CN114793600B - Mowing robot control method and related device - Google Patents
Mowing robot control method and related device Download PDFInfo
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- CN114793600B CN114793600B CN202210429389.6A CN202210429389A CN114793600B CN 114793600 B CN114793600 B CN 114793600B CN 202210429389 A CN202210429389 A CN 202210429389A CN 114793600 B CN114793600 B CN 114793600B
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- 238000000034 method Methods 0.000 title claims abstract description 86
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Classifications
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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
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
Abstract
The embodiment of the application provides a control method and a related device of a robot mower, which are applied to first user equipment, wherein the method comprises the following steps: acquiring first alarm information from a wearable device, wherein the first alarm information is used for indicating that the distance between the wearable device and a mowing robot is smaller than a first preset threshold; determining whether the mowing robot is in a working state; if the mowing robot is in a working state, first prompt information is sent to second user equipment, and the first prompt information is used for reminding a first user to close the mowing robot. According to the method and the device, when the distance between the wearing equipment and the mowing robot is too short, the first user is reminded to close the mowing robot, so that the child wearing the wearing equipment is prevented from contacting the mowing robot when the mowing robot works, and the safety risk of contact between the mowing machine and the child is reduced.
Description
Technical Field
The application belongs to the field of mowing robot control, and particularly relates to a mowing robot control method and a related device.
Background
At present, with the rapid development of social economy, the urban greening construction area is larger and larger, and the urban greening investment is increased year by year. The lawn is used as an important plant material for urban greening, and a large amount of manpower, material resources and financial resources are injected for maintenance while the lawn brings green color to people. In the process of lawn maintenance, lawn trimming is most complicated and complex, and in order to reduce the labor intensity and cost, a mowing robot is born.
In the existing technical solutions for the mowing robot, only the control of the workflow of the mowing robot is performed, for example, how to execute the mowing task, how to determine the working area, etc. For families with children, pets and the like, if the mowing robot leaves the line of sight of parents, the children, the pets and the like may contact the mowing machine, and further safety risks are generated.
Disclosure of Invention
The embodiment of the application provides a control method and a related device for a mowing robot, aiming at reducing the safety risk of contact between a mowing machine and a child.
In a first aspect, an embodiment of the present application provides a method for controlling a robot lawnmower, which is applied to a first user equipment, and the method includes: acquiring first alarm information from the mowing robot, wherein the first alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a first preset threshold; determining whether the mowing robot is in a working state; if the mowing robot is in a working state, first prompt information is sent to second user equipment, and the first prompt information is used for reminding a first user corresponding to the second user equipment to close the mowing robot.
In a second aspect, an embodiment of the present application provides a control method of a robot lawnmower, which is applied to the robot lawnmower, and the method includes:
receiving a state acquisition message from first user equipment, wherein the state acquisition message is generated by the first user equipment in response to first alarm information from a mowing robot, and the first alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a first preset threshold;
responding to the state acquisition message, sending an indication message to the first user equipment, wherein the indication message is used for indicating whether the mowing robot is in a working state or not, and when the mowing robot is in the working state, the first user equipment is indicated to send first prompt information to the second user equipment, and the first prompt information is used for reminding a first user corresponding to the second user equipment to close the mowing robot.
In a third aspect, an embodiment of the present application provides a robot lawnmower control apparatus, applied to a first user equipment, the apparatus includes: the acquisition unit is used for acquiring first alarm information from the mowing robot, wherein the first alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a first preset threshold; a determining unit, configured to determine whether the mowing robot is in a working state; the device comprises a sending unit, a first prompting unit and a second prompting unit, wherein the sending unit is used for sending first prompting information to second user equipment when the mowing robot is in a working state, and the first prompting information is used for prompting a first user to close the mowing robot.
In a fourth aspect, embodiments of the present application provide a robot lawnmower control apparatus, applied to a robot lawnmower, the apparatus including: the device comprises a receiving unit, a first user equipment and a second user equipment, wherein the receiving unit is used for receiving a state acquisition message from the first user equipment, the state acquisition message is generated by the first user equipment in response to first alarm information from the mowing robot, and the first alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a first preset threshold; the sending unit is used for responding to the state acquisition message, sending an indication message to the first user equipment, wherein the indication message is used for indicating whether the mowing robot is in a working state or not, and when the mowing robot is in the working state, the first user equipment is indicated to send first prompt information to the second user equipment, and the first prompt information is used for reminding the first user to close the mowing robot.
In a fifth aspect, an embodiment of the present application provides a robot lawnmower control apparatus, applied to a wearable device, the apparatus including: the detection unit is used for detecting that the distance between the wearable equipment and the mowing robot is smaller than a first preset threshold value; the first user equipment is used for sending first alarm information to the second user equipment, and the first alarm information is used for reminding the first user of closing the mowing robot when the first user equipment determines that the mowing robot is in a working state.
In a sixth aspect, a lawn mowing robot is provided according to an embodiment of the present application configured with a lawn mowing robot control apparatus as described in the fifth aspect, for executing instructions of steps in a lawn mowing robot control method as described in the second aspect.
In a seventh aspect, embodiments of the present application provide an electronic device comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps of any of the first to sixth aspects of the embodiments of the present application.
In an eighth aspect, embodiments of the present application provide a computer storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform part or all of the steps described in any one of the first to sixth aspects of the present embodiment.
