CN117707126A - Control method, device, equipment and storage medium - Google Patents
Control method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a control method, a control device, control equipment and a storage medium. The method comprises the following steps: acquiring positioning data; determining time information corresponding to the current position according to the positioning data; and generating a control instruction according to the time information, and controlling the robot to execute the control instruction. According to the technical scheme, the problem that the robot is damaged due to the fact that the robot still works in a working area after the robot possibly appears dark due to different seasons and different time differences in various places and finally cannot be identified around the places is solved, the robot can be ensured to work in proper time, and the accuracy of controlling the behavior of the robot is improved.
Description
Technical Field
The present invention relates to the field of intelligent control, and in particular, to a control method, apparatus, device, and storage medium.
Background
With the continuous development of science and technology, robots have started to gradually enter lives of people, and the robots can automatically perform work in a certain range after being separated from user control.
In the prior art, a robot usually sets a working mechanism by means of visual identification and timing, but due to different seasons and time differences of various places, the robot may be still in a working area after the occurrence of black, and finally, the robot is trapped in the working area because the condition around the place cannot be identified by black, thereby causing damage to the robot.
Disclosure of Invention
The embodiment of the invention provides a control method, a control device, control equipment and a storage medium, which solve the problems that a robot is possibly in a working area after the occurrence of blackness due to different seasons and different time differences of various places and finally is trapped in the working area because the blackness cannot be recognized around a place, so that the robot is damaged, time information can be acquired through positioning data, and the robot is controlled by instructions according to the time information, so that the accuracy of controlling the behavior of the robot is improved.
According to an aspect of the present invention, there is provided a control method including:
acquiring positioning data;
determining time information corresponding to the current position according to the positioning data;
and generating a control instruction according to the time information, and controlling the robot to execute the control instruction.
According to another aspect of the present invention, there is provided a control apparatus including:
the positioning data acquisition module is used for acquiring positioning data;
the time information determining module is used for determining time information corresponding to the current position according to the positioning data;
and the control instruction execution module is used for generating a control instruction according to the time information and controlling the robot to execute the control instruction.
According to another aspect of the present invention, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the control method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a control method according to any one of the embodiments of the present invention.
According to the embodiment of the invention, the positioning data are acquired, the time information corresponding to the current position is determined according to the positioning data, the control instruction is generated according to the time information, and the robot is controlled to execute the control instruction, so that the problem that the robot is damaged due to the fact that the robot is still in a working area after the robot possibly appears dark due to different seasons and different time differences in various places and finally cannot be identified to the surrounding of the place due to the dark is solved, the accuracy of the generated control instruction is improved, and the accuracy of controlling the behavior of the robot is further improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a control method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a control method according to a second embodiment of the present invention;
fig. 3 is a flowchart of a control method according to a third embodiment of the present invention;
fig. 4 is a flowchart of a control method according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control device according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
Example 1
Fig. 1 is a flowchart of a control method provided in the first embodiment of the present invention, where the present embodiment may be applicable to situations where various intelligent devices automatically work, such as an automatic sweeping robot performs a sweeping task and an automatic mowing robot performs a mowing task, and the method may be performed by a control device, where the control device may be implemented in a form of software and/or hardware, and optionally, may be implemented by an electronic device, where the electronic device may be a mobile terminal, a PC end, a server, or the like. The method specifically comprises the following steps:
s110, acquiring positioning data.
The positioning data may be longitude and latitude data of the location of the robot, where the longitude indicates the north-south direction of the earth, the latitude indicates the east-west direction of the earth, and a longitude and a latitude may together determine an accurate position of a location on the earth, such as 126 ° east longitude and 38 ° north latitude of the peninsula.
Specifically, the manner of acquiring the positioning data may be acquiring the longitude and latitude of the location of the robot through a GPS positioning device, or may be acquiring the positioning data of the location of the robot through other positioning devices, which is not limited in the embodiment of the present invention.
S120, determining time information corresponding to the current position according to the positioning data.
The current position refers to the position of the robot. The time information corresponding to the current position includes: at least one of current time, sunrise time, sunset time, season information, and throttle information.
Specifically, the manner of determining the time information corresponding to the current position according to the positioning data may be: and acquiring longitude and latitude data through the positioning equipment, determining time zone information according to the longitude and latitude data, and determining time information corresponding to the current position according to the time zone information and the longitude and latitude data.
For example, longitude and latitude data may be acquired by the positioning device, time zone information may be determined according to the longitude and latitude data, current time corresponding to a current position of the robot may be calculated according to the time zone information and the longitude and latitude data, season information and solar terms information corresponding to the current position of the robot may be determined according to the current time, sunrise time and sunset time corresponding to the current position of the robot may be calculated according to the time zone information and the longitude and latitude data, and weather information corresponding to the current position of the robot may be determined according to the current time and the current position.
