本申请涉及智能设备技术领域，具体涉及一种设备控制方法及相关设备。The present application relates to the technical field of intelligent devices, and in particular to a device control method and related devices.
自移动设备，主要指可以按照预先设置的控制程序执行相关作业任务的智能化设备，比如工业上执行各种任务的机器人，以及生活中常用的自动割草机、扫地机器人等，由于自移动设备工作过程通常极少需要人为操作与干涉，可以节省大量的人力，近年来得到广泛应用。Self-moving equipment mainly refers to intelligent equipment that can perform related work tasks according to pre-set control programs, such as robots that perform various tasks in industry, and automatic lawn mowers and sweeping robots commonly used in life. Since the working process of self-moving equipment usually requires very little human operation and interference, it can save a lot of manpower and has been widely used in recent years.
自移动设备大都包括多个实现不同功能的功能模块，比如移动模块、作业模块、驱动模块等，通过各个模块相互配合，实现自移动设备的既定功能。实际应用中，由于自移动设备可以在无人看守的情况下移动或工作，因此容易被偷盗。Most self-moving devices include multiple functional modules that implement different functions, such as a moving module, an operating module, a driving module, etc., and each module cooperates with each other to achieve the given functions of the self-moving device. In actual applications, since self-moving devices can move or work without supervision, they are easy to be stolen.
因此，如何避免自移动设备被偷盗，成为本领域技术人员亟待解决的技术问题。Therefore, how to prevent the mobile device from being stolen has become a technical problem that needs to be solved urgently by those skilled in the art.
发明内容Summary of the invention
有鉴于此，本申请致力于提供一种设备控制方法及相关设备，只有在辅助模块与设备主体匹配的情况下才能控制自移动设备运行，能够有效降低自移动设备被盗的风险。In view of this, the present application is dedicated to providing a device control method and related devices, which can control the operation of the self-equipped device only when the auxiliary module matches the device body, and can effectively reduce the risk of the self-equipped device being stolen.
第一方面，本申请提供一种设备控制方法，应用于自移动系统，所述自移动系统包括至少一个辅助模块和至少一个设备主体，所述辅助模块可拆卸连接于所述设备主体，所述方法包括：In a first aspect, the present application provides a device control method, which is applied to a self-moving system, wherein the self-moving system comprises at least one auxiliary module and at least one device body, wherein the auxiliary module is detachably connected to the device body, and the method comprises:
在目标辅助模块与设备主体相连的情况下，确定当前的设备主体是否为与目标辅助模块相匹配的目标主体，目标辅助模块为自移动系统中的任意一个辅助模块；In the case where the target auxiliary module is connected to the device body, determining whether the current device body is a target body that matches the target auxiliary module, the target auxiliary module being any auxiliary module in the self-moving system;
在当前的设备主体为目标主体的情况下，确定目标辅助模块与当前的设备主体连接得到的自移动设备为目标自移动设备；In the case where the current device body is the target body, determining that the self-moving device obtained by connecting the target auxiliary module with the current device body is the target self-moving device;
控制自移动系统中的至少一个目标自移动设备工作。Control at least one target self-moving device in the self-moving system to operate.
在一些实施例中，目标主体包括与目标辅助模块之间设有映射关系的设备主体；In some embodiments, the target subject includes a device subject having a mapping relationship with the target auxiliary module;
映射关系是预设的，或者，是在辅助模块与设备主体首次连接时创建的。The mapping relationship is preset or created when the auxiliary module is connected to the device body for the first time.
在一些实施例中，目标主体对应的用户帐号与目标辅助模块对应的用户账号相同。In some embodiments, the user account corresponding to the target subject is the same as the user account corresponding to the target auxiliary module.
在一些实施例中，上述方法还包括：In some embodiments, the above method further comprises:
获取辅助模块和/或设备主体的标识信息；Obtaining identification information of the auxiliary module and/or the device body;
获取用户账号；Get the user account;
对标识信息和用户账号进行绑定处理。Bind the identification information and user account.
在一些实施例中，任一辅助模块与至少一个设备主体之间设有映射关系，任一设备主体与一个辅助模块之间设有映射关系。In some embodiments, a mapping relationship is set between any auxiliary module and at least one device body, and a mapping relationship is set between any device body and an auxiliary module.
在一些实施例中，控制自移动系统中的至少一个目标自移动设备工作，包括：In some embodiments, controlling at least one target self-moving device in the self-moving system to operate includes:
在至少一个用户地图中确定工作地图；determining a working map in at least one user map;
控制自移动系统中的至少一个目标自移动设备根据工作地图工作。At least one target self-moving device in the self-moving system is controlled to work according to the working map.
在一些实施例中，控制自移动系统中的至少一个目标自移动设备工作，包括：In some embodiments, controlling at least one target self-moving device in the self-moving system to operate includes:
在至少一个用户地图中确定工作地图；determining a working map in at least one user map;
在自移动系统中确定至少一个作业设备；determining at least one working device in the self-propelled system;
控制至少一个作业设备中的目标自移动设备根据工作地图工作。Control the target self-moving device in at least one working device to work according to the working map.
在一些实施例中，至少一个用户地图包括自移动系统中每个辅助模块和/或每个设备主体创建的地图。In some embodiments, the at least one user map includes a map created from each auxiliary module and/or each device body in the mobile system.
在一些实施例中，每个用户地图包括至少一个图层，每个图层包括用户地图的至少部分地图信息；In some embodiments, each user map includes at least one layer, each layer including at least a portion of map information of the user map;
在至少一个用户地图中确定工作地图包括：Determining a work map in at least one user map includes:
获取地图选择指令；Get the map selection command;
根据地图选择指令在至少一个用户地图中确定工作地图；determining a working map from at least one user map according to a map selection instruction;
显示工作地图的至少一个图层。Display at least one layer of your working map.
在一些实施例中，工作地图包括至少一个区域；In some embodiments, the work map includes at least one region;
控制至少一个作业设备中的目标自移动设备根据工作地图工作，包括：Controlling a target self-moving device in at least one working device to work according to a working map includes:
在工作地图的至少一个区域中确定至少一个目标区域；determining at least one target area in at least one area of the working map;
对至少一个目标区域和至少一个作业设备进行分配处理，确定分配信息；Performing allocation processing on at least one target area and at least one operating equipment to determine allocation information;
控制至少一个作业设备中的目标自移动设备，根据至少一个目标区域和分配信息工作。Control the target self-moving device in at least one working device to work according to at least one target area and allocation information.
在一些实施例中，目标辅助模块与设备主体相连，包括：In some embodiments, the target assistance module is connected to the device body and includes:
若目标辅助设备在上电启动后的预设时长内未接收到表征目标辅助模块与测绘设备相连的通知信息，判定辅助模块当前与设备主体相连，其中，通知信息由测绘设备提供；If the target auxiliary device does not receive notification information indicating that the target auxiliary module is connected to the surveying and mapping device within a preset time after power-on, it is determined that the auxiliary module is currently connected to the device body, wherein the notification information is provided by the surveying and mapping device;
若目标辅助设备在上电启动后的预设时长内接收到所述通知信息，判定辅助模块当前与测绘设备相连。If the target auxiliary device receives the notification information within a preset time period after being powered on, it is determined that the auxiliary module is currently connected to the surveying and mapping device.
在一些实施例中，辅助模块设有通信单元，通信单元被配置为与控制设备通信，上述方法包括：In some embodiments, the auxiliary module is provided with a communication unit, the communication unit is configured to communicate with the control device, and the method includes:
确定目标辅助模块当前的连接状态；Determine the current connection status of the target auxiliary module;
在连接状态为目标辅助模块与设备主体分离的情况下，通过通信单元获取控制设备发送的第一控制信息；第一控制信息用于指示目标辅助模块进行建图作业。When the connection state is that the target auxiliary module is separated from the device body, the first control information sent by the control device is obtained through the communication unit; the first control information is used to instruct the target auxiliary module to perform a mapping operation.
在一些实施例中，上述方法还包括：在连接状态为辅助模块与目标主体相连接的情况下，通过通信单元或者设备主体的通信模块获取控制设备发送的第二控制信息；第二控制信息用于触发辅助模块根据第二控制信息控制目标主体在工作区域内移动；In some embodiments, the method further includes: when the connection state is that the auxiliary module is connected to the target body, obtaining second control information sent by the control device through the communication unit or the communication module of the device body; the second control information is used to trigger the auxiliary module to control the target body to move in the working area according to the second control information;
其中，第二控制信息包括作业指令和/或作业地图。The second control information includes operation instructions and/or operation maps.
在一些实施例中，在连接状态为辅助模块与设备主体分离，并且与测绘设备相连接的情况下，通过通信单元或者设备主体的通信模块获取控制设备发送的第一控制信息。In some embodiments, when the connection state is that the auxiliary module is separated from the device body and connected to the surveying and mapping device, the first control information sent by the control device is acquired through the communication unit or the communication module of the device body.
在一些实施例中，上述方法还包括：In some embodiments, the above method further comprises:
获取目标辅助模块根据第一控制信息建图得到的目标地图后，向控制设备发送目标地图；或者，After acquiring the target map constructed by the target auxiliary module according to the first control information, the target map is sent to the control device; or,
接收上传指令，上传指令包括目标地址；receiving an upload instruction, the upload instruction including a target address;
获取目标辅助模块根据第一控制信息建图得到的目标地图后，向目标地址发送目标地图，以使控制设备从目标地址下载目标地图，目标地址指示目标用户账户。After obtaining the target map obtained by the target auxiliary module according to the first control information, the target map is sent to the target address so that the control device downloads the target map from the target address, and the target address indicates the target user account.
在一些实施例中，基于消息订阅机制获取第二控制信息；In some embodiments, the second control information is obtained based on a message subscription mechanism;
基于消息订阅机制获取第一控制信息。The first control information is obtained based on a message subscription mechanism.
在一些实施例中，基于消息订阅机制获取第二控制信息，包括：In some embodiments, obtaining the second control information based on a message subscription mechanism includes:
在多个预设通信通道中确定与设备主体对应的第二通信通道；Determining a second communication channel corresponding to the device body from among a plurality of preset communication channels;
通过第二通信通道获取控制设备发送的第二控制信息；Acquire second control information sent by the control device through the second communication channel;
基于消息订阅机制获取第一控制信息包括：Acquiring the first control information based on the message subscription mechanism includes:
在多个预设通信通道中确定与辅助模块对应的第一通信通道；Determining a first communication channel corresponding to the auxiliary module from a plurality of preset communication channels;
通过第一通信通道获取控制设备发送的第一控制信息。The first control information sent by the control device is acquired through the first communication channel.
在一些实施例中，上述方法还包括：In some embodiments, the above method further comprises:
获取第一控制信息的建图指令；建图指令包括：新建指令，续建指令和重建指令；Obtaining a mapping instruction of the first control information; the mapping instruction includes: a new mapping instruction, a continued mapping instruction and a reconstruction instruction;
根据建图指令，控制目标辅助模块建图，生成用户地图；According to the mapping instructions, control the target auxiliary module to build the map and generate the user map;
显示用户地图。Displays the user map.
在一些实施例中，控制设备包括用户终端、云平台、所述测绘设备以及设备主体中的一个或多个。In some embodiments, the control device includes one or more of a user terminal, a cloud platform, the surveying and mapping device, and a device body.
在一些实施例中，自移动系统还包括用于控制自移动设备的控制设备。In some embodiments, the self-moving system further comprises a control device for controlling the self-moving device.
第二方面，本发明还提供一种设备控制装置，应用于自移动系统，自移动系统包括至少一个辅助模块和至少一个设备主体，辅助模块可拆卸连接于设备主体，上述装置包括：In a second aspect, the present invention further provides an equipment control device, which is applied to a self-moving system, wherein the self-moving system comprises at least one auxiliary module and at least one equipment body, wherein the auxiliary module is detachably connected to the equipment body, and the above-mentioned device comprises:
第一确定单元，用于在目标辅助模块与设备主体相连的情况下，确定当前的设备主体是否为与目标辅助模块相匹配的目标主体，目标辅助模块为自移动系统中的任意一个辅助模块；A first determination unit is used to determine whether the current device body is a target body that matches the target auxiliary module when the target auxiliary module is connected to the device body, and the target auxiliary module is any auxiliary module in the self-moving system;
第二确定单元，用于在当前的设备主体为目标主体的情况下，确定目标辅助模块与当前的设备主体连接得到的自移动设备为目标自移动设备；A second determining unit is used to determine, when the current device body is the target body, that the self-moving device obtained by connecting the target auxiliary module with the current device body is the target self-moving device;
控制单元，用于控制自移动系统中的至少一个目标自移动设备工作。The control unit is used to control the operation of at least one target self-moving device in the self-moving system.
第三方面，本发明提供一种用户终端，包括存储器、处理器以及存储在所述存储器上被所述处理器执行的计算机程序，所述处理器执行所述计算机程序时实现如本发明第一方面任一项所述设备控制方法的步骤。In a third aspect, the present invention provides a user terminal, comprising a memory, a processor, and a computer program stored in the memory and executed by the processor, wherein the processor implements the steps of the device control method as described in any one of the first aspects of the present invention when executing the computer program.
第四方面，本发明提供一种辅助模块，包括导航定位模块和控制模块，其中，导航定位模块与控制模块通信连接；In a fourth aspect, the present invention provides an auxiliary module, comprising a navigation and positioning module and a control module, wherein the navigation and positioning module is communicatively connected with the control module;
控制模块执行如本方面第一方面任一项所述设备控制方法的步骤。The control module executes the steps of the device control method as described in any one of the first aspects of the present invention.
第五方面，本发明提供一种自移动设备，包括设备主体和辅助模块，其中，In a fifth aspect, the present invention provides a self-moving device, comprising a device body and an auxiliary module, wherein:
设备主体和辅助模块可拆卸连接；The device body and the auxiliary module are detachably connected;
辅助模块执行如本发明第一方面任一项所述设备控制方法的步骤。The auxiliary module executes the steps of the device control method as described in any one of the first aspects of the present invention.
第六方面，本发明提供一种自移动系统，包括：控制设备以及至少一台自移动设备，其中，In a sixth aspect, the present invention provides a self-moving system, comprising: a control device and at least one self-moving device, wherein:
控制设备分别与各自移动设备通信连接；The control devices are respectively connected to communicate with respective mobile devices;
自移动设备包括可拆卸连接的辅助模块和设备主体；The self-moving device includes a detachably connected auxiliary module and a device body;
控制设备以及辅助模块中的至少一个，执行如本发明第一方面任一项所述的设备控制方法的步骤。At least one of the control device and the auxiliary module executes the steps of the device control method as described in any one of the first aspects of the present invention.
在一些实施例中，所述控制设备包括云平台以及用户终端中的至少一个。In some embodiments, the control device includes at least one of a cloud platform and a user terminal.
基于上述内容，本申请提供的设备控制方法，在目标辅助模块与设备主体相连的情况下，首先确定当前的设备主体是否为与目标辅助模块相匹配的目标主体，在当前的设备主体为目标主体的情况下，控制目标自移动设备工作，本方法对辅助模块所连接的设备主体是否与辅助模块匹配进行确认，只有在二者匹配的情况下才能控制二者组成的自移动设备运行，因此，能够确保辅助模块可以安装至正确的设备主体上，有助于提高自移动设备使用的便捷性和可靠性，降低被偷盗的风险。Based on the above content, the device control method provided by the present application, when the target auxiliary module is connected to the device body, first determines whether the current device body is the target body that matches the target auxiliary module. When the current device body is the target body, the target self-moving device is controlled to operate. This method confirms whether the device body connected to the auxiliary module matches the auxiliary module. Only when the two match can the self-moving device composed of the two be controlled to operate. Therefore, it can ensure that the auxiliary module can be installed on the correct device body, which helps to improve the convenience and reliability of the use of the self-moving device and reduce the risk of theft.
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
图1是本发明实施例提供的一种自移动系统的示意图；FIG1 is a schematic diagram of a self-moving system provided by an embodiment of the present invention;
图2是本发明实施例提供的一种设备控制方法的流程图；FIG2 is a flow chart of a device control method provided by an embodiment of the present invention;
图3是本发明实施例提供的另一种设备控制方法的流程图；FIG3 is a flow chart of another device control method provided by an embodiment of the present invention;
图4是本发明实施例提供的一种设备控制方法的流程图。FIG. 4 is a flow chart of a device control method provided by an embodiment of the present invention.
图5是本发明实施例提供的一种自移动设备的工作场景示意图。FIG. 5 is a schematic diagram of a working scenario of a self-moving device provided by an embodiment of the present invention.
图6是本发明实施例提供的一种辅助模块的应用场景示意图。FIG. 6 is a schematic diagram of an application scenario of an auxiliary module provided by an embodiment of the present invention.
图7是本发明实施例提供的再一种设备控制方法的流程图；7 is a flow chart of another device control method provided by an embodiment of the present invention;
图8是本发明实施例提供的一种设备控制装置的结构框图。FIG8 is a structural block diagram of a device control apparatus provided by an embodiment of the present invention.
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
如前所述，本申请述及的自移动设备，主要指可以按照预先设置的控制程序执行相关作业任务的智能化设备，在实际应用中，自移动设备包括工业上执行各种任务的机器人，以及生活中常用的自动割草机、扫地机器人、自动扫雪机、自动灌溉机等。As mentioned above, the self-moving equipment mentioned in this application mainly refers to intelligent equipment that can perform relevant work tasks according to pre-set control programs. In actual applications, self-moving equipment includes robots that perform various tasks in industry, as well as automatic lawn mowers, sweeping robots, automatic snow sweepers, automatic irrigation machines, etc. commonly used in life.
