CN114698454A - Method, apparatus and computer storage medium for controlling mowing robot - Google Patents
Method, apparatus and computer storage medium for controlling mowing robot Download PDFInfo
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- CN114698454A CN114698454A CN202210450900.0A CN202210450900A CN114698454A CN 114698454 A CN114698454 A CN 114698454A CN 202210450900 A CN202210450900 A CN 202210450900A CN 114698454 A CN114698454 A CN 114698454A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/001—Accessories not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/12—Detecting, e.g. by using light barriers using one transmitter and one receiver
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/108—Rainwater harvesting
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- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
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- Harvester Elements (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention relates to the technical field of cleaning equipment, and discloses a method for controlling a mowing robot, which comprises the following steps: acquiring measurement parameters of the measurement assembly; judging whether liquid passes through the drainage groove or not according to the measurement parameters; if so, recording the duration of the liquid continuously passing through the drainage groove; judging whether the environment where the mowing robot is located is in a rainy state or not according to the duration; if yes, controlling the mowing robot to return to a charging base station; and if not, controlling the mowing robot to execute a mowing task. Through the mode, the embodiment of the invention can effectively judge whether the environment where the mowing machine is located is in a rainy state or not, and realize the function of rain detection.
Description
Technical Field
The embodiment of the invention relates to the technical field of cleaning equipment, in particular to a method and a device for controlling a mowing robot and a computer storage medium.
Background
Along with the progress of science and technology, various intelligent products come into production at the same time, and the automatic mowing robot brings convenience to people in daily life by walking into people, and is one type of automatic mowing robot and is more and more common in the daily life of people. The main function of the mowing robot is to automatically perform daily management on the lawn, and the labor intensity of people for lawn maintenance is greatly reduced.
In the process of implementing the embodiment of the present invention, the inventors of the embodiment of the present invention find that: although the existing mowing robot has the function of automatically detecting rain, if an emergency exists, whether the existing mowing robot rains cannot be accurately judged, and if water is accidentally spilled to a rainwater detection device or liquid is artificially poured into the rainwater detection device.
Disclosure of Invention
The embodiment of the invention mainly solves the technical problem of providing a method for controlling a mowing robot, which can effectively judge whether the environment where the mowing robot is located is in a rainy state or not and realize a rainy detection function.
In order to solve the above technical problem, one technical solution adopted by the embodiments of the present invention is: there is provided a method of controlling a robot lawnmower provided with a rainwater detection device including a mounting body provided with a water discharge groove, a flow-joining groove, a communication hole connecting the water discharge groove and the flow-joining groove, and a drain hole communicating with the water discharge groove, a measurement block provided in the water discharge groove, the measurement block detecting whether or not there is liquid passing through the water discharge groove, the method including: acquiring measurement parameters of the measurement component; judging whether liquid passes through the drainage groove or not according to the measurement parameters; if liquid passes through the drainage groove, recording the duration of the liquid passing through the drainage groove; judging whether the environment where the mowing robot is located is in a rainy state or not according to the duration; if the environment of the mowing robot is in a rainy state, controlling the mowing robot to return to a charging base station; and if the environment where the mowing robot is located is not in a rainy state, controlling the mowing robot to execute a mowing task.
Optionally, the step of determining whether the environment where the robot mower is located is in a rainy state according to the duration further includes: judging whether the duration is less than or equal to a preset duration or not; if the duration is less than or equal to a preset duration, determining that the measuring assembly is in a false touch state, and the environment where the mowing robot is located is not in a rainy state; and if the duration is longer than the preset duration, determining that the environment where the mowing robot is located is in a rainy state.
Optionally, the method further comprises: and controlling the mowing robot to output alarm information when the measuring assembly is determined to be in the mistaken touch state.
Optionally, the method further comprises: when the measuring component is determined to be in the false touch state, continuously acquiring the measuring parameters of the measuring component; and controlling the mowing robot to execute a mowing task when the situation that no liquid passes through the drainage groove is judged according to the continuously acquired measurement parameters.
Optionally, the method further comprises: if the situation that no liquid passes through the drainage groove is judged according to the measurement parameters, the mowing robot is controlled to execute a mowing task; judging whether the measuring assembly detects the rainwater flowing to the drainage groove from the confluence groove or not; if the measuring assembly detects that the confluence groove flows to the drainage groove in the preset time, determining that the preset condition for executing the mowing task is not met; and if the measuring assembly does not detect the rainwater flowing to the drainage groove from the confluence groove within the preset time, determining that the preset condition for executing the mowing task is met.