In some embodiments, the time information includes: at least one of current time, sunrise time, sunset time, season information, and throttle information.
The current time may be a time corresponding to the current position of the robot, for example, if the robot is in Beijing, the current time is the Beijing time 9:00 of XX year, XX month, XX day.
The determination mode of sunrise time and sunset time can be as follows: time zone information is determined according to the longitude and latitude data of the current position, and sunrise time and sunset time are determined according to the time zone information and the longitude and latitude data of the current position. The determination mode of sunrise time and sunset time can be as follows: determining current time according to longitude and latitude data and time zone information of the current position, determining current date according to the current time, and determining sunrise time and sunset time according to the current date, the time zone information and the longitude and latitude data.
The determining method of the season information and the solar term information may be: and determining the current time corresponding to the current position according to the longitude and latitude data of the current position, and determining the season information and the solar terms according to the current time.
It should be noted that, through the positioning data that obtain, can confirm the relevant time information of current position, the time information that obtains can lay the foundation for generating control robot behavior instruction, and clear current time, sunrise time, sunset time, season information and solar terms information can ensure that the robot is working at suitable time, and then improves the accuracy of control robot action.
In some embodiments, the positioning data comprises: longitude and latitude data;
determining time information corresponding to the current position according to the positioning data, wherein the time information comprises:
determining time zone information according to the longitude and latitude data;
and determining the current time information corresponding to the current position according to the time zone information and the longitude and latitude data.
The time zone information can be time information divided by different longitudes of countries and regions of the world, and it is noted that the time zone is divided every 15 degrees, the world is divided into 24 time zones, 12 time zones of east and west respectively, and the time of adjacent regions is different by 1 hour.
Specifically, the manner of determining the time zone information according to the longitude and latitude data may be: and acquiring longitude and latitude data of the robot through the positioning equipment, and calculating time zone information corresponding to the current position of the robot according to the longitude and latitude data of the robot. The time zone calculation method can be as follows: and acquiring longitude and latitude data of the robot through the positioning equipment, dividing the acquired longitude by 15 degrees, wherein when the remainder is smaller than 7.5 degrees, the quotient is time zone information corresponding to the current position of the robot, and when the remainder is larger than 7.5 degrees, the quotient is added by 1 to be time zone information corresponding to the current position of the robot, wherein the east longitude is an east time zone, and the west longitude is a west time zone. If the longitude and latitude data acquired by the robot are 145 degrees of east longitude, the data are divided by 145, the quotient is 9, the remainder is 10 and is more than 7.5, the information of the quotient plus 1 is the time zone information corresponding to the current position of the robot, namely the time zone information corresponding to the current position of the robot is the east 10 area.
Specifically, the manner of determining the time information corresponding to the current position according to the time zone information and the longitude and latitude data may be: acquiring longitude and latitude data through positioning equipment, determining time zone information according to the longitude and latitude data, and determining current time corresponding to the current position according to the time zone information, the longitude and latitude data and a common time standard, wherein the common time standard can be: at least one of world time, GPS satellite navigation system time standard and international time zone east-eighth time is coordinated. The method for determining the sunrise time and the sunset time corresponding to the current position according to the time zone information and the longitude and latitude data may be as follows: longitude and latitude data of the current position of the robot are acquired through positioning equipment, time zone information is determined according to the longitude and latitude data, longitude and latitude of the current position are recorded by an available angle system, longitude and latitude of east longitude and north latitude are positive, longitude and latitude of west longitude and latitude of south latitude are negative, calculation is carried out according to an expression, and a sunrise time calculation mode can be as follows: 24 (180+time zone information. 15-longitude data-ACOS (-TAN (-23.4 cos (number of date sequences+9)/365)) × (TAN (latitude data)))/360, the number of date sequences being the sequence in one year of the current time corresponding to the current position of the robot, for example, 10 days 1 month and 10 days, and 32 days 2 months and 1 day, the expression may be: 24 (180+time zone information) 15-longitude data-ACOS (-TAN (-23.4 cos (2 x pi (number of date sequences+9)/365) pi/180) TAN (latitude data pi/180)) ×180/pi)/360, the sunset may be calculated by: the 24 + (time zone information 15-longitude data)/180) -sunrise time, sunrise time and sunset time can also be calculated by acquiring longitude and latitude data of the current position of the robot through a positioning device, acquiring sunrise and sunset time calculated last time according to the stored information of the robot, taking care that the sunrise and sunset time calculated for the first time is 12 hours, determining time zone information according to the longitude and latitude data, calculating total days from 1 month 1 day of greenish time metric year 2000 to the current time, calculating the century number from 1 month 1 day of greenish time metric year 2000 to the current time according to the total days, calculating the sun's flat Huang Jing, flat and near point angle and inclination angle of the earth according to the century number, calculating yellow track longitude of the sun according to the flat and near point angle of the sun, calculating sun deviation according to the inclination angle and yellow track longitude of the earth, calculating a solar time angle of Greenwich mean time according to the calculated sunrise and sunset time, the closest point angle and the yellow road longitude, calculating a correction value according to longitude and latitude data and solar deviation, calculating a new Greenwich mean sunrise and sunset time according to the calculated sunrise and sunset time, the correction value and the solar time angle of the Greenwich mean time, and calculating the sunrise and sunset time of the current position of the robot according to the new Greenwich mean sunrise and sunset time and time zone information of the current position of the robot.