In a ninth aspect, embodiments of the present application provide a computer program product, wherein the computer program product comprises a non-transitory computer readable storage medium storing a computer program, the computer program being operable to cause a computer to perform part or all of the steps as described in any one of the first to sixth aspects of the embodiments of the present application. The computer program product may be a software installation package.
It can be seen that in the embodiment of the present application, first alarm information from a mowing robot is obtained, where the first alarm information is used to indicate that a distance between the wearable device and the mowing robot is smaller than a first preset threshold; determining whether the mowing robot is in a working state; if the mowing robot is in a working state, first prompt information is sent to second user equipment, and the first prompt information is used for reminding a first user to close the mowing robot. According to the method and the device, when the distance between the wearing equipment and the mowing robot is too short, the first user is reminded to close the mowing robot, so that the child wearing the wearing equipment is prevented from contacting the mowing robot when the mowing robot works, and the safety risk of contact between the mowing machine and the child is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1a is a schematic structural diagram of an interactive system according to an embodiment of the present application;
fig. 1b is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a control method of a robot lawnmower according to an embodiment of the present application;
fig. 3 is a schematic flow chart of another control method of a robot lawnmower according to an embodiment of the present application;
fig. 4 is a schematic signaling flow diagram of multi-side interaction provided in an embodiment of the present application;
fig. 5a is a functional unit block diagram of a robot lawnmower control apparatus according to an embodiment of the present application;
fig. 5b is a functional unit block diagram of another robot lawnmower control apparatus according to an embodiment of the present application;
fig. 6a is a functional unit block diagram of a robot lawnmower control apparatus according to an embodiment of the present application;
fig. 6b is a functional unit block diagram of another robot lawnmower control apparatus according to an embodiment of the present application;
fig. 7a is a functional unit block diagram of a robot lawnmower control apparatus according to an embodiment of the present application;
fig. 7b is a functional unit block diagram of another robot lawnmower control apparatus according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The following description will first be made of the relevant terms that are referred to in this application.
UWB: UWB (Ultra-Wideband) Ultra Wideband is a carrierless communication technology that utilizes non-sinusoidal narrow pulses on the order of nanoseconds to microseconds to transmit data. UWB can achieve data transmission rates of hundreds of Mbit/s to several Gbit/s in the range of about 10 meters by transmitting very low power signals over a wide frequency spectrum. The anti-interference performance is strong, the transmission rate is high, the system capacity is large, and the transmission power is very small. The UWB system has very low transmit power, and the communication device can communicate with less than 1mW of transmit power. The low transmit power greatly prolongs the system power on time. Moreover, the emission power is low, the influence of electromagnetic wave radiation on human body is small, and the application range is wide.
RTK: RTK (Real-time kinematic) carrier phase difference technology is a difference method for processing the observed quantity of carrier phases of two measuring stations in Real time, and the carrier phases acquired by a reference station are sent to a user receiver to calculate the difference and calculate the coordinates. The method is a new common satellite positioning measurement method, the previous static, quick static and dynamic measurement needs to be solved afterwards to obtain centimeter-level precision, the RTK is a measurement method capable of obtaining centimeter-level positioning precision in real time in the field, the method adopts a carrier phase dynamic real-time differential method, the method is a great milestone for GPS application, the appearance of the method is engineering lofting and landform mapping, and various control measurement brings new measurement principles and methods, so that the operation efficiency is greatly improved.
At present, with the rapid development of social economy, the urban greening construction area is larger and larger, and the urban greening investment is increased year by year. The lawn is used as an important plant material for urban greening, and a large amount of manpower, material resources and financial resources are injected for maintenance while the lawn brings green color to people. In the process of lawn maintenance, lawn trimming is most complicated and complex, and in order to reduce the labor intensity and cost, a mowing robot is born. In the existing technical solutions for the mowing robot, only the control of the workflow of the mowing robot is performed, for example, how to execute the mowing task, how to determine the working area, etc. However, in the prior art, the distance between the mowing robot and the child cannot be determined, if the mowing robot leaves the line of sight of the parent, the child may contact the mowing machine, and then safety risks are generated.
In order to solve the above problems, the embodiment of the application provides a control method of a mowing robot. The method can be applied to a scene of reducing the safety risk of children contacting the mowing robot. The first alarm information from the mowing robot can be obtained, and the first alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a first preset threshold; determining whether the mowing robot is in a working state; if the mowing robot is in a working state, first prompt information is sent to second user equipment, and the first prompt information is used for reminding a first user to close the mowing robot. The present solution may be applied to a variety of scenarios, including but not limited to the application scenarios mentioned above.
The following describes a system architecture or apparatus to which embodiments of the present application relate.
The present application provides an interactive system, as shown in fig. 1a, comprising a first user device 100, a mowing robot 101 and a wearable device 102. The wearable device 102 may be worn by a child, a mental defect person, etc. (i.e., a second user), and the wearable device may be a wristwatch, a mobile phone, a necklace, a ring, a bracelet, etc., without being limited thereto uniquely. When the distance between the second user and the mowing robot 101 is smaller than a first preset threshold, the mowing robot 101 sends first alarm information to the first user equipment 100. After receiving the first alarm information, the first user equipment 100 determines whether the mowing robot 101 is in a working state, and if so, sends first prompt information to the second user equipment to remind the first user to close the mowing robot 101; the second user device is an electronic device used by a first user, such as a mobile phone, a tablet, etc., and the first user is a guardian of the second user, a temporary caretaker, or a monitoring person of the mowing robot 101, which is not limited in uniqueness.
