according to image information to weeds, and determine the position of weeds Information plans the motion profile of weeder according to the location information of weeds.For example, terminal can be according to the leaf, stem, flower of plant Deng shape identify weeds, the position of weeds is oriented further according to image information, weeder is planned according to the positions of weeds Motion profile.Optionally, terminal can also use image recognition technology to identify the stone in image information, vehicle, pedestrian, move The location information of the barriers such as object, pool plans the motion profile of weeder according to the location information of barrier, can to remove Careless machine can avoid barrier automatically.
In some scenes, image information can also be showed user by terminal, by user to the further school of motion profile Just.Optionally, as shown in figure 13, this method may also comprise the following steps:：
Step 1003, display export described image information and to the motion profiles in working region.
In the present embodiment, it after terminal gets the image information generation motion profile to working region, can also incite somebody to action It the image information and exports to the motion profile in working region to user, for example, terminal can be by display screen to user It shows image information and to the motion profile in working region, can also be exported by modes such as voice, brain waves to user.
Step 1004 is received according to described image information and to the motion profile of the motion profile input in working region Control information, and corrected according to the motion profile control information to the motion profile in working region.
In the present embodiment, user receives the image information of terminal display output and to the movement rail in working region It, can be to terminal input motion trajectory corrector information after mark.For example, user has found there is animal, user, vehicle in image information Etc. working region of entering, by the location information input terminal of the barriers such as animal, user, vehicle, terminal can according to animal, The position information correction motion profile of the barriers such as user, vehicle, so that weeder avoids animal, vehicle, user etc..It is optional Ground, user can be by inputting text at the terminal, clicking to terminal typing voice, on terminal touch screen, sliding, very To being by modes such as special gestures to terminal input motion trajectory corrector information.
In the present embodiment, terminal obtains the image information to working region in environmental information, is planned according to image information Motion profile, and show output described image information and to the motion profile in working region, receive user and believed according to image Breath and the motion profile control information inputted to the motion profile in working region, and according to the motion profile control information Correction allows user indoors or the place far from working region is easily long-range to the motion profile in working region Weeder work is controlled, facilitates user, the work of weeder improves efficiency also not dependent on user site.
Step 1005 generates control instruction according to the motion profile in working region.
In the present embodiment, terminal can also plan weeder in the movement rail in working region according to image information The control instruction generated according to motion profile is sent to weeder by mark, so that weeder is according to the movement rail in control instruction Mark movement, completes corresponding operation, improves the accuracy and reliability of weeder weeding.
Figure 14 is a kind of flow chart of the control method for weeder that another embodiment of the application provides.The embodiment is related to To be terminal generate according to the remaining capacity of weeder control instruction implementation.On the basis of embodiment illustrated in fig. 10, As shown in figure 14, step 702 " terminal analyzes environmental information, generates control instruction ", including：
If step 1011, environmental information include remaining capacity, determine whether remaining capacity is less than or equal to default electricity threshold Value.
In the present embodiment, weeder can be with the remaining capacity of real-time detection itself, and remaining capacity is carried in environment Terminal is sent in information.Terminal can make comparisons remaining capacity with default power threshold, judge whether remaining capacity is less than Or it is equal to default power threshold.
Step 1012, if so, determine weeder operating status meet the first preset operating conditions, then send first charging Instruction, to indicate that weeder control solar charging device charges.
In the present embodiment, it if terminal determines that the remaining capacity of weeder is less than or equal to default power threshold, is removing When the operating status of careless machine meets the first preset operating conditions, the first charging instruction is generated and sent, which is For control instruction.Optionally, the first operation preset condition may include the remaining capacity of weeder less than the first power threshold.Example Such as, it when judging the remaining capacity of weeder in terminal or weeder lower than preset first power threshold, generates the first charging and refers to It enables, wherein the first power threshold is less than the default power threshold in above-mentioned steps 1011.
In the present embodiment, terminal can according in environmental information remaining capacity and the first preset operating conditions judge whether It needs to carry out solar recharging to weeder, if so, generating the first charging instruction, weeder is according to the first charging instruction, control Solar charging device processed charges to weeder, it is ensured that weeder has sufficient electricity, moreover, solar recharging is more The environmental protection added, weeder can also use the power output of solar charging device to other equipment, improve weeder Utilization rate.
Optionally, if solar charging device includes folding multiple solar panels, the electricity of weeder it is lower or Person's weeder can not connect in the scenes such as cable power, and terminal can also control the solar panels expansion folded and carry out day sun energy Power generation.As shown in figure 14, this method further includes：
Step 1013, the operating status for detecting weeder.
Wherein, the operating status of weeder may include the states such as weeder work, standby, lower electricity.Terminal can basis Remaining capacity, image information in environmental information that weeder is sent etc. determines the operating status of weeder.For example, when remaining electricity When measuring very low, weeder can enter standby mode, and when remaining capacity is 0, weeder is in power-down state.
Step 1014, when operating status meet the second preset operating conditions when, send the second charging instruction, to control weeding The solar panels that machine expansion has folded generate electricity, and power for weeder.
In the present embodiment, it when terminal detects operating status the second preset operating conditions of satisfaction of weeder, generates And send the second charging instruction.Optionally, the second preset operating conditions may include the remaining capacity of weeder less than preset Second power threshold, second power threshold are less than the first above-mentioned power threshold；Alternatively, the second preset operating conditions can wrap The charge volume for including weeder is not able to satisfy the demand of electricity consumption.It is preset for example, terminal detects that the remaining capacity of weeder is less than The second power threshold and it is lower electricity when, generate the second charging instruction；Alternatively, weeder detects that current charge volume is unable to satisfy The current electricity consumption of weeder and it is standby when, generate the second charging instruction.
