CN114550233A - Remote control and warning method for intelligent mowing equipment - Google Patents

Abstract

A remote control and warning method for intelligent lawn mowing equipment, the self-propelled equipment includes an image acquisition component for collecting images; a remote control terminal, which is connected to the self-propelled equipment through wireless communication and can manipulate the self-propelled equipment; the remote control The terminal includes a display part for displaying the image collected by the image acquisition part; the image displayed by the display part includes a reference mark for indicating the relative position of the machine with respect to the environment in the image displayed by the display part. The invention provides an image display technology and an associated control method, which can accurately reflect the position of the lawn mower in the working area, facilitate the user to clearly understand the real-time working situation of the lawn mower robot, and guide the user to control the machine at the same time. It can effectively improve the operability and safety of the user to control the machine through the remote control terminal.

Description

A remote control and warning method for intelligent lawn mowing equipment

technical field

The invention relates to the field of garden tools, in particular to a remote control and warning method for intelligent lawn mowing equipment.

Background technique

A lawnmower robot is a common self-propelled device that can move continuously and autonomously in real time outdoors. As a kind of automatic walking equipment, the intelligent lawn mowing robot is suitable for clearing vegetation on hills, terraces, plains and other fields, as well as weeds in lawns. It has the advantages of simple operation and high work efficiency. Our common schools, as well as the landscaping of street green spaces, are all done with these autonomous walking devices. In foreign countries, many families use self-propelled equipment to weed their gardens.

Some lawn mowing robots use a camera device to record the front image in real time and transmit it to the terminal in the user's hand or other remote control devices and apps. The user uses the real-time image to understand the running status and real-time position of the lawn mowing robot, and completes the control of mowing. Robot walking work.

When the user uses the remote control device to control the lawn mowing robot, he cannot accurately know the situation of the obstacles around the lawn mowing robot only through the real-time image. As a result, some obstacles may not be displayed in the real-time image, which affects the user's judgment of the working environment of the lawn mower robot.

SUMMARY OF THE INVENTION

Aiming at the deficiencies of the prior art, the present invention provides a remote control and warning method for intelligent lawn mowing equipment, which can provide warnings to users and facilitate better remote control operations for users.

First, in order to achieve the above purpose, a remote control and warning method for intelligent lawn mowing equipment is proposed. The self-propelled equipment includes:

an image acquisition component for acquiring images;

Remote control terminal, which is connected to the self-propelled equipment through wireless communication and can control the self-propelled equipment;

The remote control terminal includes a display part for displaying the image collected by the image acquisition part;

It is characterized in that,

In the image displayed by the display component, including

Working condition identification, used to display machine operating parameters;

Control guide signs, used to guide the user to control the machine;

Warning signs and emergency stop signs are used to warn users.

As an improvement of this solution, the control and guidance signs include a passage sign, a reminder sign and a warning sign;

The control method includes the following steps:

a. At regular intervals, obtain the data collected by the obstacle sensor on the machine, and obtain the distance data between the obstacle closest to the machine and the machine;

b. When the distance data is greater than the first preset value, display a traffic sign; when the distance data is less than or equal to the first preset value and greater than the second preset value, display a reminder sign; when the distance data is less than When it is equal to the second preset value, a warning sign is displayed; when the distance data is less than or equal to the third preset value, a warning sign is displayed; when the distance data is equal to or less than the fourth preset value, the machine stops and displays Emergency stop sign, while the machine records the machine heading before the stop, the machine cannot execute the control command issued by the remote control terminal to run in the same direction as the recorded machine heading.

As an improvement of this solution, the first preset value>the second preset value>the third preset value>the fourth preset value.

As an improvement of this solution, the first preset value is not less than the length of the machine, and the fourth preset value is not greater than the maximum width of the machine and not less than the minimum turning radius of the machine.

As an improvement of this solution, the passage signs, reminder signs and warning signs are distinguished by different shapes and/or colors.