The method for determining the season information and the solar terms corresponding to the current position according to the time zone information and the longitude and latitude data may be as follows: the method comprises the steps of obtaining longitude and latitude data of a current position of a robot through positioning equipment, determining time zone information according to the longitude and latitude data, determining current time according to the longitude and latitude data and the time zone information, and determining season information and solar terms information corresponding to the current position of the robot according to the current time.
S130, generating a control instruction according to the time information, and controlling the robot to execute the control instruction.
The control instruction may be an instruction for controlling the robot behavior. For example, it may be: a start operation instruction, an end operation instruction, and a charge instruction.
Specifically, the manner of generating the control instruction according to the time information may be: and determining a work starting time and/or a work ending time according to the time information, and determining a work starting instruction, a work ending instruction and at least one of a charging instruction according to the work starting time and/or the work ending time. The method for generating the control instruction according to the time information can be as follows: and acquiring task data, and generating a control instruction according to the task data and the time information. For example, at least one of a work start time, a work end time, and a work frequency may be determined based on the task data and the time information, and a control instruction may be generated based on at least one of the work start time, the work end time, and the work frequency.
The manner of controlling the robot to execute the control instruction may be: by reading a control instruction generated using the time information, a series of operations of this control instruction are analyzed and executed. For example, if the time information calculates the sunset time to be 6 late, that is, the control command is generated as the robot finishes working at 6 late and returns to the charging station, the robot must finish working at 6 late and return to the charging station for charging autonomously after reading the control command, and the process of stopping working at 6 late and returning to the charging station is the process of executing the control command by the robot.
In some embodiments, generating control instructions according to the time information and controlling the robot to execute the control instructions includes:
acquiring task data;
and generating a control instruction according to the task data and the time information, and controlling the robot to execute the control instruction.
The task data may be task related data allocated to the robot, and the task data includes: information such as a working area of the robot, a working amount of the robot, and a working frequency of the robot. For example, it may be: the task data of the mowing robot can include the task amount to be completed by the mowing robot, the mowing area, the mowing work efficiency and the like.
Specifically, the manner of generating the control instruction according to the task data and the time information may be: and calculating time information, namely at least one of current time, sunrise time, sunset time, season information and solar terms information, through the positioning data, determining at least one of work starting time, work ending time and work frequency according to the task data and the time information, and generating a control instruction according to at least one of the work starting time, the work ending time and the work frequency.
In a specific example, the task of the mowing robot is to complete all mowing tasks in the area a on the same day, the sunset time calculated by the positioning data on the same day is 6 late, the control command is generated to finish the work before 6 late to return to the charging station, if the mowing robot has completed the mowing task prescribed in the area a before 6 late, the work is finished immediately after the task is completed, and if the mowing robot has not completed the mowing task prescribed in the area a before 6 late, the work is still finished according to the set time before 6 late in the control command.
According to the embodiment of the invention, the positioning data are acquired, the time information corresponding to the current position is determined according to the positioning data, the control instruction is generated according to the time information, and the robot is controlled to execute the control instruction, so that the problem that the robot is damaged because the robot can work in a working area after the robot possibly appears dark due to different seasons and different time differences in various places and finally cannot be identified to the surrounding situation of the place due to the dark is solved, the robot can work in an optimal working environment, and the accuracy of controlling the behavior of the robot is improved.
Example two
The present embodiment provides a preferred implementation manner of the control method based on the first embodiment, where the control instruction is generated according to the time information, and the control instruction is controlled to be executed by the robot, and the method includes: acquiring task data; generating a control instruction according to the task data and the time information, and controlling the robot to execute subdivision of the control instruction, wherein the control instruction comprises the following specific steps: generating a control instruction according to the task data and the time information, wherein the control instruction comprises the following steps: determining working information according to the task data and the time information, wherein the working information comprises at least one of working start time, working end time and working frequency; and generating a control instruction according to the working information. Fig. 2 is a flowchart of a control method according to a second embodiment of the present invention, as shown in fig. 2, the method specifically includes the following steps:
s210, acquiring positioning data.
S220, determining time information corresponding to the current position according to the positioning data.
