Rain-Proof Operating Control Method and System for Outdoor Automated Working Equipment

Abstract

This invention discloses a rain-affected operation control method and system for outdoor automatic working equipment. The method uses a rain sensor on the automatic working equipment to detect the resistance value of the water flow connecting the first and second electrodes, obtaining a resistance value data sequence within a recent preset time period. This data sequence is filtered to identify valid resistance values ​​that meet a preset threshold condition. Valid resistance values ​​that appear continuously and remain for at least a preset duration are integrated to obtain integrated effective resistance value data. Based on the integrated effective resistance value data, a preset rainfall truth table is consulted to obtain the corresponding rainfall level identification result. The timing for reporting rain events is determined based on the rainfall level identification result. In response to the reporting of rain events, the automatic working equipment is controlled to perform rain shelter actions. This allows the automatic working equipment to perform different rain shelter action response times for different rain conditions, improving the environmental adaptability and working efficiency of the automatic working equipment and ensuring the accuracy of the rain shelter action response.

Description

Technical Field

[0001] This invention belongs to the technical field of outdoor automatic working equipment, specifically relating to a method and system for controlling the operation of outdoor automatic working equipment in rainy conditions. Background Technology

[0002] Outdoor automated work equipment (hereinafter referred to as automated work equipment) automatically performs work tasks outdoors. Taking an automatic lawnmower as an example, the automatic lawnmower performs the task of cutting on the lawn. When it rains, it needs to stop cutting and take shelter from the rain.

[0003] Existing automatic lawnmowers are equipped with rain sensors, which consist of a water collection tank and two spaced electrodes within the tank. When it rains, rainwater collects in the tank, causing the electrodes to conduct, allowing the system to determine if the lawnmower has been exposed to rain. However, in real-world applications, the rain sensor may falsely trigger in situations not caused by rain, such as accidental water spills into the collection tank, causing the automatic lawnmower to incorrectly perform a rain avoidance maneuver. Furthermore, in actual rainy weather, the rain sensor cannot detect the amount of rainfall; it triggers a rain avoidance maneuver as soon as it detects rain, even though the automatic lawnmower can continue mowing in light rainfall. This unnecessary rain avoidance reduces the automatic lawnmower's efficiency and reduces its adaptability to different environments.

[0004] Therefore, it is necessary to improve the existing technology to overcome the aforementioned defects. Summary of the Invention

[0005] Therefore, the present invention aims to solve the technical problem that existing outdoor automatic working equipment cannot accurately identify rain and rainfall, resulting in low working efficiency and poor environmental adaptability.

[0006] To solve the above-mentioned technical problems, the present invention provides a rain-time operation control method for an outdoor automatic working device. The automatic working device includes a rain sensor for detecting rainwater. The rain sensor includes a drainage structure, a first electrode and a second electrode spaced apart, and rainwater can flow sequentially through the first electrode and the second electrode under the action of gravity and finally flow out through the drainage structure. The method includes:

[0007] Obtain the resistance data between the first electrode and the second electrode to obtain a resistance data sequence; wherein, the resistance data sequence is collected within the most recent preset time period;

[0008] The resistance data sequence is filtered to obtain the target resistance data sequence. The effective resistance data in the target resistance data sequence that meets the preset threshold condition is identified. If the effective resistance data appears continuously and is maintained for at least a preset duration, the effective resistance data is integrated to obtain the effective resistance integral data.

[0009] Based on the effective resistance integral data, the corresponding rainfall level identification result is obtained by querying the preset rainfall truth table;

[0010] The timing for reporting rain events is determined based on the rainfall level identification results;

[0011] In response to the reported rain event, the automatic working equipment is controlled to perform rain avoidance actions.

[0012] In one embodiment, the method of determining the timing of reporting a rain event based on the rainfall level identification result includes:

[0013] Record the number of consecutive identifications of the same rainfall level identification result;

[0014] If the number of consecutive identifications is equal to the preset reporting number of the corresponding rainfall level identification result, a rain event is determined to be reported; wherein, the preset reporting number is different for different rainfall level identification results, and the value range of the preset reporting number is an integer from 1 to infinity.

