CN117970837A

CN117970837A - Remote control edge method of mowing robot, electronic equipment and readable storage medium

Info

Publication number: CN117970837A
Application number: CN202211312118.9A
Authority: CN
Inventors: 王玲; 艾灵; 俞玲; 谭泽辉
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2022-10-25
Filing date: 2022-10-25
Publication date: 2024-05-03

Abstract

The application discloses a remote control edge method of a mowing robot, electronic equipment and a readable storage medium. By adopting the scheme, the universal remote control on the sliding remote control page can be operated by one hand to control the mowing robot in 360 degrees, and the direction of the mowing robot is controlled by clicking the buttons up, down, left and right instead of being operated by two hands, so that the requirements of a user on conveniently and efficiently controlling the mowing robot in a lawn are met, the drawing efficiency is improved, the limitation of the walking path of the remote control mowing robot is reduced, the complete mowing map is ensured to be created, the purpose of creating a high-precision mowing map is realized while the accurate edge is realized.

Description

Remote control edge method of mowing robot, electronic equipment and readable storage medium

Technical Field

The application relates to the technical field of artificial intelligence, in particular to a remote control edge method of a mowing robot, electronic equipment and a readable storage medium.

Background

With the improvement of life quality of people, lawns are called as an important component of a courtyard. The increase of the greening area causes heavy mowing work, and in order to reduce labor intensity and labor cost, the unmanned automatic mower is used for mowing lawns.

An unmanned automatic mower is also called a mowing robot, an intelligent mower and the like, and is equipment capable of automatically walking on a lawn to mow the lawn. After the mowing robot enters a strange lawn, a user uses a remote controller to remotely control the mowing robot to walk for one circle along the boundary of the working area, and then a mowing map is built. In the subsequent mowing process, the mowing robot plans or adjusts a path based on the mowing map and performs a mowing task.

The edge mode is complex to operate and poor in flexibility, so that a high-precision mowing map is difficult to create, and mowing quality is poor.

Disclosure of Invention

The application provides a remote control edge method of a mowing robot, electronic equipment and a readable storage medium, which are operated by a single hand, and the mowing robot is remotely controlled to move along edges at multiple angles, so that the purposes of simple and efficient operation and high-precision mowing map creation are realized.

In a first aspect, an embodiment of the present application provides a remote control edging method for a mower, including:

Responding to a map creation instruction of a user, displaying a remote control page on a user interface, wherein the remote control page is provided with an operable universal remote control, and the universal remote control can slide on the remote control page to remotely control the advancing direction of the mowing robot;

And responding to the operation of the user on the universal remote control, and remotely controlling the mowing robot to move along the boundary of the working area.

In a second aspect, an embodiment of the present application provides an edge control device, including:

The display module is used for responding to a map creation instruction of a user, displaying a remote control page on a user interface, wherein an operable universal remote control is arranged on the remote control page, and the universal remote control can slide on the remote control page to remotely control the advancing direction of the mowing robot;

and the processing module is used for responding to the operation of the user on the universal remote control, and remotely controlling the mowing robot to move along the boundary of the working area.

In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory and a computer program stored on the memory and executable on the processor, which processor, when executing the computer program, causes the electronic device to carry out the method as described above in the first aspect or in the various possible implementations of the first aspect.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored therein computer instructions which, when executed by a processor, are adapted to carry out the method according to the first aspect or the various possible implementations of the first aspect.

In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements the method as described above in the first aspect or in the various possible implementations of the first aspect.

According to the remote control edge method of the mowing robot, the electronic equipment and the readable storage medium, the APP of the mowing robot is installed on the electronic equipment, a user calls out a remote control page for displaying the universal remote control on the APP by responding to a map creation instruction of the user, and the travel direction of the mowing robot is controlled by sliding the universal remote control, so that the mowing robot travels along the boundary of a working area. By adopting the scheme, the universal remote control on the sliding remote control page can be operated by one hand to control the mowing robot in 360 degrees, and the direction of the mowing robot is controlled by clicking the buttons up, down, left and right instead of being operated by two hands, so that the requirements of a user on conveniently and efficiently controlling the mowing robot in a lawn are met, the drawing efficiency is improved, the limitation of the walking path of the remote control mowing robot is reduced, the complete mowing map is ensured to be created, the purpose of creating a high-precision mowing map is realized while the accurate edge is realized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an electronic device for performing a remote control edging method of a mowing robot according to an embodiment of the present application;

fig. 2 is a network architecture schematic diagram of a remote control edge method of a mowing robot according to an embodiment of the present application;

FIG. 3 is a flow chart of a remote control edgewise method of a lawnmower provided by an embodiment of the present application;

fig. 4 is an interface change schematic diagram of an electronic device implementing a remote control edge method of a mowing robot provided by an embodiment of the application;

Fig. 5A is a schematic diagram of a process of moving a universal remote control in a remote control edge method of a mowing robot according to an embodiment of the present application;

fig. 5B is a schematic diagram of another process when the universal remote control moves in the remote control edgewise method of the mowing robot according to the embodiment of the present application;

FIG. 5C is a schematic diagram of another process of movement of the universal remote control in the remote control edgewise method of the mowing robot according to the embodiment of the present application;

FIG. 6 is a schematic quadrant view of an operating area in a remote control edging method of a mowing robot provided by an embodiment of the application;

Fig. 7 is an interface schematic diagram of a touch universal remote control in a remote control edge method of a mowing robot provided by an embodiment of the application;

Fig. 8 is an interface change schematic diagram of an electronic device in a remote control edge method of a mowing robot according to an embodiment of the present application;

fig. 9 is a schematic diagram of an edge control device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.

With the improvement of the living standard of people and the requirements on natural environment, large lawns, such as parks, golf courses, villas and common home communities, are emerging. In order to maintain the aesthetics and health of lawns, it is often necessary to trim large lawns. The traditional manual trimming mode or the manual mower trimming mode consumes a great deal of manpower and time. To solve this problem, a mowing robot that does not require manual handling is gradually emerging.

In order to improve the intelligent degree of the mowing robot, navigation is arranged on the mowing robot, so that the mowing robot can automatically travel, and the mowing task can be completed in the shortest time possible. Specifically, when the mowing robot enters a strange work area, it is generally necessary to create a mowing map in advance. The mowing map based positioning is then used to plan or adjust the path and perform mowing tasks.