S230, task data is acquired.
It should be noted that, the embodiment of the present invention does not limit the order of acquiring the positioning data in S210 and the task data in S230, and may acquire the positioning data and the task data at the same time, or may acquire the positioning data after acquiring the task data.
S240, determining working information according to the task data and the time information, wherein the working information comprises at least one of working start time, working end time and working frequency.
The working information is a working parameter of the robot, and may include at least one of a working start time, a working end time and a working frequency. The mowing robot executes the mowing task in the area a, and determines the work starting time, the work ending time and the work frequency of the mowing robot according to task data to be completed by the mowing robot and time information of the current position of the mowing robot, wherein the work efficiency of the mowing robot can be determined according to the work starting time, the work ending time and the task data.
S250, generating a control instruction according to the working information.
Specifically, the mode of generating the control instruction according to the working information may be: positioning data are acquired through positioning equipment, time information of the current position of the robot is determined according to the positioning data, task data of the robot are acquired, working information of the robot is determined according to the time information and the task data, and a control instruction is generated according to the working information. The positioning data is determined according to the positioning device of the mowing robot, sunrise time, sunset time and season information of the mowing robot are determined according to the positioning data, the mowing robot is in winter, sunrise time is 6 early points, sunset time is 6 late points, the task of the mowing robot is required to finish all mowing tasks of the area A, according to the time information and task data, the determined working information is that the working time of the mowing robot is 6 late and 6 early points, 6 late points and all mowing tasks of the area A are required to be finished in the time period, and then a control instruction generated according to the working information corresponding to the current position of the mowing robot is required to include the half-time of the early 6 points of the mowing robot as working starting time and the half-time of the late 5 points as working ending time, so that the mowing robot works half-time of the early 6 points to half-time of the late 5 points. Because the working time is short in winter, the working efficiency of the mowing robot is improved, and the task is ensured to be completed in the working time.
According to the technical method, the positioning data are acquired, the time information corresponding to the current position is determined according to the positioning data, the task data are acquired, the working information is determined according to the task data and the time information, wherein the working information comprises at least one of working starting time, working ending time and working frequency, and the control instruction is generated according to the working information, so that the problem that the robot is damaged due to the fact that the robot still works in dark days is solved, and the rationality of robot work arrangement is improved.
Example III
The present embodiment provides a preferred implementation manner of the control method based on the first embodiment, where the control instruction is generated according to the time information, and the control instruction is controlled to be executed by the robot, and the method includes: acquiring task data; generating a control instruction according to the task data and the time information, and controlling the robot to execute another subdivision of the control instruction, wherein the control instruction comprises the following specific steps: generating a control instruction according to the task data and the time information, and controlling the robot to execute the control instruction, wherein the control instruction comprises the following steps: determining working time according to the task data; and generating a control instruction according to the time information and the working time, and controlling the robot to execute the control instruction. Fig. 3 is a flowchart of a control method according to a third embodiment of the present invention, as shown in fig. 3, the method specifically includes the following steps:
S310, acquiring positioning data.
S320, determining time information corresponding to the current position according to the positioning data.
S330, task data is acquired.
S340, determining working time according to the task data.
The working time may include a working start time and a working end time, for example, the working time may be that the robot starts working at 6 early and ends working at 6 late.
Specifically, the manner of determining the working time according to the task data may be: determining the working time of the robot through related data in the task data, such as the working area, the workload, the working frequency and the like of the robot, wherein if the workload of the current position of the robot is large, the determined working time is increased, and the working starting time of the robot is set to be advanced and/or the working ending time of the robot is set to be delayed; if the workload of the current position of the robot is small, the determined working time is reduced, and the working start time of the robot is set to be delayed and/or the end time of the robot is set to be advanced. The manner of determining the working time according to the task data may be: and determining the working time through a specific task data instruction in the task data, wherein if the task data instruction of the mowing robot is that mowing is performed in the area A, the mowing robot starts working at the early 6 points and finishes working at the late 6 points, the working time is determined to be the working starting time at the early 6 points, and the working finishing time is determined to be the late 6 points.
S350, generating a control instruction according to the time information and the working time, and controlling the robot to execute the control instruction.
Specifically, the manner of generating the control instruction according to the time information and the working time may be: determining sunrise time and sunset time according to the positioning data, adjusting the working starting time according to the comparison result of the sunrise time and the working starting time, and generating a control instruction according to the adjusted working starting time; and adjusting the working ending time according to the comparison result of the sunset time and the working ending time, and generating a control instruction according to the adjusted working ending time. The mode of generating the control instruction according to the time information and the working time can be as follows: determining sunrise time and sunset time according to the current time and season information and/or throttle information, adjusting the working starting time according to a comparison result of the sunrise time and the working starting time, and generating a control instruction according to the adjusted working starting time; and adjusting the working ending time according to the comparison result of the sunset time and the working ending time, and generating a control instruction according to the adjusted working ending time.
