Communication method of mower, mower and storage medium

Abstract

The invention is suitable for the technical field of equipment communication, and provides a mower communication method, a mower and a storage medium, the method comprises the following steps: when the mower communicates with other equipment, first communication quality parameters are acquired, the first communication quality parameters comprise at least one of a packet loss rate, a CRC error rate and a data frame error rate; if the first communication quality parameter is not in the preset interval, the transmission of the current data frame has a problem. Acquiring a second communication quality parameter, and determining a current scene where the mower is located according to a parameter interval where the second communication quality parameter is located; and if the current scene is the preset scene, the mower switches the communication channel to a second communication channel. Whether the current data transmission problem is caused by environmental interference can be determined according to the second communication quality parameter, and if it is determined that the data transmission is not good enough due to environmental interference, it is ensured that the transmission quality of the data frame meets the requirement after channel switching through a channel switching mode.

Description

Technical Field

[0001] This application belongs to the field of equipment communication technology, and in particular relates to a communication method for a lawnmower, a lawnmower, and a storage medium. Background Technology

[0002] With the rapid development of smart homes and smart agriculture, the application of automated lawnmowers is becoming increasingly widespread. These lawnmowers typically rely on wireless communication technologies (such as WiFi) to transmit data with home routers to receive instructions and report status. Therefore, maintaining a stable and reliable communication link is crucial to ensuring the efficient and uninterrupted operation of lawnmowers.

[0003] In complex outdoor working environments, especially in home gardens, wireless channel quality can be affected by various factors, leading to a decline in communication quality. Currently, many lawnmower products primarily, or even solely, rely on the "packet loss rate" as the metric to determine whether channel switching is necessary. Specifically, the system continuously monitors packet loss during data transmission, and triggers channel switching logic when the packet loss rate exceeds a certain preset threshold. However, this method, which relies solely on the packet loss rate, has significant limitations, resulting in very low accuracy in channel switching. Summary of the Invention

[0004] This application provides a communication method for a lawnmower, a lawnmower, and a storage medium, which can solve the problem of low channel switching accuracy.

[0005] In a first aspect, embodiments of this application provide a communication method for a lawnmower, wherein the lawnmower communicates with a gateway via a long-range wireless communication module, the gateway communicates with a user terminal via a router, and the lawnmower also communicates with a base station via the long-range wireless communication module;

[0006] The methods include:

[0007] When the lawnmower communicates with other devices through the first communication channel, the lawnmower acquires a first communication quality parameter, wherein the other devices include the gateway and / or the base station, and the first communication quality parameter includes at least one of packet loss rate, cyclic redundancy check error rate, and data frame error rate;

[0008] If the first communication quality parameter is not within the preset range, the lawnmower acquires a second communication quality parameter, wherein the second communication quality parameter includes signal strength and signal-to-noise ratio;

[0009] The lawnmower determines its current scene based on the parameter range in which the second communication quality parameter is located;

[0010] If the current scenario is a preset scenario, the lawnmower switches the communication channel to the second communication channel, and the lawnmower communicates with the other devices through the second communication channel. The preset scenario represents a scenario that interferes with the performance of the communication channel, and the first communication channel and the second communication channel are different communication channels.

[0011] In this application, the lawnmower uses a long-range wireless communication module when communicating with the gateway and base station. Compared with the existing lawnmowers that use short-range wireless communication (Bluetooth or WiFi) when communicating with the gateway and base station, this application solves the problems of poor transmission capability and unstable mobile network signal when using short-range wireless communication, enabling the lawnmower to operate smoothly outdoors.

[0012] Furthermore, when the lawnmower of this application communicates with other devices, it first acquires a first communication quality parameter, which includes at least one of packet loss rate, cyclic redundancy check error rate, and data frame error rate. These indicators reflect whether data transmission is suboptimal. Therefore, it first determines whether there is a problem with the transmission of the current data frame based on the first communication quality parameter. If the first communication quality parameter is not within a preset range, it indicates that there is a problem with the transmission of the current data frame. Then, it acquires a second communication quality parameter, which includes signal strength and signal-to-noise ratio. Based on the second communication quality parameter, it can be determined whether the current data transmission problem is caused by environmental interference. If it is determined that the poor data transmission is caused by environmental interference, the data frame transmission quality can be improved by switching channels. This ensures that the data frame transmission quality meets the requirements after switching channels, avoiding the situation where blindly switching channels fails to improve the data frame transmission even when the data frame transmission is suboptimal due to other reasons.

[0013] In one possible implementation of the first aspect, the long-range wireless communication module is a long-range communication module; the lawnmower communicates with the gateway via a long-range communication protocol, and the lawnmower also communicates with the base station via the long-range communication protocol.

[0014] In one possible implementation of the first aspect, the lawnmower communicates with the other device via the second communication channel, including:

[0015] The lawnmower uses a polling method to obtain control commands from the gateway through the second communication channel, wherein the control commands are sent by the user terminal to the gateway through the router;

[0016] The lawnmower uses a polling method to obtain differential positioning data from the base station through the second communication channel. The differential positioning data is determined by the base station based on satellite positioning information and a preset base station real location. The satellite positioning information is the location of the base station determined by a first satellite signal.

