Outdoor robot control method and device, outdoor robot and storage medium

Abstract

The invention relates to the technical field of robots, and discloses a control method and device for an outdoor robot, the outdoor robot and a storage medium, and the method comprises the steps: obtaining the standard sunrise time and the standard sunset time of a time zone where the outdoor robot is located; then, determining a sunrise time period and a sunset time period based on the standard sunrise time and the standard sunset time; when the current moment is in the sunrise time period, a first light value of the environment where the outdoor robot is located is obtained, and the outdoor robot is controlled to enter a working mode based on the first light value; and when the current moment is in the sunset time period, a second light value of the environment where the outdoor robot is located is obtained, and the outdoor robot is controlled to return to be charged based on the second light value. Therefore, the outdoor robot can be controlled to work out of the station before the sunrise time and when the light meets the working condition, and the outdoor robot can continue to work for a period of time after the sunset time and when the light meets the working condition, so that the working efficiency of the outdoor robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a control method, device, outdoor robot and computer-readable storage medium for an outdoor robot. Background Art

[0002] With the development of machine vision technology, more and more robots are used to perform specific tasks outdoors. For example, an automatic lawn mower can automatically trim the lawn outdoors based on vision. Among them, since the vision of the robot is affected by the intensity of light, in the related art, an outdoor robot is configured with a sunset return function. By searching the coordinate table of the time zone where the outdoor robot is located through the network, the sunrise and sunset times of the current day are calculated regularly, so as to control the outdoor robot to respond to the task and go out to work at sunrise time, and control the outdoor robot to return at sunset time. Summary of the Invention

[0003] In view of this, the present invention provides a control method, device, outdoor robot and storage medium for an outdoor robot, so as to solve the problem of low working efficiency when the outdoor robot works according to the sunrise and sunset times of the time zone where it is located.

[0004] To achieve the above object, an embodiment of the present invention provides a control method for an outdoor robot, the method includes:

[0005] Obtain the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located;

[0006] Based on the standard sunrise time and the standard sunset time, determine the sunrise time period and the sunset time period;

[0007] When it is detected that the current moment is within the sunrise time period, obtain the first light value of the environment where the outdoor robot is located, and control the outdoor robot to enter the working mode based on the first light value;

[0008] When it is detected that the current moment is within the sunset time period, obtain the second light value of the environment where the outdoor robot is located, and control the outdoor robot to return for charging based on the second light value.

[0009] In this method, after obtaining the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located, an extension is made based on the standard sunrise time and standard sunset time to determine the sunrise time period and the sunset time period. Then, when the current moment is within the sunrise time period or the sunset time period, the outdoor robot is controlled to enter the working mode or return to charging according to the light value of the environment where the outdoor robot is located. Therefore, even if the current moment has not reached the standard sunrise time, as long as the outdoor light in the environment where the outdoor robot is located meets the working conditions, the robot can leave the station to work. And, even if the current moment has reached the standard sunset time, as long as the outdoor light in the environment where the outdoor robot is located meets the working conditions, it can still continue to work for a period of time to improve the working efficiency of the outdoor robot.

[0010] As an improvement to the above solution, when it is detected that the current moment is within the sunrise time period, obtaining the first light value of the environment where the outdoor robot is located and controlling the outdoor robot to enter the working mode based on the first light value includes:

[0011] When it is detected that the current moment is within the sunrise time period, obtaining the first light value of the environment where the outdoor robot is located;

[0012] When it is detected that the first light value is greater than or equal to a preset working light critical value, controlling the outdoor robot to enter the working mode.

[0013] In this method, when it is detected that the current moment is within the sunrise time period, the first light value of the environment where the outdoor robot is located is further detected. If the first light value is greater than or equal to the preset working light critical value, the outdoor robot is controlled to enter the working mode. Therefore, when the light meets the working conditions of the outdoor robot, the outdoor robot can be controlled to leave the station to work, so as to further improve the working efficiency of the outdoor robot. At the same time, it can also ensure the visual clarity and the safety of going out for work of the outdoor robot.

[0014] As an improvement to the above solution, when it is detected that the current moment is within the sunset time period, obtaining the second light value of the environment where the outdoor robot is located and controlling the outdoor robot to return to charging based on the second light value includes:

[0015] When it is detected that the current moment is within the sunset time period, obtaining the second light value of the environment where the outdoor robot is located;

[0016] When it is detected that the second light value is less than or equal to a preset return light critical value, controlling the outdoor robot to return to charging.

[0017] In this method, when it is detected that the current time is within the sunset time period, the second light value of the environment where the outdoor robot is located is further detected. If the second light value is less than or equal to the regression light critical value, the outdoor robot is controlled to return for charging. Therefore, natural light can be utilized to the greatest extent, enabling the outdoor robot to still work for a period of time during the sunset time period before returning for charging, so as to improve the working efficiency of the outdoor robot. At the same time, a certain amount of time can be reserved for the outdoor robot to return according to the second light value, avoiding the dim light on the way back, and ensuring the safety of the outdoor robot.

[0018] As an improvement of the above solution, determining the sunrise time period and the sunset time period based on the standard sunrise time and the standard sunset time includes:

[0019] Obtain the position information of the outdoor robot to determine the target area corresponding to the outdoor robot;

[0020] Obtain the sunrise time deviation and the sunset time deviation corresponding to each area in the time zone;

[0021] From the sunrise time deviation and the sunset time deviation corresponding to each area in the time zone, query the target sunrise time deviation and the target sunset time deviation corresponding to the target area;

[0022] Based on the standard sunrise time and the target sunrise time deviation, determine the sunrise time period;

[0023] Based on the standard sunset time and the target sunset time deviation, determine the sunset time period.

