Control Method, Device, Electronic Device and Storage Medium of Lawn Mowing Robot

Abstract

The present application provides a control method, device, electronic device and storage medium for a lawn mowing robot. The method includes: obtaining the watering task of the watering device for the lawn area, and obtaining the mowing task of the lawn mowing robot in the lawn area; if there is a task overlap period between the mowing task and the watering task, sending a delayed watering instruction to the watering device; the delayed watering instruction is used to instruct the watering device to execute the watering task after the lawn mowing robot completes the mowing task; if the execution period of the watering task is before the execution period of the mowing task, re-planning the mowing task according to the watering task, and executing the re-planned mowing task. The embodiments of the present application can ensure the smooth execution of the mowing task of the lawn mowing robot while ensuring the smooth execution of the watering task of the watering device.

Description

Technical Field

[0001] This application relates to the field of smart home, and particularly to a control method, device, electronic device and storage medium for a lawn mowing robot. Background Art

[0002] In the field of smart home, users have the need to trim and water the lawn. In the related art, a lawn mowing robot is usually used to trim the lawn, and a watering device (such as a water pump installed in the lawn) is used to water the lawn. In order to improve the intelligence of trimming and watering, it is necessary to enable the lawn mowing robot to perform mowing operations automatically and the watering device to perform watering operations automatically. However, in the process of realizing automation, the mowing task of the lawn mowing robot and the watering task of the watering device often interfere with each other, resulting in both of them being unable to be executed smoothly. Summary of the Invention

[0003] An object of this application is to provide a control method, device, electronic device and storage medium for a lawn mowing robot, which can ensure the smooth execution of the mowing task of the lawn mowing robot while ensuring the smooth execution of the watering task of the watering device.

[0004] According to one aspect of the embodiments of this application, a control method for a lawn mowing robot is disclosed, which is applied to a lawn mowing robot communicating with a watering device. The method includes:

[0005] Obtaining the watering task of the lawn area by the watering device, and obtaining the mowing task of the lawn mowing robot in the lawn area;

[0006] If there is a task overlap period between the mowing task and the watering task, sending a delayed watering instruction to the watering device; the delayed watering instruction is used to instruct the watering device to execute the watering task after the lawn mowing robot completes the mowing task;

[0007] If the execution period of the watering task is before the execution period of the mowing task, re-planning the mowing task according to the watering task, and executing the re-planned mowing task.

[0008] According to one aspect of the embodiments of this application, a control device for a lawn mowing robot is disclosed, which is arranged in a lawn mowing robot communicating with a watering device. The device includes:

[0009] A task obtaining module, configured to obtain the watering task of the lawn area by the watering device, and obtain the mowing task of the lawn mowing robot in the lawn area;

[0010] A delay control module, configured to send a delayed watering instruction to the watering device if there is a task overlap period between the mowing task and the watering task; the delayed watering instruction is used to instruct the watering device to perform the watering task after the mowing robot completes the mowing task.

[0011] A replanning module, configured to replan the mowing task according to the watering task and execute the replanned mowing task if the execution period of the watering task is before the execution period of the mowing task.

[0012] In an exemplary embodiment of the present application, the replanning module is configured to:

[0013] Determine the prohibited mowing period for each watered area in the lawn area according to the watering task;

[0014] Replan the mowing task according to the prohibited mowing period of each watered area to avoid mowing the watered area during the prohibited mowing period.

[0015] In an exemplary embodiment of the present application, the replanning module is configured to:

[0016] Divide the lawn area into multiple watered areas according to the watering task;

[0017] Based on the current environmental information of the lawn area, determine the duration for which each watered area remains in a wet state;

[0018] Based on the start watering time and end watering time of each watered area, and the duration, determine the prohibited mowing period for each watered area.

[0019] In an exemplary embodiment of the present application, the replanning module is configured to:

[0020] Based on the start watering time and end watering time of each watered area, calculate the watering period corresponding to each watered area;

[0021] Take the sum of the watering period and the duration as the prohibited mowing period.

[0022] In an exemplary embodiment of the present application, the delay control module is configured to:

[0023] Determine the completion time of the mowing operation according to the mowing task;

[0024] Determine the execution time of the watering task according to the completion time;

[0025] A delayed watering instruction is generated according to the execution time and sent to the watering equipment.