In order to solve the above technical problem, another technical solution adopted in the embodiments of the present invention is: there is provided an apparatus for controlling a lawn mowing robot, the apparatus including: the acquisition module is used for acquiring the measurement parameters of the measurement assembly; the first judgment module is used for judging whether liquid passes through the drainage tank or not according to the measurement parameters; the recording module is used for recording the duration of the liquid continuously passing through the drainage groove if the liquid passes through the drainage groove; the second judgment module is used for judging whether the environment where the mowing robot is located is in a rainy state or not according to the duration; the first control module is used for controlling the mowing robot to return to a charging base station if the environment where the mowing robot is located is in a rainy state; and the second control module is used for controlling the mowing robot to execute a mowing task if the environment where the mowing robot is located is not in a rainy state.
Optionally, the apparatus further comprises: and the third control module is used for controlling the mowing robot to execute a mowing task if the fact that no liquid passes through the drainage tank is judged according to the measurement parameters.
Optionally, the apparatus further comprises: the first judgment unit is used for judging whether the duration is less than or equal to a preset duration; the first determining unit is used for determining that the measuring assembly is in a mistaken touch state if the duration is less than or equal to a preset duration, and determining that the measuring assembly is in the mistaken touch state and the environment where the mowing robot is located is not in a rainy state; and the second determining unit is used for determining that the environment where the mowing robot is located is in a rainy state if the duration is longer than a preset duration.
In order to solve the above technical problem, another technical solution adopted in the embodiments of the present invention is: provided is a mowing robot including: the rainwater detection device comprises a mounting body, a measurement component and a timer; the controller includes: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the above.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is: there is provided a computer storage medium having stored thereon computer-executable instructions for causing a server to perform the method as described above.
The embodiment of the invention provides a method for controlling a mowing robot, which comprises the following steps: acquiring measurement parameters of the measurement assembly, judging whether liquid passes through the drainage groove, recording the duration of the liquid passing through the drainage groove if the liquid passes through the drainage groove, judging whether the environment of the mowing robot is in a rainy state again, and controlling the mowing robot to return to a charging base station if the environment of the mowing robot is in the rainy state; if the environment where the mowing robot is located is not in a rainy state, the mowing robot is controlled to execute a mowing task, so that the mowing robot can effectively judge whether the environment where the mowing robot is located is in the rainy state or not, rain sheltering operation is carried out, the using performance of the mowing robot is improved, and user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic view of a lawn mowing robot of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a rain detector according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method of controlling a lawn mowing robot in accordance with an embodiment of the present invention;
FIG. 4 is a flowchart illustrating steps of a method for controlling a mowing robot according to an embodiment of the invention, wherein the method comprises determining whether an environment of the mowing robot is in a rainy state according to the duration;
FIG. 5 is a method flow diagram of yet another embodiment of a method of controlling a lawn mowing robot in accordance with embodiments of the present disclosure;
FIG. 6 is a block diagram of an apparatus for controlling a lawn mowing robot of the present invention;
fig. 7 is a schematic structural diagram of a controller of a mowing robot according to an embodiment of the invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "vertical," "horizontal," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 1 and 2 are schematic views of a mowing robot according to the present invention, the mowing robot 200 includes a mowing robot body 201, a rainwater detection device 100 and a controller (not shown) disposed on the mowing robot body 201, the rainwater detection device 100 includes an installation body 10, a measurement module 20, and a timer (not shown), the installation body 10 is provided with a drainage groove 101, a collection groove 102, a communication hole 103, the communication hole 103 connects the drainage groove 101 and the collection groove 102, the collection groove 102 is used for collecting external liquid, and the collected liquid flows into the drainage groove 101, the drainage hole 104 is communicated with the drainage groove 101, the measurement module 20 is disposed on the drainage groove 101, and the measurement module 20 is used for detecting whether liquid passes through the drainage groove 101. When rainwater enters the confluence groove 102, the controller controls the measuring assembly 20 to start detection, and transmits a detection result to the controller, so that the detection of the rainwater is completed.
Referring to fig. 3, fig. 3 shows a flow chart of a method of controlling a lawn mowing robot according to the present invention, the method comprising the steps of:
step S101: acquiring measurement parameters of the measurement assembly;
the measured parameter is a signal output by the measurement component.
