Method and device for determining working boundary of work equipment, storage medium

Abstract

The application relates to a method and device for determining a working boundary of a work equipment, and a storage medium. The method comprises the following steps: acquiring an initial virtual boundary of a work area; acquiring an adjustment vector; adjusting an initial virtual boundary part meeting a preset condition according to the adjustment vector; and determining the working boundary of the work equipment according to the adjusted initial virtual boundary. The method can be used to establish a working boundary of a work equipment without a boundary line with high reliability, thereby effectively improving the problem that the work equipment is prone to collision during edge following.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of self-moving device data processing, and in particular to a work equipment work boundary determination method and device and storage medium. BACKGROUND

[0002] With the development of science and technology, automatic mowers without boundary lines are gradually becoming mainstream, but how to determine a work boundary with high reliability is a problem that all manufacturers generally face.

[0003] Currently, there is a way to use a portable device to move along the perimeter of the lawn to establish the work boundary of the automatic mower. Although this method can facilitate the acquisition of the virtual boundary of the lawn, there is still a risk of collision with the surrounding objects when the automatic mower works along the virtual boundary. Therefore, such a virtual boundary has low reliability. SUMMARY

[0004] The present application provides a work equipment work boundary determination method, device and storage medium to determine a work boundary of an automatic mower without boundary lines with high reliability. The technical solution of the present application includes the following.

[0005] According to a first aspect of an embodiment of the present application, a method for determining the work boundary of a work equipment is provided, the work equipment being adapted to perform at least one work task in a work area, wherein the method comprises:

[0006] acquiring an initial virtual boundary of the work area; wherein the initial virtual boundary is generated by position data collected by a position information collection device moving along the work boundary of the work area, and a positioning device on the position information collection device has a first vertical distance from the most edge part of the position information collection device during the edge movement;

[0007] acquiring an adjustment vector; wherein the adjustment vector points to the work area, and a positioning device on the work equipment has a second vertical distance from the most edge part of the work equipment during the edge movement, and the adjustment amplitude of the adjustment vector is greater than or equal to the absolute value of the difference between the second vertical distance and the first vertical distance;

[0008] adjusting at least the initial virtual boundary part that meets the preset condition according to the adjustment vector;

[0009] determining the work boundary of the work equipment according to the adjusted initial virtual boundary.

[0010] In one of the embodiments, the adjusting at least the part of the initial virtual boundary satisfying the preset condition according to the adjustment vector comprises: obtaining a marked initial virtual boundary in the initial virtual boundary; wherein the marked initial virtual boundary is used at least for indicating the initial virtual boundary with collision risk; and adjusting the marked initial virtual boundary according to the adjustment vector.

[0011] In one of the embodiments, the adjustment vector is pre-stored in a memory, and the obtaining of the adjustment vector of the initial virtual boundary comprises: calling the adjustment vector of the initial virtual boundary in the memory.

[0012] In one of the embodiments, the memory is arranged in one or more of the following devices: the position information collection device, the working device, the terminal device, and the cloud server.

[0013] In one of the embodiments, the first vertical distance is determined based at least on a first installation position of a positioning device on the position information collection device and a width of the position information collection device; and the second vertical distance is determined based at least on a second installation position of a positioning device on the working device and a width of the working device.

[0014] In one of the embodiments, the first installation position is located on a longitudinal center symmetry plane of the position information collection device, the second installation position is located on a longitudinal center symmetry plane of the working device, and the adjustment vector is determined based at least on the width difference between the position information collection device and the working device.

[0015] In one of the embodiments, the obtaining of the adjustment vector of the initial virtual boundary comprises: obtaining a first width of the position information collection device and a second width of the working device; determining the first vertical distance according to the first installation position and the first width; determining the second vertical distance according to the second installation position and the second width; and determining an adjustment amplitude of the adjustment vector according to the first vertical distance and the second vertical distance.

[0016] In one of the embodiments, the adjusting at least the part of the initial virtual boundary satisfying the preset condition according to the adjustment vector comprises: obtaining a part of the initial virtual boundary in which a satellite positioning signal output by a positioning device on the position information collection device during the edge following process does not satisfy a quality condition; obtaining a shadow area compensation vector of the part of the initial virtual boundary; wherein the shadow area compensation vector is directed to the working area; and determining a working boundary of the working device corresponding to the part of the initial virtual boundary according to the initial virtual boundary, the adjustment vector, and the shadow area compensation vector.

[0017] In one of the embodiments, the compensation amplitude of the shadow zone compensation vector is determined based on at least the positioning deviation of the positioning device on the work equipment in the shadow zone.

[0018] In one of the embodiments, the adjustment amplitude is determined based on at least the following relationship:

[0019] d2-d1≤|D in ≤L-d3+(d2-d1);

[0020] wherein |D in | represents the adjustment amplitude, d1 represents the first vertical distance, d2 represents the second vertical distance, d3 represents the third vertical distance between the outermost edge of the work tool of the work equipment and the most edge-approaching part of the work equipment in the edge-following process, and L represents the grass-keeping width threshold at the work boundary.

[0021] According to a second aspect of the present application, a method for determining a work boundary of a work equipment is also provided. The work equipment is adapted to perform at least one work task in a work area, and the work equipment is provided with a detachable positioning device configured to be coupled with another mobile equipment to collect position data of a work boundary of the work area in a detached state. The method comprises:

[0022] acquiring an initial virtual boundary of the work area; wherein the initial virtual boundary is generated based on the collected position data of the work boundary of the work area, and the positioning device has a first vertical distance from the most edge-approaching part of the mobile equipment during the collection process;

[0023] acquiring an adjustment vector; wherein the adjustment vector is directed into the work area, and the positioning device on the work equipment has a second vertical distance from the most edge-approaching part of the work equipment in the edge-following process, and the adjustment amplitude of the adjustment vector is greater than or equal to the absolute value of the difference between the second vertical distance and the first vertical distance;

[0024] adjusting the initial virtual boundary part satisfying a preset condition based on at least the adjustment vector;

[0025] determining the work boundary of the work equipment based on the adjusted initial virtual boundary.