[0024] In this method, by querying the target sunrise time deviation and the target sunset time deviation corresponding to the target area where the outdoor robot is located, the sunrise time period is determined according to the standard sunrise time and the target sunrise time deviation, and the sunset time period is determined according to the standard sunset time and the target sunset time deviation. Therefore, the accuracy of the sunrise time period and the sunset time period can be effectively improved, so as to further improve the working efficiency of the outdoor robot.

[0025] As an improvement of the above solution, obtaining the sunrise time deviation and the sunset time deviation corresponding to each area in the time zone includes:

[0026] Obtain the sunrise time and the sunset time of each area in the time zone on the same day;

[0027] Based on the time difference between the sunrise time of each area in the time zone and the sunrise time of the standard area on the same day, determine the sunrise time deviation corresponding to each area in the time zone; where the standard area is an area in the time zone, and the sunrise time and the sunset time of the standard area are respectively used as the standard sunrise time and the standard sunset time of the time zone;

[0028] Based on the time differences between each area in the time zone and the standard area at sunset on the same day, determine the sunset time deviation corresponding to each area in the time zone.

[0029] In this method, according to the time differences between each area in the time zone and the standard area at sunrise and sunset on the same day, the sunrise time deviation and sunset time deviation corresponding to each area are determined. Therefore, the accuracy of the sunrise time deviation and sunset time deviation can be improved, thereby further ensuring the accuracy of the sunrise period and sunset period.

[0030] As an improvement to the above solution, the obtaining of the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located includes:

[0031] When it is detected that the outdoor robot is not equipped with a supplementary lighting device, obtain the standard sunrise time and the standard sunset time of the time zone where the outdoor robot is located.

[0032] In this method, the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located are obtained only when it is detected that the outdoor robot is not equipped with a supplementary lighting device. Therefore, additional consumption of computing resources can be avoided.

[0033] As an improvement to the above solution, the method determines whether the outdoor robot is equipped with a supplementary lighting device through the following steps:

[0034] Send a supplementary lighting turn-on instruction to the outdoor robot and control the outdoor robot to take a first photo; wherein, the supplementary lighting turn-on instruction is used to control the supplementary lighting device to turn on;

[0035] Send a supplementary lighting turn-off instruction to the outdoor robot and control the outdoor robot to take a second photo; wherein, the supplementary lighting turn-off instruction is used to control the supplementary lighting device to turn off;

[0036] Compare the first photo and the second photo, and determine whether the outdoor robot is equipped with the supplementary lighting device according to the comparison result.

[0037] In this method, after sending a supplementary lighting turn-on instruction to the outdoor robot, control the outdoor robot to take a first photo, and after sending a supplementary lighting turn-off instruction to the outdoor robot, control the outdoor robot to take a second photo. Therefore, it can be accurately determined whether the outdoor robot is equipped with a supplementary lighting device through the comparison result of the first photo and the second photo, and the method is simple to implement.

[0038] To achieve the above object, an embodiment of the present invention further provides a control device for an outdoor robot, and the device includes:

[0039] A time acquisition module for acquiring the standard sunrise time and the standard sunset time of the time zone where the outdoor robot is located;

[0040] A time period determination module for determining a sunrise time period and a sunset time period based on the standard sunrise time and the standard sunset time;

[0041] A sunrise control module for, when detecting that the current moment is within the sunrise time period, acquiring a first light value of the environment where the outdoor robot is located and controlling the outdoor robot to enter a working mode based on the first light value;

[0042] A sunset control module for, when detecting that the current moment is within the sunset time period, acquiring a second light value of the environment where the outdoor robot is located and controlling the outdoor robot to return for charging based on the second light value.

[0043] To achieve the above object, an embodiment of the present invention further provides an outdoor robot, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the control method of the outdoor robot in any of the above embodiments.

[0044] To achieve the above object, an embodiment of the present invention further provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the control method of the outdoor robot in any of the above embodiments. Description of the Drawings

[0045] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required to be used in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0046] Figure 1 is a flowchart of a control method for an outdoor robot according to an embodiment of the present invention;

[0047] Figure 2 is a schematic diagram of a sunrise time period and a sunset time period according to an embodiment of the present invention;

[0048] Figure 3 is a timing diagram of a control method for an outdoor robot according to an embodiment of the present invention;

[0049] Figure 4 is a flowchart of another control method for an outdoor robot according to an embodiment of the present invention;

[0050] Figure 5 It is a structural block diagram of a control device for an outdoor robot according to an embodiment of the present invention;

[0051] Figure 6 It is a structural block diagram of an outdoor robot according to an embodiment of the present invention. Detailed implementation manners

[0052] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0053] The inventors of the present application creatively found that in the existing working control method of outdoor robots, due to the fact that the coverage range of some time zones is relatively large and the time zone coordinate deviation is relatively large, if the sunrise and sunset times are calculated using the tables found on the Internet, there is an easy problem that the calculated sunrise and sunset times have a relatively large time deviation from the actual sunrise and sunset times. As a result, before the sunrise time point, even if the outdoor light is very bright, the outdoor robot will not leave the station to work. And after the sunset time point, even if the light still meets the working conditions, the outdoor robot will directly return to the charging station and no longer respond to new work, resulting in a relatively low working efficiency of the outdoor robot.