In a conventional method of creating a mowing map, a mowing robot is guided to walk one turn along the boundary of a work area to create the mowing map. For example, a user holds a remote controller to control the mowing robot, and controls the mowing robot to "advance", "left", "right", "retreat", and the like by the remote controller. However, this remote control method requires an additional hardware remote controller for the mowing robot, and the remote controller is easy to lose. Furthermore, the hardware remote control typically includes 4 key remote control switches. Each key remote control switch is used for controlling different directions. For example, 4 key remote control switches control four directions of "forward", "backward", "left" and "right", respectively. Thus, the hardware remote controller needs two hands to control front and back and left and right, and the hardware remote controller cannot perform the walking of the rest multi-angle remote control mowing robots except for the four directions of forward, backward, leftward and rightward, so that the mowing robots are difficult to control to walk strictly along the boundary, the created mowing map is low in accuracy, poor in operation quality and complex in remote control operation.

Based on the above, the embodiment of the application provides a remote control edge method of a mowing robot, electronic equipment and a readable storage medium, wherein an APP of the mowing robot is installed on the electronic equipment, and the edge of the mowing robot is remotely controlled by controlling a universal remote control on an APP interface, so that the purposes of operating succinctly and efficiently and simultaneously creating a high-precision mowing map are realized.

The remote control edge method of the mowing robot provided by the embodiment of the application is executed by electronic equipment, wherein the electronic equipment is equipment provided with an Application (APP) of the mowing robot, and the equipment comprises, but is not limited to, a mobile phone, a tablet personal computer and the like. Fig. 1 is a schematic structural diagram of an electronic device for performing a remote control edging method of a mowing robot according to an embodiment of the present application. Referring to fig. 1, an electronic device provided in an embodiment of the present application includes: radio Frequency (RF) circuitry 101, memory 102, touch screen 103, sensors 104, wireless fidelity (WIRELESSFIDELITY, wiFi) module 105, audio circuitry 106, processor 107, and power supply 108. Those skilled in the art will appreciate that the electronic device structure shown in fig. 1 does not constitute a limitation of the electronic device, and the electronic device may include more or fewer components than shown, or may combine certain components, or may have a different arrangement of components.

The following describes the respective constituent elements of the electronic device in detail with reference to fig. 1:

The RF circuit 101 is used for receiving and transmitting information or receiving and transmitting signals during a call, for example, receiving downlink data from a base station and delivering the downlink data to the processor 107 for processing; for another example, uplink data is sent to the base station. Typically, RF circuitry 101 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier (Low Noise Amplifier, LNA), a duplexer, and the like.

The memory 102 is used for storing a software program or the like, and the processor 107 executes the software program stored in the memory 102 to thereby execute various functional applications of the electronic device and data processing. The memory 102 mainly includes a program storage area and a data storage area, wherein the program storage area stores an operating system, application programs required for at least one function, such as a sound playing function, an image playing function, an APP of a lawn mowing robot, and the like; the data storage area stores audio data, phonebooks, created mowing maps, etc. created during use of the electronic device.

The touch screen 103, also referred to as a touch panel, display screen, etc., the touch screen 103 includes a touch sensitive surface 1031 and a display 1032. Wherein a touch-sensitive surface 1031 (e.g., a touch panel) captures touch events on or near the user (e.g., the user's manipulation of any suitable object on the touch-sensitive surface 1031 or near the touch-sensitive surface 1031 using a finger, stylus, etc.) and sends the captured touch information to other devices, such as the processor 107. The touch event of the user near the touch sensitive surface 1031 may be a touch event directly contacting the touch sensitive surface 1031 or may be a hover touch. Hover touch refers to a situation in which a user does not need to directly contact a touch pad in order to select, move, or drag an object, but rather, only needs to be located in the vicinity of an electronic device in order to perform a desired function. In the application scenario of hover touch, the terms "touch", "contact", etc. do not imply to be used for direct contact with the touch screen, but only in the vicinity of the touch screen. The touch-sensitive surface 1031 capable of hover touch may be implemented using capacitive, infrared light, ultrasound, and the like. The touch sensitive surface 1031 includes two portions, a touch detection device and a touch controller. The touch detection device detects the touch azimuth of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives the touch signal from the touch detection device, converts it into touch point coordinates, and transmits the touch point coordinates to the processor 101, and may also receive and execute instructions transmitted from the processor 107. Further, the touch sensitive surface 1031 may be implemented in a variety of types, such as resistive, capacitive, infrared, and surface acoustic waves. The display 1032 is used to display information input by a user or provided to the user and various menus of the electronic device. Display 1032 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The touch sensitive surface 1031 is overlaid on the display 1032, and when the touch sensitive surface 1031 determines a touch event thereon or nearby, it is communicated to the processor 107 to determine the type of touch event, and the processor 107 then provides a corresponding visual output on the display 1032 based on the type of touch event. Although in fig. 1 the touch-sensitive surface 1031 and the display 1032 are implemented as two separate components for input and output functions of the electronic device, in some embodiments the touch-sensitive surface 1031 may be integrated with the display 1032 to implement input and output functions of the electronic device. It will be appreciated that the touch screen 103 is formed by stacking multiple layers of materials, only the touch sensitive surface (layer) and the display (layer) are shown in the embodiments of the present application, and other layers are not described in the embodiments of the present application. In addition, in other embodiments of the present application, the touch-sensitive surface 1031 is covered on the display 1032, and the size of the touch-sensitive surface 1031 is larger than the size of the display 1032, so that the display 1032 is covered under the touch-sensitive surface 1031, or the touch-sensitive surface 1031 may be configured on the front of the electronic device in the form of a full panel, that is, the touch of the user on the front of the electronic device can be perceived by the electronic device, so that a full touch experience on the front of the electronic device can be achieved.

The electronic device may also include at least one sensor 104, such as a light sensor, a motion sensor, and other sensors. In particular, the light sensor may include an ambient light sensor that adjusts the brightness of the display 1032 based on the brightness of ambient light and a proximity sensor that turns off the display 1032 and/or backlight when the electronic device is moved to the ear. As one of the motion sensors, the accelerometer sensor can detect the acceleration in all directions (typically three axes), and can detect the gravity and direction when stationary, and can be used for recognizing the gesture of the electronic equipment (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration recognition related functions (such as pedometer and knocking), and the like; other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, image sensors, etc. that may also be configured with the electronic device are not described in detail herein.

Audio circuitry 106, a speaker 1062, and a microphone 1061 provide an audio interface between a user and the electronic device. The audio circuit 106 transmits the received electrical signal converted from audio data to the speaker 1062, and the electrical signal is converted into a sound signal by the speaker 1062 and output; on the other hand, the microphone 1061 converts the collected sound signals into electrical signals, which are received by the audio circuit 106 and converted into audio data, which are processed by the audio data output processor 107 and sent via the RF circuit 101 to, for example, another electronic device, or which are output to the memory 102 for further processing.