[0026] According to a third aspect of the present application, a device for determining a work boundary of a work equipment is also provided. The device comprises:

[0027] The first obtaining module is configured to obtain an initial virtual boundary of the work area; wherein the initial virtual boundary is generated by position data collected by a position information collection device moving along a work boundary of the work area, and a positioning device on the position information collection device has a first vertical distance from a most edge part of the position information collection device in the edge-following process;

[0028] The second obtaining module is configured to obtain an adjustment vector; wherein the adjustment vector is directed to the work area, and a positioning device on the work device has a second vertical distance from a most edge part of the work device in the edge-following process, and an adjustment range of the adjustment vector is greater than or equal to an absolute value of a difference between the second vertical distance and the first vertical distance;

[0029] The boundary determining module is configured to adjust an initial virtual boundary part meeting a preset condition according to the adjustment vector, so as to determine a work boundary of the work device according to the adjusted initial virtual boundary.

[0030] According to a fourth aspect of the embodiments of the present application, a computer device is further provided, including a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of the embodiments of the present application when executing the computer program.

[0031] According to a fifth aspect of the embodiments of the present application, a computer readable storage medium is further provided, when instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute the method according to any one of the embodiments of the present application.

[0032] According to a sixth aspect of the embodiments of the present application, a computer program product is further provided, including a computer program, and the computer program implements the steps in the above method embodiments when executed by a processor.

[0033] In the technical scheme provided by the embodiments of the present application, the initial virtual boundary is adjusted by the adjustment vector, which can effectively improve the problem that the work device is prone to collision in the edge-following process, thereby facilitating the establishment of a work boundary of the work device with high reliability.

[0034] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present specification, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0036] Figure 1 is a schematic diagram of establishing a boundary using a portable device in the prior art;

[0037] Figure 2 is a step flow chart of an embodiment of the present application;

[0038] Figure 3 is a structural schematic diagram of a work device of an embodiment of the present application;

[0039] Figure 4 is a structural schematic diagram of a position information acquisition device of an embodiment of the present application;

[0040] Figure 5 is an along-edge schematic diagram of a position information acquisition device of an embodiment of the present application in a scene;

[0041] Figure 6 (a) of is an along-edge schematic diagram of a work device of an embodiment of the present application in a scene shown in Figure 5 ;

[0042] Figure 6 (b) of is an along-edge schematic diagram of a work device of an embodiment of the present application in a scene shown in Figure 5 ;

[0043] Figure 7 is an along-edge schematic diagram of a position information acquisition device of an embodiment of the present application in another scene;

[0044] Figure 8 is an along-edge schematic diagram of a work device of an embodiment of the present application in a scene shown in Figure 7 ;

[0045] Figure 9 is a component schematic diagram of a determination device of a work boundary of a work device of an embodiment of the present application;

[0046] Figure 10 is a component schematic diagram of a computer device of an embodiment of the present application.

[0047] The symbols in the drawings represent the following:

[0048] B0, operation boundary, B01, wall, B02, road surface, B1, initial virtual boundary, B2, working boundary;

[0049] d1, first vertical distance, d2, second vertical distance, d3, third vertical distance, H1, operation equipment width, H2, position information collection equipment width;

[0050] 100, operation equipment, 110, machine body, 120, driving device, 121, front wheel group, 122, rear wheel group, 130, positioning device, 140, cutting device;

[0051] 200, position information collection equipment, 210, machine body, 220, driving device, 230, positioning device, 240, control device. DETAILED DESCRIPTION

[0052] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many different ways than those described herein, and those skilled in the art can make similar improvements without departing from the scope of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0053] It should be noted that the width described in the present application generally refers to the device space parameter of the operation equipment or the position information collection equipment in the direction perpendicular to the advancing direction when the equipment is working normally. At this time, it can be understood that the length of the operation equipment or the position information collection equipment refers to the device space parameter in the normal advancing (retreating) direction. It should also be understood that the construction of the virtual boundary, the working boundary and the like described in the embodiments of the present application is generally processed based on the longitudinal center plane of the positioning device on the operation equipment or the position information collection equipment. The longitudinal direction described herein generally refers to the advancing direction during operation. For example, in a two-dimensional coordinate system, when the operation equipment advances along the X-axis direction, the longitudinal direction is the X-axis direction, and the corresponding transverse direction is the Y-axis direction. For example, at this time, the width of the operation equipment is the maximum dimension length of the operation equipment in the Y-axis direction, and the length of the operation equipment is the maximum dimension length of the operation equipment in the X-axis direction.

[0054] With the rapid development of science and technology, intelligent control technology is increasingly widely used in people's lives. The operation equipment with autonomous working capability as an intelligent product derived from intelligent control technology can bring convenience and speed to people's lives, so the autonomous working device is frequently used in people's lives.

