Data transmission method between devices, and storage medium

Abstract

The present invention provides a data transmission method between devices, and a storage medium. The method comprises: pairing a first communication device and a second communication device to determine a synchronization word and channel for data transmission; when sending a first type of message, on the basis of the synchronization word and channel for data transmission, performing transmission of the first type of message between the first communication device and the second communication device in the mode of one device transmitting and the other receiving; and when sending a second type of message, on the basis of the synchronization word and channel for data transmission, performing transmission of the second type of message between the first communication device and the second communication device in the mode of continuous transmission and reception. According to the present application, in a communication process, on the basis of message feature determination, the use of the mode of continuous transmission and reception allows for ongoing data transmission without the need to switch between transmitting and receiving states, thereby avoiding time-consuming waiting, and enhancing the transmission speed and timeliness. The present application adopts a half-duplex mode having lower cost and less energy consumption, and is more conducive to commercialization of the technology.

Description

Data transmission method and storage medium between devices Technical Field

[0001] The invention relates to a data transmission method and storage medium between devices. Background Art

[0002] For the solution of using half-duplex mode to realize communication between the charging station and the robot, if one side encounters message accumulation while the other side has no messages to send (specifically, for example, the charging station has a large number of control instructions to send to the robot, but the robot has no messages to send to the charging station), if the half-duplex mode is continued to be used, that is, the sending state and the receiving state are switched back and forth, it will cause a time delay for sending messages on the side with message accumulation. Summary of the Invention

[0003] The object of the present invention is to provide a data transmission method and storage medium between devices.

[0004] To solve the above problem, the present invention provides a method for data transmission between devices, comprising:

[0005] The first communication device and the second communication device are paired to determine a synchronization word and a channel for data transmission;

[0006] When sending the first type of message, the first communication device and the second communication device transmit the first type of message based on the synchronization word and channel of data transmission and using the first transceiver mode;

[0007] When sending the second type of message, the first communication device and the second communication device transmit the second type of message based on the synchronization word and channel of data transmission and using the second transceiver mode.

[0008] Furthermore, in the above method, when sending the first type of message, before the synchronization word and channel based on data transmission between the first communication device and the second communication device, it also includes:

[0009] The first communication device and the second communication device are paired to determine a synchronization word and a channel for data transmission.

[0010] Furthermore, in the above method, pairing the first communication device and the second communication device to determine a synchronization word and a channel for data transmission includes:

[0011] After entering the pairing state, the first communication device starts to continuously send handshake instructions to the second communication device;

[0012] After receiving the handshake instruction, the second communication device replies with its own serial number to the first communication device;

[0013] After receiving the synchronization word and channel notification for pairing sent by the first communication device, the second communication device replies with a signal confirming successful reception and then exits the pairing mode and switches to the communication mode;

[0014] After receiving the signal from the second communication device confirming successful reception, the first communication device immediately exits the pairing mode and switches to the communication mode.

[0015] Furthermore, in the above method, after receiving the synchronization word and channel notification for pairing sent by the first communication device, the second communication device replies with a signal confirming successful reception and then exits the pairing mode, including:

[0016] After receiving the synchronization word and channel notification for pairing sent by the first communication device, the second communication device replies with a signal confirming successful reception and then exits the pairing mode after waiting for a preset time.

[0017] Furthermore, in the above method, the data packet structure of the first message communicated and transmitted between the first communication device and the second communication device includes: a sequence number, a length, a command, a data code, and a checksum.

[0018] Furthermore, in the above method, it also includes:

[0019] When there is no message transmission between the second communication device and the first communication device, the second communication device and the first communication device periodically transmit and receive breathing codes.

[0020] Furthermore, in the above method, the first transceiver mode is a one-transmit-one-receive mode; and the second transceiver mode is a continuous transmission and reception mode.

