Border generation method, apparatus, device, and storage medium

Abstract

The application discloses a boundary generation method and device, equipment and a storage medium, and relates to the technical field of three-dimensional reconstruction. The technical scheme provided by the application comprises the following steps: acquiring map information of a work area, and extracting contour information of the work area from the map information; acquiring dotting data generated by dotting equipment when the dotting equipment dots the boundary of the work area; and fitting the contour information and the dotting data to generate boundary information of the work area. Through the technical means, the prior contour information is fused with the actually collected dotting data, and the boundary information that is more suitable for the work area is fitted, so that the problem of low precision of the boundary information generated by the prior art is solved, and the work precision of the unmanned equipment is improved.

Description

Technical Field

[0001] This application relates to the field of unmanned equipment technology, and in particular to a boundary generation method, apparatus, device and storage medium. Background Technology

[0002] Before unmanned equipment can operate in a work area, it can first obtain the boundary information of the work area, and then plan the operation route based on the boundary information. The unmanned equipment then operates in the work area according to the operation route. Therefore, accurate boundary information is a prerequisite for unmanned equipment to achieve precise operation.

[0003] In existing technologies, workers can remotely control unmanned equipment to mark points on the boundary of the work area. This allows the unmanned equipment to collect the location information of the boundary points and connect them in the marked order to obtain the boundary information of the work area. However, when the boundary of the work area is complex, the boundary information generated from the marked data may not perfectly match the boundary line, resulting in low accuracy and affecting the operational accuracy of the unmanned equipment. Summary of the Invention

[0004] This application provides a boundary generation method, apparatus, device, and storage medium. By fusing prior contour information with actual collected point data, it fits the boundary information that better fits the working area, solving the problem of low accuracy of boundary information generated by existing technologies, and is conducive to improving the operating accuracy of unmanned equipment.

[0005] Firstly, this application provides a boundary generation method, including:

[0006] Obtain map information of the work area, and extract the outline information of the work area from the map information;

[0007] Acquire the dotting data generated by the dotting device marking the boundary of the work area;

[0008] The contour information and the dot data are fitted to generate the boundary information of the working area.

[0009] Secondly, this application provides a boundary generation apparatus, comprising:

[0010] The contour extraction module is configured to acquire map information of the work area and extract the contour information of the work area from the map information.

[0011] The control dotting module is configured to acquire dotting data generated by the dotting device dotting the boundary of the work area;

[0012] The boundary generation module is configured to fit the contour information and the dot data to generate the boundary information of the work area.

[0013] Thirdly, this application provides a boundary generation device, comprising:

[0014] One or more processors; a storage device storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the boundary generation method as described in the first aspect.

[0015] Fourthly, this application provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the boundary generation method as described in the first aspect.

[0016] In this application, map information of the work area is acquired, and the outline information of the work area is extracted from the map information; point data generated by a point-marking device marking the boundary of the work area is acquired; the outline information and point data are fitted to generate the boundary information of the work area. Through the above technical means, users can refer to the outline information of the work area on the display interface, mark the boundary of the work area using a point-marking device, and generate point data by obtaining the position information of the boundary points of the work area. After generating the point data, the outline information is used as a shape constraint to perform boundary fitting on the point data with higher positional accuracy, fitting a boundary line that better fits the work area, improving the accuracy of the boundary information, and thus improving the operational accuracy of the unmanned equipment. Under the shape constraint of the outline information, the point-marking device can mark boundary points that cannot be described by the outline information, and then fit a boundary line that fits the work area based on the outline information and point data. Users do not need to operate the point-marking device to move to multiple boundary points for marking, improving marking efficiency and thus improving boundary generation efficiency. Attached Figure Description

[0017] Figure 1 This is a flowchart of a boundary generation method provided in an embodiment of this application;

[0018] Figure 2 This is a flowchart of extracting the outline information of the work area from the map, provided in an embodiment of this application;

[0019] Figure 3 This is a schematic diagram of a user-drawn bounding circle provided in an embodiment of this application;

[0020] Figure 4 This is a schematic diagram of the interface displayed after zooming and panning operations according to an embodiment of this application;

[0021] Figure 5This is a flowchart of the process for filtering contour points provided in an embodiment of this application;

[0022] Figure 6 This is a schematic diagram of the first boundary point provided in an embodiment of this application;

[0023] Figure 7 This is a schematic diagram of the display interface showing outline information provided in the embodiments of this application;

[0024] Figure 8 This is a flowchart of contour information optimization based on reference points provided in an embodiment of this application;

[0025] Figure 9 This is a flowchart illustrating the generation of boundary information for the work area provided in an embodiment of this application;

[0026] Figure 10 This is a flowchart of generating target boundary points provided in an embodiment of this application;

[0027] Figure 11 This is a flowchart for determining whether coordinate points should be retained, provided in an embodiment of this application.