As an improvement of this solution, the image displayed by the display component includes:

The real-time image area is used to display the real-time image collected by the image acquisition component;

A virtual image area for displaying virtual supplementary images generated from real-time image parameters or time-lapse images generated from historical images;

The historical images are acquired from image data acquired by the image acquisition component.

As an improvement of this solution, the virtual image area includes at least an area extending outward from one edge of the real-time image area.

As an improvement of this solution, the working condition sign is located in the virtual image area; the control guide sign, the warning sign and the emergency stop sign are located in the real-time image area.

As an improvement of this solution, the image acquisition component adds timestamp data to each frame of the acquired image, and selects timestamp information including the timestamp information before a certain time interval according to the timestamp information of the real-time image displayed in the real-time image area. historical images as time-lapse images.

As an improvement of this solution, the virtual supplementary image is generated by using pixel information at the edge of the real-time image or within a certain area of the edge.

As an improvement of this solution, the time-lapse image is obtained by the following method:

S1. The machine is started, the image acquisition unit starts and starts to record images, and the time stamp and distance data are recorded on each frame of image. The distance data of the first frame of image acquired after the image acquisition unit is started is 0, and the distance data of each frame of image is the machine Accumulated actual driving distance data from the start;

S2. Acquire the distance data recorded in the real-time image, fill the virtual image area with the corresponding historical image, and the distance data in the corresponding historical image is the distance data in the real-time image minus the distance in the corresponding environment of the image displayed in the virtual image area. specific length.

As an improvement of this solution, the time-lapse image is an image that is intercepted from the lower edge of the historical image and has the same pixel height and width as the virtual image area.

As an improvement of this solution, when the machine starts to run, the virtual image area is filled with virtual supplementary images, and when there are historical images that meet the usage conditions, the virtual image area is filled with extended images.

As an improvement of this solution, the virtual image area below the real-time image area is filled with time-lapse images, and areas in other positions of the virtual image area are filled with virtual supplementary images.

As an improvement of this solution, at the junction of the virtual image area and the real-time image area, operations such as blurring and softening can be performed on the image in the real-time image area and/or the virtual image area.

As an improvement of the solution, a reference mark is also included to indicate the relative position of the machine relative to the environment in the image displayed by the display component; the reference mark is a virtual image and is located in the virtual image area.

A kind of self-propelled equipment, using the above-mentioned remote control and warning method, and its remote control terminal includes:

A user situation collection component, the user situation collection component can use components such as a camera to collect user data, and the user data includes face data, eyeball data, and pupil data.

As an improvement of this solution, when the camera element cannot collect face data or face data but cannot collect eyeball data/pupil data, the machine running state cannot be changed through the remote control terminal, and if the remote control terminal is in the The control part is touched, and the machine enters the stop state.

As an improvement of this solution, when the remote control terminal is used to control the machine, the remote control terminal compares the time difference between the time stamp data of the real-time image displayed by the display component and the internal clock/network clock of the remote control terminal. When the time difference exceeds the preset time , or when the time stamp data of the real-time image has not changed for a specified time, the machine will be stopped, and the operating state of the machine cannot be changed through the remote control terminal. .

beneficial effect

The present invention provides a remote control and warning method for intelligent mowing equipment. By providing instructions in a display component, the user can clearly understand the real-time working conditions of the mowing robot, and at the same time guide the user to control the machine.

Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification, and together with the embodiments of the present invention, are used to explain the present invention, but not to limit the present invention. In the attached image:

FIG. 1 is a schematic diagram of the control terminal.

FIG. 2 is a schematic diagram of an image acquired by the image acquisition unit.

FIG. 3 is a schematic diagram of the warning method according to the present invention.

FIG. 4 is a schematic diagram of the control guide identification.

FIG. 5 is a schematic diagram of the real-time image area and the virtual image area.

FIG. 6 is a schematic diagram of the reference mark.

Figure 7 is a schematic diagram of the actual position of the machine.

