Rainwater sensing method and device, courtyard operation equipment and medium

Abstract

The invention relates to the technical field of intelligent garden machinery, and discloses a rainwater sensing method and device, courtyard operation equipment and a medium, the shielding formed by raindrops on a glass cover is sensed through a laser radar, and the distribution characteristics of the shielding are analyzed to judge the rain, so that the high sensitivity and the quick response which are far better than those of a traditional rainwater sensor are realized; the detection reliability is not influenced by water quality; according to the method, the existing laser radar of courtyard operation equipment can be reused, extra hardware cost is avoided, maintenance requirements are reduced, and meanwhile, the method has excellent anti-interference capability and accuracy through multi-parameter fusion analysis.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent yard, and in particular to a rain sensing method and device, yard working equipment and medium. BACKGROUND

[0002] The lawn mower working outdoors is closely related to the environmental weather conditions. When it rains, continuously working on the wet and slippery lawn may not only damage the lawn, but also cause the robot to slip, sink, and even cause safety problems such as circuit short circuit. Therefore, timely and accurate sensing of rain and making decisions such as suspending work and automatically returning to the warehouse are key functions to improve the intelligent level and reliability of the lawn mower.

[0003] At present, the mainstream rain sensing scheme in the industry is to use a dedicated rain sensor. The basic principle of this type of sensor is that a sensing unit containing two mutually non-contacting metal conductors is arranged at a specific position of the robot shell, and the sensing unit is usually designed with a water groove structure. In a dry state, the two metal conductors are in an open circuit state due to air insulation. When it rains, rainwater will gradually fill the water groove, and since water has a certain conductivity, an electrically conductive path will be formed between the two metal conductors, generating a level signal indicating that rain has been detected.

[0004] However, the existing rain sensing method based on the above principle has the following obvious inherent defects: First, this method relies on the physical filling of the water groove with rainwater to a sufficient extent to connect the two electrodes. For light rain, drizzle or the early stage of rainfall, the amount of rain is small, and the water groove cannot be quickly or completely filled, resulting in the sensor failing to produce a signal in time, causing missed detection or delayed response. This makes the robot unable to react at the beginning of the rainfall, which may have an adverse effect on the lawn or itself. Secondly, the core of its sensing mechanism is the conductivity of water. However, rainwater in nature is not pure water, and its conductivity can be affected by factors such as dust and pollutants in the air. In areas with high purity, the conductivity of rainwater is weak, which may cause it difficult to produce a strong conductive signal even if there is water in the water groove, resulting in detection failure. Furthermore, the water groove structure on the surface of the sensor is prone to accumulate dust, soil and other pollutants, which may have a certain conductivity due to moisture, thus causing false positives of the sensor in the absence of rain. At the same time, pollutants can also affect the normal aggregation and conductivity of rainwater, requiring frequent cleaning and maintenance by the user, reducing user experience.

[0005] Therefore, there is an urgent need for a new rain sensing method. SUMMARY

[0006] The present application provides a rain sensing method, device, yard working equipment and medium to solve the defects of the prior art.

[0007] The application provides a rain sensing method, comprising: S1, setting a label task of a target laser radar, wherein the label task is to output point cloud data representing whether a plurality of preset points on a glass cover of the target laser radar exist an occlusion; S2, obtaining a radar reference misjudgment rate of the target laser radar under the label task and when it is known that no occlusion exists on the glass cover thereof; S3, for each frame of point cloud data output by the target laser radar under the label task but without knowing whether an occlusion exists on the glass cover thereof, performing steps S31-S33: S31, obtaining an overall occlusion rate of the target laser radar and obtaining point cloud data representing that all of the continuous preset points exist an occlusion; S32, obtaining an actual occlusion rate of the target laser radar according to the overall occlusion rate of the target laser radar and the radar reference misjudgment rate; S33, judging whether an occlusion exists on the glass cover of the target laser radar according to the actual occlusion rate of the target laser radar, and when judging that an occlusion exists on the glass cover of the target laser radar, performing step S34; S34, obtaining a raindrop ratio on the glass cover of the target laser radar according to the point cloud data representing that all of the continuous preset points exist an occlusion, and judging whether it rains at a position where the target laser radar is located according to the raindrop ratio on the glass cover of the target laser radar; S4, when a ratio of point cloud frames that are judged to rain at the position where the target laser radar is located in a preset time period accounts for more than or equal to a preset threshold in total point cloud frames, determining that it rains at the position where the target laser radar is located.