[0028] Figure 12 This is a flowchart for determining whether contour points should be retained, provided in an embodiment of this application;

[0029] Figure 13 This is a schematic diagram of the structure of a boundary generation device provided in an embodiment of this application;

[0030] Figure 14 This is a schematic diagram of the structure of a boundary generation device provided in an embodiment of this application. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. A process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0032] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0033] The boundary generation method provided in this embodiment can be executed by a boundary generation device, which can be implemented by software and / or hardware. The boundary generation device can consist of two or more physical entities, or it can consist of a single physical entity. For example, the marking device used in this embodiment includes, but is not limited to, aircraft, unmanned vehicles, remote controllers, and handheld surveying devices. When the marking device is an unmanned device such as an aircraft or unmanned vehicle, the boundary generation device can be the remote controller operating these unmanned devices. When the marking device is a smart terminal such as a remote controller or a handheld surveying device, the boundary generation device can be the marking device itself.

[0034] The boundary generation device is equipped with at least one type of operating system. Based on this operating system, the device can install at least one application. This application can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the boundary generation device has at least one application capable of executing the boundary generation method.

[0035] For ease of understanding, this embodiment uses a remote controller as the main body of the execution boundary generation method for description.

[0036] In one embodiment, the marking device is an aircraft. A remote controller is wirelessly connected to the aircraft. The user uses the remote controller to fly the aircraft to various boundary inflection points of the work area to mark points, thereby collecting the position information of these points. The boundary inflection points are then connected in the marking sequence to obtain the boundary information of the work area. When the work area is irregularly shaped, it has multiple boundary inflection points. The user needs to control the aircraft to fly to each inflection point sequentially to mark points, which is cumbersome and inefficient, affecting the efficiency of boundary generation. Furthermore, when the boundary lines of the work area are complex, such as curved lines, the boundary lines generated by connecting the marking data cannot perfectly fit the work area, resulting in low accuracy of the boundary information and affecting the accuracy of subsequent unmanned equipment operations.

[0037] To address the technical problems existing in the prior art, this embodiment provides a boundary generation method to improve boundary generation efficiency and the accuracy of boundary information.

[0038] Figure 1 A flowchart of a boundary generation method provided in an embodiment of this application is given. (Reference) Figure 1 The boundary generation method specifically includes:

[0039] S110. Obtain map information of the work area and extract the outline information of the work area from the map information.

[0040] The map information can be a satellite map or a high-definition map containing the work area. For example, assuming the work area is a plot of farmland on a farm, the map information can be a satellite map or a high-definition map of that farm. The remote control displays a pre-stored farm map on the display interface, which shows the farmland plot and other plots within the farm. The user can manually draw the boundaries of the farmland plots on the farm map. The location information of the manually drawn trajectory points on the farm map corresponding to the location information of the corresponding contour points is saved as the contour information, thus obtaining the contour information of the farmland plot. In addition, the contour information of each plot can be identified from the farm map using an intelligent recognition algorithm, and then the user can manually select the contour information of a certain plot as the contour information of the farmland plot.

[0041] In one embodiment, user actions can also be combined with intelligent recognition technology to quickly extract the outline information of the work area from map information. For example, Figure 2 This is a flowchart illustrating the extraction of the outline information of a work area from a map, as provided in an embodiment of this application. For example... Figure 2 As shown, the steps for extracting the outline information of the work area from the map specifically include S1101-S1102:

[0042] S1101, In response to the area selection operation, determine the target area in the map information.

[0043] The region selection operation can be understood as the user manually selecting a region within the map information. For example, the region selection operation can be a bounding box selection, zooming, and / or panning operation. A bounding box selection can be understood as the user drawing or selecting a preset bounding circle in the display interface to select a region within the map information. Zooming and / or panning operations can be understood as the user zooming in, zooming out, and / or panning the map information in the display interface to select a region located within the display interface.

[0044] In this embodiment, when the user draws a bounding circle on the display interface, the remote control detects the user's selection operation. In response to the selection operation, the remote control draws the corresponding bounding circle on the display interface, and the area within the bounding circle where map information is displayed is defined as the target area. Figure 3 This is a schematic diagram of a user-drawn bounding circle provided in an embodiment of this application. For example... Figure 3 As shown, the user draws a bounding circle 13 on the display interface 11 that displays map information 12, and the remote control takes the area within the bounding circle 13 as the target area 14.

