CN114550233A

CN114550233A - Remote control and warning method for intelligent mowing equipment

Info

Publication number: CN114550233A
Application number: CN202111657206.8A
Authority: CN
Inventors: 周国扬; 刘楷
Original assignee: Nanjing Sumec Intelligent Technology Co Ltd
Current assignee: Nanjing Sumec Intelligent Technology Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-05-27

Abstract

A remote control and warning method for intelligent mowing equipment is characterized in that self-walking equipment comprises an image acquisition component for acquiring images; 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; the image displayed by the display component comprises a benchmark identifier used for indicating the relative position of the machine relative to the environment in the image displayed by the display component. The invention provides an image display technology and a related control method, which can accurately reflect the position of a mower in a working area, facilitate a user to clearly know the real-time working condition of a mowing robot, guide the user to control the machine, and effectively improve the operability and safety of the user for controlling the machine through a remote control terminal.

Description

Remote control and warning method for intelligent mowing equipment

Technical Field

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

Background

A mowing robot is a common self-walking device capable of continuous, real-time, autonomous movement outdoors. The intelligent mowing robot is used as one of automatic walking equipment and is suitable for cleaning vegetation on plots such as hills, terraced fields and plain and weeds in lawns. The method has the advantages of simple operation and high working efficiency. The usual schools, as well as landscaping of streets and greens, are accomplished with these automated walking devices. In foreign countries, many households use autonomous walking devices to weed their own gardens.

Some mowing robots adopt a camera device to record images in front in real time and transmit the images to terminals in hands of users or other remote control devices and apps, and the users know the running state and the real-time position of the mowing robot by using the real-time images to complete the work of controlling the mowing robot to walk.

The user can not accurately know the conditions of obstacles around the mowing robot only through the real-time image under the condition that the mowing robot is controlled by using the remote control equipment, and because the image acquisition equipment has a certain blind area during the operation of the mowing robot, some obstacles can not be displayed in the real-time image, so that the judgment of the user on the working environment of the mowing robot is influenced.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the remote control and warning method for the intelligent mowing equipment, which can provide warning for a user and is convenient for the user to perform remote control operation better.

Firstly, in order to achieve the above object, a remote control and warning method for an intelligent mowing device is provided, wherein the self-walking device 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.

As an improvement of the scheme, 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 heading of the machine before the machine stops, 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 heading of the machine.

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 predetermined value is not less than the machine length, and the fourth predetermined value is not more than the machine maximum width and not less than the machine minimum turning radius.

As an improvement of the scheme, the passage mark, the reminding mark and the warning mark are distinguished by different shapes and/or colors.

As an improvement of this aspect, the image displayed by the display means includes:

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.

As an improvement of this solution, the virtual image area at least includes an area where one side edge of the real-time image area extends outwards.

As an improvement of the scheme, the working condition identifier is located in the virtual image area; the control guide mark, the warning mark and the emergency stop mark are positioned in the real-time image area.

According to the improvement of the scheme, the image acquisition part adds time stamp data to each acquired frame of image, and selects a historical image containing time stamp information before a certain time interval as a delay image according to the time stamp information of the real-time image displayed in the real-time image area.

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 in a certain area at the edge.

As an improvement of the present solution, 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.

As an improvement of the scheme, the delayed image is an image which is cut from the lower edge in the historical image, has the same pixel height and width as the virtual image area, and is a virtual image area.

As an improvement of the scheme, when the machine starts to run, the virtual image area is filled by adopting the virtual supplementary image, and after the historical image meeting the use condition exists, the virtual image area is filled by adopting the delay image.

As an improvement of the scheme, a virtual image area below the real-time image area is filled with the delayed images, and areas at other positions of the virtual image area are filled with the virtual supplementary images.

As an improvement of the scheme, at the junction of the virtual image area and the real-time image area, the images in the real-time image area and/or the virtual image area can be subjected to fuzzy, softening and other operation processing.

As an improvement of the solution, it further comprises a reference mark for indicating the relative position of the machine with respect to the environment in the image displayed by the display unit; the reference mark is a virtual image and is located in a virtual image area.

A self-walking device uses the remote control and warning method, and the 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.

As an improvement of the scheme, when the camera element cannot acquire the face data or the face data but cannot acquire the eyeball data/pupil data, the running state of the machine cannot be changed through the remote control terminal, and at the moment, if an operating part in the remote control terminal is touched, the machine enters a stop state.