Step S102: judging whether liquid passes through the drainage groove or not according to the measurement parameters;
step S103: if the liquid passes through the drainage groove, recording the duration of the liquid passing through the drainage groove;
in some embodiments, the measuring component is an infrared pair transistor, the infrared pair transistor is divided into a transmitting end and a receiving end, when rainwater exists between the receiving end and the transmitting end, infrared light received by the receiving end is weakened to output a relatively low level, and when rainwater does not exist between the receiving end and the transmitting end, infrared light received by the receiving end is stronger to output a relatively high level, so that the measuring parameter is a level value detected by the measuring component, and whether the measuring component detects rainwater can be deduced back through the level value.
Step S104: judging whether the environment where the mowing robot is located is in a rainy state or not according to the duration;
the preset duration is a duration set in advance, and specific numerical values of the preset duration can be set according to the actual situation, such as: the measuring component continuously detects the rainwater in 30S, the measuring component is in a rain state at the moment, when the rain stops or the condition of mistaken touch exists, the measuring component detects the rainwater and does not exceed 30S, the measuring component indicates that the measuring component does not rain in the rain state at present, and the preset duration can be changed according to the actual condition. Referring to fig. 4, the step S104 further includes:
step S1041: judging whether the duration is less than or equal to a preset duration or not;
the preset duration is a duration set in advance, if the measuring component continuously detects rainwater in 30S, the situation that the rainwater stops or the rainwater is mistakenly touched is indicated, and if the measuring component detects that the rainwater exceeds 30S, the situation that the rainwater is raining currently is indicated, and the preset duration can be changed according to the actual situation.
Step S1042: if the duration is less than or equal to a preset duration, determining that the measuring assembly is in a false touch state, and the environment where the mowing robot is located is not in a rainy state;
when a user accidentally splashes water to the mowing robot, the rainwater detection device collects liquid, the time for the user to accidentally splash water to the mowing robot is usually not too long, and therefore the accidental water splashing state of the user or the actual raining state of the environment in which the mowing robot is located can be determined by comparing the duration with the preset duration.
Step S1043: and if the duration is longer than the preset duration, determining that the environment where the mowing robot is located is in a rainy state.
And S1044, controlling the mowing robot to output alarm information when the measuring component is determined to be in the mistaken touch state.
Step S1045, when the measuring component is determined to be in the false touch state, continuing to acquire the measuring parameters of the measuring component;
step S1046: and controlling the mowing robot to execute a mowing task when the situation that no liquid passes through the drainage groove is judged according to the continuously acquired measurement parameters.
Confirm that measuring unit touches the state for the mistake after, in order to avoid touching again by mistake, continuously detect when measuring unit does not have liquid through water drainage tank after, can be more accurate judgement whether rain or better judgement whether touch the state for the mistake at present.
Step S105: if the environment of the mowing robot is in a rainy state, controlling the mowing robot to return to a charging base station;
step S106: and if the environment where the mowing robot is located is not in a rainy state, controlling the mowing robot to execute a mowing task.
In the embodiment of the invention, the measurement parameters of the measurement component are obtained, then whether liquid passes through the drainage groove or not is judged, if so, the duration of the liquid passing through the drainage groove is recorded, whether the environment where the mowing robot is located is in a rainy state or not is judged again, and if the environment where the mowing robot is located is in a rainy state, the mowing robot is controlled to return to a charging base station; if the environment where the mowing robot is located is not in a rainy state, the mowing robot is controlled to execute a mowing task, and through the mode, whether the mowing robot encounters rain or not when executing the mowing task can be effectively judged, so that rain sheltering operation is carried out, the using performance of the mowing robot is improved, and user experience is improved.
Referring to fig. 5, fig. 5 is a flowchart illustrating a method of controlling a lawn mowing robot according to another embodiment of the present invention, wherein the method further includes:
step S107: if the situation that no liquid passes through the drainage groove is judged according to the measurement parameters, the mowing robot is controlled to execute a mowing task;
in the embodiment of the invention, if the situation that no liquid passes through the drainage tank is judged according to the measurement parameters, the mowing robot is controlled to execute a mowing task; by means of the mode, whether the mowing robot encounters rain or not when the mowing task is executed can be effectively judged, and the using performance of the mowing robot is improved.