[0045] In this embodiment, when a user zooms in on a region on the map and drags it onto the display screen, the remote control detects the zoom and pan operations input by the user. In response to the zoom and pan operations, the remote control displays a portion of the map information on the display screen and identifies the area of ​​map information displayed on the display screen as the target region. Figure 4 This is a schematic diagram of the interface displayed after zooming and panning operations, as provided in an embodiment of this application. Figure 4 As shown, after zooming and panning operations, a certain area displaying map information in the display interface 11 is identified as the target area 14.

[0046] S1102. Extract the contour points of the work area from the target area and generate contour information based on the contour points.

[0047] For example, boundary points of plots in the target area are extracted using a boundary detection algorithm. These boundary points, forming an enclosing area, are used as the contour points of the work area. The location information of each boundary point in the map information is then used as the location information of the corresponding contour points. These contour points and their corresponding location information are saved as the contour information of the work area. It can be understood that the target area selected by the user generally only contains the complete plot of land designated as the work area. When the boundary points extracted from the target area can form an enclosing area, this enclosing area can be identified as the work area, and the boundary points forming this enclosing area are the contour points of the work area.

[0048] In one embodiment, since the boundary detection algorithm extracts all boundary points of the work area, resulting in a large number of boundary points, points that can effectively represent the contour shape of the work area can be selected from all boundary points as contour points. This reduces the complexity of subsequent boundary fitting operations and improves boundary fitting efficiency. For example, Figure 5 This is a flowchart illustrating the process of filtering contour points according to an embodiment of this application. For example... Figure 5 As shown, the steps for selecting contour points specifically include S11021-S11022:

[0049] S11021. Extract the first boundary point of the work area from the target area using a boundary detection algorithm.

[0050] S11022. Perform curve fitting on the first boundary point to determine the boundary inflection point of the working area, and use the boundary inflection point as the contour point.

[0051] In this embodiment, the first boundary point is the boundary point of the working area extracted from the target area by the boundary detection algorithm. Figure 6 This is a schematic diagram of the first boundary point provided in an embodiment of this application. For example... Figure 6 As shown, the remote control uses a boundary detection algorithm to... Figure 4 After edge detection is performed on the target area, multiple first boundary points 15 are obtained. Curve fitting of these multiple first boundary points 15 yields multiple boundary lines 16, and the area enclosed by these boundary lines 16 is the working area 17. After curve fitting of the multiple first boundary points 15, the boundary inflection points of the working area 17 can be obtained, for example... Figure 6 Points A, B, C, D, and E in the map are all boundary inflection points of work area 17. Connecting points A, B, C, D, and E sequentially forms the corresponding work area. That is, the boundary line of the work area can be obtained based on all boundary inflection points. Therefore, all boundary inflection points are used as contour points, and the position information of the boundary inflection points in the map information is used as the position information of the corresponding contour points. The contour points and their corresponding position information are saved as the contour information of the work area.

[0052] Understandably, this embodiment first determines the target area, which includes only the work area, through the user's area selection operation, and then performs intelligent recognition on the target area to quickly obtain its outline information. Compared to the user manually drawing the outline of the work area or performing intelligent recognition on the boundaries of all plots in the map information, this embodiment combines manual operation with intelligent recognition, effectively improving the efficiency of obtaining the outline information of the work area.

[0053] S120. Obtain the dotting data generated by the dotting device marking the boundary of the work area.

[0054] In this embodiment, when the marking device is an unmanned device, the remote controller displays the outline information of the work area along with map information on the display interface. The user can refer to the outline information of the work area on the display interface and use the remote controller to move the marking device to the boundary of the work area for marking. When the marking device uses a remote controller, the remote controller displays the outline information of the work area along with map information on the display interface. The user can refer to the outline information of the work area on the display interface and carry the remote controller to the boundary of the work area for marking.

[0055] This embodiment describes the process of using a remote control to move a dotting device to the boundary of the work area for dotting. Figure 7This is a schematic diagram of the display interface showing outline information provided in an embodiment of this application. For example... Figure 7 As shown, the display interface 11 shows the work area 17. Each boundary inflection point of the work area is marked with a corresponding contour point, such as point A, point B, point C, point D, and point E. When the user finds that the boundary line formed by the existing contour points does not fit the work area, for example, the boundary line between points D and E is not a straight line but three broken lines. However, since the amplitude of the broken lines is small, curve fitting will fit the three broken lines into a straight line. At this time, the user can refer to the boundary line between points D and E and remotely control the marking device to move to the inflection point of the boundary line to mark the point, so as to collect the position information of the inflection point, so as to fit a boundary line that fits the work area better in the future.