[0026] In an exemplary embodiment of the present application, the device is configured as follows:

[0027] After completing the mowing task, a water discharge instruction is sent to the watering device to instruct the watering device to clean the mowing robot.

[0028] In an exemplary embodiment of the present application, the device is configured as follows:

[0029] Obtaining location information of the irrigation equipment;

[0030] After completing the mowing task and driving to the location of the watering equipment according to the location information, the water output instruction is sent to the watering equipment.

[0031] According to one aspect of an embodiment of the present application, an electronic device is disclosed, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements any one of the above embodiments.

[0032] According to one aspect of an embodiment of the present application, a computer program medium is disclosed, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute any one of the above embodiments.

[0033] According to one aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above various optional implementations.

[0034] In an embodiment of the present application, if there is an overlapping period between the mowing task and the watering task, the mowing robot sends a delayed watering instruction to the watering equipment, instructing the watering equipment to perform the watering task after the mowing robot completes the mowing task. In this way, the mowing task and the watering task, which originally had overlapping execution periods, have their execution periods staggered, thereby avoiding mutual interference between the mowing task and the watering task. If the execution period of the watering task is before the execution period of the mowing task, the mowing robot re-plans the mowing task according to the watering task, and then executes the re-planned mowing task, thereby avoiding interference between the mowing task executed later and the watering task executed earlier. It can be seen that the embodiment of the present application can ensure the smooth execution of the mowing task of the mowing robot while ensuring the smooth execution of the watering task of the watering equipment.

[0035] Other features and advantages of the present application will become apparent from the following detailed description, or will be learned in part from the practice of the present application.

[0036] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] By referring to the accompanying drawings and describing in detail its exemplary embodiments, the above and other objects, features and advantages of the present application will become more apparent.

[0038] Figure 1 The communication schematic diagram of the mowing robot and the watering device according to an embodiment of the present application is shown.

[0039] Figure 2 The flowchart of the control method of the mowing robot according to an embodiment of the present application is shown.

[0040] Figure 3 The block diagram of the control device of the mowing robot according to an embodiment of the present application is shown.

[0041] Figure 4 The hardware diagram of the electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that the description of the present application will be more complete and thorough, and will fully convey the concept of the example embodiments to those skilled in the art. The drawings are only schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated description will be omitted.

[0043] In addition, the described features, structures or characteristics can be combined in any suitable manner in one or more example embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the example embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, steps, etc. can be adopted. In other cases, well-known structures, methods, implementations or operations are not shown or described in detail to avoid obscuring the various aspects of the present application.

[0044] Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0045] This application provides a control method for a lawn mowing robot, which is applied to a lawn mowing robot communicating with an irrigation device. By adopting the method provided by this application, it is possible to avoid interference between the irrigation tasks performed by the irrigation device and the lawn mowing tasks performed by the lawn mowing robot, so as to ensure the smooth execution of the lawn mowing tasks of the lawn mowing robot while ensuring the smooth execution of the irrigation tasks of the irrigation device.

[0046] Figure 1 The communication schematic diagram of the lawn mowing robot and the irrigation device in an embodiment of this application is shown. Refer to Figure 1 , in an embodiment, a base station is provided near the lawn area. The base station communicates with each irrigation device in a wired or wireless manner, and the lawn mowing robot mainly communicates with the base station in a wireless manner. Thus, under the communication relay service provided by the base station, the lawn mowing robot can communicate with each irrigation device.

[0047] It should be noted that this embodiment only exemplarily shows the communication method between the lawn mowing robot and the irrigation device, and should not limit the functions and protection scope of this application. It can be understood that in another embodiment, by setting a wireless communication module in the irrigation device, the lawn mowing robot can directly communicate with the irrigation device.

[0048] Figure 2 The flowchart of the control method of the lawn mowing robot provided by this application is shown. The method includes:

[0049] Step S110, obtain the irrigation task of the irrigation device for the lawn area, and obtain the lawn mowing task of the lawn mowing robot in the lawn area.