[0017] The lawnmower acquires a second satellite positioning signal;

[0018] The lawnmower determines its location information based on the second satellite positioning signal and the differential positioning data.

[0019] In one possible implementation of the first aspect, the method further includes:

[0020] After receiving the first pairing command sent by the user terminal, the lawnmower determines that the first communication channel is an idle channel;

[0021] The lawnmower generates response data for the first pairing command and the second pairing command based on the first network number and the first channel of the first communication channel;

[0022] The lawnmower sends response data to the user terminal, wherein the response data is used to instruct the user terminal to send a channel setting instruction to the gateway, the channel setting instruction includes the first network number and the first channel, and the channel setting instruction is used to instruct the gateway to set the first communication channel as the communication channel for communicating with the lawnmower according to the first network number and the first channel;

[0023] The lawnmower receives the product serial number of the base station sent by the user terminal;

[0024] The lawnmower broadcasts a second pairing instruction carrying the product serial number. The second pairing instruction instructs the base station, upon receiving the second pairing instruction, to set the first communication channel as the communication channel for communicating with the lawnmower according to the first network number and the first channel.

[0025] In one possible implementation of the first aspect, the lawnmower switching the communication channel to the second communication channel includes:

[0026] The lawnmower detected that the second communication channel was an idle channel;

[0027] The lawnmower acquires the total number of interference data received through the second communication channel within a preset time period;

[0028] If the total number is less than a preset value, the lawnmower switches the communication channel to the second communication channel.

[0029] In one possible implementation of the first aspect, after the lawnmower switches its communication channel to the second communication channel, the method further includes:

[0030] The lawnmower generates a channel switching command based on the second network number and second channel of the second communication channel;

[0031] The lawnmower broadcasts the channel switching instruction, wherein the channel switching instruction is used to instruct the gateway, upon receiving the channel switching instruction, to set the second communication channel as the communication channel for communicating with the lawnmower based on the second network number and the second channel; the channel switching instruction is also used to instruct the base station, upon receiving the channel switching instruction, to set the second communication channel as the communication channel for communicating with the lawnmower based on the second network number and the second channel.

[0032] In one possible implementation of the first aspect, the method further includes:

[0033] The lawnmower communicates with the other devices using a long-distance communication protocol, which includes adding a request identifier and an acknowledgment identifier to the header of the data frame, and serializing and compressing the data frame. The request identifier is used to represent request information, and the acknowledgment identifier is used to represent response information.

[0034] Secondly, embodiments of this application provide a lawnmower that communicates with a gateway via a long-range wireless communication module. The gateway communicates with a user terminal via a router. The lawnmower also communicates with a base station via the long-range wireless communication module. The lawnmower includes:

[0035] The first parameter acquisition module is used to acquire a first communication quality parameter when the lawnmower communicates with other devices through a first communication channel, wherein the other devices include the gateway and / or the base station, and the first communication quality parameter includes at least one of packet loss rate, cyclic redundancy check error rate and data frame error rate.

[0036] The second parameter acquisition module is used to acquire a second communication quality parameter if the first communication quality parameter is not within a preset range, wherein the second communication quality parameter includes signal strength and signal-to-noise ratio;

[0037] The scene determination module is used to determine the current scene of the lawnmower based on the parameter range in which the second communication quality parameter is located;

[0038] The channel switching module is used to switch the lawnmower to a second communication channel if the current scenario is a preset scenario, and communicate with other devices through the second communication channel. The preset scenario represents a scenario that interferes with the performance of the communication channel, and the first communication channel and the second communication channel are different communication channels.

[0039] Thirdly, embodiments of this application provide a terminal device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the communication method of the lawnmower described in any one of the first aspects above.

[0040] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the communication method of the lawnmower described in any one of the first aspects.

[0041] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the communication method of the lawnmower described in any of the first aspects. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the architecture for communication between a lawnmower and a user terminal according to an embodiment of this application;

[0044] Figure 2 This is a schematic flowchart of a communication method for a lawnmower provided in an embodiment of this application;

[0045] Figure 3 This is a flowchart illustrating a method for setting a communication channel according to an embodiment of this application;

[0046] Figure 4 This is a flowchart illustrating a method for setting a communication channel according to another embodiment of this application;

[0047] Figure 5 This is a schematic diagram of the structure of a lawnmower provided in one embodiment of this application;

[0048] Figure 6It is a schematic structural diagram of a lawn mower provided by another embodiment of the present application. Detailed implementation manners

[0049] It should be understood that when used in the description of the present application specification and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0050] It should also be understood that the term "and / or" used in the description of the present application specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0051] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0052] The reference to "one embodiment" or "some embodiments" etc. described in the present application specification means that a specific feature, structure or characteristic described in combination with this embodiment is included in one or more embodiments of the present application. Thus, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in still other some embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0053] Current lawn mowers generally use short-range wireless communication technologies such as WiFi or Bluetooth to receive control signals and report their own states. However, the signal penetration ability of WiFi technology in outdoor environments is poor and the transmission distance is limited. If the mowing range is large, the short-range wireless communication technology will not be able to meet the demand for remote control, resulting in unstable signal transmission.