FIG. 8 is a first schematic diagram of the real-time image area and the virtual image area.

FIG. 9 is a second schematic diagram of the real-time image area and the virtual image area.

FIG. 10 is a third schematic diagram of the real-time image area and the virtual image area.

FIG. 11 is a schematic diagram of the indicator.

FIG. 12 is a schematic diagram of the position of the indicator.

FIG. 13 is a schematic diagram of the shown remote control terminal with a user situation collection component.

The reference numbers are:

100. Machine;

200. An image acquisition component;

300, a remote control terminal; 301, a manipulation component;

400, display part; 401, real-time image area; 402, virtual image area; 403, speed sign;

404, heading sign; 405, mowing speed sign; 406, warning sign; 407, emergency stop sign; 408, power sign;

500, the reference mark; 500', the actual position of the machine;

600, control guidance signs; 601, pass signs; 602, reminder signs; 603, warning signs;

700. A user situation collection component.

Detailed ways

In order to make the purpose and technical solutions of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and, unless defined as herein, are not to be taken in an idealized or overly formal sense. explain.

The meaning of "and/or" described in the present invention means that each of them exists alone or both of them exist simultaneously.

The meanings of "inside and outside" described in the present invention refer to the direction from the signal line to the inside of the working area relative to the signal line itself, and vice versa, outside; rather than a specific limitation on the device mechanism of the present invention .

The meaning of "connection" described in the present invention may be a direct connection between components or an indirect connection between components through other components.

As shown in FIG. 1 , in the existing remote control device, the remote control terminal 300 is provided with a manipulation part 301 and a display part 400, and the image displayed by the display part 400 is the image/video obtained by the image acquisition part 200 on the device 100.

As shown in FIG. 2 , the image acquisition part 200 is usually installed on the machine 100 . Due to the problem of the viewing angle of the image acquisition part 200 , in the acquired image, the body of the machine 100 is usually in a blind area, and the user looks through the display part 400 . The obtained image usually does not include the body of the machine 100. When the user operates with the image displayed by the display unit 400, due to the lack of reference to the body and the existence of blind spots, some obstacles cannot be displayed in the real-time image. It may cause problems such as inaccurate operation.

In order to solve the above-mentioned problems, as shown in FIG. 3 , on the display part 400, other virtual signs that display the working conditions of the machine 100 are also provided, including a speed sign 403 that displays the running speed of the machine 100, and a heading sign 404 that displays the turning direction of the machine 100. , a mowing speed indicator 405 showing the rotational speed of the mowing cutter head of the machine 100 and a power indicator 408 showing the battery level of the machine 100 . The running speed of the machine 100 can be obtained by the speed of the drive motor and the wheel diameter of the machine 100, the turning direction of the machine 100 can be obtained by the speed difference between the two drive motors of the machine 100, and the speed of the mowing cutter head of the machine 100 can be obtained by the mowing motor speed obtained.

The display part 400 of the machine 100 also includes a control guide sign 600, a warning sign 406 and an emergency stop sign 407 for prompting the user to operate the machine 100. The control guide sign 600 includes a pass sign 601, a reminder sign 602 and a warning sign 603. The above-mentioned control method for prompting the user to operate the machine 100 by utilizing the control guide sign 600, the warning sign 406 and the emergency stop sign 407 includes the following steps:

a. Acquire the data collected by the obstacle sensor on the machine 100 at regular intervals, and obtain the distance data between the obstacle closest to the machine 100 and the machine 100;

b. When the distance data is greater than the first preset value, display the access sign 601; when the distance data is less than or equal to the first preset value and greater than the second preset value, display the reminder sign 602; when the distance When the data is less than or equal to the second preset value, the warning sign 603 is displayed; when the distance data is less than or equal to the third preset value, the warning sign 406 is displayed; when the distance data is equal to or less than the fourth preset value, the machine 100 stops, and the emergency stop sign 407 is displayed, and the machine 100 records the heading of the machine 100 before the stop.