[0021] Furthermore, in the above method, when sending the first type of message, the first type of message is transmitted between the first communication device and the second communication device based on the synchronization word and channel of the data transmission and using the first transceiver mode. When the first transceiver mode is a one-transmit-one-receive mode, it includes:

[0022] a data message sent by the first communication device to the second communication device;

[0023] The second communication device sends a confirmation message corresponding to the data message to the first communication device, wherein the data message and the corresponding confirmation message have the same sequence number.

[0024] Furthermore, in the above method, the first type of message refers to the number of messages in the message queue to be sent being less than or equal to a preset threshold;

[0025] The second type of message refers to the number of messages in the message queue to be sent being greater than a preset threshold.

[0026] Furthermore, in the above method, when sending the second type of message, the first communication device and the second communication device transmit the second type of message based on the synchronization word and channel of the data transmission and using the second transceiver mode. The second transceiver mode is a continuous sending and receiving mode, including:

[0027] When the number of messages in the to-be-sent message queue exceeds a preset threshold, the first communication device switches from a one-transmit-one-receive mode to a continuous transmission mode;

[0028] After the first communication device sends an instruction to enter a continuous receiving mode to the second communication device, the first communication device sends a message with a sequence number to the second communication device and backs up the message with the sequence number just sent;

[0029] If the number of messages sent by the first communication device is equal to a preset threshold, the first communication device switches to a receiving mode and waits for the second communication device to send a return message;

[0030] The second communication device backs up the received sequence-numbered messages; if the number of messages received by the second communication device is equal to a preset threshold, the second communication device sends a return message to the first communication device, wherein the return message includes the sequence numbers of all received messages;

[0031] The first communication device compares the sequence numbers of all messages in the returned message with the sequence numbers of all messages backed up by itself. If the comparison is consistent, the returned message passes the verification; if the comparison is inconsistent, the message that failed to be sent is re-added to the list of messages to be sent based on the sequence number.

[0032] Furthermore, in the above method, after the return message passes verification, the method further includes:

[0033] The first communication device automatically exits the continuous sending mode after sending a preset threshold number of messages;

[0034] After receiving a preset threshold number of messages, the second communication device automatically exits the continuous receiving mode.

[0035] Mode.

[0036] According to another aspect of the present invention, a computer-readable storage medium is provided, on which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, the processor is caused to execute the method described in any one of the above embodiments.

[0037] According to another aspect of the present invention, there is further provided a lawn mower system, characterized in that it comprises:

[0038] When sending the first type of message, the lawn mower and the charging station transmit the first type of message based on the synchronization word and channel of data transmission and using the first transceiver mode;

[0039] When sending the second type of message, the lawn mower and the charging station transmit the second type of message based on the synchronization word and channel of data transmission and using the second transceiver mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] FIG1 is a timing diagram of a typical existing half-duplex mode;

[0041] 2 is a schematic diagram of switching a continuous transmission mode of a first communication device according to an embodiment of the present invention;

[0042] 3 is a schematic diagram of switching a continuous transmission mode of a second communication device according to an embodiment of the present invention;

[0043] 4 is a timing diagram of pairing a first communication device and a second communication device according to an embodiment of the present invention;

[0044] 5 is a timing diagram of a transmit-receive mode of a first communication device and a second communication device according to an embodiment of the present invention;

[0045] FIG6 is a timing diagram of a continuous transmission mode of a first communication device and a second communication device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The present invention is further described in detail below with reference to the accompanying drawings.

[0047] In a typical configuration of the present application, the terminal, the device of the service network and the trusted party all include one or more processors (CPUs), input / output interfaces, network interfaces and memories.

[0048] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0049] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include non-transitory media such as modulated data signals and carrier waves.

[0050] Figure 1 shows a typical half-duplex timing diagram. RF communication between the charging station and the robot uses half-duplex mode, a one-receive, one-transmit mode. Specifically, the charging station is the master, and the robot is the slave. After the master and slave are successfully paired, the master enters the transmit state and the slave enters the receive state, sending messages to the slave. After the master sends a message, it enters the receive state, and after receiving the message, the slave enters the transmit state, sending messages to the master, and so on.