[0054] Based on this, the present application proposes a communication method for a lawn mower. In the present application, as Figure 1 shown, the transmission link of the lawn mower includes: a user terminal, a router, a gateway, a lawn mower and a base station. The base station is a device配套 with the lawn mower. The lawn mower can obtain positioning information from the base station, and the lawn mower determines its own position according to the positioning information of the base station. The user terminal can be a mobile phone or a tablet computer, etc.

[0055] Among them, the router and the gateway are connected by WiFi. Long-range wireless communication modules are provided in both the gateway, the lawn mower and the base station, so as to facilitate long-range wireless communication between the gateway and the lawn mower, and also long-range wireless communication between the lawn mower and the base station.

[0056] Specifically, control commands issued by the user terminal are forwarded to the router via the cloud server, such as the command to start mowing. The router then forwards the control commands to the gateway via WiFi. After receiving the control commands, the gateway sends them to the lawnmower via a long-range wireless communication module. Upon receiving the control commands, the lawnmower begins to work according to the commands.

[0057] When a lawnmower sends status information to a user terminal, it first sends the status information to the gateway via a long-range wireless communication module. After receiving the status information, the gateway sends it to the router, and finally the router forwards the status information to the user terminal. The status information can include operating status and execution results, such as current location, remaining battery power, and start time.

[0058] For communication between the lawnmower and the base station, the base station sends location information to the lawnmower through a long-range wireless communication module.

[0059] For lawnmowers, the lawnmower obtains control commands from the gateway by polling, and obtains location information from the base station by polling.

[0060] In one implementation, the gateway can be a long-range communication (LoRa) gateway, and the long-range wireless communication module is a LoRa module; the lawnmower communicates with the gateway via the LoRa protocol, and the lawnmower also communicates with the base station via the LoRa protocol.

[0061] In actual use, the LoRa gateway is deployed within the range of the router's WiFi signal to ensure stable communication between the router and the LoRa gateway.

[0062] For the LoRa protocol, this application adopts a simplified proprietary protocol to solve the transmission efficiency problem of LoRa in low bandwidth and high latency environments, ensuring that the lawnmower can smoothly transmit data, thereby ensuring the efficient operation of the system.

[0063] Specifically, the LoRa protocol includes:

[0064] 1. A request identifier (e.g., req_id) and an acknowledgment identifier (e.g., ack_id) are added to the header of the data frame to combine the request frame and the response frame into one. This allows for bidirectional data exchange of requests and responses to be completed in a single data transmission, reducing the number of communications and redundant data, and optimizing bandwidth usage. The request identifier is used to represent the request information, and the acknowledgment identifier is used to represent the response information.

[0065] For example, if a user terminal sends a data request command to a lawnmower, after receiving the data request command, the lawnmower sends a data frame to the user terminal. The data frame includes response information to the data request command and request information from the lawnmower to the user terminal.

[0066] 2. Perform serialization and compression on the data frames. Serialization removes unnecessary metadata from the data packets, reducing the number of bytes occupied by the packets. Compression can use compression algorithms to further reduce the data size, ensuring efficient transmission of more information even in low-bandwidth environments.

[0067] 3. Data packets have a fixed-length header, which can be set as needed to improve network stability and compatibility. For data frames, the data frame structure is simplified, avoiding complex field parsing and reducing the computational burden on the device.

[0068] 4. Event-based transmission triggering mechanism. Specifically, when the lawnmower's status changes, status information is reported to the user terminal. If the lawnmower's status does not change, there is no need to report status information, avoiding the transmission of invalid data. If the status information does not need to be reported immediately, the lawnmower can enter a low-power standby mode, extending the device's operating time.

[0069] 5. Adaptive control of command transmission frequency. The frequency of command or information transmission is dynamically adjusted based on the lawnmower's operating status and network load. For example, when the lawnmower is idle or in standby mode, the command transmission frequency automatically decreases; conversely, when the lawnmower is in operation, the command frequency increases, ensuring smooth command transmission while avoiding excessive bandwidth consumption.

[0070] In this application, LoRa wireless communication technology is used to achieve long-distance communication. Even when the distance between the lawnmower and the gateway is far, the stable transmission of communication signals can be guaranteed, which solves the problems of poor WiFi signal transmission capability and limited transmission distance, enabling the lawnmower to operate smoothly outdoors.

[0071] The following combination Figure 2 The communication method of the lawnmower according to the embodiments of this application will be described in detail.