[0008] According to the rain sensing method provided by the application, S2 comprises: When the target laser radar is under the label task and it is known that no occlusion exists on the glass cover thereof, obtaining a single-frame occlusion rate of the target laser radar under each frame of point cloud data within time t; According to the single-frame occlusion rate of the target laser radar under each frame of point cloud data within time t, obtaining the radar reference misjudgment rate of the target laser radar.

[0009] According to the rain sensing method provided by the application, the expression of the single-frame occlusion rate is: .

[0010] According to the rain sensing method provided by the application, the expression of the radar reference misjudgment rate is: .

[0011] According to the rain sensing method provided by the application, the expression of the overall occlusion rate is: .

[0012] According to the rainwater sensing method provided by the application, the expression of the actual shielding rate is: .

[0013] According to the rainwater sensing method provided by the application, S33 comprises: When the actual shielding rate is less than 0.1, it is judged that there is no shielding on the glass cover of the target laser radar, that is, there is no rainwater on the glass cover of the target laser radar; When the actual shielding rate is greater than or equal to 0.1, it is judged that there is shielding on the glass cover of the target laser radar.

[0014] According to the rainwater sensing method provided by the application, S34 comprises: The block formed by the continuous preset points all having shielding objects is called a shielding block; According to the point cloud data representing that the continuous preset points all have shielding objects, the area of each shielding block is obtained; According to the area of each shielding block, it is judged whether it is a raindrop; According to the total area of the shielding blocks judged as raindrops and the total area of all shielding blocks, the raindrop ratio on the glass cover of the target laser radar is obtained.

[0015] According to the rainwater sensing method provided by the application, the expression of the raindrop ratio is: .

[0016] According to the rainwater sensing method provided by the application, S34 comprises: When the raindrop ratio is greater than or equal to a preset threshold value, it is judged that the position of the target laser radar is raining; When the raindrop ratio is less than the preset threshold value, it is judged that there is other shielding on the glass cover of the target laser radar.

[0017] According to the rainwater sensing method provided by the application, the preset threshold value of S4 is 80%.

[0018] The application also provides a rainwater sensing device, comprising: A label setting module is configured to set a label task of a target laser radar, wherein the label task is to output point cloud data representing whether a plurality of preset points on the glass cover of the target laser radar have shielding objects; A misjudgment obtaining module is configured to obtain a radar reference misjudgment rate of the target laser radar under the label task and when it is known that there is no shielding object on the glass cover thereof; The point cloud acquisition module is configured to, for each frame of point cloud data output by the target laser radar under a label task but unknown whether there is an occlusion on the glass cover of the target laser radar, obtain a total occlusion rate of the target laser radar, and obtain point cloud data representing that there is an occlusion at each of a plurality of preset points; obtain an actual occlusion rate of the target laser radar according to the total occlusion rate of the target laser radar and a radar benchmark misjudgment rate; and determine whether there is an occlusion on the glass cover of the target laser radar according to the actual occlusion rate of the target laser radar, and when it is determined that there is an occlusion on the glass cover of the target laser radar, obtain a raindrop ratio on the glass cover of the target laser radar according to the point cloud data representing that there is an occlusion at each of the plurality of preset points, and determine whether it is raining at the location of the target laser radar according to the raindrop ratio on the glass cover of the target laser radar. The rain determination module is configured to determine that it is raining at the location of the target laser radar when a ratio of point cloud frames determined to be raining at the location of the target laser radar in a preset time period to total point cloud frames is greater than or equal to a preset threshold.