[0051] From a technical perspective, using a full-duplex communication module is the optimal solution. However, full-duplex communication equipment is complex, costly, and consumes a lot of power, which is particularly disadvantageous for battery-powered mobile platforms in mobile environments.

[0052] The present invention provides a method for data transmission between devices, the method comprising:

[0053] Step S2, when sending a first type of message, the first communication device and the second communication device transmit the message based on the synchronization word and channel of data transmission and using the first transceiver mode;

[0054] Optionally, the first sending and receiving mode may be, for example, a one-sending and one-receiving mode;

[0055] Preferably, the first type of message refers to the number of messages in the message queue to be sent being less than or equal to a preset threshold;

[0056] Preferably, before step S2, the method may further include: step S1, the first communication device and the second communication device are paired to determine a synchronization word and a channel for data transmission;

[0057] Step S3: When sending the second type of message, the first communication device and the second communication device transmit the message based on the synchronization word and channel of data transmission and using the second transceiver mode.

[0058] Optionally, the second transceiver mode may be, for example, a continuous transmission and reception mode;

[0059] Preferably, the second type of message refers to a message number in the to-be-sent message queue being greater than a preset threshold, specifically, for example, a data packet having a transmission message number greater than a preset threshold.

[0060] In a specific embodiment, the second communication device may be, for example, a lawn mower robot, and the first communication device may be, for example, a charging station.

[0061] Both the robotic lawn mower and the charging station are equipped with radio frequency (RF) transceivers for transmitting messages between the charging station and the robotic lawn mower. For example, the charging station is equipped with control devices that the user can operate to set the parameters of the robotic lawn mower or remotely control the robot. For example, the charging station is connected to the user's handheld terminal (such as a mobile phone) via the Internet. The user can send control information to the charging station through a mobile phone application, and the charging station then transmits the control information to the robotic lawn mower via the RF transceiver.

[0062] In this solution, you first need to pair the lawn mower robot with the charging station.

[0063] When the lawn mowing robot is used for the first time or for the first time after being reset, etc., the charging station and the robot enter the pairing state. After determining that pairing is required, the robot automatically returns to the charging station for charging and docking; if it cannot return automatically, the user is notified to send the robot back to the charging station and complete charging and docking; or, regardless of whether the robot can return automatically, the user is directly notified to send the robot back to the charging station and complete charging and docking; after confirming that charging and docking are completed, the robot and charging station enter the pairing state.

[0064] Specifically, charging docking means forming a stable electrical connection between the robot and the charging station, without limiting contact charging such as docking contact of charging electrodes; or wireless charging such as charging docking of wireless charging transceiver modules.

[0065] In another specific embodiment, the first communication device may be, for example, a host, and the second communication device may be, for example, a slave.

[0066] As shown in Figure 4, step S11, after entering the pairing state, the host begins to continuously send handshake instructions to the slave. Preferably, during the entire pairing process, the charging station can actively initiate communication as the host. If no response is received from the slave within 3 seconds, the command needs to be sent repeatedly; step S12, the slave only needs to reply one handshake instruction after receiving the handshake instruction; specifically, after receiving the handshake instruction, the slave can reply with the host's own serial number (SN, Serial Number). Step S13, after receiving the host's serial number, the slave stops sending handshake instructions and sends a notification including the synchronization word and channel used for pairing to the slave; step S14, after receiving the synchronization word and channel notification sent by the host for pairing, the slave replies with a signal confirming successful reception. The slave waits for 5 seconds before exiting the pairing mode and switching to the communication mode. This delay is used to ensure that the host does not send any other information. The specific value is not limited. Communication is carried out using the synchronization word and channel exchanged in the above steps. In step S14, the host immediately exits the pairing mode and switches to the communication mode after receiving the signal from the slave confirming successful reception. Subsequently, the host and the slave can communicate using the synchronization word and channel exchanged in the above steps.

