WO2024051622A1

WO2024051622A1 - Control method and apparatus, and device and storage medium

Info

Publication number: WO2024051622A1
Application number: PCT/CN2023/116657
Authority: WO
Inventors: 任雪; 陈泓
Original assignee: 天佑电器（苏州）有限公司
Priority date: 2022-09-05
Filing date: 2023-09-04
Publication date: 2024-03-14
Also published as: CN117707126A

Abstract

A control method and apparatus, and a device and a storage medium. The method comprises: acquiring positioning data; determining time information corresponding to the current location according to the positioning data; and generating a control instruction according to the time information, and controlling a robot to execute the control instruction.

Description

A control method, device, equipment and storage medium

Technical field

The present invention relates to the field of intelligent control, and in particular, to a control method, device, equipment and storage medium.

Background technique

With the continuous development of science and technology, robots have gradually begun to enter people's lives. Robots can work independently within a certain range without being controlled by users.

Robots in the existing technology usually rely on visual recognition and timing to set their working mechanisms. However, due to different seasons and time differences in different places, the robot may still be in the work area after dark, and finally cannot identify the site because of darkness. Surrounding conditions, trapped in the work area, resulting in damage to the robot.

technical problem

Embodiments of the present invention provide a control method, device, equipment and storage medium, which solves the problem that due to different seasons and time differences in different places, the robot may still be in the working area after dark, and finally cannot recognize the surrounding areas due to darkness. If the robot is trapped in the work area, causing damage to the robot, time information can be obtained through positioning data, and the robot can be commanded and controlled based on the time information, thereby improving the accuracy of controlling the robot's behavior.

Technical solutions

According to one aspect of the present invention, a control method is provided, which method includes:

Get positioning data;

Determine time information corresponding to the current location according to the positioning data;

Generate control instructions based on the time information, and control the robot to execute the control instructions.

According to another aspect of the present invention, a control device is provided, which device includes:

Positioning data acquisition module, used to obtain positioning data;

A time information determination module, configured to determine the time information corresponding to the current location according to the positioning data;

A control instruction execution module is used to generate a control instruction according to the time information, and control the robot to execute the control instruction.

According to another aspect of the present invention, an electronic device is provided, which includes:

at least one processor; and

a memory communicatively connected to the at least one processor; wherein,

The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method described in any embodiment of the present invention. Control Method.

According to another aspect of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores computer instructions. The computer instructions are used to enable a processor to implement any embodiment of the present invention when executed. control method.

beneficial effects

Embodiments of the present invention obtain positioning data, determine the time information corresponding to the current position based on the positioning data, generate control instructions based on the time information, and control the robot to execute the control instructions, thereby solving the problem that the robot may There is a problem of still being in the work area after dark. Finally, because it is dark and unable to recognize the situation around the site, it is trapped in the work area, which in turn causes the robot to be damaged. Improve the accuracy of the generated control instructions, thereby improving the control of the robot behavior. accuracy.

It should be understood that what is described in this section is not intended to identify key or important features of the embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the present invention will become easily understood from the following description.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a flow chart of a control method provided by Embodiment 1 of the present invention;

Figure 2 is a flow chart of a control method provided by Embodiment 2 of the present invention;

Figure 3 is a flow chart of a control method provided by Embodiment 3 of the present invention;

Figure 4 is a flow chart of a control method provided by Embodiment 4 of the present invention;

Figure 5 is a schematic structural diagram of a control device provided in Embodiment 5 of the present invention;

FIG. 6 is a schematic structural diagram of an electronic device provided in Embodiment 6 of the present invention.

Best Mode of Carrying Out the Invention

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, which rather are provided for A more thorough and complete understanding of this disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of the present disclosure.

It should be understood that various steps described in the method implementations of the present disclosure may be executed in different orders and/or in parallel. Furthermore, method embodiments may include additional steps and/or omit performance of illustrated steps. The scope of the present disclosure is not limited in this regard.

As used herein, the term "include" and its variations are open-ended, ie, "including but not limited to." The term "based on" means "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"; and the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the description below.

It should be noted that concepts such as “first” and “second” mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units. Or interdependence.

It should be noted that the modifications of "one" and "plurality" mentioned in this disclosure are illustrative and not restrictive. Those skilled in the art will understand that unless the context clearly indicates otherwise, it should be understood as "one or Multiple”.

The names of messages or information exchanged between multiple devices in the embodiments of the present disclosure are for illustrative purposes only and are not used to limit the scope of these messages or information.

Example

Figure 1 is a flow chart of a control method provided in Embodiment 1 of the present invention. This embodiment can be applied to various scenarios of automated work of intelligent equipment, such as an automatic sweeping robot performing sweeping tasks, and an automatic lawn mowing robot performing lawn mowing tasks. task, the method can be performed by a control device, which can be implemented in the form of software and/or hardware, optionally, through an electronic device, which can be a mobile terminal, a PC, a server, etc. The method specifically includes the following steps:

S110, obtain positioning data.

Among them, the positioning data can be the longitude and latitude data of the location of the robot. The longitude lines indicate the north-south direction of the earth, and the latitude lines indicate the east-west direction of the earth. A longitude and a latitude can together determine the accurate position of a place on the earth. For example, the Korean Peninsula is located at 126° east longitude and north latitude. 38°.