WiFi belongs to a short-distance wireless transmission technology, and the electronic equipment can help a user to send and receive e-mails, browse web pages, access streaming media and the like through the WiFi module 105, so that wireless broadband Internet access is provided for the user. In particular, the electronic device enables the APP of the lawn mower to communicate with the lawn mower via the WiFi module 105, so that the APP of the lawn mower can control the lawn mower. The APP of the robot is enabled to remotely control the robot to walk, for example, through the WiFi module 105.

The processor 107 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 102, and calling data stored in the memory 102, thereby performing overall monitoring of the electronic device.

The electronic device also includes a power supply 108 (e.g., a battery) for powering the various components, which may be logically connected to the processor 107 via a power management system, such as a power management system that manages charging, discharging, and power consumption functions.

Although not shown, the electronic device may further include other modules, such as a bluetooth module, etc., which are not described herein.

The following embodiments may be implemented in an electronic device (e.g., an electronic device) having the hardware described above.

In the embodiment of the application, a user holds the electronic device, and when the universal remote control is displayed on the touch screen 103 of the electronic device, the user controls the advancing direction of the mowing robot through sliding the universal remote control.

Fig. 2 is a network architecture schematic diagram of a remote control edge method of a mowing robot according to an embodiment of the present application. Referring to fig. 2, the network architecture includes an electronic device 21, a mowing robot 22 and a base station 23, and a network connection is established between the electronic device 21 and the mowing robot 22, including but not limited to a WiFi connection, a bluetooth connection, etc.

The base station 23 has an entrance, and an indicator light, a reflective sheet, etc. are provided on the entrance of the base station 23, and when the distance between the mowing robot 22 and the base station 23 is relatively short, and the mowing robot 22 can detect the light signal emitted by the indicator light or sense the reflective sheet, it indicates that the mowing robot 22 detects the base station. When the mowing robot 22 faces the base station, that is, when a pair of charging pole pieces on the mowing robot 22 are opposite to a pair of charging terminals of the base station 23, the user does not need to remotely control the mowing robot 22, and the mowing robot 22 can autonomously enter the base station 23 by detecting the reflective piece. The pair of charging pole pieces on the mowing robot 22 are used for being in butt joint with the pair of charging terminals of the base station 23, so that the base station 23 can charge the mowing robot 22 through the pair of charging terminals on the base station 23.

The mowing robot 22 is a device capable of autonomously moving in a work area and performing a mowing task based on a mowing map. The base station 23, also known as a base, charging stand, maintenance station, etc., is typically located in a fixed location.

When creating the mowing map, the user holds the electronic device 21, manipulates the universal remote control on the display screen of the electronic device 21, and further the remote control mowing robot 22 starts from the base station 23, travels along the boundary of the working area and returns to the base station 23. During traveling, the mowing robot 22 continuously collects environmental data and transmits the environmental data to the electronic device 21, and the electronic device 21 creates and displays the boundary of the working area according to the environmental data.

The following describes in detail a remote control edge method of a mowing robot according to an embodiment of the present application based on the electronic device shown in fig. 1 and the network architecture shown in fig. 2. Referring to fig. 3, fig. 3 is a flowchart of a remote control edgewise method of a mowing robot according to an embodiment of the present disclosure. The execution subject of the present embodiment is an electronic device, and the present embodiment includes:

301. And responding to a map creation instruction of a user, displaying a remote control page on a user interface, wherein the remote control page is provided with an operable universal remote control, and the universal remote control can slide on the remote control page to remotely control the travelling direction of the mowing robot.

The user can flexibly send the map creation instruction to the electronic equipment. In one mode, the electronic device has a voice recognition function, and can recognize a voice instruction of a user. Based on this, the user issues a map creation instruction to the electronic device by voice. For example, the user issues a voice instruction of "i want to create a map" to the electronic device, and the electronic device recognizes the instruction to create a map using the voice recognition function, and displays a remote control page on the user interface in response to the instruction to create a map.

In another mode, a user opens an APP of the mowing robot on the electronic device, and the electronic device displays a preparation page for creating a map on a display screen according to operation of the user. The map creation preparation page is provided with a map creation preparation control, and a user operates the map creation preparation control to issue a map creation instruction to the electronic equipment. The electronic device displays a remote control page on a user interface in response to a user's map creation instruction. That is, the electronic device jumps from displaying a preparation page for creating a map to displaying a remote control page on the user interface in response to a user's instruction to create a map. For example, please refer to fig. 4.

Fig. 4 is an interface change schematic diagram of an electronic device in a remote control edge method of a mowing robot according to an embodiment of the present application. Referring to fig. 4, the APP-intelligent mowing of the mowing robot is displayed on the user interface. After clicking "intelligent mowing", the user enters the main interface of the mowing robot (namely, a preparation page for creating a map). The map preparation control is displayed on a main interface (namely, a map preparation page) and a user clicks the map preparation control so as to send a map creation instruction to the electronic device. The electronic equipment jumps to a remote control page after responding to the map creation instruction, and the remote control page is provided with an operable universal remote control and the like.

It should be noted that, in fig. 4, there are other interface diagrams between the first diagram and the second diagram from left to right, only the interface displaying the APP and the preparation page displaying the created map are illustrated, and no other jump interface between the interface displaying the APP and the preparation page displaying the created map is illustrated.

Referring to fig. 4, after the user clicks the map creation control, a universal remote control 41 is displayed on a remote control page on a display screen of the electronic device. The universal remote control 41 is displayed in an intermediate position in the area under the screen of the display screen. The user can remotely control the mowing robot to travel towards any direction in the 360-degree direction by operating the universal remote control 41 with one hand, so that the map construction efficiency is improved, the limitation of the travel path of the remote control mowing robot is reduced, and the establishment of a complete mowing map is ensured.

302. And responding to the operation of the user on the universal remote control, and remotely controlling the mowing robot to move along the boundary of the working area.

The user flexibly operates the universal remote control. For example, the user continuously slides the universal remote control; for another example, the user slides the universal remote control for a period of time and then the touch universal remote control is not released. The electronic device remotely controls the mowing robot to travel along the boundary of the working area according to the operation of the universal remote control by the user.

