CN114747361B - Method, apparatus and computer storage medium for controlling mowing robot - Google Patents
Method, apparatus and computer storage medium for controlling mowing robot Download PDFInfo
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- CN114747361B CN114747361B CN202210450909.1A CN202210450909A CN114747361B CN 114747361 B CN114747361 B CN 114747361B CN 202210450909 A CN202210450909 A CN 202210450909A CN 114747361 B CN114747361 B CN 114747361B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/14—Rainfall or precipitation gauges
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- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/108—Rainwater harvesting
Abstract
The embodiment of the invention relates to the technical field of cleaning equipment, and discloses a method, a device, control equipment and a computer storage medium for controlling a mowing robot, wherein the mowing robot is provided with a water collecting tank, a timer, a first measuring component and a second measuring component, the water collecting tank comprises a measuring part and a collecting part, the first measuring component and the second measuring component are arranged in the measuring part and are used for detecting rainwater in the water collecting tank, and the method comprises the following steps: acquiring a first measurement parameter of a first measurement component; judging whether the first measuring component detects rainwater collected by the first accommodating cavity or not; controlling a timer to start timing; acquiring a second measurement parameter of a second measurement component and the timing duration of a timer; judging whether a preset condition for executing a mowing task is met or not; if yes, the mowing robot executes a mowing task; and if not, returning the mowing robot to the charging base station. Through the mode, the embodiment of the invention can effectively judge whether the mowing robot is rainy or not when executing a mowing task.
Description
Technical Field
The embodiment of the invention relates to the technical field of cleaning equipment, in particular to a method and a device for controlling a mowing robot, control equipment and a computer storage medium.
Background
Along with the progress of science and technology, various intelligent products come into production, and the automatic mowing robot brings convenience to people in daily life by walking into people, and is one type of automatic mowing robot, and is more and more common in the daily life of people. The main function of the mowing robot is to automatically perform daily management on the lawn, and the labor intensity of people for lawn maintenance is greatly reduced.
In the process of implementing the embodiment of the present invention, the inventor of the embodiment of the present invention finds that: robot of mowing on the market has the rainwater function of detection, nevertheless can't detect the rainfall, many products are avoided robot of mowing to continue work when meetting great rainfall and lead to the condition of some bad problems to appear, so as long as detect the rainfall and just return to a journey and carry out the operation of taking shelter from the rain no matter the size of rain, then can not make the meadow become soft and ponding in certain time under the less condition of rainfall in fact, robot of mowing in this period of time can continue work at will, lead to user experience not high.
Disclosure of Invention
The technical problem mainly solved by the embodiment of the invention is to provide a method for controlling a mowing robot, which can effectively judge whether the mowing robot is rained and rained when executing a mowing task, so that the mowing robot can adapt to wider application scenes without influencing normal work, and can detect large raining amount to carry out rain sheltering operation, thereby improving the use performance of the mowing robot and improving user experience.
In order to solve the technical problem, one technical scheme adopted by the embodiment of the invention is as follows: the method for controlling the mowing robot is provided, the mowing robot is provided with a water collecting tank, a timer, a first measuring component and a second measuring component, the water collecting tank comprises a measuring portion and a collecting portion, the measuring portion is provided with a first containing cavity, the collecting portion is provided with a second containing cavity and an opening, the opening is communicated with the second containing cavity, the second containing cavity is communicated with the first containing cavity, the second containing cavity is used for collecting liquid through the opening, the collected liquid flows into the first containing cavity, the first measuring component is arranged in the first containing cavity, the first measuring component is located at a first height, the second measuring component is arranged in the first containing cavity, and the second measuring component is located at a second height, wherein the first height is smaller than the second height, and the method comprises the following steps: acquiring a first measurement parameter of the first measurement component; judging whether the first measuring component detects the rainwater collected by the first containing cavity or not according to the first measuring parameter; if the first measuring component detects the rainwater collected by the first accommodating cavity, controlling the timer to start timing; acquiring a second measurement parameter of the second measurement component and the timing duration of the timer; judging whether a preset condition for executing the mowing task is met or not according to the second measurement parameter and the timing duration; if the condition for executing the mowing task is met, controlling the mowing robot to execute the mowing task; and if the preset mowing task executing condition is not met, controlling the mowing robot to return to the charging base station.