Specifically, the method of obtaining positioning data may be to obtain the longitude and latitude of the robot's location through a GPS positioning device, or it may be to obtain the positioning data of the robot's location through other positioning devices. This is not limited in the embodiment of the present invention.

S120: Determine the time information corresponding to the current location based on the positioning data.

Among them, the current location refers to the location of the robot. The time information corresponding to the current location includes: at least one of current time, sunrise time, sunset time, seasonal information and solar term information.

Specifically, the method of determining the time information corresponding to the current location based on the positioning data may be: obtaining the latitude and longitude data through the positioning device, determining the time zone information based on the latitude and longitude data, and determining the time information corresponding to the current location based on the time zone information and the latitude and longitude data.

For example, the latitude and longitude data can be obtained through the positioning device, the time zone information can be determined based on the latitude and longitude data, the current time corresponding to the current location of the robot can be calculated based on the time zone information and the latitude and longitude data, and the seasonal information and solar term information corresponding to the current location of the robot can be determined based on the current time. , calculate the sunrise time and sunset time corresponding to the current location of the robot based on the time zone information and latitude and longitude data, and determine the weather information corresponding to the current location of the robot based on the current time and current location.

In some embodiments, the time information includes: at least one of current time, sunrise time, sunset time, seasonal information and solar term information.

The current time can be the time corresponding to the current location of the robot. For example, if the robot is in Beijing, the current time is 9:00 Beijing time on XX month XX, XX year.

The sunrise time and sunset time may be determined in the following manner: determine the time zone information based on the longitude and latitude data of the current location, and determine the sunrise time and sunset time based on the time zone information and the longitude and latitude data of the current location. The sunrise time and sunset time can also be determined by: determining the current time based on the longitude and latitude data and time zone information of the current location, determining the current date based on the current time, and determining the sunrise time and sunset time based on the current date, time zone information, and longitude and latitude data.

The seasonal information and solar term information may be determined in the following manner: determine the current time corresponding to the current location based on the longitude and latitude data of the current location, and determine the seasonal information and solar term information based on the current time.

It should be noted that through the obtained positioning data, the time information related to the current position can be determined. The obtained time information can lay the foundation for generating control robot behavior instructions and clarify the current time, sunrise time, sunset time, seasonal information and solar terms. Information can ensure that the robot works at the right time, thereby improving the accuracy of controlling the robot's behavior.

In some embodiments, the positioning data includes: latitude and longitude data;

Determining the time information corresponding to the current location based on the positioning data includes:

Determine time zone information based on the latitude and longitude data;

The current time information corresponding to the current location is determined based on the time zone information and the latitude and longitude data.

Among them, time zone information can be time information divided by different longitudes in various countries and regions around the world. It should be noted that a time zone is divided every 15°. The world is divided into 24 time zones, 12 time zones in the east and 12 in the west. The time difference between adjacent areas is 1 hour.

Specifically, the method of determining the time zone information based on the longitude and latitude data may be: obtaining the longitude and latitude data of the robot through a positioning device, and calculating the time zone information corresponding to the current location of the robot based on the longitude and latitude data of the robot. For example, the time zone calculation method can be as follows: obtain the longitude and latitude data of the robot through the positioning device, and divide the obtained longitude by 15 degrees. When the remainder is less than 7.5 degrees, the quotient is the time zone information corresponding to the current position of the robot. When the remainder is greater than 7.5 degrees, the quotient plus 1 is the time zone information corresponding to the current position of the robot. East longitude is the east time zone, and west longitude is the west time zone. If the longitude and latitude data obtained by the robot is 145 degrees east longitude, divide 145 by 15, the quotient is 9, and the remainder is 10, which is greater than 7.5. The information added to the quotient by 1 is the time zone information corresponding to the current position of the robot, that is, the time zone corresponding to the current position of the robot. Information for East 10th District.