[0054] According to an embodiment of the present invention, there is provided an embodiment of a control method for an outdoor robot, which is used to solve the problem of relatively low working efficiency in the related art when working according to the sunrise and sunset times of the time zone where it is located. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0055] In view of this, in an embodiment of the present invention, there is provided a control method for an outdoor robot, which can be used for the above-mentioned outdoor robots, such as lawn mowers, etc. Figure 1 It is a schematic flowchart of a control method for an outdoor robot according to an embodiment of the present invention, as Figure 1 shown, and this process includes the following steps:

[0056] Step S11, obtain the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located.

[0057] Specifically, by obtaining all time zones where each outdoor robot is located and the regions / cities covered by each time zone, a standard region / central city is selected from the regions / cities corresponding to each time zone, and the sunrise time and sunset time of the standard region / central city are respectively used as the standard sunrise time and standard sunset time for the corresponding time zone to form a time zone - coordinate table, where the time zone - coordinate table includes the coordinate ranges corresponding to each time zone. For example, time zone A covers cities such as city a, city b, and city c, and these cities all adopt the time of time zone A. However, due to the large north - south differences among these cities in reality, the sunrise times and sunset times of each city are different. Therefore, a central city, such as city a, can be selected from the cities covered by time zone A, and the sunrise time of city a is used as the standard sunrise time of time zone A, and the sunset time of city b is used as the standard sunset time of time zone A. Thus, in this example, the position information (i.e., longitude and latitude coordinates) of the outdoor robot can be obtained to query the time zone where the outdoor robot is located from the time zone - coordinate table based on the obtained position information, so as to obtain the standard sunrise time and standard sunset time of the time zone where it is located.

[0058] Step S12: Based on the standard sunrise time and the standard sunset time, determine the sunrise time period and the sunset time period.

[0059] Specifically, as Figure 2 shown, a time period is extended before and after with the standard sunrise time and the standard sunset time as the centers respectively to obtain the sunrise time period and the sunset time period. For example, a time period of the first preset duration is selected with the standard sunrise time as the center as the sunrise time period; a time period of the second preset duration is selected with the standard sunset time as the center as the sunset time period. It should be noted that the first preset duration and the second preset duration here can be determined according to the actual situation, and the two durations can be the same or different.

[0060] Moreover, the standard sunrise time and the standard sunset time may not be used as the centers of the sunrise time period and the sunset time period. Exemplarily, taking the standard sunrise time as 6 o'clock as an example, 5:30 - 6:20 can be used as the sunrise time period.

[0061] Step S13: When it is detected that the current moment is within the sunrise time period, obtain the first light value of the environment where the outdoor robot is located, and control the outdoor robot to enter the working mode based on the first light value.

[0062] Specifically, as Figure 2As shown, when it is detected that the current moment enters the sunrise time period, start detecting the first light value of the environment where the outdoor robot is located. When the first light value meets the preset working conditions, control the outdoor robot to enter the working mode to respond to the work task and leave the station to execute the work task, and stop detecting the first light value of the environment where the outdoor robot is located. For example, taking a lawn mower as an example, when the first light value meets the preset working conditions, control the lawn mower to leave the station to mow the grass. In actual operation, a light detection device can be configured on the outdoor robot to collect the first light value of the environment where the outdoor robot is located, such as light sensors, photometers, spectrometers and other light detection devices. It is also possible to configure a communication module on the outdoor robot to obtain the first light value of the environment where the outdoor robot is located from the cloud or the mobile terminal bound to the current outdoor robot through the communication module.

[0063] Step S14, when it is detected that the current moment is in the sunset time period, obtain the second light value of the environment where the outdoor robot is located, and control the outdoor robot to return to charge based on the second light value.

[0064] Specifically, as Figure 2 shown, when it is detected that the current moment enters the sunset time period, start detecting the second light value of the environment where the outdoor robot is located. When the second light value is about to not meet the working conditions, control the outdoor robot to return to the charging station to charge, stop detecting the second light value of the environment where the outdoor robot is located, and wait for dawn.

[0065] As above, a light detection device can be used to detect the second light value of the environment where the outdoor robot is located. Or, obtain the second light value of the environment where the outdoor robot is located from the cloud or the mobile terminal bound to the current outdoor robot through the communication module. Or, based on the brightness of the image collected by the robot camera, detect the second light value of the environment where the outdoor robot is located.

[0066] For the control method of the outdoor robot provided in this embodiment, after obtaining the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located, expand based on the standard sunrise time and standard sunset time to determine the sunrise time period and sunset time period. Then, when the current moment is in the sunrise time period or sunset time period, control the outdoor robot to enter the working mode or return to charge according to the light value of the environment where the outdoor robot is located.

[0067] Therefore, even if the current moment has not reached the standard sunrise time, as long as the outdoor light in the environment where the outdoor robot is located meets the working conditions, it can leave the station to work.

[0068] Even if the current moment reaches the standard sunset time, as long as the outdoor light in the environment where the outdoor robot is located meets the working conditions, it can still continue to work for a period of time to improve the working efficiency of the outdoor robot.