Optionally, the step of determining whether a preset condition for executing the mowing task is met according to the second measurement parameter and the timing duration further includes: according to the second measurement parameter, whether the second measurement component detects the rainwater collected by the first cavity within a preset time length of the timing length of the timer is judged; if the second measuring component detects the rainwater collected by the first accommodating cavity within the preset time length, determining that the preset condition for executing the mowing task is not met; if the second measuring component does not detect the rainwater collected by the first accommodating cavity within the preset time length, determining that the preset condition for executing the mowing task is met.
Optionally, if the first measuring component does not detect rainwater collected by the first accommodating cavity, it is determined that a preset condition for executing a mowing task is met.
Optionally, the measuring part is further provided with a water outlet, the water outlet is communicated with the first accommodating cavity, the mowing robot further comprises a blocking component, and the blocking component is used for opening the water outlet or closing the water outlet; the method further comprises the following steps: if the preset condition for executing the mowing task is not met, controlling the blocking assembly to open the water outlet; and after the drainage is finished, controlling the blocking assembly to close the drainage outlet.
Optionally, the method further comprises: acquiring a third measurement parameter of the first measurement component and a fourth measurement parameter of the second measurement component; judging whether the first measuring component and the second measuring component are in a false touch state or not according to the third measuring parameter and the fourth measuring parameter; if yes, alarm information is output.
Optionally, the step of determining whether the first measurement component and the second measurement component are in a false touch state according to the third measurement parameter and the fourth measurement parameter further includes: when the first measuring component is judged to detect the rainwater collected by the first containing cavity according to the third measuring parameter and the second measuring component is judged to detect the rainwater collected by the first containing cavity according to the fourth measuring parameter, acquiring a time interval between the first measuring component detecting the rainwater collected by the first containing cavity and the second measuring component detecting the rainwater collected by the first containing cavity; judging whether the time interval is smaller than or equal to a preset time interval or not; if so, determining that the first measuring assembly and the second measuring assembly are in a false touch state; and if not, determining that the first measuring component and the second measuring component are not in a false touch state.
Optionally, the method further includes: if the first measuring assembly and the second measuring assembly are in a wrong touch state, the blocking assembly is controlled to open the water outlet; after the water drainage is finished, controlling the blocking assembly to close the water outlet; the driving component drives the blocking component to move, so that the water outlet is opened to drain rainwater; and controlling the mowing robot to return to the home.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is: there is provided an apparatus for controlling a robot lawnmower, comprising: the first acquisition module is used for acquiring a first measurement parameter of the first measurement component; the first judging module is used for judging whether the first measuring component detects the rainwater collected by the first containing cavity or not according to the first measuring parameter; the first control module is used for controlling the timer to start timing if the first measuring component detects the rainwater collected by the first accommodating cavity; the second acquisition module is used for acquiring a second measurement parameter of the second measurement component and the timing duration of the timer; the second judgment module is used for judging whether the preset mowing task execution condition is met or not according to the second measurement parameter and the timing duration; the second control module is used for controlling the mowing robot to execute a mowing task if the mowing task executing condition is met; and the third control module is used for controlling the mowing robot to return to the charging base station if the preset mowing task executing condition is not met.
In order to solve the above technical problem, another technical solution adopted in the embodiments of the present invention is: provided is a mowing robot including: the mowing robot is provided with a water collecting tank, a timer, a first measuring assembly and a second measuring assembly, wherein the water collecting tank comprises a measuring part and a collecting part; a controller, comprising: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the methods described above.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is: there is provided a computer storage medium having stored thereon computer-executable instructions for causing a server to perform the method as described above.
