Job boundary generation method, job control method, device, and storage medium

Abstract

Embodiments of the present application provide a job boundary generation method, a job control method, a device and a storage medium. In the embodiments of the present application, the outdoor robot is controlled to move along the boundary of the workable area, the work boundary of the workable area in the environment map is obtained, and the outdoor robot is controlled to traverse the workable area along the work boundary while collecting the environment image of the work boundary. According to the boundary information of the workable area in the environment image, the work boundary in the environment map is corrected to obtain the corrected work boundary. Compared with the work boundary generation method of laying magnetic strips, the method provided by the present application is simple to operate, efficient, does not need to lay magnetic strips, and saves cost.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a method for generating job boundaries, a job control method, an apparatus, and a storage medium. Background Technology

[0002] With the development of artificial intelligence technology, some intelligent devices that bring convenience to users have emerged, such as lawnmower robots and snow removal robots. Considering that the working environment of outdoor robots is relatively complex, and there may be dangerous places such as swimming pools, puddles, and steps, it is necessary to determine the boundaries of the working area before the outdoor robot performs its tasks in order to protect its operational safety.

[0003] Currently, magnetic strips are pre-laid along the boundaries of the work area. When an outdoor robot moves near these strips, it generates a sensing signal. The strength of this signal determines whether the robot has reached the boundary of the work area. If the robot does reach the boundary, it stops moving in its current direction and adjusts to another direction to continue performing its task. However, defining the boundaries of the work area in this way is cumbersome, inefficient, and costly to implement. Summary of the Invention

[0004] This application provides a method for generating job boundaries, a method for controlling job operations, an apparatus, and a storage medium, which make the generation of job boundaries simple, efficient, and cost-effective, eliminating the need for laying magnetic strips.

[0005] This application provides a method for generating a work boundary, comprising: generating a work boundary of a workable area on an environmental map based on first trajectory information of an outdoor robot, wherein the first trajectory information is formed by the outdoor robot moving along the boundary of the workable area; controlling the outdoor robot to traverse the workable area based on the work boundary and acquiring environmental images collected by the outdoor robot during the traversal; and correcting the work boundary in the environmental map based on the boundary information of the workable area contained in the environmental images to obtain the corrected work boundary.

[0006] This application provides a method for generating a work boundary, comprising: generating a work boundary of a workable area on an environmental map based on first trajectory information of an outdoor robot, wherein the first trajectory information is formed by the outdoor robot moving along the boundary of the workable area; acquiring an environmental image collected by the outdoor robot during its movement along the boundary of the workable area; and correcting the work boundary in the environmental map based on the boundary information of the workable area contained in the environmental image to obtain the corrected work boundary.

[0007] This application provides a method for generating a work boundary, including: acquiring first trajectory information and second trajectory information of an outdoor robot, wherein the first trajectory information is formed by the outdoor robot moving along the boundary of a workable area, and the second trajectory information is formed by the outdoor robot moving along the boundary of a non-workable area; and generating work boundaries of the workable area and restricted areas of the non-workable area on an environmental map based on the first trajectory information and the second trajectory information of the outdoor robot, wherein the restricted areas boundary and the work boundaries together define the workable area.

[0008] This application embodiment also provides an environmental map generation method, including: acquiring first trajectory information and second trajectory information of an outdoor robot, wherein the first trajectory information is formed by the outdoor robot moving along the boundary of a workable area, and the second trajectory information is formed by the outdoor robot moving along the boundary of a non-workable area; generating work boundaries of the workable area and restricted area boundaries of the non-workable area on the environmental map based on the first trajectory information and the second trajectory information of the outdoor robot, wherein the restricted area boundaries are located within the work boundaries, and the restricted area boundaries and the work boundaries together define the workable area; controlling the outdoor robot to traverse the workable area based on the work boundaries and the restricted area boundaries, collecting surrounding environmental images during the traversal, and adding other environmental information within the workable area to the environmental map based on the environmental images.

[0009] This application also provides a job control method for an outdoor robot. The method includes: receiving a job instruction, which instructs the outdoor robot to perform a job task within a workable area; acquiring an environmental map of the workable area, the environmental map including the work boundary corresponding to the workable area and the restricted area boundary corresponding to the non-workable area, the restricted area boundary being located within the work boundary, and the restricted area boundary and the work boundary jointly defining the workable area; and controlling the outdoor robot to perform the job task within the workable area based on the restricted area boundary and the work boundary.

[0010] This application provides a work boundary generation device, including: a generation module, a control module, and a correction module; the generation module is used to generate a work boundary of a workable area on an environmental map based on first trajectory information of an outdoor robot, wherein the first trajectory information is formed by the outdoor robot moving along the boundary of the workable area; the control module is used to control the outdoor robot to traverse the workable area according to the work boundary and acquire environmental images collected by the outdoor robot during the traversal; the correction module is used to correct the work boundary in the environmental map based on the boundary information of the workable area contained in the environmental images, thereby obtaining the corrected work boundary.

[0011] This application provides a work boundary generation device, including: a generation module, an acquisition module, and a correction module; the generation module is used to generate a work boundary of a workable area on an environmental map based on first trajectory information of an outdoor robot, wherein the first trajectory information is formed by the outdoor robot moving along the boundary of the workable area; the acquisition module is used to acquire environmental images collected by the outdoor robot during its movement along the boundary of the workable area; the correction module is used to correct the work boundary in the environmental map based on the boundary information of the workable area contained in the environmental images, thereby obtaining the corrected work boundary.

[0012] This application provides a work boundary generation device, including: an acquisition module and a generation module; the acquisition module is used to acquire first trajectory information and second trajectory information of an outdoor robot, the first trajectory information being formed by the outdoor robot moving along the boundary of a workable area, and the second trajectory information being formed by the outdoor robot moving along the boundary of a non-workable area; the generation module is used to generate, on an environmental map, work boundaries of the workable area and restricted area boundaries of the non-workable area based on the first trajectory information and the second trajectory information of the outdoor robot, the restricted area boundaries being located within the work boundaries, and the restricted area boundaries and work boundaries jointly defining the workable area.

[0013] This application provides an environmental map generation device, including: an acquisition module, a generation module, a traversal module, and an addition module; the acquisition module is used to acquire first trajectory information and second trajectory information of an outdoor robot, the first trajectory information being formed by the outdoor robot moving along the boundary of a workable area, and the second trajectory information being formed by the outdoor robot moving along the boundary of a non-workable area; the generation module is used to generate, based on the first trajectory information and the second trajectory information of the outdoor robot, the workable boundary of the workable area and the restricted area boundary of the non-workable area on the environmental map, the restricted area boundary being located within the workable boundary, and the restricted area boundary and the workable boundary jointly defining the workable area; based on the workable boundary and the restricted area boundary, the outdoor robot is controlled to traverse the workable area, and during the traversal, surrounding environmental images are collected, and other environmental information within the workable area is added to the environmental map based on the environmental images.

[0014] This application provides a work control device, including: a receiving module, an acquiring module, and a control module; the receiving module is used to receive a work instruction, which instructs an outdoor robot to perform a work task within a workable area; the acquiring module is used to acquire an environmental map of the workable area, the environmental map including the work boundary corresponding to the workable area and the restricted area boundary corresponding to the non-workable area, the restricted area boundary being located within the work boundary, and the restricted area boundary and the work boundary jointly defining the workable area; the control module is used to control the outdoor robot to perform a work task within the workable area based on the restricted area boundary and the work boundary.

[0015] This application provides an electronic device, including: a memory and a processor; the memory for storing a computer program; and the processor, coupled to the memory, for executing the computer program to implement the steps in the job boundary generation method and environment map generation method provided in this application.

[0016] This application provides an outdoor robot, including a positioning module and a device body. The device body includes a memory and a processor. The memory stores a computer program. The processor is coupled to the memory and executes the computer program to implement the steps in the operation control method provided in this application.

[0017] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to implement the steps in the job boundary generation method, environment map generation method, and job control method provided in this application.

[0018] In this embodiment, an outdoor robot is controlled to move along the boundary of the workable area to obtain the workable boundary of the workable area in an environmental map. The outdoor robot is then controlled to traverse the workable area along the workable boundary, simultaneously acquiring environmental images of the workable boundary. Based on the boundary information of the workable area in the environmental images, the workable boundary in the environmental map is corrected to obtain the corrected work boundary. Compared to the work boundary generation method using magnetic strips, the method provided in this application is simple to operate, highly efficient, and does not require the use of magnetic strips, saving costs. Furthermore, because it is difficult for the outdoor robot to move precisely along the boundary of the workable area, an error exists between the obtained work boundary and the actual workable area boundary. In this embodiment, by correcting the work boundary in the environmental map using the boundary information of the workable area in the environmental images, the error between the work boundary and the actual workable area boundary can be reduced, thereby improving the accuracy of the obtained work boundary. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0020] Figure 1a A flowchart illustrating a method for generating job boundaries, provided as an exemplary embodiment of this application;

[0021] Figure 1b A flowchart illustrating another job boundary generation method provided for an exemplary embodiment of this application;

[0022] Figure 2aA schematic diagram of a work boundary before correction, provided as an exemplary embodiment of this application;

[0023] Figure 2b A schematic diagram showing the modified work boundary provided as an exemplary embodiment of this application;

[0024] Figure 2c A schematic diagram illustrating the correction of work boundaries, provided as an exemplary embodiment of this application;

[0025] Figure 3 A schematic diagram of the structure of an outdoor robot provided as an exemplary embodiment of this application;

[0026] Figure 4a A flowchart illustrating another method for generating job boundaries provided as an exemplary embodiment of this application;

[0027] Figure 4b A flowchart illustrating yet another method for generating job boundaries provided as an exemplary embodiment of this application;

[0028] Figure 4c A flowchart illustrating an environmental map generation method provided for an exemplary embodiment of this application;

[0029] Figure 4d A flowchart illustrating a job control method provided for an exemplary embodiment of this application;

[0030] Figure 5a A schematic diagram of the structure of a work boundary generation device provided for an exemplary embodiment of this application;

[0031] Figure 5b A schematic diagram of the structure of an environmental map generation apparatus provided for an exemplary embodiment of this application;

[0032] Figure 5c A schematic diagram of the structure of a work control device provided for an exemplary embodiment of this application;

[0033] Figure 6 This is a schematic diagram of the structure of an electronic device provided as an exemplary embodiment of this application. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] To address the issue of low efficiency in generating work boundaries in existing technologies, this application embodiment controls an outdoor robot to move along the boundary of the workable area to obtain the work boundary of the workable area in an environmental map. The outdoor robot is then controlled to traverse the workable area along the work boundary while simultaneously acquiring an environmental image of the work boundary. Based on the boundary information of the workable area in the environmental image, the work boundary in the environmental map is corrected to obtain the corrected work boundary. Compared to the work boundary generation method that involves laying magnetic strips, the method provided in this application is simple to operate, highly efficient, and does not require laying magnetic strips, thus saving costs.