The electricity of weeder is lower or weeder can not connect the electricity mistake that cable power or weeder need In the scenes such as big, weeder can also include receiving grass with random, receive grass with being provided with solar charging device on random, terminal is also It can control and receive grass with the solar charging device power generation on random.As shown in figure 15, this method further includes：
Step 1015, the operating status for detecting weeder.
Step 1016, when operating status meets third preset operating conditions, send third charging instruction, with control receive grass It is weeder power supply with the upper solar charging device being arranged at random.
In the present embodiment, weeder can also be arranged with random, with being provided with day sun energy charging unit on random, work as terminal When detecting that the operating status of weeder meets third preset operating conditions, third charging instruction is generated and sent.Optionally, Three predetermined movement conditions may include third power threshold, which is less than above-mentioned second power threshold, alternatively, the Three predetermined movement conditions may include that the remaining capacity of weeder is 0, alternatively, being connected to other electrical equipments on weeder Deng.For example, generating third charging instruction when terminal detects that the remaining capacity of weeder is less than preset third power threshold； Alternatively, generating third charging instruction when terminal detects that the remaining capacity of weeder is 0；Alternatively, terminal detects that weeder connects Other electrical equipments are connect, when needing very big electricity consumption, generate third charging instruction.Weeder is controlled according to third charging instruction Grass is received with the solar charging device power generation on random.
In the present embodiment, various sun charging units can be installed on weeder and carry out solar power generation.Terminal can be with According to the operating status and preset operating conditions of the weeder detected, various charging instructions are generated, control various solar chargings Electric installation charges, and when weeder not enough power supply, the electric energy of solar charging device can be used, when weeder electricity fills When sufficient, the electric energy of solar charging device can be stored, be used at night or not enough power supply, alternatively, weeder is also The power output of solar charging device can be used to other equipment.Moreover, the solar charging device can be set On weeder, it also can be set and receiving grass on random, solar charging device can also use a variety of solar panels patterns, spirit Work is changeable, improves the charge efficiency of weeder.
Further, terminal is in addition to planning that the motion profile of weeder, control weeder utilize solar charging electric equipment to send out Except electricity, terminal can also control weeder and execute more operations, for example, it is also possible to which small-sized water is arranged on weeder Case controls weeder as plant watering, alternatively, receipts grass can also be controlled with pouring out broken grass etc. automatically at random, introduces separately below Terminal control weeder is the implementation that plant waters and pours out broken grass automatically.
Figure 16 is a kind of flow chart of the control method for weeder that another embodiment of the application provides.The embodiment is related to To be terminal generate according to the location information to plant to be watered in working region control instruction implementation.Shown in Figure 10 On the basis of embodiment, as shown in figure 16, step 702 " terminal analyzes environmental information, generates control instruction ", including：
Step 1021 determines the location information to plant to be watered in working region according to environmental information.
In the present embodiment, water tank can also be set on weeder, and weeder can also water for plant, the body of water tank Product can be arranged according to actual needs, but cannot influence the normal work of weeder.Terminal can be determined according to environmental information The location information of plant to be watered, for example, some plants are easy water shortage when soil moisture is lower, weeder can will be easy The location information of the plant of water shortage carries in environmental information, and terminal can be determined according to environmental information to be poured in working region The location information of water plant.
The irrigation amount information of step 1022, acquisition to plant to be watered in working region.
In the present embodiment, terminal can also obtain the irrigation amount information to plant to be watered in working region, for example, eventually End can determine irrigation amount information according to the soil moisture in environmental information, alternatively, terminal can be according to plant pair to be watered Irrigation amount information etc. is determined in horizontal demand.
Step 1023 generates control instruction according to the location information and irrigation amount information of plant to be watered.
In the present embodiment, terminal can generate control according to the location information and irrigation amount information of plant to be watered and refer to It enables, and control instruction is sent to weeder, location information and watering of the weeder according to the plant to be watered in control instruction Information is measured as plant watering.
In the present embodiment, terminal can also control weeder and water for plant, available in weeder weeding process Idle period is plant watering, improves the utilization rate of weeder, saves a large amount of human resources, moreover, terminal can be certainly The dynamic location information and irrigation amount information for detecting plant to be watered, avoids plant dead because of water shortage.
Figure 17 is a kind of flow chart of the control method for weeder that another embodiment of the application provides.The embodiment is related to To be terminal generate according to the excess load prompting message in environmental information control instruction implementation.In embodiment illustrated in fig. 10 On the basis of, as shown in figure 17, step 702 " terminal analyzes environmental information, generates control instruction ", including：
If in step 1031, environmental information including excess load prompting message, broken careless location information is obtained.
In the present embodiment, the excess load prompting message for prompt receive grass with random excess load, need to clear up receipts grass with Broken grass in random.When receipts grass is greater than default load threshold with random load capacity, excess load prompting message can be generated, and The carrying of excess load prompting message is sent to terminal in environmental information, terminal determines in environmental information to include that excess load reminds letter When breath, broken careless location information is obtained.The default load threshold can be true with random capacity, real load amount etc. according to grass is received It is fixed, it is without restriction in the embodiment of the present application.