Specifically, the first user equipment may be a server or a terminal device; when the first user equipment is a server, stronger computing power can be obtained, and more complex data can be processed; when the first user equipment is terminal equipment, the terminal equipment can interact with the mowing robot, the second user equipment and the like in a short distance, so that the response of information can be quickened, and the timeliness of function realization is improved. It will be appreciated that the terminal device includes, but is not limited to, any of the following: cell-phone, dull and stereotyped, intelligent bracelet and remote controller. When the first user equipment is a terminal equipment, the first user equipment and the second user equipment may be the same equipment, or may be different equipment, which is not limited uniquely.
The present application also provides an electronic device 10, as shown in FIG. 1b, comprising at least one processor (processor) 11; a display screen 12; and a memory (memory) 13, which may also include a communication interface (Communications Interface) 15 and a bus 14. The processor 11, the display 12, the memory 13 and the communication interface 15 may communicate with each other via a bus 14. The display 12 is configured to display a user guidance interface preset in the initial setting mode. The communication interface 15 may transmit information. The processor 11 may call logic instructions in the memory 13 to perform the methods of the above embodiments.
Alternatively, the electronic device 10 may be a mobile electronic device, or may be an electronic device or other device, which is not limited in uniqueness herein.
Further, the logic instructions in the memory 13 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product.
The memory 13, as a kind of computer readable storage medium, may be configured to store a software program, a computer executable program, such as program instructions or modules corresponding to the methods in the embodiments of the present disclosure. The processor 11 performs the functional applications and data processing by running software programs, instructions or modules stored in the memory 13 to implement the methods in the above-described embodiments.
The memory 13 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the electronic device 10, and the like. Further, the memory 13 may include a high-speed random access memory, and may also include a nonvolatile memory. For example, a plurality of media capable of storing program codes such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or a transitory storage medium may be used.
The specific method of the first user equipment side is described in detail below.
Referring to fig. 2, the present application further provides a control method of the mowing robot, which is applied to the first user equipment as described above. The control method of the mowing robot comprises the following steps:
step 201, acquiring first alarm information from a mowing robot.
The first alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a first preset threshold value.
In a specific implementation, the first user equipment monitors various messages, including a message sent by the wearable device and a message sent by the mowing vehicle. Specifically, in this embodiment, first alarm information sent by the wearable device when the distance between the second user and the mowing robot is smaller than a first preset threshold value is received.
Step 202, determining whether the mowing robot is in a working state.
In one possible embodiment, the determining whether the mowing robot is in an operating state includes: sending a state acquisition message to the mowing robot; if a first indication message sent by responding to the state acquisition message is received from the mowing robot, determining that the mowing robot is in a working state; and if a second indication message sent by the mowing robot in response to the state acquisition message is received, determining that the mowing robot is in a non-working state, wherein the second indication message is a response message to the state acquisition message.
In the specific implementation, after receiving the first alarm information, a state acquisition message is sent to the mowing robot, the mowing robot responds to the state acquisition message, and an indication message is sent to the first user equipment according to the current state information, wherein the indication message comprises a first indication message and a second indication message. And sending a first indication message when the robot is in the working state, and sending a second indication message when the robot is in the non-working state, so that the first user equipment receives the indication message and determines whether the robot is in the working state or not according to the received indication message.
It can be seen that in this embodiment, it is determined whether the mower is in an operative condition.
In one possible embodiment, after the determining that the mowing robot is in the non-working state, the method further comprises: acquiring first positioning information of the mowing robot; determining whether the mowing robot is in a lawn area according to the first positioning information; if the mowing robot is in the lawn area, a first inquiry message is sent to the mowing robot, and the first inquiry message is used for inquiring the mowing robot whether a preset mowing task exists in a preset time or not; and if a first response message for the first inquiry message from the mowing robot is received, sending a first task delay message for the preset mowing task to the mowing robot so as to control the mowing robot to delay a first preset time to execute the preset mowing task.
In specific implementation, after determining that the mower is in a non-working state, the first user equipment sends a first positioning information acquisition message to the mowing robot; and then receiving a first positioning message sent by the mower corresponding to the first positioning information acquisition message, and determining whether the mowing robot is positioned in a lawn area according to the first positioning information. If the first positioning information indicates that the mowing robot is in the lawn area, whether the mowing robot is started in the subsequent time is required to be determined, so that the first user equipment sends a first inquiry message to the mowing robot so as to inquire whether the mowing robot has a preset mowing task in the preset time. Further, if the first user equipment receives a first response message sent by the mowing robot in response to the first query message, the first user equipment indicates that the mowing robot is provided with a preset mowing task; because the distance between the second user and the mowing robot is smaller than the first preset threshold, in order to avoid the safety risk of the second user caused by suddenly starting a preset mowing task, the mowing task of the second user needs to be delayed, and therefore a first task delay message is sent to the mowing robot so as to control the mowing robot to delay the first preset time to execute the preset mowing task.
It can be seen that, in this embodiment, by delaying the operation of the mowing robot, the safety risk of the mowing robot to the second user is avoided.