自移动设备大都包括多个实现不同功能的功能模块，比如移动模块、作业模块、驱动模块等，通过各个模块相互配合，实现自移动设备的既定功能。以自动割草机为例，移动模块可以包括车轮，作业模块可以包括切割刀盘，驱动模块可以包括电机。由于自移动设备可以在无人看守的情况下移动或工作，因此容易被偷盗。Most self-moving devices include multiple functional modules that implement different functions, such as a moving module, an operating module, a driving module, etc., and the modules cooperate with each other to achieve the predetermined functions of the self-moving device. Taking an automatic lawn mower as an example, the moving module may include wheels, the operating module may include a cutting disc, and the driving module may include a motor. Since the self-moving device can move or work without supervision, it is easy to be stolen.
为解决上述问题，本发明提供一种自移动系统，该系统包括至少一个辅助模块101和至少一个设备主体102，辅助模块101与设备主体102设置有相互匹配的插接端口，通过插接端口可实现可拆卸连接。当辅助模块101安装于与自身匹配的设备主体102时，即组合得到相应的自移动设备10。当然，自移动设备10中还包括图1中未示出的其他功能模块，此处不再详述。In order to solve the above problems, the present invention provides a self-moving system, which includes at least one auxiliary module 101 and at least one device body 102. The auxiliary module 101 and the device body 102 are provided with mutually matching plug ports, and a detachable connection can be achieved through the plug ports. When the auxiliary module 101 is installed on the device body 102 that matches itself, the corresponding self-moving device 10 is combined. Of course, the self-moving device 10 also includes other functional modules not shown in Figure 1, which will not be described in detail here.
其中，辅助模块主要用于自移动设备的导航定位，即确定自移动设备在作业地图中的位置并指引自移动设备的移动方向，除此之外，辅助模块还可用于作业地图的创建。辅助模块可以基于RTK(Real-time kinematic，实时动态)载波相位差分技术或者GPS技术等定位技术进行定位。在与设备主体102组合为自移动设备10时，辅助模块101可以用于获取定位信号，基于定位信号确定自移动设备10在相应作业地图中的位置，并进一步对自移动设备10的作业过程进行控制，进一步的，配置为RTK模块的辅助模块101还可以进行建图作业。Among them, the auxiliary module is mainly used for navigation and positioning of the self-mobile device, that is, to determine the position of the self-mobile device in the operation map and guide the movement direction of the self-mobile device. In addition, the auxiliary module can also be used to create an operation map. The auxiliary module can be positioned based on positioning technologies such as RTK (Real-time kinematic) carrier phase difference technology or GPS technology. When combined with the device body 102 to form a self-mobile device 10, the auxiliary module 101 can be used to obtain a positioning signal, determine the position of the self-mobile device 10 in the corresponding operation map based on the positioning signal, and further control the operation process of the self-mobile device 10. Furthermore, the auxiliary module 101 configured as an RTK module can also perform mapping operations.
设备主体102，用于在工作区域内移动，可以包括外壳、轮子和驱动电机等，驱动电机可以用于驱动轮子转动。设备主体102可以是实际应用中任何能够与辅助模块101配合工作的设备主体，比如前述内容中述及的自动割草机的设备主体、自动扫雪机的设备主体等，本发明对于设备主体102的具体选择不做限定。The device body 102 is used to move in the working area, and may include a housing, wheels, and a drive motor, etc. The drive motor may be used to drive the wheels to rotate. The device body 102 may be any device body that can cooperate with the auxiliary module 101 in practical applications, such as the device body of the automatic lawn mower and the device body of the automatic snow sweeper mentioned in the above content, and the present invention does not limit the specific selection of the device body 102.
在一些实施例中，自移动系统还包括用于控制自移动设备10的控制设备20。In some embodiments, the self-moving system further includes a control device 20 for controlling the self-moving device 10 .
在图1所示实施例中，自移动系统中还包括控制设备20，通过控制设备20执行本发明提供的设备控制方法。在一些实施例中，图1示例性的给出两种可选的实施方式，即控制设备20可以是用户终端，比如智能手机，平板电脑等，还可以位于网络侧的云平台，当然，控制设备20还可以是自移动设备的辅助模块等其他能够执行本发明各实施例提供的设备控制方法的电子设备，控制设备20还可以设置于设备主体或者辅助模块，此处不再一一列举。In the embodiment shown in FIG1 , the self-mobile system further includes a control device 20, and the device control method provided by the present invention is executed by the control device 20. In some embodiments, FIG1 exemplarily shows two optional implementations, that is, the control device 20 can be a user terminal, such as a smart phone, a tablet computer, etc., and can also be a cloud platform located on the network side. Of course, the control device 20 can also be an auxiliary module of a self-mobile device or other electronic device that can execute the device control method provided by each embodiment of the present invention. The control device 20 can also be set in the device body or the auxiliary module, which will not be listed one by one here.
在一些实施例中，辅助模块101自身设置有通信单元(图1中未示出)，该通信单元被配置为与控制设备20通信，基于此，辅助模块101可通过通信单元与控制设备20通信连接。In some embodiments, the auxiliary module 101 itself is provided with a communication unit (not shown in FIG. 1 ), which is configured to communicate with the control device 20 . Based on this, the auxiliary module 101 can be communicatively connected with the control device 20 via the communication unit.
基于上述自移动系统，本发明提供一种设备控制方法，该方法对辅助模块所连接的设备主体是否与辅助模块匹配进行确认，只有在二者匹配的情况下才能控制二者组成的自移动设备运行，因此，能够确保辅助模块可以安装至正确的设备主体上，有助于提高自移动设备使用的便捷性和可靠性，降低被偷盗的风险。Based on the above-mentioned self-moving system, the present invention provides a device control method, which confirms whether the device body connected to the auxiliary module matches the auxiliary module. Only when the two match can the operation of the self-moving device composed of the two be controlled. Therefore, it can ensure that the auxiliary module can be installed on the correct device body, which helps to improve the convenience and reliability of the use of the self-moving equipment and reduce the risk of theft.
此外，辅助模块与设备主体可拆卸连接，正由于二者是可分离的，因此，有可能出现辅助模块安装错误的情况，比如，用户有可能将厂家一的辅助模块安装到厂家二的设备主体上，本发明中，只有在辅助模块所连接的设备主体与辅助模块匹配的情况下才能控制二者组成的自移动设备运行，因此，可以确保辅助模块安装至匹配的、正确的设备主体上，可以避免错误安装。In addition, the auxiliary module is detachably connected to the device body. Because the two are separable, the auxiliary module may be installed incorrectly. For example, the user may install the auxiliary module of manufacturer one on the device body of manufacturer two. In the present invention, the operation of the self-moving device composed of the two can only be controlled when the device body to which the auxiliary module is connected matches the auxiliary module. Therefore, it can be ensured that the auxiliary module is installed on a matching and correct device body to avoid incorrect installation.
参见图2，图2是本发明实施例提供的一种设备控制方法的流程图，本实施例提供的设备控制方法的流程，可以包括：Referring to FIG. 2 , FIG. 2 is a flow chart of a device control method provided by an embodiment of the present invention. The flow of the device control method provided by this embodiment may include:
S200、在目标辅助模块与设备主体相连的情况下，确定当前的设备主体是否为与目标辅助模块相匹配的目标主体。S200: When the target auxiliary module is connected to the device body, determine whether the current device body is a target body that matches the target auxiliary module.
步骤S200可以由辅助模块、设备主体、用户终端或云平台执行。如前所述，本发明提供的自移动系统中包括至少一个自移动设备，每一个自移动设备均包括辅助模块以及与辅助模块可拆卸连接的设备主体，因此，本发明提供的自移动系统中包括至少一个辅助模块和至少一个设备主体，本实施例中述及的目标辅助模块为各辅助模块中的任意一个。Step S200 can be performed by an auxiliary module, a device body, a user terminal or a cloud platform. As mentioned above, the self-moving system provided by the present invention includes at least one self-moving device, each of which includes an auxiliary module and a device body detachably connected to the auxiliary module. Therefore, the self-moving system provided by the present invention includes at least one auxiliary module and at least one device body. The target auxiliary module described in this embodiment is any one of the auxiliary modules.
在实际应用中，用户可将设备主体与辅助模块分开存放，或者将辅助模块用于其他作业，在需要相应的自移动设备执行作业任务时会将辅助模块安装于设备主体，从而使二者组合为自移动设备。基于此，可以通过辅助模块与设备主体建立连接关系触发控制设备执行本发明提供的设备控制方法。In actual application, users can store the device body and the auxiliary module separately, or use the auxiliary module for other operations. When the corresponding self-equipping device is needed to perform the task, the auxiliary module will be installed on the device body, so that the two can be combined into a Based on this, the auxiliary module can establish a connection relationship with the device body to trigger the control device to execute the device control method provided by the present invention.
在一些实施例中，辅助模块自身并未设置独立的工作电源，在与设备主体相连后，设备主体为辅助模块供电，辅助模块在上电启动后向控制设备发送通知信息，该通信信息即用于表征辅助模块与设备主体相连，从而触发控制设备执行本发明提供的设备控制方法。In some embodiments, the auxiliary module itself is not provided with an independent working power supply. After being connected to the device body, the device body supplies power to the auxiliary module. After power-on and startup, the auxiliary module sends notification information to the control device. The communication information is used to characterize that the auxiliary module is connected to the device body, thereby triggering the control device to execute the device control method provided by the present invention.
在另一些实施例中，设备主体设置有通信模块，设备主体检测是否连接有辅助模块，比如，可以检测用于连接辅助模块的插接端口的电平变化，当确定连接有辅助模块时，由设备主体通过通信模块向控制设备发送前述通信信息，同样可以触发控制设备执行本发明提供的设备控制方法。In other embodiments, the device body is provided with a communication module, and the device body detects whether an auxiliary module is connected. For example, it can detect the level change of the plug-in port used to connect the auxiliary module. When it is determined that the auxiliary module is connected, the device body sends the aforementioned communication information to the control device through the communication module, which can also trigger the control device to execute the device control method provided by the present invention.
基于上述内容，在目标辅助模块与设备主体相连的情况下，首先确定目标辅助模块当前连接的设备主体是否为与目标辅助模块相匹配的目标主体。Based on the above content, when the target auxiliary module is connected to the device body, it is first determined whether the device body currently connected to the target auxiliary module is a target body that matches the target auxiliary module.
在一些实施例中，目标主体是指与目标辅助模块之间设有映射关系的设备主体，该映射关系中记录有与目标辅助模块唯一对应的设备主体。通常，辅助模块对应有模块标识，相应的，设备主体同样对应有主体标识，基于此，该映射关系中可以记录模块标识与主体标识之间的对应关系，当然，映射关系中还可以通过其他可以唯一表征辅助模块以及设备主体的信息来记录辅助模块与设备主体之间的对应关系。In some embodiments, the target subject refers to a device subject that has a mapping relationship with the target auxiliary module, and the mapping relationship records the device subject that uniquely corresponds to the target auxiliary module. Usually, the auxiliary module corresponds to a module identifier, and correspondingly, the device subject also corresponds to a subject identifier. Based on this, the mapping relationship can record the correspondence between the module identifier and the subject identifier. Of course, the mapping relationship can also record the correspondence between the auxiliary module and the device subject through other information that can uniquely characterize the auxiliary module and the device subject.
基于此，控制设备获取目标辅助模块的模块标识以及当前的设备主体的主体标识，通过查询映射关系，确定与目标辅助模块的模块标识对应的目标主体的主体标识，如果当前的设备主体的主体标识与目标主体的主体标识一致，则可以确定当前的设备主体为与目标辅助模块匹配的目标主体；相反的，如果当前的设备主体的主体标识与目标主体的主体标识不一致，则可以确定当前的设备主体并非与目标辅助模块匹配的目标主体。Based on this, the control device obtains the module identifier of the target auxiliary module and the subject identifier of the current device body, and determines the subject identifier of the target subject corresponding to the module identifier of the target auxiliary module by querying the mapping relationship. If the subject identifier of the current device body is consistent with the subject identifier of the target subject, it can be determined that the current device body is the target subject that matches the target auxiliary module; on the contrary, if the subject identifier of the current device body is inconsistent with the subject identifier of the target subject, it can be determined that the current device body is not the target subject that matches the target auxiliary module.
在另一些实施例中，目标主体为与目标辅助模块对应相同用户账户的设备主体。在目标辅助模块与当前的设备主体相连的情况下，控制设备确定目标辅助模块所属的用户账户，以及当前的设备主体所属的用户账户，如果当前的设备主体所属的用户账户与目标辅助模块所属的用户账户相同，则可以确定当前的设备主体为与目标辅助模块匹配的目标主体；相反的，如果当前的设备主体所属的用户账户与目标辅助模块所属的用户账户不同，则可以确定当前的设备主体并非与目标辅助模块匹配的目标主体。In other embodiments, the target subject is a device subject corresponding to the same user account as the target auxiliary module. When the target auxiliary module is connected to the current device subject, the control device determines the user account to which the target auxiliary module belongs and the user account to which the current device subject belongs. If the user account to which the current device subject belongs is the same as the user account to which the target auxiliary module belongs, then the current device subject can be determined to be the target subject that matches the target auxiliary module; on the contrary, if the user account to which the current device subject belongs is different from the user account to which the target auxiliary module belongs, then it can be determined that the current device subject is not the target subject that matches the target auxiliary module.
在另一些实施例中，还可以基于设备主体的历史连接信息确定设备主体是否与辅助模块匹配。具体的，获取与目标辅助模块相连的当前设备主体的历史连接信息，如果该历史连接信息表明该设备主体未与目标辅助模块以外的其他辅助相连过，则可以确定当前的设备主体为与目标辅助模块相匹配的目标主体，相反的，如果当前的设备主体曾与目标辅助模块以外的其他辅助模块相连，则可以确定当前的设备主体与目标辅助模块不匹配。In other embodiments, it is also possible to determine whether the device body matches the auxiliary module based on the historical connection information of the device body. Specifically, the historical connection information of the current device body connected to the target auxiliary module is obtained. If the historical connection information indicates that the device body has not been connected to any auxiliary module other than the target auxiliary module, it can be determined that the current device body is the target body that matches the target auxiliary module. On the contrary, if the current device body has been connected to any auxiliary module other than the target auxiliary module, it can be determined that the current device body does not match the target auxiliary module.
在实际应用中，设备主体的历史连接信息可以从设备主体的运行日志中获得，当然，可以通过其他方式获得，此处不再一一列举，在未超出本发明核心思想范围的前提下，同样属于本发明保护的范围内。In actual applications, the historical connection information of the device body can be obtained from the operation log of the device body. Of course, it can be obtained by other means, which are not listed here one by one. Under the premise of not exceeding the core idea of the present invention, it also falls within the scope of protection of the present invention.
S210、在当前的设备主体为目标主体的情况下，确定目标辅助模块与当前的设备主体连接得到的自移动设备为目标自移动设备。S210: When the current device body is the target body, determine that the self-moving device obtained by connecting the target auxiliary module with the current device body is the target self-moving device.
步骤S210可以由辅助模块、设备主体、用户终端或云平台执行。如前所述，自移动设备的辅助模块和设备主体是可拆卸连接的，换言之，只有在辅助模块与相匹配的设备主体相连，即组装到一起的情况下，二者才会组合为相应的、能够用于实现既定功能的自移动设备。基于此，本发明各个实施例提供的控制方法，将目标辅助模块与当前的设备主体连接得到的自移动设备作为目标自移动设备。Step S210 may be performed by an auxiliary module, a device body, a user terminal or a cloud platform. The auxiliary module and the device body are detachably connected. In other words, only when the auxiliary module is connected to the matching device body, that is, assembled together, can the two be combined into a corresponding self-moving device that can be used to achieve a given function. Based on this, the control method provided by each embodiment of the present invention uses the self-moving device obtained by connecting the target auxiliary module to the current device body as the target self-moving device.
进一步的，在区分显示自移动设备的基础上，控制设备还可进一步显示自移动系统的全部辅助模块和/或全部设备主体，使得用户可以直观的看到自移动系统所包括的设备资源。与此同时，还可以显示自移动系统的工作进程信息和/或工作计划信息等内容，使得用户可以方便快捷的获知自移动系统中设备运行情况，并根据工作进程信息以及工作计划信息等内容，更为合理的安排系统内各自移动设备的作业任务，提高系统整体的作业效率。Furthermore, on the basis of distinguishing and displaying the self-mobile equipment, the control device can further display all auxiliary modules and/or all equipment bodies of the self-mobile system, so that the user can intuitively see the equipment resources included in the self-mobile system. At the same time, the work process information and/or work plan information of the self-mobile system can also be displayed, so that the user can easily and quickly know the operation status of the equipment in the self-mobile system, and according to the work process information and work plan information, the user can more reasonably arrange the operation tasks of each mobile device in the system to improve the overall operation efficiency of the system.