Referring to fig. 6, fig. 6 shows a schematic diagram of an apparatus 70 for controlling a robot mower according to an embodiment of the present invention, where the apparatus 70 includes: the device comprises an acquisition module 71, a first judgment module 72, a recording module 73, a second judgment module 74, a first control module 75 and a second control module 76, wherein the acquisition module 71 is used for acquiring the measurement parameters of the measurement component; the first judging module 72 is configured to judge whether there is liquid passing through the drainage channel according to the measurement parameter; a recording module 73 for recording the duration of the liquid passing through the drainage channel; the second judging module 74 is configured to judge whether the environment where the mowing robot is located is in a rainy state according to the duration; a first control module 75, configured to control the mowing robot to return to a charging base station if the environment where the mowing robot is located is in a rainy state; and a second control module 76, configured to control the mowing robot to perform a mowing task if the environment in which the mowing robot is located is not in a rainy state.
In the embodiment of the present invention, the device 70 further includes a third control module 77, a second judging module 78, a first determining module 79 and a second determining module 80, if it is judged that there is no liquid passing through the drainage channel according to the measured parameter, the third control module 77 is used for controlling the mowing robot to perform a mowing task; the second judging module 78 is configured to judge whether the measuring assembly detects rainwater flowing from the confluence tank to the drainage tank; if the measuring assembly detects that rainwater flows to the drainage groove from the confluence groove within the preset time, the first determining module 79 is used for determining that the preset condition for executing the mowing task is not met; if the measuring assembly does not detect the rainwater flowing to the drainage groove from the confluence groove within the preset time, the second determining module 80 is used for determining that the preset condition for executing the mowing task is met.
In an embodiment of the present invention, the apparatus 70 further comprises: a first judging unit 81, a first determining unit 82 and a second determining unit 83, wherein the first judging unit 81 is used for judging whether the duration is less than or equal to a preset duration; if the duration is less than or equal to a preset duration, it is determined that the measuring component is in a false touch state, and the first determining unit 82 is configured to determine that the measuring component is in the false touch state and the environment where the mowing robot is located is not in a rainy state; if the duration is longer than a preset duration, the second determining unit 83 is configured to determine that the environment where the mowing robot is located is in a rainy state.
The embodiment of the invention comprises the following steps: an obtaining module 71, configured to obtain measurement parameters of the measurement component; a first judging module 72, configured to judge whether there is liquid passing through the drainage channel according to the measurement parameter; a recording module 73 for recording the duration of the liquid passing through the drainage channel if there is liquid passing through the drainage channel; a second judging module 74, configured to judge whether the environment where the mowing robot is located is in a rainy state according to the duration; a first control module 75, configured to control the mowing robot to return to a charging base station if the environment where the mowing robot is located is in a rainy state; the second control module 76 is used for controlling the mowing robot to execute a mowing task if the environment where the mowing robot is located is not in a rainy state, and through the modules, whether the mowing robot encounters rain and is in a false touch state or not when the mowing task is executed can be effectively judged, so that the mowing robot can accurately judge whether the mowing robot is in the rainy state or not at present, rain sheltering operation is carried out, service performance of the mowing robot is improved, and user experience is improved.
The present invention further provides an embodiment of a controller of a mowing robot, referring to fig. 7, fig. 7 is a schematic diagram of an embodiment of a control device according to the present invention, wherein the controller 90 of the control device includes: at least one processor 901; and a memory 902 communicatively coupled to the at least one processor 901, wherein one of the processors 901 is illustrated in fig. 7. The memory 902 stores instructions executable by the at least one processor 901, the instructions being executable by the at least one processor 901 to enable the at least one processor 901 to perform a method of controlling a lawn mowing robot as described above with reference to fig. 3 to 5, and to perform an apparatus of controlling a lawn mowing robot as described above with reference to fig. 7. The processor 901 and the memory 902 may be connected by a bus or other means, and fig. 7 illustrates an example of a connection by a bus.
The memory 902, which is a non-volatile computer storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to one of the methods of controlling a scrubber of the embodiments of the present application, for example, the modules shown in fig. 6. The processor 901 executes various functional applications of the server and data processing by executing nonvolatile software programs, instructions and modules stored in the memory 902, so as to realize the method for controlling the mowing robot.