The embodiment of the invention provides a method for controlling a mowing robot, which comprises the following steps: acquiring a first measurement parameter of the first measurement component; judging whether the first measuring component detects the rainwater collected by the first containing cavity or not according to the first measuring parameter; if the first measuring component detects the rainwater collected by the first containing cavity, controlling the timer to start timing; acquiring a second measurement parameter of the second measurement component and the timing duration of the timer; judging whether a preset condition for executing the mowing task is met or not according to the second measurement parameter and the timing duration; if the condition for executing the mowing task is met, controlling the mowing robot to execute the mowing task; if the preset condition for executing the mowing task is not met, the mowing robot is controlled to return to the charging base station, whether the intelligent mowing robot is rained or not and whether the intelligent mowing robot is rained or not can be judged in the mode, and the use performance of the mowing robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic diagram of an application environment of a method for controlling a mowing robot according to an embodiment of the invention;
FIG. 2 is a diagram of a method of controlling a lawn mowing robot in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of a method of controlling a lawn mowing robot in accordance with an embodiment of the present invention;
fig. 4 is a flowchart of determining whether a preset condition for executing a mowing task is met according to the second measurement parameter and the timing duration in the method for controlling the mowing robot according to the embodiment of the invention;
FIG. 5 is a method flow diagram of another embodiment of a method of controlling a lawn mowing robot of an embodiment of the present disclosure;
FIG. 6 is a flow chart of yet another embodiment of a method of controlling a lawn mowing robot in accordance with an embodiment of the present disclosure;
fig. 7 is a flowchart of determining whether the first measuring component and the second measuring component are in a false touch state according to the third measuring parameter and the fourth measuring parameter in the method for controlling the mowing robot according to the embodiment of the invention;
fig. 8 is a block diagram of a mowing robot according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a controller of a lawn mowing robot according to an embodiment of the invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "vertical," "horizontal," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all 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. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Referring to fig. 1 and 2, fig. 1 and 2 are schematic diagrams illustrating an application environment of a method for controlling a robot mower according to the present invention, the application environment includes a robot mower 100, the robot mower 100 includes a water collecting tank 10, a timer (not shown), a first measuring assembly 20, a second measuring assembly 30, a blocking assembly (not shown), and a controller (not shown), the water collecting tank 10 includes a measuring portion 101 and a collecting portion 102, the measuring portion includes a water outlet 103, and when rainwater enters the water collecting tank 10, the controller drives the first measuring assembly 20 and the second measuring assembly 30 to detect a current rainfall parameter, and transmits the current rainfall parameter to the controller, so as to complete the detection of the rainfall.
Fig. 3 shows a flow chart of a method of controlling a robot lawnmower according to the invention, the method comprising the steps of, as depicted in fig. 2:
step S101: acquiring a first measurement parameter of the first measurement component;
step S102: judging whether the first measuring component detects rainwater collected by the first containing cavity or not according to the first measuring parameter;
step S103: if the first measuring component detects the rainwater collected by the first accommodating cavity, controlling the timer to start timing;
step S104: acquiring a second measurement parameter of the second measurement component and the timing duration of the timer; the first measuring component and the second measuring component are infrared geminate transistors, the infrared geminate transistors are divided into a transmitting end and a receiving end, when rainwater exists between the receiving end and the transmitting end, infrared light received by the receiving end is weakened to output a relatively low level, when rainwater does not exist between the receiving end and the transmitting end, the infrared light received by the receiving end is strong to output a relatively high level, therefore, the first measuring parameter is a level value detected by the first measuring component, whether the first measuring component detects the rainwater or not can be reversely deduced through the level value, and similarly, the second measuring parameter is a level value detected by the second measuring component, and whether the second measuring component detects the rainwater or not can also be reversely deduced through the level value.