其中，对于工作进程信息或工作计划信息，可以针对用户账户内的至少一个用户地图，展示用户地图所对应的自移动设备，以及相应的自移动设备当前作业任务完成进度、相应的自移动设备的辅助模块和设备主体、相应的自移动设备的状态(如电量、切割参数、充电状态、工作状态)等相关信息，还可以展示控制按键(如暂停工作、充电、开始工作等)。也可以显示多张(两张或两张以上)用户地图，具体的，可以通过滑动或翻页的方式切换并显示用户地图，当切换用户地图后，对应的工作进程信息或工作计划信息也随用户地图切换显示。Among them, for work progress information or work plan information, for at least one user map in the user account, the self-moving device corresponding to the user map, as well as the completion progress of the current task of the corresponding self-moving device, the auxiliary module and device body of the corresponding self-moving device, the status of the corresponding self-moving device (such as power, cutting parameters, charging status, working status) and other related information can be displayed, and control buttons (such as pause work, charge, start work, etc.) can also be displayed. Multiple (two or more) user maps can also be displayed. Specifically, the user map can be switched and displayed by sliding or turning pages. When the user map is switched, the corresponding work progress information or work plan information is also switched and displayed with the user map.
S220、控制自移动系统中的至少一个目标自移动设备工作。S220: Control at least one target self-moving device in the self-moving system to operate.
步骤S220可以由辅助模块、设备主体、用户终端或云平台执行。在一个示例中，步骤S200由辅助模块执行，步骤S210由云平台执行，步骤S220由用户终端执行；在另一个示例中，步骤S200、步骤S210和步骤S220可以均由用户终端执行；在又一个示例中，步骤S200、步骤S210由云平台执行，步骤S220由用户终端执行；本发明不限于此，此处不再一一列举。Step S220 may be performed by an auxiliary module, a device body, a user terminal, or a cloud platform. In one example, step S200 is performed by an auxiliary module, step S210 is performed by a cloud platform, and step S220 is performed by a user terminal; in another example, step S200, step S210, and step S220 may all be performed by a user terminal; in yet another example, step S200 and step S210 are performed by a cloud platform, and step S220 is performed by a user terminal; the present invention is not limited thereto, and will not be listed one by one here.
可以理解的是，自移动系统中包括至少一个辅助模块，对于任一辅助模块而言，均可以采用本申请提供的控制方法，确定该辅助模块是否与目标主体相连，进而组合得到满足上述内容要求的目标自移动设备，因此，在实际应用中，应该可以按照上述步骤在自移动系统中确定一个或者多个目标自移动设备，这些目标自移动设备是可以参与实际作业任务的自移动设备，至于自移动系统中目标自移动设备以外的其他自移动设备，大致可以包括两种，其一是缺少辅助模块或设备主体，没有组合得到完整的自移动设备，其二是辅助模块与设备主体组合错误，尽管结构相连但得到的自移动设备无法工作。本发明实施例提供的控制方法，目的在于控制自移动系统中的目标自移动设备工作。It can be understood that the self-mobile system includes at least one auxiliary module. For any auxiliary module, the control method provided by the present application can be used to determine whether the auxiliary module is connected to the target main body, and then combine to obtain a target self-mobile device that meets the requirements of the above content. Therefore, in practical applications, it should be possible to determine one or more target self-mobile devices in the self-mobile system according to the above steps. These target self-mobile devices are self-mobile devices that can participate in actual operation tasks. As for other self-mobile devices other than the target self-mobile devices in the self-mobile system, they can roughly include two types. One is the lack of auxiliary modules or device main body, and no complete self-mobile device is obtained by combination. The second is that the auxiliary module and the device main body are combined incorrectly, and the self-mobile device obtained cannot work despite the structural connection. The control method provided in the embodiment of the present invention aims to control the operation of the target self-mobile device in the self-mobile system.
在一些实施例中，目标自移动设备可以基于工作地图进行相关作业。此种情况下，控制设备在用户登录用户账户后，可以向用户展示用户账户下对应的至少一个用户地图，并且，本实施例中述及的至少一个用户地图可以包括自移动系统中每个辅助模块或设备主体创建的地图。根据用户的选择操作，在各用户地图中确定工作地图，然后即可控制至少一个目标自移动设备根据工作地图作业。在另一些实施例中，在各用户地图中确定工作地图后，还可以在自移动系统中确定至少一个作业设备，控制至少一个作业设备中的目标自移动设备根据工作地图工作。其中，当设备主体连接匹配辅助模块时，设备主体与匹配的辅助模块连接得到的组合为目标自移动设备。In some embodiments, the target self-mobile device can perform related operations based on the work map. In this case, after the user logs in to the user account, the control device can display at least one user map corresponding to the user account to the user, and the at least one user map mentioned in this embodiment may include maps created by each auxiliary module or device body in the self-mobile system. According to the user's selection operation, the work map is determined in each user map, and then at least one target self-mobile device can be controlled to work according to the work map. In other embodiments, after determining the work map in each user map, at least one working device can also be determined in the self-mobile system, and the target self-mobile device in at least one working device is controlled to work according to the work map. Among them, when the device body is connected to the matching auxiliary module, the combination obtained by connecting the device body and the matching auxiliary module is the target self-mobile device.
进一步的，如果经过前述步骤确定与目标辅助模块相连的当前的设备主体不是目标主体，还可以生成第一告警信息。Furthermore, if it is determined through the aforementioned steps that the current device body connected to the target auxiliary module is not the target body, a first alarm message may also be generated.
在一些实施例中，第一告警信息由目标辅助模块生成，在目标辅助模块配置报警模块的情况下，目标辅助模块可以通过报警模块输出第一告警信息，比如进行语音提示，或声光报警等；在目标辅助模块为配置报警模块的情况下，目标辅助模块可以向与其通信连接的其他设备发送该第一告警信息，以使相应设备向用户展示该第一告警信息。In some embodiments, the first alarm information is generated by a target auxiliary module. When the target auxiliary module is configured with an alarm module, the target auxiliary module can output the first alarm information through the alarm module, such as voice prompts, or sound and light alarms, etc.; when the target auxiliary module is configured with an alarm module, the target auxiliary module can send the first alarm information to other devices that are communicatively connected to it, so that the corresponding devices display the first alarm information to the user.
在另一些实施例中，第一告警信息由用户终端生成，用户终端向用户展示第一告警信息的方式主要取决于用户终端的具体配置。比如，用户终端配置有显示屏以及扬声器，则可以在显示该第一告警信息的情况下，结合语音提示，以使用户更为迅速的获知第一告警信息。再比如，用户终端仅配置有扬声器，则可以通过语音或特定频率的鸣响等形式使得用户接收到该第一告警信息。In other embodiments, the first warning information is generated by the user terminal, and the manner in which the user terminal displays the first warning information to the user mainly depends on the specific configuration of the user terminal. For example, if the user terminal is configured with a display screen and a speaker, the first warning information can be displayed in combination with a voice prompt so that the user can more quickly learn of the first warning information. For another example, if the user terminal is only configured with a speaker, the user can receive the first warning information through voice or a sound of a specific frequency.
在实际应用中，还可以采用其他方式生成第一告警信息，此处不再一一列举，在未超出本发明核心思想范围的前提下，同样属于本发明保护的范围内。In practical applications, other methods may be used to generate the first alarm information, which are not listed here one by one. Under the premise of not exceeding the core idea of the present invention, they also fall within the scope of protection of the present invention.
综上所述，通过本发明提供的控制方法，对辅助模块所连接的设备主体是否与辅助模块匹配进行确认，只有在二者匹配的情况下才能控制二者组成的自移动设备运行，因此，能够确保辅助模块可以安装至相匹配的设备主体上，有助于提高自移动设备使用的便捷性和可靠性。To sum up, through the control method provided by the present invention, it is confirmed whether the device body to which the auxiliary module is connected matches the auxiliary module. Only when the two match can the operation of the self-moving device composed of the two be controlled. Therefore, it can be ensured that the auxiliary module can be installed on the matching device body, which helps to improve the convenience and reliability of the use of the self-moving equipment.
进一步的，对于前述S200中述及的映射关系，以及辅助模块、设备主体与用户账户之间的绑定关系，本发明还提供相应的构建方法。Furthermore, for the mapping relationship mentioned in the aforementioned S200, and the binding relationship between the auxiliary module, the device body and the user account, the present invention also provides a corresponding construction method.
对于辅助模块与设备主体之间的映射关系，可以采用如下方法构建：The mapping relationship between the auxiliary module and the device body can be constructed using the following method:
在一些实施例中，前述映射关系是预设的，即映射关系的建立过程不需用户参与。可以理解的是，通常情况下，辅助模块与设备主体是成套出售的，二者之间的匹配关系在出厂前即可确定。基于此，控制设备在成套出售的辅助模块以及设备主体出厂前，分别获取辅助模块的模块标识以及设备主体的主体标识即可建立模块标识与主体标识之间的对应关系，即得到辅助模块与设备主体之间的映射关系。对于此种情况，控制设备在实际使用时，直接调用预设的映射关系即可。In some embodiments, the aforementioned mapping relationship is preset, that is, the process of establishing the mapping relationship does not require user participation. It is understandable that, usually, the auxiliary module and the device body are sold as a set, and the matching relationship between the two can be determined before leaving the factory. Based on this, before the auxiliary module and the device body sold as a set leave the factory, the control device can obtain the module identification of the auxiliary module and the main body identification of the device body respectively to establish the corresponding relationship between the module identification and the main body identification, that is, to obtain the mapping relationship between the auxiliary module and the device body. In this case, the control device can directly call the preset mapping relationship when it is actually used.
在另一些实施例中，辅助模块与设备主体二者之间在用户实际使用前也并不存在一一对应的关系，这样设置，可以确保在辅助模块或设备主体中的任意一个异常的情况下，方便产品退换，有助于改善用户的使用感受。在此情况下，辅助模块与设备主体之间的映射关系可以在辅助模块与设备主体首次连接时创建。In other embodiments, there is no one-to-one correspondence between the auxiliary module and the device body before the user actually uses it. This configuration can ensure that if either the auxiliary module or the device body is abnormal, the product can be easily returned and replaced, which helps to improve the user experience. In this case, the mapping relationship between the auxiliary module and the device body can be created when the auxiliary module and the device body are connected for the first time.
具体的，在用户将辅助模块与设备主体组装连接后，辅助模块与设备主体上电启动，控制设备获取辅助模块的模块标识以及设备主体的主体标识，进一步的，控制设备(可以是用户终端、云平台、辅助模块或者设备主体)确定设备主体是否与其他辅助模块建立有映射关系，如果没有，则建立当前的辅助模块与设备主体之间的映射关系，相反的，如果设备主体与其他辅助模块建立有映射关系，则通知用户辅助模块无法与设备主体建立映射关系。基于此，可以理解的是，对于首次使用的辅助模块以及设备主体而言，都是可以建立映射关系的。Specifically, after the user assembles and connects the auxiliary module with the device body, the auxiliary module and the device body are powered on and started, and the control device obtains the module identification of the auxiliary module and the main body identification of the device body. Further, the control device (which can be a user terminal, a cloud platform, an auxiliary module or a device body) determines whether the device body has established a mapping relationship with other auxiliary modules. If not, a mapping relationship between the current auxiliary module and the device body is established. On the contrary, if the device body has established a mapping relationship with other auxiliary modules, the user is notified that the auxiliary module cannot establish a mapping relationship with the device body. Based on this, it can be understood that for the auxiliary module and the device body used for the first time, a mapping relationship can be established.
在一些实施例中，辅助模块与设备主体之间的映射关系可以在辅助模块与设备主体首次连接时创建，可以包括以下步骤：在用户初次安装或使用辅助模块和/或设备主体时，获取辅助模块和/或设备主体的标识信息，以及用户帐号，对辅助模块和/或设备主体的标识信息与上述用户帐号进行绑定处理。In some embodiments, the mapping relationship between the auxiliary module and the device body can be created when the auxiliary module and the device body are first connected, which can include the following steps: when the user first installs or uses the auxiliary module and/or the device body, obtain The identification information of the auxiliary module and/or the device body, and the user account, bind the identification information of the auxiliary module and/or the device body with the above user account.
在另一些实施例中，任一辅助模块与至少一个设备主体之间设有映射关系，任一设备主体与一个辅助模块之间设有映射关系。In other embodiments, a mapping relationship is set between any auxiliary module and at least one device body, and a mapping relationship is set between any device body and an auxiliary module.
通常，辅助模块与设备主体之间通过有线通道传输信息，比如串口通信或CAN口通信等，基于此，对于模块标识以及主体标识的获取，可以包括多种情况：其一、辅助模块设置有通信模块，该通信模块配置为与控制设备通信连接，辅助模块上电启动后，通过有线通道获取设备主体的主体标识，进一步通过通信模块将自身的模块标识与所得主体标识发送至控制设备；其二、设备主体设置有通信模块，该通信模块配置为与控制设备通信连接，辅助模块上电启动后，设备主体通过有线通道获取模块标识，并将所得模块标识与自身的主体标识发送至控制设备；其三、辅助模块与设备主体分别设置有通信模块，各个通信模块均配置为与控制设备通信连接，基于此，辅助模块和设备主体即可通过自身的通信模块将各自的标识发送给控制设备。Usually, information is transmitted between the auxiliary module and the device body through a wired channel, such as serial port communication or CAN port communication, based on this, the acquisition of module identification and main body identification may include multiple situations: first, the auxiliary module is provided with a communication module, and the communication module is configured to communicate with the control device. After the auxiliary module is powered on, it obtains the main body identification of the device body through the wired channel, and further sends its own module identification and the obtained main body identification to the control device through the communication module; second, the device body is provided with a communication module, and the communication module is configured to communicate with the control device. After the auxiliary module is powered on, the device body obtains the module identification through the wired channel, and sends the obtained module identification and its own main body identification to the control device; third, the auxiliary module and the device body are respectively provided with communication modules, and each communication module is configured to communicate with the control device. Based on this, the auxiliary module and the device body can send their respective identifications to the control device through their own communication modules.
具体的，辅助模块在运行时同样基于自身存储的模块配置文件获取自身的模块参数信息，同时，由于辅助模块与设备主体相连，辅助模块还可以获取到设备主体的主体配置文件中记录的主体参数信息。Specifically, the auxiliary module also obtains its own module parameter information based on the module configuration file stored in itself during operation. At the same time, since the auxiliary module is connected to the device body, the auxiliary module can also obtain the main body parameter information recorded in the main body configuration file of the device body.
对于辅助模块、设备主体与用户账户之间的绑定关系，可以采用如下方法构建：The binding relationship between the auxiliary module, the device body and the user account can be constructed in the following way:
控制设备(可以是用户终端、云平台、辅助模块或者设备主体)获取辅助模块以及设备主体中至少一个的标识信息以及当前登录用户的用户账号，然后对标识信息和用户账号进行绑定处理。具体的，在标识信息包括辅助模块的模块标识的情况下，控制设备将模块标识与用户账户绑定；在标识信息包括设备主体的主体标识的情况下，控制设备将主体标识与用户账户绑定；进一步的，在标识信息包括前述模块标识以及主体标识的情况下，则可以建立用户账户、模块标识以及主体标识三者之间的绑定关系。The control device (which may be a user terminal, a cloud platform, an auxiliary module or a device body) obtains the identification information of at least one of the auxiliary module and the device body and the user account of the currently logged-in user, and then performs binding processing on the identification information and the user account. Specifically, in the case where the identification information includes the module identification of the auxiliary module, the control device binds the module identification to the user account; in the case where the identification information includes the subject identification of the device body, the control device binds the subject identification to the user account; further, in the case where the identification information includes the aforementioned module identification and subject identification, a binding relationship between the user account, the module identification and the subject identification can be established.
在一些实施例中，设备主体表面设置有主体标签，该主体标签中记录有设备主体的主体标识，具体的，该主体标签可以是二维码，即以二维码的形式记录主体标识。基于此，用户终端扫描二维码即可获得主体标识，然后将用户账户以及主体标识以无线通信的方式发送至云平台，云平台建立用户账户与主体标识之间的绑定关系。In some embodiments, a main body tag is provided on the surface of the device body, and the main body tag records the main body identification of the device body. Specifically, the main body tag can be a QR code, that is, the main body identification is recorded in the form of a QR code. Based on this, the user terminal can obtain the main body identification by scanning the QR code, and then send the user account and the main body identification to the cloud platform by wireless communication, and the cloud platform establishes a binding relationship between the user account and the main body identification.
在另一些实施例中，辅助模块表面设置模块标签，与前述主体标签的作用相似，模块标签中记录有辅助模块的模块标识，比如，模块标签以二维码形式记录模块标识，用户终端扫描模块标签的二维码进而获得相应的模块标识。在此基础上，用户终端向云平台发送绑定请求，该绑定请求中包括所得的模块标识、主体标识以及用户账户，云平台响应于该绑定请求，建立用户账户与模块标识之间，或者，用户账户与主体标识之间，或者，用户账户、模块标识和主体标识三者之间的绑定关系。In other embodiments, a module label is provided on the surface of the auxiliary module, which has a similar function to the aforementioned main label, and the module label records the module identification of the auxiliary module. For example, the module label records the module identification in the form of a QR code, and the user terminal scans the QR code of the module label to obtain the corresponding module identification. On this basis, the user terminal sends a binding request to the cloud platform, and the binding request includes the obtained module identification, main body identification and user account. The cloud platform responds to the binding request and establishes a binding relationship between the user account and the module identification, or between the user account and the main body identification, or between the user account, the module identification and the main body identification.
进一步的，在图2所示实施例的基础上，本发明还提供另一种设备控制方法，结合图3所示，本实施例提供的设备控制方法的流程，包括：Furthermore, based on the embodiment shown in FIG. 2 , the present invention also provides another device control method. In combination with FIG. 3 , the process of the device control method provided in this embodiment includes:
S300、在目标辅助模块与设备主体相连的情况下，确定当前的设备主体是否为与目标辅助模块相匹配的目标主体。S300: When the target auxiliary module is connected to the device body, determine whether the current device body is a target body that matches the target auxiliary module.