[0067] Preferably, the structure of the first type of message and the second type of data packet transmitted between the first communication device and the second communication device is shown in the following table:

[0068] Preferably, the data packet structure includes: sequence number, length, command, data encoding and checksum. The underlying protocol of data communication can disassemble the complete data into multiple packets and transmit them through radio frequency (868MHz radio frequency transmission is used in this solution). Optionally, the maximum length of the data encoding (D0, ..., Di) can be defined as 30 bytes, that is, i = 29. The data encoding includes: data body (length 29 bytes) and data tail (length 1 byte). Among them, the data tail is used to characterize whether the data packet contains complete data. For example, if the data tail is 0xff, it means that the data packet is complete data. If the data tail is not 0xe0, it means that the data packet is part of the complete data. If the data encoding of a complete data does not exceed 29 bytes, then the data tail is 0x00. The specific numerical values ​​of this embodiment are only for illustrative purposes and are not limiting. The specific numerical values ​​can be set according to actual conditions.

[0069] In one embodiment, when no messages are being exchanged between the robot mower and the charging station, the robot mower and the charging station periodically transmit and receive breathing codes to confirm a normal RF connection. Exemplarily, the breathing code is an empty message, specifically, its length is 0x00, the command is 0x00, the first two bits of the data code are 0x000xff, and the rest are all 0x00.

[0070] When the message to be sent between the mowing robot and the charging station is a first-class message, a one-transmit-one-receive method (half-duplex mode) is used. Preferably, the first-class message refers to the number of messages in the message queue to be sent being less than or equal to a threshold (specifically, a single message is transmitted, or a data packet with a number of messages not greater than the threshold is transmitted). The timing diagram can be seen in Figure 5. DATA#00 is a breathing code. In step S21, DATA#1_1 is a data message sent from the master to the slave. In step S22, DATA#2_1 is a confirmation message sent from the slave to the master corresponding to the data message. The data message DATA#1_1 and the corresponding confirmation message DATA#2_1 have the same sequence number.

[0071] When the pending message between the robot mower and the charging station is a second-class message, a continuous transmission and reception mode is used. Preferably, a second-class message refers to a message queue with a number greater than a preset threshold. Specifically, for example, this could be a data packet with a number of transmitted messages greater than the threshold. For a flowchart of the continuous transmission and reception mode between the master and slave devices, refer to Figures 2 and 3 , and a timing diagram can be found in Figure 6 . Exemplarily, the threshold is set to 10. The master continuously sends data packets DATA#1, DATA#2, ..., DATA#10 to the slave device.

[0072] As shown in Figures 2 and 3, in step S31, when the number of messages in the to-be-sent message queue is greater than a preset threshold, the first communication device switches from a one-transmit-one-receive mode to a continuous transmission mode;

[0073] Step S32: After the first communication device sends an instruction to enter the continuous receiving mode to the second communication device, it sends a message with a sequence number to the second communication device and backs up the message with the sequence number just sent;

[0074] Step S33: If the number of messages sent by the first communication device is equal to a preset threshold, the first communication device switches to a receiving mode and waits for the second communication device to send a return message, such as a return data packet;

[0075] Step S34: The second communication device backs up the received messages with sequence numbers; if the number of messages received by the second communication device is equal to a preset threshold, the second communication device sends a return message to the first communication device, wherein the return message includes the sequence numbers of all received messages;

[0076] In step S35, the first communication device compares the sequence numbers of all messages in the returned message with the sequence numbers of all messages backed up by itself. If the comparison is consistent, the returned message passes the verification; if the comparison is inconsistent, the message that failed to be sent is re-added to the list of messages to be sent by sequence number.

[0077] Specifically, the slave's return message, DATA#back, contains the sequence numbers of all received data packets. Upon receiving the DATA#back packet, the master compares the sequence numbers in the return packet with the sequence numbers of the backed-up sent messages. If they match, the return packet passes verification. If not, the failed message is added to the waiting list based on its sequence number, ensuring successful data transmission.