[0069] As one of the optional embodiments, before the above step S11, the control method of the outdoor robot in this embodiment further includes: determining whether the outdoor robot is equipped with a supplementary lighting device. Specifically, the following steps are used to determine whether the outdoor robot is equipped with a supplementary lighting device: sending a supplementary lighting turn-on instruction to the outdoor robot and controlling the outdoor robot to take a first photo; wherein, the supplementary lighting turn-on instruction is used to control the supplementary lighting device to turn on; sending a supplementary lighting turn-off instruction to the outdoor robot and controlling the outdoor robot to take a second photo; wherein, the supplementary lighting turn-off instruction is used to control the supplementary lighting device to turn off; comparing the first photo and the second photo, and determining whether the outdoor robot is equipped with a supplementary lighting device according to the comparison result. Optionally, the supplementary lighting device is a supplementary light.

[0070] It should be noted that in the actual operation process, the supplementary lighting turn-on instruction can be sent to the outdoor robot first, then the outdoor robot is controlled to take a first photo, then the supplementary lighting turn-off instruction is sent to the outdoor robot, and then the outdoor robot is controlled to take a second photo. It is also possible to send the supplementary lighting turn-off instruction to the outdoor robot first, then control the outdoor robot to take a first photo, then send the supplementary lighting turn-on instruction to the outdoor robot, and then control the outdoor robot to take a second photo. The sequence of taking photos with the supplementary lighting device turned on and taking photos with the supplementary lighting device turned off is not restricted here.

[0071] In the control method of the outdoor robot provided in this embodiment, after sending the supplementary lighting turn-on instruction to the outdoor robot, the outdoor robot is controlled to take a first photo, and after sending the supplementary lighting turn-off instruction to the outdoor robot, the outdoor robot is controlled to take a second photo. Therefore, it can accurately determine whether the outdoor robot is equipped with a supplementary lighting device through the comparison result of the first photo and the second photo, and the method is simple to implement.

[0072] It can be understood that the image features of photos taken of the same place under different light conditions are different. Therefore, if the outdoor robot is equipped with a supplementary lighting device, compared with the second photo taken by the outdoor robot after turning off the supplementary lighting device in response to the supplementary lighting turn-off instruction, the first photo taken by the outdoor robot after turning on the supplementary lighting device in response to the supplementary lighting turn-on instruction will show obvious changes in light source, shadow and reflection. Therefore, it can accurately determine whether the outdoor robot is equipped with a supplementary lighting device through the comparison result of the first photo and the second photo. In addition, the configuration information of the outdoor robot can also be pre-stored in the outdoor robot to query whether the current outdoor robot is equipped with a supplementary lighting device according to the configuration information.

[0073] Further, in the above step S11, obtaining the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located includes: when it is detected that the outdoor robot is not equipped with a supplementary lighting device, obtaining the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located.

[0074] For the control method of the outdoor robot provided in this embodiment, the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located are obtained only when it is detected that the outdoor robot is not equipped with a supplementary lighting device. Therefore, it is possible to avoid occupying additional computing resources.

[0075] Further, the control method of the outdoor robot in this embodiment further includes: when it is detected that the outdoor robot is equipped with a supplementary lighting device, controlling the outdoor robot to remain in the working state.

[0076] It can be understood that if the outdoor robot is equipped with a supplementary lighting device, the outdoor robot can assist visual recognition by turning on the supplementary lighting device when the light is dim, and is not restricted by the sunrise and sunset times. The outdoor robot can be arranged to go out for work at any time, making the control of the outdoor robot more flexible and the work efficiency higher.

[0077] As another alternative embodiment, before obtaining the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located, the control method of the outdoor robot in this embodiment further includes: determining whether the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located have not been obtained on the current day, and whether the current time has reached zero o'clock. Therefore, in the above step S11, obtaining the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located includes: when it is detected that the standard sunrise time and standard sunset time have not been obtained, or the current time reaches zero o'clock, obtaining the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located.

[0078] Exemplarily, when it is detected that the outdoor robot is not equipped with a supplementary lighting device, if the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located have not been obtained on the current day, or the current time reaches zero o'clock, then obtain the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located. If the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located have been obtained on the current day, or the current time has not reached zero o'clock (here, zero o'clock refers to zero o'clock of the next day), then execute the above step S12.

[0079] As one of the alternative embodiments, in the above step S12, based on the standard sunrise time and standard sunset time, determining the sunrise time period and the sunset time period includes: obtaining the position information of the outdoor robot to determine the target area corresponding to the outdoor robot; obtaining the sunrise time deviation and sunset time deviation corresponding to each area in the time zone; querying the target sunrise time deviation and target sunset time deviation corresponding to the target area from the sunrise time deviation and sunset time deviation corresponding to each area in the time zone; determining the sunrise time period based on the standard sunrise time and the target sunrise time deviation; determining the sunset time period based on the standard sunset time and the target sunset time deviation.

[0080] Specifically, the position information of the outdoor robot is the longitude and latitude coordinates of the location where the outdoor robot is located. Further, the control method of the outdoor robot in this embodiment further includes: determining whether the outdoor robot is equipped with a positioning device; if it is equipped with a positioning device, obtaining the position information of the outdoor robot through the positioning device; if it is not equipped with a positioning device, obtaining the position information of the outdoor robot through the APP information bound to the outdoor robot. Specifically, if it is not equipped with a positioning device, the APP information of the mobile terminal (such as a mobile phone) bound to the outdoor robot is obtained. The APP information includes the time zone information set by the user or the real-time positioning information of the mobile phone, so as to obtain the time zone and longitude and latitude coordinates where the outdoor robot is located according to the time zone information or the real-time positioning information of the mobile phone. Optionally, the positioning device is the GPS module in the anti-theft module of the outdoor robot.