In a specific example, the working time determined by the mowing robot according to the task data is early 6 points, the working end time is late 6 points, the sunrise time determined by the time information determined by the positioning data is early 6 points and the sunset time is late 5 points and the working start time of the original working time is earlier than the sunrise time corresponding to the current position, and the working end time is later than the sunset time corresponding to the current position, the control instruction is updated according to the working time and the time information, the early 6 points and the later 5 points are determined as the working start time and the working end time, a new control instruction is generated, and the mowing robot executes the task according to the new control instruction.
In some embodiments, the working time comprises: work start time and/or work end time;
generating a control instruction according to the time information and the working time, and controlling the robot to execute the control instruction, wherein the control instruction comprises the following steps:
if the working ending time is behind the sunset time, updating the working ending time to be the sunset time, generating a control instruction according to the updated working ending time, and controlling the robot to execute the control instruction;
and if the working starting time is before the sunrise time, updating the working starting time to the sunrise time, generating a control instruction according to the updated working starting time, and controlling the robot to execute the control instruction.
The mode of generating the control instruction according to the updated work ending time may be: and replacing the working end time with the sunset time, and generating a control instruction according to the sunset time. That is, if the work end time is after the sunset time, the control robot ends the work before the sunset.
The mode of generating the control instruction according to the updated work starting time may be: and replacing the work starting time with the sunrise time, and generating a control instruction according to the sunrise time. That is, if the work start time is before the sunrise time, the robot is controlled to start the work after the sunrise.
In a specific example, determining time information of a current position of the robot according to positioning data of the robot, comparing working time determined according to task data in the robot with time information corresponding to the current position of the robot, and if working start time set in robot working time is earlier than sunrise time corresponding to the current position of the robot, namely, when the robot starts working according to working start time set in working time, not lighting on the day, updating the working start time in working time to sunrise time corresponding to the current position, and waiting for the sunrise and the sunset robot to start working; if the working starting time set in the working time is later than or equal to the sunrise time corresponding to the current position, continuing to start working according to the working starting time set in the working time; if the working end time set in the working time is later than the sunset time corresponding to the current position, namely, when the working is ended according to the working end time set in the working time, the robot cannot work, the working end time in the working time is updated to the sunset time corresponding to the current position, and the robot is ended when the sunset is waited; if the working ending time set in the working time is earlier than or equal to the sunset time corresponding to the current position, continuing to end the working according to the working ending time set in the working time.
According to the technical method, the positioning data are acquired, the time information corresponding to the current position is determined according to the positioning data, the task data are acquired, the working time is determined according to the task data, wherein the working starting time and/or the working ending time, the control instruction is generated according to the time information and the working time, and the robot is controlled to execute the control instruction, so that the problem that the robot is damaged due to the fact that the robot starts working when not bright or continues working is solved, the robot can work at proper time, and the accuracy of controlling the behavior of the robot is improved.
Example IV
The present embodiment provides a preferred implementation manner of the control method based on the first embodiment, where the control instruction is generated according to the time information, and the control instruction is controlled to be executed by the robot, and the method includes: acquiring task data; generating a control instruction according to the task data and the time information, and controlling the robot to execute another subdivision of the control instruction, wherein the control instruction comprises the following specific steps: generating a control instruction according to the task data and the time information, and controlling the robot to execute the control instruction, wherein the control instruction comprises the following steps: determining weather information according to the positioning data; and generating a control instruction according to the task data, the time information and the weather information, and controlling the robot to execute the control instruction. Fig. 4 is a flowchart of a control method according to a fourth embodiment of the present invention, as shown in fig. 4, the method specifically includes the following steps:
S410, acquiring positioning data.
S420, determining time information corresponding to the current position according to the positioning data.
S430, acquiring task data.
S440, determining weather information according to the positioning data.
The weather information may be a weather state of the current location, for example, the weather state of the current location may be clear, heavy rain, snow storm, plum rain, etc.
Specifically, the weather information determining manner according to the positioning data may be: positioning equipment in the robot acquires positioning data, acquires the current position of the robot according to the positioning data, and determines weather information according to the current position. The weather information determining method according to the positioning data can also be as follows: positioning equipment in the robot acquires positioning data, acquires the current position and the current time of the robot according to the positioning data, and determines weather information according to the current position and the current time. Exemplary, if the current position of the robot is acquired in Beijing according to the positioning data, determining weather information of the Beijing on the same day according to weather table return information; according to the positioning data, the current position of the robot is obtained to be in Beijing, the current time is 5 points earlier than XX in XX month XX in XX year, and weather information of the current time of the robot or weather information in a future period is determined according to weather table return information.