[0078] In one embodiment, the master and slave devices can automatically exit the continuous receive and transmit mode after sending and receiving n messages. In this case, the "CMD: End Continuous Receive Mode" message in the timing diagram of FIG6 does not exist. In another embodiment, as shown in FIG6 , the slave device exits the continuous receive mode after receiving a command from the master to end the continuous receive mode.

[0079] According to another aspect of the present invention, a computer-readable storage medium is provided, on which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, the processor is caused to execute the method described in any one of the above embodiments.

[0080] During the communication process, this application can adopt a continuous sending and receiving mode based on the judgment of message characteristics, which can continuously send without switching the sending and receiving state, avoiding time-consuming waiting and increasing the speed and timeliness of transmission. This application chooses the half-duplex mode with lower cost and less energy consumption, which is more conducive to the commercialization of technology.

[0081] Compared with the existing technology, the present application includes: pairing a first communication device and a second communication device to determine the synchronization word and channel for data transmission; when sending a first type of message, the first communication device and the second communication device use a one-send-one-receive method based on the synchronization word and channel for data transmission to transmit the first type of message; when sending a second type of message, the first communication device and the second communication device use a continuous sending and receiving mode based on the synchronization word and channel for data transmission to transmit the second type of message. During the communication process, the present application can adopt a continuous sending and receiving mode based on the determination of message characteristics, and can continuously send without switching the sending and receiving state, thereby avoiding time-consuming waiting and increasing the speed and timeliness of transmission. The present application selects a half-duplex mode with lower cost and less energy consumption, which is more conducive to the commercialization of technology.

[0082] According to another aspect of the present invention, there is further provided a lawn mower system, characterized in that it comprises:

[0083] When sending the first type of message, the lawn mower and the charging station transmit the first type of message based on the synchronization word and channel of data transmission and using the first transceiver mode;

[0084] When sending the second type of message, the lawn mower and the charging station transmit the second type of message based on the synchronization word and channel of data transmission and using the second transceiver mode.

[0085] The detailed contents of the various device embodiments of the present invention can be found in the corresponding parts of the various method embodiments, which will not be repeated here.

[0086] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

[0087] It should be noted that the present invention can be implemented in software and / or a combination of software and hardware, for example, can be implemented using an application specific integrated circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention can be executed by a processor to implement the steps or functions described above. Similarly, the software program of the present invention (including related data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and similar devices. In addition, some steps or functions of the present invention can be implemented using hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0088] In addition, a portion of the present invention may be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. The program instructions for calling the method of the present invention may be stored in a fixed or removable recording medium, and / or transmitted through a data stream in a broadcast or other signal-carrying medium, and / or stored in a working memory of a computer device that operates according to the program instructions. Here, according to one embodiment of the present invention, a device is included, which includes a memory for storing computer program instructions and a processor for executing the program instructions, wherein, when the computer program instructions are executed by the processor, the device is triggered to operate based on the aforementioned methods and / or technical solutions according to multiple embodiments of the present invention.

[0089] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations that fall within the meaning and scope of the equivalents of the claims be encompassed within the present invention. Any reference numerals in the claims should not be regarded as limiting the claims to which they relate. Furthermore, it is apparent that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in a device claim may also be implemented by one unit or device through software or hardware. Words such as first and second are used to indicate names and do not indicate any particular order.

Claims

1. A method for data transmission between devices, characterized in that: include: When sending the first type of message, the first communication device and the second communication device transmit the first type of message based on the synchronization word and channel of data transmission and using the first transceiver mode; When sending the second type of message, the first communication device and the second communication device transmit the second type of message based on the synchronization word and channel of data transmission and using the second transceiver mode.

2. The method for data transmission between devices according to claim 1, wherein: When sending the first type of message, the synchronization word and channel based on data transmission between the first communication device and the second communication device also include: The first communication device and the second communication device are paired to determine a synchronization word and a channel for data transmission.