[0072] Figure 2 A schematic flowchart of the communication method for the lawnmower provided in this application is shown, with reference to... Figure 2 The method is described in detail below:

[0073] S101, when the lawnmower communicates with other devices through the first communication channel, the lawnmower acquires a first communication quality parameter, wherein the other devices include the gateway and / or the base station, and the first communication quality parameter includes at least one of packet loss rate, cyclic redundancy check error rate, and data frame error rate.

[0074] In this embodiment, the first communication quality parameter is the communication quality parameter when the lawnmower transmits data frames through the first communication channel.

[0075] Packet loss rate is the ratio of the number of data packets lost during network transmission to the total number of packets sent, and it is a core indicator for evaluating computer network performance.

[0076] Cyclic Redundancy Check (CRC) error rate is a core indicator for measuring the reliability of data transmission / storage. It refers to the proportion of data packets that are judged as "data errors" after being checked by the CRC algorithm out of the total transmitted / stored data packets.

[0077] The data frame error rate is the ratio of the number of erroneous data frames (frames deemed invalid by the receiver) to the total number of transmitted data frames (all frames sent by the sender, including both correct and erroneous data frames) within a specified time period.

[0078] S102, if the first communication quality parameter is not within the preset range, the lawnmower acquires the second communication quality parameter, wherein the second communication quality parameter includes signal strength and signal-to-noise ratio.

[0079] In this embodiment, preset intervals for different parameters are pre-set. For example, the packet loss rate corresponds to the first preset interval, the CRC error rate corresponds to the second preset interval, and the data frame error rate corresponds to the third preset interval.

[0080] If the parameter is within the corresponding preset range, it is determined that the parameter is normal. If the parameter is not within the corresponding preset range, it is determined that the parameter has a problem, which in turn reflects a problem with the communication quality.

[0081] In this embodiment, the first communication quality parameters include packet loss rate, CRC error rate, and data frame error rate. If any one of these parameters is outside its corresponding preset range, a communication quality problem is determined to exist. If all three parameters are within their respective preset ranges, a communication quality problem is determined to exist. For example, if the packet loss rate is in the first preset range, the CRC error rate is in the second preset range, and the data frame error rate is in the third preset range, then a communication quality problem is determined to exist.

[0082] When a communication quality problem is identified, a second communication quality parameter is obtained, and based on the second communication quality parameter, it is determined whether the communication quality in the current scenario can be improved by switching the communication channel.

[0083] Signal strength refers to the signal strength of the spread spectrum signal before despreading, and is used to confirm whether the received data packet signal is "strong enough". Generally, the higher the signal strength, the better.

[0084] Signal-to-noise ratio (SNR) refers to the ratio of the power of the useful signal to the power of the background noise after the receiver completes the despreading operation. Generally, a higher SNR is better.

[0085] In another implementation, if the first communication quality parameter is within a preset range, it indicates that the communication quality of the first communication channel is good, and the first communication channel can continue to be used to communicate with other devices.

[0086] S103, the lawnmower determines the current scene in which it is located based on the parameter range in which the second communication quality parameter is located.

[0087] In this embodiment, different scenarios corresponding to different parameter ranges are preset, and the current scenario is determined based on the second communication quality parameter.

[0088] For example, refer to the table below for the correspondence between scenarios, signal strength, signal-to-noise ratio, and coping strategies.

[0089]

[0090]

[0091] As shown in the table above, communication quality can be improved by switching channels in co-channel interference, adjacent channel interference, and external noise scenarios. However, in signal attenuation scenarios, even switching channels cannot improve communication quality. Therefore, it is not necessary to switch channels in signal attenuation scenarios.

[0092] Therefore, the preset scenarios can include co-channel interference scenarios, adjacent channel interference scenarios, and external noise scenarios.

[0093] S104, if the current scenario is a preset scenario, the lawnmower switches the communication channel to the second communication channel, and the lawnmower communicates with the other devices through the second communication channel. The preset scenario represents a scenario that interferes with the performance of the communication channel, and the first communication channel and the second communication channel are different communication channels.

[0094] In this embodiment, the lawnmower searches for an idle channel and records the found idle channel as the second communication channel.

[0095] In this embodiment, the lawnmower uses a polling method to obtain control commands from the gateway through a second communication channel. The control commands are sent by the user terminal to the gateway through the router.

[0096] Polling is a proactive query-based communication mechanism. Its core logic is that the master device (lawn mower) periodically queries multiple slave devices (gateways and base stations) according to a preset order / rules. The slave devices only respond to the request when they are queried and do not actively send data.

[0097] In this embodiment, the lawnmower uses a polling method to obtain differential positioning data from the base station through the second communication channel. The differential positioning data is determined by the base station based on satellite positioning information and a preset base station real location. The satellite positioning information is the location of the base station determined by a first satellite signal. The lawnmower obtains a second satellite positioning signal. Based on the second satellite positioning signal and the differential positioning data, the lawnmower determines its own location information.

[0098] Specifically, the base station obtains its own first satellite signal through the Global Positioning System (GPS) installed on it. The base station determines its own satellite positioning information based on the first satellite signal, and then compares the satellite positioning information with the preset base station real location to obtain the position deviation, which is recorded as differential positioning data.