[0036] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0037] Figure 1a This is a flowchart illustrating a method for generating job boundaries, provided as an exemplary embodiment of this application. Figure 1a As shown, the method includes:

[0038] 101a. Based on the first trajectory information of the outdoor robot, generate the work boundary of the workable area on the environmental map. The first trajectory information is formed by the outdoor robot moving along the boundary of the workable area.

[0039] 102a. Based on the work boundary, control the outdoor robot to traverse the workable area and acquire environmental images collected by the outdoor robot during the traversal.

[0040] 103a. Based on the boundary information of the workable area contained in the environmental image, the work boundary in the environmental map is corrected to obtain the corrected work boundary.

[0041] In this embodiment, an outdoor robot is any device capable of autonomous movement outdoors. Outdoor robots can perform tasks outdoors, and the types of tasks they perform vary depending on the type of outdoor robot. For example, if the outdoor robot is a snow-shoveling robot, its task can be snow-shoveling; if it is a lawnmower robot, its task can be lawnmowering; and if it is a disinfection robot, its task can be disinfection.

[0042] In this embodiment, the outdoor robot can perform tasks in a workable area, which is an area where tasks can be performed. For example, a workable area is a relatively flat and safe area. Optionally, the workable area corresponds to a non-workable area, which is a dangerous area such as a swimming pool, a puddle, or a sunken step. To ensure the safety of the outdoor robot, it is prohibited to perform tasks in non-workable areas.

[0043] In this embodiment, an outdoor robot can be controlled to move along the boundary of a workable area. During this movement, first trajectory information of the outdoor robot is generated. The method of controlling the outdoor robot to move along the boundary is not limited. For example, the outdoor robot may have a remote control that is communicatively connected to the robot, allowing the user to control the robot's movement along the boundary. Alternatively, the user's terminal device may have an application (app) corresponding to the outdoor robot, allowing the user to control the robot's movement along the boundary. The outdoor robot has a positioning sensor module, and the first trajectory information can be generated based on this module. Different positioning sensor modules generate different first trajectory information. The implementation of the positioning sensor module can be found in subsequent embodiments and will not be detailed here.

[0044] In this embodiment, the first trajectory information can be GPS location information or environmental information, such as an environmental image. The method for generating the workable area boundary on the environmental map differs depending on the first trajectory information. If the first trajectory information is GPS location information, the workable area boundary can be marked on the environmental map based on this GPS location information. If the first trajectory information is an environmental image collected by the outdoor robot while it moves along the workable area, the workable area boundary can be generated on the environmental map using Visual Simultaneous Localization and Mapping (VSLAM) technology. Specifically, the workable area boundary can be generated on the environmental map in real-time while the outdoor robot moves along the boundary, or it can be generated after the outdoor robot has finished moving along the boundary.

[0045] In this embodiment, it is difficult for the user-controlled outdoor robot to move along the boundary of the workable area without any errors. Therefore, the first trajectory information formed by the outdoor robot moving along the boundary of the workable area may have errors compared to the actual boundary of the workable area. The workable boundary generated based on this first trajectory information may also have errors compared to the actual boundary. The actual boundary of the workable area has obvious segmentation features; for example, the actual boundary of the workable area may be the dividing line between the lawn and the road, or the boundary between the lawn and other plants. To reduce this error, an environmental image of the workable area can be acquired. This environmental image contains boundary information of the workable area, which reflects the actual boundary of the workable area. Based on the boundary information of the workable area contained in the environmental image, the work boundary in the environmental map can be corrected to obtain the corrected work boundary, reducing the error between the work boundary on the environmental map and the actual boundary, and improving the accuracy of generating the work boundary.

[0046] In this embodiment, an outdoor robot is controlled to move along the boundary of the workable area to obtain the workable boundary of the workable area in an environmental map. The outdoor robot is then controlled to traverse the workable area along the work boundary, while simultaneously acquiring an environmental image of the work boundary. Based on the boundary information of the workable area in the environmental image, the work boundary in the environmental map is corrected to obtain the corrected work boundary. Compared to the work boundary generation method using magnetic strips, the method provided in this application is simple to operate, highly efficient, and does not require the use of magnetic strips, thus saving costs. Furthermore, controlling the outdoor robot to traverse the workable area along the work boundary can be achieved by controlling the outdoor robot to move along a bow-shaped trajectory within the workable area to traverse the workable area. Of course, the shape of the outdoor robot's movement trajectory within the workable area is not limited to a bow shape; it can also be other shapes, such as a square shape, which is not specified in this application.

[0047] This application also provides another method for generating job boundaries, such as... Figure 1b As shown, the method includes:

[0048] 101b. Based on the first trajectory information of the outdoor robot, generate the work boundary of the workable area on the environmental map. The first trajectory information is formed by the outdoor robot moving along the boundary of the workable area.

[0049] 102b. Acquire environmental images collected by the outdoor robot as it moves along the boundary of the workable area;

[0050] 103b. Based on the boundary information of the workable area contained in the environmental image, the work boundary in the environmental map is corrected to obtain the corrected work boundary.

[0051] in, Figure 1a and Figure 1b The difference between the methods shown lies in the different implementation methods for acquiring environmental images. Figure 1b Other details can be found in the foregoing embodiments and will not be elaborated here. That is, the implementation method for acquiring environmental images of the workable area is not limited. For example, after generating the workable area boundary on an environmental map, the outdoor robot can be controlled to traverse the workable area based on the workable area boundary, acquiring environmental images of the workable area during the traversal process, such as... Figure 1a As shown. For example, while an outdoor robot moves along the boundary of a workable area, it can simultaneously acquire environmental images of that area. Throughout this process, both the workable boundary can be generated on an environmental map, and environmental images of the workable area can be obtained, such as... Figure 1b As shown.

[0052] This application embodiment also provides another method for generating job boundaries, the method comprising:

[0053] Based on the first trajectory information of the outdoor robot, the work boundary of the workable area is generated on the environmental map. The first trajectory information is formed by the outdoor robot moving along the boundary of the workable area.

[0054] Determine whether the job boundary needs to be revised based on user instructions;

[0055] If an instruction is received that does not require modification of the task boundary, the task boundary is taken as the target boundary so that the outdoor robot can move and work according to the target boundary.

[0056] If an instruction is received that the work boundary needs to be revised, the boundary segment to be revised in the work boundary is obtained. The boundary segment to be revised can be the entire work boundary or a part of the work boundary. The environmental image collected by the outdoor robot is also obtained. Based on the boundary information of the workable area contained in the environmental image, the boundary segment to be revised is corrected to obtain the revised work boundary. The revised work boundary is used as the target boundary so that the outdoor robot can move and work according to the target boundary.

[0057] Thus, by using the above-described embodiment of determining whether the operation boundary needs to be revised based on user instructions, the target boundary can be determined according to user needs, thereby improving user satisfaction.

[0058] Furthermore, regarding the above Figure 1a and Figure 1b In this embodiment, it also includes:

[0059] Obtain the boundary segment to be corrected in the work boundary. The boundary segment to be corrected is the entire work boundary or a partial work boundary. Based on the boundary information of the workable area contained in the environmental image, the boundary segment to be corrected is corrected to obtain the corrected work boundary.

[0060] In one implementation, a boundary segment to be corrected within the job boundary is obtained according to a user instruction. This user instruction may be a trigger operation to enable the correction function. Alternatively, the user instruction may be a trigger operation for the user to enable or disable the correction function.

[0061] Specifically, Example A1: After generating the workable area boundary, the work boundary is dynamically displayed on the environmental map. In response to a user's trigger to activate the correction function, the start and end points of the boundary segment to be corrected within the work boundary are obtained on the environmental map. These start and end points define the boundary segment to be corrected. Specifically, the work boundary corresponding to the workable area is displayed on the environmental map. The user can initiate a correction trigger operation on the work boundary on the environmental map, and the boundary segment to be corrected is obtained in response to this user-initiated correction trigger operation. Then, based on the boundary information of the workable area contained in the environmental image, the boundary segment to be corrected in the environmental map is corrected to obtain the corrected work boundary. Furthermore, the user can directly select the boundary segment to be corrected on the work boundary on the environmental map. For example, if the environmental map includes the workable area boundary, the user can select a first trajectory point and a second trajectory point on the work boundary. In response to the user's selection trigger operation, the boundary segment between the first trajectory point and the second trajectory point is selected as the boundary segment to be corrected. Alternatively, after generating the work boundary of the workable area, for example, after the user controls the outdoor robot to move along the boundary of the workable area via remote control to generate the work boundary of the workable area, the user can then remotely control the outdoor robot again to set the boundary that cannot be corrected along the boundary of the danger zone. Thus, the part of the work boundary of the workable area that is outside the boundary that cannot be corrected is the boundary segment to be corrected.

[0062] Example A2: As the outdoor robot moves along the boundary of the workable area, in response to a user's trigger to enable the correction function, the system obtains the boundary point corresponding to the robot's current location as the boundary start point; in response to a user's trigger to disable the correction function, the system obtains the current boundary point corresponding to the robot's current location as the boundary end point. The boundary start point and boundary end point define the boundary segment to be corrected. Specifically, during the generation of the workable area's work boundary, the work boundary is dynamically displayed on the environmental map; and in response to a user's correction trigger operation for the work boundary, the system obtains the boundary segment to be corrected.

[0063] Optionally, the boundary segment to be corrected has a first visual attribute that differs from other boundary segments, indicating that the boundary segment needs to be corrected. The first visual attribute can be information such as the color, thickness, or linearity of the boundary segment.