According to the remote control edge method of the mowing robot, the APP of the mowing robot is installed on the electronic equipment, a user calls out a remote control page for displaying the universal remote control on the APP by responding to the map creation instruction of the user, and the travel direction of the mowing robot is controlled by sliding the universal remote control, so that the mowing robot travels along the boundary of the working area. By adopting the scheme, the universal remote control on the sliding remote control page can be operated by one hand to control the mowing robot in 360 degrees instead of two hands to control the direction of the mowing robot, so that the requirements of a user on conveniently and efficiently controlling the mowing robot in a lawn are met, the map building efficiency is improved, the limitation of the walking path of the remote control mowing robot is reduced, the complete mowing map is ensured to be built, the purpose of building a high-precision mowing map is realized while accurate edge-following is realized.

Optionally, in the above embodiment, the remote control page further displays the device identifier 42 of the mowing robot, the base station identifier 43 of the base station, the docking control 44, the cancellation control 45, and the like.

Optionally, in the above embodiment, the user interface of the electronic device is in a portrait mode.

In general, a user often views a mowing map in a vertical screen mode, and a mowing robot positions, adjusts a path and the like according to the mowing map in the vertical screen. In order to ensure consistency of experience before and after drawing construction, namely to avoid the problem that mowing maps are displayed inconsistently due to the fact that after drawing construction is successful in a horizontal screen mode, switching from the horizontal screen mode to a vertical screen mode, in the embodiment of the application, electronic equipment controls a mowing robot to move along edges and draw the drawings in the vertical screen mode, so that the problem that user visual angles are consistent before and after drawing construction is realized. Moreover, the mowing robot is controlled in the vertical screen mode, so that a user can operate with one hand, and the user can conveniently and timely deal with emergency. For example, when the mowing robot is about to fall off at the edge of a sand pit, a user can quickly first aid, and the safety of the mowing robot is ensured.

By adopting the scheme, the vertical screen single-hand remote control replaces the horizontal screen double-hand remote control, so that a user can take account of the drawing construction and the safety, and the safety of the mowing robot is ensured while the drawing construction consistency is ensured. Meanwhile, the vertical screen single-hand remote control enables the remote control to be light and concise, and user operation experience is improved.

Optionally, in the foregoing embodiment, when the user slides the universal remote control to remotely control the mowing robot, an operation area is displayed on the remote control page, and the universal remote control is displayed on the operation area in a superimposed manner. In the process of sliding the universal remote control by the user, the moving range of the universal remote control is limited in the operation area.

In one mode, when a user operates the universal remote control, the position of the operation area is unchanged, the position of the universal remote control relative to the operation area is changed, and the universal remote control can only move in the operation area. For example, referring to fig. 5A, fig. 5A is a schematic diagram illustrating a process of moving a universal remote control in the remote control edgewise method of the mowing robot according to an embodiment of the present application. Referring to fig. 5A, when the user slides the universal remote control upwards on the remote control page, the universal remote control 41 moves upwards until the universal remote control 41 is inscribed with the operation area 46. Next, when the user slides the remote control page from top to bottom in the direction indicated by the curved arrow in fig. 5A, the universal remote control 41 moves downward and rightward in the remote control page until the boundary of the universal remote control 41 is inscribed in the operation region 46.

In another mode, when the user operates the universal remote control, the position of the operation area is unchanged, the position of the universal remote control relative to the operation area is changed, and the center of the universal remote control is furthest moved to the boundary of the operation area. Referring to fig. 5B, fig. 5B is a schematic diagram illustrating another process of moving the universal remote control in the remote control edgewise method of the mowing robot according to the embodiment of the present application. Referring to fig. 5B, when the user slides the universal remote control 41 upward on the remote control page, the universal remote control 41 moves upward within the remote control page until the center of the universal remote control 41 reaches the boundary of the operation area 46. Next, if the user slides from top to bottom on the remote control page in the sliding direction shown by the curved arrow in fig. 5B, the universal remote control 41 moves rightward within the remote control page until the center of the universal remote control 41 reaches the boundary of the operation area 46.

In still another mode, when the user remotely controls the universal remote control, the operation area moves within a preset range, the universal remote control moves within the operation area, and the universal remote control can only move within the operation area. For example, referring to fig. 5C, fig. 5C is a schematic diagram illustrating another process of moving the universal remote control in the remote control edgewise method of the mowing robot according to the embodiment of the application. Referring to fig. 5C, when the user slides the universal remote control 41 upward on the remote control page, the universal remote control 41 moves upward in the remote control page until the boundary of the universal remote control 41 is inscribed with the operation area 46. At the same time, the operation area 46 also moves upward within the remote control page until the upper boundary of the operation area 46 is inscribed with the boundary of the preset range 47. Next, if the user slides from top to bottom on the remote control page in the sliding direction indicated by the curved arrow in fig. 5C, the universal remote control 41 moves from top to bottom within the remote control page until the boundary of the universal remote control 41 is inscribed with the operation region 46. At the same time, the operation area 46 also moves following the universal remote control 41 until the right boundary of the operation area 46 is inscribed with the boundary of the preset range 47.

It should be noted that, although in the embodiment of the present application, the universal remote control is circular, and the operation area is circular. However, embodiments of the present application are not limited thereto, and in other possible implementations, the universal remote control and the operation area may be oval, square, hexagonal, etc.

Optionally, in the above embodiment, the user may flexibly operate the universal remote control. For example, the user's operation on the universal remote control is: and touching the universal remote control and sliding the operation of the universal remote control. In the operation mode, a user touches the universal remote control and continuously slides. The sliding direction is any one direction of 360 degrees in the plane of the remote control page. Taking fig. 5A as an example, the user touches the universal remote control 41 and slides upward in the plane of the remote control page. In the sliding process, the mowing robot continuously advances.

For another example, the user may operate the universal remote control as follows: and touching the universal remote control without sliding the operation of the universal remote control. In this manner of operation, for example, the user continues to press the universal remote control but does not slip. Taking fig. 5A as an example, the user touches the universal remote control 41 and slides upward until the boundary of the universal remote control 41 and the operation area 46 is inscribed. Next, the user touches the universal remote control 41 but does not slip the universal remote control, and the mowing robot proceeds.

In addition, if the user touches the universal remote control but does not slip the universal remote control before the universal remote control is not slipped, the mowing robot does not move. For example, referring back to fig. 5A, the universal remote control is located at the center of the operation area, i.e. at the initial position. At the moment, when the user touches the universal remote control but does not slide, the mowing robot is started but does not travel, namely, the mowing robot is started but does not move or is started but does not rotate.

By adopting the scheme, the user touches the universal remote control and slides, or the user touches the universal remote control but does not slide to remotely control the mowing robot, the operation mode is simple and flexible, and the purpose of flexibly controlling the advancing direction of the mowing robot is realized.