[0099] The lawnmower obtains a second satellite signal through its own GPS. Based on the second satellite signal, the lawnmower determines its own satellite positioning information. It then uses differential positioning data to correct the satellite positioning information, thus arriving at the lawnmower's accurate location.

[0100] In another implementation, the communication channel is not switched if the current scenario is not a preset scenario.

[0101] In this application, when the lawnmower communicates with other devices, it first acquires a first communication quality parameter, which includes at least one of packet loss rate, CRC error rate, and data frame error rate. These parameters reflect whether data transmission is poor. Therefore, the system first determines whether there is a problem with the transmission of the current data frame based on the first communication quality parameter. If the first communication quality parameter is not within a preset range, it indicates that there is a problem with the transmission of the current data frame. Then, a second communication quality parameter is acquired, which includes signal strength and signal-to-noise ratio. Based on the second communication quality parameter, it can be determined whether the current data transmission problem is caused by environmental interference. If it is determined that the poor data transmission is caused by environmental interference, the transmission quality of the data frame can be improved by switching channels. This ensures that the transmission quality of the data frame meets the requirements after switching channels, avoiding a situation where blindly switching channels fails to improve the transmission of data frames even when the transmission quality is poor due to other reasons.

[0102] In one possible implementation, after the lawnmower finds the second communication channel, it cannot yet determine whether the communication quality of the second communication channel is good. If the communication quality of the second communication channel is poor, then switching to the second communication channel will not improve the communication quality. Therefore, before using the second communication channel for communication, it is possible to first check whether the second communication channel meets the standards. After confirming that the second communication channel meets the standards, the channel of the second communication channel is locked, and the second communication channel is used to communicate with other devices.

[0103] Specifically, the implementation process of step S104 above may include:

[0104] The lawnmower detects that the second communication channel is an idle channel; the lawnmower obtains the total number of interference data received through the second communication channel within a preset time period; if the total number is less than a preset value, the lawnmower switches the communication channel to the second communication channel.

[0105] In this embodiment, the preset duration can be set as needed. For example, the preset duration can be set to 2 seconds or 3 seconds, etc., and there is no limitation here.

[0106] In another implementation, if the total number is greater than or equal to a preset value, it indicates that the second communication channel is not up to standard, and the search continues for other idle channels.

[0107] In one possible implementation, after the lawnmower switches the communication channel to the second communication channel, the lawnmower needs to inform the gateway and base station so that the gateway and base station can reset the communication channel with the lawnmower.

[0108] Specifically, after step S104, the method may further include:

[0109] The lawnmower generates a channel switching command based on the second network number and second channel of the second communication channel. The lawnmower broadcasts the channel switching command, wherein the channel switching command instructs the gateway, upon receiving the command, to set the second communication channel as the communication channel for communicating with the lawnmower based on the second network number and the second channel; the channel switching command also instructs the base station, upon receiving the command, to set the second communication channel as the communication channel for communicating with the lawnmower based on the second network number and the second channel.

[0110] In this embodiment, after the lawnmower switches the communication channel to the second communication channel, the lawnmower broadcasts the channel information of the second communication channel (second network number and second channel) so that the gateway and base station can configure the channel.

[0111] In one possible implementation, before the lawnmower is used, the communication channels between the lawnmower and the gateway, and between the lawnmower and the base station, need to be configured. Specifically, for example... Figure 3 As shown, the setup methods include:

[0112] S201, after the lawnmower receives the first pairing instruction sent by the user terminal, the lawnmower determines that the first communication channel is an idle channel.

[0113] In this embodiment, after the user triggers a pairing task with the lawnmower on the user terminal, the user terminal generates a first pairing command and sends the first pairing command to the lawnmower. After receiving the first pairing command, the lawnmower searches for an idle communication channel in its own communication channels and selects an idle communication channel as the first communication channel.

[0114] S202, the lawnmower generates response data for the first pairing instruction and the second pairing instruction based on the first network number and the first channel of the first communication channel.

[0115] S203, the lawnmower sends response data to the user terminal, wherein the response data is used to instruct the user terminal to send a channel setting instruction to the gateway, the channel setting instruction includes the first network number and the first channel, and the channel setting instruction is used to instruct the gateway to set the first communication channel as the communication channel for communicating with the lawnmower according to the first network number and the first channel.

[0116] In this embodiment, after the gateway sets the communication channel according to the first network number and the first channel, the gateway range configuration result is as follows: If the gateway successfully sets the communication channel, the configuration result is "Setting complete". If the gateway fails to set the communication channel, the configuration result is "Setting failed". Specifically, if the first network number and the first channel are not within the effective range supported by its hardware and protocol, or do not conform to the gateway's data rules, the gateway cannot set the communication channel according to the first network number and the first channel, and the gateway determines that the setting has failed.