The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the stored data area may store data created from use of an apparatus for controlling a scrubber, etc. Further, the memory 902 may include high speed random access memory 902 and may also include non-volatile memory 902, such as at least one piece of disk memory 902, flash memory device, or other non-volatile solid state memory 902. In some embodiments, the memory 902 may optionally include memory 902 located remotely from the processor 901, and these remote memories 902 may be connected to a device controlling the scrubber via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 902 and, when executed by the one or more processors 901, perform a method of controlling a scrubber in any of the method embodiments described above, e.g., performing the method steps of fig. 3-5 described above, and performing an apparatus of controlling a lawn mowing robot as described above in fig. 6.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of controlling a robot lawnmower, the robot lawnmower provided with a rainwater detection device including a mounting body, a measurement block, and a timer, the mounting body provided with a water discharge groove, a flow-joining groove, a communication hole, and a water discharge opening, the communication hole connecting the water discharge groove and the flow-joining groove, the flow-joining groove for collecting an external liquid, and the collected liquid flowing into the water discharge groove, the water discharge opening communicating with the water discharge groove, the measurement block provided in the water discharge groove, the measurement block for detecting whether or not there is liquid passing through the water discharge groove, the method comprising:
acquiring measurement parameters of the measurement assembly;
judging whether liquid passes through the drainage groove or not according to the measurement parameters;
if liquid passes through the drainage groove, recording the duration of the liquid passing through the drainage groove;
judging whether the environment where the mowing robot is located is in a rainy state or not according to the duration;
if the environment where the mowing robot is located is in a rainy state, controlling the mowing robot to return to a charging base station;
and if the environment where the mowing robot is located is not in a rainy state, controlling the mowing robot to execute a mowing task.
2. The method of claim 1,
the step of judging whether the environment where the mowing robot is located is in a rainy state or not according to the duration further comprises the following steps:
judging whether the duration is less than or equal to a preset duration or not;
if the duration is less than or equal to a preset duration, determining that the measuring assembly is in a false touch state, and the environment where the mowing robot is located is not in a rainy state;
and if the duration is longer than the preset duration, determining that the environment where the mowing robot is located is in a rainy state.
3. The method of claim 2, further comprising:
and controlling the mowing robot to output alarm information when the measuring assembly is determined to be in the mistaken touch state.
4. The method of claim 3, further comprising:
when the measuring component is determined to be in the false touch state, continuously acquiring the measuring parameters of the measuring component;
and controlling the mowing robot to execute a mowing task when the situation that no liquid passes through the drainage groove is judged according to the continuously acquired measurement parameters.
5. The method according to any one of claims 1-4, further comprising:
and if the situation that no liquid passes through the drainage groove is judged according to the measurement parameters, controlling the mowing robot to execute a mowing task.
6. An apparatus for controlling a robot lawnmower, the apparatus comprising:
the acquisition module is used for acquiring the measurement parameters of the measurement assembly;
the first judgment module is used for judging whether liquid passes through the drainage groove or not according to the measurement parameters;
the recording module is used for recording the duration of the liquid continuously passing through the drainage groove if the liquid passes through the drainage groove;
the second judgment module is used for judging whether the environment where the mowing robot is located is in a rainy state or not according to the duration;
the first control module is used for controlling the mowing robot to return to a charging base station if the environment where the mowing robot is located is in a rainy state;
and the second control module is used for controlling the mowing robot to execute a mowing task if the environment where the mowing robot is located is not in a rainy state.
7. The apparatus of claim 6, further comprising:
and the third control module is used for controlling the mowing robot to execute a mowing task if the third control module judges that no liquid passes through the drainage tank according to the measurement parameters.
8. The apparatus of claim 6, further comprising:
the first judgment unit is used for judging whether the duration is less than or equal to a preset duration;
the first determining unit is used for determining that the measuring component is in a false touch state if the duration is less than or equal to a preset duration, and determining that the measuring component is in the false touch state and the environment where the mowing robot is located is not in a rainy state;
and the second determining unit is used for determining that the environment where the mowing robot is located is in a rainy state if the duration is longer than a preset duration.
9. A lawn mowing robot comprising:
a mowing robot body;
the rainwater detection device is arranged on the mowing robot body and comprises an installation body, a measurement assembly and a timer, wherein the installation body is provided with a drainage groove, a confluence groove, a communication hole and a water outlet, the communication hole connects the drainage groove with the confluence groove, the confluence groove is used for collecting external liquid, the collected liquid flows into the drainage groove, the water outlet is communicated with the drainage groove, the measurement assembly is arranged on the drainage groove, and the measurement assembly is used for detecting whether the liquid passes through the drainage groove;
a controller disposed in the robot lawnmower body, the controller comprising: at least one processor, and a memory communicatively coupled to the at least one processor, the processor further coupled to a measurement component and a timer;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
10. A computer storage medium having stored thereon computer-executable instructions for causing a server to perform the method of claims 1-5.
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| CN113759886A (en) * | 2020-06-01 | 2021-12-07 | 上海山科机器人有限公司 | Control circuit for autonomous working apparatus, and control method therefor |
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