[0019] The application further provides a yard working device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the rainwater sensing method of any one of the above.

[0020] According to the yard working device provided by the application, the yard working device comprises but is not limited to a lawn mower, a leaf collecting device, a leaf blower, a security inspection machine, a yard cleaning robot, and a drone, specifically, the yard working device is provided with a target laser radar, the target laser radar is in communication connection with the electronic device, and the target laser radar transmits point cloud data to the electronic device, the yard working device executes the steps of the rainwater sensing method of any one of the above, and sends a rainwater sensing signal to a user terminal when it is determined that it is raining at the location of the target laser radar.

[0021] The application further provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program is executable by a processor to implement the rainwater sensing method of any one of the above.

[0022] The application further provides a computer program product comprising a computer program, wherein the computer program is stored on a non-transitory computer-readable storage medium, and the computer program is executable by a processor to enable a computer to execute the rainwater sensing method of any one of the above.

[0023] The rainwater sensing method, device, yard working device, and medium provided by the application can at least bring the following beneficial effects: The present application directly perceives the shelter formed by the tiny raindrops on the glass cover of the laser radar by using the high-precision detection characteristics of the laser radar, without waiting for the rainwater to physically fill the water tank as the traditional rainwater sensor does. Even for light rain, drizzle or sparse raindrops at the initial stage of rainfall, they can be sensitively captured as "shelter" signals in the point cloud data, so as to realize the extremely early detection and rapid response to the rainfall event, and fundamentally overcome the defects of large response delay and insensitivity to light rain of the existing method.

[0024] The perception principle of the present application is based on the physical reflection of laser, rather than relying on the conductivity of water. Therefore, the detection reliability is completely unaffected by the purity, mineral content or contaminants of the rainwater. As long as the raindrops adhere to the radar cover, it can be stably detected under any environmental conditions, which can ensure the consistency and high reliability of the perception results in different geographical and climatic environments.

[0025] The present application can flexibly reuse the existing navigation and obstacle avoidance laser radar on the yard work equipment to realize the rainwater perception function without additional installation of a dedicated rainwater sensor. This not only saves the hardware cost of the rainwater sensor itself, but also simplifies the structural design of the robot shell, avoids the process of opening holes for installing the sensor, and completely eliminates the maintenance requirements and false triggering problems caused by the contamination of the sensor water tank, significantly reducing the overall cost and improving the integration and maintenance-free of the system.

[0026] The present application can effectively distinguish the real rainfall from the interference caused by other accidental shelters (such as a single flying insect, sporadic stains) by introducing "radar reference false rejection rate" for calibration and comprehensively analyzing multiple criteria such as "overall shelter rate", "actual shelter rate" and "raindrop ratio". Especially by identifying the distribution characteristics of "continuous preset points all having shelters", the unique coverage and continuity characteristics of rainwater can be accurately captured, thereby greatly improving the accuracy of judgment and effectively reducing the false alarm rate. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0028] Figure 1 One of the flowcharts of a rainwater perception method provided by the present application.

[0029] Figure 2 One of the flowcharts of a rainwater perception method provided by the present application. DETAILED DESCRIPTION

[0030] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments, and they should not be understood as a limitation to the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present application. In the description of the present application, it should be understood that the terms used are only for the purpose of description and should not be understood as indicating or implying relative importance.

[0031] Figure 1 And Figure 2 A flowchart of a rain sensing method provided by the present application. The execution subject of the rain sensing method provided by the present application can be any device that needs to work autonomously outdoors, including but not limited to a lawn mower, a leaf collecting device, a leaf blower, a security inspection machine, a garden cleaning robot and a drone. In order to facilitate the description of the present application, the following will be described in detail taking the garden work device as a lawn mower.