[0056] In this embodiment, reference Figure 7 The inflection points of the boundary line between points D and E are points G and F, respectively. The user can select point G on the display interface and then choose navigation mode. In navigation mode, the remote control can control the marking device to move to point G based on the location information of point G in the map information. However, due to the low precision of the map information, the marking device cannot accurately mark the corresponding inflection point in the work area. The user can adjust the position of the marking device using the remote control to ensure that the marking device accurately stops at the inflection point in the work area. The remote control sends a marking command to the marking device. After receiving the marking command, the marking device collects its own position information through its installed RTK positioning device and sends the position information to the remote control. The remote control saves the position information sent by the marking device as a coordinate point. Similarly, when the user controls the marking device to move to point F for marking, the remote control obtains the position information sent by the marking device and saves this position information as a new coordinate point. After the marking device finishes marking, the remote control saves all the coordinate points collected during the marking process as marking data.

[0057] In this embodiment, the shape constraint of the contour information on the working area can be used as a priori constraint. Under the shape constraint of the contour information, the marking device can mark boundary points that cannot be described by the contour information. Then, based on the contour information and the marking data, the boundary line that fits the working area is fitted. The user does not need to remotely control the marking device to move to multiple boundary points to mark, which improves the marking efficiency and thus improves the boundary generation efficiency.

[0058] It should be noted that RTK positioning devices can achieve centimeter-level accuracy, while map information has meter-level accuracy. Compared to the contour points in the contour information, the coordinate points in the point data are closer to the boundary points of the work area. The boundary line generated by fitting the contour information and point data can better fit the work area, improving the accuracy of the boundary information.

[0059] In one embodiment, before collecting the dotted data, the position information of reference points can be collected by the dotted device to optimize the position information of each contour point in the contour information based on the position information of the reference points. For example, Figure 8 This is a flowchart illustrating contour information optimization based on reference points, provided in an embodiment of this application. For example... Figure 8 As shown, the step of optimizing contour information based on reference points specifically includes S1201-S1203:

[0060] S1201. In response to the reference point selection operation, the reference point of the work area is determined, and the positional correspondence between the reference point and the contour point is determined based on the first position information of the reference point in the map information and the position information of the contour point in the map information.

[0061] In this embodiment, the reference point selection operation is an input operation used by the user to select a reference point in the work area. A reference point can be any one or more locations within the work area. For example, a reference point can be a boundary inflection point, the boundary point closest to the marking device, or the location of an obstacle or other identifiable object within the work area. This embodiment uses a boundary inflection point as an example for description. The user clicks on the boundary inflection point in the display interface and configures it as a reference point.

[0062] Furthermore, the remote controller determines the distance and orientation between the reference point and each contour point based on the first position information of the reference point in the map information and the position information of each contour point in the map information. The distance and orientation between the reference point and the corresponding contour point are determined as the positional correspondence between the reference point and the corresponding contour point.

[0063] S1202. Obtain the second position information of the reference point determined by the dotting device marking the reference point.

[0064] For example, the remote controller can generate a guiding direction on the display interface based on the current position information of the marking device and the position information of the reference point. The user can refer to this guiding direction to remotely move the marking device to the corresponding boundary inflection point for marking. Alternatively, the user can activate the navigation mode of the remote controller, so that the remote controller automatically controls the marking device to move to the corresponding position based on the first position information of the reference point. The user can then use the remote controller to adjust the marking device to accurately move it to the corresponding boundary inflection point for marking. When the marking device moves to the boundary inflection point, the remote controller sends a marking command to the marking device, so that the marking device collects its own position information through the RTK positioning device and sends the position information to the remote controller. The remote controller uses the position information sent by the marking device as the second position information of the reference point.

[0065] S1203. Based on the second position information and the positional correspondence between the reference point and the contour point, correct the position information of the contour point.

[0066] For example, based on the second position information of the reference point and the distance and orientation between the reference point and each contour point, the second position information of the contour points is determined, and the contour points and their corresponding second position information are stored in the contour information. Since the second position information of the reference point is collected by the RTK positioning device, the accuracy of the second position information of the reference point reaches the centimeter level. Correspondingly, the accuracy of the second position information of the contour points can also reach the centimeter level, and it satisfies the positional correspondence with the reference point, effectively improving the positional accuracy of the contour points.

[0067] S130. Fit the dot data based on the contour information to generate the boundary information of the work area.

[0068] The boundary information refers to the location information of the boundary line of the work area. For example, all contour points in the contour information and all coordinate points in the dot data can be used as the target boundary points of the work area. The boundary line of the work area can be fitted based on all contour points and all coordinate points, and the location information of the boundary line can be determined based on the location information of the contour points and the location information of the coordinate points, thus obtaining the boundary information of the work area.