[0015] In one embodiment, the method further includes:

[0016] Receive user instructions to adjust the preset number of reports;

[0017] The timing for reporting the rain event is determined based on the adjusted preset reporting frequency.

[0018] In one embodiment, the rainfall levels are at least four levels in order of increasing rainfall: drizzle, light rain, moderate rain, and heavy rain. The preset number of reports for each rainfall level decreases in order of increasing rainfall.

[0019] In one embodiment, the method further includes:

[0020] If no valid resistance data is available or the duration of consecutive occurrence of the valid resistance data is shorter than the preset duration, a rain stop event is reported.

[0021] In response to the reported rain-stopping event, the automated work equipment is controlled to perform outdoor work tasks.

[0022] In one embodiment, obtaining the resistance data sequence by acquiring the resistance data between the first electrode and the second electrode includes:

[0023] Acquire the sampling resistance data between the first electrode and the second electrode;

[0024] The sampled resistance data is divided into n groups according to the average sampling time. Extreme values ​​in each group of sampled resistance data are removed, and the average value of each group of sampled resistance data is calculated.

[0025] The resistance data sequence is obtained by arranging the average value of each group of sampled resistance data in chronological order; wherein the data length of the resistance data sequence is n.

[0026] In one embodiment, the preset rainfall truth table includes rainfall levels corresponding to various rainfall conditions, and each rainfall level corresponds to a set of effective resistance integral data.

[0027] In one embodiment, the step of responding to the reporting of the rain event by controlling the automatic working device to perform a rain shelter action includes:

[0028] In response to the reported rain event, the automatic working device is controlled to return to the base station.

[0029] Furthermore, the present invention also provides a rain-resistant operating control system for an outdoor automatic working device. The automatic working device includes a rain sensor for detecting rainwater. The rain sensor includes a drainage structure, a first electrode, and a second electrode spaced apart. Rainwater can flow sequentially through the first electrode and the second electrode under gravity and finally flow out through the drainage structure. The system includes:

[0030] The data acquisition module is used to acquire the resistance data between the first electrode and the second electrode to obtain a resistance data sequence; wherein the resistance data sequence is acquired within the most recent preset time period;

[0031] The data processing module, connected to the data acquisition module, is used to filter the resistance data sequence to obtain a target resistance data sequence, identify the valid resistance data in the target resistance data sequence that meets the preset threshold condition, and if the valid resistance data appears continuously and is maintained for at least a preset duration, integrate the valid resistance data to obtain the valid resistance integral data.

[0032] A rainfall level identification module, connected to the data processing module, is used to query a preset rainfall truth table based on the effective resistance integral data to obtain the corresponding rainfall level identification result.

[0033] The decision module, connected to the rainfall level identification module, is used to determine the timing of reporting a rain event based on the rainfall level identification result.

[0034] The control module, connected to the decision module, responds to the reporting of the rain event and controls the automatic working equipment to perform rain avoidance actions.

[0035] In one embodiment, the system further includes: a counting module connected to the rainfall level identification module, used to record the number of consecutive identifications of the same rainfall level identification result;

[0036] The decision module is further configured to determine to report a rain event when the number of consecutive identifications is equal to the preset reporting number of the corresponding rainfall level identification result; wherein the preset reporting number is different for different rainfall level identification results, and the preset reporting number is an integer ranging from 1 to infinity.