[0032] Referring to Figure 1 And Figure 2 , the rain sensing method provided by the present application can include: S1, setting a labeling task of a target laser radar, wherein the labeling task is to output point cloud data representing whether there is an occlusion on a plurality of preset points on a glass cover of the target laser radar.

[0033] The present embodiment is based on the output data of the laser radar, that is, it is required that the laser radar sets a tag (label) for each preset point when outputting point cloud, whether the point is occluded. Occlusion means whether there is an occlusion on the glass cover at the angle of the point.

[0034] S2, obtaining a radar reference misjudgment rate of the target laser radar under the labeling task and when it is known that there is no occlusion on the glass cover thereof.

[0035] In one embodiment, S2 includes: When the target laser radar is under the labeling task and it is known that there is no occlusion on the glass cover thereof, a single-frame occlusion rate of the target laser radar under each frame of point cloud data within a time t is obtained, wherein the expression of the single-frame occlusion rate is: ; According to the single-frame occlusion rate of the target laser radar under each frame of point cloud data within the time t, a radar reference misjudgment rate of the target laser radar is obtained, wherein the expression of the radar reference misjudgment rate is: .

[0036] There is a possibility of misjudgment in the tag in S1, so before rainwater detection is performed, the present embodiment first calculates the radar reference misjudgment rate of the lidar. This step can be performed in the process of mapping by the robot. Under the premise that the lidar is not blocked and there is no rainwater, the radar reference misjudgment rate of the lidar is calculated. The radar reference misjudgment rate is completely caused by misjudgment of the lidar.

[0037] S3, for each frame of point cloud data output by the target lidar in the tag task but unknown whether there is an obstruction on the glass cover of the target lidar, steps S31-S33 are performed.

[0038] S31, obtain the overall obstruction rate of the target lidar, and obtain the point cloud data representing that consecutive preset points all have obstructions, wherein the expression of the overall obstruction rate is: .

[0039] S32, according to the overall obstruction rate of the target lidar and the radar reference misjudgment rate, obtain the actual obstruction rate of the target lidar, wherein the expression of the actual obstruction rate is: .

[0040] S33, according to the actual obstruction rate of the target lidar, judge whether there is an obstruction on the glass cover of the target lidar. In the present embodiment, when the actual obstruction rate is less than 0.1, it is judged that there is no obstruction on the glass cover of the target lidar, i.e. there is no rainwater on the glass cover of the target lidar. When the actual obstruction rate is greater than or equal to 0.1, it is judged that there is an obstruction on the glass cover of the target lidar. When the actual obstruction rate is greater than or equal to 0.3, it is judged that there is a serious obstruction on the glass cover of the target lidar. When it is judged that there is an obstruction on the glass cover of the target lidar, step S34 is performed.

[0041] S34, according to the point cloud data representing that consecutive preset points all have obstructions, obtain the raindrop ratio on the glass cover of the target lidar, and according to the raindrop ratio on the glass cover of the target lidar, judge whether it is raining at the position of the target lidar.

[0042] In an embodiment, S34 includes: The block formed by consecutive preset points all having obstructions is called an obstruction block. These obstruction blocks can be various obstructions such as raindrops. According to the point cloud data representing that consecutive preset points all have obstructions, obtain the area of each obstruction block. According to the area of each obstruction block, judge whether it is a raindrop. According to the total area of the obstruction blocks judged to be raindrops and the total area of all obstruction blocks, obtain the raindrop ratio on the glass cover of the target lidar, wherein the expression of the raindrop ratio is: ; When the raindrop ratio is greater than or equal to a preset threshold value, it is determined that the position of the target laser radar is raining; When the raindrop ratio is less than the preset threshold value, it is determined that there is other shielding on the glass cover of the target laser radar.

[0043] Because the surface of the laser radar is coated with a hydrophobic material, rainwater hitting the surface appears as a small raindrop. The present embodiment analyzes all continuous shielding blocks, and if the area of a continuous shielding block is less than a preset area, it is considered to be a raindrop. The total area of all continuous shielding blocks that are considered to be raindrops is divided by the total area of all continuous shielding blocks to obtain a raindrop ratio. If the raindrop ratio is greater than or equal to a preset threshold value, it is considered to be raining, otherwise it is considered to be other shielding.