[0117] After receiving the configuration result from the gateway, if the configuration result is successful, the user can confirm that the lawnmower and the gateway can communicate normally. If the configuration result is unsuccessful, the user terminal can resend the pairing command to the lawnmower, causing the lawnmower to select a new communication channel.

[0118] S204, the lawnmower receives the product serial number of the base station sent by the user terminal.

[0119] S205, the lawnmower broadcasts a second pairing instruction carrying the product serial number. The second pairing instruction is used to instruct the base station, after receiving the second pairing instruction, to set the first communication channel as the communication channel for communicating with the lawnmower according to the first network number and the first channel.

[0120] In this embodiment, after receiving the second configuration command, the base station sets the communication channel according to the first network number and the first channel. After the setting is completed, the base station sends its own product serial number to the lawnmower. The gateway sends the base station's own product serial number to the user terminal so that the user can determine whether the base station settings are correct based on the product serial number.

[0121] After the communication channel of the base station is successfully set up, the lawnmower can communicate with the base station.

[0122] In one possible implementation, if the lawnmower switches its communication channel to a third communication channel, various factors may cause the channel switching command broadcast by the lawnmower to be unreceived by the gateway and base station. In this case, the lawnmower will be unable to communicate with the gateway and base station via the third communication channel. The gateway detects a communication timeout. The base station also detects a communication timeout.

[0123] At this time, the gateway can automatically switch to frequency hopping mode, check its own communication channels, determine the communication channel that can receive data frames sent by the lawnmower, and determine the communication channel that can receive data frames sent by the lawnmower as the target communication channel. The gateway automatically sets the target communication channel as the channel for communicating with the lawnmower and uses the target communication channel to communicate with the lawnmower.

[0124] Similarly, the base station can also automatically switch to frequency hopping mode and automatically determine the communication channel for communicating with the lawnmower, which will not be elaborated on again.

[0125] In one possible implementation, such as Figure 4 As shown, the process of setting up a communication channel may also include:

[0126] S11, the user terminal sends the first pairing command to the lawnmower.

[0127] S12, after receiving the first pairing command, the lawnmower selects an idle channel, which is recorded as the first communication channel.

[0128] S13, the lawnmower generates response data for the first pairing command based on the first network number and the first channel of the first communication channel.

[0129] S14, the lawnmower sends response data to the user terminal.

[0130] S15, after receiving the response data, the user terminal generates a channel setting instruction based on the first network number and the first channel in the response data.

[0131] S16, the user terminal sends a channel setting command to the gateway.

[0132] S17, after receiving the channel setting instruction, the gateway sets the first communication channel as the communication channel for communicating with the lawnmower according to the first network number and the first channel, and generates the configuration result.

[0133] S18, the gateway sends the configuration result to the user terminal.

[0134] S19, the user terminal sends the base station's product serial number to the lawnmower.

[0135] S20, after the lawnmower receives the product serial number from the base station, the lawnmower broadcasts the second pairing instruction carrying the product serial number, the second pairing instruction including the first network number and the first channel.

[0136] S21, after the base station detects the second pairing command, it sets the first communication channel as the communication channel for communicating with the lawnmower according to the first network number and the first channel.

[0137] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0138] Corresponding to the communication method of the lawnmower described in the above embodiments, Figure 5A structural block diagram of a lawnmower provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0139] Reference Figure 5 The lawnmower 300 may include: a first parameter acquisition module 310, a second parameter acquisition module 320, a scene determination module 330, and a channel switching module 340.

[0140] The first parameter acquisition module 310 is used to acquire a first communication quality parameter when the lawnmower communicates with other devices through a first communication channel. The other devices include the gateway and / or the base station. The first communication quality parameter includes at least one of packet loss rate, cyclic redundancy check error rate, and data frame error rate.

[0141] The second parameter acquisition module 320 is used to acquire a second communication quality parameter if the first communication quality parameter is not within a preset range, wherein the second communication quality parameter includes signal strength and signal-to-noise ratio;

[0142] The scene determination module 330 is used to determine the current scene of the lawnmower based on the parameter range in which the second communication quality parameter is located;

[0143] The channel switching module 340 is used to switch the communication channel to a second communication channel if the current scenario is a preset scenario, and communicate with other devices through the second communication channel. The preset scenario represents a scenario that interferes with the performance of the communication channel, and the first communication channel and the second communication channel are different communication channels.

[0144] In one possible implementation, the long-range wireless communication module is a long-range communication module; the lawnmower communicates with the gateway via a long-range communication protocol, and the lawnmower also communicates with the base station via the long-range communication protocol.

[0145] In one possible implementation, the channel switching module 340 can specifically be used for:

[0146] The control commands for the lawnmower are obtained from the gateway via the second communication channel using a polling method, wherein the control commands are sent by the user terminal to the gateway through the router;

[0147] The differential positioning data is obtained from the base station through the second communication channel using a polling method. The differential positioning data is determined by the base station based on satellite positioning information and a preset base station real location. The satellite positioning information is the location of the base station determined by a first satellite signal.