In one possible embodiment, before the sending the first task delay message for the preset mowing task to the mowing robot, the method further comprises:
obtaining the starting time of the preset mowing task from the first response message,
if the first time length from the current moment to the starting time is longer than the first preset time, the first task delay message is not sent to the mowing robot,
and if the first time length from the current time to the starting time is smaller than the first preset time, sending the first task delay message to the mowing robot.
In a specific implementation, first, the starting time of each preset mowing task is uncertain, so the current starting time of the preset mowing task needs to be acquired first. Secondly, if the first time length of the current moment from the starting time is longer than the first preset time, the mowing robot is indicated not to be started automatically within the first time length, so that task delay is not needed; and when the first time length from the current moment to the starting time is smaller than the first preset time, the mowing robot is automatically started in the first preset time, so that safety risks are possibly caused to a second user, and therefore a first task delay message is required to be sent to delay a preset mowing task of the mower.
It can be seen that in this embodiment, the determination of the trigger timing of the first task delay message is implemented.
In one possible embodiment, the first preset time has an initial time length, and when the first setting sends the first task delay message, the preset mowing task of the mowing robot is controlled to delay the initial time length. The first preset time thereafter is set by: recording a second time length for each time the wearable device transmits the first alarm information to the elimination of the first alarm information; counting the recorded second time lengths, and predicting the first time for eliminating the first alarm information according to the counting result; setting the first time to be the first preset time.
In specific implementation, after the wearable device sends the first alarm information, if the distance between the wearable device and the mowing robot becomes greater than a first preset threshold, alarm elimination information is sent to the first user device. And after the first user equipment receives the alarm elimination information, recording a second time length from the receiving of the first alarm information to the receiving of the alarm elimination information, and storing. After the first user equipment receives the first alarm information, determining that the mower is provided with a preset mowing task in a non-working state, counting the recorded second time length to obtain a counting result, predicting the first time for eliminating the first alarm information according to the counting result, and setting the first time as the first preset time.
It can be seen that in this embodiment, prediction of the first preset time is implemented, so as to accurately define the time for the mowing robot to resume working, and avoid excessively delaying the mowing task.
In one possible embodiment, the counting the recorded second time lengths, predicting the first time of the first alarm information elimination according to the counting result, includes: counting the occurrence times of the plurality of second time lengths; determining N second time lengths with the largest occurrence times in the second time lengths, wherein N is larger than 0; and averaging the N second time lengths to obtain the first time.
It can be seen that in this embodiment, the determination of the first time is implemented, and the accurate first time is obtained by counting the intermediate number and taking the average value.
In one possible embodiment, after the task delay message for the preset mowing task is sent to the mowing robot, the method further comprises: sending a position acquisition message to the mowing robot at a second preset time before the task delay is finished; receiving position information from a mowing robot, wherein the position information comprises distance information of a wearable device and the mowing robot and azimuth information of the wearable device and the mowing robot; acquiring second positioning information of the mowing robot; determining whether a second user wearing the wearing device is in a lawn area according to the position information and the second positioning information; if the second user is in the lawn area, continuing to send a second task delay message to the mowing robot, wherein the second task delay message is used for controlling the mowing robot to delay a third preset time to execute the preset mowing task; repeating the above operation until the second user is not in the lawn area or the distance between the second user and the mower is greater than the first preset distance.
For example, the second preset time is shorter, for example, several seconds, ten seconds, half a minute, one minute, etc., and may specifically be set according to the actual situation, which is not limited only herein.
In a specific implementation, a position of a second user needs to be determined first for a second preset time before the task delay of the mowing vehicle is finished, so that the second user is still near the mowing machine after the mowing robot starts a preset mowing task. The first user equipment firstly sends a position acquisition message to the mowing robot, and then receives position information sent by the mowing robot in response to the position acquisition message. Then, the first user equipment sends a second positioning information acquisition message to the mowing robot, and receives second positioning information sent by the mowing robot in response to the second positioning information acquisition message. Then, determining the position relation between the second user and the mowing robot according to the second positioning information and the azimuth information in the position information, and determining the distance between the second user and the mowing robot according to the second positioning information and the distance information in the position information; and the position of the mowing robot can be known according to the second positioning information, so that the position relation between the mowing robot and the lawn area is determined, and whether the second user is positioned in the lawn area is determined through the position relation and the distance. If the second user is determined to be located in the lawn area, a preset mowing task of the mowing robot needs to be continuously delayed, so that a second task delay message is sent to the mowing robot to control the mowing robot to continuously delay execution of the preset mowing task. And before the task delay is ready again, continuing to execute the operation steps in the embodiment until the second user is not in the lawn area or the distance between the second user and the mower is greater than the first preset distance, and not needing to continue task delay.
It can be seen that in this embodiment, continuous control of the task delay of the mowing robot is achieved, so as to ensure that the second user is not located in the dangerous area of the mowing robot when the mowing robot is about to work.
Step 203, if the mowing robot is in a working state, sending a first prompt message to a second user device.
The first prompt message is used for reminding a first user corresponding to the second user equipment to close the mowing robot.
In a specific implementation, the first preset threshold may be 5 meters, 10 meters, etc., where the distance is that there is a risk that the second user approaches the mower, but the risk is not high, so that only the first user needs to be prompted.