Specifically, the method of determining the time information corresponding to the current location based on the time zone information and the longitude and latitude data may be: obtaining the longitude and latitude data through a positioning device, determining the time zone information based on the longitude and latitude data, and determining the time zone information based on the longitude and latitude data and commonly used time standards. To determine the current time corresponding to the current location, commonly used time standards may be: at least one of coordinated universal time, GPS satellite navigation system time standard, and East Eighth International Time Zone time. The method of determining the sunrise time and sunset time corresponding to the current location based on the time zone information and the longitude and latitude data may be: obtaining the longitude and latitude data of the current location of the robot through a positioning device, determining the time zone information based on the longitude and latitude data, and recording the current location using an angle system. Longitude and latitude, with east longitude and north latitude as positive, west longitude and south latitude as negative, calculated according to the expression, the sunrise time calculation method can be: 24*(180+time zone information*15-longitude data-ACOS(-TAN(- 23.4*COS(360*(date sequence number+9)/365))*TAN(latitude data))/360, the date sequence number is the sequence of the current time corresponding to the current position of the robot in this year, such as January The 10th is 10, and February 1st is 32. Calculated using the radian system, the expression can be: 24*(180+time zone information*15-longitude data-ACOS(-TAN(-23.4*COS(2*π*( Date serial number +9)/365)*π/180)*TAN(latitude data*π/180))*180/π)/360, the calculation method of sunset can be: 24*(1+(time zone information*15 -Longitude data)/180)-Sunrise time. The calculation method of sunrise time and sunset time can also be: obtain the longitude and latitude data of the robot's current position through the positioning device, and obtain the last calculated sunrise and sunset time based on the robot's stored information. It should be noted that in the first calculation, the sunrise and sunset times are 12 hours. The time zone information is determined based on the longitude and latitude data. The total number of days from January 1, 2000 AD to the current time is calculated. Based on the total number of days, the time from The number of centuries from January 1, 2000 AD to the current time in Greenwich Mean Time. Calculate the mean ecliptic diameter, mean periapsis angle and inclination of the Earth based on the centuries. Calculate the sun's mean ecliptic diameter, mean periapsis angle and inclination angle based on the sun's mean ecliptic path and mean periapsis angle. Ecliptic longitude, calculates the sun's deviation based on the Earth's inclination and ecliptic longitude, calculates the solar time angle at Greenwich Mean Time based on the last calculated sunrise and sunset times, mean periapsis angle and ecliptic longitude, calculates corrections based on longitude and latitude data and solar deviation value, calculate the new Greenwich sunrise and sunset time based on the last calculated sunrise and sunset time, correction value and solar time angle of Greenwich time, based on the new Greenwich sunrise and sunset time and the time zone of the robot's current location The information calculates the sunrise and sunset times for the robot's current location.

The method of determining the seasonal information and solar term information corresponding to the current location based on the time zone information and the longitude and latitude data may be: obtaining the longitude and latitude data of the current location of the robot through a positioning device, determining the time zone information based on the longitude and latitude data, and determining based on the longitude and latitude data and the time zone information. The current time is used to determine the seasonal information and solar term information corresponding to the current position of the robot based on the current time.

S130: Generate control instructions based on time information, and control the robot to execute the control instructions.

The control instructions may be instructions for controlling the behavior of the robot. For example, it may be at least one of a start work instruction, an end work instruction, and a charging instruction.

Specifically, the method of generating the control instruction based on the time information may be: determining the work start time and/or the work end time based on the time information, determining the start work instruction, the end work instruction, and the charging instruction based on the work start time and/or the work end time. of at least one. The method of generating control instructions based on time information can also be: obtaining task data, and generating control instructions based on task data and time information. For example, at least one of the work start time, the work end time, and the work frequency may be determined based on the task data and time information, and the control instruction may be generated based on at least one of the work start time, the work end time, and the work frequency.

Among them, the way to control the robot to execute the control instruction may be: by reading the control instruction generated using time information, analyzing and executing a series of operations of this control instruction. For example, if the time information calculates that the sunset time is 6 p.m., that is, a control instruction is generated for the robot to end its work at 6 p.m. and return to the charging station. After reading this control instruction, the robot must complete the work at 6 p.m. that day. End the work and return to the charging station for charging autonomously. The above-mentioned process of stopping work at 6pm and returning to the charging station is the process of the robot executing control instructions.

In some embodiments, generating control instructions based on the time information and controlling the robot to execute the control instructions includes:

Get task data;

Generate control instructions based on the task data and the time information, and control the robot to execute the control instructions.

Among them, the task data can be task-related data assigned to the robot. The task data includes: the robot's working area, the robot's workload, the robot's working frequency and other information. For example, the task data of the lawn mowing robot may include the amount of tasks to be completed by the lawn mowing robot, the mowing area, and the efficiency of mowing the lawn, etc.

Specifically, the method of generating control instructions based on the task data and the time information may be: calculating time information through positioning data, that is, at least one of current time, sunrise time, sunset time, seasonal information, and solar term information. , determine at least one of the work start time, the work end time and the work frequency according to the task data and time information, and generate the control instruction according to at least one of the work start time, the work end time and the work frequency.

In a specific example, the lawn mowing robot's task is to complete all mowing tasks in area A that day. The sunset time calculated from the positioning data that day is 6 p.m., and the control instruction is generated that the lawn mowing robot should complete all mowing tasks in area A at 6 p.m. End work and return to the charging station before 6:00 p.m. If the lawn mowing robot has completed the lawn mowing task specified in area A before 6 p.m., it will end the work immediately after completing the task and return to the charging station. If the lawn mowing robot has not completed the task before 6 p.m. Area A stipulates lawn mowing tasks, and the work must still be completed and returned to the charging station according to the set time before 6 pm in the control instruction.

Embodiments of the present invention obtain positioning data, determine the time information corresponding to the current position based on the positioning data, generate control instructions based on the time information, and control the robot to execute the control instructions, thereby solving the problem of possible weather conditions on the robot due to different seasons and different time differences in different places. After dark, he was still working in the work area. In the end, because it was dark, he could not recognize the situation around the site and was trapped in the work area, which caused the robot to be damaged. This can ensure that the robot works in the optimal working environment and improve Control the accuracy of robot behavior.