Step S105: judging whether preset conditions for executing the mowing task are met or not according to the second measurement parameters and the timing duration;
referring to fig. 3, the step S105 further includes:
step S1051: according to the second measurement parameter, whether the second measurement component detects the rainwater collected by the first cavity within a preset time length of the timing length of the timer is judged;
step S1052: if the second measuring component detects the rainwater collected by the first accommodating cavity within the preset time length, determining that the preset condition for executing the mowing task is not met;
if in the time value of predetermineeing, the rainwater in the header tank does not pass second measuring component, and second measuring component detects the rainwater, explains that rainfall arrival returns to voyage rainfall at this moment can be affirmed, and controller control mowing robot carries out the operation of returning to voyage.
Step S1053: if the second measuring assembly does not detect the rainwater collected by the first accommodating cavity within the preset time, determining that preset mowing task executing conditions are met.
If the rainwater in the water collecting tank does not exceed the second measuring component to trigger the rainwater in the preset time value, the situation that the rainwater stops raining or the rainwater amount is small and the water collecting tank cannot be filled in the set time is indicated, and the mowing robot can continue to work at the moment.
Step S106: if the condition for executing the mowing task is met, controlling the mowing robot to execute the mowing task;
step S107: and if the preset mowing task executing condition is not met, controlling the mowing robot to return to the charging base station.
In the embodiment of the invention, a first measurement parameter of the first measurement component is obtained; judging whether the first measuring component detects the rainwater collected by the first containing cavity or not according to the first measuring parameter; if the first measuring component detects the rainwater collected by the first accommodating cavity, controlling the timer to start timing; acquiring a second measurement parameter of the second measurement component and the timing duration of the timer; judging whether preset conditions for executing the mowing task are met or not according to the second measurement parameters and the timing duration; if the condition for executing the mowing task is met, controlling the mowing robot to execute the mowing task; if the preset condition for executing the mowing task is not met, the mowing robot is controlled to return to the charging base station, whether the intelligent mowing robot is rained or not and whether the intelligent mowing robot is rained or not can be judged in the mode, and the use performance of the mowing robot is improved.
In some embodiments, please refer to fig. 5, fig. 5 is a flowchart illustrating a method of controlling a lawn mowing robot according to another embodiment of the present invention, which is different from the other embodiments in that: the method further comprises the following steps:
step S108: if the first measuring component does not detect the rainwater collected by the first accommodating cavity, determining that a preset mowing task executing condition is met;
if the controller receives that the first measurement parameter of the first measurement assembly is high level, it is judged that the controller is not raining currently, and the outbound mowing task can be executed.
Step S109: if the preset mowing task executing condition is not met, the blocking assembly is controlled to open the water outlet;
step S110: and after the water drainage is finished, controlling the blocking assembly to close the water drainage port.
The embodiment of the invention provides a method for controlling a mowing robot, which comprises the following steps: if the first measuring component does not detect the rainwater collected by the first accommodating cavity, determining that preset mowing task executing conditions are met; if the preset condition for executing the mowing task is not met, controlling the blocking assembly to open the water outlet; after the drainage is finished, the blocking assembly is controlled to close the drainage outlet, and the mowing robot can judge whether to go out of the station to execute a task according to the current rainfall.
Referring to fig. 6, fig. 6 is a flowchart of a method for controlling a robot lawnmower according to another embodiment of the present invention, which is different from other embodiments in that the method further includes:
step S120: acquiring a third measurement parameter of the first measurement component and a fourth measurement parameter of the second measurement component;
the third measurement parameter is a level value output by the first measurement component when the first measurement component detects again, and the fourth measurement parameter is a level value output by the second measurement component when the second measurement component detects again
Step S130: judging whether the first measuring component and the second measuring component are in a false touch state or not according to the third measuring parameter and the fourth measuring parameter;
in some embodiments, referring to fig. 6, step S130 further includes:
step S1301: when the first measuring component is judged to detect the rainwater collected by the first containing cavity according to the third measuring parameter and the second measuring component is judged to detect the rainwater collected by the first containing cavity according to the fourth measuring parameter, acquiring a time interval between the first measuring component detecting the rainwater collected by the first containing cavity and the second measuring component detecting the rainwater collected by the first containing cavity;
step S1302: judging whether the time interval is smaller than or equal to a preset time interval or not;
step S1303: if so, determining that the first measuring assembly and the second measuring assembly are in a false touch state;
and step S1304, if not, determining that the first measuring component and the second measuring component are not in a false touch state.