In a possible embodiment, after the sending the prompt information to the second user equipment, the method further includes: acquiring second alarm information from the mowing robot, wherein the second alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a second preset threshold value, and the second preset threshold value is smaller than the first preset threshold value; determining whether the mowing robot is in a working state; if the mowing robot is in a working state, sending a shutdown instruction message to the mowing robot, wherein the shutdown instruction message is used for controlling the mowing robot to shutdown.
For example, the second preset threshold may be set to be small, such as 2 meters, 3 meters, etc., which is the distance that the second user is about to contact the lawn mowing robot, thus requiring forced control of the lawn mowing robot to shut down.
In a specific implementation, after the first indication message is sent, if the second user still approaches the mowing robot until the mowing robot detects that the distance between the wearable device and the mowing robot is smaller than a second preset threshold, the mowing robot sends second alarm information to the first user equipment. After the first user equipment receives the second alarm information, determining whether the mower is in a working state or not, if so, sending a shutdown instruction message to the mowing robot to control the mowing robot to shutdown so as to prevent the second user from contacting the mowing robot to cause a safety risk.
It can be seen that in this embodiment, forced shutdown of the mowing robot is achieved when the second user is about to contact the mowing robot.
The following describes a method on the robot side of mowing.
As shown in fig. 3, the present application provides another control method of a robot lawnmower, applied to the robot lawnmower, the method including:
Step 301, a status acquisition message from a first user equipment is received.
The state acquisition message is generated by the first user equipment in response to first alarm information from the mowing robot, wherein the first alarm information is used for indicating that the distance between the mowing robot and the wearable equipment is smaller than a first preset threshold value.
Step 302, responding to the status acquisition message, and sending an indication message to the first user equipment.
The indication message is used for indicating whether the mowing robot is in a working state or not, and indicating the first user equipment to send first prompt information to the second user equipment when the mowing robot is in the working state, wherein the first prompt information is used for reminding the first user to close the mowing robot.
It can be seen that in this embodiment, when the distance between the wearable device and the mowing robot is too short, the first user is reminded to close the mowing robot, so as to ensure that the child wearing the wearable device does not contact the mowing robot when the mowing robot works, and the safety risk of contact between the mowing machine and the child is reduced.
In one possible embodiment, the indication message includes a first indication message and a second indication message; the response to the status acquisition message, sending an indication message to the first user equipment, including: when the mowing robot is in a working state, a first indication message is sent to the first user equipment in response to the state acquisition message; and when the mowing robot is in a non-working state, responding to the state acquisition message and sending a second indication message to the first user equipment.
In one possible embodiment, the method further comprises: receiving a first positioning information acquisition message sent by the first user equipment; transmitting first positioning information to the first user equipment in response to the first positioning information acquisition message, wherein the first positioning information is used for indicating whether the mowing robot is in a lawn area or not; receiving a first inquiry message sent by the first user equipment in response to the first positioning information, wherein the first inquiry message is used for inquiring whether a preset mowing task exists in preset time; responding to the first inquiry message, sending a first response message to the first user equipment, wherein the first response message is used for indicating that the mowing robot is provided with a preset mowing task; receiving a first task delay message sent by the first user equipment in response to the first response message; and delaying a first preset time to execute the preset mowing task according to the first task delay message.
In one possible embodiment, after the performing the preset mowing task is delayed according to the task delay message, the method further includes: receiving a second positioning information acquisition message sent by the first user equipment; transmitting second positioning information to the first user equipment in response to the first positioning information acquisition message, wherein the second positioning information is used for indicating the current position of the mowing robot, the second positioning information is used for indicating whether a second user wearing the wearing equipment is in a lawn area or not together with position information, the position information is from the wearing equipment, and the position information is used for indicating distance information between the wearing equipment and the mowing robot and azimuth information between the wearing equipment and the mowing robot; when the second user equipment is in the lawn area, receiving a second task delay message sent by the first user equipment; and delaying a second preset time to execute the preset mowing task according to the second task delay message.
Since the specific method is described in detail on the first ue side, details are not repeated here.
In addition, in a possible embodiment, the first positioning information and the second positioning information are generated as follows:
taking the first RTK base station as a reference station, and setting a second RTK base station as an flowing station on the mowing robot; the first RTK base station and the second RTK base station simultaneously acquire a plurality of satellite signals of a plurality of satellites which can be observed, and the first RTK base station calculates the positioning error of each satellite according to the plurality of satellite signals to acquire a plurality of positioning errors; the first RTK base station sends the positioning errors to a second RTK base station, and the second RTK base station carries out error correction according to the positioning errors so as to obtain self first positioning information or second positioning information.
It can be seen that in this embodiment, generation of positioning information of the mowing robot is achieved.
In one possible embodiment, a UWB function may be set in the remote controller/the second user device/the first user device, a ranging signal is sent to the mowing robot through the remote controller/the user device, the position of the mowing robot is determined according to a response signal fed back by the mowing robot, so as to ensure that the mowing robot is within a preset range, and if the mowing robot exceeds the preset range/the preset distance, the remote controller/the second user device sets an alarm.
For example, the preset range may be a lawn area, or may refer to a specific area, and the distance threshold (may be multiple distance thresholds) of the alarm may be adjusted when needed, so that the corresponding preset range may be set. For example, two distance thresholds are set, one being more than ten meters and the other being less than 5 meters, such that an annular area 5-10 meters away from the remote control/second user equipment can be defined.
It can be seen that in this embodiment, the distance determination is performed on the mowing robot through the remote controller/the second user equipment/the first user equipment, so that the safety risk caused by the mowing robot leaving the preset range is avoided.