[0069] However, some coordinate points in the dotted data may be points within the work area collected by the user operating the dotted device. Points within the work area are prone to causing errors when used for boundary fitting. Therefore, coordinate points located within the work area can be removed from the dotted data to ensure the accuracy of the boundary information. Similarly, a contour point in the contour information may be a falsely detected point within the work area. Contour points located within the work area can be removed from the contour information to ensure the accuracy of the boundary information. In this embodiment, Figure 9 This is a flowchart illustrating the generation of boundary information for the work area, provided in an embodiment of this application. For example... Figure 9 As shown, the steps for generating the boundary information of the work area specifically include S1301-S1302:

[0070] S1301. Filter the contour points in the contour information and the coordinate points in the dot data to obtain the target boundary points.

[0071] For example, invalid points that may affect the fitting accuracy can be removed from the contour points in the contour information and the coordinate points in the dot data. The boundary line of the fitting operation area can be fitted by the remaining contour points and coordinate points, thereby improving the accuracy of the boundary information.

[0072] In this embodiment, Figure 10 This is a flowchart illustrating the generation of target boundary points provided in an embodiment of this application. For example... Figure 10 As shown, the steps for generating the target boundary points specifically include S13011-S13013:

[0073] S13011. Based on the first area of ​​the first enclosed region corresponding to the coordinate points in the dot data after adding the contour information one by one, determine the coordinate points to be retained in the dot data and update the dot data.

[0074] For example, assuming the point data includes coordinate points P and Q, coordinate point P is added to the contour information. Based on all contour points and coordinate point P in the contour information, a first enclosing region formed by all contour points and coordinate point P is determined using the B-spline interpolation algorithm, and the first area of ​​this first enclosing region is determined. A third enclosing region formed by all contour points is then determined using the B-spline interpolation algorithm, and the third area of ​​this third enclosing region is determined. The first area is compared with the third area to determine whether coordinate point P should be retained in the point data.

[0075] In this embodiment, Figure 11 This is a flowchart illustrating the process of determining whether to retain coordinate points, provided in an embodiment of this application. Figure 11 As shown, the steps for determining whether to retain coordinate points specifically include S130111-S130112:

[0076] S130111. Determine the third area of ​​the third enclosing region corresponding to the contour information.

[0077] S130112. If the ratio of the first area to the third area is greater than or equal to the first ratio threshold, determine that the corresponding coordinate point is retained in the point data.

[0078] In this embodiment, the first ratio threshold is less than 1, typically set to 0.6. When the ratio of the first area to the third area is less than the first ratio threshold, it indicates that adding coordinate point P will significantly reduce the area of ​​the work area formed by the contour information, thus determining coordinate point P as a point within the work area. Boundary fitting based on points within the work area can lead to boundary errors, so coordinate point P can be removed from the point data. When the ratio of the first area to the third area is greater than or equal to the first ratio threshold, it indicates that adding coordinate point P will not significantly reduce the area of ​​the work area formed by the contour information, thus determining coordinate point P as a boundary point of the work area, and retaining coordinate point P in the point data.

[0079] Furthermore, after retaining coordinate point P in the point data, coordinate point Q is added to the contour information. Based on the first area of ​​the first enclosed region formed by all contour points in the contour information and coordinate point Q, it is determined whether to retain coordinate point Q in the point data. This process is repeated to filter out coordinate points located on the boundary of the work area from the point data and retain these points. All other coordinate points located within the work area are deleted from the point data, thus completing the first update of the point data.

[0080] S13012. Based on the second area of ​​the second enclosed region corresponding to the contour points in the contour information after adding them one by one to the updated point data, determine the contour points to be retained in the updated point data, and update the updated point data.

[0081] For example, assuming the contour information includes contour point X and contour point Y, contour point X is added to the point data after removing non-boundary points. Based on the remaining coordinate points in the point data and contour point X, a second enclosing region formed by the remaining coordinate points and contour point X is determined using a B-spline interpolation algorithm, and the second area of ​​this second enclosing region is determined. A third enclosing region formed by all contour points is then determined using the B-spline interpolation algorithm, and the area of ​​the overlap between the third and second enclosing regions is determined. The second area is compared with the area of ​​the overlap region to determine whether contour point X should be retained in the point data.

[0082] In this embodiment, Figure 12 This is a flowchart illustrating the process of determining whether to retain contour points, as provided in an embodiment of this application. Figure 12 As shown, the steps for determining whether to retain coordinate points specifically include S130121-S130122:

[0083] S130121. Determine the area of ​​the overlapping region between the second and third enclosing regions.