[0055] Generally, such work equipment refers to a device with autonomous driving capabilities, which can perform work tasks while driving autonomously. The types of work equipment can be varied, and this application embodiment is not limited to any particular type. For example, work equipment can be an automatic lawnmower, automatic snowplow, automatic watering machine, automatic leaf blower, automatic sweeper, mopping robot, or combined sweeping and mopping robot, etc. Furthermore, work equipment is suitable for performing one or more work tasks within a work area. For example, when the work equipment is an automatic lawnmower, it can perform lawnmowing within the work area; as another example, when the work equipment is an automatic snowplow, it can perform snow sweeping within the work area; as yet another example, when the work equipment is an automatic watering machine, it can perform watering within the work area; as yet another example, when the work equipment is an automatic leaf blower, it can perform leaf blowing within the work area; as yet another example, when the work equipment is an automatic sweeper, it can perform sweeping within the work area; as yet another example, when the work equipment has both a cutting component and a watering component, it can perform both lawnmowing and watering within the work area, and so on.

[0056] like Figure 1 As shown, when establishing the working boundary of the work equipment, a portable device 200' equipped with a positioning device can be selected. By pushing the portable device 200' along the perimeter of the lawn, the position data of the lawn edge B0 can be obtained. For example, when the outer side of the lawn is a wide road, the longitudinal central axis of the positioning device can be aligned with the boundary line between the road and the lawn when pushing the portable device 200'; for example, when the outer side of the lawn is a wall or fence, the outermost part of the portable device 200' can be pushed along the edge in a manner that is basically in contact with the wall or fence (but without significant interaction force); for example, when the outer side of the lawn is a surface with a drop (e.g., the outer side of the lawn is a low step, a pool, etc.), the outermost part of the portable device 200' can be pushed along the edge in a manner that is basically in contact with the edge of the lawn.

[0057] However, when the work equipment operates along the virtual boundary formed by the portable device 200', it is prone to collisions with surrounding objects. On the other hand, there are often many obstructions around the lawn, easily creating shadow areas during the edge-tracing process, thus affecting the acquisition of actual boundary position data. If the work equipment continues to operate according to the position data acquired in the shadow area, it will be prone to collisions with surrounding objects due to inaccurate navigation. In addition, users may also record boundary position data with significant deviations when operating the portable device. If the work equipment continues to operate according to this boundary position data, it will also increase the risk of collisions during the edge-tracing process.

[0058] Based on the above problems, the embodiment of the present application provides a method for determining the working boundary of a working device, so as to reduce the collision risk of the working device in the actual edge following process and help the borderless working device to determine a working boundary with high reliability.

[0059] Specifically, the determination method provided by the present application is based on the following design principles:

[0060] Since the portable device commonly used for mapping is usually small in size (to facilitate flexible manipulation when the user pushes it), it is easy to cause the distance between the positioning device and the boundary to be different during the mapping and edge following processes. If the working device still follows the initially established virtual boundary to work along the edge, the working device will collide with the wall or fence when it also moves along the wall or fence. On the other hand, for the boundary position data of the shadow area recorded by the portable device, an inward adjustment strategy can be adopted, that is, the working device is made to move as close to the inside of the lawn as possible to reduce the collision risk. As for the inward adjustment range, the boundary position data originally recorded in the shadow area can also be considered to have a collision risk, and then the inward adjustment range when the working device moves along the wall or fence can be used to reduce the collision risk when moving along the boundary in the shadow area. Similarly, for the deviation data recorded by the user's operation, an inward adjustment strategy can also be adopted. As for the inward adjustment range, these recorded error data can also be considered to have a collision risk, and then the inward adjustment range when the working device moves along the wall or fence can be used to reduce the collision risk when moving along these recorded error data.

[0061] Therefore, by solving the problem that the working device based on the virtual boundary established by the portable device moves along the wall or fence and is prone to collision, the problems of the shadow area and the user's operation deviation can also be improved to some extent. Based on the above consideration, it is further conceived that by inwardly adjusting the original virtual boundary by at least "the distance difference between the positioning device and the boundary during the mapping and edge following processes", the problem that the working device based on the virtual boundary established by the portable device moves along the wall or fence and is prone to collision can be solved, thereby forming the determination method provided by the present application.

[0062] It should be noted that the above conception process of the invention should also be considered as the contribution made by the present application.

[0063] The determination method of each embodiment of the present application will be described in detail below with reference to the accompanying drawings. In the following embodiments, the working device of the intelligent mower is taken as an example to illustrate the implementation scheme of the present embodiment. Correspondingly, in the following embodiments, the working area is a lawn, and the working device can be an intelligent mower of different models. Generally, the widths of intelligent mowers of different models can be different.

[0064] In an embodiment, as shown in FIG. 1, the working device 100 is an intelligent mower, and the working area 200 is a lawn. The working device 100 is equipped with a positioning device 110, a mapping device 120 and a working device 130. The working device 130 is used to cut the grass on the lawn, and the mapping device 120 is used to map the lawn. The mapping device 120 is used to record the boundary position data of the shadow area and the deviation data of the user's operation. Figure 3As shown, the working device 100 is adapted to perform at least one working task in a working area, which can include a machine body 110, and driving devices 120, positioning devices 130, cutting devices 140 connected with the machine body 110, and of course, control circuit (not shown in the figure) to control the driving devices 120, positioning devices 130, cutting devices 140.

[0065] Optionally, the driving devices 120 can include a front wheel group 121 and a rear wheel group 122, as shown in the figure. Figure 3 As shown, the front wheel group 121 and the rear wheel group 122 are both arranged on the outside of the machine body, and the size of the rear wheel group 122 is greater than that of the front wheel group 121, so that the width of the working device 100 can be represented as the vertical distance H1 between the outermost two wheels of the rear wheel group 122; of course, the front and rear wheel groups can also be arranged in the machine body 110, at this time, the width of the working device 100 can be represented as the maximum size length of the machine body 110 in the direction perpendicular to the direction of travel of the working device 100.

[0066] Optionally, the cutting device 140 can cut by driving the long straight knife to rotate through the motor, or can cut by driving the cutter through the motor and then driving the blade. Further, the cutting device 140 can be a grass crushing type cutting device, or can be a cutting device with a grass collecting component, which is not limited in the present application.