The size relationship between each preset value is as follows:

The first preset value>the second preset value>the third preset value>the fourth preset value.

The first preset value is not less than the length of the machine 100 , and the fourth preset value is not greater than the maximum width of the machine 100 and not less than the minimum turning radius of the machine 100 . The purpose of the fourth preset value not being less than the minimum turning radius of the machine 100 is that, in a common scenario where the remote control machine 100 walks on a boundary, since the machine 100 needs to travel along a continuous route and record data along the way, during the driving process , we do not want the machine 100 to move backwards and other actions. Therefore, when the machine 100 detects that the obstacle distance is less than the fourth preset value, the machine 100 stops. Since the fourth preset value is not less than the minimum turning radius of the machine 100, therefore, this When the machine 100 turns to avoid the obstacle and continue to travel, it is avoided that the machine 100 must perform a backward action to avoid the obstacle and continue to travel because it is too close to the obstacle. At the same time, since the user is not at the operation site of the machine 100 at this time, but understands the operation site of the machine 100 by watching the images collected by the image acquisition device, the value selected by the fourth preset value can also provide the user with sufficient operation. The space is convenient for the user to remotely control the machine 100 to work.

The pass mark 601 , the reminder mark 602 and the warning mark 603 may be indicated by different colors, for example, the pass mark 601 is green, the warning mark 602 is yellow, and the warning mark 603 is red.

As shown in FIG. 5, the image displayed by the display part 400 can be divided into a real-time image area 401 and a virtual image area 402. The real-time image area 401 displays the image acquired by the image acquisition part 200 in real time, and the virtual image area 402 can display a virtual image. Condition signs (i.e. speed signs 403, heading signs 404, mowing speed signs 405 and power signs 408) are located in the virtual image area; control guidance signs 600, warning signs 406 and emergency stop signs 407 are located in the real-time image area. In the above arrangement, the working conditions of the machine are set outside the real-time image area, so that the images in the real-time image area are not blocked as much as possible. The control guide sign 600, the warning sign 406 and the emergency stop sign 407 are arranged in the real-time image area to ensure that the user can see the sign used for guidance in time when viewing the display unit 400 for operation, and can understand the warning and guidance information in time , and respond in a timely manner.

In order to solve the problem that there is no body reference, it is impossible to clearly understand the specific position of the machine relative to the environment displayed in the real-time image, as shown in FIG. The operator provides a positional reference of the machine 100 relative to the environment shown in the image. The user can intuitively and accurately understand the position of the machine 100 in the environment displayed by the image according to the reference identification 500, which provides a reference for subsequent control.

However, as shown in FIG. 2 , the image captured by the image acquisition unit 200 on the machine 100 is usually the real-time image in the imaging area, and the display unit 400 displays the above-mentioned real-time image to the user. Compared with the environment shown by the real-time image, the actual position of the machine 100 should be outside the environment shown by the image. Specifically, the actual position of the machine 100 should be located below the environment shown by the image, as shown in FIG. 7 . Therefore, if the reference mark 500 is only added to the lower part of the image displayed by the display unit 400, and the user uses the reference mark 500 as a reference, a certain position error may occur.

In order to solve the above problems, the following image display technologies are provided.

As shown in FIG. 8 , the display area of the display component 400 includes a real-time image area 401 and a virtual image area 402. The virtual image area 402 is an area extending outward from the edge of the real-time image area 401. The virtual image area 402 at least includes The area extending outward from the lower edge of the live image area 401 . 6 and 7 show the case where the virtual image area 402 extends outward from the surrounding edges of the real-time image area 401 and the case where the virtual image area 402 extends outward from the lower and side edges of the real-time image area 401 , respectively.