[0044] S4, when the ratio of point cloud frames determined to be raining at the position of the target laser radar in a preset time period to the total point cloud frames is greater than or equal to a preset threshold value, it is determined that the position of the target laser radar is raining.

[0045] Preferably, the preset time period is 10s, and the preset threshold value is 80%.

[0046] The rainwater sensing method provided by the present application utilizes the high-precision detection characteristics of the laser radar, can directly identify the shielding signal formed by the tiny raindrops on the glass cover of the laser radar, and does not need to wait for the rainwater to fill the physical water tank as the traditional sensor, thereby realizing extremely early detection and rapid response in the early stage of light rain, drizzle and early stage of rainfall, and fundamentally overcoming the defects of large delay and low sensitivity of the existing method; based on the physical reflection principle of laser, it does not depend on the conductivity of water, the detection result is not affected by the purity, mineral or contaminant of the rainwater, and it can work stably under various environmental conditions, ensuring the consistency and high reliability of sensing in different geographical and climate environments; it can reuse the existing navigation and obstacle avoidance laser radar of the robot to realize rainwater sensing, without the need to add a dedicated rainwater sensor, which not only saves hardware cost, but also simplifies the structure design, avoids the opening process, and at the same time eliminates the maintenance and false triggering problems caused by water tank pollution, significantly improving the system integration and maintenance-free performance; by introducing the "radar reference false judgment rate" for calibration, and comprehensively considering multiple criteria such as "overall shielding rate", "actual shielding rate" and "raindrop ratio", the real rainfall can be effectively distinguished from accidental shielding such as flying insects and stains, and especially by identifying the distribution characteristics of "continuous preset points all having shielding", the unique coverage and continuity of rainwater can be accurately captured, and the judgment accuracy can be greatly improved, and the false alarm rate can be reduced.

[0047] The rainwater sensing device provided by the present application is described below, and the rainwater sensing device described below can be referred to in correspondence with the rainwater sensing method described above.

[0048] The rain sensing device provided by the application can comprise: The label setting module is configured to set a label task of the target laser radar, wherein the label task is to output point cloud data representing whether a plurality of preset points on the glass cover of the target laser radar have an occlusion. The misjudgment obtaining module is configured to obtain a radar reference misjudgment rate of the target laser radar under the label task and when it is known that the glass cover of the target laser radar has no occlusion. The point cloud obtaining module is configured to obtain each frame of point cloud data output by the target laser radar under the label task and when it is unknown whether the glass cover of the target laser radar has an occlusion, and is specifically configured to obtain an overall occlusion rate of the target laser radar and point cloud data representing that all of the continuous preset points have an occlusion; obtain an actual occlusion rate of the target laser radar according to the overall occlusion rate of the target laser radar and the radar reference misjudgment rate; and determine whether the glass cover of the target laser radar has an occlusion according to the actual occlusion rate of the target laser radar, when it is determined that the glass cover of the target laser radar has an occlusion, obtain a raindrop ratio on the glass cover of the target laser radar according to the point cloud data representing that all of the continuous preset points have an occlusion, and determine whether the position where the target laser radar is located is raining according to the raindrop ratio on the glass cover of the target laser radar. The raining determining module is configured to determine that the position where the target laser radar is located is raining when a ratio of point cloud frames determined to be raining at the position where the target laser radar is located within a preset time period to total point cloud frames is greater than or equal to a preset threshold.

[0049] The application further provides a yard working device, which comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the rain sensing method of any one of the above-mentioned yard working devices when executing the program.