[0081] For the control method of the outdoor robot provided in this embodiment, by querying the target sunrise time deviation and the target sunset time deviation corresponding to the target area where the outdoor robot is located, the sunrise time period is determined according to the standard sunrise time and the target sunrise time deviation, and the sunset time period is determined according to the standard sunset time and the target sunset time deviation. Therefore, the accuracy of the sunrise time period and the sunset time period can be effectively improved, so as to further improve the working efficiency of the outdoor robot.

[0082] It should be noted that if the standard sunrise time and the standard sunset time of the time zone are the sunrise time and the sunset time of the standard area within the time zone, in addition to obtaining the target sunrise time deviation and the target sunset time deviation corresponding to the target area through the above method, the position information of the standard area corresponding to the time zone can also be obtained, and based on the position difference between the position information of the outdoor robot and the position information of the standard area, the target sunrise time deviation and the target sunset time deviation are calculated.

[0083] As one optional implementation manner, the above obtaining the sunrise time deviation and the sunset time deviation corresponding to each area within the time zone includes: obtaining the sunrise time and the sunset time of each area within the time zone on the same day; determining the sunrise time deviation corresponding to each area within the time zone based on the time difference between the sunrise times of each area within the time zone and the standard area on the same day; where the standard area is an area within the time zone, and the sunrise time and the sunset time of the standard area are used as the standard sunrise time and the standard sunset time of the time zone respectively; determining the sunset time deviation corresponding to each area within the time zone based on the time difference between the sunset times of each area within the time zone and the standard area on the same day.

[0084] The control method of the outdoor robot provided in this embodiment determines the sunrise time deviation and sunset time deviation corresponding to each area according to the time differences between the sunrise time and sunset time of each area in the time zone and those of the standard area on the same day. Therefore, compared with calculating the sunrise time deviation and sunset time deviation between each area and the standard area through longitude and latitude coordinates, it can also avoid the influence of natural factors such as terrain and altitude, so as to improve the accuracy of the sunrise time deviation and sunset time deviation, and further ensure the accuracy of the sunrise time period and sunset time period.

[0085] It should be noted that the time zone to which each area belongs can be obtained by using relevant time zone databases, time zone maps or specific time zone information services. The sunrise time and sunset time corresponding to each area can be obtained through astronomical data or specific sunrise and sunset time calculation tools, which will not be elaborated here. In addition, in addition to determining the sunrise time deviation corresponding to each area according to the time difference between the sunrise time of each area in the time zone and that of the standard area on the same day, the location information of each area can also be obtained, and the sunrise time deviation and sunset time deviation corresponding to each area can be calculated based on the location difference between the location information of each area and that of the standard area.

[0086] As an optional implementation manner, in step S13 above, when it is detected that the current moment is within the sunrise time period, obtain the first light value of the environment where the outdoor robot is located, and control the outdoor robot to enter the working mode based on the first light value, including: when it is detected that the current moment is within the sunrise time period, obtain the first light value of the environment where the outdoor robot is located; when it is detected that the first light value is greater than or equal to the preset working light critical value, control the outdoor robot to enter the working mode.

[0087] The control method of the outdoor robot provided in this embodiment further detects the first light value of the environment where the outdoor robot is located when it is detected that the current moment is within the sunrise time period. If the first light value is greater than or equal to the preset working light critical value, control the outdoor robot to enter the working mode. Therefore, it can control the outdoor robot to leave the station for work when the light meets the working conditions of the outdoor robot, so as to further improve the working efficiency of the outdoor robot. At the same time, it can also ensure the visual clarity and safety of the outdoor robot during outdoor operations.

[0088] Specifically, the control method of the outdoor robot in this embodiment further includes: when it is detected that the first light value is less than the working light critical value, control the outdoor robot to remain in the non-working mode.

[0089] As an alternative implementation manner, in the above step S14, when it is detected that the current moment is within the sunset time period, obtain a second light value of the environment where the outdoor robot is located, and control the outdoor robot to return for charging based on the second light value, including: when it is detected that the current moment is within the sunset time period, obtain the second light value of the environment where the outdoor robot is located; when it is detected that the second light value is less than or equal to a preset return light critical value, control the outdoor robot to return for charging.

[0090] For the control method of the outdoor robot provided in this embodiment, when it is detected that the current moment is within the sunset time period, it further detects the second light value of the environment where the outdoor robot is located. If the second light value is less than or equal to the return light critical value, it controls the outdoor robot to return for charging. Therefore, it can make the best use of natural light, enable the outdoor robot to still work for a period of time within the sunset time period and then return for charging, so as to improve the working efficiency of the outdoor robot. At the same time, it can reserve a certain amount of time for the outdoor robot to return according to the second light value, avoiding the relatively dim light on the return journey to ensure the safety of the outdoor robot.

[0091] It should be noted that the return light critical value can be restricted based on the working conditions of the outdoor robot (mainly referring to the light conditions), the return speed of the outdoor robot, and the working range of the outdoor robot. So that the return light critical value can ensure that before the second light value of the current environment reaches the return light critical value, it meets the working conditions of the outdoor robot. At the same time, it can enable the outdoor robot to have enough time to return to the charging station before the second light value does not meet the working conditions of the outdoor robot.