[0084] S130122. If the ratio of the overlapping area to the corresponding second area is greater than the preset second ratio threshold, determine that the corresponding contour point is retained in the dot data.

[0085] In this embodiment, the second ratio threshold is less than or equal to 1, and is generally set to 0.9. When the ratio of the overlapping area to the corresponding second area is greater than the second ratio threshold, it indicates that adding the contour point X will not significantly reduce the area of ​​the work area formed by the dotted data, thus determining the contour point as the boundary point of the work area, and retaining the contour point X in the dotted data. When the ratio of the overlapping area to the corresponding second area is less than or equal to the second ratio threshold, it indicates that adding the contour point X will significantly reduce the area of ​​the work area formed by the dotted data, thus determining the contour point as a point within the work area, and removing the contour point X from the dotted data.

[0086] Furthermore, after retaining contour point X in the point data, contour point Y is added to the point data after non-boundary points have been removed. The B-spline interpolation algorithm is used to determine the second area of ​​the second enclosed region formed by the remaining coordinates in the point data and contour point Y, and then a decision is made on whether to retain contour point Y in the point data. This process is repeated to identify contour points located on the boundary of the work area and retain them in the point data, thus completing the second update of the point data.

[0087] S13013. Use the coordinate points and contour points in the dot data obtained from the second update as the target boundary points.

[0088] For example, the data packet after two rounds of filtering contains coordinate points and contour points located on the boundary of the work area. Based on the coordinate points and contour points in the data packet, curve fitting can be performed to generate a boundary line that fits the work area.

[0089] It should be noted that if coordinate point P and contour point X represent the same boundary point of the work area, and coordinate point P fits the corresponding boundary point better than contour point X, the area ratio calculated from the contour information after adding coordinate point P will also be greater than or equal to the first ratio threshold. In this case, coordinate point P can be determined to be a boundary point and thus retained in the point data. Then, the area ratio calculated from the point data after adding contour point X will be less than or equal to the second ratio threshold, in which case contour point X can be determined not to be a boundary point. Therefore, this embodiment can retain more accurate coordinate points or contour points through two filtering steps, improving the accuracy of boundary information.

[0090] S1302. Perform curve fitting on the target boundary points to obtain the boundary information of the work area.

[0091] For example, the target boundary points are fitted using B-spline interpolation to generate the boundary line of the work area, and the position information of the boundary line is determined based on the position information of each point of the target boundary points to obtain the boundary information of the work area.

[0092] In summary, the boundary generation method provided in this application obtains map information of the work area and extracts the contour information of the work area from the map information; obtains the marking data generated by marking the boundary of the work area by a marking device; and fits the contour information and the marking data to generate the boundary information of the work area. Through the above technical means, users can refer to the contour information of the work area on the display interface, mark the boundary of the work area by a marking device, and generate marking data by obtaining the position information of the boundary points of the work area. After generating the marking data, the contour information is used as a shape constraint to perform boundary fitting on the marking data with higher positional accuracy, fitting a boundary line that better fits the work area, improving the accuracy of the boundary information, and thus improving the operational accuracy of the unmanned equipment. Under the shape constraint of the contour information, the marking device can mark boundary points that the contour information cannot describe, and then fit a boundary line that fits the work area based on the contour information and the marking data. Users do not need to operate the marking device to move to multiple boundary points for marking, improving marking efficiency and thus improving boundary generation efficiency.

[0093] Based on the above embodiments, Figure 13This is a schematic diagram of a boundary generation device provided in an embodiment of this application. (Reference) Figure 13 The boundary generation device provided in this embodiment specifically includes: a contour extraction module 21, a control dotting module 22, and a boundary generation module 23.

[0094] The contour extraction module is configured to acquire map information of the work area and extract the contour information of the work area from the map information.

[0095] The control dotting module is configured to acquire dotting data generated by the dotting device marking the boundary of the work area;

[0096] The boundary generation module is configured to fit the contour information and point data to generate the boundary information of the work area.

[0097] Based on the above embodiments, the contour extraction module includes: a target area determination submodule, configured to determine the target area in the map information in response to the area selection operation; and a contour information generation submodule, configured to extract the contour points of the work area from the target area and generate contour information based on the contour points.

[0098] Based on the above embodiments, the target area determination submodule includes: a bounding box unit, configured to draw a corresponding bounding box in the display interface in response to a bounding box operation, and determine the area within the bounding box where the map information is displayed as the target area; or, a zoom and pan selection unit, configured to display a portion of the map information in the display interface in response to a zoom operation and / or a pan operation, and determine the area within the display interface where the map information is displayed as the target area.