As an improvement of the scheme, when the remote control terminal is used for controlling the machine, the remote control terminal compares the time difference between the timestamp data of the real-time image displayed by the display part and the internal clock/network clock of the remote control terminal, when the time difference exceeds the preset time or the timestamp data of the real-time image exceeds the specified time and is not changed, the machine is stopped, and the running state of the machine cannot be changed through the remote control terminal. .

Advantageous effects

The invention provides a remote control and warning method for intelligent mowing equipment, which helps a user to clearly know the real-time working condition of a mowing robot and guides the user to control a machine by providing an indication mode in a display component.

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

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

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

Fig. 2 is a schematic diagram of the image acquisition unit acquiring an image.

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

Fig. 4 is a schematic diagram of the control guidance indicator.

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 fiducial mark.

Fig. 7 is a schematic view of the actual position of the machine.

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

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

Fig. 10 is a 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 remote control terminal shown with a user situation acquisition component.

The reference signs are:

100. a machine;

200. an image acquisition section;

300. a remote control terminal; 301. a manipulation member;

400. a display section; 401. a real-time image area; 402. a virtual image area; 403. identifying the navigational speed;

404. a course identification; 405. marking the mowing rotating speed; 406. a warning identifier; 407. an emergency stop flag; 408. electric quantity identification;

500. a reference mark; 500', the actual machine position;

600. controlling a guide identifier; 601. a pass identifier; 602. a reminder identification; 603. a warning mark;

700. a user situation acquisition component.

Detailed Description

In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the 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 will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The meaning of "and/or" in the present invention means that the respective single or both of them exist individually or in combination.

The meaning of "inside and outside" in the present invention means that the direction from the signal line to the inside of the working area is inside, and vice versa, with respect to the signal line itself; and not as a specific limitation on the mechanism of the device of the present invention.

The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.

As shown in fig. 1, in the conventional remote control device, a remote control terminal 300 is provided with a manipulating part 301 and a display part 400, and an image displayed by the display part 400 is an image/video or the like acquired by an image acquiring part 200 on a machine 100.

As shown in fig. 2, the image capturing unit 200 is generally disposed on the machine 100, and due to the problem of the viewing angle of the image capturing unit 200, the body of the machine 100 is generally in a blind area in the captured image, the image that the user sees through the display unit 400 generally does not include the body of the machine 100, and when the user performs an operation on the image displayed by the display unit 400, a part of obstacles cannot be displayed in a real-time image due to lack of reference of the body and the existence of the blind area, which may cause problems such as inaccurate operation.

To solve the above problem, as shown in fig. 3, other virtual indicators for displaying the operation condition of the machine 100 are further provided on the display unit 400, including a navigation indicator 403 for displaying the operation speed of the machine 100, a heading indicator 404 for displaying the steering direction of the machine 100, a mowing rotational speed indicator 405 for displaying the rotational speed of a mowing disc of the machine 100, and a power indicator 408 for displaying the battery power of the machine 100. The running speed of the machine 100 can be obtained by the rotation speed and the wheel diameter of the driving motor of the machine 100, the steering direction of the machine 100 can be obtained by the rotation speed difference between the two driving motors of the machine 100, and the rotation speed of the mower disc of the machine 100 can be obtained by the rotation speed of the mowing motor of the machine 100.

The machine 100 further includes a control guide indicator 600, a warning indicator 406, and an emergency stop indicator 407 on the display portion 400 for prompting a user to operate the machine 100. The control guidance mark 600 includes a pass mark 601, a reminder mark 602 and an alarm mark 603, and the control method implemented by using the control guidance mark 600, the warning mark 406 and the emergency stop mark 407 for prompting the user to operate the machine 100 includes the following steps:

a. acquiring data acquired by an obstacle sensor on the machine 100 at a preset interval, and acquiring distance data between an obstacle closest to the machine 100 and the machine 100;

b. when the distance data is larger than a first preset numerical value, displaying a pass identifier 601; when the distance data is smaller than or equal to a first preset numerical value and larger than a second preset numerical value, a reminding mark 602 is displayed; when the distance data is less than or equal to a second preset value, displaying an alarm mark 603; when the distance data is less than or equal to a third preset value, displaying a warning identifier 406; when the distance data is equal to or less than the fourth preset value, the machine 100 stops and displays the emergency stop mark 407, and at the same time, the machine 100 records the heading of the machine 100 before stopping, and the machine 100 cannot execute the control command issued by the remote control terminal 300 to run in the same direction as the recorded heading of the machine 100.