In the embodiment of the application, the user can realize the purpose of remotely controlling the mowing robot by operating the universal remote control on the remote control page. For clarity, the sliding direction of the universal remote control by the user is described from the dimension of up, down, left and right, and the traveling direction of the mowing robot is described from the dimension of southwest, northwest.

When the user slides the universal remote control in the remote control page, the user slides the universal remote control to the right, the user slides the universal remote control to 0 degree in the 360 degrees, the user slides the universal remote control to the left, the user slides the universal remote control to 90 degrees in the 360 degrees, the user slides the universal remote control to 180 degrees in the 360 degrees, the user slides the universal remote control to 270 degrees in the 360 degrees, and the user can slide the universal remote control to any one of the 360 degrees such as 53 degrees, 117 degrees, 198 degrees, 300 degrees and the like.

In the process of operating the universal remote control by a user, the electronic equipment responds to the operation of the user, and the remote control mowing robot moves towards the direction of forward south, forward north and north by 30 degrees.

Before a user touches the universal remote control on the remote control page and slides, the direction of the mowing robot is the initial direction. For example, the mowing robot faces in the south-right direction, i.e., the head of the mowing robot faces in the south-right direction, the south-right direction is the initial direction. This initial direction generally corresponds to an upward slip of the universal remote control.

Fig. 6 is a schematic quadrant diagram of an operation area in a remote control edging method of a mowing robot according to an embodiment of the present application. Referring to fig. 6, the operation area is divided into 4 quadrants, i.e., a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant, with the center of the operation area as the origin.

Referring to fig. 6, the user sliding the universal remote control upwards indicates that the remote controlled mowing robot is traveling along the current initial direction. For example, the initial direction of the mowing robot is the South-right direction, i.e., the mowing robot faces in the South-right (South, S) direction. If the user slides the universal remote control upwards, the mowing robot advances towards the forward south direction.

Although in fig. 6, the mowing robot traveling in the forward south direction corresponds to the user sliding up the universal remote control, the mowing robot traveling in the forward north (north, N) direction corresponds to the user sliding down the universal remote control, the mowing robot traveling in the forward East (East, E) direction corresponds to the user sliding left the universal remote control, and the mowing robot traveling in the forward West (West, W) direction corresponds to the user sliding right the universal remote control. However, embodiments of the application are not limited. The user upwards slides the universal remote control corresponding to the advancing direction of the mowing robot, and the initial direction of the mowing robot before the user touches the universal remote control is specifically related to the advancing direction of the mowing robot.

Optionally, in the foregoing embodiment, when the user performs the operation of the universal remote control to touch the universal remote control and slides the operation of the universal remote control, the mowing robot travels along a straight line or travels along a curved line.

For example, the initial direction is the direct south direction, the user continuously slides the universal remote control upwards within the remote control page, and the mowing robot travels straight towards the direct south direction.

For another example, the initial direction is the forward direction, and the user continuously slides the universal remote control to the right in the remote control page, so that the mowing robot rotates clockwise until the user faces the forward and the west direction. Thereafter, the vehicle travels straight in the front-to-rear direction.

For another example, the initial direction is the forward direction, and the user continuously slides the universal remote control to the left in the remote control page, so that the mowing robot rotates anticlockwise in situ until the mowing robot faces the forward eastern direction. Thereafter, the vehicle travels straight in the forward direction.

For another example, the initial direction is the forward direction, and the user continuously slides the universal remote control downwards in the remote control page. In one approach, the mowing robot is turned in place until it is oriented in the north-positive direction. Thereafter, the vehicle travels straight in the north direction. In another embodiment, the mowing robot is linearly retracted toward the north direction.

For another example, the initial direction is the forward direction, and the user continuously slides the universal remote control in the remote control page towards the 30-degree direction, so that the mowing robot rotates clockwise until the user moves towards the southwest 30-degree direction. Then, the mowing robot linearly travels along the southwest 30-degree direction.

For another example, the initial direction is the forward direction, the user first slides the universal remote control to the right in the remote control page, and the mowing robot rotates clockwise until traveling straight in the forward-west direction and toward the forward-west direction. And then, the user touches the universal remote control in the first quadrant and draws an arc, and as shown by an arrow curve in the figure, the mowing robot moves along the curve, and the moving track is a section of arc.

By adopting the scheme, the user can realize the purpose of remotely controlling the mowing robot by 360 degrees through touching and sliding the universal remote control.

Optionally, in the foregoing embodiment, when the operation of the universal remote control by the user is that the universal remote control is touched but the operation of the universal remote control is not slipped, the mowing robot is in one of the following states: activated but not traveling, traveling in a straight line, or traveling in a curved line.

If the user touches the universal remote control but does not slip the universal remote control, the mowing robot is travelling towards a certain direction. Then, after the user touches the universal remote control but does not slip the universal remote control, the mowing robot continues to travel in that direction. For example, referring to fig. 5B, assume that the initial direction of the mowing robot is the forward-west direction, i.e., the mowing robot is oriented in the forward-west direction when the user does not touch the universal remote control. When the user slides the universal remote control 41 upward, the universal remote control 41 moves upward until the center of the universal remote control 41 reaches the boundary of the operation area 46. In this process, the mowing robot travels straight toward the front-to-rear direction. If the user continues to touch the universal remote control 41 but does not slip the universal remote control 41 before the center of the universal remote control 41 reaches the boundary of the operation area 46 or reaches the boundary of the operation area 46, the mowing robot continues to travel straight in the front-to-rear direction.

For another example, referring to fig. 5B, the universal remote control 41 is located at the center of the operation area 46, i.e. at the initial position. At this time, when the user touches the universal remote control 41 but does not slip, the mowing robot is started but does not travel, that is, the mowing robot is started but does not move or is started but does not rotate.

As another example, referring to fig. 5B, assuming that the initial direction of the robot is the front-to-west direction, when the user slides the universal remote control 41 to the right, the robot rotates clockwise until it is facing the front-to-north direction. After that, the user continues to touch the universal remote control 41 without sliding the universal remote control 41, and the mowing robot proceeds straight toward the north direction.

For another example, referring to fig. 5B, assuming that the initial direction of the mowing robot is the front-to-west direction, the user first slides the universal remote control to the right in the remote control page, and then the mowing robot rotates clockwise until it travels straight in the north direction and in the north direction. And then, the user touches the universal remote control in the first quadrant and draws an arc, so that the mowing robot moves along the curve, and the moving track is an arc. Next, the user continues to touch the universal remote control 41 but does not slip the universal remote control 41, and the mowing robot travels in the tangential direction of the arc.