[0067] Optionally, the positioning device 130 can be biased or centrally installed on the machine body 110. Optionally, the positioning device 130 can also be detachably connected with the machine body 100. On the other hand, the positioning device 130 can obtain coordinate information of its position by absolute positioning or relative positioning, and correspondingly, the positioning device 130 can include visual sensors (such as monocular cameras, multi-view cameras, depth cameras, etc.), image sensors, satellite positioning sensors, etc., and correspondingly, the positioning device 130 can obtain coordinate information of its position by using one or more of the following positioning technologies: GPS technology, Visual Simultaneous Localization And Mapping (VSLAM) technology, Inertial Measurement Unit (IMU) technology, Real-Time Kinematic (RTK) positioning technology, network RTK (NRTK) positioning technology, undifferenced network RTK (URTK) positioning technology, precise point positioning RTK (PPP-RTK) positioning technology, etc.

[0068] In this embodiment, the position information collecting device 200 is used as a portable device to collect the virtual position data of the working boundary of the working area of the working device 100. As shown in Figure 4 The position information collecting device comprises a body 210, a driving device 220 connected to the body 210, a positioning device 230, and a control device 240.

[0069] Optionally, the driving device 220 can comprise a pair of wheel sets (such as universal wheel sets or driving wheel sets) arranged outside the body, so that the width of the position information collecting device 200 can be represented by the vertical distance H2 between the outermost wheels of the wheel sets. Of course, the wheel sets can also be arranged inside the body 210, in which case the width of the position information collecting device 200 can be represented by the maximum dimension of the body 210 in the direction perpendicular to the direction of movement of the position information collecting device 200.

[0070] Optionally, the positioning device 230 can refer to the positioning device 130 described above in the working device 100, which will not be described here again.

[0071] Optionally, the user can control the position information collecting device 200 to move along the edge by hand through the control device 240, in which case the control device 240 can be a handle or a push rod. In addition, the user can also remotely control the position information collecting device 200 to move along the edge through the control device 240, in which case the control device 240 can be an antenna.

[0072] As shown in Figure 2 The method for determining the working boundary of the working device in this embodiment can comprise:

[0073] S200, obtaining an initial virtual boundary of the working area; wherein the initial virtual boundary is generated by the position data collected by the position information collecting device moving along the working boundary of the working area, and the positioning device on the position information collecting device has a first vertical distance from the outermost part of the position information collecting device during the movement along the edge.

[0074] For example, as shown in Figure 5 When the position information collecting device 200 is controlled by the user to move along the wall B01, the position data collected by the position information collecting device actually reflects the coordinate data of the position of the positioning device 230 thereon. At this time, since the positioning device 230 has a first vertical distance d1 from the outermost part of the position information collecting device 200 (the outer edge of the wheel set on one side of the driving device 220), the initial virtual boundary B1 also generally has a distance of d1 from the wall B01.

[0075] S400, Obtain the adjustment vector; wherein the adjustment vector points to the working area, and there is a second vertical distance between the positioning device on the working equipment and the closest part of the working equipment during the edge-following process, and the adjustment amplitude of the adjustment vector is greater than or equal to the absolute value of the difference between the second vertical distance and the first vertical distance.

[0076] For example, such as Figure 6 As shown in the figure, since the positioning device 130 has a second vertical distance d2 between itself and the outermost part of the working device 100 when the working device 100 is along the edge, and as can be seen from the aforementioned description of portable devices, d2 is usually greater than d1. Therefore, if the working device 100 is still moved along the initial virtual boundary B1, it will cause the working device 100 to collide with the wall B01 (e.g., Figure 6 As shown in Figure (a), the initial virtual boundary B1 can be adjusted using an adjustment vector to reduce the risk of collision. Figure 6 As shown in Figure (b), when the initial virtual boundary B1 is shrunken by adjusting the distance Din to obtain boundary B2, and the working equipment 100 moves along boundary B2, the distance between the positioning device 130 and the wall B01 is greater than or equal to d2, thus allowing the working equipment 100 to move smoothly along wall B01. Here, the distance Din is greater than or equal to the absolute value of the difference between the second vertical distance d2 and the first vertical distance d1.

[0077] Optionally, the difference between the magnitudes of the first vertical distance d1 and the second vertical distance d2 can determine the direction of the adjustment vector, and the difference between the values ​​of the first vertical distance d1 and the second vertical distance d2 can determine the amplitude of the adjustment vector. For example, if d1 is 100mm and d2 is 300mm, then d1 is less than d2, so the adjustment vector points within the working area, and the amplitude of the adjustment vector is 200mm; if d1 is 100mm and d2 is 80mm, then d1 is greater than d2, so the adjustment vector can point outside the working area, and the amplitude of the adjustment vector is 20mm; if d1 is 100mm and d2 is also 100mm, then d1 and d2 are the same, the amplitude of the adjustment vector is 0, and the direction can be arbitrary.

[0078] S600, At least adjust the initial virtual boundary portion that meets the preset conditions according to the adjustment vector.

[0079] For example, such as Figure 7 and Figure 8 As shown, when the location information acquisition device 200 moves along the boundary line between the lawn and the wide road surface B02, the initial virtual boundary it forms does not need to be adjusted, because there are no obstacles such as walls or fences near the road surface B02 at this time, and the operating equipment 100 will not have the risk of collision when moving along the initial virtual boundary.

[0080] For example, when the position information collection device 200 moves along a ground surface with a fall, the initial virtual boundary formed thereby basically does not need to be adjusted again.