Broken careless location information is added in control instruction by step 1032, for control instruction to be sent to weeder Afterwards, weeder control receives grass with moving to specified position according to broken careless location information at random, and removes receipts grass in random Broken grass.
In the present embodiment, broken careless location information carrying is sent to weeder by terminal in control instruction, and weeder connects After receiving the control instruction including broken careless location information, the broken careless location information in control instruction is obtained, and move to broken careless position The position of the specified broken grass of stacking of confidence breath, control receive grass and receive grass with the broken grass at random with pouring out at random.
The control method of weeder provided by the embodiments of the present application, if except including excess load prompting message in environmental information, Broken careless location information is obtained, broken careless location information is added in control instruction, and after control instruction is sent to weeder, is removed The control of careless machine receives grass and receives grass with the broken grass in random with moving to specified position according to broken careless location information at random, and removing, Broken grass can be timely and conveniently cleared up automatically.
Figure 18 is a kind of flow chart of the control method for weeder that the another embodiment of the application provides, and the present embodiment is related to To be user controlled by the user interface (Graphical User Interface, GUI) in terminal weeder realization side Formula, as shown in figure 18, this approach includes the following steps：
After step 1041, terminal receive the trigger action of user's input, is shown and logged in by the display device of the terminal Interface.
It is total in the present embodiment, when user needs through terminal control weeder, trigger action can be inputted to terminal, made It obtains terminal and shows log-in interface.The trigger action can be key, input voice, specific manipulator in user's click terminal Gesture etc..It can include but is not limited to the following contents on log-in interface：Text box, functionality controls, label, pattern, recording fingerprint mention Show information etc..
Step 1042, terminal receive the authentication information of input, and carry out proof of identity according to authentication information.
In the present embodiment, user input authentication information, the authentication information can be account, close on log-in interface The information such as code, name, telephone number, the pet name, ID card No..Terminal can according to the registration information of user to authentication information into Row verifying, if the authentication information of user's input is consistent with registration information, verification passes through, if not being consistent, verifies and does not pass through, eventually End can pop up the dialog box of " proof of identity failure " to user.As shown in figure 19, include on log-in interface account and name this two A text box.
If step 1043 is received and is responded defeated by the display device display control interface of terminal by proof of identity The control instruction to work for controlling weeder entered.
In the present embodiment, if the proof of identity of user passes through, terminal shows to user in the display area of display screen and controls Interface processed, user input control can instruct directly in control interface, and control instruction is sent to weeder by terminal, so that removing Careless machine executes corresponding operation according to control instruction.It optionally, include weeder in control instruction to the fortune in working region Dynamic rail mark.It may include weeder in the present embodiment, in control instruction to the motion profile in working region, terminal will control After instruction is sent to weeder, weeder can obtain the motion profile in control instruction, execute weeder according to the motion profile Make.
Optionally, as shown in figure 20, control interface may include at least one of following control：Information display control, Track control, weeding control, communication switch control, watering control, charging control, Input, image show control, equipment Identify control.Optionally, terminal instructs the next stage control interface into control interface depending on the user's operation, is existed according to user The spatial information selected in next stage control interface generates control instruction, for example, when the user clicks after device identification control, It include that multiple equipment identifies control, different device identification control generations into next stage control interface, in next stage control interface The different equipment of table, when the user clicks when device identification control in next stage control interface, in the control instruction that terminal generates Carry the device identification of weeder.
The control method of weeder provided by the embodiments of the present application passes through after terminal receives the trigger action of user's input The display device of the terminal shows log-in interface, and terminal receives the authentication information of input, and carries out identity according to authentication information Verification, if passing through the display device display control interface of terminal by proof of identity, receive and respond input for controlling The control instruction of weeder work, terminal provide GUI for user, and user can be communicated by GUI with terminal, to control weeding Machine work, improves the intelligence of human-computer interaction.
Optionally, trigger action includes：Slide in the navigation area of terminal, the pressing in the physical button in terminal Operation, the clicking operation on the virtual key of navigation area, at least one of long press operation of virtual key of navigation area. It, can be by the sliding in the navigation area of terminal, the physical button in terminal when user needs to operate terminal Pressing, the click on the virtual key of navigation area, long-pressing of virtual key of navigation area etc. operation etc., triggering log in boundary Face.
It should be noted that above-mentioned navigation area can be the virtual navigation area under Android system, it can also be apple system The mission area for being provided with the preset application such as short message, dialing under (iphone Operating System, hereinafter referred to as IOS) Column；When navigation area is the virtual navigation area under Android system, above-mentioned virtual key can be for function identical as physical button Can some virtual controls, such as " enter key (home) " of terminal, " return key (back) " etc.；When navigation area is IOS system Under the mission area column for being provided with the preset application such as short message, dialing when, virtual key may be the one of the mission area column A little virtual icons, which includes but is not limited to the preset application such as short message, dialing.Above-mentioned physical button refers in terminal Physical button.
It should be understood that although each step in the flow chart of Fig. 2-18 is successively shown according to the instruction of arrow, It is these steps is not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps There is no stringent sequences to limit for rapid execution, these steps can execute in other order.Moreover, in Fig. 2-18 at least A part of step may include that perhaps these sub-steps of multiple stages or stage are not necessarily in same a period of time to multiple sub-steps Quarter executes completion, but can execute at different times, the execution in these sub-steps or stage be sequentially also not necessarily according to Secondary progress, but in turn or can replace at least part of the sub-step or stage of other steps or other steps Ground executes.