By adopting the scheme, the user touches the universal remote control but does not slide, so that the mowing robot can travel in the previous travel direction, and the aim of accurately controlling the mowing robot is fulfilled.

Optionally, in the foregoing embodiment, after the electronic device responds to the operation of the universal remote control by the user and the remote control mowing robot moves along the boundary of the working area, when the user stops the operation of the universal remote control, the electronic device responds to the operation to control the mowing robot to pause.

The user operates the universal remote control, for example, the user touches the universal remote control and slides; for another example, a user touches a universal remote control but does not slip. After a period of time, if the user needs to pause remote control, such as answering a call, checking a short message, and the like, the user stops touching the universal remote control, and the mowing robot pauses moving.

Further, when the user stops touching the universal remote control, the universal remote control returns to the central position of the operation area, namely, the universal remote control returns to the initial position.

By adopting the scheme, the user stops the touch universal remote control to control the synchronous suspension movement of the mowing robot, so that the purposes of flexibly controlling the mowing robot and flexibly controlling the map construction progress in the remote control edge-following process are realized.

In the above embodiment, the sliding operation of the universal remote control by the user includes a linear sliding operation or a curved sliding operation.

Referring to fig. 5A-5C, a user touches the universal remote control and slides, and in the sliding process, the user presses the universal remote control to slide linearly, such as slide linearly upwards, slide linearly downwards, slide linearly 60 degrees, etc. For another example, referring to fig. 5A-5C, a user touches and slides the universal remote control, and a sliding track of the universal remote control is a straight line or a curve in the sliding process. The curve may be an arc, a broken line, a wavy line, etc.

By adopting the scheme, the mowing robot is remotely controlled through simple linear sliding operation and curve sliding operation, and the remote control mode is simple, flexible and effective.

Alternatively, in the above embodiment, the linear sliding operation includes a sliding operation in any one of the 360-degree directions.

Referring to fig. 5A to 5C again, taking the example that the universal remote control is located at the center of the operation area, the user can slide the universal remote control linearly towards any direction of the 360 degrees.

By adopting the scheme, the aim of linearly advancing the remote control mowing robot towards any one of the 360-degree directions is fulfilled.

Alternatively, in the above embodiment, the curve sliding operation includes a rotation operation in any one of the 360 degree directions.

Referring to fig. 5A-5C, no matter where the universal remote control is located in the operation area, the user can rotate the universal remote control in any direction of 360 degrees.

By adopting the scheme, the purpose of flexibly and rapidly changing the advancing direction of the mowing robot is realized.

Optionally, in the above embodiment, the remote control page further displays the device identifier 42 of the mowing robot, the base station identifier 43 of the base station, the docking control 44, the cancellation control 45, and the like. A cursor 48 for indicating the travel direction of the lawn mowing robot, which varies with the travel direction, is displayed on the device identification 42 during movement of the lawn mowing robot along the boundary of the work area.

Fig. 7 is a schematic diagram of a remote control page in a remote control edge method of a mowing robot provided by an embodiment of the application. Referring to fig. 7, after a period of time, the user slides the universal remote control 41 linearly, and the mowing robot reaches a new position, the moving track 40 of the mowing robot is shown by a thick solid line between the equipment identifier 42 and the base station identifier 43. A travel direction cursor 48 is displayed on the mowing robot, and a remote control direction cursor 49 is displayed on the operation area. The remote control direction cursor 49 is the sliding direction of the universal remote control 41 that the user slides.

Optionally, in the foregoing embodiment, when the electronic device responds to a map creation instruction of a user and displays a remote control page on a user interface, the electronic device responds to the map creation instruction to control self-checking of the mowing robot so as to obtain a state parameter of the mowing robot. And when the state parameters of the mowing robot meet preset conditions, displaying the remote control page on the user interface. Wherein the status parameters include at least one of the following: position information, electric quantity information, information of a sensor for collecting environmental data, and the like; the preset conditions include: the mowing robot is located in the base station, the electric quantity of the mowing robot is larger than the preset electric quantity, and a sensor of the mowing robot for collecting environmental data is in a working state.

In the embodiment of the application, network connection is established between the electronic equipment and the mowing robot through Bluetooth, wiFi and the like, and based on the network connection, the electronic equipment can acquire the state parameters from the mowing robot so as to determine the electric quantity, the sensor state and the like of the mowing robot.

Referring to fig. 4, the user clicks the map-building preparation control, and the electronic device controls the self-inspection of the mowing robot to obtain the state parameters of the mowing robot before displaying the remote control page, and displays the preset conditions to prompt the user, so that the user can view the preset conditions in a left-right sliding manner. When the mowing robot does not meet at least one preset condition, the electronic equipment outputs first prompt information, wherein the first prompt information can be voice prompt information, animation prompt information and the like and is used for prompting a user that the mowing robot does not meet the preset condition. For example, the electronic device blinks to display the battery power and prompts the user that the current power of the mowing robot is too low to complete the mapping task. Meanwhile, the map building control is prepared to be in an inoperable state, namely the electronic equipment does not react or prompts the user that the mowing robot does not meet the preset conditions when clicking the control, but does not jump to the remote control page.

When the graph is built, the mowing robot is located in the base station, and the mowing robot is one of preset conditions which must be met by the mowing robot. This is because a coordinate system is created in advance on the electronic device, the coordinate system having the base station position as the origin. When the map is built, the mowing robot starts from the base station, and returns to the base station after the working area is bordered, so that the mowing robot or the electronic equipment can be helped to build and correct the mowing map according to the environmental data.

In addition, when the map is constructed and the mowing map is displayed, the electronic equipment displays the position of the mowing robot, the position of the base station and the like based on a pre-established coordinate system, so that a user can accurately know the working area, the position of the mowing robot, the position of the base station and the like.

When the graph is built, a sensor of the mowing robot for collecting environmental data is in a working state, and the sensor is one of preset conditions which the mowing machine must meet. Sensors for acquiring environmental data include cameras, TOF cameras, and the like. The sensor is in an operating state comprising: the hardware of the sensor is good, is in an open state, has no shielding and the like.

By adopting the scheme, whether the mower meets the preset condition is detected before the image construction, so that the image construction efficiency is improved.

Optionally, in the foregoing embodiment, after the electronic device responds to the operation of the universal remote control by the user and remotely controls the mowing robot to move along the boundary of the working area, when the mowing robot detects the base station, the electronic device displays a prompt box on the remote control page, where the prompt box includes a continuous building map control or a return base station control.