[0081] Therefore, it is known that not all the initial virtual boundaries corresponding to the working boundaries of the working area need to be adjusted, but only the initial virtual boundary part meeting the preset condition is adjusted, so that the edge cutting effect can be ensured when the working device 100 moves along the initial virtual boundary part that does not need to be adjusted.

[0082] Optionally, the initial virtual boundary part meeting the preset condition can be an initial virtual boundary with a collision risk (for example, an initial virtual boundary corresponding to a working boundary such as a wall or a fence), an initial virtual boundary part located in a shadow area, or an initial virtual boundary part with a large deviation when the user controls the position information collection device.

[0083] It should be noted that determining whether the initial virtual boundary part meets or does not meet the preset condition is not a necessary step of the determination method of the embodiments of the present application. In other words, the "initial virtual boundary part meeting the preset condition" is a modifier of the "initial virtual boundary part", but not a limitation of the method steps.

[0084] For example, in addition to adjusting the initial virtual boundary by the adjustment vector, a set safety distance can be further introduced for adjustment to further improve safety, and a compensation vector of the shadow area can be further introduced to further improve the accuracy of the working boundary of the shadow area.

[0085] S800, determining the working boundary of the working device according to the adjusted initial virtual boundary.

[0086] For example, the adjusted initial virtual boundary includes the adjusted initial virtual boundary part and the initial virtual boundary part that does not need to be adjusted. For example, the two parts of the initial virtual boundary are smoothed to form the working boundary of the working device.

[0087] The determination method of the embodiment can effectively improve the problem that the virtual boundary of the working device established based on the portable device is easy to collide when moving along a wall or a fence, and can also improve the problems of the shadow area and the user operation deviation to a certain extent, thereby facilitating the establishment of a working boundary of a reliable boundary-free working device. On the other hand, the determination method of the embodiment can be applied to form the working boundary of different working devices, has better universality, in other words, for different working devices, the corresponding working boundary can be constructed according to the initial virtual boundary combined with the adjustment vector, without the need to construct the working boundary for each working device separately.

[0088] In some embodiments of the present embodiment, to simplify the adjustment setting, the initial virtual boundaries can be adjusted by default, and for the part of the initial virtual boundary that does not need to be adjusted, the biased position data can be obtained based on the adjustment vector when obtaining the position data of the work boundary of this part, so that the work boundary of this part can be adjusted to a more accurate work boundary together in the subsequent unified adjustment.

[0089] In another embodiment, the work equipment is provided with a detachable positioning device, and the positioning device is configured to be coupled with another mobile device in a detached state to move the position data of the work boundary of the work area. Correspondingly, the determination method of the present embodiment comprises:

[0090] S200', obtaining an initial virtual boundary of a work area;

[0091] Wherein, the initial virtual boundary is generated by the collected position data of the work boundary of the work area, and during the collection process, the positioning device has a first vertical distance from the most edge part of the mobile device;

[0092] S400', obtaining an adjustment vector;

[0093] Wherein, the adjustment vector points to the work area, and the positioning device on the work equipment has a second vertical distance from the most edge part of the work equipment during the edge process, and the adjustment range of the adjustment vector is greater than or equal to the absolute value of the difference between the second vertical distance and the first vertical distance;

[0094] S600', adjusting at least part of the initial virtual boundary that meets the preset condition according to the adjustment vector;

[0095] S800', determining the work boundary of the work equipment according to the adjusted initial virtual boundary.

[0096] Optionally, the work equipment of the present embodiment is provided with a mounting part detachably connected with the positioning device, and the rest is consistent with the setting of the work equipment 100.

[0097] Optionally, the mobile device of the present embodiment is provided with a mounting part detachably connected with the positioning device, and the rest is consistent with the setting of the position information collection device 200.

[0098] The determination method of the present embodiment, through the detachable positioning device, is beneficial to improve the sharing of the positioning device, and it is also beneficial to ensure that the mapping and navigation adopt the same coordinate system of the same system, and also beneficial to reduce the preparation cost of the work equipment and / or the position information collection device.

[0099] The following will provide some implementation manners of the determination method used in the above-mentioned embodiments with reference to the drawings, taking the working device 100 and the position information collection device 200 as examples.

[0100] In some implementation manners, the initial virtual boundary part satisfying the preset condition is adjusted according to at least the adjustment vector, including:

[0101] S620, obtaining a marked initial virtual boundary in the initial virtual boundary; wherein the marked initial virtual boundary is at least used for indicating the initial virtual boundary with collision risk;

[0102] S640, adjusting the marked initial virtual boundary according to at least the adjustment vector.

[0103] The marked initial virtual boundary can be represented as having a corresponding attribute mark, for example, a marked boundary having a fixed obstacle (such as a wall, a fence, a step, a flower bed, a landscape plant, a pool, etc. island) attribute, a marked boundary having a shadow area attribute, a marked boundary having a deviation attribute, etc. can be used to indicate the initial virtual boundary with collision risk. On the other hand, the way to obtain these marked initial virtual boundaries is also various. Exemplarily, the user can manually mark the initial virtual boundary part that needs to be adjusted in combination with the boundary terrain of the actual working area and the displayed initial virtual boundary; Exemplarily, the position information collection device 200 can also identify the boundary position data that needs to be adjusted in combination with its own sensor components when collecting the position data of the working area boundary, and assign corresponding attributes, so as to mark the initial virtual boundary part that needs to be adjusted when generating the initial virtual boundary.

[0104] It should be noted that the marked initial virtual boundary can also not be set. Exemplarily, it can be defaulted that all the formed initial virtual boundaries need to be adjusted, so that there is no need to mark the initial virtual boundary that needs to be adjusted. The implementation manner of not marking the initial virtual boundary can refer to the implementation manner of "adjusting all the initial virtual boundaries" described above, which will not be described here.