The scheme of multi-sided interaction is described below.
Referring to fig. 4, in a specific implementation, the mowing robot may determine the distance from the wearable device through UWB technology. The mowing robot can send UWB signals to the wearable device, and the distance between the mowing robot and the wearable device is calculated according to feedback signals sent by the wearable device in response to the UWB signals. The mowing robot detects that the distance between the wearable device and the mowing robot is smaller than a first preset threshold; and then, sending first alarm information to first user equipment, wherein the first alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a first preset threshold value. The first user equipment acquires first alarm information from the mowing robot, and then responds to the first alarm information to send a state acquisition message to the mowing robot so as to determine whether the mowing robot is in a working state. The mowing robot receives a state acquisition message from first user equipment, responds to the state acquisition message and sends an indication message to the first user equipment, wherein the indication message is used for indicating whether the mowing robot is in a working state or not. The first user equipment receives the indication message, and if the indication message indicates that the mowing robot is in a working state, first prompt information is sent to the second user equipment, and the first prompt information is used for reminding a first user corresponding to the second user equipment to close the mowing robot.
It can be seen that in this embodiment, through the interaction between the wearing device, the first user equipment and the mowing robot, when the distance between the wearing device and the mowing robot is too short, the first user is reminded to close the mowing robot, so that the child wearing the wearing device is prevented from contacting the mowing robot when the mowing robot works, and the safety risk of contact between the mowing machine and the child is reduced.
The foregoing description of the embodiments of the present application has been presented primarily in terms of a method-side implementation. It will be appreciated that the mobile electronic device, in order to achieve the above-described functionality, comprises corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied as hardware or a combination of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The embodiment of the application may divide the functional units of the electronic device according to the above method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated in one processing unit. The integrated units may be implemented in hardware or in software functional units. It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice.
Referring to fig. 5a, the present application further provides a robot lawnmower control apparatus 50, applied to a first user equipment, the apparatus comprising:
an obtaining unit 501, configured to obtain first alarm information from the mowing robot, where the first alarm information is used to indicate that a distance between the wearable device and the mowing robot is smaller than a first preset threshold;
a determining unit 502, configured to determine whether the mowing robot is in a working state;
the sending unit 503 is configured to send, when the mowing robot is in a working state, first prompt information to the second user equipment, where the first prompt information is used to remind the first user to close the mowing robot.
It can be understood that, since the method embodiment and the apparatus embodiment are in different presentation forms of the same technical concept, the content of the method embodiment portion in the present application should be adapted to the apparatus embodiment portion synchronously, which is not described herein.
In the case of using an integrated unit, as shown in fig. 5b, fig. 5b is a functional unit block diagram of another robot lawnmower control device according to an embodiment of the present application. In fig. 5b, the robot lawnmower control device 51 includes: a processing module 512 and a communication module 511. The processing module 512 is used for controlling and managing the actions of the robot lawnmower control device 51, for example, performing the steps of the acquisition unit 501, the determination unit 502, and the sending unit 503, and/or for performing other processes of the techniques described herein. The communication module 511 is used to support interaction between the robot lawnmower control 51 and other devices. As shown in fig. 5b, the robot lawnmower control 51 may further comprise a memory module 513, the memory module 513 being configured to store program code and data of the robot lawnmower control.
The processing module 512 may be a processor or controller, such as a central processing unit (Central Processing Unit, CPU), a general purpose processor, a digital signal processor (DigitalSignalProcessor, DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. The processor may also be a combination that performs the function of a computation, e.g., a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 511 may be a transceiver, an RF circuit, a communication interface, or the like. The memory module 513 may be a memory.
All relevant contents of each scenario related to the above method embodiment may be cited to the functional description of the corresponding functional module, which is not described herein. The robot lawnmower control device 51 may perform the compiling method shown in fig. 2.
Referring to fig. 6a, the present application further provides a robot lawnmower control device 60, applied to a robot lawnmower, the robot lawnmower control device 60 includes:
a receiving unit 601, configured to receive a status acquisition message from a first user equipment, where the status acquisition message is generated by the first user equipment in response to first alarm information from a mowing robot, where the first alarm information is used to indicate that a distance between the wearable device and the mowing robot is less than a first preset threshold;
the sending unit 602 is configured to respond to the status acquisition message, send an indication message to the first user equipment, where the indication message is used to indicate whether the mowing robot is in a working status, and instruct the first user equipment to send first prompt information to the second user equipment when the mowing robot is in the working status, where the first prompt information is used to remind the first user to close the mowing robot.
It can be understood that, since the method embodiment and the apparatus embodiment are in different presentation forms of the same technical concept, the content of the method embodiment portion in the present application should be adapted to the apparatus embodiment portion synchronously, which is not described herein.
In the case of using an integrated unit, as shown in fig. 6b, fig. 6b is a functional unit block diagram of another robot lawnmower control device according to an embodiment of the present application. In fig. 6b, the robot lawnmower control apparatus 61 includes: a processing module 612 and a communication module 611. The processing module 612 is used for controlling and managing the actions of the robot lawnmower control device 61, for example, performing the steps of the receiving unit 601 and the transmitting unit 602, and/or for performing other processes of the techniques described herein. The communication module 611 is used to support interaction between the robot lawnmower control 61 and other devices. As shown in fig. 6b, the robot lawnmower control 61 may further comprise a memory module 613, the memory module 613 being for storing program code and data of the robot lawnmower control.