3. The data transmission method between devices according to claim 2, characterized in that: The first communication device and the second communication device are paired to determine a synchronization word and a channel for data transmission, including: After entering the pairing state, the first communication device starts to continuously send handshake instructions to the second communication device; After receiving the handshake instruction, the second communication device replies with its own serial number to the first communication device; After receiving the synchronization word and channel notification for pairing sent by the first communication device, the second communication device replies with a signal confirming successful reception and then exits the pairing mode and switches to the communication mode; After receiving the signal from the second communication device confirming successful reception, the first communication device immediately exits the pairing mode and switches to the communication mode.

4. The method for data transmission between devices according to claim 3, wherein: After receiving the synchronization word and channel notification for pairing sent by the first communication device, the second communication device replies with a signal confirming successful reception and then exits the pairing mode, including: After receiving the synchronization word and channel notification for pairing sent by the first communication device, the second communication device replies with a signal confirming successful reception and then exits the pairing mode after waiting for a preset time.

5. The method for data transmission between devices according to claim 1, wherein: The data packet structure of the first message communicated and transmitted between the first communication device and the second communication device includes: sequence number, length, command, data encoding and checksum.

6. The method for data transmission between devices according to claim 1, wherein: Also includes: When there is no message transmission between the second communication device and the first communication device, the second communication device and the first communication device periodically transmit and receive breathing codes.

7. The method for data transmission between devices according to claim 1, wherein: The first transceiver mode is a one-transmit-one-receive mode; the second transceiver mode is a continuous transmission and reception mode.

8. The method for data transmission between devices according to claim 7, wherein: When sending a first type of message, the first communication device and the second communication device transmit the first type of message based on the synchronization word and channel of data transmission and using a first transceiver mode. When the first transceiver mode is a one-transmit-one-receive mode, the first type of message is transmitted, including: a data message sent by the first communication device to the second communication device; The second communication device sends a confirmation message corresponding to the data message to the first communication device, wherein the data message and the corresponding confirmation message have the same sequence number.

9. The method for data transmission between devices according to claim 2, wherein: The first type of message refers to the number of messages in the message queue to be sent being less than or equal to a preset threshold; The second type of message refers to the number of messages in the message queue to be sent being greater than a preset threshold.

10. The method for data transmission between devices according to claim 9, wherein: When sending the second type of message, the first communication device and the second communication device transmit the second type of message based on the synchronization word and channel of the data transmission and adopt the second transceiver mode, where the second transceiver mode is a continuous sending and receiving mode, including: When the number of messages in the to-be-sent message queue exceeds a preset threshold, the first communication device switches from a one-transmit-one-receive mode to a continuous transmission mode; After the first communication device sends an instruction to enter a continuous receiving mode to the second communication device, the first communication device sends a message with a sequence number to the second communication device and backs up the message with the sequence number just sent; If the number of messages sent by the first communication device is equal to a preset threshold, the first communication device switches to a receiving mode and waits for the second communication device to send a return message; The second communication device backs up the received sequence-numbered messages; if the number of messages received by the second communication device is equal to a preset threshold, the second communication device sends a return message to the first communication device, wherein the return message includes the sequence numbers of all received messages; The first communication device compares the sequence numbers of all messages in the returned message with the sequence numbers of all messages backed up by itself. If the comparison is consistent, the returned message passes the verification; if the comparison is inconsistent, the message that failed to be sent is added back to the list of messages to be sent based on the sequence number.

11. The method for data transmission between devices according to claim 1, wherein: After the return message passes verification, it also includes: The first communication device automatically exits the continuous sending mode after sending a preset threshold number of messages; The second communication device automatically exits the continuous receiving mode after receiving a preset threshold number of messages.

12. A computer-readable storage medium having computer-executable instructions stored thereon, characterized in that: When the computer executable instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 11.

13. A lawn mower system, characterized in that: include: When sending the first type of message, the lawn mower and the charging station transmit the first type of message based on the synchronization word and channel of data transmission and using the first transceiver mode; When sending the second type of message, the lawn mower and the charging station transmit the second type of message based on the synchronization word and channel of data transmission and using the second transceiver mode.

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