Based on the above-mentioned Embodiment 1, this embodiment provides a preferred implementation of a control method, which generates control instructions based on the time information and controls the robot to execute the control instructions, including: obtaining task data; Generating a control instruction according to the task data and the time information, and controlling the robot to execute a subdivision of the control instruction, specifically includes: generating a control instruction according to the task data and the time information, including: according to the The task data and the time information determine work information, wherein the work information includes at least one of work start time, work end time, and work frequency; and a control instruction is generated according to the work information. Figure 2 is a flow chart of a control method provided by Embodiment 2 of the present invention. As shown in Figure 2, the method specifically includes the following steps:

S210, obtain positioning data.

S220: Determine time information corresponding to the current location based on the positioning data.

S230, obtain task data.

It should be noted that the embodiment of the present invention does not limit the order in which positioning data is obtained in S210 and task data is obtained in S230. Positioning data and task data may be obtained at the same time, or positioning data may be obtained after task data is obtained.

S240: Determine work information based on task data and time information, where the work information includes at least one of work start time, work end time, and work frequency.

The work information is the work parameters of the robot, which may include at least one of work start time, work end time and work frequency. For example, the lawn mowing robot performs a lawn mowing task in area A. According to the task data to be completed by the lawn mower robot and the time information of the current position of the lawn mower robot, the lawn mower robot's work start time, work end time and working frequency are determined, where , the working efficiency of the lawn mowing robot can be determined based on the work start time, work end time and task data. It should be noted that if the total working time of the lawn mowing robot is short, the working efficiency of the lawn mowing robot needs to be improved. If the lawn mowing robot If the total working time is slightly longer, the working efficiency of the lawn mower robot needs to be appropriately reduced.

S250: Generate control instructions according to the work information.

Specifically, the method of generating control instructions based on work information can be: obtaining positioning data through a positioning device, determining the time information of the current position of the robot based on the positioning data, obtaining robot task data, determining the work information of the robot based on the time information and task data, and determining the robot's work information based on the time information and task data. Work information generates control instructions. For example, the positioning data is determined based on the positioning device of the lawn mowing robot, and the sunrise time, sunset time and seasonal information of the lawn mowing robot are determined based on the positioning data. The lawn mowing robot is in winter, and the sunrise time is 6 o'clock in the morning. , the sunset time is 6 p.m., and the lawn mowing robot's task is to complete all mowing tasks in area A. Based on the above time information and task data, the determined work information is that the lawn mowing robot's working time should be later than 6 o'clock in the morning, and early at 6 p.m., and all mowing tasks in area A are to be completed within this time period, the control instructions generated based on the work information corresponding to the current position of the lawn mowing robot must include the lawn mowing robot's work start time of 6:30 a.m. and late The work ends at 5:30, so the lawn mower robot will work from 6:30 am to 5:30 pm. Because in winter and working hours are shorter, it is necessary to improve the working efficiency of the lawn mowing robot to ensure that the task is completed within working hours.

The technical method of this embodiment obtains positioning data and determines time information corresponding to the current location based on the positioning data, obtains task data, and determines work information based on the task data and time information, where the work information includes work start time and work end time. And at least one of the working frequencies, the control instructions are generated based on the work information, which solves the problem of damage to the robot caused by the robot still working when it is dark, and improves the rationality of the robot's work arrangement.

Based on the above-mentioned Embodiment 1, this embodiment provides a preferred implementation of a control method, which generates control instructions based on the time information and controls the robot to execute the control instructions, including: obtaining 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, specifically includes: generating a control instruction according to the task data and the time information, and controlling the control instruction. The robot executing the control instruction includes: determining working time according to the task data; generating a control instruction according to the time information and the working time, and controlling the robot to execute the control instruction. Figure 3 is a flow chart of a control method provided by Embodiment 3 of the present invention. As shown in Figure 3, the method specifically includes the following steps:

S310, obtain positioning data.

S320: Determine time information corresponding to the current location based on the positioning data.

S330, obtain task data.

S340: Determine working time based on task data.

Among them, the working time can include the work start time and the work end time. For example, the working time can be that the robot starts working at 6 o'clock in the morning and ends at 6 o'clock in the evening.

Specifically, the method of determining the working time based on the task data can be: determining the working time of the robot through relevant data in the task data, such as the robot's working area, workload, and working frequency. For example, the robot's current position has a large workload, Then the determined working time should be increased, and the robot's work start time should be set in advance and/or the robot's end time should be delayed; if the workload at the current position of the robot is small, the determined working time should be reduced, and the robot's work start time should be set in advance. The job start time needs to be later and/or the robot's end time needs to be earlier. The way to determine the working time according to the task data can be: determine the working time through the specific task data instructions in the task data. For example, the task data instruction of the lawn mowing robot is to perform a lawn mowing task in area A, start work at 6 o'clock in the morning and 6 o'clock in the evening. If the work ends at 6 o'clock in the morning, the working time is determined to be 6 o'clock in the morning and 6 o'clock in the evening.

S350: Generate control instructions based on time information and working time, and control the robot to execute the control instructions.