[0092] Exemplarily, refer to Figure 3, taking the control system of the outdoor robot using the present invention as an example, the control system includes an algorithm module AI, a state decision module UI, and a data interaction module IOT; among them, the state decision module UI includes a state judgment unit and a sunset return unit. The specific working process of this control system is as follows: The state judgment unit queries the information of the current outdoor robot to obtain the time zone where the current outdoor robot is located, and sends the time zone where the current outdoor robot is located to the sunset return unit. The sunset return unit queries the data interaction module IOT to check whether an anti-theft module is externally connected to the outdoor robot (the anti-theft module is equipped with a GPS module); the data interaction module IOT returns the queried anti-theft module status and the longitude and latitude coordinates of the outdoor robot queried through the anti-theft module to the sunset return unit. If the outdoor robot is not externally connected with an anti-theft module, the sunset return unit queries the time zone and longitude and latitude coordinates corresponding to the outdoor robot according to the bound APP information. The sunset return unit obtains the standard sunrise time and standard sunset time corresponding to the time zone, and the target sunrise time deviation and target sunset time deviation corresponding to the longitude and latitude coordinates to determine the sunrise time period and sunset time period. In addition, the state judgment unit, based on the task of detecting the supplementary light of the charging station by timing / reservation, or pressing the supplementary light start key, controls the supplementary light of the outdoor robot to turn off, and feeds back the information of turning off the supplementary light to the algorithm module AI, then takes photo 1 and sends it to the algorithm module AI. The state judgment unit controls the outdoor robot to turn on the supplementary light, and feeds back the information of turning on the supplementary light to the algorithm module AI, then takes photo 2 and sends it to the algorithm module AI. The state judgment unit controls the supplementary light of the outdoor robot to turn off, and feeds back the information of turning off the supplementary light to the algorithm module AI, so that the algorithm module AI compares photo 1 and photo 2 to judge whether the outdoor robot is equipped with a supplementary light. The algorithm module AI feeds back the result of whether the outdoor robot is equipped with a supplementary light to the state judgment unit. The state judgment unit forwards the result of whether the outdoor robot is equipped with a supplementary light to the sunset return unit, and the sunset return unit judges whether the outdoor robot can leave the station for work according to the result of whether the outdoor robot is equipped with a supplementary light. The sunset return unit feeds back the result of whether the outdoor robot can leave the station for work to the state judgment unit to control the outdoor robot to leave the station for work when it can leave the station for work. The algorithm module AI sends the first light value of the current environment where the outdoor robot is located to the sunset return unit, and the sunset return unit judges whether the current first light value meets the working conditions when the current moment is within the sunrise time period to determine whether the outdoor robot can leave the station for work. The sunset return unit feeds back the result of whether the outdoor robot can leave the station for work to the state judgment unit to control the outdoor robot to leave the station for work when it can leave the station for work. The algorithm module AI sends the second light value of the current environment where the outdoor robot is located to the sunset return unit, and the sunset return unit judges whether the current second light value meets the working conditions when the current moment is within the sunset time period to determine whether the outdoor robot needs to return for charging.The sunset return unit feeds back the result of whether the outdoor robot needs to return for charging to the status judgment unit, so as to control the outdoor robot to return for charging when it needs to return for charging.

[0093] Further, refer to Figure 4, the overall control process of the control method for the outdoor robot of the present invention is as follows: Step S21, determine whether the outdoor robot is equipped with a supplementary lighting device. If so, execute Step S22; if not, execute Step S23; Step S22, control the outdoor robot to enter the working mode, and the process ends; Step S23, determine whether the outdoor robot is equipped with a positioning device. If not, execute Step S231a; if so, execute Step S231b; Step S231a, read the time zone where the outdoor robot is located from the APP information of the mobile terminal bound to the outdoor robot, and then execute Step S232a; Step S232a, determine whether the time zone where the outdoor robot is located is read. If so, execute Step S233a; if not, return to Step S22; Step S233a, determine whether the time zone where the outdoor robot is located has changed. If so, execute Step S234a; if not, execute Step S232b; Step S234a, query the time zone - coordinate table, and then execute Step S235a; Step S235a, determine whether there is time zone information of the current time zone in the time zone - coordinate table. The time zone information is used to determine the standard sunrise time and standard sunset time of the current time zone. If so, execute Step S236a; if not, return to Step S22; Step S236a, obtain the longitude and latitude coordinates of the outdoor robot through the APP information, and then execute Step S24; Step S231b, obtain the longitude and latitude coordinates of the outdoor robot through the positioning device, and then execute Step S232b; Step S232b, determine whether the standard sunrise time and standard sunset time have not been obtained on the current day, or whether it has crossed zero o'clock. If so, execute Step S24; if not, execute Step S25; Step S24, obtain the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located, and then execute Step S25; Step S25, obtain the corresponding target sunrise time deviation and target sunset time deviation based on the longitude and latitude coordinates, and determine the sunrise time period and sunset time period based on the standard sunrise time, standard sunset time, target sunrise time deviation, and target sunset time deviation, and then execute Step S26; Step S26, determine whether the current moment is within the sunrise time period. If so, execute Step S27; if not, return to Step S26; Step S27, detect the first light value of the environment where the outdoor robot is located, and then execute Step S28; Step S28, determine whether the first light value is greater than or equal to the working light critical value. If so, execute Step S29; if not, return to Step S27; Step S29, control the outdoor robot to enter the working mode, and then execute Step S30; Step S30, determine whether the current moment is within the sunset time period. If so, execute Step S31; if not, return to Step S30; Step S31, detect the second light value of the environment where the outdoor robot is located, and then execute Step S32; Step S32, determine whether the second light value is less than or equal to the return light critical value. If so, execute Step S33; if not, return to Step S31; Step S33, control the outdoor robot to return to charge, and then execute Step S34;Step S34, control the outdoor robot to enter the non - working state until the next day.