在一些实施例中，本步骤可参照图2所示实施例中S200的相关内容实现，此处不再复述。In some embodiments, this step can be implemented with reference to the relevant contents of S200 in the embodiment shown in FIG. 2 , and will not be repeated here.
S310、在当前的设备主体为目标主体的情况下，确定目标辅助模块与当前的设备主体连接得到的自移动设备为目标自移动设备。S310: When the current device body is the target body, determine that the self-moving device obtained by connecting the target auxiliary module with the current device body is the target self-moving device.
在一些实施例中，本步骤可参照图2所示实施例中S210的相关内容实现，此处不再复述。In some embodiments, this step can be implemented with reference to the relevant contents of S210 in the embodiment shown in FIG. 2 , and will not be repeated here.
S320、在至少一个用户地图中确定工作地图。S320. Determine a working map in at least one user map.
如前所述，自移动系统中包括至少一个自移动设备，相应的，通过该系统中的每一个自移动设备中的辅助模块或者设备主体，均可以进行用户地图绘制，自移动系统中存储有系统内每一台自移动设备创建的地图，并且，在此基础上，自移动设备还可以获取其他设备共享的用户地图，因此，对于自移动系统而言，通常系统内至少包括一个用户地图。As mentioned above, the self-mobile system includes at least one self-mobile device. Accordingly, user maps can be drawn through the auxiliary modules or device bodies in each self-mobile device in the system. The self-mobile system stores maps created by each self-mobile device in the system, and on this basis, the self-mobile device can also obtain user maps shared by other devices. Therefore, for the self-mobile system, the system usually includes at least one user map.
由于自移动设备的运行依赖于用户地图，因此，控制设备(可以是用户终端、云平台、辅助模块或者设备主体)在控制目标自移动设备工作前，需要在至少一个用户地图中选定一个用户地图作为工作地图。Since the operation of the self-mobile device depends on the user map, the control device (which can be a user terminal, a cloud platform, an auxiliary module or a device body) needs to select a user map from at least one user map as a working map before controlling the target self-mobile device to work.
在一些实施例中，控制设备，比如用户终端，在用户登录用户账号后，可以向用户显示自移动系统中各用户地图各自对应的缩略图，使得用户通过展示的缩略图对各用户地图的基本内容有更为直观的了解，进而可以根据当前的作业需求，在各个用户地图中选择与当前作业需求匹配的工作地图。在此基础上，控制设备根据用户在用户终端上的选择操作，确定用户选择的工作地图。此外，还可以在辅助模块或设备主体的显示屏上显示。In some embodiments, after the user logs in to the user account, the control device, such as the user terminal, can display the thumbnails corresponding to each user map in the mobile system to the user, so that the user can have a more intuitive understanding of the basic content of each user map through the displayed thumbnails, and then can select a work map that matches the current work requirements from each user map according to the current work requirements. On this basis, the control device determines the work map selected by the user according to the user's selection operation on the user terminal. In addition, it can also be displayed on the display screen of the auxiliary module or the device body.
在另一些实施例中，每个用户地图均包括至少一个图层，且每个图层均包括用户地图中的至少一部分地图信息。比如，用户地图包括四个图层，图层一记录区域信息，图层二记录障碍物信息，图层三记录区域间通道，图层四记录充电站信息，只有将四个图层叠加到一起时，才能得到完整的一张用户地图。In other embodiments, each user map includes at least one layer, and each layer includes at least a portion of the map information in the user map. For example, the user map includes four layers, layer 1 records area information, layer 2 records obstacle information, layer 3 records inter-area channels, and layer 4 records charging station information. Only when the four layers are superimposed together can a complete user map be obtained.
基于上述内容，在至少一个用户地图中确定工作地图可以包括：获取地图选择指令；根据地图选择指令在至少一个用户地图中确定工作地图；显示工作地图的至少一个图层。Based on the above content, determining the working map in at least one user map may include: obtaining a map selection instruction; determining the working map in at least one user map according to the map selection instruction; and displaying at least one layer of the working map.
在一些实施例中，控制设备响应于地图选择指令，在各用户地图中确定用户基于各地图的缩略图选择的用户地图作为工作地图，然后即可显示工作地图的至少一个图层。比如，响应于用户的图层显示选择指令，单独向用户展示记录区域信息的地图图层，或者，单独向用户展示记录区域间通道的地图图层等。当然，在用户选择所有图层的情况下，还可通过两种方式显示，其一是显示所有图层叠加到一起后的最终的工作地图，其二是分别显示各个图层的信息。此外，也可以默认同时显示所有图层叠加到一起后的最终的工作地图。通过上述不同的显示方法，可实现针对性的、定制化的向客户展示信息地图信息，方便用户更为直观的了解自身所关心的内容。In some embodiments, the control device responds to the map selection instruction, determines the user map selected by the user based on the thumbnails of each map in each user map as the working map, and then displays at least one layer of the working map. For example, in response to the user's layer display selection instruction, a map layer that records regional information is displayed to the user separately, or a map layer that records the channels between regions is displayed to the user separately. Of course, in the case where the user selects all layers, it can also be displayed in two ways, one is to display the final working map after all layers are superimposed together, and the other is to display the information of each layer separately. In addition, it is also possible to display the final working map after all layers are superimposed together by default. Through the above-mentioned different display methods, it is possible to display information map information to customers in a targeted and customized manner, so that users can understand the content they care about more intuitively.
S330、在自移动系统中确定至少一个作业设备。S330. Determine at least one operating device in the self-moving system.
在一些实施例中，控制设备向用户展示自移动系统内所有的设备主体，这些设备主体包括：未连接辅助模块的设备主体、连接不匹配辅助模块的设备主体，以及连接匹配辅助模块的设备主体。In some embodiments, the control device displays all device bodies in the mobile system to the user, including: device bodies not connected to auxiliary modules, device bodies connected to unmatched auxiliary modules, and device bodies connected to matched auxiliary modules.
在另一些实施例中，控制设备也可以向用户展示自移动系统内所有的自移动设备，这些自移动设备中既包括辅助模块与匹配的设备主体相连而组合得到的目标自移动设备，也包括未连接辅助模块的设备主体对应的自移动设备或连接不匹配辅助模块的设备主体对应的自移动设备。In some other embodiments, the control device can also display all the self-moving devices in the self-moving system to the user. The self-mobile devices include both target self-mobile devices formed by connecting an auxiliary module to a matching device body, and self-mobile devices corresponding to a device body not connected to an auxiliary module or corresponding to a device body connected to an unmatched auxiliary module.
在实际应用中，用户根据作业需求，在控制终端的用户界面选择一个或多个设备主体或自移动设备作为作业设备。In actual applications, the user selects one or more device bodies or self-moving devices as operating devices in the user interface of the control terminal according to operating requirements.
S340、控制至少一个作业设备中的目标自移动设备根据工作地图工作。S340, controlling a target self-moving device in at least one working device to work according to the working map.
如前所述，在用户选择的作业设备中，包括：未连接辅助模块的设备主体、连接不匹配辅助模块的设备主体，以及连接匹配辅助模块的设备主体中的至少一种。其中，当设备主体连接匹配辅助模块时，设备主体与匹配的辅助模块连接得到的组合为目标自移动设备。在实际应用中，只有目标自移动设备能够在工作区域中正常的移动和/或执行作业任务，因此，在本步骤中，控制设备可控制用户选择的至少一个作业设备中的目标自移动设备根据作业地图工作。例如，在设备主体未连接辅助模块的情况下，用户也可以通过用户界面选择该设备主体对应的辅助模块，将辅助模块与设备主体的组合作为目标自移动设备，但由于该自移动设备没有安装上述辅助模块所以不能作为目标自移动设备进行工作，因此，可以理解的是用户可以在自移动设备工作前将上述匹配的辅助模块安装于该设备主体，则该设备主体与辅助模块组合得到的目标自移动设备可以工作。As mentioned above, the operating equipment selected by the user includes: a device body that is not connected to the auxiliary module, a device body that is connected to an unmatched auxiliary module, and at least one of a device body that is connected to a matching auxiliary module. Wherein, when the device body is connected to a matching auxiliary module, the combination obtained by connecting the device body and the matching auxiliary module is the target self-moving device. In practical applications, only the target self-moving device can move normally and/or perform operating tasks in the working area. Therefore, in this step, the control device can control the target self-moving device in at least one operating device selected by the user to work according to the operating map. For example, in the case where the device body is not connected to the auxiliary module, the user can also select the auxiliary module corresponding to the device body through the user interface, and use the combination of the auxiliary module and the device body as the target self-moving device, but since the self-moving device is not installed with the above-mentioned auxiliary module, it cannot work as a target self-moving device. Therefore, it can be understood that the user can install the above-mentioned matching auxiliary module on the device body before the self-moving device works, and the target self-moving device obtained by combining the device body and the auxiliary module can work.
在其中一些实施例中，一个辅助模块可以与至少一个设备主体匹配，任一设备主体只与一个辅助模块匹配。In some of these embodiments, one auxiliary module can be matched with at least one device body, and any device body can be matched with only one auxiliary module.
在一些实施例中，可以在至少一个用户地图中确定多个工作地图，在自移动系统中确定一个作业设备，将多个工作地图分配给该作业设备，使该作业设备在不同的时间基于不同的工作地图工作，例如周一时基于工作地图a工作，周二时基于工作地图b工作。也可以在至少一个用户地图中确定一个工作地图，把该工作地图分配给作业设备。In some embodiments, multiple work maps may be determined in at least one user map, and one work device may be determined in the self-mobile system, and multiple work maps may be assigned to the work device, so that the work device works based on different work maps at different times, for example, working based on work map a on Monday and working based on work map b on Tuesday. One work map may also be determined in at least one user map, and the work map may be assigned to the work device.
在一些实施例中，可以在至少一个用户地图中确定一个工作地图，工作地图包括至少一个区域，控制设备在工作地图的各区域中确定至少一个目标区域。比如，控制设备可以根据用户对区域的选择操作，在各区域中确定目标区域，再比如，控制设备还可以根据用户所选择的工作地图以及目标自移动设备的具体设备类型，根据预设的目标区域选择规则在各个区域中确定与工作地图以及目标自移动设备相匹配、适合目标自移动设备开始作业的区域作为目标区域。以自动割草机为例，工作地图可以包括两个区域，根据工作地图的历史使用记录可以看出，其中一个区域未进行割草作业的时长要比另一个区域未进行割草作业的时长更长，因此，可以将未进行割草作业的时长更长的区域作为目标区域，以优先对目标区域进行作业。In some embodiments, a working map can be determined in at least one user map, the working map includes at least one area, and the control device determines at least one target area in each area of the working map. For example, the control device can determine the target area in each area according to the user's selection operation of the area. For another example, the control device can also determine the area that matches the working map and the target self-mobile device and is suitable for the target self-mobile device to start operation in each area according to the preset target area selection rules based on the working map selected by the user and the specific device type of the target self-mobile device. Taking an automatic lawn mower as an example, the working map can include two areas. According to the historical use record of the working map, it can be seen that the length of time that one area has not been mowed is longer than the length of time that the other area has not been mowed. Therefore, the area that has not been mowed for a longer period of time can be used as the target area to give priority to the target area.
进一步的，控制设备对至少一个目标区域和至少一个作业设备进行分配处理，确定分配信息，可以理解的是，该分配信息中至少包括目标区域与作业设备之间的对应关系。在一些实施例中，分配信息可以由用户指定，用户在控制设备的用户界面对目标区域和作业设备进行分配，指定目标区域与作业设备之间的对应关系，控制设备根据用户的分配选择，确定分配信息。在另一些实施例中，分配信息还可以由控制设备根据作业设备以及目标区域之间的数量关系以及其他相关信息确定。Furthermore, the control device performs allocation processing on at least one target area and at least one operating device to determine allocation information. It can be understood that the allocation information at least includes the correspondence between the target area and the operating device. In some embodiments, the allocation information can be specified by the user. The user allocates the target area and the operating device in the user interface of the control device, specifies the correspondence between the target area and the operating device, and the control device determines the allocation information based on the user's allocation selection. In other embodiments, the allocation information can also be determined by the control device based on the quantitative relationship between the operating equipment and the target area and other related information.
在确定分配信息之后，即可控制各作业设备中的目标自移动设备，根据各目标区域和分配信息工作。比如，根据分配信息，控制目标自移动设备移动至自身对应的目标区域，并在目标区域内展开作业。可以理解的是，由于作业设备中可能包括目标自移动设备以外的自移动设备，在此情况下，还可以生成提示信息，通知用户部分自移动设备难以到达相应的目标区域进行作业。进一步的，可以根据用户在提示信息基础上的选择操作，比如，重新选择作业设备，再次生成分配信息，直至用户选择的作业设备均能达到相应的目标区域作业。After determining the allocation information, the target self-moving device in each operating device can be controlled to work according to each target area and the allocation information. For example, according to the allocation information, the target self-moving device is controlled to move to its corresponding target area and The operation is carried out in the target area. It is understandable that since the operation equipment may include self-moving devices other than the target self-moving device, in this case, a prompt message may also be generated to inform the user that some self-moving devices have difficulty reaching the corresponding target area for operation. Further, according to the user's selection operation based on the prompt message, for example, reselecting the operation equipment, the allocation information may be generated again until all the operation equipment selected by the user can reach the corresponding target area for operation.
在另一些实施例中，用户可以先将目标自移动设备移动至目标区域中的任一个，目标自移动设备可以基于定位技术进行导航和/或规划，从而在目标区域中移动/工作；目标自移动设备在当前的目标区域中工作完毕后还可以自动移动到另一个目标区域中。如果在用户未将目标自移动设备移动至目标区域的情况下，就控制目标自移动设备工作，则目标自移动设备可以生成第二告警信息。In other embodiments, the user may first move the target self-moving device to any one of the target areas, and the target self-moving device may navigate and/or plan based on positioning technology to move/work in the target area; the target self-moving device may also automatically move to another target area after completing work in the current target area. If the target self-moving device is controlled to work without the user moving the target self-moving device to the target area, the target self-moving device may generate a second alarm message.
在另一些实施例中，用户可以对各作业设备的工作时间进行预约，即指定作业设备的工作时间，控制设备根据用户输入的工作时间，确定至少一个作业设备的预约时间信息。当然，控制设备还可以自行生成预约时间信息，比如，控制设备获取目标区域对应的天气预报信息，根据天气预报信息确定适合作业设备作业的时间段。再比如，控制设备获取各作业设备的历史运行信息，同时结合作业设备预设的运维时间，在满足作业设备运维时间的前提下确定作业设备继续工作的时间。In other embodiments, the user can make an appointment for the working time of each operating device, that is, specify the working time of the operating device, and the control device determines the appointment time information of at least one operating device according to the working time input by the user. Of course, the control device can also generate the appointment time information by itself. For example, the control device obtains the weather forecast information corresponding to the target area, and determines the time period suitable for the operation of the operating device according to the weather forecast information. For another example, the control device obtains the historical operation information of each operating device, and at the same time combines the preset operation and maintenance time of the operating device to determine the time when the operating device continues to work on the premise of meeting the operation and maintenance time of the operating device.
需要说明的是，通常，辅助模块与设备主体的运行都依赖于时间信息，因此，作为一种优选的实施方式，辅助模块设置的时区应与目标主体设置的时区相同，以保证时间的一致性。It should be noted that, usually, the operation of the auxiliary module and the device body depends on time information. Therefore, as a preferred implementation, the time zone set for the auxiliary module should be the same as the time zone set for the target body to ensure time consistency.
进一步的，控制至少一个作业设备中的目标自移动设备根据工作地图和预约时间信息工作。Further, the target self-mobile device in at least one working device is controlled to work according to the work map and the appointment time information.
在另一些实施例中，还可以设置各作业设备的工作参数信息，其中，工作参数信息包括切割高度、雨淋时长、时区中的一种或多种。雨淋时长可以表征作业设备在检测到下雨后继续工作的时长。需要说明的是，在实际应用中，各作业设备的工作参数信息可以相同，也可以不同，控制设备支持单独为任一作业设备设置工作参数信息。也可以为自移动系统中的全部自移动设备设置相同的工作参数信息。进一步的，根据工作地图和工作参数信息控制各目标自移动设备工作。In other embodiments, the working parameter information of each operating device may also be set, wherein the working parameter information includes one or more of cutting height, rain duration, and time zone. The rain duration may characterize the length of time the operating device continues to work after detecting rain. It should be noted that, in actual applications, the working parameter information of each operating device may be the same or different, and the control device supports setting working parameter information for any operating device separately. The same working parameter information may also be set for all self-moving devices in the self-moving system. Furthermore, the operation of each target self-moving device is controlled according to the working map and the working parameter information.
综上所述，在前述实施例的基础上，本实施例提供的设备控制方法，可以基于不同的作业信息控制目标自移动设备完成作业任务，自移动设备的使用方式和应用场景更为丰富，能够满足不同用户在不同作业场景的作业需求，有助于提高用户的使用感受。To sum up, based on the foregoing embodiments, the equipment control method provided in this embodiment can control the target self-moving device to complete the work task based on different work information. The usage methods and application scenarios of the self-moving device are richer, which can meet the work needs of different users in different work scenarios and help improve the user experience.