Figure 21 is a kind of block diagram for weeder that one embodiment of the application provides, as shown in figure 21, including acquisition module 11, Sending module 12, receiving module 13 and processing module 14.
Module 11 is obtained, for detecting the environmental information to working region；
Sending module 12, for sending the environmental information；
Receiving module 13, for receiving the control instruction generated according to the environmental information；
Processing module 14 is used for described to execute corresponding operation according to the control instruction in working region.
The environmental information includes location information in one of the embodiments, and the acquisition module 11 is specifically used for logical Cross location information of the sensor detection to working region；Plan weeder described in working region according to the location information Motion profile.
The environmental information includes image information in one of the embodiments, and the acquisition module 11 is specifically used for logical It is described to the image information in working region to cross image capture device acquisition；According to described image information planning weeder described To the motion profile in working region.
The control instruction includes the weeder in the movement in working region in one of the embodiments, Track；Processing module 14 is specifically used for being worked according to described to the motion profile in working region.
The control instruction includes device identification in one of the embodiments, and processing module 14 is specifically used for parsing institute Control instruction is stated, the device identification is obtained；If it is determined that the device identification and the self identification of the weeder match, then Weeder is controlled described to execute corresponding operation according to the control instruction in working region.
The module 11 that obtains is specifically used for detecting the remaining capacity of itself in one of the embodiments,；Machine determines institute Whether the remaining capacity for stating weeder is less than or equal to default power threshold, if so, generating the environmental information including remaining capacity.
The weeder includes solar charging device in one of the embodiments, and the receiving module 13 is also used to Receive the first charging instruction；The processing module 14 is also used to control the solar energy according to first charging instruction Charging unit charges to the weeder.
The solar charging device includes folding multiple solar panels in one of the embodiments, described to connect It receives module 13 and is also used to receive the second charging instruction；The processing module 14 is also used to according to second charging instruction, control Expansion solar-powered collapsible plate generates electricity, and powers for the weeder.
The weeder includes receiving grass with random in one of the embodiments, and the receiving module 13 is also used to receive Third charging instruction；The processing module 14 is also used to according to the third charging instruction, controls the receipts grass with setting at random The solar charging device set is weeder power supply.
The weeder includes receiving grass with random in one of the embodiments, and the acquisition module 11 is specifically used for inspection The receipts grass is surveyed with random load capacity；When the load capacity is greater than default load threshold, generating includes that excess load reminds letter The environmental information of breath；The control instruction includes broken careless location information, and the processing module 14 is specifically used for according to the broken careless position Confidence breath moves to specified position, and control removes the grass of receiving with the broken grass in random.
It in one of the embodiments, include the location information and irrigation amount letter of plant to be watered in the control instruction Breath；The processing module 14 is specifically used for moving to the position of plant to be watered, and root according to the location information of plant to be watered It is the plant watering to be watered according to the irrigation amount information.
Figure 22 is a kind of block diagram of terminal provided by the embodiments of the present application, and as shown in figure 22, which includes receiving module 31, generation module 32, sending module 33.
Receiving module 31, for receiving environmental information；
Generation module 32 generates control instruction for analyzing the environmental information；
Sending module 33, for sending the control instruction, with control weeder it is described in working region according to institute It states control instruction and executes corresponding operation.
The generation module 32 in the acquisition environmental information specifically for carrying to work in one of the embodiments, Make the positioning signal in region；Plan weeder in the motion profile in working region according to the location information；According to The motion profile in working region generates control instruction.
The generation module 32 in the acquisition environmental information specifically for carrying to work in one of the embodiments, Make the image information in region；According to described image information planning weeder in the motion profile in working region；Root Control instruction is generated according to the motion profile in working region.
In one of the embodiments, as shown in figure 23, which further includes：Display module 34, for showing output institute State image information and to the motion profile in working region；The receiving module 31 is also used to receive according to described image information And the motion profile control information to the motion profile input in working region, it is corrected according to the motion profile control information To the motion profile in working region.
The generation module 32 is specifically used for determining the device identification of weeder to be worked in one of the embodiments,； The device identification is added in the control instruction, so as to which control instruction is sent to weeding corresponding with the device identification After machine, weeder carries out authentication according to the device identification.
The weeder includes solar charging device in one of the embodiments, and the generation module 32 is specifically used If including remaining capacity in the environmental information, determine whether remaining capacity is less than or equal to default power threshold；If so, determining The operating status of weeder meets the first preset operating conditions, then triggers sending module 33 and send the first charging instruction, with instruction Weeder control solar charging device charges.
The solar charging device includes folding multiple solar panels, such as Figure 24 in one of the embodiments, Shown, which further includes：Detection module 35, for detecting the operating status of weeder；The sending module 33 is also used to work as When the operating status meets the second preset operating conditions, the second charging instruction is sent, has been folded with to control weeder expansion Solar panels generate electricity, and power for the weeder.