Specifically, the method of generating control instructions based on time information and working time can be: determining the sunrise time and sunset time based on positioning data, adjusting the work start time based on the comparison result between the sunrise time and the work start time, and adjusting the work start time based on the adjusted Generate control instructions based on the work start time; adjust the work end time based on the comparison results between sunset time and work end time, and generate control instructions based on the adjusted work end time. The method of generating control instructions based on time information and working time can also be: determining the sunrise time and sunset time based on the current time, seasonal information and/or solar term information, and determining the working start time based on the comparison result between the sunrise time and the working start time. Make adjustments and generate control instructions based on the adjusted work start time; adjust the work end time based on the comparison results between sunset time and work end time, and generate control instructions based on the adjusted work end time.

In a specific example, the working time of the lawn mowing robot determined based on the task data is that the work start time is 6 o'clock in the morning and the work end time is 6 o'clock in the evening. The time information determined based on the positioning data is that the sunrise time of the current location is early. At 6:30, the sunset time is 5:30 pm. If the work start time of the original working time is earlier than the sunrise time corresponding to the current location, and the work end time is later than the sunset time corresponding to the current location, then the control is based on the working time and time information. The instructions are updated, and 6:30 am is determined as the work start time, and 5:30 pm is determined as the work end time. New control instructions are generated, and the lawn mowing robot performs tasks according to the new control instructions.

In some embodiments, the working time includes: work start time and/or work end time;

Generating control instructions based on the time information and the working time, and controlling the robot to execute the control instructions includes:

If the work end time is after sunset time, update the work end time to sunset time, generate a control instruction based on the updated work end time, and control the robot to execute the control instruction;

If the work start time is before sunrise time, the work start time is updated to sunrise time, a control instruction is generated according to the updated work start time, and the robot is controlled to execute the control instruction.

The method of generating the control instruction based on the updated work end time may be: replacing the work end time with sunset time, and generating the control instruction based on the sunset time. In other words, if the work end time is after sunset, the robot is controlled to end the work before sunset.

The method of generating the control instruction based on the updated work start time may be: replacing the work start time with the sunrise time, and generating the control instruction based on the sunrise time. That is to say, if the work start time is before sunrise time, the robot will be controlled to start working after sunrise.

In a specific example, the time information of the robot's current position is determined based on the robot's positioning data, and the working time determined in the robot based on the task data is compared with the time information corresponding to the robot's current position. If the work time set in the robot's working time is If the start time is earlier than the sunrise time corresponding to the current position of the robot, that is, when the robot starts working according to the work start time set in the working time and it is not yet dawn, the work start time in the working time will be updated to the sunrise corresponding to the current position. time, the robot will start working after sunrise; if the work start time set in the work time is later than or equal to the sunrise time corresponding to the current location, it will continue to start working according to the work start time set in the work time; if the work start time is later than or equal to the sunrise time corresponding to the current location, The work end time set in the time is later than the sunset time corresponding to the current location. That is, when the work ends according to the work end time set in the working time, it is already dark and the robot cannot work, then the work end time in the working time will be Update to the sunset time corresponding to the current location, and the robot will end its work after sunset; if the work end time set in the working time is earlier than or equal to the sunset time corresponding to the current location, it will continue to follow the work end time set in the working time. Finish work.

The technical method of this embodiment obtains positioning data and determines the time information corresponding to the current location based on the positioning data, obtains task data, and determines the working time based on the task data, where the work start time and/or work end time is determined based on the time information. Generate control instructions according to the working time, and control the robot to execute the control instructions, which solves the problem of the robot starting to work before dawn or continuing to work after dark, causing damage to the robot. It can ensure that the robot works at the appropriate time and improves efficiency. Control the accuracy of robot behavior.

Example

Based on the above-mentioned Embodiment 1, this embodiment provides a preferred implementation of a control method, which generates control instructions based on the time information and controls the robot to execute the control instructions, including: obtaining 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, specifically includes: generating a control instruction according to the task data and the time information, and controlling the control instruction. The robot executing the control instruction includes: determining weather information according to the positioning data; 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. Figure 4 is a flow chart of a control method provided by Embodiment 4 of the present invention. As shown in Figure 4, the method specifically includes the following steps:

S410, obtain positioning data.

S420: Determine time information corresponding to the current location based on the positioning data.

S430, obtain task data.

S440: Determine weather information based on positioning data.

The weather information may be the weather status of the current location. For example, the weather status of the current location may be sunny, heavy rain, blizzard, rainy season, etc.

Specifically, the method of determining the weather information based on the positioning data may be: the positioning device in the robot obtains the positioning data, obtains the current position of the robot based on the positioning data, and determines the weather information based on the current position. The method of determining weather information based on positioning data can also be: the positioning device in the robot obtains positioning data, obtains the current position and current time of the robot based on the positioning data, and determines the weather information based on the current position and current time. For example, if the current position of the robot is obtained in Beijing based on the positioning data, the weather information of the day in Beijing is determined based on the information returned by the weather station; the current position of the robot is obtained in Beijing based on the positioning data, and the current time is 5 am on XX day, XX month, XX year. point, and determine the weather information of the robot at the current time or the weather information in the future based on the information returned by the weather station.

S450: Generate control instructions based on task data, time information and weather information, and control the robot to execute the control instructions.