The processing module 612 may be a processor or controller, such as a central processing unit (Central Processing Unit, CPU), a general purpose processor, a digital signal processor (DigitalSignalProcessor, DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. The processor may also be a combination that performs the function of a computation, e.g., a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 611 may be a transceiver, an RF circuit, a communication interface, or the like. The memory module 613 may be a memory.
All relevant contents of each scenario related to the above method embodiment may be cited to the functional description of the corresponding functional module, which is not described herein. The robot lawnmower control device 61 may perform the compiling method shown in fig. 2.
Referring to fig. 7a, the present application further provides a robot lawnmower control device 70, applied to a wearable device, the robot lawnmower control device 70 includes:
the detecting unit 701 is configured to detect that a distance between the wearable device and the mowing robot is smaller than a first preset threshold;
the sending unit 702 is configured to send first alarm information to a first user device, so as to instruct the first user device to send first prompt information to a second user device when determining that the mowing robot is in a working state, where the first prompt information is used to remind the first user to close the mowing robot.
It can be understood that, since the method embodiment and the apparatus embodiment are in different presentation forms of the same technical concept, the content of the method embodiment portion in the present application should be adapted to the apparatus embodiment portion synchronously, which is not described herein.
In the case of using an integrated unit, as shown in fig. 7b, fig. 7b is a functional unit block diagram of another robot lawnmower control device according to an embodiment of the present application. In fig. 7b, the robot lawnmower control apparatus 71 includes: a processing module 712 and a communication module 711. The processing module 712 is used for controlling and managing the actions of the robot lawnmower control 71, for example, performing the steps of the detection unit 701 and the transmission unit 702, and/or for performing other processes of the techniques described herein. The communication module 711 is used to support interaction between the robot lawnmower control 71 and other devices. As shown in fig. 7b, the robot lawnmower control 71 may further comprise a memory module 713, the memory module 713 being for storing program code and data of the robot lawnmower control.
The processing module 712 may be a processor or controller, such as a central processing unit (Central Processing Unit, CPU), general purpose processor, digital signal processor (DigitalSignalProcessor, DSP), ASIC, FPGA or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. The processor may also be a combination that performs the function of a computation, e.g., a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 711 may be a transceiver, an RF circuit, a communication interface, or the like. The memory module 713 may be a memory.
All relevant contents of each scenario related to the above method embodiment may be cited to the functional description of the corresponding functional module, which is not described herein. The robot lawnmower controller 71 may perform the compiling method shown in fig. 2.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions described in accordance with the embodiments of the present application are all or partially produced. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired or wireless means. The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more sets of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.
The present application also provides a computer-readable storage medium storing a computer program for electronic data exchange, where the computer program causes a computer to execute some or all of the steps of any one of the methods described in the method embodiments, where the computer includes an electronic device.
Embodiments of the present application also provide a computer program product comprising a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any one of the methods described in the method embodiments above. The computer program product may be a software installation package, said computer comprising an electronic device.
It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus, and system may be implemented in other manners. For example, the device embodiments described above are merely illustrative; for example, the division of the units is only one logic function division, and other division modes can be adopted in actual implementation; for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may be physically included separately, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: u disk, removable hard disk, magnetic disk, optical disk, volatile memory or nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. The volatile memory may be random access memory (random access memory, RAM) which acts as an external cache. By way of example but not limitation, many forms of random access memory (random access memory, RAM) are available, such as Static RAM (SRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced Synchronous Dynamic Random Access Memory (ESDRAM), synchronous Link DRAM (SLDRAM), and direct memory bus RAM (DR RAM). Etc. various media in which program code may be stored.
Although the present invention is disclosed above, the present invention is not limited thereto. Variations and modifications, including combinations of the different functions and implementation steps, as well as embodiments of the software and hardware, may be readily apparent to those skilled in the art without departing from the spirit and scope of the invention.
Claims (9)
1. A method of controlling a robot lawnmower, applied to a first user device, the method comprising:
acquiring first alarm information from the mowing robot, wherein the first alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a first preset threshold; and determining whether the mowing robot is in a working state; if the mowing robot is in a working state, sending first prompt information to second user equipment, wherein the first prompt information is used for reminding a first user to close the mowing robot;
acquiring second alarm information from the mowing robot, wherein the second alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a second preset threshold value, and the second preset threshold value is smaller than the first preset threshold value; and determining whether the mowing robot is in a working state; if the mowing robot is in a working state, sending a shutdown instruction message to the mowing robot, wherein the shutdown instruction message is used for controlling the mowing robot to shutdown;
If the mowing robot is in a non-working state and is set to be about to execute a preset mowing task within a preset time, the mowing robot is instructed to delay executing the mowing task.
2. The method of claim 1, wherein the determining whether the lawn mowing robot is in an operational state comprises:
sending a state acquisition message to the mowing robot;
if a first indication message sent by responding to the state acquisition message is received from the mowing robot, determining that the mowing robot is in a working state;
and if a second indication message sent by the mowing robot in response to the state acquisition message is received, determining that the mowing robot is in a non-working state, wherein the second indication message is a response message to the state acquisition message.