[0050] In the embodiment of this application, the main task of the lawn mowing robot is to trim the lawn area along the path and time period indicated by the lawn mowing task. The main task of the irrigation device is to water the lawn area according to the time period indicated by the irrigation task. Generally, the position of the irrigation device remains fixed.

[0051] Considering that in the same lawn area, if the watering equipment is performing the watering task while the mowing robot is also performing the mowing task, the area blocked by the mowing robot will be difficult to water, resulting in interference with the watering task; and the lawn area will become wet after being watered, and it is difficult for the mowing robot to drive in the wet area, resulting in interference with the mowing task. Therefore, in order to avoid interference between the watering task and the mowing task, the mowing robot communicates with the watering equipment, obtains the watering task of the watering equipment, and obtains the mowing task of the mowing robot itself, so as to perform subsequent control according to the watering task and the mowing task.

[0052] Step S120: If there is an overlapping period between the mowing task and the watering task, a delayed watering instruction is sent to the watering device; the delayed watering instruction is used to instruct the watering device to perform the watering task after the mowing robot completes the mowing task.

[0053] After obtaining the watering task and the mowing task, the mowing robot determines the execution time period of the watering task and the execution time period of the mowing task, and then determines whether the two execution time periods have an overlapping part.

[0054] If there is an overlap between these two execution periods, that is, there is an overlapping period between the mowing task and the watering task, it means that the mowing task and the watering task will interfere with each other if at least one of the mowing task and the watering task is not changed. Therefore, in order to give priority to the mowing task, the mowing robot sends a delayed watering instruction to the watering device, instructing the watering device to execute the watering task after the mowing robot completes the mowing task. In this way, the mowing task and the watering task, which originally had overlapping execution periods, are staggered, thereby avoiding interference between the mowing task and the watering task.

[0055] Step S130: If the execution period of the watering task is before the execution period of the mowing task, the mowing task is re-planned according to the watering task, and the re-planned mowing task is executed.

[0056] If the execution period of the watering task does not overlap with the execution period of the mowing task, but the execution period of the watering task is before the execution period of the mowing task, then although the mowing task will not interfere with the watering task, the watering task may interfere with the mowing task. For example, after the watering task is completed, the center of the lawn area becomes wet, and the mowing task to be executed later requires the mowing robot to mow the center of the lawn area. It can be seen that the watering task that is completed first will interfere with the mowing task that is executed later.

[0057] Therefore, the mowing robot replans the mowing task according to the watering task to avoid the interference factors caused by the watering task executed previously, and then executes the replanned mowing task, thereby avoiding the mowing task executed later being interfered by the watering task executed previously.

[0058] It can be understood that if the execution period of the watering task does not overlap with the execution period of the mowing task, and the execution period of the mowing task is before the execution period of the watering task, then there is obviously no mutual interference between the mowing task and the watering task. Therefore, in this case, there is no need for special control intervention on the mowing task and the watering task, and they can just maintain their original task arrangements.

[0059] In summary, in the embodiment of the present application, if there is an overlapping period between the mowing task and the watering task, the mowing robot sends a delayed watering instruction to the watering equipment, instructing the watering equipment to perform the watering task after the mowing robot completes the mowing task. In this way, the mowing task and the watering task, which originally had overlapping execution periods, have their execution periods staggered, thereby avoiding mutual interference between the mowing task and the watering task. If the execution period of the watering task is before the execution period of the mowing task, the mowing robot re-plans the mowing task according to the watering task, and then executes the re-planned mowing task, thereby avoiding interference between the mowing task executed later and the watering task executed earlier. It can be seen that the embodiment of the present application can ensure the smooth execution of the mowing task of the mowing robot while ensuring the smooth execution of the watering task of the watering equipment.

[0060] In one embodiment, replanning the mowing task according to the watering task includes:

[0061] Determine the prohibited mowing period for each irrigated area of ​​the lawn area according to the watering task;

[0062] According to the prohibited mowing period of each irrigated area, the mowing task is replanned to avoid mowing the irrigated area during the prohibited mowing period.

[0063] In this embodiment, if the execution period of the watering task is before the execution period of the mowing task, the mowing robot determines the prohibited mowing period for each irrigated area of ​​the lawn area according to the watering task. The prohibited mowing period of the irrigated area includes: the period of watering and the continuous period of being in a wet state after watering.