在上述各个实施例的基础上，本实施例提供另一种设备控制方法，应用于自移动设备中的辅助模块以及控制设备，辅助模块首先确定辅助模块当前的连接状态，并在连接状态为辅助模块与设备主体相连接的情况下，通过通信单元获取控制设备发送的第二控制信息，进而根据第二控制信息控制设备主体在工作区域内移动，以及，在连接状态为目标辅助模块与设备主体分离的情况下，通过通信单元获取控制设备发送的第一控制信息；第一控制信息用于指示目标辅助模块进行建图作业。通信单元可以是4G/5G单元、wifi单元、蓝牙单元等无线通信单元。通过本方法，用户可以通过控制设备控制设备主体，提高设备主体使用的便捷性，有助于改善用户的使用感受。参见图4，本实施例提供的设备控制方法的流程，包括：On the basis of the above-mentioned embodiments, this embodiment provides another device control method, which is applied to the auxiliary module and the control device in the self-mobile device, wherein the auxiliary module first determines the current connection status of the auxiliary module, and when the connection status is that the auxiliary module is connected to the device body, the auxiliary module obtains the second control information sent by the control device through the communication unit, and then controls the device body to move in the working area according to the second control information, and, when the connection status is that the target auxiliary module is separated from the device body, the communication unit obtains the first control information sent by the control device; the first control information is used to instruct the target auxiliary module to perform mapping operations. The communication unit can be a wireless communication unit such as a 4G/5G unit, a wifi unit, and a Bluetooth unit. Through this method, the user can control the device body through the control device, improve the convenience of using the device body, and help improve the user experience. Referring to Figure 4, the process of the device control method provided in this embodiment includes:
S400、辅助模块确定自身当前的连接状态。S400: The auxiliary module determines its current connection status.
在一些实施例中，目标辅助模块与设备主体相连，包括：若目标辅助设备在上电启动后的预设时长内未接收到表征目标辅助模块与测绘设备相连的通知信息，判定辅助模块当前与设备主体相连，其中，通知信息由测绘设备提供；若目标辅助设备在上电启动后的预设时长内接收到所述通知信息，判定辅助模块当前与测绘设备相连。In some embodiments, the target auxiliary module is connected to the device body, including: if the target auxiliary device is powered on and started If no notification information indicating that the target auxiliary module is connected to the surveying and mapping device is received within a preset time period, it is determined that the auxiliary module is currently connected to the device body, wherein the notification information is provided by the surveying and mapping device; if the target auxiliary device receives the notification information within a preset time period after power-on, it is determined that the auxiliary module is currently connected to the surveying and mapping device.
在本实施例中，辅助模块设置有通信单元，辅助模块可通过该通信单元与控制设备通信。并且，辅助模块与设备主体可拆卸连接，因此，辅助模块的连接状态至少包括情况：其一是与设备主体相连接，其二是与设备主体分离。其中，在辅助模块具备RTK功能或类似导航定位功能时，辅助模块与设备主体分离的状态又可以细分为：未与任何设备相连以及与用于建图作业的测绘设备相连两种情况。进一步的，辅助模块自身通常并未设置电源模块，不具备独立工作的能力，只有在与设备主体相连或与测绘设备相连的情况下，由其所连接的设备主体或测绘设备提供电源，辅助模块才能够正常的上电启动。In this embodiment, the auxiliary module is provided with a communication unit, and the auxiliary module can communicate with the control device through the communication unit. In addition, the auxiliary module is detachably connected to the device body, so the connection state of the auxiliary module includes at least two situations: one is connected to the device body, and the other is separated from the device body. Among them, when the auxiliary module has an RTK function or a similar navigation and positioning function, the state in which the auxiliary module is separated from the device body can be further divided into two situations: not connected to any device and connected to a surveying and mapping device used for mapping operations. Furthermore, the auxiliary module itself is usually not provided with a power module and does not have the ability to work independently. Only when it is connected to the device body or the surveying and mapping device, the device body or the surveying and mapping device to which it is connected provides power, and the auxiliary module can be powered on and started normally.
基于上述内容，在一些实施例中，在辅助模块与测绘设备相连的情况下，测绘设备的主控芯片会在建立连接关系后主动向辅助模块发送通知信息，而在辅助模块与设备主体相连的情况下，设备主体的主控芯片并不会向辅助模块发送类似功能的通知信息，因此，对于辅助模块而言，可以根据上电后是否接收到通知信息来确定当前是与设备主体连接还是与测绘设备连接。具体的，如果辅助模块在上电启动后的预设时长内未接收到表征辅助模块与测绘设备相连的通知信息，则判定辅助模块当前与设备主体相连，即在没有收到通知信息的情况下，默认辅助模块与设备主体相连，相反的，如果辅助模块在上电启动后的预设时长内接收到该通知信息，则判定辅助模块当前与测绘设备相连。Based on the above content, in some embodiments, when the auxiliary module is connected to the surveying and mapping device, the main control chip of the surveying and mapping device will actively send notification information to the auxiliary module after establishing the connection relationship, and when the auxiliary module is connected to the device body, the main control chip of the device body will not send notification information of similar functions to the auxiliary module. Therefore, for the auxiliary module, it can be determined whether it is currently connected to the device body or the surveying and mapping device according to whether the notification information is received after power-on. Specifically, if the auxiliary module does not receive the notification information indicating that the auxiliary module is connected to the surveying and mapping device within the preset time after power-on, it is determined that the auxiliary module is currently connected to the device body, that is, in the case of no notification information, the auxiliary module is connected to the device body by default. On the contrary, if the auxiliary module receives the notification information within the preset time after power-on, it is determined that the auxiliary module is currently connected to the surveying and mapping device.
需要说明的是，对于前述预设时长，可以基于测绘设备、辅助模块的性能参数、测绘设备与辅助模块之间的通信机制以及实际应用中的控制需求设置，本发明对于预设时长的具体取值不做限定。It should be noted that the aforementioned preset duration can be set based on the performance parameters of the surveying and mapping equipment and the auxiliary module, the communication mechanism between the surveying and mapping equipment and the auxiliary module, and the control requirements in actual applications. The present invention does not limit the specific value of the preset duration.
S410、控制设备在辅助模块与设备主体相连的情况下，向辅助模块发送第二控制信息。S410: When the auxiliary module is connected to the device body, the control device sends second control information to the auxiliary module.
在一些实施例中，在连接状态为辅助模块与目标主体相连接的情况下，通过通信单元或者设备主体的通信模块获取控制设备发送的第二控制信息；第二控制信息用于触发辅助模块根据第二控制信息控制目标主体在工作区域内移动；其中，第二控制信息包括作业指令和/或作业地图。In some embodiments, when the connection state is that the auxiliary module is connected to the target body, the second control information sent by the control device is obtained through the communication unit or the communication module of the device body; the second control information is used to trigger the auxiliary module to control the movement of the target body in the working area according to the second control information; wherein the second control information includes operation instructions and/or operation maps.
首先需要说明的是，本步骤中述及的辅助模块与设备主体相连，并非必须作为控制设备向辅助模块发送第二控制信息的限制条件，可以仅看作是一种发送第二控制信息的可能情况。也就是说，控制设备是否向辅助模块发送第二控制信息，与辅助模块是否与设备主体相连并无直接的约束关系。用户操作控制设备，通过控制设备向辅助模块发送第二控制信息，对于用户而言，辅助模块是否设备主体相连，并不影响其发送第二控制指令的行为，例如，在一种可能的应用场景中，用户在无意中触发控制设备发送该第二控制信息，此种情况下，很有可能辅助模块并未与设备主体相连。First of all, it should be noted that the connection between the auxiliary module and the device body mentioned in this step is not necessarily a restriction condition for the control device to send the second control information to the auxiliary module, and can only be regarded as a possible situation for sending the second control information. In other words, whether the control device sends the second control information to the auxiliary module has no direct constraint relationship with whether the auxiliary module is connected to the device body. The user operates the control device and sends the second control information to the auxiliary module through the control device. For the user, whether the auxiliary module is connected to the device body does not affect the behavior of sending the second control instruction. For example, in a possible application scenario, the user inadvertently triggers the control device to send the second control information. In this case, it is very likely that the auxiliary module is not connected to the device body.
在一些实施例中，辅助模块可以配置为：在未与设备主体相连的情况下，可以拒绝接收该第二控制信息，或者，对接收到的第二控制信息不予响应，作为无效信息舍弃。In some embodiments, the auxiliary module may be configured to refuse to receive the second control information when not connected to the device body, or to not respond to the received second control information and discard it as invalid information.
在另一些实施例中，可以将辅助模块与控制设备相连作为限制条件。具体的，控制设备可以和辅助模块制定通信协议，比如，辅助模块在确定当前与设备主体相连之后，向控制设备发送预设信息，控制设备在接收到该预设信息后，才会向辅助模块发送第二控制信息。在没有收到该预设信息的情况下，即使用户操作控制设备试图发送第二控制信息，控制设备也可不对该控制操作予以响应。In other embodiments, the connection between the auxiliary module and the control device can be used as a restriction condition. Specifically, the control device can formulate a communication protocol with the auxiliary module. For example, after the auxiliary module determines that it is currently connected to the device body, it sends a preset message to the control device. After receiving the preset message, the control device will send the second control information to the auxiliary module. In the case where the preset information is not received, even if the user operates the control device to try to send the second control information, the control device may not respond to the control operation.
S420、在辅助模块与设备主体相连的情况下，通过通信单元获取控制设备发送的第二控制信息。S420: When the auxiliary module is connected to the device body, obtain second control information sent by the control device through the communication unit.
与控制设备发送第二控制信息的过程类似，在本步骤中述及的辅助模块与设备主体相连，同样并非必须作为辅助模块获取第二控制信息的限制条件，仅是一种接收第二控制信息的可能情况。对于辅助模块而言，可以选择在自身与设备主体相连的情况下，激活通信单元并通过通信单元获取控制设备发送的第二控制信息；当然，也可以在任何情况下均通过通信单元获取第二控制信息。Similar to the process of the control device sending the second control information, the auxiliary module described in this step is connected to the device body, which is also not necessarily a restriction condition for the auxiliary module to obtain the second control information, but is only a possible situation for receiving the second control information. For the auxiliary module, it can choose to activate the communication unit and obtain the second control information sent by the control device through the communication unit when it is connected to the device body; of course, it can also obtain the second control information through the communication unit in any case.
可以理解的是，辅助模块与设备主体相连，不作为辅助模块是否接收第二控制信息的限制条件，但是必然作为辅助模块能否根据第二控制信息控制设备主体的前提条件，因为只有在辅助模块与设备主体相连的情况下，辅助模块才有对设备主体进行控制的可能。It can be understood that the connection between the auxiliary module and the device body is not a restriction on whether the auxiliary module receives the second control information, but it is necessarily a prerequisite for whether the auxiliary module can control the device body according to the second control information, because only when the auxiliary module is connected to the device body can the auxiliary module control the device body.
在另一些实施例中，设备主体可以设置有通信模块，设备主体可以通过自身的通信模块获取第二控制信息，设备主体的通信模块可以是无线通信模块或者有线通信模块。In other embodiments, the device body may be provided with a communication module, and the device body may obtain the second control information through its own communication module. The communication module of the device body may be a wireless communication module or a wired communication module.
S430、辅助模块根据第二控制信息控制设备主体在工作区域的范围内移动和/或执行作业任务。S430. The auxiliary module controls the device body to move within the working area and/or perform the operation task according to the second control information.
如前所述，自移动设备可以在极少的人为参与的情况下完成作业任务，在实际应用中，为了确保自移动设备的安全运行，同时也为了保证自移动设备在作业过程中不会与其他人或物发生碰撞而导致作业事故，往往需要限定自移动设备的工作区域。As mentioned above, autonomous equipment can complete work tasks with very little human intervention. In practical applications, in order to ensure the safe operation of autonomous equipment and to ensure that the autonomous equipment does not collide with other people or objects during operation and cause work accidents, it is often necessary to limit the working area of the autonomous equipment.
参见图5所示，图5中封闭曲线L1所对应的封闭区域即自移动设备100的工作区域，自移动设备100在工作区域内移动。以自动割草机为例，自动割草机在封闭曲线L1的范围内移动，在该作业区域内进行割草作业。进一步的，在图5所示中，还给出自移动设备100通常采用的两种作业路径，即L2所示的螺旋形作业路径以及L3所示的弓字型作业路径。当然，L1不仅作为工作区域的边界，同时也作为自移动设备100沿边作业时的作业路径，即自移动设备同样需要按照L1进行移动作业，才能完成整个作业区域的作业任务。当然，在实际应用中，还可以通过其他方式限定自移动设备的工作区域，辅助模块根据第二控制信息控制设备主体移动过程中，应确保设备主体始终处工作区域范围内。As shown in FIG5 , the closed area corresponding to the closed curve L1 in FIG5 is the working area of the self-mobile device 100, and the self-mobile device 100 moves within the working area. Taking an automatic lawn mower as an example, the automatic lawn mower moves within the range of the closed curve L1 and performs mowing operations within the working area. Furthermore, as shown in FIG5 , two operating paths commonly used by the self-mobile device 100 are also given, namely the spiral operating path shown in L2 and the bow-shaped operating path shown in L3. Of course, L1 is not only the boundary of the working area, but also the operating path when the self-mobile device 100 operates along the edge, that is, the self-mobile device also needs to move according to L1 to complete the operating task of the entire operating area. Of course, in actual applications, the working area of the self-mobile device can also be limited by other means. During the process of the auxiliary module controlling the movement of the device body according to the second control information, it should be ensured that the device body is always within the working area.
通常，工作区域是以作业地图的形式记录的，因此，在辅助模块与设备主体相连的情况下，第二控制信息中包括有作业地图，辅助模块在得到第二控制信息之后，即可根据第二控制信息中的作业地图控制设备主体在作业地图中限定的工作区域内移动。在一些实施例中，第二控制信息中具体包括的是作业地图的地图标识，辅助模块可以在本地存储至少一幅作业地图，在得到第二控制信息中的地图标识之后，在本地所存储的多幅作业地图中，将地图标识对应的作业地图作为当前作业需要使用的作业地图。当然，为了节省辅助模块内部存储空间，辅助模块本地也可以不存储任何作业地图，而是将所有的作业地图存储在云平台，在得到第二控制信息之后，辅助模块根据所得地图标识从云平台下载该地图标识对应的作业地图，这同样是可选的。Usually, the working area is recorded in the form of a work map. Therefore, when the auxiliary module is connected to the device body, the second control information includes the work map. After obtaining the second control information, the auxiliary module can control the device body to move within the working area defined in the work map according to the work map in the second control information. In some embodiments, the second control information specifically includes a map identifier of the work map. The auxiliary module can store at least one work map locally. After obtaining the map identifier in the second control information, the auxiliary module uses the work map corresponding to the map identifier as the work map required for the current operation among the multiple work maps stored locally. Of course, in order to save the internal storage space of the auxiliary module, the auxiliary module may not store any work maps locally, but store all work maps in the cloud platform. After obtaining the second control information, the auxiliary module downloads the work map corresponding to the map identifier from the cloud platform according to the obtained map identifier. This is also optional.
进一步的，在自移动设备移动的过程中，用户可能需要根据实际情况对自移动设备的移动过程进行调整，比如控制自移动设备停止运行、加速移动或减速移动等，因此，第二控制信息中还可以包括作业指令。至于第二控制信息中具体包括作业指令，需要结合实际的控制需求确定，此处不再一一列举，在未超出本发明核心思想范围的情况下，同样属于本发明保护的范围内。Furthermore, during the movement of the mobile device, the user may need to adjust the movement of the mobile device according to the actual situation, such as controlling the mobile device to stop running, accelerate or decelerate, etc. Therefore, the second control The information may also include operation instructions. As for whether the second control information specifically includes operation instructions, it needs to be determined in combination with actual control requirements, and will not be listed here one by one. If it does not exceed the core idea of the present invention, it also belongs to the protection scope of the present invention.
第二控制信息中还可以同时包括作业地图和作业指令，进而对自移动设备的作业过程进行更为准确、更符合用户自身需求的控制。比如，用户可以在第二控制信息中指定自移动设备作业所依据的作业地图，同时，限定作业开始的时间或者开始的位置等。The second control information may also include an operation map and an operation instruction, so as to control the operation process of the self-equipped device more accurately and in accordance with the user's own needs. For example, the user may specify the operation map based on which the self-equipped device operates in the second control information, and at the same time, limit the time or location at which the operation starts.
在一些实施例中，第二控制信息中还可以包括设备主体的主体标识。对于主体标识的选择，应该确保能够唯一的表示设备主体，即主体标识与设备主体之间为一一对应的关系。比如，可以选择设备主体的序列号，或者设备主体的通用唯一识别码(Universally Unique Identifier，UUID)等。In some embodiments, the second control information may also include a subject identifier of the device body. The subject identifier should be selected to ensure that it can uniquely represent the device body, that is, there is a one-to-one correspondence between the subject identifier and the device body. For example, the serial number of the device body or the universally unique identifier (UUID) of the device body can be selected.
在本申请中，第二控制信息中的主体标识主要用于匹配验证。在一些实施例中，辅助模块与设备主体连接后，以有线通信方式与设备主体进行信息交互，获取当前所连接的设备主体的主体标识，基于此，在得到第二控制信息中的主体标识之后，将当前所连接的设备主体的主体标识与第二控制信息中的主体标识进行对比，如果二者一致，说明第二控制信息是与当前连接的设备主体匹配的，可以进一步响应该第二控制信息，相反的，如果二者不一致，则可以确定第二控制信息与当前连接的设备主体不匹配，此情况下，辅助模块可以对第二控制信息不予响应。In the present application, the subject identification in the second control information is mainly used for matching verification. In some embodiments, after the auxiliary module is connected to the device body, it exchanges information with the device body in a wired communication mode to obtain the subject identification of the currently connected device body. Based on this, after obtaining the subject identification in the second control information, the subject identification of the currently connected device body is compared with the subject identification in the second control information. If the two are consistent, it means that the second control information matches the currently connected device body, and the second control information can be further responded to. On the contrary, if the two are inconsistent, it can be determined that the second control information does not match the currently connected device body. In this case, the auxiliary module may not respond to the second control information.