Step S140: if yes, alarm information is output.
If the level value output by the second measuring component and received by the controller is low level and the level value of the second measuring component is low level within the preset time value, the fact that the rainfall reaches the return rainfall is judged, however, in order to avoid mistaken touch caused by external sprinkling, the mowing robot can continue to perform the mowing task, rainfall detection is performed again after the drainage action is performed, if the third measuring parameter and the fourth measuring parameter are not received by the controller within the preset time value at the same time, the situation that mistaken touch occurs at the moment is indicated, and the robot continues to perform the mowing task.
Step S150: if the first measuring assembly and the second measuring assembly are in a wrong touch state, the blocking assembly is controlled to open the water outlet;
step S160, after the water drainage is finished, controlling the blocking component to close the water outlet;
step S170: the driving component drives the blocking component to move, so that the water outlet is opened to drain rainwater;
step S180: and controlling the mowing robot to return to the home.
The embodiment of the invention provides a method for controlling a mowing robot, which comprises the following steps: acquiring a third measurement parameter of the first measurement component and a fourth measurement parameter of the second measurement component; judging whether the first measuring component and the second measuring component are in a false touch state or not according to the third measuring parameter and the fourth measuring parameter; if yes, outputting alarm information; if the first measuring assembly and the second measuring assembly are in a mistaken touch state, the blocking assembly is controlled to open the water outlet; after the drainage is finished, controlling the blocking assembly to close the drainage outlet; the driving component drives the blocking component to move, so that the water outlet is opened to drain rainwater; the mowing robot is controlled to carry out return operation, and by means of the mode, the mowing robot can judge the current rainfall more accurately, so that the working state of the mowing robot can be adjusted more flexibly.
Referring to fig. 8, fig. 8 shows a functional block diagram of an apparatus 70 for controlling a robot mower according to the present invention, where the apparatus 70 includes: a first obtaining module 71, configured to obtain a first measurement parameter of the first measurement component; a first determining module 72, configured to determine, according to the first measurement parameter, whether the first measurement component detects rainwater collected by the first accommodating cavity; a first control module 73, configured to control the timer to start timing if the first measuring component detects rainwater collected by the first cavity; a second obtaining module 74, configured to obtain a second measurement parameter of the second measurement component, and a timing duration of the timer; a second judging module 75, configured to judge whether a preset condition for executing a mowing task is met according to the second measurement parameter and the timing duration; a second control module 76, configured to control the mowing robot to perform a mowing task if the mowing task executing condition is met; and a third control module 77 for controlling the mowing robot to return to the charging base station if the preset mowing task execution condition is not met.
The embodiment of the invention provides a device for controlling a mowing robot, which comprises: the first acquisition module is used for acquiring a first measurement parameter of the first measurement component; the first judging module is used for judging whether the first measuring component detects the rainwater collected by the first containing cavity or not according to the first measuring parameter; the first control module is used for controlling the timer to start timing if the first measuring component detects the rainwater collected by the first accommodating cavity; the second acquisition module is used for acquiring a second measurement parameter of the second measurement component and the timing duration of the timer; the second judgment module is used for judging whether the preset mowing task execution condition is met or not according to the second measurement parameter and the timing duration; the second control module is used for controlling the mowing robot to execute a mowing task if the mowing task executing condition is met; and the third control module is used for controlling the mowing robot to return to the charging base station if the preset mowing task executing condition is not met, and can effectively judge whether the intelligent mowing robot encounters rain and rainfall when executing a mowing task by the mode, so that the use performance of the mowing robot is improved.