[0050] In an embodiment, the yard working device includes but is not limited to a lawn mower, a leaf collecting device, a leaf blower, a security inspection robot, a yard cleaning robot, and a drone, and specifically, the yard working device is provided with a target laser radar, the target laser radar is in communication connection with the electronic device, the target laser radar transmits point cloud data to the electronic device, the yard working device executes the steps of the rain sensing method of any one of the above-mentioned yard working devices, and sends a rain sensing signal to a user terminal when it is determined that the position where the target laser radar is located is raining.

[0051] The rain sensing scheme provided by the application applied to the lawn mower can bring great application value.

[0052] The robot often has worked in the rain for a period of time when the traditional rain sensor detects the rainfall. The invention can sensitively trigger at the beginning of the rainfall and when the rainfall is small, leaving sufficient time for the robot to execute the "pause work and automatically return to the warehouse" instruction. This can effectively avoid the risks of skidding, sinking, motor overload and other risks caused by the robot continuing to work on the wet and slippery grassland, while preventing the heavy robot soaked by the rain from causing rolling damage to the grass stems, achieving dual protection of the robot and the lawn.

[0053] The lawn mower works in the complex outdoor environment for a long time. The water tank of the traditional rain sensor is easily blocked or contaminated by pollen, soil, grass clippings and the like, resulting in malfunction. The invention is based on the non-contact detection of laser radar, and the sensor (laser radar) is usually protected behind the glass cover and is not affected by such pollutants, ensuring the long-term stability and reliability of the rain sensing function throughout the life cycle of the robot.

[0054] By multiplexing the existing core sensor (laser radar) to realize new functions, the hardware resources are intensively utilized. This not only directly saves the material cost of the rain sensor, but also simplifies the structural design of the robot top shell, without the need to reserve a mounting position and waterproof structure, reducing the design, mold and production and assembly complexity. This "one stone two birds" design significantly optimizes the cost structure of the whole machine, making the product more cost-effective and innovative in the market.

[0055] Users no longer need to worry about the need for frequent cleaning and maintenance due to sensor water tank blockage, and do not need to interrupt the robot work due to sensor false alarm (such as triggering due to dew and splashing water). The accurate and reliable rain judgment provided by the invention enables the robot to autonomously and properly respond to weather changes like a smart gardener, greatly improving the automation level of the product and the user experience.

[0056] In another aspect, the invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer readable storage medium, and the computer program is executed by a processor, and the computer can execute the steps of the rain sensing method according to any one of the above aspects.

[0057] In yet another aspect, the invention also provides a non-transitory computer readable storage medium having a computer program stored thereon, which is executed by a processor to implement the steps of the rain sensing method according to any one of the above aspects.

[0058] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0059] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0060] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A rainwater sensing method, characterized in that, include: S1. Set the tagging task for the target lidar, wherein the tagging task is to output point cloud data indicating whether there are obstructions at several preset points on the glass cover of the target lidar. S2. Obtain the radar baseline misjudgment rate of the target lidar under the tag mission and when it is known that there are no obstructions on its glass cover. S3. For each frame of point cloud data output by the target lidar under tagging mission but without knowing whether there are obstructions on its glass cover, execute steps S31-S33: S31. Obtain the overall occlusion rate of the target lidar and obtain point cloud data indicating that there are occluders at all consecutive preset points; S32. Based on the overall obstruction rate of the target lidar and the radar reference misjudgment rate, obtain the actual obstruction rate of the target lidar; S33. Based on the actual obstruction rate of the target lidar, determine whether there is obstruction on the glass cover of the target lidar. When it is determined that there is obstruction on the glass cover of the target lidar, proceed to step S34. S34. Based on the point cloud data indicating that there are obstructions at all consecutive preset points, obtain the raindrop ratio on the glass cover of the target lidar, and determine whether it is raining at the location of the target lidar based on the raindrop ratio on the glass cover of the target lidar. S4. When the ratio of point cloud frames that are determined to be raining at the location of the target lidar within a preset time period is greater than or equal to a preset threshold, it is determined that it is raining at the location of the target lidar.