[0064] Then, the mowing robot replans the mowing task, so as to avoid mowing the irrigated area during the mowing prohibited period. Specifically, only the execution path of the mowing task can be replanned, or only the execution period of the mowing task can be replanned.

[0065] For example, the lawn area includes a total of 4 areas, which are respectively denoted as Area A, Area B, Area C, and Area D.

[0066] The original mowing task instructed the mowing robot to first mow Area A during the time period from t0 to t1; then move to Area B and mow Area B during the time period from t1 to t2; then move to Area C and mow Area C during the time period from t2 to t3; and finally move to Area D and mow Area D during the time period from t3 to t4.

[0067] According to the watering task, the mowing robot determines that Area A is the area to be watered, and the prohibited watering time period for Area A is from t0 to t3. Then, the mowing robot can re-plan the mowing task by only re-planning the mowing path as follows: first mow Area B during the time period from t0 to t1; then move to Area C and mow Area C during the time period from t1 to t2; then move to Area D and mow Area D during the time period from t2 to t3; and finally move to Area A and mow Area A during the time period from t3 to t4.

[0068] The mowing robot can also re-plan the mowing task by only re-planning the mowing time period as follows: first mow Area A during the time period from t3 to t4; then move to Area B and mow Area B during the time period from t4 to t5; then move to Area C and mow Area C during the time period from t5 to t6; and finally move to Area D and mow Area D during the time period from t6 to t7.

[0069] In one embodiment, determining the prohibited mowing time period for each watered area in the lawn area according to the watering task includes:

[0070] Dividing the lawn area into multiple watered areas according to the watering task;

[0071] Based on the current environmental information of the lawn area, determining the duration of the wet state for each watered area;

[0072] Based on the start watering time and end watering time of each watered area, as well as the duration, determining the prohibited mowing time period for each watered area.

[0073] In this embodiment, considering that there may be multiple watering devices in the lawn area for watering different areas, the mowing robot determines the areas responsible for watering by each watering device according to the watering task, thereby dividing the lawn area into multiple watered areas and determining the start watering time and end watering time of each watered area.

[0074] Obviously, the period from the start watering time to the corresponding end watering time of the watered area belongs to a part of the prohibited mowing period. It should also be noted that after the watering ends, the watered area usually does not dry immediately, but remains wet for a period of time in the following, and the duration of the wet state also belongs to a part of the prohibited mowing period.

[0075] Considering that the duration of the wet state is usually related to environmental factors such as temperature, air humidity, light intensity, wind force, etc., the mowing robot determines the duration of the wet state of each watered area based on the current environmental information of the lawn area, and then combines the corresponding start watering time and end watering time to determine the prohibited mowing period of each watered area. Among them, the environmental information includes but is not limited to: temperature, air humidity, light intensity, wind force, etc.

[0076] In one embodiment, based on the start watering time and end watering time of each watered area, as well as the duration, determining the prohibited mowing period of each watered area includes:

[0077] Based on the start watering time and end watering time of each watered area, calculate the watering period corresponding to each watered area;

[0078] Take the sum of the watering period and the duration as the prohibited mowing period.

[0079] In this embodiment, after obtaining the start watering time and end watering time of each watered area, the period intervening between the start watering time and the end watering time can be taken as the watering period of the corresponding watered area. Then, take the sum of the watering period and the duration of each watered area as the prohibited mowing period of the corresponding watered area.

[0080] In one embodiment, if there is a task overlap period between the mowing task and the watering task, a delayed watering instruction is sent to the watering device, including:

[0081] Determine the completion time of the mowing operation according to the mowing task;

[0082] Determine the execution time of the watering task according to the completion time;

[0083] Generate a delayed watering instruction according to the execution time and send it to the watering device.

[0084] In this embodiment, if there is a task overlap period between the mowing task and the watering task, the mowing robot determines the completion time of the mowing operation according to the mowing task, and then determines the execution time of the watering task according to the completion time of the mowing operation. Specifically, the execution time of the watering task can be synchronized with the completion time of the mowing operation or later than the completion time of the mowing operation.