The present invention further provides an embodiment of a controller of a mowing robot, please refer to fig. 9, fig. 9 is a schematic diagram of an embodiment of a control device according to the embodiment of the present invention, the controller 50 of the control device includes: at least one processor 501; and a memory 502 communicatively coupled to the at least one processor 501, where one of the processors 501 is taken as an example in fig. 9. The memory 502 stores instructions executable by the at least one processor 501 to cause the at least one processor 501 to perform a method of controlling a lawn mowing robot as described above with reference to fig. 3-7 and an apparatus for controlling a lawn mowing robot as described above with reference to fig. 7. The processor 501 and the memory 502 may be connected by a bus or other means, and fig. 9 illustrates the connection by a bus as an example.
The memory 502, which is a non-volatile computer storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to one of the methods of controlling a scrubber of the embodiments of the present application, for example, the modules shown in fig. 9. The processor 501 executes various functional applications of the server and data processing by executing nonvolatile software programs, instructions and modules stored in the memory 502, so as to realize the method for controlling the mowing robot.
The memory 502 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data created from use of an apparatus for controlling a floor washing machine, and the like. Further, the memory 502 may include high speed random access memory 502, and may also include non-volatile memory 502, such as at least one piece of disk memory 502, flash memory devices, or other non-volatile solid state memory 502. In some embodiments, memory 502 optionally includes memory 502 located remotely from processor 501, and such remote memory 502 may be connected over a network to a device that controls the scrubber. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 502 and, when executed by the one or more processors 501, perform a method of controlling a scrubber in any of the method embodiments described above, e.g., performing the method steps of fig. 3-7 described above, and performing an apparatus of controlling a lawn mowing robot as described above in fig. 7.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (9)
1. A method for controlling a robot mower, the robot mower comprising a water collection tank, a timer, a first measurement component and a second measurement component, the water collection tank comprising a measurement portion and a collection portion, the measurement portion comprising a first cavity, the collection portion comprising a second cavity and an opening, the opening communicating with the second cavity, the second cavity communicating with the first cavity, the second cavity being configured to collect liquid through the opening, and the collected liquid flowing into the first cavity, the first measurement component being disposed within the first cavity, the first measurement component being at a first height, the second measurement component being disposed within the first cavity, the second measurement component being at a second height, wherein the first height is less than the second height, the method comprising:
acquiring a first measurement parameter of the first measurement component;
judging whether the first measuring component detects rainwater collected by the first containing cavity or not according to the first measuring parameter;
if the first measuring component detects the rainwater collected by the first accommodating cavity, controlling the timer to start timing;
acquiring a second measurement parameter of the second measurement component and the timing duration of the timer;
judging whether a preset condition for executing the mowing task is met or not according to the second measurement parameter and the timing duration;
if the condition for executing the mowing task is met, controlling the mowing robot to execute the mowing task;
and if the preset mowing task executing conditions are not met, controlling the mowing robot to return to the charging base station.
2. The method of claim 1,
according to the second measurement parameter and the timing duration, judging whether a preset mowing task execution condition is met, and further comprising the following steps of:
according to the second measurement parameter, whether the second measurement component detects the rainwater collected by the first cavity within a preset time length of the timing length of the timer is judged;
if the second measuring component detects the rainwater collected by the first accommodating cavity within the preset time length, determining that the preset condition for executing the mowing task is not met;
if the second measuring component does not detect the rainwater collected by the first accommodating cavity within the preset time length, determining that the preset condition for executing the mowing task is met.
3. The method of claim 1, further comprising:
and if the first measuring component does not detect the rainwater collected by the first accommodating cavity, determining that a preset mowing task executing condition is met.
4. The method according to any one of claims 1 to 3, wherein the measuring part is further provided with a water outlet which is communicated with the first cavity, and the mowing robot further comprises a blocking component which is used for opening the water outlet or closing the water outlet;
the method further comprises the following steps:
if the preset condition for executing the mowing task is not met, controlling the blocking assembly to open the water outlet;
and after the water drainage is finished, controlling the blocking assembly to close the water drainage port.