S450, generating a control instruction according to the task data, the time information and the weather information, and controlling the robot to execute the control instruction.
Specifically, the manner of generating the control instruction according to the task data, the time information and the weather information may be: determining working starting time and working ending time according to task data, determining sunrise time and sunset time according to time information, adjusting the sunrise time and the sunset time according to weather information to obtain adjusted sunrise time and sunset time, adjusting the working starting time according to the working starting time and the adjusted sunrise time, and generating a control instruction according to the adjusted working starting time; and adjusting the working ending time according to the working ending time and the adjusted sunset time, and generating a control instruction according to the adjusted working ending time. The mode of generating the control instruction according to the task data, the time information and the weather information can be as follows: determining work starting time and work ending time according to the task data and the time information; and adjusting the work starting time and the work ending time according to weather information, and generating a control instruction according to the adjusted work starting time and the adjusted work ending time. The mode of generating the control instruction according to the task data, the time information and the weather information can be as follows: and determining sunrise time and sunset time according to the time information and the weather information, determining work starting time and work ending time according to the task data, the sunrise time and the sunset time, and generating control instructions according to the work starting time and the work ending time.
In a specific example, the mowing robot is required to complete a mowing task in the area a, the time information of the area a is 6 points early in sunrise time and 6 points late in sunset time, but the weather information of the area a on the same day is heavy rain and 8 points early in rainstop, the working start time of the robot is 8 points early, the working end time of the robot is 6 points late, and a control instruction is generated and executed according to the working start time and the working end time.
In some embodiments, generating control instructions according to the task data, the time information, and the weather information, and controlling the robot to execute the control instructions, includes:
determining a first target time according to the weather information and sunrise time;
determining a second target time according to the weather information and the sunset time;
if the work starting time is before the first target time, updating the work starting time to the first target time, generating a control instruction according to the updated work starting time, and controlling the robot to execute the control instruction;
and if the working ending time is after the second target time, updating the working ending time to the second target time, generating a control instruction according to the updated working ending time, and controlling the robot to execute the control instruction.
The first target time is the most reasonable sunrise time obtained by comprehensively considering weather information and sunrise time, and the second target time is the most reasonable sunset time obtained by comprehensively considering weather information and sunset time. For example, if the sunrise time of the current position of the robot is early 6 points, but the weather of the day is heavy rain, if the time of the heavy rain is from early 6 points to early 8 points, the robot continues to wait for a rain stop at the charging station from early 6 points to early 8 points, the first target time is determined to be early 8 points, if the sunset time of the current position of the robot is late 6 points, but the weather of the day is from late 5 points to late 6 points, the robot does not work during the heavy rain, and the second target time is determined to be late 5 points.
Specifically, comparing the first target time and the second target time with the working time of the robot, if the working start time is before the first target time, updating the working start time to the first target time, if the working end time is after the second target time, updating the working end time to the second target time, generating a control instruction according to the updated working start time and working end time, and controlling the robot to execute the control instruction. For example, if the weather condition of the current position of the robot is heavy rain weather, determining a first target time according to the time of heavy rain and sunrise time, determining a second target time according to the time of heavy rain and sunset time, if the first target time is 8 early points, the second target time is 5 late points, the working time of the original robot is 6 early points, the working end time is 6 late points, the working time of the robot is updated according to the first target time and the second target time to be 8 early points, the working end time is 5 late points, a new control instruction is generated, and the robot executes tasks according to the new working time.
If the acquired weather information shows that the weather information is bad weather in one day, the robot does not go out for working in the whole day; if the robot encounters severe weather during work, the robot immediately ends the work and returns; if the robot encounters severe weather when starting working, the robot delays the starting working time.
According to the embodiment of the invention, the positioning data is acquired, the time information corresponding to the current position is determined according to the positioning data, the task data is acquired, the weather information is determined according to the positioning data, the control instruction is generated according to the task data, the time information and the weather information, and the robot is controlled to execute the control instruction, so that the problem that the robot still continues to work under the condition of relatively poor weather information is solved, the damage degree of the robot is reduced, the safety of the robot is ensured, and the accuracy of controlling the behavior of the robot is improved.
Example five
Fig. 5 is a schematic structural diagram of a control device according to a fifth embodiment of the present invention. The embodiment may be applied to the situation of robot behavior control, and the device may be implemented in a software and/or hardware manner, and the device may be integrated in any device that provides a control function, as shown in fig. 5, where the control device specifically includes: a positioning data acquisition module 510, a time information determination module 520, and a control instruction execution module 530.
The positioning data obtaining module 510 is configured to obtain positioning data;
a time information determining module 520, configured to determine time information corresponding to the current location according to the positioning data;
and a control instruction execution module 530, configured to generate a control instruction according to the time information, and control the robot to execute the control instruction.