[0064] Optionally, to avoid including hazardous areas in the corrected work boundary during correction, as the outdoor robot moves along the boundary of the workable area, the user activates the correction function. In response to the user's activation of the correction function, the boundary point corresponding to the robot's current location is determined as the boundary start point. As the robot continues moving along the boundary of the workable area, the user deactivates the correction function. In response to the user's deactivation of the correction function, the current boundary point corresponding to the robot's current location is determined as the boundary end point. This allows the user to confirm the boundary start point, boundary end point, and the boundary segment to be corrected defined by these points, ensuring that the boundary segment to be corrected does not include hazardous areas. Hazardous areas can be areas such as swimming pools, sandpits, sunken steps, flower beds, and vegetable gardens. For example, when the user activates the correction function button on the operating interface (e.g., the APP operating interface), the user needs to confirm whether the current location of the outdoor robot is in a hazardous area. If the user confirms that the current location of the outdoor robot is not in a hazardous area, then the current location of the outdoor robot is used as the boundary start point. If the user confirms that the current location of the outdoor robot is in a hazardous area, then the current location of the outdoor robot is not used as the boundary start point. Furthermore, the outdoor robot continues to move along the boundary of the workable area, and the user can confirm the position of the outdoor robot in real time during the movement. When it encounters a dangerous area, the correction function button can be turned off through the operation interface. At this time, the position of the outdoor robot is the boundary end point.

[0065] In one optional embodiment, semantic segmentation can be performed on the acquired environmental image to obtain an image region corresponding to the workable area. The image boundary of this image region corresponds to the boundary information of the workable area. Based on the image boundary of the image region, the work boundary in the environmental map is corrected to obtain the corrected work boundary. A neural network model can be used for semantic segmentation of the environmental image. The neural network model may include, but is not limited to, Region-Convolutional Neural Networks (R-CNN), FastRegion-Convolutional Neural Networks (Fast-R-CNN), You Only LookOnce (YOLO) model, or Single Shot MultiBox Detector (SSD), etc., without limitation.

[0066] Optionally, by combining the pose data of the outdoor robot when acquiring environmental images, the image boundary of the image region is mapped onto the environmental map to obtain a reference boundary. Specifically, based on the depth information in the environmental image, the position coordinates of the image boundary in the image region corresponding to the workable area in the machine coordinate system can be calculated; where the machine coordinate system is the coordinate system corresponding to the outdoor robot. Combining the pose data of the outdoor robot when acquiring environmental images, the position coordinates of the boundary information of the image region in the machine coordinate system are converted into position coordinates in the map coordinate system to obtain the reference boundary; where the map coordinate system is the coordinate system corresponding to the environmental map. Then, based on the distance between the corresponding boundary positions on the work boundary and the reference boundary, the boundary segment to be corrected on the work boundary is corrected to obtain the corrected work boundary.

[0067] In an optional embodiment, the boundary segment to be corrected on the work boundary is corrected based on the distance between corresponding boundary positions on the work boundary and the correction boundary to obtain the corrected work boundary, including:

[0068] Determine whether the distance between the boundary segment to be corrected on the operation boundary and the corresponding boundary position on the reference boundary is less than or equal to a first distance threshold. If the distance between the boundary segment to be corrected and the corresponding boundary position on the reference boundary is less than or equal to the first distance threshold, then correct the boundary segment to be corrected to the corresponding boundary position on the reference boundary.

[0069] If the distance between the boundary segment to be corrected and the corresponding boundary position on the reference boundary is greater than the first distance threshold, then the boundary segment to be corrected is corrected to the position corresponding to the first distance threshold.

[0070] Specifically, case B1: To avoid excessive correction errors caused by misidentification of the reference boundary, the boundary positions on the boundary segment to be corrected can be divided into two types based on the distance between the working boundary and the reference boundary: a first boundary position and a second boundary position. Corrections are then performed separately for each of these two cases to reduce the correction error. Specifically, the first boundary position is the boundary position on the boundary segment to be corrected where the distance between it and the corresponding boundary position on the reference boundary is less than or equal to a set first distance threshold; the second boundary position is the boundary position on the boundary segment to be corrected where the distance is greater than the first distance threshold. The first and second distance thresholds can be the same or different; the first distance threshold can be 20 cm, 50 cm, or 1 meter, etc. Preferably, the first distance threshold can be the width of the outdoor robot's body.

[0071] The boundary segment to be corrected may have a first boundary position, a second boundary position, or both. If the boundary segment to be corrected has a first boundary position, the first boundary position is corrected to the corresponding boundary position on the reference boundary; if the boundary segment to be corrected has a second boundary position, the second boundary position is corrected to the position corresponding to the first distance threshold.

[0072] In one implementation, the work boundary of the workable area is far from the restricted area boundary of the non-workable area. The restricted area boundary is the boundary of the non-workable area located within the work boundary; the restricted area boundary and the work boundary together define the workable area. "Work boundary far from the restricted area boundary" can be understood as the work boundary being greater than a set second distance threshold from the restricted area boundary. This second distance threshold is not limited; for example, it could be 20 cm, 50 cm, or 1 meter. In this case, the work boundary of the workable area does not contain the non-workable area, or the work boundary of the workable area contains the non-workable area, but the work boundary is far from the restricted area boundary.

[0073] In another implementation, the working boundary of the workable area is close to the restricted area boundary of the non-working area. This can be understood as the working boundary being less than or equal to a set second distance threshold from the restricted area boundary. In this case, the working boundary of the workable area contains the non-working area, and a portion of the working boundary is close to the restricted area boundary.

[0074] In this case, considering the need to correct the working boundary near the restricted area boundary, the corrected working boundary may be close to or even inside the restricted area boundary. If the outdoor robot performs its tasks inside the corrected working boundary, it may need to perform tasks in a non-working area, which poses a certain risk. Therefore, to protect the safety of the outdoor robot, it is necessary to ensure that the corrected working boundary is far away from non-working areas. This can be achieved by selecting a region to be corrected from the working area in the absence of user instructions. This region refers to the part of the working area that is far from the restricted area boundary. Correction is performed on this region, while other areas of the working area that are close to the restricted area boundary are not corrected.

[0075] Specifically, a local reference boundary located within the region to be corrected in the reference boundary can be obtained, as well as a local work boundary located within the region to be corrected in the work boundary; the local work boundary is corrected based on the distance between the corresponding boundary positions on the local reference boundary and the local work boundary.

[0076] Optionally, to avoid excessive correction errors caused by incorrect identification of the reference boundary, the boundary positions on the local working boundary can be divided into two types based on the distance between the local working boundary and the local reference boundary: third boundary positions and fourth boundary positions. Corrections can be made separately for each of these two cases to reduce the correction error. The boundary positions on the local working boundary are mainly divided into two types: third boundary positions and fourth boundary positions. A third boundary position is a boundary position on the local working boundary where the distance between the corresponding boundary position on the local reference boundary and the third boundary position is less than or equal to a set first distance threshold; a fourth boundary position is a boundary position on the local working boundary where the distance between the corresponding boundary position on the local reference boundary and the fourth boundary position is greater than the first distance threshold.

[0077] Within this local operation boundary, there may be a third boundary position, a fourth boundary position, or both. If a third boundary position exists on the local operation boundary, it is corrected to its corresponding boundary position on the local reference boundary; if a fourth boundary position exists on the local operation boundary, it is corrected to the position corresponding to the first distance threshold. Figure 2c As shown, the solid line represents the corrected work boundary.

[0078] In an optional embodiment, the process further includes generating a restricted area boundary on an environmental map, wherein the restricted area boundary is located within the working boundary of the workable area. Specifically, second trajectory information of the outdoor robot is obtained, which is formed by the outdoor robot moving along the boundary of the non-working area; based on the second trajectory information of the outdoor robot, a restricted area boundary of the non-working area is generated on the environmental map. Figure 2a and Figure 2b As shown, the work boundary is represented by a solid line, and the restricted area boundary is represented by a dashed line. Figure 2a and Figure 2b The illustration uses three non-operational areas and one operational area as an example, but it is not limited to this. The three non-operational areas are non-operational area D1, non-operational area D2, and non-operational area D3. If non-operational area D1 is located at the edge of the operational boundary, no correction of the operational boundary is required. Figure 2a This is a schematic diagram before the local work boundary within the area to be corrected is modified. Figure 2b This is a schematic diagram showing the modified local work boundary within the area to be modified.

[0079] like Figure 3 As shown, the outdoor robot includes a device body 31 and a positioning module 32. The device body 31 includes a memory 33, a processor 34, a first power supply component, an image sensor 35, and an area array depth sensor 36. The positioning module 32 includes a second power supply component, a processor, a memory, a communication component, and a positioning sensor module. Furthermore, the outdoor robot also includes components such as wheels, drive motors, and a working height adjustment device.

[0080] The power supply unit provides power to various components of the outdoor robot. It may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device containing the power supply unit. The power supply unit can be a rechargeable battery. The positioning sensor module is used for mapping and localization. The image sensor is used to acquire environmental images of the workable area, and the area array depth sensor acquires depth information from the environmental images. The image sensor and the area array depth sensor together determine the reference boundary corresponding to the work boundary. The camera in the positioning sensor module can be a panoramic camera capable of capturing 360-degree images. The image sensor can be a pinhole camera, and the area array depth sensor can be a binocular camera or other sensors capable of measuring depth information.

[0081] The positioning module 32 is a detachable module, installed in a fixed slot on the outdoor robot. Based on this slot, the positioning module can communicate with the outdoor robot's mainboard, enabling information exchange between them. For example, during the outdoor robot's task execution, the positioning module provides positioning functionality.

[0082] Based on the fixed slot on the outdoor robot, the outdoor robot can also charge the power supply of the positioning module. When the positioning module is removed from the fixed slot, this second power supply component powers the other components of the positioning module. The positioning sensor module is used to acquire the positioning data of the positioning module, the processor is used to calculate and integrate the positioning data to obtain the position information of the positioning module, the memory is used to store the position information or positioning data of the positioning module, and the communication module is used to interact with the terminal device.

[0083] There are several ways to implement the positioning sensor module, and examples are given below.