The real-time image displayed in the real-time image area 401 is the real-time image collected by the image acquisition component 200 , the image displayed in the virtual image area 402 is a virtual supplementary image or a time-lapse image, and the reference mark 500 is located in the virtual image area 402 . Based on the above image display technology, the specific position of the machine 100 relative to the environment displayed by the real-time image can be displayed more accurately and objectively.

For the virtual image area 402 , when the displayed image is a virtual supplementary image, the virtual supplementary image is generated using the real-time image data in the real-time image area 401 . Specifically, the generation is performed by using pixel information at the edge of the real-time image or within a certain area at the edge. For example, as shown in FIG. 8 , the virtual image area 402 is located below the real-time image area 401, and the image in the virtual image area 402 is generated by using the pixel information of the lower edge of the real-time image area 401 or several pixel length areas of the lower edge. Specifically, is generated using the color information of the pixels. Since the driving environment of the lawn mower 100 is usually a grass environment, the lower part of the real-time image area 401 is mainly grass, and the image information below the real-time image area 401 is used in the virtual image area 402 to simulate a grass image, and the real-time image area 401 is used to simulate a grass image. Flatten.

In another implementation manner, the images in the virtual image area 402 are filled with historical images collected by the image acquisition component 200 . Under normal circumstances, the image acquisition component 200 will add time stamp data to each frame of the acquired image, and according to the time stamp information of the real-time image displayed in the real-time image area 401, select the time stamp information that includes the time stamp information before a certain time interval. For the historical image, part of the image information in the historical image is filled into the virtual image area 402 for display. The images with the same pixel height and width as the virtual image area 402 , which are intercepted from the lower edge of the historical image, are filled into the virtual image area 402 .

The specific time interval can be a fixed time interval set by humans, for example, the time interval determined in the design stage of the machine 100 and saved in the main control program of the machine 100. For some lawnmowers with a fixed driving speed of 100 people, this time interval can be used. a means.

Alternatively, the time interval may be obtained by comprehensive calculation according to the traveling speed of the machine 100 and the specific length in the environment corresponding to the displayed image in the virtual image area 402 . Specifically, the length of the virtual image area 402 is fixed, and the actual length of the environment image displayed in the virtual image area 402 in the actual environment can be obtained through experiments, calculations, etc., which may be related to the camera angle of view and placement position. . After obtaining the actual length of the environment image displayed in the virtual image area 402 in the actual environment, the corresponding time interval is calculated according to the actual driving speed of the machine 100 . If the driving speed is variable, the time interval can be obtained by segment calculation or by the following methods:

1. The machine 100 starts up, the image acquisition unit starts and starts to record images, and the time stamp and distance data are recorded on each frame of image. The distance data of the first frame of image acquired after the image acquisition unit is started is 0, and the distance data of each frame of image is Accumulated actual driving distance data from the start of the machine 100;

2. Obtain the route data recorded in the real-time image, and fill in the virtual image area 402 with the corresponding historical image. The route data in the corresponding historical image is the route data in the real-time image minus the corresponding environment of the image displayed in the virtual image area 402. specific length in .

The accumulative actual driving distance data can be calculated and obtained according to the number of revolutions of the motor and the diameter of the driving wheel.

In the above two implementation manners, at the junction of the virtual image area 402 and the real-time image area 401, operations such as blurring and softening can be performed on the images in the real-time image area 401 and/or the virtual image area 402, so that the real-time image area The transition from 401 to the virtual image area 402 is relatively smooth, and when the user views the image displayed by the display unit 400, there will be no obvious difference between the real-time image area 401 and the virtual image area 402, resulting in poor visual effects.

In the situation shown in FIGS. 9 and 10 , the virtual image area 402 includes the extension of multiple edge areas of the real-time image area 401. In actual use, historical images can be used except for the virtual image area 402 below the real-time image area 401. In addition to filling in the data of the virtual image area 402, other areas of the virtual image area 402 need to be filled with virtual supplementary images.

Since the machine 100 does not have enough historical image data for use in the virtual image area 402 at the start-up stage of the machine 100, virtual supplementary images are used for filling when the machine 100 starts up. The virtual image area 402 is populated with historical images.