对于辅助模块而言，还可以根据第二控制信息中的主体标识对所连接的设备主体进行匹配验证。如前所述，辅助模块与设备主体连接后，以有线通信方式获取当前所连接的设备主体的主体标识，并将其与第二控制信息中的主体标识进行比较，如果二者一致，辅助模块即可确定当前所连接的设备主体是正确的，进而根据第二控制信息对设备主体进行控制，相反的，如果二者不一致，则说明辅助模块当前连接的设备主体是错误的，进而不再对设备主体进行控制。For the auxiliary module, the connected device body can also be matched and verified according to the body identification in the second control information. As mentioned above, after the auxiliary module is connected to the device body, the body identification of the currently connected device body is obtained by wired communication, and it is compared with the body identification in the second control information. If the two are consistent, the auxiliary module can determine that the currently connected device body is correct, and then control the device body according to the second control information. On the contrary, if the two are inconsistent, it means that the device body currently connected to the auxiliary module is wrong, and then the device body is no longer controlled.
在另一些实施例中，辅助模块在获取第二控制信息之后，将第二控制信息发送至设备主体，设备主体提取第二控制信息中的主体标识，并将所得主体标识与自身配置文件中记录的主体标识相比较，如果二者一致，设备主体便响应辅助模块后续的控制指令，相反的，如果二者不一致，说明所得第二控制信息与设备主体并不匹配，则对于辅助模块后续的控制指令可以不予响应。In other embodiments, after obtaining the second control information, the auxiliary module sends the second control information to the device body. The device body extracts the body identifier in the second control information, and compares the obtained body identifier with the body identifier recorded in its own configuration file. If the two are consistent, the device body responds to subsequent control instructions from the auxiliary module. On the contrary, if the two are inconsistent, it means that the obtained second control information does not match the device body, and the device body may not respond to subsequent control instructions from the auxiliary module.
当然，在上述任一实施例方式中，如果判定辅助模块、设备主体、第二控制信息之间并不匹配，辅助模块还可以进一步向控制设备反馈告警信息，提示控制设备存在匹配问题。Of course, in any of the above embodiments, if it is determined that the auxiliary module, the device body, and the second control information do not match, the auxiliary module may further feedback an alarm message to the control device, prompting the control device that there is a matching problem.
考虑到实际应用中，控制设备通常是直接与辅助模块通信的，对于控制设备而言，辅助模块具体连接的设备主体可能并不确定，通过在第二控制信息中携带主体标识，可以有效确保第二控制信息与设备主体之间的匹配，进而避免自移动设备响应错误的控制信息，造成不同自移动设备之间的控制混乱。Taking into account that in actual applications, the control device usually communicates directly with the auxiliary module. For the control device, the device body to which the auxiliary module is specifically connected may be uncertain. By carrying the body identifier in the second control information, the match between the second control information and the device body can be effectively ensured, thereby avoiding the self-mobile device responding to erroneous control information and causing control confusion between different self-mobile devices.
在一些实施例中，控制设备可以基于消息订阅机制向辅助模块发送第二控制信息。根据消息订阅机制的基本原理可知，TOPIC(话题)作为通信通道需要预先设置，并且，TOPIC是成对存在的，一次双向通信包括两个单向的TOPIC。在本实施例的应用场景中，通常由控制设备预先设置多个TOPIC，即提供多个预设通信通道，在发送第二控制信息时，只需确定与设备主体对应的通信通道即可。In some embodiments, the control device can send the second control information to the auxiliary module based on the message subscription mechanism. According to the basic principle of the message subscription mechanism, TOPIC (topic) as a communication channel needs to be pre-set, and TOPIC exists in pairs, and a two-way communication includes two unidirectional TOPICs. In the application scenario of this embodiment, the control device usually pre-sets multiple TOPICs, that is, provides multiple preset communication channels. When sending the second control information, it only needs to determine The communication channel corresponding to the device body is sufficient.
以云平台作为控制设备为例，在辅助模块以及设备主体出厂前，云平台需要为辅助模块生成模块配置文件，以及为设备主体生成主体配置文件。Taking the cloud platform as a control device as an example, before the auxiliary module and the device body leave the factory, the cloud platform needs to generate a module configuration file for the auxiliary module and a main configuration file for the device body.
具体的，生产商的管理设备生成辅助模块的模块序列号以及辅助模块系统软件的软件版本号，然后管理设备将所得模块序列号和软件版本号上传至云平台，云平台根据所得模块序列号、软件版本号以及预先约定的配置要求(文件大小、格式等)，生成加密的模块配置文件，模块配置文件中记录有辅助模块的模块序列号、第一通信证书、软件版本号、机型号等相关信息。相应的，生产商的管理设备同样会把设备主体的主体序列号和软件版本号等上传至云平台，云平台则会生成加密的主体配置文件，主体配置文件包括主体序列号、主体的软件版本号、机型号等相关信息。总之，对于云平台而言，辅助模块以及设备主体的任何信息都是明确获知的。Specifically, the manufacturer's management device generates the module serial number of the auxiliary module and the software version number of the auxiliary module system software, and then the management device uploads the obtained module serial number and software version number to the cloud platform. The cloud platform generates an encrypted module configuration file based on the obtained module serial number, software version number and pre-agreed configuration requirements (file size, format, etc.). The module configuration file records the module serial number, first communication certificate, software version number, machine model and other related information of the auxiliary module. Correspondingly, the manufacturer's management device will also upload the main serial number and software version number of the device main body to the cloud platform, and the cloud platform will generate an encrypted main configuration file. The main configuration file includes the main serial number, the main software version number, machine model and other related information. In short, for the cloud platform, any information about the auxiliary module and the device main body is clearly known.
进一步的，在辅助模块以及设备主体出厂前，云平台将二者各自的配置文件下发至生产商的管理设备，由管理设备将模块配置文件发送至辅助模块存储空间，将主体配置文件发送至设备主体的存储空间。Furthermore, before the auxiliary module and the main device are shipped out of the factory, the cloud platform sends their respective configuration files to the manufacturer's management device, and the management device sends the module configuration file to the auxiliary module storage space and the main configuration file to the storage space of the main device.
基于上述内容，控制设备可以根据其预存的辅助模块以及设备主体的相关信息建立预设通信通道，在实际应用中，只需要通过向对应的预设通信通道发送第二控制信息即可。Based on the above content, the control device can establish a preset communication channel according to the pre-stored auxiliary module and the relevant information of the device body. In actual application, it only needs to send the second control information to the corresponding preset communication channel.
在一些实施例中，在连接状态为辅助模块与设备主体分离，并且与测绘设备相连接的情况下，通过通信单元或者设备主体的通信模块获取控制设备发送的第一控制信息。In some embodiments, when the connection state is that the auxiliary module is separated from the device body and connected to the surveying and mapping device, the first control information sent by the control device is acquired through the communication unit or the communication module of the device body.
需要强调的是，辅助模块与设备主体分离至少包括两种情况，其一是辅助模块未与任何设备相连，其二是辅助模块在与设备主体分离的情况下，与测绘设备相连，后续将针对这两种情况对辅助模块的控制过程进行具体展开。It should be emphasized that the separation of the auxiliary module from the main body of the equipment includes at least two situations. One is that the auxiliary module is not connected to any device. The other is that the auxiliary module is connected to the surveying and mapping equipment while being separated from the main body of the equipment. The control process of the auxiliary module will be specifically expanded for these two situations later.
可以理解的是，在本实施例中，辅助模块与设备主体分离，并非必须作为控制设备向辅助模块发送第一控制信息的限制条件，可以仅看作是一种发送第一控制信息的可能情况。也就是说，控制设备可以在任何情况下向辅助模块发送第一控制信息，在此前提下，如果在辅助模块与设备主体分离的情况下发送第一控制信息，第一控制信息能够得到有效的响应，控制效果更好。同理，辅助模块与设备主体分离，同样并非必须作为辅助模块获取第一控制信息的限制条件，仅是一种接收第一控制信息的可能情况。对于辅助模块而言，可以选择在自身与设备主体分离的情况下，激活通信单元并通过通信单元获取控制设备发送的第一控制信息；当然，也可以在任何情况下均通过通信单元获取第一控制信息。It can be understood that, in this embodiment, the separation of the auxiliary module from the device body does not necessarily serve as a restriction condition for the control device to send the first control information to the auxiliary module, but can only be regarded as a possible situation for sending the first control information. That is to say, the control device can send the first control information to the auxiliary module under any circumstances. Under this premise, if the first control information is sent when the auxiliary module is separated from the device body, the first control information can be effectively responded to and the control effect is better. Similarly, the separation of the auxiliary module from the device body does not necessarily serve as a restriction condition for the auxiliary module to obtain the first control information, but is only a possible situation for receiving the first control information. For the auxiliary module, it can choose to activate the communication unit and obtain the first control information sent by the control device through the communication unit when it is separated from the device body; of course, it can also obtain the first control information through the communication unit under any circumstances.
在一些实施例中，辅助模块可在多个预设通信通道中确定与辅助模块对应的第一通信通道，并通过第一通信通道获取控制设备发送的第一控制信息。至于基于消息订阅机制获取第一控制信息的具体实现过程，可参照前述内容，此处不再详述。In some embodiments, the auxiliary module can determine a first communication channel corresponding to the auxiliary module from a plurality of preset communication channels, and obtain the first control information sent by the control device through the first communication channel. As for the specific implementation process of obtaining the first control information based on the message subscription mechanism, please refer to the aforementioned content and will not be described in detail here.
在一些实施例中，可通过构建预设映射关系提高确定第一通信通道的效率(当然，也可用于确定前述第二通信通道)。具体的，该预设映射关系中记录不同辅助模块的模块标识与预设通信通道之间的对应关系，并且，模块配置文件中记录有辅助模块的模块标识，通过查询该预设映射关系，辅助模块即可确定与自身的模块标识对应的预设通信通道，进而确定第一通信通道。In some embodiments, the efficiency of determining the first communication channel can be improved by constructing a preset mapping relationship (of course, it can also be used to determine the aforementioned second communication channel). Specifically, the preset mapping relationship records the correspondence between the module identifications of different auxiliary modules and the preset communication channels, and the module identification of the auxiliary module is recorded in the module configuration file. By querying the preset mapping relationship, the auxiliary module can determine the preset communication channel corresponding to its own module identification, and then determine the first communication channel.
基于上述内容，在一些实施例中，辅助模块可以配置为：在与设备主体相连的情况下，可以拒绝接收该第一控制信息，或者，对接收到的第一控制信息不予响应，作为无效信息舍弃。Based on the above, in some embodiments, the auxiliary module can be configured as follows: when connected to the device body, The first control information may be refused to be received, or no response may be given to the received first control information, which is discarded as invalid information.
在另一些实施例中，可以将辅助模块与控制设备分离作为限制条件。具体的，控制设备可以和辅助模块制定通信协议，比如，辅助模块在上电启动后，如果确定与设备主体分离，即当前未与任一设备主体相连，可以采用广播的方式，按照预设周期向控制设备发送预设信息，该预设信息用于表征辅助模块当前与设备主体处于分离状态，控制设备接收预设信息之后，便可向辅助模块发送第一控制信息。当然，在没有收到该预设信息的情况下，即使用户操作控制设备试图发送第一控制信息，控制设备也可不对该控制操作予以响应。In other embodiments, the separation of the auxiliary module from the control device can be used as a restriction condition. Specifically, the control device can formulate a communication protocol with the auxiliary module. For example, after the auxiliary module is powered on and started, if it is determined to be separated from the device body, that is, it is not currently connected to any device body, it can be broadcast to send preset information to the control device according to a preset period. The preset information is used to indicate that the auxiliary module is currently separated from the device body. After the control device receives the preset information, it can send the first control information to the auxiliary module. Of course, if the preset information is not received, even if the user operates the control device to try to send the first control information, the control device may not respond to the control operation.
在一些实施例中，辅助模块在上电启动后，如果确定与设备主体分离，即当前未与任一设备主体相连，可以采用广播的方式，按照预设周期向控制设备发送预设信息，该预设信息用于表征辅助模块当前与设备主体处于分离状态，控制设备接收预设信息之后，向辅助模块发送第一控制信息。In some embodiments, after the auxiliary module is powered on and started, if it is determined that it is separated from the device body, that is, it is not currently connected to any device body, it can use broadcasting to send preset information to the control device according to a preset period. The preset information is used to indicate that the auxiliary module is currently in a separated state from the device body. After receiving the preset information, the control device sends the first control information to the auxiliary module.
与发送第二控制信息的过程相似，控制设备同样可以基于消息订阅机制向辅助模块发送第一控制信息。当然，控制设备在发送第一控制信息时，需要选择与发送第二控制信息时不同的预设通信通道，具体的发送过程可参照前述内容，此处不再赘述。Similar to the process of sending the second control information, the control device can also send the first control information to the auxiliary module based on the message subscription mechanism. Of course, when sending the first control information, the control device needs to select a preset communication channel different from that when sending the second control information. The specific sending process can refer to the above content and will not be repeated here.
在本实施例中，第一控制信息主要用于建图作业，在辅助模块与设备主体分离的情况下，辅助模块根据第一控制信息进行建图作业。In this embodiment, the first control information is mainly used for mapping operations. When the auxiliary module is separated from the device body, the auxiliary module performs mapping operations according to the first control information.
在一些实施例中，辅助模块配置有电源模块，通过该电源模块提供的电能，辅助模块可以在不与设备主体或测绘设备相连的情况下独立工作。此种情况下，用户可以通过手持辅助模块或将辅助模块搭载于其他移动设备(比如遥控汽车)的方式移动辅助模块，进而使得辅助模块获取移动过程中的位置数据。后续根据位置数据生成地图的过程可以由辅助模块完成，也可以是辅助模块将位置数据传输给设备主体或控制设备，由设备主体或控制设备根据位置数据生成地图数据。In some embodiments, the auxiliary module is configured with a power module, and the auxiliary module can work independently without being connected to the device body or the mapping device through the power provided by the power module. In this case, the user can move the auxiliary module by holding the auxiliary module or mounting the auxiliary module on other mobile devices (such as remote control cars), so that the auxiliary module can obtain the location data during the movement. The subsequent process of generating a map based on the location data can be completed by the auxiliary module, or the auxiliary module can transmit the location data to the device body or the control device, and the device body or the control device generates the map data based on the location data.
在另一些实施例中，辅助模块的工作电源由设备主体或测绘设备提供，因此，在辅助模块与设备主体分离，并与测绘设备相连的情况下，辅助模块才能有效响应第一控制信息。结合图6所示，辅助模块101与测绘设备30相连，与测绘设备30进行功率传输以及相关的信息交互，同时，辅助模块101与控制设备20通过通信单元通信连接。在实际应用中，辅助模块101与测绘设备30相连并完成上电启动，用户根据作业需求推动测绘设备30移动，辅助模块101记录移动过程中的位置数据。In other embodiments, the working power of the auxiliary module is provided by the device body or the surveying and mapping device. Therefore, the auxiliary module can effectively respond to the first control information only when the auxiliary module is separated from the device body and connected to the surveying and mapping device. As shown in FIG6 , the auxiliary module 101 is connected to the surveying and mapping device 30, and performs power transmission and related information interaction with the surveying and mapping device 30. At the same time, the auxiliary module 101 is connected to the control device 20 through a communication unit. In actual applications, the auxiliary module 101 is connected to the surveying and mapping device 30 and completes the power-on startup. The user pushes the surveying and mapping device 30 to move according to the operation requirements, and the auxiliary module 101 records the position data during the movement.
第一控制信息中包括建图指令以及待续建地图中的至少一项，辅助模块根据第一控制信息中的具体信息以及移动过程中采集的位置数据完成建图作业。需要说明的是，在上述两种实施方式中，辅助模块在移动过程中采集位置数据，辅助模块进一步基于位置数据以及第一控制信息进行建图作业。The first control information includes at least one of the mapping instructions and the map to be constructed, and the auxiliary module completes the mapping operation according to the specific information in the first control information and the location data collected during the movement. It should be noted that in the above two embodiments, the auxiliary module collects location data during the movement, and the auxiliary module further performs the mapping operation based on the location data and the first control information.
在一些实施例中，上述方法还可以包括：获取目标辅助模块根据第一控制信息建图得到的目标地图后，向控制设备发送目标地图；或者，接收上传指令，上传指令包括目标地址；获取目标辅助模块根据第一控制信息建图得到的目标地图后，向目标地址发送目标地图，以使控制设备从目标地址下载目标地图，目标地址指示目标用户账户。In some embodiments, the above method may also include: after obtaining the target map obtained by the target auxiliary module based on the first control information, sending the target map to the control device; or, receiving an upload instruction, the upload instruction includes a target address; after obtaining the target map obtained by the target auxiliary module based on the first control information, sending the target map to the target address, so that the control device downloads the target map from the target address, and the target address indicates the target user account.