The weeder includes receiving grass with random, the detection device 35 in one of the embodiments, is removed for detecting The operating status of careless machine；The sending module 33 is also used to when the operating status meets third preset operating conditions, is sent Third charging instruction, to control the receipts grass with the upper solar charging device being arranged at random as weeder power supply.
The generation module 32 is specifically used for being determined according to the environmental information to workspace in one of the embodiments, The location information of plant to be watered in domain；Obtain the irrigation amount information to plant to be watered in working region；It is planted according to wait water The location information and irrigation amount information of strain generate the control instruction.
If the generation module 32 is specifically used for mentioning in the environmental information including excess load in one of the embodiments, Awake information obtains broken careless location information；The broken careless location information is added in the control instruction, for by the control After system instruction is sent to weeder, weeder control receives grass with moving to specified position according to the broken careless location information at random It sets, and removes the grass of receiving with the broken grass in random.
Figure 25 is a kind of block diagram for terminal that another embodiment of the application provides, and as shown in figure 25, which includes display Module 41, correction verification module 42 and respond module 43.
Display module 41 after the trigger action for receiving input for terminal, is shown by the display device of the terminal Log-in interface；
Correction verification module 42, authentication information for receiving input, and proof of identity is carried out according to the authentication information；
Respond module 43 receives and responds the use of input for the display device display control interface by the terminal In the control instruction of control weeder work.
The trigger action includes in one of the embodiments,：In the slide of the navigation area of the terminal, in institute State the pressing operation in the physical button of terminal, the clicking operation on the virtual key of the navigation area, in the navigation area At least one of the long press operation of virtual key.
The control interface includes at least one of following control in one of the embodiments,：Information display control, Track control, weeding control, communication switch control, watering control, charging control, Input, image show control, equipment Identify control.
Specific restriction about weeder or terminal may refer to the restriction of the control method above for weeder, This is repeated no more.Modules in above-mentioned weeder or terminal can come real fully or partially through software, hardware and combinations thereof It is existing.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also be with software shape Formula is stored in the memory in computer equipment, executes the corresponding operation of the above modules in order to which processor calls.
In one embodiment, a kind of computer equipment is provided, which can be terminal, internal structure Figure can be as shown in figure 26.The computer equipment includes the processor connected by system bus, memory, network interface, shows Display screen and input unit.Wherein, the processor of the computer equipment is for providing calculating and control ability.The computer equipment Memory includes non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system and computer Program.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The meter The network interface for calculating machine equipment is used to communicate with external terminal by network connection.When the computer program is executed by processor To realize a kind of control method of weeder.The display screen of the computer equipment can be liquid crystal display or electric ink is aobvious Display screen, the input unit of the computer equipment can be the touch layer covered on display screen, be also possible to computer equipment shell Key, trace ball or the Trackpad of upper setting can also be external keyboard, Trackpad or mouse etc..
It will be understood by those skilled in the art that structure shown in Figure 26, only part relevant to application scheme The block diagram of structure, does not constitute the restriction for the computer equipment being applied thereon to application scheme, and specific computer is set Standby may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory Computer program, the processor realize following steps when executing computer program：
Weeding machine testing waits for the environmental information of working region；
The weeder sends the environmental information；
The weeder receives the control instruction generated according to the environmental information；
The weeder is described to execute corresponding operation according to the control instruction in working region.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory Computer program, the processor realize following steps when executing computer program：
Terminal receives environmental information；
The terminal analyzes the environmental information, generates control instruction；
The terminal sends the control instruction, to control weeder described to refer in working region according to the control It enables and executes corresponding operation.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory Computer program, the processor realize following steps when executing computer program：
After terminal receives the trigger action of input, log-in interface is shown by the display device of the terminal；
The terminal receives the authentication information of input, and carries out proof of identity according to the authentication information；
If receiving by the display device display control interface of the terminal by proof of identity and responding input For controlling the control instruction of weeder work.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated Machine program realizes following steps when being executed by processor：
Weeding machine testing waits for the environmental information of working region；
The weeder sends the environmental information；
The weeder receives the control instruction generated according to the environmental information；
The weeder is described to execute corresponding operation according to the control instruction in working region.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated Machine program realizes following steps when being executed by processor：
Terminal receives environmental information；
The terminal analyzes the environmental information, generates control instruction；
The terminal sends the control instruction, to control weeder described to refer in working region according to the control It enables and executes corresponding operation.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated Machine program realizes following steps when being executed by processor：
After terminal receives the trigger action of input, log-in interface is shown by the display device of the terminal；
The terminal receives the authentication information of input, and carries out proof of identity according to the authentication information；
If receiving by the display device display control interface of the terminal by proof of identity and responding input For controlling the control instruction of weeder work.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, To any reference of memory, storage, database or other media used in each embodiment provided herein, Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms, Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.