In some embodiments, the time information determining module is specifically configured to:
the time information includes: at least one of current time, sunrise time, sunset time, season information, and throttle information.
In some embodiments, the time information determining module is specifically configured to:
the positioning data includes: longitude and latitude data;
determining time information corresponding to the current position according to the positioning data, wherein the time information comprises:
determining time zone information according to the longitude and latitude data;
and determining time information corresponding to the current position according to the time zone information and the longitude and latitude data.
In some embodiments, the control instruction execution module is specifically configured to:
generating a control instruction according to the time information, and controlling the robot to execute the control instruction, wherein the control instruction comprises the following steps:
acquiring task data;
And generating a control instruction according to the task data and the time information, and controlling the robot to execute the control instruction.
In some embodiments, the control instruction execution module is specifically configured to:
generating a control instruction according to the task data and the time information, wherein the control instruction comprises the following steps:
determining working information according to the task data and the time information, wherein the working information comprises at least one of working start time, working end time and working frequency;
and generating a control instruction according to the working information.
In some embodiments, the control instruction execution module is specifically configured to:
generating a control instruction according to the task data and the time information, and controlling the robot to execute the control instruction, wherein the control instruction comprises the following steps:
determining working time according to the task data;
and generating a control instruction according to the time information and the working time, and controlling the robot to execute the control instruction.
In some embodiments, the control instruction execution module is specifically configured to:
the operating time includes: work start time and/or work end time;
generating a control instruction according to the time information and the working time, and controlling the robot to execute the control instruction, wherein the control instruction comprises the following steps:
If the working ending time is behind the sunset time, updating the working ending time to be the sunset time, generating a control instruction according to the updated working ending time, and controlling the robot to execute the control instruction;
and if the working starting time is before the sunrise time, updating the working starting time to the sunrise time, generating a control instruction according to the updated working starting time, and controlling the robot to execute the control instruction.
In some embodiments, the control instruction execution module is specifically configured to:
generating a control instruction according to the task data and the time information, and controlling the robot to execute the control instruction, wherein the control instruction comprises the following steps:
determining weather information according to the positioning data;
and generating a control instruction according to the task data, the time information and the weather information, and controlling the robot to execute the control instruction.
In some embodiments, the control instruction execution module is specifically configured to:
generating a control instruction according to the task data, the time information and the weather information, and controlling the robot to execute the control instruction, wherein the control instruction comprises the following steps:
Determining a first target time according to the weather information and sunrise time;
determining a second target time according to the weather information and the sunset time;
if the work starting time is before the first target time, updating the work starting time to the first target time, generating a control instruction according to the updated work starting time, and controlling the robot to execute the control instruction;
and if the working ending time is after the second target time, updating the working ending time to the second target time, generating a control instruction according to the updated working ending time, and controlling the robot to execute the control instruction.
The control device provided by the embodiment of the disclosure can execute the control method provided by any embodiment of the disclosure, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that, the modules included in the above apparatus are only divided according to the functional logic, but are not limited to the above division, so long as the corresponding functions can be implemented, and the protection scope of the embodiments of the present disclosure is not limited.
Example six
Fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention. Referring now to fig. 6, a schematic diagram of an electronic device (e.g., a terminal device or server in fig. 6) 600 suitable for use in implementing embodiments of the present disclosure is shown. The terminal devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 6 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 6, the electronic device 600 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 601, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM603, various programs and data required for the operation of the electronic apparatus 600 are also stored. The processing device 601, the ROM602, and the RAM603 are connected to each other through a bus 604. An edit/output (I/O) interface 605 is also connected to bus 604.
In general, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, magnetic tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 600 to communicate with other devices wirelessly or by wire to exchange data. While fig. 6 shows an electronic device 600 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 609, or from storage means 608, or from ROM 602. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 601.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The electronic device provided by the embodiment of the present disclosure and the control method provided by the foregoing embodiment belong to the same inventive concept, and technical details not described in detail in the present embodiment may be referred to the foregoing embodiment, and the present embodiment has the same beneficial effects as the foregoing embodiment.
The present disclosure provides a computer storage medium having stored thereon a computer program which, when executed by a processor, implements the control method provided by the above embodiments.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (Hyper Text Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring positioning data; determining time information corresponding to the current position according to the positioning data; and generating a control instruction according to the time information, and controlling the robot to execute the control instruction.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this disclosure is not limited to the specific combinations of features described above, but also covers other embodiments which may be formed by any combination of features described above or equivalents thereof without departing from the spirit of the disclosure. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Moreover, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.
Claims (12)
1. A control method, characterized by being applied to a robot, comprising:
acquiring positioning data;
Determining time information corresponding to the current position according to the positioning data;
and generating a control instruction according to the time information, and controlling the robot to execute the control instruction.