[0037] The technical solution provided by this invention has the following advantages:

[0038] The rain-affected operation control method for outdoor automatic working equipment provided by this invention processes the resistance data sequence collected within the most recent preset time period to identify valid resistance data. This ensures that the detected resistance data accurately reflects the water flow between the two electrodes. By integrating the continuous valid resistance data that has been maintained for at least a preset duration, valid resistance integral data is obtained, facilitating the determination of rainfall within the preset time period. This also reduces the probability of accidental water spraying causing false triggering of the rain sensor. By querying the preset rainfall truth table based on the valid resistance integral data, rainfall identification can be achieved, ensuring the accuracy of rainfall identification. The timing of reporting rain events is accurately determined based on the rainfall level identification result, thereby more rationally controlling the automatic working equipment to perform rain avoidance actions and improving the environmental adaptability and working efficiency of the automatic working equipment. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic flowchart of the rain-affected operation control method for outdoor automatic working equipment provided in an embodiment of the present invention;

[0041] Figure 2 This is a partial structural diagram of the rain sensor of the outdoor automatic working device provided in an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of the module structure of the rain-resistant working control system for an outdoor automatic working device provided in an embodiment of the present invention. Detailed Implementation

[0043] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0044] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0045] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0046] Example 1

[0047] Outdoor automated work equipment is a type of robot that automatically performs work tasks outdoors, hereinafter referred to as automated work equipment. When working outdoors, automated work equipment may encounter abnormal weather, such as rain. To detect rain, automated work equipment is equipped with a rain sensor. The rain sensor has two electrodes, designated as the first electrode and the second electrode. In rainy weather, rainwater connects between the first and second electrodes, making them conductive. The rain sensor detects rain through this conductive signal between the first and second electrodes, and the automated work equipment controls whether to perform rain shelter actions based on this signal.

[0048] In practical applications, for non-rain-related conduction situations, such as accidental water spillage between the first and second electrodes, the rain sensor may be falsely triggered, causing the automatic lawnmower to incorrectly execute a rain avoidance maneuver. Furthermore, the rain sensor cannot detect the amount of rainfall; it executes a rain avoidance maneuver as soon as it detects rain. In reality, the automatic lawnmower can continue mowing even with light rainfall. Unnecessary rain avoidance maneuvers reduce the lawnmower's efficiency and reduce its environmental adaptability.

[0049] This embodiment provides a rain-affected operation control method for outdoor automated working equipment, applicable to outdoor automated working equipment. This application applies this method to... Figure 2 The outdoor automated working device shown is illustrated as an example, but should not be construed as limiting the invention. Please refer to [link / reference]. Figure 2The outdoor automated working device includes a housing 10 and a rain sensor 20 disposed on the housing 10. The rain sensor 20 includes a first electrode 22 and a second electrode 24, which are insulated from each other. Specifically, the housing 10 includes an opening 12 through which the first electrode 22 and the second electrode 24 are exposed. The first electrode 22 is higher than the second electrode 24, and the second electrode 24 surrounds the first electrode 22 circumferentially. The second electrode 24 is spaced apart from the housing 10, forming a drainage structure. The first electrode 22 has a first contact surface for contact with rainwater, and the second electrode 24 has a second contact surface for contact with rainwater. The first contact surface is higher than the second contact surface. When it rains, rainwater can hit the first contact surface, and the rainwater hitting the first contact surface can flow from the first contact surface to the second contact surface under gravity and be discharged through the drainage structure. If rainwater forms a continuous flow between the first and second contact surfaces, the greater the rainfall, the larger the flow, and the smaller the resistance between the first electrode 22 and the second electrode 24; conversely, the smaller the rainfall, the thinner the flow, and the greater the resistance between the first electrode 22 and the second electrode 24. By detecting the resistance value between the first electrode 22 and the second electrode 24, the size of the water flow can be determined, and thus the amount of rainfall can be identified.

[0050] Please see Figure 1 As shown, the rain-affected work control method provided in this application includes the following in its specific implementation:

[0051] S10: Obtain the resistance data between the first electrode and the second electrode to obtain the resistance data sequence.

[0052] S20: Filter the resistance data sequence to obtain the target resistance data sequence, identify the valid resistance data in the target resistance data sequence that meets the preset threshold condition, and if the valid resistance data appears continuously and is maintained for at least the preset duration, integrate the valid resistance data to obtain the valid resistance integral data.