[0085] After determining the execution time of the watering task, a delayed watering instruction is generated according to the execution time and sent to the watering device, instructing the watering device to delay the start of the watering task until the execution time.

[0086] In one embodiment, the method provided by the embodiments of the present application further includes:

[0087] After completing the mowing task, a water outlet instruction is sent to the watering device to instruct the watering device to clean the mowing robot.

[0088] In this embodiment, considering that during the process of the mowing robot performing the mowing task, the mowing robot will be stained with grass fragments, juice, and soil and needs to be cleaned, and the watering device located in the same lawn area can conveniently clean it. Therefore, after the mowing robot completes the mowing task, it communicates with the watering device and sends a water outlet instruction to the watering device to instruct the watering device to clean the mowing robot.

[0089] In one embodiment, after completing the mowing task, sending a water outlet instruction to the watering device includes:

[0090] Obtain the location information of the watering device;

[0091] After completing the mowing task and driving to the location of the watering device according to the location information, send a water outlet instruction to the watering device.

[0092] In this embodiment, the mowing robot can pre-store the location information of each watering device in the lawn area, or obtain the location information of each watering device in the lawn area through communication, and then screen out the watering device suitable for cleaning (for example: select the watering device closest to the mowing robot when the mowing task is completed as the watering device responsible for cleaning).

[0093] Then, after completing the mowing task, drive to the location of the watering device responsible for cleaning according to the location information of the watering device, and then send a water outlet instruction to the watering device responsible for cleaning, instructing the watering device responsible for cleaning to discharge water to clean the mowing robot.

[0094] Among them, the mowing robot driving to the location of the watering device can be driving directly above the watering device or driving near the watering device.

[0095] For example: the mowing cutter head is provided on the chassis of the mowing robot, the watering device is provided on the ground, and the chassis of the mowing robot is higher than the watering device. Then the mowing robot can drive directly above the watering device and send a water outlet instruction to the watering device to instruct the watering device to discharge water to clean the mowing cutter head of the mowing robot directly above.

[0096] For another example, the mowing cutter head is arranged on the side of the mowing robot. Then, the mowing robot can travel near the watering device and send a water outlet instruction to the watering device, instructing the watering device to discharge water at a specific water outlet angle and water outlet water pressure, so as to clean the mowing cutter head on the side of the mowing robot.

[0097] In one embodiment, after the mowing robot travels near the watering device, it calculates the distance between the position of the mowing robot and the position of the watering device. Then, in combination with the distance and the height of the position to be cleaned of the mowing robot (for example, the height of the mowing cutter head), it calculates the water outlet angle and water outlet water pressure, and then sends a water outlet instruction to the watering device, instructing the watering device to discharge water at the calculated water outlet angle and water outlet water pressure, so as to clean the position to be cleaned of the mowing robot.

[0098] In one embodiment, to ensure the accuracy of the position information of the watering device, while the mowing robot pre-stores the position information of each watering device in the lawn area, it also identifies the position information of each watering device through communication, and then compares the identified position information with the pre-stored position information.

[0099] If it is determined through comparison that the position information has deviated to a large extent, the mowing robot can generate a prompt message (such as a voice prompt message; a light prompt message, etc.) on the user interface (for example, the user's client interface; the interaction interface of the mowing robot) to remind the user whether to update the position information of the watering device. After receiving the user's confirmation instruction to update, the mowing robot updates the stored position information.

[0100] Or, if it is determined through comparison that the position information has deviated to a large extent and the user sets that no prompt is required for updating, the mowing robot can also automatically refresh the position information without the user's instruction to update.

[0101] Figure 3 The block diagram of the control device of the mowing robot according to an embodiment of the present application is shown. Refer to Figure 3 In the present application, a control device of a mowing robot is provided, which is arranged on the mowing robot communicating with the watering device. The device includes:

[0102] A task acquisition module 210, configured to acquire the watering task of the watering device for the lawn area and acquire the mowing task of the mowing robot in the lawn area;

[0103] A delay control module 220, configured to send a delayed watering instruction to the watering device if there is a task overlap period between the mowing task and the watering task; the delayed watering instruction is used to instruct the watering device to execute the watering task after the mowing robot completes the mowing task;

[0104] The replanning module 230 is configured to replan the mowing task according to the watering task if the execution period of the watering task is before the execution period of the mowing task, and execute the replanned mowing task.