[0099] Based on the above embodiments, the contour information generation submodule includes: a boundary detection unit, configured to extract the first boundary point of the work area from the target area through a boundary detection algorithm; and a contour point determination unit, configured to perform curve fitting on the first boundary point to determine the boundary inflection point of the work area, and use the boundary inflection point as the contour point.

[0100] Based on the above embodiments, the boundary generation device further includes a reference point marking module. The reference point marking module includes: a position relationship determination submodule, configured to extract the contour points of the work area from the target area, generate contour information based on the contour points, determine the reference points of the work area in response to a reference point selection operation, and determine the positional correspondence between the reference points and the contour points based on the first position information of the reference points in the map information and the position information of the contour points in the map information; a reference point marking submodule, configured to obtain the second position information of the reference points determined by the marking device marking the reference points; and a contour point correction submodule, configured to correct the position information of the contour points based on the second position information and the positional correspondence between the reference points and the contour points.

[0101] Based on the above embodiments, the boundary generation module includes: a filtering processing submodule, configured to filter the contour points in the contour information and the coordinate points in the dot data to obtain the target boundary points; and a boundary generation submodule, configured to perform curve fitting on the target boundary points to obtain the boundary information of the work area.

[0102] Based on the above embodiments, the filtering processing submodule includes: a first filtering unit configured to determine the coordinate points to be retained in the point data based on the first area of ​​the first enclosing region corresponding to the coordinate points in the point data after adding contour information one by one, and update the point data; a second filtering unit configured to determine the contour points to be retained in the updated point data based on the second area of ​​the second enclosing region corresponding to the contour points in the contour information after adding contour information one by one, and update the updated point data; and a target boundary point determination unit configured to use the coordinate points and contour points in the point data obtained from the second update as target boundary points.

[0103] Based on the above embodiments, the first filtering unit includes: a third area determination subunit, configured to determine the third area of ​​the third enclosing region corresponding to the contour information; and a coordinate point retention subunit, configured to determine that the corresponding coordinate point is retained in the dot data when the ratio of the first area to the third area is greater than or equal to a first ratio threshold.

[0104] Based on the above embodiments, the second filtering unit includes: an overlapping area determination subunit, configured to determine the overlapping area of ​​the second enclosing region and the third enclosing region; and a contour point retention subunit, configured to determine that the corresponding contour point is retained in the dot data when the ratio of the overlapping area to the corresponding second area is greater than a preset second ratio threshold.

[0105] The boundary generation device provided in this application, as described above, acquires map information of the work area and extracts the contour information of the work area from the map information; acquires the marking data generated by marking the boundary of the work area by a marking device; and fits the contour information and the marking data to generate the boundary information of the work area. Through the above technical means, users can refer to the contour information of the work area on the display interface, mark the boundary of the work area by a marking device, and generate marking data by obtaining the position information of the boundary points of the work area. After generating the marking data, the contour information is used as a shape constraint to perform boundary fitting on the marking data with higher positional accuracy, fitting a boundary line that better fits the work area, improving the accuracy of the boundary information, and thus improving the operational accuracy of the unmanned equipment. Under the shape constraint of the contour information, the marking device can mark boundary points that the contour information cannot describe, and then fit a boundary line that fits the work area based on the contour information and the marking data. Users do not need to operate the marking device to move to multiple boundary points to mark, improving marking efficiency and thus improving boundary generation efficiency.

[0106] The boundary generation apparatus provided in this application embodiment can be used to execute the boundary generation method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0107] Figure 14 This is a schematic diagram of the structure of a boundary generation device provided in an embodiment of this application, with reference to... Figure 14 The boundary generation device includes a processor 31, a memory 32, a communication device 33, an input device 34, and an output device 35. The number of processors 31 and the number of memories 32 in the boundary generation device can be one or more. The processor 31, memory 32, communication device 33, input device 34, and output device 35 of the boundary generation device can be connected via a bus or other means.

[0108] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the boundary generation method in any embodiment of this application (e.g., the contour extraction module 21, the control dotting module 22, and the boundary generation module 23 in the boundary generation apparatus). The memory 32 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device, etc. Furthermore, the memory 32 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0109] The communication device 33 is used for data transmission.

[0110] The processor 31 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 32, thereby realizing the boundary generation method described above.

[0111] Input device 34 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 35 may include display devices such as a display screen.

[0112] The boundary generation device provided above can be used to execute the boundary generation method provided in the above embodiments, and has corresponding functions and beneficial effects.