Specifically, the method of generating control instructions based on task data, time information and weather information may be: determining the work start time and work end time based on the task data, determining the sunrise time and sunset time based on the time information, and determining the day based on the weather information. Adjust the sunrise time and sunset time to obtain the adjusted sunrise time and sunset time, adjust the work start time according to the work start time and the adjusted sunrise time, and generate control instructions based on the adjusted work start time; according to the work start time The end time and the adjusted sunset time adjust the work end time, and generate control instructions based on the adjusted work end time. The method of generating the control instruction based on the task data, time information and weather information can also be: determining the work start time and work end time based on the task data and time information; adjusting the work start time and work end time based on the weather information, and adjusting the work start time and work end time based on the weather information. The adjusted work start time and the adjusted work end time generate control instructions. The method of generating control instructions based on task data, time information and weather information can also be: determining the sunrise time and sunset time based on the time information and weather information, and determining the work start time and work end time based on the task data, sunrise time and sunset time. , generate control instructions based on the work start time and work end time.

In a specific example, the lawn mowing robot needs to complete the mowing task in area A. The time information in area A is that the sunrise time is 6 o'clock in the morning and the sunset time is 6 o'clock in the evening. However, the weather information in area A that day is heavy rain. If the rain stops at 8 o'clock in the morning, the robot's work start time is determined to be 8 o'clock in the morning and its work end time is 6 o'clock in the evening. Control instructions are generated based on the work start time and work end time and the robot is controlled to execute.

In some embodiments, generating control instructions based on the task data, the time information and the weather information, and controlling the robot to execute the control instructions includes:

Determine the first target time based on the weather information and sunrise time;

Determine a second target time based on the weather information and sunset time;

If the work start time is before the first target time, update the work start time to the first target time, generate a control instruction based on the updated work start time, and control the robot to execute the control instruction;

If the work end time is after the second target time, the work end time is updated to the second target time, a control instruction is generated according to the updated work end time, and the robot is controlled to execute the control instruction.

Among them, 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 at the current location of the robot is 6 a.m., but the weather that day is heavy rain, and if the time of the rainstorm is from 6 a.m. to 8 a.m., then the robot will continue to stay charging from 6 a.m. to 8 a.m. The station does not work and waits for the rain to stop. The first target time is determined to be 8 a.m.. If the sunset time at the current location of the robot is 6 p.m., but the rainstorm time of the day is from 5 p.m. to 6 p.m., the robot will not work during the rainstorm. The second target time is determined to be 5 pm.

Specifically, according to the comparison between the first target time and the second target time and the working time of the robot, if the work start time is before the first target time, the work start time is updated to the first target time, and if the work end time is before the first target time, the work start time is updated to the first target time. After the second target time, the work end time is updated to the second target time, a control instruction is generated according to the updated work start time and work end time, and the robot is controlled to execute the control instruction. For example, if the weather conditions at the current location of the robot are heavy rain, the first target time is determined based on the time of the heavy rain and the sunrise time, and the second target time is determined based on the time of the heavy rain and the sunset time. If the first target time is early 8 point, the second target time is 5:00 pm, and the original robot's working time is 6:00 am, and the work end time is 6:00 pm. Now the robot's working time is updated according to the first target time and the second target time. If the work start time is 8 o'clock in the morning and the work end time is 5 o'clock in the evening, a new control instruction is generated, and the robot performs the task according to the new working hours.

If the obtained weather information shows that the weather is bad all day, the robot will not go out to work all day; if the robot suddenly encounters bad weather while working, the robot must immediately end the work and return; if the robot suddenly encounters bad weather when it starts working, Then the robot delays starting working time.

The embodiment of the present invention obtains positioning data, determines the time information corresponding to the current position based on the positioning data, obtains task data, determines weather information based on the positioning data, generates control instructions based on the task data, time information and weather information, and controls the robot to perform control The instruction solves the problem of the robot continuing to work when the weather information is relatively poor, reduces the degree of damage to the robot, ensures the safety of the robot, and improves the accuracy of controlling the robot's behavior.

Example

Figure 5 is a schematic structural diagram of a control device provided in Embodiment 5 of the present invention. This embodiment can be applied to the situation of robot behavior control. The device can be implemented in the form of software and/or hardware. The device can be integrated in any device that provides control functions. As shown in Figure 5, the control device specifically includes : Positioning data acquisition module 510, time information determination module 520 and control instruction execution module 530.

Among them, the positioning data acquisition module 510 is used to obtain positioning data;

The time information determination module 520 is used to determine the time information corresponding to the current location according to the positioning data;

The control instruction execution module 530 is used 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 determination module is specifically used to:

The time information includes: at least one of current time, sunrise time, sunset time, seasonal information and solar term information.

The positioning data includes: latitude and longitude data;

Determine time zone information based on the latitude and longitude data;

Time information corresponding to the current location is determined based on the time zone information and the latitude and longitude data.

In some embodiments, the control instruction execution module is specifically used to:

Generating control instructions based on the time information and controlling the robot to execute the control instructions includes:

Get task data;

Generating control instructions based on the task data and the time information includes:

Determine work information according to the task data and the time information, wherein the work information includes at least one of work start time, work end time and work frequency;

Generate control instructions based on the work information.