The magnitude relationship between the preset values is as follows:

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

The first predetermined value is not less than the length of the machine 100 and the fourth predetermined 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 fourth predetermined value is not less than the minimum turning radius of the machine 100, so that in a relatively common scenario where the remote control machine 100 travels along a boundary defined by the boundary, since the machine 100 needs to travel along a continuous line and record data along the path, during the travel, it is not desirable for the machine 100 to perform actions such as backing up, and therefore, when the machine 100 detects that the distance from the obstacle is less than the fourth predetermined value, the machine 100 stops, and since the fourth predetermined value is not less than the minimum turning radius of the machine 100, the machine 100 can avoid the obstacle in a turning manner and continue traveling, and it is avoided that the machine 100 must perform a backing-up action to avoid the obstacle to continue traveling due to being too close to the obstacle. Meanwhile, because the user is not at the operation site of the machine 100 at this time, but knows the operation site condition of the machine 100 by watching the image acquired by the image acquisition device, the value selected by the fourth preset value can also provide enough operation space for the user, so that the user can conveniently and remotely control the machine 100 to work.

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

As shown in fig. 5, the image displayed by the display unit 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 acquiring unit 200 in real time, the virtual image area 402 can display a virtual image, and the operating condition identifier (i.e., the navigation speed identifier 403, the heading identifier 404, the mowing speed identifier 405, and the electric quantity identifier 408) is located in the virtual image area; the control pilot flag 600, the warning flag 406, and the emergency stop flag 407 are located within the real-time image area. The arrangement mode sets the working condition of the machine outside the real-time image area, so that the image in the real-time image area is not shielded as much as possible. The control guide mark 600, the warning mark 406 and the emergency stop mark 407 are arranged in the real-time image area, so that a user can see the mark for guiding in time when watching the display part 400 for operation, and can know warning and guide information in time to cope with the operation in time.

To solve the problem that the specific position of the machine relative to the environment displayed in the real-time image cannot be clearly understood without the body reference, as shown in fig. 6, a fiducial mark 500 is added to the lower part of the image displayed by the display unit 400 to provide the user with a reference to the position of the machine 100 relative to the environment displayed in the image. The user can intuitively and accurately know the position of the machine 100 in the environment where the image is displayed according to the reference mark 500, and a reference is provided for subsequent control.

However, as shown in fig. 2, the image captured by the image capturing component 200 of the machine 100 is typically a real-time image within the imaging area, and the display component 400 displays the real-time image to the user, because of the blind area, the actual position of the machine 100 should be outside the environment shown by the image, and specifically, the actual position of the machine 100 should be below the environment shown by the image, as shown in fig. 7. Therefore, if the reference mark 500 is added only to the lower portion of the image displayed on the display unit 400, a user may have a certain position error when using the reference mark 500 as a reference.

In order to solve the above problems, the following image display technology is provided.

As shown in fig. 8, the display section 400 includes a real-time image area 401 and a virtual image area 402 in a display area, the virtual image area 402 is an area extending outward from the edge of the real-time image area 401, and the virtual image area 402 includes at least an area extending outward from the edge below the real-time image area 401. As shown in fig. 6 and 7, the case where the virtual image area 402 extends outward from the peripheral edge 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 are illustrated.

The real-time image acquired by the image acquisition component 200 is displayed in the real-time image area 401, the image displayed in the virtual image area 402 is a virtual supplement image or a time-delay image, and the reference identifier 500 is located in the virtual image area 402. Based on the image display techniques described above, the specific position of the machine 100 relative to the environment displayed by the real-time images may be more accurately and objectively displayed.

For the virtual image area 402, when the displayed image is a virtual supplemental image, the virtual supplemental image is generated using the real-time image data in the real-time image area 401. Specifically, the real-time image is generated by using pixel information at the edge or in 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 pixel information in the lower edge or a region of several pixel lengths of the lower edge of the real-time image area 401, specifically, by using color information of pixels. Because the environment that robot lawnmower 100 usually traveles is the meadow environment, its real-time image district 401 lower part is mainly the meadow, utilizes the image information of real-time image district 401 below in the virtual image district 402, simulates out the meadow image to carry out the amalgamation with real-time image district 401.