Claims (29)

1. a kind of control method of weeder, which is characterized in that the method includes：
Weeding machine testing waits for the environmental information of working region；
The weeder sends the environmental information；
The weeder receives the control instruction generated according to the environmental information；
The weeder is described to execute corresponding operation according to the control instruction in working region.
2. the method according to claim 1, wherein the environmental information includes location information, the weeder The environmental information to working region is detected, including：
The weeder detects the location information to working region by sensor；
The weeder plans weeder in the motion profile in working region according to the location information.
3. the method according to claim 1, wherein the environmental information includes image information, the weeder The environmental information to working region is detected, including：
The weeder is described to the image information in working region by image capture device acquisition；
The weeder is according to described image information planning weeder in the motion profile in working region.
4. the method according to claim 1, wherein the control instruction include the weeder described to work Make the motion profile in region；The weeder is described to execute corresponding behaviour according to the control instruction in working region Make, including：
The weeder works according to described to the motion profile in working region.
5. the method according to claim 1, wherein the control instruction includes device identification, the weeder Described to execute corresponding operation according to the control instruction in working region, including：
The weeder parses the control instruction, obtains the device identification；
If it is determined that the device identification and the self identification of the weeder match, then weeder is controlled described to workspace Corresponding operation is executed according to the control instruction in domain.
6. the method according to claim 1, wherein the weeding machine testing waits for the environmental information of working region, Including：
The remaining capacity of the weeding machine testing itself；
The weeder determines whether the remaining capacity of the weeder is less than or equal to default power threshold, if so, generating packet Include the environmental information of remaining capacity.
7. described to remove the method according to claim 1, wherein the weeder includes solar charging device The control method of careless machine further includes：
The weeder receives the first charging instruction；
The weeder controls the solar charging device and fills to the weeder according to first charging instruction Electricity.
8. method according to claim 7, which is characterized in that the solar charging device includes folding multiple sun Energy plate, the control method of the weeder further include：
The weeder receives the second charging instruction；
The weeder generates electricity according to second charging instruction, control expansion solar-powered collapsible plate, and is described Weeder power supply.
9. according to claim 7 or 8 the methods, which is characterized in that the weeder includes receiving grass with random, the weeder Control method further include：
The weeder receives third charging instruction；
The weeder controls the grass of receiving with above the solar charging device of setting is at random according to the third charging instruction The weeder power supply.
10. the method according to claim 1, wherein the weeder includes receiving grass with random, the weeder The environmental information to working region is detected, including：
Receipts grass is with random load capacity described in the weeding machine testing；
When the load capacity is greater than default load threshold, the environmental information including excess load prompting message is generated；
The control instruction includes broken careless location information, the weeder it is described in working region according to the control instruction Corresponding operation is executed, including：
The weeder moves to specified position according to the broken careless location information, and control removes the receipts grass at random Broken grass.
11. the method according to claim 1, wherein including the position of plant to be watered in the control instruction Information and irrigation amount information；The weeder it is described in working region according to the control instruction execute corresponding operation, Including：
The weeder moves to the position of plant to be watered according to the location information of plant to be watered, and according to the irrigation amount Information is the plant watering to be watered.
12. a kind of control method of weeder, which is characterized in that including：
Terminal receives environmental information；
The terminal analyzes the environmental information, generates control instruction；
The terminal sends the control instruction, to control weeder described to hold in working region according to the control instruction Row corresponding operation.
13. according to the method for claim 12, which is characterized in that the terminal analyzes the environmental information, raw At control instruction, including：
Obtain the positioning signal to working region carried in the environmental information；
Plan weeder in the motion profile in working region according to the location information；
Control instruction is generated according to the motion profile in working region.
14. according to the method for claim 12, which is characterized in that the terminal analyzes the environmental information, raw At control instruction, including：
Obtain carried in the environmental information to the image information in working region；
According to described image information planning weeder in the motion profile in working region；
Control instruction is generated according to the motion profile in working region.
15. according to the method for claim 14, which is characterized in that the control method of the weeder further includes：
Display exports described image information and to the motion profile in working region；
It receives according to described image information and the motion profile control information inputted to the motion profile in working region, and root It corrects according to the motion profile control information to the motion profile in working region.
16. according to the method for claim 12, which is characterized in that include device identification, the life in the control instruction At control instruction, including：
Determine the device identification of weeder to be worked；
The device identification is added in the control instruction, so as to control instruction is sent to corresponding with the device identification After weeder, weeder carries out authentication according to the device identification.
17. according to the method for claim 12, which is characterized in that the weeder includes solar charging device, described Terminal analyzes the environmental information, generates control instruction, including：
If the environmental information includes remaining capacity, determine whether remaining capacity is less than or equal to default power threshold；
If so, determining that the operating status of weeder meets the first preset operating conditions, then the first charging instruction is sent, is removed with instruction Careless machine control solar charging device charges.
18. according to the method for claim 17, which is characterized in that the solar charging device includes folding multiple The control method of solar panels, the weeder further includes：
Detect the operating status of weeder；
When the operating status meets the second preset operating conditions, the second charging instruction is sent, to have controlled weeder expansion The solar panels of folding generate electricity, and power for the weeder.
19. according to the method for claim 17, which is characterized in that the weeder includes receiving grass with random, the weeding The control method of machine further includes：
Detect the operating status of weeder；
When the operating status meets third preset operating conditions, third charging instruction is sent, is followed with controlling the receipts grass The solar charging device being arranged on machine is weeder power supply.
20. according to the method for claim 12, which is characterized in that the terminal analyzes the environmental information, raw At control instruction, including：
The location information to plant to be watered in working region is determined according to the environmental information；
Obtain the irrigation amount information to plant to be watered in working region；
The control instruction is generated according to the location information of plant to be watered and irrigation amount information.
21. according to the method for claim 12, which is characterized in that the terminal analyzes the environmental information, raw At control instruction, including：
If in the environmental information including excess load prompting message, broken careless location information is obtained；
The broken careless location information is added in the control instruction, for the control instruction to be sent to weeder Afterwards, weeder control receives grass with moving to specified position according to the broken careless location information at random, and remove receipts it is careless with Broken grass in random.
22. a kind of control method of weeder, which is characterized in that including：
After terminal receives the trigger action of input, log-in interface is shown by the display device of the terminal；
The terminal receives the authentication information of input, and carries out proof of identity according to the authentication information；
If receiving by the display device display control interface of the terminal by proof of identity and responding being used for for input Control the control instruction of weeder work.
23. according to the method for claim 22, which is characterized in that the trigger action includes：In the navigation of the terminal The slide in area, in the pressing operation in the physical button of the terminal, the click on the virtual key of the navigation area It operates, at least one of long press operation of virtual key of the navigation area.
24. according to the method for claim 22, which is characterized in that the control interface includes at least one in following control It is a：Information show control, track control, weeding control, communication switch control, watering control, charging control, Input, Image shows control, device identification control.
25. a kind of weeder, which is characterized in that including：
Module is obtained, for detecting the environmental information to working region；
Sending module, for sending the environmental information；
Receiving module, for receiving the control instruction generated according to the environmental information；
Processing module is used for described to execute corresponding operation according to the control instruction in working region.
26. a kind of terminal, which is characterized in that including：
Receiving module, for receiving environmental information；
Generation module generates control instruction for analyzing the environmental information；
Sending module, for sending the control instruction, with control weeder it is described in working region according to the control Instruction execution corresponding operation.
27. a kind of terminal, which is characterized in that including：
Display module after the trigger action for receiving input for terminal, is shown by the display device of the terminal and logs in boundary Face；
Correction verification module, authentication information for receiving input, and proof of identity is carried out according to the authentication information；
Respond module, for the display device display control interface by the terminal, receive and respond input for controlling The control instruction of weeder work.
28. a kind of equipment, including memory and processor, the memory are stored with computer program, which is characterized in that described Processor realizes the step of any one of claim 1 to 24 the method when executing the computer program.
29. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program The step of method described in any one of claim 1 to 24 is realized when being executed by processor.
CN201810622785.4A 2018-06-15 2018-06-15 Control method, weeder, terminal, equipment and the storage medium of weeder Pending CN108829103A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810622785.4A CN108829103A (en) 2018-06-15 2018-06-15 Control method, weeder, terminal, equipment and the storage medium of weeder