Generating control instructions based on the task data and the time information, and controlling the robot to execute the control instructions includes:

Determine working hours based on said task data;

Generate control instructions based on the time information and the working time, and control the robot to execute the control instructions.

The working time includes: work start time and/or work end time;

Determine weather information based on the positioning data;

Generate control instructions according to the task data, the time information and the weather information, and control the robot to execute the control instructions.

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:

The control device provided by the embodiment of the present disclosure can execute the control method provided by any embodiment of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method.

It is worth noting that each module included in the above device is only divided according to functional logic, but is not limited to the above division, as long as the corresponding functions can be realized, and is not used to limit the scope of protection of the embodiments of the present disclosure.

Example

FIG. 6 is a schematic structural diagram of an electronic device provided in Embodiment 6 of the present invention. Referring now to FIG. 6 , a schematic structural diagram of an electronic device (such as the terminal device or server in FIG. 6 ) 600 suitable for implementing embodiments of the present disclosure is shown. Terminal devices in embodiments of the present disclosure may include, but are not limited to, mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablets), PMPs (Portable Multimedia Players), vehicle-mounted terminals (such as Mobile terminals such as vehicle navigation terminals) and fixed terminals such as digital TVs, desktop computers, etc. The electronic device shown in FIG. 6 is only an example and should not impose any limitations on the functions and scope of use of the embodiments of the present disclosure.

As shown in FIG. 6 , the electronic device 600 may include a processing device (eg, central processing unit, graphics processor, etc.) 601 , which may be loaded into a random access device according to a program stored in a read-only memory (ROM) 602 or from a storage device 608 . The program in the memory (RAM) 603 executes various appropriate actions and processes. In the RAM 603, various programs and data required for the operation of the electronic device 600 are also stored. The processing device 601, ROM 602 and RAM 603 are connected to each other via a bus 604. An editing/output (I/O) interface 605 is also connected to bus 604.

Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speaker, vibration An output device 607 such as a computer; a storage device 608 including a magnetic tape, a hard disk, etc.; and a communication device 609. Communication device 609 may allow electronic device 600 to communicate wirelessly or wiredly with other devices to exchange data. Although FIG. 6 illustrates electronic device 600 with various means, it should be understood that implementation or availability of all illustrated means is not required. More or fewer means may alternatively be implemented or provided.

In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product including a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the method illustrated in the flowchart. In such embodiments, the computer program may be downloaded and installed from the network via communication device 609, or from storage device 608, or from ROM 602. When the computer program is executed by the processing device 601, the above functions defined in the method of the embodiment of the present disclosure are performed.

The electronic device provided by the embodiments of the present disclosure and the control method provided by the above embodiments belong to the same inventive concept. Technical details that are not described in detail in this embodiment can be referred to the above embodiments, and this embodiment has the same benefits as the above embodiments. Effect.

Embodiments of the present disclosure provide a computer storage medium on which a computer program is stored. When the program is executed by a processor, the control method provided by the above embodiments is implemented.

It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. More specific examples of computer readable storage media may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard drive, random access memory (RAM), read only memory (ROM), removable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can send, propagate, or transmit 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 suitable medium, including but not limited to: wire, optical fiber cable, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the client and server can communicate using any currently known or future developed network protocol such as HTTP (Hyper Text Transfer Protocol), and can communicate with digital data in any form or medium. Data communications (e.g., communications networks) interconnections. Examples of communications networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet (e.g., the Internet), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or developed in the future network of.

The above-mentioned computer-readable medium may be included in the above-mentioned electronic device; it may also exist independently without being assembled into the electronic device.

The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: obtains positioning data; determines the time information corresponding to the current position according to the positioning data; The time information generates control instructions and controls the robot to execute the control instructions.

Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and Includes conventional procedural programming languages—such as "C" 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 situations involving remote computers, the remote computer can 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 it can be connected to an external computer (such as through the Internet using an Internet service provider) .

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operations 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 diagram may represent a module, segment, or portion of code that contains one or more logic functions that implement the specified executable instructions. 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 one after another may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagram and/or flowchart illustration, and combinations of blocks in the block diagram and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or operations. , or can be implemented using a combination of specialized 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, and without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), Systems on Chips (SOCs), Complex Programmable Logical device (CPLD) and so on.

In the context of this disclosure, a machine-readable medium may be a tangible medium that may 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. Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wires based electrical connection, laptop disk, hard drive, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

The above description is only a description of the preferred embodiments of the present disclosure and the technical principles applied. Those skilled in the art should understand that the disclosure scope involved in the present disclosure is not limited to technical solutions composed of specific combinations of the above technical features, but should also cover solutions composed of the above technical features or without departing from the above disclosed concept. Other technical solutions formed by any combination of equivalent features. For example, a technical solution is formed by replacing the above features with technical features with similar functions disclosed in this disclosure (but not limited to).