[0053] S30: Based on the effective resistance integral data, query the preset rainfall truth table to obtain the corresponding rainfall level identification result.

[0054] S40: Determine the timing for reporting rain-related events based on the rainfall level identification results.

[0055] S50: In response to a rain event report, control the automatic working equipment to perform rain avoidance actions.

[0056] The aforementioned "resistance data sequence" was collected within a recently preset past time period. This recently preset past time period can be understood as the length of time shifted backward from the current moment. This time length shifts over time, hence it can also be called a sliding time window. The duration of the sliding time window is fixed, while the start and end times gradually shift forward with the sampling time. The resistance data collected within the sliding time window are arranged sequentially according to the sampling time to form a resistance data sequence. The resulting resistance data accurately reflects the rainfall situation within the recently preset past time period, providing a more accurate assessment of rainfall compared to using individual values.

[0057] Step S20 involves filtering the resistance data sequence to obtain the target resistance data sequence, which improves the accuracy of the acquired resistance data and reduces misidentification caused by interference. Specifically, this filtering process includes sequentially applying low-pass filters to the resistance data sequence. This effectively smooths the data, reduces its sharpness, and minimizes noise.

[0058] After obtaining the target resistance value data sequence, the valid resistance values ​​within the sequence are identified. Valid resistance values ​​meet preset threshold conditions; specifically, these preset threshold conditions are preset resistance value range conditions. Data with resistance values ​​within a certain range are considered valid and can be used to assess rainfall. Resistance values ​​exceeding the preset threshold conditions are considered invalid; either the resistance is too high, indicating very little or no water flow between the two electrodes, or the resistance is too low, making the resistance between the electrodes unreliable. By setting preset threshold conditions, valid resistance values ​​can be filtered out, thus eliminating noise interference and ensuring the accuracy of subsequent rainfall identification data.

[0059] Furthermore, the effective resistance data is calculated. If the effective resistance data appears continuously and remains for at least a preset duration, the effective resistance data is integrated to obtain integrated effective resistance data. Here, the "preset duration" is less than or equal to the "preset time period" described in step S10. For example, if the preset duration is 10 seconds, the effective resistance data appears continuously and remains for at least 10 seconds, meaning the time difference between the first and last effective resistance data is at least 10 seconds. The effective resistance data is then integrated over a period exceeding 10 seconds to obtain integrated effective resistance data. By integrating the continuous effective resistance data that meets the preset duration, the resistance change of the rain sensor due to accidental water spraying can be reduced, decreasing the likelihood of false triggering. The integrated effective resistance data allows for a comprehensive assessment of rainfall within the preset duration, improving the reliability and accuracy of rainfall identification.

[0060] The aforementioned "preset rainfall truth table" is a table mapping rainfall to resistance values ​​obtained through prior experiments, and it is pre-stored in the system. In a specific embodiment, the preset rainfall truth table includes rainfall levels corresponding to various rainfall conditions, with each rainfall level corresponding to a set of effective resistance integral data. By querying the preset rainfall truth table based on the obtained effective resistance integral data, the rainfall can be identified accordingly. Specifically, rainfall is divided into four levels, arranged in ascending order of rainfall: drizzle, light rain, moderate rain, and heavy rain. Each of these four rainfall levels corresponds to four different sets of effective resistance integral data. The rainfall levels can also include more sub-levels, such as a torrential rain level, which is even greater than heavy rain.

[0061] The timing for reporting rain events is determined based on the rainfall level identification results. Different rainfall level identification results necessitate different reporting times for rain events. In this embodiment, the greater the rainfall, the more promptly the rain event is reported; conversely, the smaller the rainfall, the later the reporting can be, waiting until the rainfall level identification results are more stable and reliable before reporting the rain event. This improves the rationality of the automated equipment's response to actual rainfall conditions.