[0148] Acquire the second satellite positioning signal;

[0149] Based on the second satellite positioning signal and the differential positioning data, the location information of the lawnmower is determined.

[0150] In one possible implementation, the lawnmower 300 also includes:

[0151] The channel query module is used to determine that the first communication channel is an idle channel after receiving the first pairing instruction sent by the user terminal;

[0152] The instruction generation module is used to generate response data for the first pairing instruction and the second pairing instruction based on the first network number and the first channel of the first communication channel.

[0153] A data transmission module is used to send response data to the user terminal, wherein the response data is used to instruct the user terminal to send a channel setting instruction to the gateway, the channel setting instruction includes the first network number and the first channel, and the channel setting instruction is used to instruct the gateway to set the first communication channel as a communication channel for communicating with the lawnmower according to the first network number and the first channel;

[0154] An information receiving module is used to receive the product serial number of the base station sent by the user terminal;

[0155] The broadcast module is used to broadcast the second pairing instruction carrying the product serial number. The second pairing instruction is used to instruct the base station to set the first communication channel as the communication channel for communicating with the lawnmower according to the first network number and the first channel after receiving the second pairing instruction.

[0156] In one possible implementation, the channel switching module 340 can specifically be used for:

[0157] The second communication channel was detected as an idle channel;

[0158] Obtain the total number of interference data received through the second communication channel within a preset time period;

[0159] If the total number is less than a preset value, the lawnmower switches the communication channel to the second communication channel.

[0160] In one possible implementation, the channel switching module 340 can specifically be used for:

[0161] Based on the second network number and second channel of the second communication channel, a channel switching instruction is generated;

[0162] The channel switching instruction is broadcast, wherein the channel switching instruction is used to instruct the gateway, upon receiving the channel switching instruction, to set the second communication channel as the communication channel for communicating with the lawnmower based on the second network number and the second channel; the channel switching instruction is also used to instruct the base station, upon receiving the channel switching instruction, to set the second communication channel as the communication channel for communicating with the lawnmower based on the second network number and the second channel.

[0163] In one possible implementation, the lawnmower communicates with the other devices using a long-distance communication protocol, wherein the long-distance communication protocol includes adding a request identifier and an acknowledgment identifier to the header of the data frame, and performing serialization and compression processing on the data frame. The request identifier is used to represent request information, and the acknowledgment identifier is used to represent response information.

[0164] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0165] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0166] This application also provides a lawnmower, see [link to relevant documentation] Figure 6 The lawnmower 400 may include: at least one processor 410, a memory 420, and a computer program stored in the memory 420 and executable on the at least one processor 410. When the processor 410 executes the computer program, it implements the steps in any of the above-described method embodiments, for example... Figure 2 Steps S101 to S104 in the illustrated embodiment. Alternatively, when the processor 410 executes the computer program, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 5The functions of the first parameter acquisition module 310 to the channel switching module 340 are shown.

[0167] For example, a computer program may be divided into one or more modules / units, one or more of which are stored in memory 420 and executed by processor 410 to complete this application. The one or more modules / units may be a series of computer program segments capable of performing a specific function, which describe the execution process of the computer program in lawnmower 400.

[0168] Those skilled in the art will understand that Figure 6 This is merely an example of a lawnmower and does not constitute a limitation on the lawnmower. It may include more or fewer parts than shown, or combine certain parts, or different parts, such as input / output devices, network access devices, buses, etc.

[0169] The processor 410 can be a Central Processing Unit (CPU), or 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 can be a microprocessor or any conventional processor.

[0170] The memory 420 can be an internal storage unit of the lawnmower or an external storage device, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, or a Flash Card. The memory 420 is used to store the computer program and other programs and data required by the lawnmower. The memory 420 can also be used to temporarily store data that has been output or will be output.

[0171] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0172] The communication method for lawnmowers provided in this application embodiment can be applied to lawnmowers such as computers, tablets, laptops, netbooks, and personal digital assistants (PDAs). This application embodiment does not impose any restrictions on the specific type of lawnmower.

[0173] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0174] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0175] In the embodiments provided in this application, it should be understood that the disclosed terminal devices, apparatuses, and methods can be implemented in other ways. For example, the terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, apparatuses, or units, and may be electrical, mechanical, or other forms.

[0176] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0177] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0178] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by one or more processors, it can implement the steps of the various method embodiments described above.

[0179] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by one or more processors, it can implement the steps of the various method embodiments described above.

[0180] Similarly, as a computer program product, when the computer program product is run on a terminal device, it enables the terminal device to implement the steps in the above-described method embodiments.

[0181] The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media may not include electrical carrier signals and telecommunication signals.