在一些实施例中，在根据第一控制信息完成建图作业并得到目标地图之后，控制设备可以向辅助模块发送上传指令。In some embodiments, after completing the mapping operation according to the first control information and obtaining the target map, the control device may To send upload instructions to the auxiliary module.
在一些实施例中，用户终端与云平台共同作为控制设备。具体的，用户终端与云平台通信连接，用户可以通过操作用户终端发出控制信息，该控制信息经由云平台的转发后到达辅助模块。基于此，用户终端设置有用户操作界面，用户可在用户操作界面的预设位置输入目标用户账号，同时，用户操作界面还设置有地图上传按钮，响应于用户对该地图上传按钮的点击操作，用户终端生成上传指令，该上传指令中包括有指示目标用户账户的目标地址。进一步的，用户终端将上传指令发送至云平台，由云平台将该上传指令发送至辅助模块。In some embodiments, the user terminal and the cloud platform serve together as control devices. Specifically, the user terminal is connected to the cloud platform in communication, and the user can send control information by operating the user terminal, and the control information reaches the auxiliary module after being forwarded by the cloud platform. Based on this, the user terminal is provided with a user operation interface, and the user can enter the target user account at a preset position of the user operation interface. At the same time, the user operation interface is also provided with a map upload button. In response to the user clicking the map upload button, the user terminal generates an upload instruction, and the upload instruction includes a target address indicating the target user account. Further, the user terminal sends the upload instruction to the cloud platform, and the cloud platform sends the upload instruction to the auxiliary module.
当然，上传指令还可以由其他控制设备发出。Of course, the upload instruction may also be issued by other control devices.
在一些实施例中，控制设备可以包括用户终端、云平台、所述测绘设备以及设备主体中的一个或多个。In some embodiments, the control device may include one or more of a user terminal, a cloud platform, the surveying and mapping device, and a device body.
在本实施例中，辅助模块接收到上传指令后，提取上传指令中的目标地址，并向目标地址发送构建完成的目标地图。In this embodiment, after receiving the upload instruction, the auxiliary module extracts the target address in the upload instruction and sends the constructed target map to the target address.
在后续应用中，控制设备可以根据作业需求从该目标地址下载目标地图，并进一步根据目标地图作业。In subsequent applications, the control device can download the target map from the target address according to the operation requirements, and further operate according to the target map.
在一些实施例中，基于消息订阅机制获取第二控制信息；基于消息订阅机制获取第一控制信息。In some embodiments, the second control information is obtained based on a message subscription mechanism; and the first control information is obtained based on a message subscription mechanism.
在本实施例中，控制设备基于消息订阅机制向辅助模块发送第二控制信息，相应的，辅助模块同样需要基于消息订阅机制接收第二控制信息。In this embodiment, the control device sends the second control information to the auxiliary module based on the message subscription mechanism, and correspondingly, the auxiliary module also needs to receive the second control information based on the message subscription mechanism.
在一些实施例中，基于消息订阅机制获取第二控制信息，包括：在多个预设通信通道中确定与设备主体对应的第二通信通道；通过第二通信通道获取控制设备发送的第二控制信息；基于消息订阅机制获取第一控制信息包括：在多个预设通信通道中确定与辅助模块对应的第一通信通道；通过第一通信通道获取控制设备发送的第一控制信息。In some embodiments, obtaining the second control information based on the message subscription mechanism includes: determining the second communication channel corresponding to the device body among multiple preset communication channels; obtaining the second control information sent by the control device through the second communication channel; obtaining the first control information based on the message subscription mechanism includes: determining the first communication channel corresponding to the auxiliary module among multiple preset communication channels; obtaining the first control information sent by the control device through the first communication channel.
基于前述内容可知，辅助模块的模块配置文件中包括第一通信证书，该第一通信证书用于建立辅助模块与云平台之间的通信连接，基于此，在一些实施例中，辅助模块首先基于第一通信证书建立与云平台之间的通信连接，并在多个预设通信通道中确定与设备主体对应的第二通信通道，最终通过第二通信通道获取云平台的第二控制信息。Based on the foregoing content, it can be known that the module configuration file of the auxiliary module includes a first communication certificate, and the first communication certificate is used to establish a communication connection between the auxiliary module and the cloud platform. Based on this, in some embodiments, the auxiliary module first establishes a communication connection with the cloud platform based on the first communication certificate, and determines a second communication channel corresponding to the device body from multiple preset communication channels, and finally obtains the second control information of the cloud platform through the second communication channel.
与发送第二控制信息的过程相似，控制设备同样可以基于消息订阅机制向辅助模块发送第一控制信息。当然，控制设备在发送第一控制信息时，需要选择与发送第二控制信息时不同的预设通信通道，具体的发送过程可参照前述内容，此处不再赘述。Similar to the process of sending the second control information, the control device can also send the first control information to the auxiliary module based on the message subscription mechanism. Of course, when sending the first control information, the control device needs to select a preset communication channel different from that when sending the second control information. The specific sending process can refer to the above content and will not be repeated here.
在一些实施例中，第一控制信息中还包括辅助模块的模块标识，对于模块标识的选择，应该确保能够唯一的表示辅助模块，即模块标识与辅助模块之间为一一对应的关系。比如，可以选择辅助模块的序列号，或者辅助模块的UUID等。In some embodiments, the first control information also includes a module identifier of the auxiliary module. The selection of the module identifier should ensure that it can uniquely represent the auxiliary module, that is, there is a one-to-one correspondence between the module identifier and the auxiliary module. For example, the serial number of the auxiliary module or the UUID of the auxiliary module can be selected.
在本申请中，第一控制信息中的模块标识主要用于匹配验证。一些实施例中，辅助模块与测绘设备块连接后，测绘设备以有线通信方式获取当前所连接的辅助模块的模块标识，同时，辅助模块将第一控制信息转发给测绘设备，测绘设备提取第一控制信息中的模块标识，并将其与当前连接的辅助模块的模块标识进行比较，如果二者一致，测绘设备即可确定当前所连接的辅助模块是正确的，进而配合辅助模块完成后续的建图作业，相反的，如果二者不一致，则说明当前连接的辅助模块是错误的，对于后续指令不予响应。In the present application, the module identifier in the first control information is mainly used for matching verification. In some embodiments, after the auxiliary module is connected to the surveying and mapping device block, the surveying and mapping device obtains the module identifier of the currently connected auxiliary module by wired communication. At the same time, the auxiliary module forwards the first control information to the surveying and mapping device, and the surveying and mapping device extracts the module identifier in the first control information and compares it with the module identifier of the currently connected auxiliary module. If the two are consistent, the surveying and mapping device can determine that the currently connected auxiliary module is correct, and then cooperate with the auxiliary module to complete the subsequent mapping operation. On the contrary, if the two are inconsistent, it means that the currently connected auxiliary module is wrong and will not respond to subsequent instructions.
在另一些实施例中，辅助模块在获取第一控制信息之后，提取第一控制信息中的模块标识，并将所得模块标识与自身配置文件中记录的模块标识相比较，如果二者一致，说明所得第一控制信息与辅助模块匹配，辅助模块便响应控制设备后续的控制指令，相反的，如果二者不一致，说明所得第一控制信息与辅助模块并不匹配，则对于后续的控制指令可以不予响应。In other embodiments, after obtaining the first control information, the auxiliary module extracts the module identifier in the first control information, and compares the obtained module identifier with the module identifier recorded in its own configuration file. If the two are consistent, it means that the obtained first control information matches the auxiliary module, and the auxiliary module responds to subsequent control instructions of the control device. On the contrary, if the two are inconsistent, it means that the obtained first control information does not match the auxiliary module, and the auxiliary module may not respond to subsequent control instructions.
当然，在上述任一实施例方式中，如果判定辅助模块、测绘设备、第一控制信息之间并不匹配，辅助模块还可以进一步向控制设备反馈告警信息，提示控制设备存在匹配问题。Of course, in any of the above embodiments, if it is determined that the auxiliary module, the surveying and mapping device, and the first control information do not match, the auxiliary module may further feedback an alarm message to the control device, prompting the control device that there is a matching problem.
考虑到实际应用中，控制设备通常是直接与辅助模块通信的，对于控制设备而言，辅助模块具体连接的测绘设备可能并不确定，通过在第一控制信息中携带模块标识，可以有效确保第一控制信息与辅助模块、辅助模块与测绘设备之间的匹配，进而避免自移动设备响应错误的控制信息，造成不同自移动设备之间的控制混乱。Taking into account that in actual applications, the control device usually communicates directly with the auxiliary module. For the control device, the surveying and mapping device to which the auxiliary module is specifically connected may be uncertain. By carrying the module identifier in the first control information, the matching between the first control information and the auxiliary module, and the auxiliary module and the surveying and mapping device can be effectively ensured, thereby avoiding the self-mobile device responding to erroneous control information and causing control confusion between different self-mobile devices.
综上所述，本发明实施例提供的控制方法中，辅助模块设置有通信单元，可以与测绘设备通信连接，辅助模块接收控制设备发送的第一控制信息，并可根据第一控制信息进行建图作业，有助于提高建图作业的效率。To sum up, in the control method provided in the embodiment of the present invention, the auxiliary module is provided with a communication unit, which can be connected to the surveying and mapping equipment for communication. The auxiliary module receives the first control information sent by the control equipment and can perform mapping operations according to the first control information, which helps to improve the efficiency of the mapping operations.
如前所述，设备主体以及测绘设备均可以作为控制设备，在一些实施例中，辅助模块通过有线通信方式连接设备主体或测绘设备，在此情况下，辅助模块可通过有线数据通道获取设备主体或测绘设备的控制信息。As mentioned above, both the device body and the surveying and mapping device can be used as control devices. In some embodiments, the auxiliary module is connected to the device body or the surveying and mapping device via wired communication. In this case, the auxiliary module can obtain control information of the device body or the surveying and mapping device through the wired data channel.
参见图7，在上述各个实施例的基础上，本实施例提供另一种设备控制方法，用于实现用户地图的创建、编辑等操作，结合图7所示，本实施例提供的设备控制方法的流程，包括：Referring to FIG. 7 , based on the above embodiments, this embodiment provides another device control method for implementing operations such as creation and editing of a user map. As shown in FIG. 7 , the process of the device control method provided in this embodiment includes:
S700、获取第一控制信息的建图指令。S700: Obtain a mapping instruction of first control information.
在实际应用中，建图指令有多种类型，比如新建指令、续建指令、重建指令以及编辑指令等，用户可以根据自身的作业需求选择相应的建图指令。In actual applications, there are many types of mapping instructions, such as new building instructions, continued building instructions, rebuilding instructions, and editing instructions. Users can choose corresponding mapping instructions according to their own work needs.
至于控制设备获取建图指令的具体方式，会因为控制设备的具体配置差异而有所不同。在一些实施例中，控制设备配置有用户界面，可以通过用户界面获取用户输入的建图指令。在另一些实施例中，控制设备配置有控制面板，控制面板中设置有生成相应建图指令的按钮，控制设备获取用户对相应按钮的触控操作，生成与用户触控的按钮对应的建图指令。As for the specific way in which the control device obtains the mapping instruction, it will vary depending on the specific configuration of the control device. In some embodiments, the control device is configured with a user interface, and the mapping instruction input by the user can be obtained through the user interface. In other embodiments, the control device is configured with a control panel, and a button for generating the corresponding mapping instruction is set in the control panel. The control device obtains the user's touch operation on the corresponding button and generates a mapping instruction corresponding to the button touched by the user.
S710、根据建图指令，控制目标辅助模块建图，生成用户地图。S710: According to the mapping instruction, control the target auxiliary module to build a map and generate a user map.
在实际应用中，目标辅助模块的连接状态至少包括两种情况：其一是与设备主体相连接，其二是与设备主体分离。其中，在目标辅助模块与设备主体分离的状态又可以细分为：未与任何设备相连以及与用于建图作业的测绘设备相连两种情况。In practical applications, the connection state of the target auxiliary module includes at least two situations: one is connected to the device body, and the other is separated from the device body. Among them, the state where the target auxiliary module is separated from the device body can be further divided into two situations: not connected to any device and connected to the surveying and mapping equipment used for mapping operations.
当辅助模块自身并未设置电源模块，不具备独立工作的能力时，测绘设备可以为辅助模块提供安装位置，测绘设备可以是推车。基于此，可在目标辅助模块与设备主体相分离并且与测绘设备相连的情况下，控制目标辅助模块建图，并生成用户地图。When the auxiliary module itself is not equipped with a power module and does not have the ability to work independently, the surveying and mapping equipment can provide an installation location for the auxiliary module, and the surveying and mapping equipment can be a cart. Based on this, when the target auxiliary module is separated from the device body and connected to the surveying and mapping equipment, the target auxiliary module can be controlled to build a map and generate a user map.
当辅助模块自身设置有电源模块，可独立工作时，可在目标辅助模块与设备主体分离且未与任何设备相连的情况下，控制目标辅助模块建图并生成用户地图。When the auxiliary module itself is provided with a power module and can work independently, the target auxiliary module can be controlled to build a map and generate a user map when the target auxiliary module is separated from the device body and is not connected to any device.
在另一些实施例中，设备主体可以替代绘图设备的作用，在由设备主体为目标辅助模块供电的同时，通过设备主体搭载目标辅助模块移动，当然，通常需要关闭设备主体的作业部件(如切割部件)，此种情况下，可以控制目标自移动设备搭载目标辅助模块完成建图作业，最终得到用户地图。In other embodiments, the device body can replace the function of the drawing device. While the device body supplies power to the target auxiliary module, the target auxiliary module is moved by the device body. Of course, the operating part of the device body usually needs to be closed. In this case, the target self-mobile device can be controlled to carry the target auxiliary module to complete the mapping operation and finally obtain the user map.
S720、显示用户地图。S720: Display a user map.
控制目标辅助模块建图并最终得到用户地图之后，显示用户地图，以供用户查看。After the target auxiliary module is controlled to build a map and finally obtain a user map, the user map is displayed for the user to view.
在一些实施例中，可以显示最终完整的用户地图，以使用户可以全面、完整的确定用户地图的内容。In some embodiments, the final complete user map may be displayed so that the user can fully and completely determine the content of the user map.
在另一些实施例中，可以显示用户地图对应的缩略图。显示缩略图可以简明扼要的向用户展示用户地图的关键信息，同时降低控制设备记载用户地图时所需的硬件资源，有助于提高用户地图的显示效率，降低对于控制设备硬件性能的要求。In other embodiments, a thumbnail corresponding to the user map may be displayed. Displaying the thumbnail can concisely show the key information of the user map to the user, while reducing the hardware resources required for the control device to record the user map, which helps to improve the display efficiency of the user map and reduce the requirements for the hardware performance of the control device.
在另一些实施例中，可以显示用户地图中的至少一个图层，以使用户可以针对性的获取用户地图中用户所特别关心的地图信息。在实际应用中，可以根据用户的图层选择操作确定向用户展示的图层。当然，也可以基于预设的显示要求向用户展示相应的图层，比如，默认显示包括地图边界的图层等。In other embodiments, at least one layer in the user map may be displayed so that the user can specifically obtain map information of particular interest to the user in the user map. In practical applications, the layer displayed to the user may be determined based on the user's layer selection operation. Of course, the corresponding layer may also be displayed to the user based on preset display requirements, for example, the layer including the map boundary is displayed by default.
进一步的，在显示用户地图之后，还可以对用户地图进行编辑操作，生成并显示编辑后的用户地图。其中，编辑操作包括分割、合并、内缩、外扩、删除、复制和修改属性一种或多种。Furthermore, after displaying the user map, the user map can also be edited to generate and display the edited user map, wherein the editing operation includes one or more of splitting, merging, shrinking, expanding, deleting, copying and modifying attributes.
需要说明的是，控制设备可以自动删除编辑前的用户地图，比如，用户在用户地图A的基础上进行编辑，得到编辑后的用户地图B，此种情况下，控制设备不保留用户地图A，可以保存用户地图B，即将用户地图A删除。但是，对于地图复制操作，控制设备不会删除原始地图，比如，用户对用户地图C比较满意，但想要进一步优化用户地图C，则可以对用户地图C进行复制，得到用户地图D，此种情况下，控制设备不会删除用户地图C，这样设置的优点在于，如果用户在用户地图D进行编辑后不满意，可以将编辑后的用户地图D删除，进而在保留的用户地图C的基础上再次进行复制、对复制得到的地图进行编辑，从而有效防止用户因为误操作而丢失用户地图C。It should be noted that the control device can automatically delete the user map before editing. For example, the user edits the user map A and obtains the edited user map B. In this case, the control device does not retain the user map A, but can save the user map B, that is, delete the user map A. However, for the map copy operation, the control device will not delete the original map. For example, if the user is satisfied with the user map C, but wants to further optimize the user map C, the user map C can be copied to obtain the user map D. In this case, the control device will not delete the user map C. The advantage of this setting is that if the user is not satisfied with the user map D after editing, the edited user map D can be deleted, and then the user map C can be copied again based on the retained user map C, and the copied map can be edited, thereby effectively preventing the user from losing the user map C due to misoperation.
分割操作可以包括将用户地图中的区域进行分割处理，得到多个子区域；合并操作可以包括对子区域进行合并；内缩操作可以包括对边界进行内缩处理；外扩操作可以包括对边界进行外扩处理；修改属性操作可以包括修改充电站的属性，属性如边界内充电站、边界外充电站、阳光棚充电站等。The split operation may include splitting the area in the user map to obtain multiple sub-areas; the merge operation may include merging the sub-areas; the shrink operation may include shrinking the boundary; the expand operation may include expanding the boundary; the modify attribute operation may include modifying the attributes of the charging station, such as the charging station within the boundary, the charging station outside the boundary, the sun shed charging station, etc.