Since the position of the image acquisition unit may change, for example, it rotates, swings up and down, etc., when the position of the image acquisition unit changes, the specific length of the environment displayed in the virtual image area 402 changes correspondingly, and the actual position of the machine 100 is relative to the real-time position. The specific position of the lower edge of the image changes, and the above-mentioned changes will be reflected in the imaging of the virtual image area 402 in real time. The specific distance between the actual position of the machine 100 and the lower edge of the real-time image can be obtained through the viewing angle, installation position and installation angle of the image acquisition unit.

The remote control terminal 300 is also provided with a user situation collection component, which can use components such as a camera to collect user data, including face data, eyeball data, pupil data, and the like. When the camera element cannot collect face data or face data but eyeball data/pupil data cannot be collected, the operating state of the machine 100 cannot be changed through the remote control terminal 300, and if the manipulation part 301 of the remote control terminal 300 is touched at this time Touch, the machine 100 enters the stop state.

As shown in FIG. 13 , when the user uses the remote control terminal 300 to control the machine 100, the remote control terminal 300 compares the time stamp data of the real-time image displayed by the display unit 400 with the time difference between the internal clock/network clock of the remote control terminal 300, when When the time difference exceeds the preset time, or the time stamp data of the real-time image does not change after the specified time, the machine 100 is stopped, and the running state of the machine 100 cannot be changed through the remote control terminal 300 .

The above two means are both to prevent the user from operating the machine 100 through the remote control terminal 300 without observing the display part 400, reducing the possibility of danger, and also to prevent the user from accidentally touching the remote control terminal 300, resulting in the misoperation of the machine 100. .

The above is only an embodiment of the present invention, and its description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention.

Claims (20)

1. A remote control and warning method for intelligent mowing equipment is disclosed, wherein the self-walking equipment comprises

An image acquisition component for acquiring an image;

the remote control terminal is connected with the self-walking equipment in a wireless communication mode and can control the self-walking equipment;

the remote control terminal comprises a display component for displaying the image acquired by the image acquisition component;

it is characterized in that the preparation method is characterized in that,

the image displayed by the display part comprises

The working condition mark is used for displaying the machine operation parameters;

a control guide identifier for guiding a user to control the machine;

a warning sign and an emergency stop sign for alerting a user.

2. The remote control and warning method for intelligent lawn mowing equipment according to claim 1, wherein the control guide mark comprises a passage mark, a reminding mark and a warning mark;

the control method comprises the following steps:

a. acquiring data acquired by an obstacle sensor on the machine at a set interval, and acquiring distance data between an obstacle closest to the machine and the machine;

b. when the distance data is larger than a first preset numerical value, displaying a passing identification; when the distance data is smaller than or equal to a first preset numerical value and larger than a second preset numerical value, displaying a reminding identifier; when the distance data is smaller than or equal to a second preset value, displaying a warning mark; when the distance data is smaller than or equal to a third preset numerical value, displaying a warning mark; and when the distance data is equal to or less than a fourth preset value, the machine stops, an emergency stop mark is displayed, the machine records the machine course before stopping, and the machine cannot execute a control instruction which is sent by the remote control terminal and runs in the same direction as the recorded machine course.

3. The remote control and warning method for intelligent lawn mowing equipment according to claim 2, wherein the first preset value > the second preset value > the third preset value > the fourth preset value.

4. The remote control and warning method for intelligent lawn mowing apparatus of claim 3, wherein the first predetermined value is not less than a machine length, and the fourth predetermined value is not more than a machine maximum width and not less than a machine minimum turning radius.

5. The remote control and warning method for intelligent lawn mowing equipment according to claim 2, 3 or 4, wherein the passage mark, the reminding mark and the warning mark are distinguished by using different shapes and/or colors.