[0084] Example B1: The positioning sensor module includes a camera and an inertial measurement unit (IMU). The camera is mainly used to acquire environmental images of the environment in which the positioning module is located, while the IMU is mainly used to detect the acceleration and angular velocity of the positioning module. The data detected by the camera and IMU determine the position information of the positioning module and perform mapping and positioning through visual SLAM technology.

[0085] Example B2: The positioning sensor module includes: Ultra Wide Band (UWB), a barometer, and an IMU. UWB technology achieves wireless transmission by sending and receiving extremely narrow pulses with durations in the nanosecond or microsecond range. Due to the extremely short pulse width, it can achieve ultra-wide bandwidth across the spectrum, typically exceeding 500MHz. UWB positioning technology utilizes pre-positioned anchor nodes and bridge nodes at known locations to communicate with newly added blind nodes, determining location by measuring the transmission delay difference between different base stations and the positioning module. The main UWB positioning methods fall into two categories: composite angle positioning and time difference positioning. Composite angle positioning is based on radio direction finding, using multiple radio monitoring stations to find the direction of the same signal (the signal emitted by the positioning module), and using the intersection of the direction-finding rays for positioning. Time difference positioning is based on the time it takes for the signal to arrive at the monitoring station, using time-distance conversion for intersection positioning. Specifically, by measuring the time it takes for the signal to arrive at the monitoring station, the distance to the signal source (e.g., the positioning module) can be determined. The location of the signal source (positioning module) can be determined by using the distances from the signal source (e.g., positioning module) to multiple radio monitoring stations (drawing circles with the radio monitoring stations as the center and the distances as the radius).

[0086] A barometer is an instrument used to measure atmospheric pressure, based on the experimental principles of Evangelista Torricelli (1608–1647). It can also measure altitude; for every 12 meters of elevation gain, the mercury column drops approximately 1 millimeter. In practical applications, UWB, barometer, and IMU can be combined for fusion mapping and positioning. First, several anchor nodes at known locations are placed in the environment to initialize the coordinate system and establish a basic coordinate system. Then, a UWB signal receiving module on the positioning module acts as a blind node, and the UWB positioning method is used to calculate the blind node's position coordinates. Finally, the information from the barometer and IMU measurements is fused to calculate a more accurate position coordinate for the positioning module.

[0087] Example B3: The positioning sensor module includes Real Time Kinematic (RTK) and IMU sensors, which are combined to simultaneously map and locate.

[0088] In GPS surveying, static, rapid static, and dynamic measurements all require post-conducting calculations to achieve centimeter-level accuracy. Real-time differential positioning (RTK), however, is a measurement method that can achieve centimeter-level positioning accuracy in real-time in the field. RTK is a real-time differential GPS (RTDGPS) technology based on carrier phase observations. It consists of three parts: a base station receiver, a data link, and a rover receiver. A receiver is installed at the base station as a reference station to continuously observe satellites. Its observation data and station information are transmitted to the rover station in real-time via radio transmission equipment. The rover GPS receiver, while receiving GPS satellite signals, also receives data transmitted from the base station via wireless receiving equipment. Then, based on the principle of relative positioning, it calculates the rover station's three-dimensional coordinates and their accuracy in real-time (i.e., the coordinate differences between the base station and rover station, ΔX, ΔY, ΔH, plus the reference coordinates to obtain the WGS-84 coordinates of each point; through coordinate transformation parameters, the planar coordinates X, Y, and altitude H of each point on the rover station are obtained).

[0089] By combining RTK and IMU modules, the position coordinate information of the positioning module can be obtained.

[0090] Example B4: The positioning sensor module can also be a combination of other sensors to perform simultaneous mapping and positioning. For example, the positioning sensor module includes a camera, IMU, UWB and barometer; or it can include a camera, RTK and IMU. These combinations can obtain more accurate position coordinate information of the positioning module.

[0091] Scenario-based implementation examples

[0092] The outdoor robot is implemented as a lawnmower robot. The lawnmower robot has a positioning sensor module, an image sensor, and an area array depth sensor. It can use the image information collected by the positioning sensor module to build a map and locate the location, use the environmental image collected by the image sensor to perform semantic segmentation, and use the area array depth sensor to collect the three-dimensional depth information of the working boundary of the target area.

[0093] like Figure 4a As shown, when the lawnmower has a positioning function, the user first remotely controls the lawnmower to start from the charging dock, move to the working boundary of the workable area, select a starting position, and then remotely control the lawnmower to move around the working boundary once, returning to the starting position. The user then remotely controls the lawnmower back to the charging dock. While moving around the working boundary, the lawnmower collects environmental images for positioning and mapping, records its first trajectory information, and generates the working boundary of the workable area on the environmental map based on the first trajectory information. Then, the user remotely controls the lawnmower to start from the charging dock again, move to a non-working area, i.e., a danger zone (such as a swimming pool, pond, or large obstacle), and move along the danger zone boundary to set the restricted area boundary. Specifically, the user remotely controls the lawnmower to start from the charging dock, move to the restricted area boundary, select the starting position of the restricted area boundary, move around the restricted area boundary once, and return to the starting position. At this point, the restricted area boundary of danger zone X1 is determined. Then, the user moves along the boundaries of other danger zones in sequence until the restricted area boundaries of all danger zones are set, and then the user remotely controls the lawnmower back to the charging dock. Throughout the process, second trajectory information corresponding to the restricted area boundary can be generated, and the restricted area boundary can be generated on the environment map based on the second trajectory information.

[0094] In one scenario, when a user remotely controls a lawnmower robot to move along the work boundary, it is difficult for the robot to move along the boundary line segment without any errors. That is, there is a certain error between the work boundary generated based on the movement trajectory of the lawnmower robot and the actual lawn boundary. In this case, in one implementation, the user can trigger a boundary position correction operation when the user remotely controls the lawnmower robot to move along the work boundary, thereby obtaining the boundary segment to be corrected in the work boundary.

[0095] like Figure 4aAs shown, because the lawnmower can self-locate and record the world coordinates of its movement trajectory, and synchronize this trajectory to the mobile app in real time for real-time display, users can decide whether to trigger boundary position correction when remotely controlling the lawnmower. When the user activates the boundary position correction button in the app, the app will ask the user to confirm that there are no dangerous areas in the area requiring boundary correction, such as swimming pools, sandpits, sunken steps, flower beds, vegetable gardens, etc. After the user confirms safety, the trajectory from this coordinate point will be synchronized to the mobile app in real time and displayed in a special color, so that the user understands that this boundary trajectory will be corrected according to the lawn boundary. When the user remotely controls the lawnmower to the boundary of a dangerous area, such as a swimming pool, sandpit, sunken steps, flower bed, vegetable garden, etc., the user can deactivate the boundary position correction button in the app. At this time, the trajectory from this coordinate point will be synchronized to the mobile app in real time and displayed in a special color, so that the user understands that this boundary trajectory will strictly follow the user's remote control boundary and will not be corrected.

[0096] When the remote-controlled lawnmower begins to move along the boundary of the work area and generate the work boundary, the lawnmower will ask the user via the mobile app whether to set it to boundary positioning mode. If the user selects yes, it will start recording the coordinates of the positioning module in the world coordinate system and generate movement trajectory information, and set this movement trajectory information as the work boundary of the target area; this trajectory information will be synchronized to the mobile app in real time and displayed in real time, so that the user can observe the movement trajectory information of the lawnmower on the environmental map in real time.

[0097] When a user discovers that the remote-controlled lawnmower has moved to the wrong location, the user can select the "Modify Track" button in the app. The app will then prompt the user to remotely control the lawnmower back to the starting point of the incorrect track. The app will then display the lawnmower's current location and the incorrect track segment from the current point (the starting point of the incorrect track) to the location of the positioning module when the user selected the "Modify Track" button. This incorrect track segment will be displayed in a different color than the correct track segment. The user can then click on the incorrect track segment to delete it. After deletion, the user can click the "Restart Recording Boundaries" button, allowing the lawnmower to continue moving along the boundary of the target area, recording and displaying the data.

[0098] Setting the prohibited boundary area for a lawnmower can be done simultaneously during the remote boundary definition phase, or the user can remotely control the lawnmower to set the prohibited boundary along the boundary of the danger zone after the lawnmower has moved around the boundary of the target area and before the boundary definition is confirmed to be complete.

[0099] After all restricted area boundaries are set, the user remotely controls the lawnmower back to the charging dock. At this point, the working boundaries and restricted area boundaries will be displayed to the user on the app. The user needs to judge whether the working boundaries and restricted area boundaries displayed on the app meet their expectations. If they do, press the confirmation button, and the lawnmower will then enter automatic working mode to perform the lawnmower task in the working area. If not, press the cancel button to cancel the generated boundaries and regenerate the working boundaries and restricted area boundaries according to the previous steps.

[0100] Once the lawnmower enters automatic working mode, it will depart from its charging dock and enter the working boundary. It will begin a "bow-shaped" mapping pattern. During this time, the lawnmower will not perform mowing tasks but will instead use its image sensor camera to capture environmental images and employ image semantic segmentation technology to identify the lawn area. Then, it will use an area array depth sensor to measure the position of the lawn boundary in the machine coordinate system. Based on the lawnmower's pose and the relative position of the area array depth sensor and the lawnmower, the boundary coordinates of the lawn boundary in the machine coordinate system will be transformed to the world coordinate system. The boundary segments to be corrected in the user-controlled working boundary will be corrected based on the lawn boundary in the world coordinate system to make them closer to the real boundary. Furthermore, to prevent excessive boundary correction errors caused by errors in image lawn semantic recognition, a boundary error correction range is set. This means that the distance between the boundary segment to be corrected and the remotely generated working boundary cannot exceed a first distance threshold, such as 50 cm or (-50) cm. Other values ​​are also possible, and this application does not specify them.

[0101] After the lawnmower has explored the entire work area, it will locate and map the entire work area and correct the work boundary. After obtaining the corrected work boundary, the lawnmower will return to the charging dock and then start again from the charging dock to perform the lawnmower task.