[0062] The automated work equipment responds to a rain event report by ceasing its current task and taking shelter from the rain. In a specific implementation scenario, a base station is also set up within the work area of ​​the automated work equipment to provide charging services. The automated work equipment returns to the base station upon receiving a rain event report. After returning, the equipment docks at the base station until the rain stops, at which point it resumes its previous task. In one implementation scenario, the automated work equipment is an automated lawnmower used for trimming lawns.

[0063] The rain-affected operation control method for automated equipment provided by this invention processes the resistance data sequence collected within a recently preset time period to identify valid resistance data. This ensures that the detected resistance data accurately reflects the water flow between the two electrodes. By integrating the continuous valid resistance data that has been maintained for at least a preset duration, valid resistance integral data is obtained. This facilitates the determination of rainfall within the preset time period and reduces the probability of accidental water spraying causing false triggering of the rain sensor. By querying the preset rainfall truth table based on the valid resistance integral data, rainfall identification can be achieved, ensuring the accuracy of rainfall identification. The timing of reporting rain events is accurately determined based on the rainfall level identification result, thereby more rationally controlling the automated equipment to perform rain avoidance actions and improving the environmental adaptability and working efficiency of the automated equipment.

[0064] In one embodiment, step S10, "obtaining the resistance data between the first electrode and the second electrode to obtain a resistance data sequence," specifically includes:

[0065] Acquire the sampling resistance data between the first electrode and the second electrode;

[0066] The sampled resistance data is divided into n groups according to the average sampling time. Extreme values ​​in each group of sampled resistance data are removed, and the average value of each group of sampled resistance data is calculated.

[0067] The resistance data sequence is obtained by arranging the average value of each group of sampled resistance data in chronological order; the data length of the resistance data sequence is n.

[0068] "Sampling resistance data" refers to the basic resistance values ​​collected between the first and second electrodes. Subsequent resistance data sequences are obtained by processing this sampling resistance data. The sampling resistance data is also collected within a preset time period, but it contains more data points and has finer granularity. Specifically, the sampling resistance data is divided into n groups based on the sampling time. Extreme values ​​in each group are removed, and the average value of each group is calculated. The calculated average values ​​of each group are used to construct the resistance data sequence. Removing extreme values ​​from the resistance data sequence reduces the impact of unreliable extreme values ​​on subsequent identification results, and using the average value improves data reliability. For example, removing extreme values ​​from the resistance data sequence can be done by removing the two maximum values ​​and the two minimum values ​​in the sequence.

[0069] Specifically, n is a positive integer. The time length for dividing each group of sampled resistance data is fixed. Therefore, the value of n is related to the length of the preset time period. The longer the preset time period, the larger the value of n. For example, if the data is divided on an average of 1 second, that is, the time length of each group of sampled resistance data is 1 second, and the preset time period is 10 seconds, then n is 10. When the preset time period is 15 seconds, n is 15.

[0070] In one specific embodiment, step S40, "determining the timing of reporting a rain event based on the rainfall level identification result," includes:

[0071] Record the number of consecutive identifications for the same rainfall level;

[0072] If the number of consecutive identifications equals the preset reporting number for the corresponding rainfall level identification result, the rain event is determined to be reported; the preset reporting number is different for different rainfall level identification results, and the value of the preset reporting number is an integer from 1 to infinity.

[0073] Specifically, different preset reporting counts are set for different rainfall level identification results, enabling the automated equipment to respond to different rain avoidance actions based on varying rainfall conditions. For example, in light rain conditions, such as drizzle, the automated equipment can continue mowing. Therefore, if the rainfall level identification result is drizzle, no rain event is reported, effectively setting the preset reporting count to an unlimited number (infinite). When the rainfall level identification result is light rain, a rain event is reported only after three consecutive cycles. In other words, a rain event is reported only after three consecutive light rain identification results, as light rain has minimal impact on normal operation; delaying reporting ensures the automated equipment's efficiency and reduces unnecessary rain avoidance actions. Similarly, when the rainfall level identification result is moderate rain, a rain event is reported only after two cycles; when the rainfall level identification result is heavy rain, a rain event is reported immediately, facilitating timely rain avoidance actions by the automated equipment.