2. The control method according to claim 1, characterized in that the time information includes: at least one of current time, sunrise time, sunset time, season information, and throttle information.
3. The control method according to claim 1, characterized in that the positioning data includes: longitude and latitude data;
determining time information corresponding to the current position according to the positioning data, wherein the time information comprises:
determining time zone information according to the longitude and latitude data;
and determining time information corresponding to the current position according to the time zone information and the longitude and latitude data.
4. The control method according to claim 1, characterized in that generating a control instruction from the time information and controlling the robot to execute the control instruction, comprises:
acquiring task data;
and generating a control instruction according to the task data and the time information, and controlling the robot to execute the control instruction.
5. The control method according to claim 4, characterized in that generating a control instruction from the task data and the time information comprises:
Determining working information according to the task data and the time information, wherein the working information comprises at least one of working start time, working end time and working frequency;
and generating a control instruction according to the working information.
6. The control method according to claim 4, characterized in that generating a control instruction from the task data and the time information and controlling the robot to execute the control instruction, comprises:
determining working time according to the task data;
and generating a control instruction according to the time information and the working time, and controlling the robot to execute the control instruction.
7. The control method according to claim 6, characterized in that the operating time includes: work start time and/or work end time;
generating a control instruction according to the time information and the working time, and controlling the robot to execute the control instruction, wherein the control instruction comprises the following steps:
if the working ending time is behind the sunset time, updating the working ending time to be the sunset time, generating a control instruction according to the updated working ending time, and controlling the robot to execute the control instruction;
And if the working starting time is before the sunrise time, updating the working starting time to the sunrise time, generating a control instruction according to the updated working starting time, and controlling the robot to execute the control instruction.
8. The control method according to claim 4, characterized in that generating a control instruction from the task data and the time information and controlling the robot to execute the control instruction, comprises:
determining weather information according to the positioning data;
and generating a control instruction according to the task data, the time information and the weather information, and controlling the robot to execute the control instruction.
9. The control method according to claim 8, wherein generating a control instruction from the task data, the time information, and the weather information, and controlling the robot to execute the control instruction, comprises:
determining a first target time according to the weather information and sunrise time;
determining a second target time according to the weather information and the sunset time;
if the work starting time is before the first target time, updating the work starting time to the first target time, generating a control instruction according to the updated work starting time, and controlling the robot to execute the control instruction;
And if the working ending time is after the second target time, updating the working ending time to the second target time, generating a control instruction according to the updated working ending time, and controlling the robot to execute the control instruction.
10. A control apparatus, characterized by comprising:
the positioning data acquisition module is used for acquiring positioning data;
the time information determining module is used for determining time information corresponding to the current position according to the positioning data;
and the control instruction execution module is used for generating a control instruction according to the time information and controlling the robot to execute the control instruction.
11. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the control method of any one of claims 1-9.
12. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to implement the control method of any one of claims 1-9 when executed.
Priority Applications (2)
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| CN202211079538.7A CN117707126A (en) | 2022-09-05 | 2022-09-05 | Control method, device, equipment and storage medium |
| PCT/CN2023/116657 WO2024051622A1 (en) | 2022-09-05 | 2023-09-04 | Control method and apparatus, and device and storage medium |
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| CN202211079538.7A CN117707126A (en) | 2022-09-05 | 2022-09-05 | Control method, device, equipment and storage medium |
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| WO (1) | WO2024051622A1 (en) |
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|---|---|---|---|---|
| ITFI20040209A1 (en) * | 2004-10-13 | 2005-01-13 | Zucchetti Ct Sistemi S P A | AUTOMATIC SYSTEM FOR MONITORING FUNCTIONS OF A MOWER |
| CN103676702B (en) * | 2012-09-21 | 2022-05-17 | 苏州宝时得电动工具有限公司 | Control method of automatic mower |
| CN104199348A (en) * | 2014-08-19 | 2014-12-10 | 杭州览锐智能科技有限公司 | Timing controller and timing control system based on global positioning satellite |
| CN206220034U (en) * | 2016-10-14 | 2017-06-06 | 广州品顶环保科技有限公司 | A kind of hybrid power dust collecting and cleaning vehicles |
| WO2019185929A1 (en) * | 2018-03-30 | 2019-10-03 | Positec Power Tools (Suzhou) Co., Ltd | Automatic lawnmower |
| CN109193763A (en) * | 2018-09-13 | 2019-01-11 | 安徽天尚清洁能源科技有限公司 | A kind of intelligent start and stop regulator control system of photovoltaic plant data collector |
| CN110910527B (en) * | 2019-12-02 | 2022-01-25 | 中科开创（广州）智能科技发展有限公司 | Inspection method and device for power transmission line tower-standing robot |
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- 2022-09-05 CN CN202211079538.7A patent/CN117707126A/en active Pending
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