[0102] Figure 4b A flowchart illustrating another method for generating job boundaries provided in this application is shown below. Figure 4b As shown, the method includes:

[0103] 401b. Obtain the first trajectory information and the second trajectory information of the outdoor robot. The first trajectory information is formed by the outdoor robot moving along the boundary of the workable area, and the second trajectory information is formed by the outdoor robot moving along the boundary of the non-workable area.

[0104] 402b. Based on the first trajectory information and the second trajectory information of the outdoor robot, generate the working boundary of the workable area and the restricted area boundary of the non-working area on the environmental map respectively. The restricted area boundary is located within the working boundary, and the restricted area boundary and the working boundary together define the workable area.

[0105] In an optional embodiment, the method provided in this application further includes: controlling an outdoor robot to traverse the workable area according to the work boundary and the restricted area boundary, and acquiring environmental images collected by the outdoor robot during the traversal; correcting the work boundary in the environmental map according to the boundary information of the workable area contained in the environmental images, and obtaining the corrected work boundary.

[0106] Figure 4c This is a flowchart illustrating an environmental map generation method provided as an exemplary embodiment of this application. Figure 4c As shown, the method includes:

[0107] 401c. Obtain the first trajectory information and the second trajectory information of the outdoor robot. The first trajectory information is formed by the outdoor robot moving along the boundary of the workable area, and the second trajectory information is formed by the outdoor robot moving along the boundary of the non-workable area.

[0108] 402c. Based on the first trajectory information and the second trajectory information of the outdoor robot, generate the working boundary of the workable area and the restricted area boundary of the non-workable area on the environmental map respectively. The restricted area boundary is located within the working boundary, and the restricted area boundary and the working boundary together define the workable area.

[0109] 403c. Based on the work boundary and restricted area boundary, control the outdoor robot to traverse the workable area, collect surrounding environmental images during the traversal, and add other environmental information within the workable area to the environmental map based on the environmental images.

[0110] Figure 4d This is a flowchart illustrating a job control method provided in an embodiment of this application, as shown below. Figure 4c As shown, this method is applied to outdoor robots, and the method includes:

[0111] 401d: Receives work instructions, which direct the outdoor robot to perform work tasks within the workable area;

[0112] 402d. Obtain an environmental map of the workable area. The environmental map includes the work boundary corresponding to the workable area and the restricted area boundary corresponding to the non-workable area. The restricted area boundary is located within the work boundary, and the restricted area boundary and the work boundary together define the workable area.

[0113] 403d. Based on the restricted area boundary and the work boundary, control the outdoor robot to perform work tasks within the workable area.

[0114] Among them, regarding Figures 4b-4d For details, please refer to the foregoing embodiments, which will not be elaborated here.

[0115] In this embodiment, an outdoor robot is controlled to move along the boundary of the workable area to obtain the workable boundary of the workable area in an environmental map. The outdoor robot is then controlled to traverse the workable area along the workable boundary, simultaneously acquiring environmental images of the workable boundary. Based on the boundary information of the workable area in the environmental image, the workable boundary in the environmental map is corrected to obtain the corrected work boundary. Compared to the work boundary generation method using magnetic strips, the method provided in this application is simple to operate, highly efficient, and does not require the use of magnetic strips, saving costs. Furthermore, because it is difficult for the outdoor robot to move precisely along the boundary of the workable area, an error exists between the obtained work boundary and the actual workable area boundary. In this embodiment, by correcting the work boundary in the environmental map using the boundary information of the workable area in the environmental image, the error between the work boundary and the actual workable area boundary can be reduced, thereby improving the accuracy of the obtained work boundary.

[0116] It should be noted that the execution subject of each step of the method provided in the above embodiments can be the same device, or the method can be executed by different devices. For example, the execution subject of steps 101a to 103a can be device A; or the execution subject of steps 101a and 102a can be device A, and the execution subject of step 103a can be device B; and so on.

[0117] Furthermore, in some processes described in the above embodiments and accompanying drawings, multiple operations appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or they may be executed in parallel. The operation numbers, such as 101a, 102a, etc., are merely used to distinguish different operations and do not represent any execution order. Additionally, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions such as "first" and "second" in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types.

[0118] Figure 5a This is a schematic diagram of a work boundary generation device provided as an exemplary embodiment of this application. Figure 5a As shown, the device includes: a generation module 51a, a control module 52a, an acquisition module 53a, and a correction module 54a.

[0119] The generation module 51a is used to generate the work boundary of the workable area on the environmental map based on the first trajectory information of the outdoor robot. The first trajectory information is formed by the outdoor robot moving along the boundary of the workable area.

[0120] The control module 52a is used to control the outdoor robot to traverse the workable area according to the work boundary, and the acquisition module 53a is used to acquire the environmental images collected by the outdoor robot during the traversal.

[0121] The correction module 54a is used to correct the work boundary in the environmental map based on the boundary information of the workable area contained in the environmental image, so as to obtain the corrected work boundary.

[0122] In an optional embodiment, the correction module 54a is specifically used to: dynamically display the work boundary on the environment map during the process of generating the work boundary; and in response to the correction trigger operation initiated by the user for the work boundary, correct the work boundary in the environment map according to the boundary information of the workable area contained in the environment image, so as to obtain the corrected work boundary.

[0123] Optionally, the correction module 54a is specifically used to: respond to a correction trigger operation initiated by the user for the work boundary, determine the boundary segment to be corrected in the work boundary, wherein the boundary segment to be corrected is the entire work boundary or a partial work boundary; and correct the boundary segment to be corrected according to the boundary information of the workable area contained in the environmental image to obtain the corrected work boundary.

[0124] Further optionally, the correction module 54a is specifically used to: respond to the user's trigger operation to enable the correction function during the movement of the outdoor robot along the boundary of the workable area, determine the boundary point corresponding to the current position of the outdoor robot as the boundary start point; respond to the user's trigger operation to disable the correction function, determine the current boundary point corresponding to the current position of the outdoor robot as the boundary end point; the boundary start point and the boundary end point define the boundary segment to be corrected.

[0125] In an optional embodiment, the correction module 54a is specifically used to: perform semantic segmentation on the environmental image to obtain an image region corresponding to the workable area, wherein the image boundary of the image region corresponds to the boundary information of the workable area; and correct the work boundary in the environmental map according to the image boundary of the image region to obtain the corrected work boundary.

[0126] Optionally, the correction module 54a is specifically used to: combine the pose data of the outdoor robot when collecting environmental images, map the image boundary of the image area onto the environmental map to obtain the reference boundary; and correct the operation boundary according to the distance between the corresponding boundary positions on the operation boundary and the reference boundary to obtain the corrected operation boundary.

[0127] In an optional embodiment, the correction module 54a is specifically used to: if there is a first boundary position on the work boundary, correct the first boundary position to the corresponding boundary position on the reference boundary, wherein the first boundary position is a boundary position on the work boundary where the distance between the corresponding boundary position on the reference boundary and the first boundary position is less than or equal to a set first distance threshold; if there is a second boundary position on the work boundary, correct the second boundary position to the position corresponding to the first distance threshold, wherein the second boundary position is a boundary position on the work boundary where the distance between the corresponding boundary position on the reference boundary and the first distance threshold is greater than the first distance threshold.

[0128] In another optional embodiment, the correction module 54a is specifically used to: obtain a local reference boundary located within the area to be corrected in the reference boundary, and a local working boundary located within the area to be corrected in the working boundary; and correct the local working boundary according to the distance between the corresponding boundary positions on the local reference boundary and the local working boundary; wherein, the area to be corrected refers to a part of the working area that is far from the restricted area boundary, the restricted area boundary is the boundary of the non-working area located within the working boundary, and the restricted area boundary and the working boundary together define the working area.

[0129] Optionally, the correction module 54a is specifically used to: if there is a third boundary position on the local operation boundary, correct the third boundary position to the corresponding boundary position on the local reference boundary, wherein the third boundary position is a boundary position on the local operation boundary where the distance between the corresponding boundary position on the local reference boundary and the third boundary position is less than or equal to a set first distance threshold; if there is a fourth boundary position on the local operation boundary, correct the fourth boundary position to the position corresponding to the first distance threshold, wherein the fourth boundary position is a boundary position on the local operation boundary where the distance between the corresponding boundary position on the local reference boundary and the fourth boundary position is greater than the first distance threshold.

[0130] In an optional embodiment, the acquisition module is further configured to acquire second trajectory information of the outdoor robot, which is formed by the outdoor robot moving along the boundary of the non-operation area; the generation module is further configured to generate a restricted area boundary of the non-operation area on the environmental map based on the second trajectory information of the outdoor robot, wherein the restricted area boundary is located within the operation boundary.

[0131] Another job boundary generation apparatus provided in the exemplary embodiments of this application, the implementation structure of which can be seen as follows: Figure 5a As shown, the device includes: a generation module, an acquisition module, and a correction module;

[0132] The generation module is used to generate the work boundary of the workable area on the environmental map based on the first trajectory information of the outdoor robot. The first trajectory information is formed by the outdoor robot moving along the boundary of the workable area.

[0133] The acquisition module is used to acquire environmental images collected by the outdoor robot as it moves along the boundary of the workable area.

[0134] The correction module is used to correct the work boundaries in the environmental map based on the boundary information of the workable area contained in the environmental image, so as to obtain the corrected work boundaries.

[0135] This application provides a schematic diagram of another work boundary generation device according to an exemplary embodiment. The implementation structure of this work boundary generation device can be found as follows: Figure 5a As shown, the device includes: an acquisition module and a generation module;

[0136] The acquisition module is used to acquire the first trajectory information and the second trajectory information of the outdoor robot. The first trajectory information is formed by the outdoor robot moving along the boundary of the workable area, and the second trajectory information is formed by the outdoor robot moving along the boundary of the non-workable area.

[0137] The generation module is used to generate the working boundary of the workable area and the restricted area boundary of the non-workable area on the environmental map based on the first trajectory information and the second trajectory information of the outdoor robot. The restricted area boundary is located within the working boundary, and the restricted area boundary and the working boundary together define the workable area.

[0138] In an optional embodiment, the work boundary generation device further includes: a control module and a correction module; the control module is used to control the outdoor robot to traverse the workable area according to the work boundary and the restricted area boundary, and to acquire environmental images collected by the outdoor robot during the traversal; the correction module is used to correct the work boundary in the environmental map according to the boundary information of the workable area contained in the environmental image, so as to obtain the corrected work boundary.