[0074] Specifically, the preset reporting frequency for each rainfall level decreases as the rainfall increases. In other words, the greater the rainfall, the fewer the preset reporting frequency. The minimum preset reporting frequency is 1, meaning that the corresponding rainfall level is reported immediately upon detection. The maximum preset reporting frequency is unlimited (infinity), meaning that the automatic equipment ignores rainfall conditions.

[0075] By setting different preset reporting times, the timing of the automatic working equipment's response to rain avoidance actions varies depending on the rainfall level. The heavier the rainfall, the more timely the response, while the lighter the rainfall, the delayed response, which helps improve the environmental adaptability of the automatic working equipment.

[0076] Because the pH of rainwater varies from place to place, the sensitivity of rainwater sensors also varies. In practical applications, even the same amount of rainfall may result in different rainfall identification results. To better match the rainfall conditions of different regions and ensure the adaptability of rainfall identification results, in some embodiments, the above method further includes:

[0077] Receive user instructions to adjust the preset number of reports;

[0078] The timing for reporting rain-related incidents is determined based on the adjusted preset reporting frequency.

[0079] In other words, users can set the preset number of reports. For example, if a user wants the automated equipment to continue operating in drizzle, they can set the preset number of reports for drizzle to unlimited (infinite). The automated equipment will then ignore the drizzle and continue its tasks. Users can also set the preset number of reports for drizzle to four or more, allowing the equipment to take shelter after the drizzle has lasted for a certain period. Of course, users can also adjust the preset number of reports for light, moderate, and heavy rain, allowing the automated equipment to take shelter according to the user's preference based on local rainfall conditions.

[0080] Users adjust the preset reporting frequency via a client terminal. The client terminal communicates wirelessly with the automated equipment. The automated equipment receives the preset reporting frequency setting information from the client terminal and reports rain events accordingly. Specifically, the client terminal can be a mobile phone, tablet, or computer.

[0081] In one specific embodiment, after identifying the valid resistance data in step S20, the above method further includes:

[0082] If no valid resistance data is available or the duration of consecutive valid resistance data is shorter than the preset duration, a rain stop event is reported.

[0083] The system responds to reports of rain-induced stoppage events and controls automated work equipment to perform outdoor work tasks.

[0084] In this embodiment, if the effective resistance data is absent or the duration of its continuous occurrence in the detected target resistance data sequence is shorter than the preset duration, it is identified as a rain stop, and a rain stop event is reported. In response to the reporting of the rain stop event, the automatic working equipment is controlled to immediately or wait for a period of time to perform outdoor work tasks, so as to facilitate the timely resumption of normal working tasks of the automatic working equipment and ensure work efficiency.

[0085] In summary, this invention uses a rain sensor in an automated device to detect the resistance value of the water flow between the first and second electrodes, obtaining a resistance data sequence within a recent preset time period. By filtering this data sequence, valid resistance data meeting preset threshold conditions are identified. Valid resistance data that appear continuously and remain for at least a preset duration are integrated to obtain integrated resistance data. Based on this integrated resistance data, a preset rainfall truth table is consulted to obtain the corresponding rainfall level identification result. The timing for reporting a rain event is determined based on the rainfall level identification result. Responding to the reporting of a rain event, the automated device is controlled to perform rain shelter actions. This allows the automated device to respond to different rain shelter action timings for different rainfall conditions, improving its environmental adaptability and working efficiency, and ensuring the accuracy of the rain shelter action response.

[0086] Example 2

[0087] This invention also provides a rain-resistant operating control system 200 for outdoor automated working equipment (hereinafter referred to as control system 200). Please see below. Figure 3 As shown, the control system 200 includes a data acquisition module 210, a data processing module 220, a rainfall level identification module 230, a decision-making module 240, and a control module 250.