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810622785.4A CN108829103A (en) 2018-06-15 2018-06-15 Control method, weeder, terminal, equipment and the storage medium of weeder

Publications (1)

Publication Number Publication Date
CN108829103A true CN108829103A (en) 2018-11-16

Family

ID=64142321

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810622785.4A Pending CN108829103A (en) 2018-06-15 2018-06-15 Control method, weeder, terminal, equipment and the storage medium of weeder

Country Status (1)

Country Link
CN (1) CN108829103A (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109566057A (en) * 2018-12-06 2019-04-05 宁波可凡电器有限公司 Pusher line lawn dressing mechanism
CN110447372A (en) * 2019-08-30 2019-11-15 上海工程技术大学 A kind of dispatching method of the grass-removing robot based on machine vision
CN111109237A (en) * 2019-12-20 2020-05-08 上海点甜农业专业合作社 Weeding robot system based on camera recognition and weeding method thereof
CN111418335A (en) * 2020-04-17 2020-07-17 广东中林建筑园林工程有限公司 Control system of municipal lawn mowing equipment
WO2020155853A1 (en) * 2019-02-02 2020-08-06 苏州宝时得电动工具有限公司 Lawn mower wireless network connection method and system, and lawn mower
CN112673799A (en) * 2019-10-18 2021-04-20 南京德朔实业有限公司 Self-walking mowing system and outdoor walking equipment
WO2021073587A1 (en) * 2019-10-18 2021-04-22 南京德朔实业有限公司 Autonomously moving lawn mowing system, autonomously moving lawn mower and outdoor autonomously moving device
CN114532049A (en) * 2022-02-17 2022-05-27 深圳市杉川机器人有限公司 Access management control system between multi-wireless handheld terminal and intelligent mower
CN114568418A (en) * 2022-02-16 2022-06-03 海南思沃家电子商务有限公司 Agricultural impurity removal system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150012164A1 (en) * 2013-07-05 2015-01-08 Asia Technology Co., Ltd. Method and apparatus for controlling driving of robot
CN104699101A (en) * 2015-01-30 2015-06-10 深圳拓邦股份有限公司 Robot mowing system capable of customizing mowing zone and control method thereof
CN106708060A (en) * 2017-02-21 2017-05-24 昂海松 Autonomic ordered mowing method for mower without external navigation information
CN107343494A (en) * 2017-06-19 2017-11-14 中国烟草总公司广东省公司 Agricultural intelligent weeding system and herbicidal methods
CN107681760A (en) * 2016-08-01 2018-02-09 宁夏昱科工业产品设计有限公司 The photovoltaic power generation apparatus of weeder