[0139] Figure 5b A schematic diagram of an environmental map generation apparatus provided as an exemplary embodiment of this application is shown below. Figure 5b As shown, the device includes: an acquisition module 51b, a generation module 52b, a traversal module 53b, and an addition module 54b;

[0140] The acquisition module 51b is used to acquire the first trajectory information and the second trajectory information of the outdoor robot. The first trajectory information is formed by the outdoor robot moving along the boundary of the workable area, and the second trajectory information is formed by the outdoor robot moving along the boundary of the non-workable area.

[0141] The generation module 52b is used to generate the working boundary of the workable area and the restricted area boundary of the non-workable area on the environmental map according to the first trajectory information and the second trajectory information of the outdoor robot. The restricted area boundary is located within the working boundary, and the restricted area boundary and the working boundary together define the workable area.

[0142] The traversal module 53b is used to control the outdoor robot to traverse the workable area based on the work boundary and the restricted area boundary, and to collect surrounding environmental images during the traversal process. The addition module 54b is used to add other environmental information within the workable area to the environmental map based on the environmental images.

[0143] Figure 5c A schematic diagram of the structure of a work control device provided for an exemplary embodiment of this application is shown below. Figure 5c As shown, the device includes: a receiving module 51c, an acquisition module 52c, and a control module 53c;

[0144] The receiving module 51c is used to receive work instructions, which instruct the outdoor robot to perform work tasks within the workable area.

[0145] The acquisition module 52c is used to acquire an environmental map of the workable area. The environmental map includes the work boundary corresponding to the workable area and the restricted area boundary corresponding to the non-workable area. The restricted area boundary is located within the work boundary, and the restricted area boundary and the work boundary together define the workable area.

[0146] The control module 53c is used to control the outdoor robot to perform work tasks within the workable area based on the restricted area boundary and the work area boundary.

[0147] Among them, regarding Figures 5a-5c For details, please refer to the foregoing embodiments, which will not be elaborated here.

[0148] The work boundary generation device provided in this application controls an outdoor robot to move along the boundary of a workable area, obtaining the work boundary of the workable area in an environmental map. The outdoor robot then traverses the workable area along the work boundary, simultaneously acquiring an environmental image of the work boundary. Based on the boundary information of the workable area in the environmental image, the work boundary in the environmental map is corrected to obtain the corrected work boundary. Compared to the work boundary generation method using magnetic strips, the method provided in this application is simpler to operate, more efficient, and eliminates the need for magnetic strips, saving costs. Furthermore, because it is difficult for the outdoor robot to move precisely along the boundary of the workable area, an error exists between the obtained work boundary and the actual workable area boundary. In this application embodiment, by correcting the work boundary in the environmental map using the boundary information of the workable area in the environmental image, the error between the work boundary and the actual workable area boundary can be reduced, thereby improving the accuracy of the obtained work boundary.

[0149] Figure 6 A schematic diagram of the structure of an electronic device provided as an exemplary embodiment of this application is provided. This electronic device is implemented as a work boundary generation device, such as... Figure 6As shown, the device includes a memory 64 and a processor 65.

[0150] Memory 64 is used to store computer programs and can be configured to store various other data to support operation on the job boundary generation device. Examples of this data include instructions for any application or method used to operate on the job boundary generation device.

[0151] The memory 64 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0152] The processor 65, coupled to the memory 64, is used to execute the computer program in the memory 54 for: generating a work boundary of a workable area on an environmental map based on the first trajectory information of the outdoor robot, the first trajectory information being formed by the outdoor robot moving along the boundary of the workable area; controlling the outdoor robot to traverse the workable area based on the work boundary and acquiring environmental images collected by the outdoor robot during the traversal; and correcting the work boundary in the environmental map based on the boundary information of the workable area contained in the environmental images to obtain the corrected work boundary.

[0153] In an optional embodiment, when the processor 65 corrects the work boundary in the environmental map based on the boundary information of the workable area contained in the environmental image to obtain the corrected work boundary, it specifically performs the following: dynamically displaying the work boundary on the environmental map during the process of generating the work boundary; and in response to a correction trigger operation initiated by the user for the work boundary, correcting the work boundary in the environmental map based on the boundary information of the workable area contained in the environmental image to obtain the corrected work boundary.

[0154] In an optional embodiment, when the processor 65 corrects the work boundary in the environmental map based on the boundary information of the workable area contained in the environmental image in response to a correction trigger operation initiated by the user for the work boundary, it specifically performs the following steps: in response to a correction trigger operation initiated by the user for the work boundary, it determines the boundary segment to be corrected in the work boundary, wherein the boundary segment to be corrected is the entire work boundary or a partial work boundary; and corrects the boundary segment to be corrected based on the boundary information of the workable area contained in the environmental image to obtain the corrected work boundary.

[0155] In an optional embodiment, when the processor 65 determines the boundary segment to be corrected in the work boundary in response to a correction trigger operation initiated by the user for the work boundary, it is specifically used to: during the movement of the outdoor robot along the boundary of the workable area, in response to the user's trigger operation to enable the correction function, determine the boundary point corresponding to the current position of the outdoor robot as the boundary start point; in response to the user's trigger operation to disable the correction function, determine the current boundary point corresponding to the current position of the outdoor robot as the boundary end point; the boundary start point and the boundary end point define the boundary segment to be corrected.

[0156] In an optional embodiment, when the processor 65 corrects the work boundary in the environmental map based on the boundary information of the workable area contained in the environmental image to obtain the corrected work boundary, it specifically performs semantic segmentation on the environmental image to obtain the image region corresponding to the workable area, and the image boundary of the image region corresponds to the boundary information of the workable area; and corrects the work boundary in the environmental map based on the image boundary of the image region to obtain the corrected work boundary.

[0157] In an optional embodiment, when the processor 65 corrects the operation boundary in the environment map based on the image boundary of the image region to obtain the corrected operation boundary, it specifically performs the following steps: combining the pose data of the outdoor robot when collecting environmental images, mapping the image boundary of the image region onto the environment map to obtain a reference boundary; and correcting the operation boundary based on the distance between the corresponding boundary positions on the operation boundary and the reference boundary to obtain the corrected operation boundary.

[0158] In an optional embodiment, when the processor 65 corrects the work boundary based on the distance between the corresponding boundary positions on the work boundary and the correction boundary to obtain the corrected work boundary, it specifically performs the following: if a first boundary position exists on the work boundary, the first boundary position is corrected to the corresponding boundary position on the reference boundary, wherein the first boundary position is a boundary position on the work boundary where the distance between the corresponding boundary position on the reference boundary and the corresponding boundary position is less than or equal to a set first distance threshold; if a second boundary position exists on the work boundary, the second boundary position is corrected to the position corresponding to the first distance threshold, wherein the second boundary position is a boundary position on the work boundary where the distance between the corresponding boundary position on the reference boundary and the corresponding boundary position is greater than the first distance threshold.

[0159] In an optional embodiment, when the processor 65 corrects the work boundary based on the distance between the corresponding boundary positions on the work boundary and the correction boundary to obtain the corrected work boundary, it is specifically used to: obtain a local reference boundary located within the region to be corrected in the reference boundary, and a local work boundary located within the region to be corrected in the work boundary; correct the local work boundary based on the distance between the corresponding boundary positions on the local reference boundary and the local work boundary; wherein, the region to be corrected refers to a part of the workable area that is far from the restricted area boundary, the restricted area boundary is the boundary of the non-workable area located within the work boundary, and the restricted area boundary and the work boundary together define the workable area.

[0160] In an optional embodiment, when the processor 65 corrects the local working boundary based on the distance between the corresponding boundary positions on the local reference boundary and the local working boundary, it specifically performs the following: if there is a third boundary position on the local working boundary, the third boundary position is corrected to the corresponding boundary position on the local reference boundary, wherein the third boundary position is a boundary position on the local working boundary where the distance between the corresponding boundary position on the local reference boundary and the corresponding boundary position on the local working boundary is less than or equal to a set first distance threshold; if there is a fourth boundary position on the local working boundary, the fourth boundary position is corrected to the position corresponding to the first distance threshold, wherein the fourth boundary position is a boundary position on the local working boundary where the distance between the corresponding boundary position on the local reference boundary and the corresponding boundary position on the local working boundary is greater than the first distance threshold.

[0161] In an optional embodiment, the processor 65 is further configured to: acquire second trajectory information of the outdoor robot, the second trajectory information being formed by the outdoor robot moving along the boundary of the non-operation area; and generate a restricted area boundary on an environmental map based on the second trajectory information of the outdoor robot, the restricted area boundary being located within the operation boundary.

[0162] Furthermore, such as Figure 6 As shown, the work boundary generation device also includes other components such as a communication component 66, a display 67, a power supply component 68, and an audio component 69. Figure 6 The diagram only shows some components and does not mean that the job boundary generation device only includes... Figure 6 The components shown. It should be noted that... Figure 6 The components within the dashed box are optional, not mandatory, and their specific requirements depend on the product type of the work boundary generation device.

[0163] This application also provides an electronic device, which is implemented as a job boundary generation device, and the implementation structure of the job boundary generation device is similar to... Figure 6 The implementation structure of the operation boundary generation device shown is the same or similar, and can be referred to. Figure 6 The structural implementation of the job boundary generation device shown in this embodiment. The job boundary generation device provided in this embodiment is similar to... Figure 6 The main difference between the work boundary generation devices in the illustrated embodiments lies in the different functions implemented by the computer programs stored in the memory executed by the processor. For the work boundary generation device provided in this embodiment, the computer programs stored in the memory executed by the processor can be used to: generate the work boundary of the workable area on an environmental map based on the first trajectory information of the outdoor robot, where the first trajectory information is formed by the outdoor robot moving along the boundary of the workable area; acquire environmental images collected by the outdoor robot during its movement along the boundary of the workable area; and correct the work boundary in the environmental map based on the boundary information of the workable area contained in the environmental images, thereby obtaining the corrected work boundary.