5. The method of claim 4, further comprising:
acquiring a third measurement parameter of the first measurement component and a fourth measurement parameter of the second measurement component;
judging whether the first measuring component and the second measuring component are in a false touch state or not according to the third measuring parameter and the fourth measuring parameter;
if yes, outputting alarm information.
6. The method of claim 5,
according to the third measurement parameter and the fourth measurement parameter, judging whether the first measurement component and the second measurement component are in a false touch state, further comprising:
when the first measuring component is judged to detect the rainwater collected by the first containing cavity according to the third measuring parameter and the second measuring component is judged to detect the rainwater collected by the first containing cavity according to the fourth measuring parameter, acquiring a time interval between the first measuring component detecting the rainwater collected by the first containing cavity and the second measuring component detecting the rainwater collected by the first containing cavity;
judging whether the time interval is less than or equal to a preset time interval or not;
if so, determining that the first measuring assembly and the second measuring assembly are in a false touch state;
and if not, determining that the first measuring component and the second measuring component are not in a false touch state.
7. The utility model provides a control mowing robot's device, its characterized in that, mowing robot is equipped with header tank, time-recorder, first measuring component and second measuring component, the header tank includes measuring part and collection portion, the measuring part is provided with first appearance chamber, the collection portion is provided with second appearance chamber and opening, the opening with second appearance chamber intercommunication, second appearance chamber and first appearance chamber intercommunication, the second appearance chamber is used for collecting liquid through the opening to the liquid inflow that collects flows into first appearance chamber, first measuring component set up in first appearance intracavity, first measuring component is located first height, second measuring component set up in first appearance intracavity, second measuring component is located the second height, wherein, first height is less than the second height, the device includes:
the first acquisition module is used for acquiring a first measurement parameter of the first measurement component;
the first judging module is used for judging whether the first measuring component detects the rainwater collected by the first containing cavity or not according to the first measuring parameter;
the first control module is used for controlling the timer to start timing if the first measuring component detects the rainwater collected by the first accommodating cavity;
the second acquisition module is used for acquiring a second measurement parameter of the second measurement component and the timing duration of the timer;
the second judgment module is used for judging whether the preset mowing task execution condition is met or not according to the second measurement parameter and the timing duration;
the second control module is used for controlling the mowing robot to execute a mowing task if the mowing task executing condition is met;
and the third control module is used for controlling the mowing robot to return to the charging base station if the preset mowing task executing condition is not met.
8. A lawn mowing robot comprising:
the water collecting tank comprises a measuring part and a collecting part;
the controller includes: at least one processor, and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
9. A computer storage medium having stored thereon computer-executable instructions for causing a server to perform the method of any one of claims 1-6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103891464B (en) * | 2012-12-28 | 2016-08-17 | 苏州宝时得电动工具有限公司 | Automatically mow system |
| CN105486953B (en) * | 2015-12-18 | 2018-09-25 | 中国电力科学研究院 | A kind of rainfall automatic measurement system and method for electrical equipment salt fog test |
| FR3062914B3 (en) * | 2017-02-15 | 2019-08-30 | Positec Power Tools (Suzhou) Co., Ltd | RAIN DETECTION MODULE AND ROBOTIZED TURF MOWER COMPRISING SUCH A MODULE |
| CN210444878U (en) * | 2019-06-10 | 2020-05-05 | 广州科语机器人有限公司 | Rainwater detection device and mowing robot |
| CN212539202U (en) * | 2020-06-01 | 2021-02-12 | 上海丛远机械有限公司 | Control circuit for autonomous working apparatus and autonomous working apparatus |
| CN113759886A (en) * | 2020-06-01 | 2021-12-07 | 上海山科机器人有限公司 | Control circuit for autonomous working apparatus, and control method therefor |
| CN214852822U (en) * | 2021-02-03 | 2021-11-26 | 深圳市杉川机器人有限公司 | Rain sensor and mower |
| CN114252922A (en) * | 2021-12-16 | 2022-03-29 | 深圳市杉川机器人有限公司 | Rain detection device, self-moving apparatus, rain detection method, and computer-readable storage medium |
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