In another implementation, the images within the virtual image area 402 are populated with historical images captured by the image capture component 200. Generally, the image obtaining unit 200 adds timestamp data to each frame of the obtained image, selects a history image including timestamp information before a certain time interval according to the timestamp information of the real-time image displayed in the real-time image area 401, and fills part of image information in the history image into the virtual image area 402 for display. The history image is cut from the lower edge, and the image with the same pixel height and width as the virtual image area 402 is filled in the virtual image area 402.

The specific time interval may be a fixed time interval set by a person, for example, a time interval determined and stored in a main control program of the machine 100 during a design stage of the machine 100, and this may be adopted for some mowing robots 100 with a fixed driving speed.

Alternatively, the time interval may be calculated based on the travel speed of the machine 100 and the specific length of 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, and the like, which may be related to the view angle and the placement position of the camera. 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 traveling speed of the machine 100. If the travel speed is variable, the time interval may be obtained by a piece-wise calculation or by the following method:

1. starting the machine 100, starting an image acquisition unit and starting to record images, recording a timestamp and path data on each frame of image, wherein the path data of a 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 of the machine 100 after starting;

2. the path data recorded in the real-time image is acquired, the virtual image area 402 is filled with the corresponding historical image, and the path data in the corresponding historical image is the path data in the real-time image minus the specific length of the image displayed in the virtual image area 402 in the environment corresponding to the image.

The accumulated actual running distance data can be obtained by calculation according to the number of turns of the motor and the wheel diameter of the driving wheel.

In the two implementation manners, at the boundary between the virtual image area 402 and the real-time image area 401, the images in the real-time image area 401 and/or the virtual image area 402 may be blurred or softened, so that the transition from the real-time image area 401 to the virtual image area 402 is relatively smooth, and when a user views the image displayed by the display component 400, the user does not have a poor visual effect due to an obvious difference between the real-time image area 401 and the virtual image area 402.

In the case of fig. 9 and 10, the virtual image area 402 includes a plurality of extensions of the edge areas of the real-time image area 401, and in the actual use process, in addition to the fact that the virtual image area 402 below the real-time image area 401 can be filled with the data of the historical image, the areas at other positions of the virtual image area 402 need to be filled with the virtual supplemental image.

Since the machine 100 does not have enough historical image data to be provided to the virtual image area 402 for use at the initial startup stage, the virtual supplementary image is used to fill the virtual image area 402 when the machine 100 is started, and the historical image is used to fill the virtual image area 402 when the historical image satisfying the use condition exists.

Since the image capturing unit may be capable of being positionally shifted, such as rotated, swung up and down, etc., when the position of the image capturing unit is shifted, the specific length of the environment displayed by the virtual image area 402 is changed accordingly, and the specific position of the actual position of the machine 100 relative to the lower edge of the real-time image is changed, which will be reflected in the real-time image of the virtual image area 402. The specific distance of the actual position of the machine 100 relative to the lower edge of the real-time image may be obtained from the perspective, mounting position, and mounting angle of the image capture unit.

The remote control terminal 300 is further provided with a user condition acquisition component, and the user condition acquisition component can enable elements such as a camera to be used for acquiring user data, wherein the user data comprises face data, eyeball data, pupil data and the like. When the camera element cannot acquire face data or when the camera element acquires face data but cannot acquire eyeball data/pupil data, the operation state of the machine 100 cannot be changed by the remote control terminal 300, and at this time, if the manipulation part 301 of the remote control terminal 300 is touched, the machine 100 enters a stop state.

As shown in fig. 13, when the user operates the machine 100 using the remote control terminal 300, the remote control terminal 300 compares the time difference between the time stamp data of the live image displayed on the display unit 400 and the internal clock/network clock of the remote control terminal 300, and when the time difference exceeds a preset time or the time stamp data of the live image does not change over a predetermined time, the machine 100 is stopped and the operation state of the machine 100 cannot be changed by the remote control terminal 300.

Both of the above-mentioned means are to avoid the user from operating the machine 100 through the remote control terminal 300 when not observing the display part 400, so as to reduce the possibility of danger, and simultaneously, to avoid the user from touching the remote control terminal 300 by mistake, so as to avoid the misoperation of the machine 100.

The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.

Claims

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;

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

the image displayed by the display part comprises

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:

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:

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:

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:

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.