[0105] In some implementation manners, the adjustment vector is pre-stored in a storage, and the adjustment vector of the initial virtual boundary is obtained by calling the adjustment vector of the initial virtual boundary in the storage.

[0106] Optionally, the storage can be a local storage, for example, a storage in the position information collection device, a storage in the working device, a storage in the mobile terminal, or can be mounted in a virtual server through cloud storage technology (for example, in the form of a cloud disk).

[0107] Optionally, the subject performing the initial virtual boundary establishment can be any one of the position information collection device 200, the working device 100, the mobile terminal, and the cloud server.

[0108] Optionally, the subject performing the initial virtual boundary adjustment can be any one of the position information collection device 200, the working device 100, the mobile terminal, and the cloud server.

[0109] Optionally, the subject performing the determination method of the above-mentioned embodiments can be one or more of the position information collection device 200, the working device 100, the mobile terminal, and the cloud server.

[0110] In some embodiments, the first vertical distance d1 is determined based at least on a first installation position of the positioning device 230 on the position information collection device 200 and a width of the position information collection device 200; and the second vertical distance d2 is determined based at least on a second installation position of the positioning device 130 on the working device 100 and a width of the working device 100.

[0111] Taking the positioning device 230 as an example, assuming that the first installation position is located at one third of the width of the position information collection device 200 from the edge of the position information collection device 200, the first vertical distance d1 can be determined as one third of the width H2 of the position information collection device 200. Similarly, the second vertical distance d2 can be determined according to the second installation position of the positioning device 130 and the width H1 of the working device 100.

[0112] In some embodiments, as shown in Figure 3 and Figure 4 , the first installation position is located on the longitudinal center symmetry plane of the position information collection device 200, and the second installation position is located on the longitudinal center symmetry plane of the working device 100, so that the adjustment vector can be determined based at least on the width difference between the position information collection device 200 and the working device 100. Through the above-mentioned setting, the amplitude calculation of the adjustment vector is facilitated, thereby facilitating the adjustment of the initial virtual boundary.

[0113] In some embodiments, the adjustment vector of the initial virtual boundary comprises:

[0114] S420, acquiring a first width of the position information collection device 200 and a second width of the working device 100;

[0115] S440, determining a first vertical distance d1 according to the first installation position and the first width;

[0116] S460, determining a second vertical distance d2 according to the second installation position and the second width;

[0117] S480, determine the adjustment range of the adjustment vector according to the first vertical distance d1 and the second vertical distance d2.

[0118] In the above manner, the adjustment range of the adjustment vector can be automatically calculated by inputting the first width of the position information collection device 200 and the second width of the work device 100, which is convenient and fast. Alternatively, the width information can be sent to the adjustment vector generation device by other devices. Alternatively, the width information of the position information collection device 200 and the work device 100 can be retrieved from the memory by the adjustment vector generation device.

[0119] In some embodiments, the initial virtual boundary part satisfying the preset condition is adjusted at least according to the adjustment vector, comprising:

[0120] S610, obtaining an initial virtual boundary part of the position information collection device whose satellite positioning signal output by the positioning device during the edge following process does not satisfy the quality condition;

[0121] S630, obtaining a shadow area compensation vector of the initial virtual boundary part; wherein the shadow area compensation vector points to the work area;

[0122] S650, determining the working boundary of the work device corresponding to the initial virtual boundary part according to the initial virtual boundary, the adjustment vector, and the shadow area compensation vector.

[0123] During the operation of the satellite, the signal quality of the position information collection device in part of the edge following area will be poor due to signal shielding, so that the boundary position data output is not accurate. By introducing the compensation vector of the shadow area, the boundary position data of the shadow area can be effectively corrected, and the reliability of the working boundary of the work device 100 is further improved.

[0124] In some embodiments, the compensation range of the shadow area compensation vector is determined based at least on the positioning deviation amount of the positioning device 130 on the work device 100 in the shadow area. For example, the positioning deviation of the positioning device 130 in different shadow area environments can be measured, and the corresponding positioning deviation data can be collected, and the positioning deviation amount of the positioning device 130 in the shadow area can be obtained by a related data processing method (for example, one or more of average, root mean square, least square, etc.).

[0125] In some embodiments, the adjustment range is determined based at least on the following relationship:

[0126] d2-d1≤|D in |≤L-d3+(d2-d1);

[0127] wherein |D inrepresents an adjustment range, d1 represents a first vertical distance, d2 represents a second vertical distance, d3 represents a third vertical distance between an outermost edge of a working tool of the working device and an edge- closest part of the working device in the edging process, and L represents a grass-leave width threshold at the working boundary.

[0128] As shown in FIG. 13, the third vertical distance d3 between the outermost edge of the cutting device 140 and the edge-closest part of the working device 100 in the edging process is set to prevent the adjustment range of the adjustment vector from being set too large, which would result in a too wide grass-leave width of the working device 100 and affect the edge-cutting effect. The upper limit of the adjustment range can be set based on the grass-leave width threshold, which is L-d3+(d2-d1). The grass-leave width threshold can be set based on the cutting requirement, for example, 80mm, 100mm, 120mm, 150mm, 180mm, 200mm, etc. Figure 3 In some embodiments, a safety distance can also be introduced to further adjust the initial virtual boundary. For example, the safety distance can be a safety distance applicable to the entire initial virtual boundary, so that the adjustment amount of the initial virtual boundary is "adjustment range + device safety distance"; the safety distance can be a safety distance set considering the swing range of the working device, so that the adjustment amount of the initial virtual boundary is "adjustment range + swing safety distance"; the safety distance can also be a safety distance set considering the braking condition when the working device moves directly to the boundary, so that the adjustment amount of the initial virtual boundary is "adjustment range + braking safety distance". Of course, the above several safety distances can also be used simultaneously.