[0088] The data acquisition module 210 includes the rain sensor 20 shown in Embodiment 1, which is used to acquire the resistance data between the first electrode 22 and the second electrode 24 to obtain a resistance data sequence. The resistance data sequence is acquired within a recently preset time period.

[0089] The data processing module 220, connected to the data acquisition module 210, is used to filter the resistance data sequence to obtain the target resistance data sequence, identify the valid resistance data in the target resistance data sequence that meets the preset threshold condition, and if the valid resistance data appears continuously and is maintained for at least a preset duration, integrate the valid resistance data to obtain the valid resistance integral data.

[0090] The rainfall level identification module 230 is connected to the data processing module 220 and is used to query the preset rainfall truth table based on the effective resistance integral data to obtain the corresponding rainfall level identification result.

[0091] The decision module 240, connected to the rainfall level identification module 230, is used to determine the timing of reporting rain events based on the rainfall level identification results.

[0092] The control module 250, connected to the decision module 240, responds to the reporting of rain events and controls the automatic working equipment to perform rain avoidance actions.

[0093] In a specific embodiment, the control system 200 further includes a counting module connected to the rainfall level identification module 230, used to record the number of consecutive identifications of the same rainfall level identification result. The decision module 240 is further used to determine whether to report a rain event if the number of consecutive identifications equals a preset reporting number for the corresponding rainfall level identification result. The preset reporting number is different for different rainfall level identification results, and the preset reporting number ranges from 1 to infinity.

[0094] In a specific embodiment, the control system further includes a wireless communication module for wirelessly communicating with a client terminal, receiving user instructions to adjust the preset number of reports, and determining the reporting timing of the rain event based on the adjusted preset number of reports.

[0095] In a specific embodiment, the decision module 240 is further configured to report a rain-stop event when there is no valid resistance data or the duration of consecutive occurrence of valid resistance data is shorter than the preset duration. The control module 250 is configured to respond to the reporting of the rain-stop event by controlling the automatic working equipment to perform outdoor work tasks.

[0096] In a specific embodiment, the data processing module 220 obtains the resistance data between the first electrode and the second electrode to obtain a resistance data sequence in the following manner: obtaining sampled resistance data between the first electrode and the second electrode; dividing the sampled resistance data into n groups according to the average sampling time, removing extreme values ​​in each group of sampled resistance data, and calculating the average value of each group of sampled resistance data; arranging the average value of each group of sampled resistance data in chronological order to obtain a resistance data sequence; wherein, the data length of the resistance data sequence is n.

[0097] The rain-controlled system 200 for outdoor automatic working equipment described in this embodiment corresponds to the rain-controlled method for outdoor automatic working equipment described above. The functions of each module in the rain-controlled system 200 for outdoor automatic working equipment in this embodiment are described in detail in the corresponding method embodiments, and will not be repeated here.

[0098] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. A method for controlling the operation of an outdoor automatic working device in rainy conditions, characterized in that, The automated working device includes a rainwater sensor for detecting rainwater. The rainwater sensor includes a drainage structure, a first electrode and a second electrode spaced apart, and rainwater can flow sequentially through the first electrode and the second electrode under the action of gravity and finally flow out through the drainage structure. The method includes: Obtain the resistance data between the first electrode and the second electrode to obtain a resistance data sequence; wherein, the resistance data sequence is collected within the most recent preset time period; The resistance data sequence is filtered to obtain the target resistance data sequence. The effective resistance data in the target resistance data sequence that meets the preset threshold condition is identified. If the effective resistance data appears continuously and is maintained for at least a preset duration, the effective resistance data is integrated to obtain the effective resistance integral data. Based on the effective resistance integral data, the corresponding rainfall level identification result is obtained by querying the preset rainfall truth table; Record the number of consecutive identifications of the same rainfall level identification result; If the number of consecutive identifications equals the preset reporting number for the corresponding rainfall level identification result, a rain event is determined to be reported; wherein, the preset reporting number is different for different rainfall level identification results, and the value of the preset reporting number is an integer from 1 to infinity; wherein, the rainfall level includes at least four levels in order of increasing rainfall: drizzle, light rain, moderate rain, and heavy rain, and the preset reporting number for each rainfall level decreases in order of increasing rainfall; In response to the reported rain event, the automatic working equipment is controlled to perform rain avoidance actions.