[0094] In this embodiment, a control device for an outdoor robot is also provided. This device is used to implement the above - mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0095] This embodiment provides a control device for an outdoor robot, as Figure 5 shown, including:

[0096] A time acquisition module 41, configured to acquire the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located;

[0097] A time period determination module 42, configured to determine the sunrise time period and sunset time period based on the standard sunrise time and standard sunset time;

[0098] A sunrise control module 43, configured to, when it is detected that the current moment is within the sunrise time period, acquire the first light value of the environment where the outdoor robot is located, and control the outdoor robot to enter the working mode based on the first light value;

[0099] A sunset control module 44, configured to, when it is detected that the current moment is within the sunset time period, acquire the second light value of the environment where the outdoor robot is located, and control the outdoor robot to return for charging based on the second light value.

[0100] In some alternative implementation manners, the time acquisition module 41 includes:

[0101] A non - supplementary light time acquisition unit, configured to acquire the standard sunrise time and standard sunset time of the time zone where the outdoor robot is located when it is detected that the outdoor robot is not equipped with a supplementary light device.

[0102] In some alternative implementation manners, the control device of the outdoor robot further includes a supplementary light judgment module, configured to judge whether the outdoor robot is equipped with a supplementary light device. Specifically, the supplementary light judgment module includes:

[0103] A supplementary light turn - on control unit, configured to send a supplementary light turn - on instruction to the outdoor robot and control the outdoor robot to take a first photo; wherein, the supplementary light turn - on instruction is used to control the supplementary light device to turn on;

[0104] A supplementary light turn - off control unit, configured to send a supplementary light turn - off instruction to the outdoor robot and control the outdoor robot to take a second photo; wherein, the supplementary light turn - off instruction is used to control the supplementary light device to turn off;

[0105] The fill light photo comparison unit is used to compare the first photo and the second photo, and determine whether the outdoor robot is equipped with a fill light device according to the comparison result.

[0106] In some alternative embodiments, the time period determination module 42 includes:

[0107] The position information acquisition unit is used to acquire the position information of the outdoor robot to determine the target area corresponding to the outdoor robot;

[0108] The time deviation acquisition unit is used to acquire the sunrise time deviation and sunset time deviation corresponding to each area in the time zone;

[0109] The time deviation query unit is used to query the target sunrise time deviation and target sunset time deviation corresponding to the target area from the sunrise time deviation and sunset time deviation corresponding to each area in the time zone;

[0110] The sunrise time period determination unit is used to determine the sunrise time period based on the standard sunrise time and the target sunrise time deviation;

[0111] The sunset time period determination unit is used to determine the sunset time period based on the standard sunset time and the target sunset time deviation.

[0112] In some alternative embodiments, the time deviation acquisition unit includes:

[0113] The area time acquisition subunit is used to acquire the sunrise time and sunset time of each area in the time zone on the same day;

[0114] The sunrise deviation calculation subunit is used to determine the sunrise time deviation corresponding to each area in the time zone based on the time difference between the sunrise times of each area in the time zone and the standard area on the same day; wherein, the standard area is an area in the time zone, and the sunrise time and sunset time of the standard area are respectively used as the standard sunrise time and standard sunset time of the time zone;

[0115] The sunset deviation calculation subunit is used to determine the sunset time deviation corresponding to each area in the time zone based on the time difference between the sunset times of each area in the time zone and the standard area on the same day.

[0116] In some alternative embodiments, the sunrise control module 43 includes:

[0117] The sunrise light detection unit is used to acquire the first light value of the environment where the outdoor robot is located when it is detected that the current moment is within the sunrise time period;

[0118] The sunrise operation control unit is used to control the outdoor robot to enter the working mode when it is detected that the first light value is greater than or equal to a preset working light critical value.

[0119] In some alternative embodiments, the sunset control module 44 includes:

[0120] A sunset light detection unit, configured to obtain a second light value of the environment where the outdoor robot is located when it is detected that the current moment is within the sunset time period;

[0121] A sunset return control unit, configured to control the outdoor robot to return for charging when it is detected that the second light value is less than or equal to a preset return light critical value.

[0122] The further function descriptions of the above-mentioned various modules and units are the same as those in the corresponding embodiments above, and will not be elaborated here.

[0123] The control device of the outdoor robot in this embodiment is presented in the form of functional units. Here, the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0124] See Figure 6 , which is a structural block diagram of an outdoor robot provided by an embodiment of the present invention.

[0125] An outdoor robot provided by an embodiment of the present invention includes an outdoor robot body, a processor 51, a memory 52, and a computer program stored in the memory 52 and configured to be executed by the processor 51. When the processor 51 executes the computer program, it implements the control method of the outdoor robot in any of the above embodiments.

[0126] When the processor 51 executes the computer program, it implements the steps in the embodiments of the above-mentioned control method of the outdoor robot, such as Figure 1 all the steps of the control method of the outdoor robot shown. Or, when the processor 51 executes the computer program, it implements the functions of the various modules / units in the embodiments of the above-mentioned control device of the outdoor robot, such as Figure 5 the functions of the various modules of the control device of the outdoor robot shown.

[0127] Exemplarily, the computer program can be divided into one or more modules. One or more modules are stored in the memory 52 and executed by the processor 51 to complete the present invention. One or more modules can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in the outdoor robot.

[0128] An outdoor robot can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The outdoor robot may include, but is not limited to, a processor 51 and a memory 52. Those skilled in the art can understand that Figure 6 merely examples of the outdoor robot, which do not constitute a limitation on the outdoor robot, may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the outdoor robot may also include input / output devices, network access devices, buses, etc.