Illustratively, an indicator light or a reflector is arranged on the base station, and a camera is arranged on the mowing robot. In the process that the user touches the universal remote control to control the mowing robot to travel along the edge, the mowing robot continuously collects environmental data by using the camera and uploads the environmental data to the electronic equipment. The electronic equipment judges whether the mowing robot detects the base station according to the environmental data, namely whether the environmental data collected by the mowing robot contains an image of an indicator light or a reflective sheet. And once the electronic equipment determines that the mowing robot detects the base station, displaying a prompt box on the remote control page, wherein the prompt box comprises a continuous building map control or a return base station control.

With continued reference to fig. 7, after the travel direction cursor 48 is displayed on the mowing robot and the remote control direction cursor 49 is displayed on the operation area, the user operates the universal remote control 41 so that the mowing robot moves from the base station to the boundary. The user then operates the universal remote control so that the lawn mowing robot travels along the boundary of the work area and returns to the base station.

In the process of returning to the base station, when the mowing robot detects the base station, the electronic equipment displays a prompt box, wherein the prompt box comprises a continuous building map control or a return base station control. If the user clicks the continuation map control, the user continues to operate the universal remote control 41 so that the mowing robot continues to travel and map. If the user clicks the return base station control, the user remotely controls the mowing robot so that the mowing robot faces the base station.

By adopting the scheme, when the mowing robot detects the base station, the electronic equipment prompts the user to return to the base station or continue to build the map, so that the user can conveniently control the action of the mowing robot after detecting the base station in time, and the mowing robot has the advantages of simple operation mode and high efficiency.

Further, optionally, after the user clicks the return base station control, the electronic device responds to the operation of the user on the return base station control, and displays second prompt information and a docking control on the remote control page, where the second prompt information is used to prompt the user to operate the docking control when the mowing robot is over against the base station. And then, clicking a docking control by the user, and responding to the operation of the user on the docking control by the electronic equipment, controlling the docking of the mowing robot and the base station and displaying a map finishing page.

Referring to fig. 7, after the user clicks the return base station control, the user continues to operate the universal remote control 41. The electronic apparatus remotely controls the mowing robot to travel toward the base station according to the user's operation of the universal remote control 41 so that the mowing robot faces the base station. Meanwhile, second prompt information is displayed on the remote control interface, and the second prompt information is used for prompting a user to operate the docking control when the mowing robot is opposite to the base station. The second prompt message is, for example, "do not move mowing robot during the mapping process, please click the docking control once within 1.5 meters from the base station.

When the mowing robot is right opposite to the base station, the user clicks the docking control 44, and the electronic device responds to the operation of the user on the docking control, and after the mowing robot is docked with the base station, a map is displayed on the remote control page. For example, after the user clicks the docking control 44, the electronic device sends a docking instruction to the lawn mower robot. Thereafter, the user does not need to remotely control the mowing robot through the universal remote control 41, but the mowing robot returns to the base station autonomously.

By adopting the scheme, the user is prompted to guide the mowing robot to the position opposite to the base station by outputting the second prompt information, so that the mowing robot can return to the base station independently, and the aim of improving the drawing efficiency is fulfilled.

In the embodiment of the application, in the process of remotely controlling the mowing robot by using the universal remote control, the mowing robot continuously collects environmental data for drawing. In one approach, the mowing robot creates an environment map from the environment data. In another manner, the mowing robot sends the environmental data to the electronic device in real time, and the electronic device creates a mowing map according to the environmental data. The electronic device then sends the created mowing map to the mowing robot.

Referring to fig. 7 again, after the mowing robot returns to the base station autonomously, the electronic device displays a map learning control. If the user clicks the map learning control, the electronic device learns the environmental data, thereby creating a mowing map, and the created mowing map is shown in the last diagram in fig. 7. In the embodiment of the application, after the mowing robot returns to the base station, the drawing task representing remote control edge is completed. For example, in fig. 7, if the base station is located within the boundary, after one week from the base station along the boundary of the working area, the mowing robot does not represent that the remote control edge building task is completed, and only after the mowing robot returns to the base station again, the remote control edge building task is indicated to be completed. In addition, assuming that the base station is located on the boundary, the mowing robot walks one circle from the base station along the boundary of the working area to return to the base station, and the remote control edge map building task is completed.

By adopting the scheme, the electronic equipment creates and displays the environment map according to the environment data, so that the speed is high and the user can conveniently view the environment map.

Optionally, in the above embodiment, a moving track of the mowing robot is displayed on the remote control page when the mowing robot moves along a boundary of a working area. Fig. 8 is an interface change schematic diagram of an electronic device in a remote control edge method of a mowing robot according to an embodiment of the present disclosure.

Referring to fig. 8, a user controls the lawn mower robot to travel from the base station to the boundary of the working area through the touch universal remote control 41, and the travel track is shown as a dotted line track in the second figure. Next, the user controls the mowing robot to travel one round along the boundary of the work area through the touch universal remote control 41, the travel locus being shown as a solid line locus in the third drawing. After the edge is finished, the user controls the mowing robot to return to the base station through the touch universal remote control 41, as shown in a fourth drawing.

In fig. 8, the other tracks along the edges, i.e., the dashed track (except the portion from the boundary to the dashed track) form a closed curve, and if there is no building or the like in the closed curve corresponding to the dashed track, after the map learning, the created mowing map only displays the along-edge track, i.e., the boundary of the working area created according to the environmental data.

If the closed curve corresponding to the dotted line track is the outline of a house and the like, after map learning, the created mowing map displays the edge track, which is the boundary of the working area created according to the environment data, and the dotted line track, which is the boundary of the working forbidden zone created according to the environment data.

The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.

Fig. 9 is a schematic diagram of a remote control edge device according to an embodiment of the present application. The remote control edge device 900 includes: a display module 91 and a processing module 92.

The display module 91 is configured to respond to a map creation instruction of a user, and display a remote control page on a user interface, where an operable universal remote control is provided on the remote control page, and the universal remote control can slip on the remote control page to remotely control a travelling direction of the mowing robot;

And the processing module 92 is used for responding to the operation of the universal remote control by a user and remotely controlling the mowing robot to move along the boundary of the working area.

In a possible implementation manner, the operation of the universal remote control by the user includes: the universal remote control is touched but does not slip the operation of the universal remote control, and the universal remote control is touched and slips the operation of the universal remote control.

In a possible implementation manner, when the user operates the universal remote control for touching the universal remote control and sliding the operation of the universal remote control, the mowing robot travels along a straight line or along a curve.