2. The rain-affected operation control method for outdoor automatic working equipment as described in claim 1, characterized in that, The method further includes: Receive user instructions to adjust the preset number of reports; The timing for reporting the rain event is determined based on the adjusted preset reporting frequency.

3. The rain-affected operation control method for outdoor automatic working equipment as described in claim 1, characterized in that, The method further includes: If no valid resistance data exists or the duration of consecutive occurrence of the valid resistance data is shorter than the preset duration, a rain stop event is reported. In response to the reported rain-stopping event, the automated work equipment is controlled to perform outdoor work tasks.

4. The rain-affected operation control method for outdoor automatic working equipment as described in claim 1, characterized in that, The step of obtaining the resistance data sequence between the first electrode and the second electrode includes: Acquire the sampling resistance data between the first electrode and the second electrode; The sampled resistance data is divided into n groups according to the average sampling time. Extreme values ​​in each group of sampled resistance data are removed, and the average value of each group of sampled resistance data is calculated. The resistance data sequence is obtained by arranging the average value of each group of sampled resistance data in chronological order; wherein the data length of the resistance data sequence is n.

5. The method for controlling the operation of an outdoor automatic working device in rainy conditions as described in claim 1, characterized in that, The preset rainfall truth table includes rainfall levels corresponding to various rainfall conditions, and each rainfall level corresponds to a set of effective resistance integral data.

6. The method for controlling the operation of an outdoor automatic working device in rainy conditions as described in claim 1, characterized in that, The response to the reporting of the rain event, controlling the automatic working equipment to perform rain avoidance actions includes: In response to the reported rain event, the automatic working device is controlled to return to the base station.

7. A rain-resistant working control system for outdoor automatic working equipment, characterized in that, The automated working device includes a rainwater sensor for detecting rainwater. The rainwater sensor includes a drainage structure, a first electrode and a second electrode spaced apart, and rainwater can flow sequentially through the first electrode and the second electrode under the action of gravity and finally flow out through the drainage structure. The system includes: The data acquisition module is used to acquire the resistance data between the first electrode and the second electrode to obtain a resistance data sequence; wherein the resistance data sequence is acquired within the most recent preset time period; The data processing module, connected to the data acquisition module, is used to filter the resistance data sequence to obtain a target resistance data sequence, identify the valid resistance data in the target resistance data sequence that meets the preset threshold condition, and if the valid resistance data appears continuously and is maintained for at least a preset duration, integrate the valid resistance data to obtain the valid resistance integral data. A rainfall level identification module, connected to the data processing module, is used to query a preset rainfall truth table based on the effective resistance integral data to obtain the corresponding rainfall level identification result. A counting module, connected to the rainfall level identification module, is used to record the number of consecutive identifications of the same rainfall level identification result; a decision module, connected to the rainfall level identification module, is used to determine the reporting timing of a rain event based on the rainfall level identification result, and to determine to report the rain event when the number of consecutive identifications equals the preset reporting number for the corresponding rainfall level identification result; wherein, the preset reporting number is different for different rainfall level identification results, and the value of the preset reporting number is an integer from 1 to infinity; wherein, the rainfall levels, in order of increasing rainfall, include at least four levels: drizzle, light rain, moderate rain, and heavy rain, and the preset reporting number for each rainfall level decreases in order of increasing rainfall; The control module, connected to the decision module, responds to the reporting of the rain event and controls the automatic working equipment to perform rain avoidance actions.

Images