[0164] This application also provides an electronic device, which is implemented as a job boundary generation device, and the implementation structure of the job boundary generation device is similar to... Figure 6 The implementation structure of the operation boundary generation device shown is the same or similar, and can be referred to. Figure 6 The structural implementation of the job boundary generation device shown in this embodiment. The job boundary generation device provided in this embodiment is similar to... Figure 6 The main difference between the work boundary generation devices in the illustrated embodiments lies in the different functions implemented by the computer programs stored in the memory executed by the processor. For the work boundary generation device provided in this embodiment, the computer programs executed by the processor can be used to: acquire first trajectory information and second trajectory information of an outdoor robot, where the first trajectory information is formed by the outdoor robot moving along the boundary of the workable area, and the second trajectory information is formed by the outdoor robot moving along the boundary of the non-workable area; based on the first and second trajectory information of the outdoor robot, generate work boundaries for the workable area and restricted area boundaries for the non-workable area on the environmental map, where the restricted area boundaries are located within the work boundaries, and the restricted area boundaries and work boundaries together define the workable area.

[0165] In an optional embodiment, the processor is further configured to: control the outdoor robot to traverse the workable area according to the work boundary and the restricted area boundary, and acquire environmental images collected by the outdoor robot during the traversal; and correct the work boundary in the environmental map according to the boundary information of the workable area contained in the environmental images to obtain the corrected work boundary.

[0166] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to perform... Figure 1a , Figure 1b and Figure 4b The steps in the method shown.

[0167] The work boundary generation device provided in this application controls an outdoor robot to move along the boundary of a workable area, obtaining the work boundary of the workable area in an environmental map. The outdoor robot then traverses the workable area along the work boundary, simultaneously acquiring an environmental image of the work boundary. Based on the boundary information of the workable area in the environmental image, the work boundary in the environmental map is corrected to obtain the corrected work boundary. Compared to the work boundary generation method using magnetic strips, the method provided in this application is simpler to operate, more efficient, and eliminates the need for magnetic strips, saving costs. Furthermore, because it is difficult for the outdoor robot to move precisely along the boundary of the workable area, an error exists between the obtained work boundary and the actual workable area boundary. In this application embodiment, by correcting the work boundary in the environmental map using the boundary information of the workable area in the environmental image, the error between the work boundary and the actual workable area boundary can be reduced, thereby improving the accuracy of the obtained work boundary.

[0168] This application also provides an electronic device, which is implemented as an environmental map generation device. The implementation structure of the environmental map generation device is similar to... Figure 6 The implementation structure of the operation boundary generation device shown is the same or similar, and can be referred to. Figure 6 The structural implementation of the work boundary generation device is shown. The environmental map generation device provided in this embodiment is... Figure 6 The main difference between the work boundary generation devices in the illustrated embodiments lies in the different functions implemented by the computer programs stored in the memory executed by the processor. For the network entity provided in this embodiment, the computer programs stored in the memory executed by its processor can be used to: acquire first trajectory information and second trajectory information of an outdoor robot, where the first trajectory information is formed by the outdoor robot moving along the boundary of the workable area, and the second trajectory information is formed by the outdoor robot moving along the boundary of the non-workable area; based on the first and second trajectory information of the outdoor robot, generate work boundaries for the workable area and restricted area boundaries for the non-workable area on the environmental map, where the restricted area boundaries are located within the work boundaries, and the restricted area boundaries and work boundaries together define the workable area; based on the work boundaries and restricted area boundaries, control the outdoor robot to traverse the workable area, collect surrounding environmental images during the traversal, and add other environmental information within the workable area to the environmental map based on the environmental images.

[0169] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to perform... Figure 4c The steps in the method shown.

[0170] This application also provides an outdoor robot, the structure of which can be found in [reference needed]. Figure 3 The outdoor robot includes a device body 31 and a positioning module 32. The device body 31 includes a memory 33 and a processor 34. The memory 33 stores computer programs. The processor 34, coupled to the memory 33, executes the computer programs to: receive work instructions, which instruct the outdoor robot to perform work tasks within a workable area; acquire an environmental map of the workable area, which includes work boundaries corresponding to the workable area and restricted area boundaries corresponding to non-workable areas. The restricted area boundaries are located within the work boundaries, and the restricted area boundaries and work boundaries together define the workable area; and control the outdoor robot to perform work tasks within the workable area based on the restricted area boundaries and work boundaries. For a detailed implementation structure of the outdoor robot, see [link to relevant documentation]. Figure 3 The embodiments shown will not be described in detail here.

[0171] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to perform... Figure 4d The steps in the method shown.

[0172] The above Figure 6 The communication component is configured to facilitate wired or wireless communication between the device containing the communication component and other devices. The device containing the communication component can access wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G / LTE, 5G, or combinations thereof. In one exemplary embodiment, the communication component receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component also includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID), Infrared Data Association (IrDA) technology, Ultra-Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0173] The above Figure 6 The display includes a screen, which may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can sense not only the boundaries of touch or swipe actions, but also the duration and pressure associated with the touch or swipe operation.

[0174] The above Figure 6 and Figure 3The power supply component provides power to the various components of the device in which it resides. The power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device in which it resides.

[0175] The above Figure 6 The audio component can be configured to output and / or input audio signals. For example, the audio component includes a microphone (MIC) configured to receive external audio signals when the device containing the audio component is in an operating mode, such as call mode, recording mode, or voice recognition mode. The received audio signals can be further stored in memory or transmitted via a communication component. In some embodiments, the audio component also includes a speaker for outputting audio signals.

[0176] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0177] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0178] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0179] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0180] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0181] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0182] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0183] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0184] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for generating job boundaries, characterized in that, include: Based on the first trajectory information of the outdoor robot, the work boundary of the workable area is generated on the environmental map. The first trajectory information is formed by the user remotely controlling the outdoor robot to move along the boundary of the workable area. Based on the work boundary, the outdoor robot is controlled to traverse the workable area and acquire environmental images collected by the outdoor robot during the traversal. In response to a user command, the boundary segment to be corrected in the work boundary is obtained. The boundary segment to be corrected is either the entire work boundary or a partial work boundary. The boundary segment to be corrected is dynamically marked by turning the correction function on / off during the movement of the outdoor robot along the boundary of the workable area. Based on the boundary information of the workable area contained in the environmental image, the boundary segments to be corrected in the work boundary in the environmental map are corrected to obtain the corrected work boundary. The correction includes: combining the pose data of the outdoor robot when collecting the environmental image, converting the position coordinates of the boundary information in the environmental image in the machine coordinate system into the position coordinates in the map coordinate system to obtain the reference boundary; Calculate the distance between the boundary segment to be corrected and the corresponding boundary position on the reference boundary; if the distance is less than or equal to a first distance threshold, correct the boundary segment to be corrected to the corresponding boundary position on the reference boundary; if the distance is greater than the first distance threshold, correct the boundary segment to be corrected to the position corresponding to the first distance threshold.

2. The method according to claim 1, characterized in that, Also includes: The work boundary is obtained so that the boundary segment to be corrected can be corrected based on the boundary information of the workable area contained in the environmental image, and the corrected work boundary can be obtained.

3. The method according to claim 2, characterized in that, Obtaining the boundary segment to be corrected in the operation boundary includes: After the process of generating the operation boundary is completed, the operation boundary is dynamically displayed on the environment map; In response to the user's trigger operation to enable the correction function, the starting point and ending point of the boundary segment to be corrected in the operation boundary are obtained on the environment map, and the starting point and ending point of the boundary segment to be corrected define the boundary segment to be corrected.

4. The method according to claim 2, characterized in that, Obtaining the boundary segment to be corrected in the operation boundary includes: During the movement of the outdoor robot along the boundary of the workable area, in response to the user's trigger operation to activate the correction function, the boundary point corresponding to the current position of the outdoor robot is obtained as the boundary starting point. In response to the user's trigger operation to disable the correction function, the current boundary point corresponding to the current location of the outdoor robot is obtained as the boundary end point; the boundary start point and the boundary end point define the boundary segment to be corrected.

5. The method according to any one of claims 2-4, characterized in that, Based on the boundary information of the workable area contained in the environmental image, the work boundary in the environmental map is corrected to obtain the corrected work boundary, including: The environmental image is semantically segmented to obtain the image region corresponding to the workable area, and the image boundary of the image region corresponds to the boundary information of the workable area; Based on the image boundary of the image region, the boundary segment to be corrected on the task boundary is corrected to obtain the corrected task boundary.

6. The method according to claim 5, characterized in that, Based on the image boundary of the image region, the boundary segment to be corrected on the task boundary is corrected to obtain the corrected task boundary, including: By combining the pose data of the outdoor robot when collecting the environmental images, the image boundary of the image area is mapped onto the environmental map to obtain a reference boundary; Based on the distance between the boundary segment to be corrected on the work boundary and the corresponding boundary position on the reference boundary, the boundary segment to be corrected on the work boundary is corrected to obtain the corrected work boundary.

7. The method according to claim 6, characterized in that, Based on the distance between the boundary segment to be corrected on the work boundary and the corresponding boundary position on the reference boundary, the boundary segment to be corrected on the work boundary is corrected to obtain the corrected work boundary, including: Determine whether the distance between the boundary segment to be corrected on the operation boundary and the corresponding boundary position on the reference boundary is less than or equal to a first distance threshold. If the distance between the boundary segment to be corrected and the corresponding boundary position on the reference boundary is less than or equal to the first distance threshold, then correct the boundary segment to be corrected to the corresponding boundary position on the reference boundary. If the distance between the boundary segment to be corrected and the corresponding boundary position on the reference boundary is greater than a first distance threshold, then the boundary segment to be corrected is corrected to the position corresponding to the first distance threshold.

8. The method according to claim 7, characterized in that, Also includes: Acquire the second trajectory information of the outdoor robot, which is formed by the outdoor robot moving along the boundary of the non-working area; Based on the second trajectory information of the outdoor robot, a restricted area boundary for the non-operational area is generated on the environmental map, and the restricted area boundary is located within the operational boundary.