[0105] In an exemplary embodiment of the present application, the replanning module is configured to:

[0106] Determine the mowing - prohibited periods of each watered area in the lawn area according to the watering task;

[0107] According to the mowing - prohibited periods of each watered area, replan the mowing task to avoid mowing the watered areas during the mowing - prohibited periods.

[0108] In an exemplary embodiment of the present application, the replanning module is configured to:

[0109] Divide the lawn area into multiple watered areas according to the watering task;

[0110] Based on the current environmental information of the lawn area, determine the duration of the wet state of each watered area;

[0111] Based on the start watering time and end watering time of each watered area, and the duration, determine the mowing - prohibited periods of each watered area.

[0112] In an exemplary embodiment of the present application, the replanning module is configured to:

[0113] Based on the start watering time and the end watering time of each watered area, calculate the watering period corresponding to each watered area;

[0114] Take the sum of the watering period and the duration as the mowing - prohibited period.

[0115] In an exemplary embodiment of the present application, the delay control module is configured to:

[0116] Determine the completion time of the mowing operation according to the mowing task;

[0117] Determine the execution time of the watering task according to the completion time;

[0118] Generate a delayed watering instruction according to the execution time and send it to the watering device.

[0119] In an exemplary embodiment of the present application, the device is configured to:

[0120] After completing the mowing task, send a water output instruction to the watering device to instruct the watering device to clean the mowing robot.

[0121] In an exemplary embodiment of the present application, the device is configured to:

[0122] Obtain the location information of the watering device;

[0123] After completing the mowing task and traveling to the location of the watering device according to the location information, send the water output instruction to the watering device.

[0124] Next, refer to Figure 4 to describe the electronic device 30 according to an embodiment of the present application. Figure 4 The illustrated electronic device 30 is merely an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0125] As Figure 4 shown, the electronic device 30 is presented in the form of a general-purpose computing device. The components of the electronic device 30 may include, but are not limited to: at least one of the above-mentioned processing units 310, at least one of the above-mentioned storage units 320, and a bus 330 connecting different system components (including the storage unit 320 and the processing unit 310).

[0126] Among them, the storage unit stores program code, and the program code can be executed by the processing unit 310, so that the processing unit 310 executes the steps according to various exemplary embodiments of the present invention described in the description part of the above exemplary method of this specification. For example, the processing unit 310 can execute the steps as Figure 2 shown.

[0127] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 3201 and / or a cache storage unit 3202, and may further include a read-only storage unit (ROM) 3203.

[0128] The storage unit 320 may further include a program / utility 3204 having a set (at least one) of program modules 3205. Such program modules 3205 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment.

[0129] The bus 330 may represent one or more of several types of bus structures, including a storage unit bus or a storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any bus structure in a variety of bus structures.

[0130] The electronic device 30 may also communicate with one or more external devices 400 (such as a keyboard, a pointing device, a Bluetooth device, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 30, and / or communicate with any device (such as a router, a modem, etc.) that enables the electronic device 30 to communicate with one or more other computing devices. Such communication may be carried out through the input / output (I / O) interface 350. The input / output (I / O) interface 350 is connected to the display unit 340. Also, the electronic device 30 may further communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 360. As shown in the figure, the network adapter 360 communicates with other modules of the electronic device 30 through the bus 330. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in combination with the electronic device 30, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0131] Through the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein can be implemented by software, or can be implemented by the way of software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, and the software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present application.

[0132] In an exemplary embodiment of the present application, there is also provided a computer-readable storage medium, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer is enabled to execute the method described in the method embodiment part above.

[0133] According to an embodiment of the present application, there is also provided a program product for implementing the method in the above method embodiment. It may adopt a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.

[0134] The program product may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0135] The computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which the readable program code is carried. Such a propagated data signal may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The readable signal medium may also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0136] The program code contained on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0137] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as JAVA, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., by using an Internet service provider to connect through the Internet).