2. The rainwater sensing method according to claim 1, characterized in that, S2 include: When the target lidar is under tagging mission and it is known that there are no obstructions on its glass cover, the single-frame occlusion rate of the target lidar under each frame of point cloud data within time t is obtained. The radar baseline misjudgment rate of the target lidar is obtained based on the single-frame occlusion rate of each frame of point cloud data within time t.

3. The rainwater sensing method according to claim 2, characterized in that, The expression for single-frame occlusion rate is: ； The expression for the radar baseline false positive rate is: 。 4. The rainwater sensing method according to claim 3, characterized in that, The expression for the overall occlusion rate is: ； The expression for the actual occlusion rate is: 。 5. The rainwater sensing method according to claim 4, characterized in that, S33 includes: When the actual obstruction rate is less than 0.1, it is determined that there is no obstruction on the glass cover of the target lidar, that is, there is no rainwater on the glass cover of the target lidar. When the actual obstruction rate is greater than or equal to 0.1, it is determined that there is obstruction on the glass cover of the target lidar.

6. The rainwater sensing method according to claim 5, characterized in that, S34 includes: A block formed by consecutive preset points where there are obstructions is called an obstruction block. Based on the point cloud data indicating that there are occluders at all consecutive preset points, the area of ​​each occluder block is obtained; Determine whether each blocking block is a raindrop based on its area; Based on the total area of ​​the obstructing blocks identified as raindrops and the total area of ​​all obstructing blocks, the raindrop ratio on the glass cover of the target lidar is obtained; where the expression for the raindrop ratio is: 。 7. The rainwater sensing method according to claim 6, characterized in that, S34 includes: When the raindrop ratio is greater than or equal to a preset threshold, it is determined that the location of the target lidar is raining. When the raindrop ratio is less than a preset threshold, it is determined that there are other obstructions on the glass cover of the target lidar.

8. A rainwater sensing device, characterized in that, include: The tag setting module is used to set the tag task of the target lidar. The tag task is to output point cloud data indicating whether there are obstructions at several preset points on the glass cover of the target lidar. The misjudgment acquisition module is used to obtain the radar baseline misjudgment rate when the target lidar is under tag mission and it is known that there are no obstructions on its glass cover. The point cloud acquisition module is used to obtain point cloud data for each frame of the target LiDAR when the target LiDAR is in a tagging task but the presence of obstructions on its glass cover is unknown. Specifically, it is used to obtain the overall obstruction rate of the target LiDAR and the point cloud data indicating that there are obstructions at consecutive preset points; based on the overall obstruction rate and the radar reference misjudgment rate, the actual obstruction rate of the target LiDAR is obtained; based on the actual obstruction rate of the target LiDAR, it is determined whether there are obstructions on the glass cover of the target LiDAR; when it is determined that there are obstructions on the glass cover of the target LiDAR, the raindrop ratio on the glass cover of the target LiDAR is obtained based on the point cloud data indicating that there are obstructions at consecutive preset points, and the raindrop ratio on the glass cover of the target LiDAR is used to determine whether it is raining at the location of the target LiDAR; The rain detection module is used to determine that it is raining at the location of the target lidar when the ratio of point cloud frames identified as raining at the location of the target lidar within a preset time period is greater than or equal to a preset threshold.

9. A backyard work device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the rain sensing method as described in any one of claims 1 to 7.

10. The backyard work equipment according to claim 9, characterized in that, The yard operation equipment includes, but is not limited to, lawnmowers, leaf collection devices, leaf blowers, security inspection machines, yard cleaning robots, and drones. Specifically, the yard operation equipment is equipped with a target lidar on its surface. The target lidar is communicatively connected to the electronic device and transmits point cloud data to the electronic device. The yard operation equipment performs the steps of the rain sensing method according to any one of claims 1 to 7, and sends a rain sensing signal to the user terminal when it is determined that it is raining at the location of the target lidar.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the rainwater sensing method as described in any one of claims 1 to 7.

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