[0129] It should be understood that although each step in the flowchart of the accompanying drawings is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the accompanying drawings can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0130]

[0131] ​Based on the same inventive concept, the application further provides a device for determining the working boundary of the working device. The device provides a solution to the problem similar to the implementation described in the above method, so the specific limitations in one or more device embodiments for determining the working boundary of the working device provided below can refer to the limitations of the working device boundary determination method described above, which will not be repeated here.

[0132] In one embodiment, as shown in Figure 9 A device for determining the working boundary of the working device 300 is provided, comprising:

[0133] The first acquisition module is configured to acquire an initial virtual boundary of the working area; wherein the initial virtual boundary is generated by position data collected by the position information collection device moving along the working boundary of the working area, and the positioning device on the position information collection device has a first vertical distance from the most edge position of the position information collection device during the edge movement;

[0134] The second acquisition module is configured to acquire an adjustment vector; wherein the adjustment vector is directed within the working area, and the positioning device on the working device has a second vertical distance from the most edge position of the working device during the edge movement, and the adjustment amplitude of the adjustment vector is greater than or equal to the absolute value of the difference between the second vertical distance and the first vertical distance;

[0135] The boundary determination module is configured to adjust the initial virtual boundary part meeting the preset condition according to the adjustment vector, so as to determine the working boundary of the working device according to the adjusted initial virtual boundary.

[0136] According to the description of the foregoing method embodiments, the application further provides device embodiments corresponding to the method. Similar to the first module, the second module, the third module, etc. can be used to describe the implementation steps of the corresponding method in each device embodiment corresponding to the method. For example, another embodiment of the device can further include a third acquisition module for acquiring a device safety distance corresponding to different working devices. Correspondingly, the boundary determination module adjusts the initial virtual boundary part meeting the preset condition according to the adjustment vector, which includes adjusting the initial virtual boundary part meeting the preset condition according to the adjustment vector and the device safety distance, so as to determine the working boundary of the working device according to the adjusted initial virtual boundary. Similar to the overall concept and implementation of the device embodiments corresponding to the method for solving the technical problems, the method is the same or similar, which will not be repeated here.

[0137] Each of the modules in the apparatus can be implemented by software, hardware, and combinations thereof, in whole or in part. The modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in a computer device in software form, so as to be invoked by a processor to perform the operations corresponding to the modules.

[0138] In another embodiment, the present application also provides a computer device, which can be a terminal or a system, such as a software control system of a job equipment, and an internal structure diagram thereof can be as shown in Figure 10 The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected through a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is configured to perform wired or wireless communication with an external terminal. The wireless communication can be achieved through WIFI, mobile cellular network, NFC (Near Field Communication), or other technologies. The computer program is executed by the processor to implement the method for determining a working boundary of a job equipment according to any of the method embodiments of the present application. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball, or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0139] Those skilled in the art can understand that Figure 10 The structure shown in the above

[0140] In one embodiment, the present application also provides a computer readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the steps in the above method embodiments.

[0141] In one embodiment, the present application also provides a computer program product including a computer program, and the computer program is executed by a processor to implement the steps in the above method embodiments.

[0142] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0143] It has to be noted that the terms "first", "second", and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the use of these terms is interchangeable under appropriate circumstances and the embodiments of the application described herein are capable of operating in other sequences than the one explicitly described or indicated as an example. The embodiments described herein are not meant to limit the application of the application to the specific embodiments described. On the contrary, the intention is to cover all the alternatives, modifications, and equivalents falling within the scope of the application as defined by the appended claims. The terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. The terms "comprises", "comprising", or any other variations thereof, do not exclude the presence of additional elements in a process, method, article, or apparatus that comprises the elements listed. The terms "a" and "an" preceding an element do not exclude the presence of more than one of the element in a process, method, article, or apparatus. For example, the terms "a" and "an" preceding the term "comprising" do not exclude the presence of two or more items "comprising" the process, method, article, or apparatus. The terms "first", "second", and the like, do not imply a sequential or chronological order unless explicitly stated.

[0144] In the present application, when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In the present application, when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can also be present. The term "connected" can also mean electrically connected, magnetically connected, or mechanically connected.

[0145] The terms "vertical", "horizontal", "left", "right", "upper", "lower", "front", "rear", "circumferential", "direction of travel", and similar terms are based on the orientation or position shown in the drawings and are used only for the purpose of convenience and brevity in describing the application and its embodiments and are not intended to limit or imply that the device or element referred to must have a particular orientation, be constructed or operated in a particular orientation, and therefore should not be construed as limiting the application.

[0146] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0147] Any combination of the technical features in the above embodiments can also be made, and for the sake of brevity, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of the technical features does not exist contradictions, it should be considered as the scope of the description.

[0148] The above embodiments only express several implementation methods of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for determining the working boundary of a working device, the working device being adapted to perform at least one work task within a working area, characterized in that, The method includes: Obtain the initial virtual boundary of the work area; wherein, the initial virtual boundary is generated by the location data collected by the location information acquisition device moving along the work boundary of the work area, and there is a first vertical distance between the positioning device on the location information acquisition device and the closest part of the location information acquisition device during the edge-following process; Obtain an adjustment vector; wherein the adjustment vector points to the working area, and there is a second vertical distance between the positioning device on the working equipment and the closest part of the working equipment during the edge-following process, and the adjustment amplitude of the adjustment vector is greater than or equal to the absolute value of the difference between the second vertical distance and the first vertical distance; The initial virtual boundary portion is adjusted at least according to the adjustment vector; The working boundary of the operating equipment is determined based on the adjusted initial virtual boundary.