[0182] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A communication method for a lawnmower, characterized in that, The lawnmower communicates with a gateway via a long-range wireless communication module, the gateway communicates with a user terminal via a router, and the lawnmower also communicates with a base station via the long-range wireless communication module. The method includes: When the lawnmower communicates with other devices through the first communication channel, the lawnmower acquires a first communication quality parameter, wherein the other devices include the gateway and / or the base station, and the first communication quality parameter includes at least one of packet loss rate, cyclic redundancy check error rate, and data frame error rate; If the first communication quality parameter is not within the preset range, the lawnmower acquires a second communication quality parameter, wherein the second communication quality parameter includes signal strength and signal-to-noise ratio; The lawnmower determines its current scene based on the parameter range in which the second communication quality parameter is located; If the current scenario is a preset scenario, the lawnmower switches the communication channel to the second communication channel, and the lawnmower communicates with the other devices through the second communication channel. The preset scenario represents a scenario that interferes with the performance of the communication channel, and the first communication channel and the second communication channel are different communication channels.

2. The communication method for a lawnmower as described in claim 1, characterized in that, The long-distance wireless communication module is a long-distance communication module; the lawnmower communicates with the gateway through a long-distance communication protocol, and the lawnmower also communicates with the base station through the long-distance communication protocol.

3. The communication method for a lawnmower as described in claim 1, characterized in that, The lawnmower communicates with the other devices via the second communication channel, including: The lawnmower uses a polling method to obtain control commands from the gateway through the second communication channel, wherein the control commands are sent by the user terminal to the gateway through the router; The lawnmower uses a polling method to obtain differential positioning data from the base station through the second communication channel. The differential positioning data is determined by the base station based on satellite positioning information and a preset base station real location. The satellite positioning information is the location of the base station determined by a first satellite signal. The lawnmower acquires a second satellite positioning signal; The lawnmower determines its location information based on the second satellite positioning signal and the differential positioning data.

4. The communication method for a lawnmower as described in claim 1, characterized in that, The method further includes: After receiving the first pairing command sent by the user terminal, the lawnmower determines that the first communication channel is an idle channel; The lawnmower generates response data for the first pairing command and the second pairing command based on the first network number and the first channel of the first communication channel; The lawnmower sends response data to the user terminal, wherein the response data is used to instruct the user terminal to send a channel setting instruction to the gateway, the channel setting instruction includes the first network number and the first channel, and the channel setting instruction is used to instruct the gateway to set the first communication channel as the communication channel for communicating with the lawnmower according to the first network number and the first channel; The lawnmower receives the product serial number of the base station sent by the user terminal; The lawnmower broadcasts a second pairing instruction carrying the product serial number. The second pairing instruction instructs the base station, upon receiving the second pairing instruction, to set the first communication channel as the communication channel for communicating with the lawnmower according to the first network number and the first channel.

5. The communication method for a lawnmower as described in any one of claims 1 to 4, characterized in that, The lawnmower switches its communication channel to a second communication channel, including: The lawnmower detected that the second communication channel was an idle channel; The lawnmower acquires the total number of interference data received through the second communication channel within a preset time period; If the total number is less than a preset value, the lawnmower switches the communication channel to the second communication channel.

6. The communication method for a lawnmower as described in claim 5, characterized in that, After the lawnmower switches its communication channel to the second communication channel, the method further includes: The lawnmower generates a channel switching command based on the second network number and second channel of the second communication channel; The lawnmower broadcasts the channel switching instruction, wherein the channel switching instruction is used to instruct the gateway, upon receiving the channel switching instruction, to set the second communication channel as the communication channel for communicating with the lawnmower based on the second network number and the second channel; the channel switching instruction is also used to instruct the base station, upon receiving the channel switching instruction, to set the second communication channel as the communication channel for communicating with the lawnmower based on the second network number and the second channel.

7. The communication method for a lawnmower as described in claim 2, characterized in that, The method further includes: The lawnmower communicates with the other devices using a long-distance communication protocol, which includes adding a request identifier and an acknowledgment identifier to the header of the data frame, and serializing and compressing the data frame. The request identifier is used to represent request information, and the acknowledgment identifier is used to represent response information.

8. A lawnmower, characterized in that, The lawnmower communicates with a gateway via a long-range wireless communication module. The gateway communicates with a user terminal via a router. The lawnmower also communicates with a base station via the long-range wireless communication module. The lawnmower includes: The first parameter acquisition module is used to acquire a first communication quality parameter when the lawnmower communicates with other devices through a first communication channel, wherein the other devices include the gateway and / or the base station, and the first communication quality parameter includes at least one of packet loss rate, cyclic redundancy check error rate, and data frame error rate. The second parameter acquisition module is used to acquire a second communication quality parameter if the first communication quality parameter is not within a preset range, wherein the second communication quality parameter includes signal strength and signal-to-noise ratio; The scene determination module is used by the lawnmower to determine the current scene in which the lawnmower is located based on the parameter range in which the second communication quality parameter is located; The channel switching module is used to switch the lawnmower to a second communication channel if the current scenario is a preset scenario. The lawnmower communicates with other devices through the second communication channel. The preset scenario represents a scenario that interferes with the performance of the communication channel, and the first communication channel and the second communication channel are different communication channels.

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

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the communication method for the lawnmower as described in any one of claims 1 to 7.

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