3. The method of claim 1, wherein the instructing the mowing robot to delay performing the mowing task if the mowing robot is in a non-operational state and a preset mowing task is provided, comprises:
acquiring first positioning information of the mowing robot;
determining whether the mowing robot is in a lawn area according to the first positioning information;
If the mowing robot is in the lawn area, a first inquiry message is sent to the mowing robot, and the first inquiry message is used for inquiring the mowing robot whether a preset mowing task exists in a preset time or not;
and if a first response message for the first inquiry message from the mowing robot is received, sending a first task delay message for the preset mowing task to the mowing robot so as to control the mowing robot to delay a first preset time to execute the preset mowing task.
4. The method of claim 3, wherein after the sending the first task delay message to the mowing robot for the preset mowing task, the method further comprises:
sending a position acquisition message to the mowing robot at a second preset time before the first task delay is finished;
receiving position information from the mowing robot, wherein the position information comprises distance information of the mowing robot and the wearable device and azimuth information of the mowing robot and the wearable device;
acquiring second positioning information of the mowing robot;
Determining whether a second user wearing the wearing device is in a lawn area according to the position information and the second positioning information;
if the second user is in the lawn area, continuing to send a second task delay message to the mowing robot, wherein the second task delay message is used for controlling the mowing robot to delay a third preset time to execute the preset mowing task;
repeating the method until the second user is not in the lawn area or the distance between the second user and the mower is greater than a first preset distance.
5. A method of controlling a robot lawnmower, the method comprising:
receiving a first state acquisition message from first user equipment, wherein the first state acquisition message is generated by the first user equipment in response to first alarm information from a mowing robot, and the first alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a first preset threshold;
responding to the first state acquisition message, sending a first indication message to the first user equipment, wherein the first indication message is used for indicating whether the mowing robot is in a working state or not, and indicating the first user equipment to send first prompt information to the second user equipment when the mowing robot is in the working state, and the first prompt information is used for reminding the first user to close the mowing robot;
When the distance between the wearable device and the mowing robot is smaller than a second preset threshold, sending second alarm information to the first user equipment, wherein the second preset threshold is smaller than the first preset threshold; and receiving a second status acquisition message from the first user device, the second status acquisition message generated by the first user device in response to second alarm information from the wearable device; the second state acquisition message is responded, a second indication message is sent to the first user equipment, and the second indication message is used for indicating whether the mowing robot is in a working state or not; receiving a shutdown instruction message sent by the first user equipment; and performing shutdown operation according to the shutdown instruction message;
when the indication message indicates that the mowing robot is in a non-working state and is set to be about to execute a preset mowing task within a preset time, a first task delay message from the first user equipment is received;
and delaying execution of the mowing task according to the first task delay message.
6. A robot lawnmower control apparatus for application to a first user device, the apparatus comprising:
The device comprises an acquisition unit, a detection unit and a control unit, wherein the acquisition unit is used for acquiring first alarm information from the mowing robot, and the first alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a first preset threshold value; the second alarm information is used for indicating that the distance between the wearable equipment and the mowing robot is smaller than a second preset threshold value, and the second preset threshold value is smaller than the first preset threshold value;
a determining unit, configured to determine whether the mowing robot is in a working state;
the sending unit is used for sending first prompt information to the second user equipment when the first alarm information is received and the mowing robot is in a working state, wherein the first prompt information is used for reminding a first user to close the mowing robot; when the second alarm information is received and the mowing robot is in a working state, sending a shutdown instruction message to the mowing robot, wherein the shutdown instruction message is used for controlling the mowing robot to shutdown; and if the mowing robot is in a non-working state and is provided with a mowing task to be executed within a preset time, indicating the mowing robot to delay executing the mowing task.
7. A robot lawnmower control apparatus, characterized by being applied to a robot lawnmower, the apparatus comprising:
the device comprises a receiving unit, a first user equipment and a first state acquisition unit, wherein the receiving unit is used for receiving a state acquisition message from the first user equipment, the state acquisition message is generated by the first user equipment in response to first alarm information from the mowing robot, and the first alarm information is used for indicating that the distance between the wearing equipment and the mowing robot is smaller than a first preset threshold; and receiving a second status acquisition message from the first user device, the second status acquisition message generated by the first user device in response to second alarm information from the wearable device; receiving a shutdown instruction message sent by the first user equipment;
the device comprises a sending unit, a state acquisition unit and a first user equipment, wherein the sending unit is used for responding to the state acquisition message and sending an indication message to the first user equipment, the indication message is used for indicating whether the mowing robot is in a working state or not, and when the mowing robot is in the working state, the first user equipment is indicated to send first prompt information to the second user equipment, and the first prompt information is used for reminding a first user corresponding to the second user equipment to close the mowing robot; the second state acquisition message is responded, a second indication message is sent to the first user equipment, and the second indication message is used for indicating whether the mowing robot is in a working state or not;
Performing shutdown operation according to the shutdown instruction message;
the receiving unit is further configured to receive a first task delay message from the first user equipment when the indication message indicates that the mowing robot is in a non-working state and is set to be about to execute a preset mowing task within a preset time;
and the delay unit is used for delaying execution of the mowing task according to the first task delay message.
8. An electronic device comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps of the method of any of claims 1-5, or the programs comprising the steps of the apparatus of claim 6 or 7.
9. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to execute the instructions of the steps in the method according to any one of claims 1-5 or the steps of the apparatus according to claim 6 or 7.
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