[0129] The so-called processor 51 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor 51 is the control center of the outdoor robot, connecting various parts of the entire outdoor robot through various interfaces and circuits.

[0130] The memory 52 can be used to store computer programs and / or modules. The processor 51 realizes various functions of the outdoor robot by running or executing the computer programs and / or modules stored in the memory 52, and by calling the data stored in the memory 52. The memory 52 may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system, application programs required for at least one function, etc.; the data storage area may store data created according to the use of the outdoor robot, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0131] Among them, when the modules / units integrated in the outdoor robot are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-mentioned embodiment methods of the present invention, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0132] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A control method for an outdoor robot, characterized in that, The method includes: Obtaining the standard sunrise time and the standard sunset time of the time zone where the outdoor robot is located; Based on the standard sunrise time and the standard sunset time, determining the sunrise time period and the sunset time period; When it is detected that the current moment is within the sunrise time period, obtaining a first light value of the environment where the outdoor robot is located, and controlling the outdoor robot to enter the working mode based on the first light value; When it is detected that the current moment is within the sunset time period, obtaining a second light value of the environment where the outdoor robot is located, and controlling the outdoor robot to return for charging based on the second light value.

2. The control method of the outdoor robot according to claim 1, characterized in that, The step of, when it is detected that the current moment is within the sunrise time period, obtaining a first light value of the environment where the outdoor robot is located, and controlling the outdoor robot to enter the working mode, includes: When it is detected that the current moment is within the sunrise time period, obtaining a first light value of the environment where the outdoor robot is located; When it is detected that the first light value is greater than or equal to a preset working light critical value, controlling the outdoor robot to enter the working mode.

3. The control method of the outdoor robot according to claim 1, characterized in that The step of, when it is detected that the current moment is within the sunset time period, obtaining a second light value of the environment where the outdoor robot is located, and controlling the outdoor robot to return for charging based on the second light value, includes: When it is detected that the current moment is within the sunset time period, obtaining a second light value of the environment where the outdoor robot is located; When it is detected that the second light value is less than or equal to a preset return light critical value, controlling the outdoor robot to return for charging.

4. The control method of the outdoor robot according to claim 1, characterized in that, The step of, based on the standard sunrise time and the standard sunset time, determining the sunrise time period and the sunset time period, includes: Obtaining the position information of the outdoor robot to determine the target area corresponding to the outdoor robot; Obtaining the sunrise time deviation and the sunset time deviation corresponding to each area within the time zone; Querying the target sunrise time deviation and the target sunset time deviation corresponding to the target area from the sunrise time deviations and the sunset time deviations corresponding to each area within the time zone; Based on the standard sunrise time and the target sunrise time deviation, determining the sunrise time period; Based on the standard sunset time and the target sunset time deviation, determining the sunset time period.

5. The control method of the outdoor robot according to claim 4, wherein The step of obtaining the sunrise time deviation and the sunset time deviation corresponding to each area within the time zone includes: Obtaining the sunrise time and the sunset time of each area within the time zone on the same day; Based on the time difference between the sunrise times of each area within the time zone and the standard area on the same day, determining the sunrise time deviation corresponding to each area within the time zone; wherein, the standard area is an area within the time zone, and the sunrise time and the sunset time of the standard area are respectively used as the standard sunrise time and the standard sunset time of the time zone; Based on the time difference between the sunset times of each area within the time zone and the standard area on the same day, determining the sunset time deviation corresponding to each area within the time zone.

6. The control method of the outdoor robot according to claim 1, wherein, The step of obtaining the standard sunrise time and the standard sunset time of the time zone where the outdoor robot is located includes: When it is detected that the outdoor robot is not equipped with a supplementary lighting device, obtain the standard sunrise time and the standard sunset time of the time zone where the outdoor robot is located.

7. The control method of the outdoor robot according to claim 6, characterized in that, The method determines whether the outdoor robot is equipped with a supplementary lighting device through the following steps: Send a supplementary lighting turn-on instruction to the outdoor robot and control the outdoor robot to take a first photo; wherein, the supplementary lighting turn-on instruction is used to control the supplementary lighting device to turn on; Send a supplementary lighting turn-off instruction to the outdoor robot and control the outdoor robot to take a second photo; wherein, the supplementary lighting turn-off instruction is used to control the supplementary lighting device to turn off; Compare the first photo and the second photo, and determine whether the outdoor robot is equipped with the supplementary lighting device according to the comparison result.

8. A control device for an outdoor robot, characterized in that, The device includes: A time acquisition module, configured to acquire the standard sunrise time and the standard sunset time of the time zone where the outdoor robot is located; A time period determination module, configured to determine a sunrise time period and a sunset time period based on the standard sunrise time and the standard sunset time; A sunrise control module, configured to, when it is detected that the current moment is within the sunrise time period, acquire a first light value of the environment where the outdoor robot is located, and control the outdoor robot to enter a working mode based on the first light value; A sunset control module, configured to, when it is detected that the current moment is within the sunset time period, acquire a second light value of the environment where the outdoor robot is located, and control the outdoor robot to return to charging based on the second light value.

9. An outdoor robot, characterized in that, It includes: A memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the control method of the outdoor robot according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Computer instructions are stored on the computer-readable storage medium, and the computer instructions are used to cause a computer to execute the control method of the outdoor robot according to any one of claims 1 to 7.

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