Furthermore, although operations are depicted in a specific order, this should not be understood as requiring that these operations be performed in the specific order shown or performed in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, although 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. On the contrary, the specific features and actions described above are only exemplary forms for realizing the claims. Based on the above-mentioned Embodiment 1, this embodiment provides a preferred implementation of a control method, which is to generate a control method based on the time information. instruction, and controlling the robot to execute the control instruction, including: obtaining 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, specifically The method includes: generating a control instruction according to the task data and the time information, and controlling the robot to execute the control instruction, including: determining a working time according to the task data; and generating a control instruction according to the time information and the working time. instructions, and controls the robot to execute the control instructions. Figure 3 is a flow chart of a control method provided by Embodiment 3 of the present invention. As shown in Figure 3, the method specifically includes the following steps:

S310, obtain positioning data.

S330, obtain task data.

S340: Determine working time based on task data.

Example

S410, obtain positioning data.

S430, obtain task data.

S440: Determine weather information based on positioning data.

Specifically, the method of determining the weather information based on the positioning data may be: the positioning device in the robot obtains the positioning data, obtains the current position of the robot based on the positioning data, and determines the weather information based on the current position. The method of determining weather information based on positioning data can also be as follows: the positioning device in the robot obtains positioning data, obtains the current position and current time of the robot based on the positioning data, and determines the weather information based on the current position and current time. For example, if the current position of the robot is obtained in Beijing based on the positioning data, the weather information of the day in Beijing is determined based on the information returned by the weather station; the current position of the robot is obtained in Beijing based on the positioning data, and the current time is 5 am on XX day, XX month, XX year. point, and determine the weather information of the robot at the current time or the weather information in the future based on the information returned by the weather station.

In a specific example, the lawn mowing robot needs to complete the lawn mowing task in area A. The time information in area A is that the sunrise time is 6 o'clock in the morning and the sunset time is 6 o'clock in the evening. However, the weather information in area A that day is heavy rain. If the rain stops at 8 o'clock in the morning, the robot's work start time is determined to be 8 o'clock in the morning and its work end time is 6 o'clock in the evening. Control instructions are generated based on the work start time and work end time and the robot is controlled to execute.

Example

The positioning data includes: latitude and longitude data;

Determine time zone information based on the latitude and longitude data;

Get task data;

Generate control instructions based on the work information.

Determine working hours based on said task data;

The working time includes: work start time and/or work end time;

Determine weather information based on the positioning data;

Example

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 merely example forms of implementing the claims.

Type the sequence listing free content description paragraph here.

Claims

A control method, characterized in that it is applied to a robot, and the control method includes:

Get positioning data;

Determine time information corresponding to the current location according to the positioning data;

Generate control instructions based on the time information, and control the robot to execute the control instructions.
The control method according to claim 1, characterized in that the time information includes: at least one of current time, sunrise time, sunset time, seasonal information and solar term information.
The control method according to claim 1, characterized in that the positioning data includes: longitude and latitude data;

Determining the time information corresponding to the current location based on the positioning data includes:

Determine time zone information based on the latitude and longitude data;

Time information corresponding to the current location is determined based on the time zone information and the latitude and longitude data.
The control method according to claim 1, characterized in that generating a control instruction according to the time information and controlling the robot to execute the control instruction includes:

Get task data;

Generate control instructions based on the task data and the time information, and control the robot to execute the control instructions.
The control method according to claim 4, characterized in that generating control instructions according to the task data and the time information includes:

Determine work information according to the task data and the time information, wherein the work information includes at least one of work start time, work end time and work frequency;

Generate control instructions based on the work information.
The control method according to claim 4, characterized in that generating a control instruction according to the task data and the time information, and controlling the robot to execute the control instruction includes:

Determine working hours based on said task data;

Generate control instructions based on the time information and the working time, and control the robot to execute the control instructions.
The control method according to claim 6, characterized in that the working time includes: working start time and/or working end time;

Generating control instructions based on the time information and the working time, and controlling the robot to execute the control instructions includes:

If the work end time is after sunset time, update the work end time to sunset time, generate a control instruction based on the updated work end time, and control the robot to execute the control instruction;

If the work start time is before sunrise time, the work start time is updated to sunrise time, a control instruction is generated according to the updated work start time, and the robot is controlled to execute the control instruction.
The control method according to claim 4, characterized in that generating a control instruction according to the task data and the time information, and controlling the robot to execute the control instruction includes:

Determine weather information based on the positioning data;

Generate control instructions according to the task data, the time information and the weather information, and control the robot to execute the control instructions.
The control method according to claim 8, characterized in that 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 includes:

Determine the first target time based on the weather information and sunrise time;

Determine a second target time based on the weather information and sunset time;

If the work start time is before the first target time, update the work start time to the first target time, generate a control instruction based on the updated work start time, and control the robot to execute the control instruction;

If the work end time is after the second target time, the work end time is updated to the second target time, a control instruction is generated according to the updated work end time, and the robot is controlled to execute the control instruction.
A control device, characterized by including:

Positioning data acquisition module, used to obtain positioning data;

A time information determination module, configured to determine the time information corresponding to the current location according to the positioning data;

A control instruction execution module is used to generate a control instruction according to the time information, and control the robot to execute the control instruction.
An electronic device, characterized in that the electronic device includes:

at least one processor; and

a memory communicatively connected to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor, so that the at least one processor can execute any one of claims 1-9 The control method described.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the control method according to any one of claims 1-9 when executed by a processor. .