综上所述，通过本实施例提供的设备控制方法，可在不同情况下控制辅助模块进行建图作业，最终输出用户地图，能够进一步满足用户对于自移动设备的使用需求，改善用户的使用感受。In summary, through the device control method provided in this embodiment, the auxiliary module can be controlled to perform mapping operations in different situations, and finally the user map can be output, which can further meet the user's needs for the use of self-equipped equipment and improve the user's usage experience.
进一步的，如前所述，建图指令包括多种形式，下面结合实际应用需求，对控制设备响应部分建图指令，控制目标辅助模块进行作业的过程予以介绍。Furthermore, as mentioned above, mapping instructions include various forms. The following introduces the process of controlling the device to respond to some mapping instructions and controlling the target auxiliary module to perform operations in combination with actual application requirements.
在一些实施例中，建图指令为新建指令，控制设备响应于新建指令，控制目标辅助模块建图，生成用户地图，并且所得用户地图中包括区域边界的地图信息。需要说明的是，在基于新建指令进行建图作业过程中，至少要完成部分区域边界的构建工作，并在后续的建图作业中不断完善区域边界或工作区域的其他地图信息。当然，对于用户地图中的其他地图信息，也可以采用与区域边界类似的方式，在得到新建指令时，只进行部分内容的创建，在后续过程中通过不断续建的方式逐步完成，进而得到最终的用户地图。优选地，基于新建指令得到的用户地图至少包括一个区域，区域包括区域边界位置和区域边界内的位置。在另一个示例中，也可以基于新建指令得到工作区域的完整地图，包括各个区域、区域间通道、充电站、障碍物等。例如，用户家有前院和后院两块草坪，在新建地图时，可以先通过辅助模块采集前院相关的位置数据，得到前院的区域地图，然后辅助模块将前院的区域地图发送至控制设备，用户可以通过控制设备查看前院的区域地图。或者，在新建地图时，也可以通过辅助模块采集与用户家两块草坪相关的全部位置数据(如前院、后院、前院和后院之间通道相关的位置数据等)，得到用户家完整的工作区域地图。In some embodiments, the mapping instruction is a new creation instruction, and the control device responds to the new creation instruction, controls the target auxiliary module to build a map, generates a user map, and the resulting user map includes map information of the area boundary. It should be noted that in the process of mapping based on the new creation instruction, at least part of the area boundary construction work must be completed, and other map information of the area boundary or the work area must be continuously improved in subsequent mapping operations. Of course, for other map information in the user map, a similar method to the area boundary can also be used. When a new creation instruction is obtained, only part of the content is created, and in the subsequent process, the map information is not updated. The process is gradually completed by continuous construction, and then the final user map is obtained. Preferably, the user map obtained based on the new construction instruction includes at least one area, and the area includes the area boundary position and the position within the area boundary. In another example, a complete map of the work area can also be obtained based on the new construction instruction, including various areas, passages between areas, charging stations, obstacles, etc. For example, the user's home has two lawns, the front yard and the back yard. When creating a new map, the auxiliary module can first collect the location data related to the front yard to obtain the regional map of the front yard, and then the auxiliary module sends the regional map of the front yard to the control device, and the user can view the regional map of the front yard through the control device. Alternatively, when creating a new map, all the location data related to the two lawns of the user's home (such as the location data related to the front yard, the back yard, and the passage between the front yard and the back yard, etc.) can also be collected through the auxiliary module to obtain a complete work area map of the user's home.
在另一些实施例中，建图指令为续建指令。在获取续建指令之后，控制设备首先需要确定待续建地图，结合前述实施例内容可知，在进行建图作业过程中，用户地图可以分阶段完成，因此，不可避免的会产生只包括部分地图信息的待续建地图。基于此，控制设备响应于用户的地图展示指令，显示至少一个未完成的用户地图，并进一步根据用户的选择操作，在至少一个未完成的用户地图中选定待续建地图。控制设备根据所得续建指令以及待续建地图，控制目标辅助模块建图最终得到完整的用户地图。例如，用户可以新建地图得到地图F，在地图F的基础上续建得到地图G，在地图G的基础上续建得到地图H。例如，用户家有前院和后院两块草坪，用户在新建时只建立了前院的区域地图，用户可以通过控制设备查看前院的区域地图，若用户认为前院的区域地图正确并且可以开始续建后院地图，则用户可以通过控制设备向辅助模块发送续建指令，指示辅助模块在前院的区域地图的基础上续建后院的区域地图，得到续建后的地图并发送至控制设备。在辅助模块发送前院的区域地图、控制设备发送续建指令、辅助模块发送续建后的地图的这个过程中，由于辅助模块可以独立地与控制设备通信，因此辅助模块可以在与设备主体分离的情况下独立完成该过程，无需借助设备主体，无需在过程中频繁地与设备主体连接/断开，用户的体验感较好。In other embodiments, the mapping instruction is a continuation instruction. After obtaining the continuation instruction, the control device first needs to determine the map to be continued. In combination with the contents of the aforementioned embodiments, it can be seen that during the mapping operation, the user map can be completed in stages. Therefore, it is inevitable that a map to be continued will be generated that only includes part of the map information. Based on this, the control device responds to the user's map display instruction, displays at least one unfinished user map, and further selects the map to be continued from at least one unfinished user map according to the user's selection operation. The control device controls the target auxiliary module to build a map based on the obtained continuation instruction and the map to be continued, and finally obtains a complete user map. For example, the user can create a new map to obtain map F, continue to build map G on the basis of map F, and continue to build map H on the basis of map G. For example, the user's home has two lawns, the front yard and the back yard. When the user builds the new lawn, he only builds the area map of the front yard. The user can view the area map of the front yard through the control device. If the user believes that the area map of the front yard is correct and can start to build the backyard map, the user can send a construction instruction to the auxiliary module through the control device, instructing the auxiliary module to build the backyard area map based on the area map of the front yard, obtain the rebuilt map and send it to the control device. In the process of the auxiliary module sending the area map of the front yard, the control device sending the construction instruction, and the auxiliary module sending the rebuilt map, since the auxiliary module can communicate with the control device independently, the auxiliary module can complete the process independently when separated from the device body, without the help of the device body, and without frequent connection/disconnection with the device body during the process, the user experience is better.
进一步的，续建指令中还包括有续建类型，具体的，续建类型包括区域、区域边界、区域间通道、充电站、回归通道、孤岛、障碍物中的一种或多种，控制设备可根据续建指令对应的续建类型以及待续建地图，控制目标辅助模块建图，最终得到包括与续建类型对应的地图信息的用户地图。续建充电站时还可以选择充电站属性，例如边界内充电站、边界外充电站、阳光棚充电站等。Furthermore, the construction continuation instruction also includes the construction continuation type. Specifically, the construction continuation type includes one or more of the following: region, region boundary, inter-region channel, charging station, return channel, island, and obstacle. The control device can control the target auxiliary module to build a map according to the construction continuation type corresponding to the construction continuation instruction and the map to be continued, and finally obtain a user map including map information corresponding to the construction continuation type. When continuing to build a charging station, you can also select the charging station attributes, such as charging station within the boundary, charging station outside the boundary, and charging station under the sun shed.
在另一些实施例中，建图指令为重建指令。在获取重建指令后，控制设备可以返回上一次建图的操作节点。例如，用户续建得到地图H后，若对地图H不满意，则可以选择放弃该地图H，控制目标辅助模块在地图G的基础上重新续建得到地图H’。又例如，用户新建得到地图K，若对地图K不满足，则可以放弃该地图K，控制目标辅助模块重新进行新建。In some other embodiments, the mapping instruction is a reconstruction instruction. After obtaining the reconstruction instruction, the control device can return to the operation node of the last mapping. For example, after the user continues to build map H, if he is not satisfied with map H, he can choose to abandon the map H and control the target auxiliary module to rebuild the map H' based on map G. For another example, if the user newly builds map K and is not satisfied with map K, he can abandon the map K and control the target auxiliary module to rebuild it again.
下面对本发明提供的设备控制装置进行介绍，本发明提供的设备控制装置，与本申请实施例所提供的设备控制方法属于同一申请构思，可执行本申请任意实施例所提供的设备控制方法，具备执行设备控制方法相应的辅助模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本申请实施例提供的设备控制方法，此处不再加以赘述。The following is an introduction to the device control device provided by the present invention. The device control device provided by the present invention belongs to the same application concept as the device control method provided in the embodiment of the present application, can execute the device control method provided in any embodiment of the present application, and has the corresponding auxiliary modules and beneficial effects of executing the device control method. For technical details not fully described in this embodiment, please refer to the device control method provided in the embodiment of the present application, and will not be repeated here.
参见图8，图8是本发明实施例提供的一种设备控制装置的结构框图，本实施例提供的设备控制装置，应用于图1所示的自移动系统，该自移动系统包括至少一个辅助模块和至少一个设备主体，所述辅助模块可拆卸连接于所述设备主体，所述装置包括：Referring to FIG. 8, FIG. 8 is a structural block diagram of a device control device provided in an embodiment of the present invention. The device control device provided in this embodiment is applied to the self-propelled system shown in FIG. 1. The self-propelled system includes at least one auxiliary module and at least A device body, the auxiliary module is detachably connected to the device body, and the device comprises:
第一确定单元800，用于在目标辅助模块与设备主体相连的情况下，确定当前的设备主体是否为与所述目标辅助模块相匹配的目标主体，所述目标辅助模块为自移动系统中的任意一个辅助模块；A first determination unit 800 is used to determine whether the current device body is a target body that matches the target auxiliary module when the target auxiliary module is connected to the device body, wherein the target auxiliary module is any auxiliary module in the self-moving system;
第二确定单元810，用于在所述当前的设备主体为所述目标主体的情况下，确定所述目标辅助模块与所述当前的设备主体连接得到的自移动设备为目标自移动设备；A second determining unit 810 is used to determine, when the current device body is the target body, that the self-mobile device obtained by connecting the target auxiliary module with the current device body is the target self-mobile device;
控制单元820，用于控制所述自移动系统中的至少一个目标自移动设备工作。The control unit 820 is used to control at least one target self-moving device in the self-moving system to operate.
本申请还提供一种用户终端，包括存储器、处理器以及存储在所述存储器上被所述处理器执行的计算机程序，所述处理器执行所述计算机程序时实现如上述任一项实施例提供的设备控制方法的步骤。The present application also provides a user terminal, comprising a memory, a processor, and a computer program stored in the memory and executed by the processor, wherein when the processor executes the computer program, the steps of the device control method provided in any of the above embodiments are implemented.
本申请还提供一种辅助模块，包括导航定位模块和控制模块，其中，所述导航定位模块与所述控制模块通信连接；The present application also provides an auxiliary module, comprising a navigation and positioning module and a control module, wherein the navigation and positioning module is communicatively connected with the control module;
所述控制模块执行如上述任一项实施例提供的设备控制方法的步骤。The control module executes the steps of the device control method provided in any of the above embodiments.
本申请还提供一种自移动设备，包括设备主体和辅助模块，其中，The present application also provides a self-moving device, including a device body and an auxiliary module, wherein:
所述设备主体和所述辅助模块可拆卸连接；The device body and the auxiliary module are detachably connected;
所述辅助模块执行如上述任一项实施例提供的设备控制方法的步骤。The auxiliary module executes the steps of the device control method provided in any of the above embodiments.
本申请还提供一种自移动系统，包括：控制设备以及至少一台自移动设备，其中，控制设备分别与各自移动设备通信连接；自移动设备包括可拆卸连接的辅助模块和设备主体；控制设备以及辅助模块中的至少一个，执行如上述任一项实施例提供的设备控制方法的步骤。The present application also provides a self-moving system, comprising: a control device and at least one self-moving device, wherein the control device is communicatively connected to each mobile device respectively; the self-moving device comprises a detachably connected auxiliary module and a device body; at least one of the control device and the auxiliary module executes the steps of the device control method provided in any of the above embodiments.
在一些实施例中，所述控制设备包括云平台以及用户终端中的至少一个。In some embodiments, the control device includes at least one of a cloud platform and a user terminal.
在一些实施例中，本实施例还提供了一种计算机可读存储介质，如软盘、光盘、硬盘、闪存、U盘、SD(Secure Digital Memory Card，安全数码卡)卡、MMC(Multimedia Card，多媒体卡)卡等，在该计算机可读存储介质中存储有实现上述各个步骤的一个或者多个指令，这一个或者多个指令被一个或者多个处理器执行时，使得所述处理器执行前文描述的设备控制方法。相关具体实现请参考前述描述，此处不过多赘述。In some embodiments, this embodiment further provides a computer-readable storage medium, such as a floppy disk, an optical disk, a hard disk, a flash memory, a USB flash disk, an SD (Secure Digital Memory Card) card, an MMC (Multimedia Card) card, etc., in which one or more instructions for implementing the above steps are stored. When the one or more instructions are executed by one or more processors, the processors execute the device control method described above. For the relevant specific implementation, please refer to the above description, which will not be repeated here.
除了上述方法和设备以外，本申请的实施例还可以是计算机程序产品，其包括计算机程序指令，计算机程序指令在被处理器运行时使得处理器执行本说明书上述内容中描述的根据本申请各种实施例的设备控制方法中的步骤。In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the device control method according to various embodiments of the present application described in the above content of this specification.
计算机程序产品可以以一种或多种程序设计语言的任意组合来编写用于执行本申请实施例操作的程序代码，程序设计语言包括面向对象的程序设计语言，诸如Java、C++等，还包括常规的过程式程序设计语言，诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。The computer program product may be written in any combination of one or more programming languages to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages such as Java, C++, etc., and conventional procedural programming languages such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user computing device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.
本领域技术人员能够理解，本公开所披露的内容可以出现多种变型和改进。例如，以上所描述的各种设备或组件可以通过硬件实现，也可以通过软件、固件、或者三者中的一些或全部的组合实现。Those skilled in the art will appreciate that the contents disclosed in this disclosure may be subject to various variations and improvements. For example, the various devices or components described above may be implemented by hardware, or by software, firmware, or a combination of some or all of the three.
此外，虽然本公开对根据本公开的实施例的系统中的某些单元做出了各种引用，然而，任何数量的不同单元可以被使用并运行在客户端和/或服务器上。单元仅是说明性的，并且系统和方法的不同方面可以使用不同单元。Furthermore, although the present disclosure makes various references to certain units in the system according to the embodiments of the present disclosure, Any number of different units can be used and run on the client and/or server. The units are illustrative only, and different aspects of the systems and methods can use different units.
本公开中使用了流程图用来说明根据本公开的实施例的方法的步骤。应当理解的是，前面或后面的步骤不一定按照顺序来精确的进行。相反，可以按照倒序或同时处理各种步骤。同时，也可以将其他操作添加到这些过程中。Flowcharts are used in this disclosure to illustrate the steps of the method according to the embodiments of the present disclosure. It should be understood that the preceding or following steps are not necessarily performed precisely in order. On the contrary, various steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes.
本领域普通技术人员可以理解上述方法中的全部或部分的步骤可通过计算机程序来指令相关硬件完成，程序可以存储于计算机可读存储介质中，如只读存储器等。可选地，上述实施例的全部或部分步骤也可以使用一个或多个集成电路来实现。相应地，上述实施例中的各模块/单元可以采用硬件的形式实现，也可以采用软件辅助模块的形式实现。本公开并不限制于任何特定形式的硬件和软件的结合。A person of ordinary skill in the art will appreciate that all or part of the steps in the above method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a read-only memory, etc. Optionally, all or part of the steps in the above embodiment can also be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiment can be implemented in the form of hardware or in the form of a software-assisted module. The present disclosure is not limited to any particular form of combination of hardware and software.
除非另有定义，这里使用的所有术语具有与本公开所属领域的普通技术人员共同理解的相同含义。还应当理解，诸如在通常字典里定义的那些术语应当被解释为具有与它们在相关技术的上下文中的含义相一致的含义，而不应用理想化或极度形式化的意义来解释，除非这里明确地这样定义。Unless otherwise defined, all terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present disclosure belongs. It should also be understood that terms such as those defined in common dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined as such herein.
以上是对本公开的说明，而不应被认为是对其的限制。尽管描述了本公开的若干示例性实施例，但本领域技术人员将容易地理解，在不背离本公开的新颖教学和优点的前提下可以对示例性实施例进行许多修改。因此，所有这些修改都意图包含在权利要求书所限定的本公开范围内。应当理解，上面是对本公开的说明，而不应被认为是限于所公开的特定实施例，并且对所公开的实施例以及其他实施例的修改意图包含在所附权利要求书的范围内。本公开由权利要求书及其等效物限定。The above is an explanation of the present disclosure and should not be considered as a limitation thereof. Although several exemplary embodiments of the present disclosure are described, it will be readily understood by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present disclosure. Therefore, all such modifications are intended to be included within the scope of the present disclosure as defined in the claims. It should be understood that the above is an explanation of the present disclosure and should not be considered to be limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present disclosure is defined by the claims and their equivalents.
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| CN202310180295.4ACN118567262A (en) | 2023-02-28 | 2023-02-28 | Equipment control method and related equipment |
| CN202310179810.7ACN118567260A (en) | 2023-02-28 | 2023-02-28 | Equipment control method, device, auxiliary module, self-moving equipment and system |
| CN202310179810.7 | 2023-02-28 | ||
| CN202310180295.4 | 2023-02-28 |
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