In a possible implementation manner, when the user's operation on the universal remote control is that the universal remote control is touched but the operation of the universal remote control is not slipped, the mowing robot is in one of the following states: activated but not traveling, traveling in a straight line, or traveling in a curved line.

In a possible implementation, the processing module 92 is further configured to control the mowing robot to pause in response to the user stopping the operation of the universal remote control after the remote control is moved along the boundary of the working area in response to the user operating the universal remote control.

In one possible implementation, the sliding operation includes a linear sliding operation or a curvilinear sliding operation.

In a possible implementation, the linear sliding operation includes a sliding operation in any one of 360 degrees.

In a possible implementation, the curve comprises a circumferential curve or a wavy curve.

In a possible implementation manner, a base station identifier of a base station and an equipment identifier of the mowing robot are also displayed on a remote control page, and the display module 91 is further configured to display a cursor, which changes along with the travelling direction, on the equipment identifier and is used for indicating the travelling direction of the mowing robot in a process that the mowing robot moves along a boundary of a working area.

In a possible implementation manner, the processing module 92 is further configured to control the self-checking of the robot lawnmower to obtain the status parameter of the robot lawnmower in response to the map creation instruction;

The display module 91 is configured to display the remote control page on the user interface when the state parameter of the mowing robot meets a preset condition;

wherein the status parameters include at least one of the following: position information, electric quantity information and information of a sensor for collecting environmental data;

the preset conditions include: the mowing robot is located in the base station, the electric quantity of the mowing robot is larger than the preset electric quantity, and a sensor of the mowing robot for collecting environmental data is in a working state.

In a possible implementation manner, the display module 91 is further configured to display a first prompting message on the user interface when the parameters of the mowing robot do not meet the preset conditions, so as to prompt a user that the mowing robot does not meet the preset conditions.

In a possible implementation manner, the display module 91 is further configured to display, after the processing module 92 responds to the operation of the user on the universal remote control, a prompt box on the remote control page when the mowing robot detects the base station after the mowing robot moves along the boundary of the working area, where the prompt box includes a continuation map control or a return base station control.

In a possible implementation manner, when the mowing robot detects the base station, the display module 91 is further configured to, after displaying a prompt box on the remote control page, display, on the remote control page, second prompt information and a docking control in response to an operation of the user on the return base station control, where the second prompt information is used to prompt the user to operate the docking control when the mowing robot is over against the base station;

The processing module 92 is further configured to display a map on the remote control page after the docking of the mowing robot with the base station is completed in response to the operation of the docking control by the user.

In a possible implementation manner, the display module 91 is further configured to display a movement track of the mowing robot on the remote control page when the mowing robot moves along a boundary of a working area.

In a possible implementation, the user interface is in portrait mode.

The edge control device provided by the embodiment of the application can execute the actions of the electronic equipment in the above embodiment, and the implementation principle and the technical effect are similar, and are not repeated here.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores computer instructions which are used for realizing the remote control edge method of the mowing robot implemented by the electronic equipment when being executed by a processor.

Embodiments of the present application also provide a computer program product comprising a computer program which, when executed by a processor, implements a remote control edging method for a mowing robot implemented as an electronic device, as described above.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A remote control edging method of a mowing robot, comprising:

2. The method of claim 1, wherein the step of determining the position of the substrate comprises,

The operation of the universal remote control by the user comprises the following steps: the universal remote control is touched but does not slip the operation of the universal remote control, and the universal remote control is touched and slips the operation of the universal remote control.

3. The method of claim 2, wherein the step of determining the position of the substrate comprises,

When the user operates the universal remote control for touching the universal remote control and slides the universal remote control, the mowing robot moves along a straight line or a curve.

4. The method of claim 2, wherein the step of determining the position of the substrate comprises,

When the user operates the universal remote control to touch the universal remote control but does not slip the universal remote control, the mowing robot is in one of the following states: activated but not traveling, traveling in a straight line, or traveling in a curved line.

5. The method of claim 2, wherein the remotely controlled mowing robot, in response to a user operation of the universal remote control, moves along a boundary of a work area, further comprising:

And controlling the mowing robot to pause in response to the user stopping the operation of the universal remote control.

6. The method according to claim 2 to 5, wherein,

The slip operation includes a linear slip operation or a curved slip operation.

7. The method of claim 6, wherein the step of providing the first layer comprises,

The linear sliding operation includes a sliding operation in any one of 360 degrees.

8. The method of claim 6, wherein the step of providing the first layer comprises,

The curve includes a circumferential curve or a wavy curve.

9. The method according to any one of claims 1 to 5, wherein the base station identifier of the base station and the device identifier of the mowing robot are further displayed on the remote control page, and the method further comprises:

A cursor for indicating the traveling direction of the mowing robot, which varies with the traveling direction, is displayed on the device identification during the movement of the mowing robot along the boundary of the working area.

10. The method of any one of claims 1 to 5, wherein displaying a remote control page on a user interface in response to a user's map creation instruction comprises:

responding to the map creation instruction, and controlling the self-inspection of the mowing robot to acquire state parameters of the mowing robot;

when the state parameters of the mowing robot meet preset conditions, displaying the remote control page on the user interface;

11. The method as recited in claim 10, further comprising:

when the parameters of the mowing robot do not meet the preset conditions, displaying first prompt information on the user interface to prompt a user that the mowing robot does not meet the preset conditions.

12. The method of any one of claims 1-5, wherein, in response to a user operation of the universal remote control, remotely controlling the lawn mowing robot after moving along the boundary of the work area, further comprises:

when the mowing robot detects the base station, a prompt box is displayed on the remote control page, wherein the prompt box comprises a continuous map control or a return base station control.

13. The method of claim 12, wherein when the mowing robot detects the base station, after displaying a prompt box on the remote control page, further comprising:

Responding to the operation of the user on the base station returning control, displaying second prompt information and a docking control on the remote control page, wherein the second prompt information is used for prompting the user to operate the docking control when the mowing robot is over against the base station;

and responding to the operation of the user on the docking control, and displaying a map on the remote control page after the docking of the mowing robot and the base station is completed.

14. The method according to any one of claims 1 to 5, further comprising:

And displaying the moving track of the mowing robot on the remote control page when the mowing robot moves along the boundary of the working area.

15. The method according to any one of claim 1 to 5, wherein,

The user interface is in portrait mode.

16. A remote control edge device, comprising:

17. An electronic device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, wherein execution of the computer program by the processor causes the electronic device to implement the method of any one of claims 1 to 15.

18. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method according to any one of claims 1 to 15.