[0113] This application embodiment also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute a boundary generation method. The boundary generation method includes: acquiring map information of a work area; extracting contour information of the work area from the map information; acquiring marking data generated by marking the boundary of the work area by a marking device; and fitting the contour information and the marking data to generate boundary information of the work area.

[0114] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term “storage medium” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0115] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the boundary generation method described above, but can also perform related operations in the boundary generation method provided in any embodiment of this application.

[0116] The boundary generation apparatus, storage medium, and boundary generation device provided in the above embodiments can execute the boundary generation method provided in any embodiment of this application. For technical details not described in detail in the above embodiments, please refer to the boundary generation method provided in any embodiment of this application.

[0117] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application. The scope of this application is determined by the scope of the claims.

Claims

1. A boundary generation method, characterized in that, include: Obtain map information of the work area, and in response to an area selection operation, determine the target area in the map information; extract the first boundary point of the work area from the target area using a boundary detection algorithm; Curve fitting is performed on the first boundary point to determine the boundary inflection point of the working area, and the boundary inflection point is used as the contour point; contour information is generated based on the contour point. Acquire the dotting data generated by the dotting device marking the boundary of the work area; The contour information and the dot data are fitted to generate the boundary information of the working area.

2. The boundary generation method according to claim 1, characterized in that, The step of responding to a region selection operation and determining the target region in the map information includes: In response to a selection operation, a corresponding bounding circle is drawn in the display interface, and the area within the bounding circle where the map information is displayed is defined as the target area; or, In response to zoom and / or pan operations, a portion of the map information is displayed within the display interface, and the area of ​​the map information displayed within the display interface is defined as the target area.

3. The boundary generation method according to claim 1, characterized in that, After generating contour information based on the contour points, the method further includes: In response to the reference point selection operation, the reference point of the work area is determined, and the positional correspondence between the reference point and the contour point is determined based on the first position information of the reference point in the map information and the position information of the contour point in the map information. Obtain the second position information of the reference point determined by the dotting device marking the reference point; Based on the second position information and the positional correspondence between the reference point and the contour point, the position information of the contour point is corrected.

4. The boundary generation method according to any one of claims 1-3, characterized in that, The process of fitting the contour information and the dot data to generate the boundary information of the work area includes: The contour points in the contour information and the coordinate points in the dot data are filtered to obtain the target boundary points; Curve fitting is performed on the target boundary points to obtain the boundary information of the work area.

5. The boundary generation method according to claim 4, characterized in that, The step of filtering the contour points in the contour information and the coordinate points in the dotted data to obtain the target boundary points includes: Based on the first area of ​​the first enclosed region corresponding to the coordinate points in the dotted data after the contour information is added one by one, the coordinate points to be retained in the dotted data are determined, and the dotted data is updated. Based on the second area of ​​the second enclosed region corresponding to the updated dot data after adding the contour points in the contour information one by one, determine the contour points to be retained in the updated dot data, and update the updated dot data. The coordinate points and contour points in the dotted data obtained from the second update are used as the target boundary points.

6. The boundary generation method according to claim 5, characterized in that, The step of determining the coordinate points to be retained in the dotted data by adding the contour information one by one to the coordinate points in the dotted data includes: Determine the third area of ​​the third enclosing region corresponding to the contour information; If the ratio of the first area to the third area is greater than or equal to the first ratio threshold, the corresponding coordinate point is determined to be retained in the dot data.

7. The boundary generation method according to claim 6, characterized in that, The step of determining the second area of ​​the second enclosed region corresponding to the updated dotted data after adding the contour points from the contour information one by one, and determining the contour points to be retained in the updated dotted data, includes: Determine the area of ​​the overlapping region between the second enclosing region and the third enclosing region; If the ratio of the area of ​​the overlapping region to the corresponding second area is greater than a preset second ratio threshold, the corresponding contour point is determined to be retained in the dot data.

8. A boundary generation device, characterized in that, include: The contour extraction module is configured to acquire map information of the work area and, in response to an area selection operation, determine the target area in the map information. The first boundary point of the work area is extracted from the target area using a boundary detection algorithm; curve fitting is performed on the first boundary point to determine the boundary inflection point of the work area, and the boundary inflection point is used as the contour point; contour information is generated based on the contour point. The control dotting module is configured to acquire dotting data generated by the dotting device dotting the boundary of the work area; The boundary generation module is configured to fit the contour information and the dot data to generate the boundary information of the work area.

9. A boundary generation device, characterized in that, include: One or more processors; A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the boundary generation method as described in any one of claims 1-7.

10. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the boundary generation method as described in any one of claims 1-7.

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