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150012164A1 (en) * 2013-07-05 2015-01-08 Asia Technology Co., Ltd. Method and apparatus for controlling driving of robot
CN104699101A (en) * 2015-01-30 2015-06-10 深圳拓邦股份有限公司 Robot mowing system capable of customizing mowing zone and control method thereof
CN107681760A (en) * 2016-08-01 2018-02-09 宁夏昱科工业产品设计有限公司 The photovoltaic power generation apparatus of weeder
CN106708060A (en) * 2017-02-21 2017-05-24 昂海松 Autonomic ordered mowing method for mower without external navigation information
CN107343494A (en) * 2017-06-19 2017-11-14 中国烟草总公司广东省公司 Agricultural intelligent weeding system and herbicidal methods

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109566057B (en) * 2018-12-06 2021-05-04 新昌县澄聚农业科技有限公司 Back-push type lawn trimming mechanism
CN109566057A (en) * 2018-12-06 2019-04-05 宁波可凡电器有限公司 Pusher line lawn dressing mechanism
WO2020155853A1 (en) * 2019-02-02 2020-08-06 苏州宝时得电动工具有限公司 Lawn mower wireless network connection method and system, and lawn mower
CN112135512A (en) * 2019-02-02 2020-12-25 苏州宝时得电动工具有限公司 Wireless network connection method and system of mower and mower
CN110447372A (en) * 2019-08-30 2019-11-15 上海工程技术大学 A kind of dispatching method of the grass-removing robot based on machine vision
CN112673799A (en) * 2019-10-18 2021-04-20 南京德朔实业有限公司 Self-walking mowing system and outdoor walking equipment
WO2021073587A1 (en) * 2019-10-18 2021-04-22 南京德朔实业有限公司 Autonomously moving lawn mowing system, autonomously moving lawn mower and outdoor autonomously moving device
CN111109237A (en) * 2019-12-20 2020-05-08 上海点甜农业专业合作社 Weeding robot system based on camera recognition and weeding method thereof
CN111418335A (en) * 2020-04-17 2020-07-17 广东中林建筑园林工程有限公司 Control system of municipal lawn mowing equipment
CN114568418A (en) * 2022-02-16 2022-06-03 海南思沃家电子商务有限公司 Agricultural impurity removal system
CN114568418B (en) * 2022-02-16 2023-03-14 海南思沃家电子商务有限公司 Agricultural impurity removal system
CN114532049A (en) * 2022-02-17 2022-05-27 深圳市杉川机器人有限公司 Access management control system between multi-wireless handheld terminal and intelligent mower
CN114532049B (en) * 2022-02-17 2023-02-03 深圳市杉川机器人有限公司 Access management control system between multi-wireless handheld terminal and intelligent mower

Similar Documents

Publication Publication Date Title
CN108829103A (en) Control method, weeder, terminal, equipment and the storage medium of weeder
dos Santos et al. AgriPrediction: A proactive internet of things model to anticipate problems and improve production in agricultural crops
RU2628346C1 (en) Intelligent control system for land plot, comprising roboticized self-propellant machine
CN103400371B (en) A kind of multi-cam cooperative monitoring Apparatus and method for
KR102260011B1 (en) System and method for managing intelligent remote farm based on digital twin
US10953985B2 (en) System for measuring three-dimensional environment data, particularly for plant care, as well as sensor module
CN107179732A (en) A kind of aquaculture intelligent comprehensive monitoring system based on Internet of Things
CN108156918A (en) A kind of scale farmland wireless internet of things Intelligent drip irrigation system and method
RU2643061C2 (en) Intelligent grounds management system
CN102035876A (en) Remote monitoring and intelligent control system and method of agricultural greenhouse based on M2M framework
Visconti et al. IoT-oriented software platform applied to sensors-based farming facility with smartphone farmer app
KR102261087B1 (en) Video-based monitoring apparatus and operation method
CN102591290A (en) Crop pest intelligent monitoring management system
CN103985056A (en) Method and system for collecting agricultural product production records under WSN farmland free partitions
CN105897912A (en) Intelligent irrigation system and working method thereof
CN113191914A (en) Digital twin body construction system for precise monitoring of sunlight greenhouse
CN103869780A (en) Smart agriculture greenhouse terminal information processing system
CN106686054A (en) Service system of using strategy model to solve plantation problem
Mohapatra et al. A prototype of smart agriculture system using internet of thing based on blynk application platform
CN113349188B (en) Lawn and forage precise weeding method based on cloud weeding spectrum
CN107392398A (en) A kind of agricultural management method, mist calculating platform and system
CN102854851A (en) Internet integrated operating system
KR20210149623A (en) VR-based immersive smart farm research system
CN110991944B (en) Regional lawn maintenance management system and method
Odara et al. Optimizing energy use of SmartFarms with smartgrid integration

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20210127

Address after: 101400 No.31 Yanqi street, Yanqi Economic Development Zone, Huairou District, Beijing (cluster registration)

Applicant after: Beijing Huihong Technology Co.,Ltd.

Address before: 100072 d8328, 1st floor, building 1, No. 500, zhaoxindian, Fengtai District, Beijing

Applicant before: MiaSole Photovoltaic Technology Co.,Ltd.

TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20210930

Address after: 101400 Yanqi Street, Yanqi Economic Development Zone, Huairou District, Beijing

Applicant after: Dongjun new energy Co.,Ltd.

Address before: 101400 No.31 Yanqi street, Yanqi Economic Development Zone, Huairou District, Beijing (cluster registration)

Applicant before: Beijing Huihong Technology Co.,Ltd.

RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20181116