2. The method according to claim 1, characterized in that, The adjustment of the initial virtual boundary portion based at least on the adjustment vector includes: Obtain the marked initial virtual boundary from the initial virtual boundary; wherein the marked initial virtual boundary is used at least to indicate the initial virtual boundary with collision risk; The initial virtual boundary of the marker is adjusted at least according to the adjustment vector.

3. The method according to claim 1, wherein the adjustment vector is pre-stored in a memory, characterized in that, The step of obtaining the adjustment vector of the initial virtual boundary of the working area includes: retrieving the adjustment vector of the initial virtual boundary from the memory.

4. The method according to claim 3, wherein, The memory is located in one or more of the following devices: the location information acquisition device, the operating device, the terminal device, and the cloud server.

5. The method according to claim 1, characterized in that, The first vertical distance is determined at least based on the first installation position of the positioning device on the location information acquisition device and the width of the location information acquisition device. The second vertical distance is determined at least based on the second installation position of the positioning device on the work equipment and the width of the work equipment.

6. The method according to claim 5, characterized in that, The first installation position is located on the longitudinal center symmetry plane of the location information acquisition device, the second installation position is located on the longitudinal center symmetry plane of the working device, and the adjustment vector is determined at least based on the width difference between the location information acquisition device and the working device.

7. The method according to claim 5, characterized in that, The adjustment vector for obtaining the initial virtual boundary of the work area includes: Obtain the first width of the location information acquisition device and the second width of the operating device; The first vertical distance is determined based on the first installation position and the first width; The second vertical distance is determined based on the second installation position and the second width; The adjustment range of the adjustment vector is determined based on the first vertical distance and the second vertical distance.

8. The method according to claim 1, characterized in that, The adjustment of the initial virtual boundary portion that satisfies the preset conditions based at least on the adjustment vector includes: The initial virtual boundary portion where the satellite positioning signal output by the positioning device on the location information acquisition equipment does not meet the quality conditions during the edge-following process is obtained; Obtain the shadow area compensation vector of the initial virtual boundary portion; wherein the shadow area compensation vector points within the working area; The working boundary of the working equipment corresponding to the initial virtual boundary is determined based on the initial virtual boundary, the adjustment vector, and the shadow area compensation vector.

9. The method according to claim 8, characterized in that, The compensation magnitude of the shadow area compensation vector is determined at least based on the positioning deviation of the positioning device on the work equipment in the shadow area.

10. The method according to claim 1, characterized in that, The adjustment range is determined at least based on the following relationship: d2-d1≤|Din|≤L-d3+(d2-d1); Wherein, |Din| represents the adjustment range, d1 represents the first vertical distance, d2 represents the second vertical distance, d3 represents the third vertical distance between the outermost edge of the working tool of the working equipment and the edge-closest part of the working equipment during the edge-keeping process, and L represents the grass-retaining width threshold at the working boundary.

11. A method for determining the working boundary of a work device, the work device being adapted to perform at least one work task within a work area, and the work device being provided with a detachable positioning device, the positioning device being configured to be coupled to another mobile device in a detached state to move and collect position data of the working boundary of the work area, characterized in that, The method includes: Obtain the initial virtual boundary of the work area; wherein the initial virtual boundary is generated by the collected position data of the work boundary of the work area, and during the collection process, there is a first vertical distance between the positioning device and the outermost part of the mobile device; Obtain an adjustment vector; wherein the adjustment vector points to the working area, and there is a second vertical distance between the positioning device on the working equipment and the closest part of the working equipment during the edge-following process, and the adjustment amplitude of the adjustment vector is greater than or equal to the absolute value of the difference between the second vertical distance and the first vertical distance; The initial virtual boundary portion is adjusted at least according to the adjustment vector; The working boundary of the operating equipment is determined based on the adjusted initial virtual boundary.

12. A device for determining the working boundary of a working device, the working device being adapted to perform at least one work task within a working area, characterized in that, The device includes: The first acquisition module is configured to acquire the initial virtual boundary of the work area; wherein the initial virtual boundary is generated by the location data collected by the location information acquisition device moving along the work boundary of the work area, and there is a first vertical distance between the positioning device on the location information acquisition device and the closest part of the location information acquisition device during the edge-following process; The second acquisition module is configured to acquire an adjustment vector; wherein the adjustment vector points to the working area, and there is a second vertical distance between the positioning device on the working equipment and the closest part of the working equipment during the edge-following process, and the adjustment amplitude of the adjustment vector is greater than or equal to the absolute value of the difference between the second vertical distance and the first vertical distance; A boundary determination module is configured to adjust at least a portion of the initial virtual boundary according to the adjustment vector to determine the working boundary of the work equipment based on the adjusted initial virtual boundary.

13. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 11.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 11.

15. A computer program product comprising a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 11.

16. An automated working system, characterized in that, include: Location information acquisition equipment and operating equipment; The location information acquisition device is configured to record the initial virtual boundary when moving along the work boundary of the work area; The positioning device of the location information acquisition equipment has a first vertical distance from the outermost part of the location information acquisition equipment; the positioning device of the operating equipment has a second vertical distance from the outermost part of the operating equipment. An adjustment vector is configured to adjust the initial virtual boundary to generate a working boundary, the magnitude of which is the absolute value of the difference between a first vertical distance and a second vertical distance; When the first vertical distance is less than the second vertical distance, the direction of the adjustment vector points within the working area; When the first vertical distance is greater than the second vertical distance, the direction of the adjustment vector points out of the working area; The work equipment is configured to process the surface of the work area along the work boundary.

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