[0138] It should be noted that although several modules or units of the devices for action execution are mentioned in the foregoing detailed description, such a division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more of the above-described modules or units may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above may be further divided and embodied by a plurality of modules or units.

[0139] In addition, although the steps of the methods in this application are described in a specific order in the accompanying drawings, this does not require or imply that these steps must be performed in that specific order, or that all of the steps shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution, etc.

[0140] From the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the methods according to the embodiments of this application.

[0141] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily conceive of other embodiments of this application. This application is intended to cover any variations, uses, or adaptations of this application, which follow the general principles of this application and include known common knowledge or conventional technical means in the technical field not disclosed in this application. The specification and examples are only regarded as exemplary, and the true scope and spirit of this application are pointed out by the appended claims.

Claims

1. A control method for a lawn mowing robot, characterized in that, A mowing robot applied to communicate with an irrigation device, the method comprising: Obtaining an irrigation task of the irrigation device for a lawn area, and obtaining a mowing task of the mowing robot in the lawn area; If there is a task overlap period between the mowing task and the irrigation task, sending a delayed irrigation instruction to the irrigation device; the delayed irrigation instruction is used to instruct the irrigation device to perform the irrigation task after the mowing robot completes the mowing task; If the execution period of the irrigation task is before the execution period of the mowing task, re-planning the mowing task according to the irrigation task, and executing the re-planned mowing task.

2. The method according to claim 1, characterized in that, The re-planning the mowing task according to the irrigation task includes: Dividing the lawn area into multiple irrigated areas according to the irrigation task, and determining a prohibited mowing period for each irrigated area in the lawn area; Re-planning the mowing task according to the prohibited mowing period of each irrigated area to avoid mowing the irrigated area during the prohibited mowing period.

3. The method according to claim 2, characterized in that, The dividing the lawn area into multiple irrigated areas according to the irrigation task, and determining a prohibited mowing period for each irrigated area in the lawn area, further includes: Based on the current environmental information of the lawn area, determining the duration of the wet state of each irrigated area; Based on the start irrigation time and end irrigation time of each irrigated area, and the duration, determining the prohibited mowing period of each irrigated area.

4. The method according to claim 3, characterized in that, The determining the prohibited mowing period of each irrigated area based on the start irrigation time and end irrigation time of each irrigated area, and the duration, includes: Calculating an irrigation period corresponding to each irrigated area based on the start irrigation time and the end irrigation time of each irrigated area; Taking the sum of the irrigation period and the duration as the prohibited mowing period.

5. The method according to claim 1, characterized in that, The if there is a task overlap period between the mowing task and the irrigation task, sending a delayed irrigation instruction to the irrigation device, includes: Determining the completion time of the mowing operation according to the mowing task; Determining the execution time of the irrigation task according to the completion time; Generating a delayed irrigation instruction according to the execution time and sending it to the irrigation device.

6. The method according to claim 1, characterized in that, The method further includes: After completing the mowing task, sending a water outlet instruction to the irrigation device to instruct the irrigation device to clean the mowing robot.

7. The method according to claim 6, characterized in that, The after completing the mowing task, sending a preset water outlet instruction to the irrigation device, includes: Obtaining the location information of the irrigation device; After completing the mowing task and driving to the location of the irrigation device according to the location information, sending the water outlet instruction to the irrigation device.

8. A control device for a lawn mowing robot, characterized in that, A mowing robot provided to communicate with an irrigation device, the device comprising: A task acquisition module configured to obtain an irrigation task of the irrigation device for a lawn area, and obtain a mowing task of the mowing robot in the lawn area; A delay control module, configured to send a delayed watering instruction to the watering device if there is a task overlap period between the mowing task and the watering task; the delayed watering instruction is used to instruct the watering device to perform the watering task after the lawn mowing robot completes the mowing task; A replanning module, configured to replan the mowing task according to the watering task if the execution period of the watering task is before the execution period of the mowing task, and execute the replanned mowing task.

9. An electronic device, characterized in that, Comprising: One or more processors; A storage device for storing one or more programs, which when executed by the one or more processors, cause the electronic device to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer-readable instruction is stored thereon, which when executed by a processor of a computer, causes the computer to execute the method according to any one of claims 1 to 7.

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