6. The remote control and warning method for intelligent lawn mowing equipment according to any of claims 1 to 4, wherein the image displayed by the display part comprises:

the real-time image area is used for displaying the real-time image acquired by the image acquisition component;

a virtual image area for displaying a virtual supplementary image generated from the real-time image parameters or a time-lapse image generated from the historical image;

the history image is acquired from the image data acquired by the image acquisition means.

7. The remote control and warning method for intelligent lawn mowing equipment according to claim 6, wherein the virtual image area at least comprises an area in which one side edge of the real-time image area extends outwards.

8. The remote control and warning method for intelligent lawn mowing equipment according to claim 7, wherein the working condition identifier is located in a virtual image area; the control guide mark, the warning mark and the emergency stop mark are positioned in the real-time image area.

9. The remote control and warning method for an intelligent mowing apparatus according to claim 8, wherein the image acquisition unit attaches time stamp data to each acquired frame of image, and selects a history image including time stamp information before a certain time interval as the time-lapse image based on the time stamp information of the real-time image displayed in the real-time image area.

10. A remote control and alert method for intelligent lawn mowing devices according to any of claim 8, wherein the virtual supplemental image is generated using pixel information at the edge of the real-time image or within a certain area at the edge.

11. The remote control and warning method for intelligent lawn mowing equipment according to claim 9, wherein the time-lapse image is obtained by the following method:

s1, starting the machine, starting the image acquisition unit and starting to record images, recording a timestamp and path data on each frame of image, wherein the path data of the first frame of image acquired by the image acquisition unit after starting is 0, and the path data of each frame of image is accumulated actual traveling path data started by the machine;

and S2, acquiring the route data recorded in the real-time image, filling the virtual image area with the corresponding historical image, wherein the route data in the corresponding historical image is obtained by subtracting the specific length of the image displayed in the virtual image area from the route data in the real-time image.

12. A remote control and warning method for intelligent lawn mowing equipment according to claim 9 or 11, wherein the time-lapse image is an image of the historical image, which is cut from the lower edge, and has the same pixel height and width as the virtual image area.

13. The remote control and warning method for intelligent lawn mowing equipment according to claim 12, wherein the virtual image area is filled with the virtual supplementary image when the machine starts to run, and the virtual image area is filled with the delayed image after the historical image satisfying the use condition is provided.

14. The remote control and warning method for intelligent lawn mowing equipment according to claim 12, wherein the virtual image area below the real-time image area is filled with the time-lapse image, and the areas at other positions of the virtual image area are filled with the virtual supplementary image.

15. A remote control and warning method for intelligent lawn mowing equipment according to any of claims 6 to 14, wherein at the boundary between the virtual image area and the real-time image area, the image in the real-time image area and/or the virtual image area can be blurred or softened.

16. The remote control and warning method for intelligent lawn mowing equipment of claim 6, further comprising a reference mark for indicating a relative position of the machine with respect to an environment in an image displayed by the display unit; the reference mark is a virtual image and is located in a virtual image area.

17. A self-propelled device, characterized in that a remote control and warning method according to any of claims 1-15 is used.

18. A self-propelled device according to claim 17 and wherein said remote control terminal comprises:

the user condition acquisition component can enable elements such as a camera and the like to be used for acquiring user data, and the user data comprises face data, eyeball data and pupil data.

19. A self-propelled device according to claim 18 and wherein the machine is disabled from changing its operational state by the remote control terminal when the camera element is disabled from collecting face data or when the camera element is disabled from collecting face data but eye/pupil data, and wherein the machine is disabled if the control member of the remote control terminal is touched.

20. A self-walking apparatus according to claim 17, wherein when the machine is operated using the remote control terminal, the remote control terminal compares the time difference between the time stamp data of the real-time image displayed on the display unit and the internal clock/network clock of the remote control terminal, and stops the machine and cannot change the operation state of the machine through the remote control terminal when the time difference exceeds a preset time or the time stamp data of the real-time image does not change over a prescribed time.

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