9. A method for generating job boundaries, characterized in that, include: Based on the first trajectory information of the outdoor robot, the work boundary of the workable area is generated on the environmental map. The first trajectory information is formed by the user remotely controlling the outdoor robot to move along the boundary of the workable area. Acquire environmental images as the outdoor robot moves along the boundary of the workable area; In response to a user command, the boundary segment to be corrected in the work boundary is obtained. The boundary segment to be corrected is either the entire work boundary or a partial work boundary. The boundary segment to be corrected is dynamically marked by turning the correction function on / off during the movement of the outdoor robot along the boundary of the workable area. Based on the boundary information of the workable area contained in the environmental image, the boundary segments to be corrected in the work boundary in the environmental map are corrected to obtain the corrected work boundary. The correction includes: combining the pose data of the outdoor robot when collecting the environmental image, converting the position coordinates of the boundary information in the environmental image in the machine coordinate system into the position coordinates in the map coordinate system to obtain the reference boundary; Calculate the distance between the boundary segment to be corrected and the corresponding boundary position on the reference boundary; if the distance is less than or equal to a first distance threshold, correct the boundary segment to be corrected to the corresponding boundary position on the reference boundary; if the distance is greater than the first distance threshold, correct the boundary segment to be corrected to the position corresponding to the first distance threshold.

10. A method for generating job boundaries, characterized in that, include: Acquire first trajectory information and second trajectory information of an outdoor robot. The first trajectory information is formed by the user remotely controlling the outdoor robot to move along the boundary of the workable area, and the second trajectory information is formed by the outdoor robot to move along the boundary of the non-workable area. Based on the first trajectory information and the second trajectory information of the outdoor robot, the working boundary of the workable area and the restricted area boundary of the non-workable area are generated on the environmental map respectively, and the restricted area boundary and the working boundary together define the workable area; Based on the work boundary and the restricted area boundary, the outdoor robot is controlled to traverse the workable area and acquire environmental images collected by the outdoor robot during the traversal. In response to a user command, the boundary segment to be corrected in the work boundary is obtained. The boundary segment to be corrected is either the entire work boundary or a partial work boundary. The boundary segment to be corrected is dynamically marked by turning the correction function on / off during the movement of the outdoor robot along the boundary of the workable area. Based on the boundary information of the workable area contained in the environmental image, the boundary segments to be corrected in the work boundary in the environmental map are corrected to obtain the corrected work boundary. The correction includes: combining the pose data of the outdoor robot when collecting the environmental image, converting the position coordinates of the boundary information in the environmental image in the machine coordinate system into the position coordinates in the map coordinate system to obtain the reference boundary; Calculate the distance between the boundary segment to be corrected and the corresponding boundary position on the reference boundary; if the distance is less than or equal to a first distance threshold, correct the boundary segment to be corrected to the corresponding boundary position on the reference boundary; if the distance is greater than the first distance threshold, correct the boundary segment to be corrected to the position corresponding to the first distance threshold.

11. A method for generating an environmental map, characterized in that, include: Acquire first trajectory information and second trajectory information of an outdoor robot. The first trajectory information is formed by the user remotely controlling the outdoor robot to move along the boundary of the workable area, and the second trajectory information is formed by the outdoor robot to move along the boundary of the non-workable area. Based on the first trajectory information and the second trajectory information of the outdoor robot, the working boundary of the workable area and the restricted area boundary of the non-workable area are generated on the environmental map respectively. The restricted area boundary is located within the working boundary, and the restricted area boundary and the working boundary together define the workable area. Based on the work boundary and the restricted area boundary, the outdoor robot is controlled to traverse the workable area, and during the traversal, it collects surrounding environmental images and adds other environmental information within the workable area to the environmental map based on the environmental images. In response to a user command, the boundary segment to be corrected in the work boundary is obtained. The boundary segment to be corrected is either the entire work boundary or a partial work boundary. The boundary segment to be corrected is dynamically marked by turning the correction function on / off during the movement of the outdoor robot along the boundary of the workable area. Based on the boundary information of the workable area contained in the environmental image, the boundary segments to be corrected in the work boundary in the environmental map are corrected to obtain the corrected work boundary. The correction includes: combining the pose data of the outdoor robot when collecting the environmental image, converting the position coordinates of the boundary information in the environmental image in the machine coordinate system into the position coordinates in the map coordinate system to obtain the reference boundary; Calculate the distance between the boundary segment to be corrected and the corresponding boundary position on the reference boundary; if the distance is less than or equal to a first distance threshold, correct the boundary segment to be corrected to the corresponding boundary position on the reference boundary; if the distance is greater than the first distance threshold, correct the boundary segment to be corrected to the position corresponding to the first distance threshold.

12. A job control method applied to an outdoor robot, characterized in that, The method includes: Receive a work instruction, which instructs the outdoor robot to perform a work task within the workable area; Obtain an environmental map of the workable area. The environmental map includes the work boundary corresponding to the workable area and the restricted area boundary corresponding to the non-workable area. The restricted area boundary is located within the work boundary, and the restricted area boundary and the work boundary together define the workable area. Based on the restricted area boundary and the work boundary, the outdoor robot is controlled to perform work tasks within the workable area; The operation boundary is obtained by modifying the method described in claim 10 or 11.

13. A work boundary generation device, characterized in that, include: Generation module, control module, and correction module; The generation module is used to generate the work boundary of the workable area on the environmental map based on the first trajectory information of the outdoor robot. The first trajectory information is formed by the user remotely controlling the outdoor robot to move along the boundary of the workable area. The control module is used to control the outdoor robot to traverse the workable area according to the work boundary, and to acquire environmental images collected by the outdoor robot during the traversal. The correction module is used to correct the boundary segment to be corrected in the work boundary in the environmental map according to the boundary information of the workable area contained in the environmental image, so as to obtain the corrected work boundary. The work boundary generation device is further configured to, in response to a user instruction, acquire a boundary segment to be corrected in the work boundary, wherein the boundary segment to be corrected is the entire work boundary or a partial work boundary; the boundary segment to be corrected is dynamically marked by turning the correction function on / off during the movement of the outdoor robot along the boundary of the workable area. The correction includes: combining the pose data of the outdoor robot when collecting the environmental image, converting the position coordinates of the boundary information in the environmental image in the machine coordinate system to the position coordinates in the map coordinate system to obtain the reference boundary; Calculate the distance between the boundary segment to be corrected and the corresponding boundary position on the reference boundary; if the distance is less than or equal to a first distance threshold, correct the boundary segment to be corrected to the corresponding boundary position on the reference boundary; if the distance is greater than the first distance threshold, correct the boundary segment to be corrected to the position corresponding to the first distance threshold.

14. A work boundary generation device, characterized in that, include: Generation module, acquisition module, and correction module; The generation module is used to generate the work boundary of the workable area on the environmental map based on the first trajectory information of the outdoor robot. The first trajectory information is formed by the user remotely controlling the outdoor robot to move along the boundary of the workable area. The acquisition module is used to acquire environmental images collected by the outdoor robot as it moves along the boundary of the workable area; The correction module is used to respond to user commands to obtain the boundary segment to be corrected in the work boundary, wherein the boundary segment to be corrected is the entire work boundary or a part of the work boundary, and to correct the boundary segment to be corrected in the work boundary in the environmental map according to the boundary information of the workable area contained in the environmental image, so as to obtain the corrected work boundary; the boundary segment to be corrected is dynamically marked by turning the correction function on / off during the movement of the outdoor robot along the boundary of the workable area. The correction includes: combining the pose data of the outdoor robot when collecting the environmental image, converting the position coordinates of the boundary information in the environmental image in the machine coordinate system into the position coordinates in the map coordinate system to obtain the reference boundary; Calculate the distance between the boundary segment to be corrected and the corresponding boundary position on the reference boundary; if the distance is less than or equal to a first distance threshold, correct the boundary segment to be corrected to the corresponding boundary position on the reference boundary; if the distance is greater than the first distance threshold, correct the boundary segment to be corrected to the position corresponding to the first distance threshold.

15. A work boundary generation device, characterized in that, include: Get modules and generate modules; The acquisition module is used to acquire first trajectory information and second trajectory information of the outdoor robot. The first trajectory information is formed by the user remotely controlling the outdoor robot to move along the boundary of the workable area, and the second trajectory information is formed by the outdoor robot to move along the boundary of the non-workable area. The generation module is used to generate, on an environmental map, the working boundary of the workable area and the restricted area boundary of the non-workable area based on the first trajectory information and the second trajectory information of the outdoor robot. The restricted area boundary is located within the working boundary, and the restricted area boundary and the working boundary together define the workable area. The work boundary generation device is further configured to control the outdoor robot to traverse the workable area based on the work boundary and the restricted area boundary, and acquire environmental images collected by the outdoor robot during the traversal; in response to user instructions, acquire boundary segments to be corrected in the work boundary, and correct the boundary segments to be corrected in the work boundary in the environmental map based on the boundary information of the workable area contained in the environmental images, to obtain the corrected work boundary; the boundary segments to be corrected are the entire work boundary or a partial work boundary; the boundary segments to be corrected are dynamically marked by turning the correction function on / off during the movement of the outdoor robot along the boundary of the workable area; The correction includes: combining the pose data of the outdoor robot when collecting the environmental image, converting the position coordinates of the boundary information in the environmental image in the machine coordinate system into the position coordinates in the map coordinate system to obtain the reference boundary; Calculate the distance between the boundary segment to be corrected and the corresponding boundary position on the reference boundary; if the distance is less than or equal to a first distance threshold, correct the boundary segment to be corrected to the corresponding boundary position on the reference boundary; if the distance is greater than the first distance threshold, correct the boundary segment to be corrected to the position corresponding to the first distance threshold.

16. An environmental map generation device, characterized in that, include: Get modules, generate modules, traverse modules, and add modules; The acquisition module is used to acquire first trajectory information and second trajectory information of the outdoor robot. The first trajectory information is formed by the outdoor robot moving along the boundary of the workable area, and the second trajectory information is formed by the outdoor robot moving along the boundary of the non-workable area. The generation module is used to generate, on the environmental map, the working boundary of the workable area and the restricted area boundary of the non-workable area based on the first trajectory information and the second trajectory information of the outdoor robot. The restricted area boundary is located within the working boundary, and the restricted area boundary and the working boundary together define the workable area. The traversal module is used to control the outdoor robot to traverse the workable area according to the work boundary and the restricted area boundary, and to collect surrounding environmental images during the traversal process. The adding module is used to add other environmental information within the workable area to the environmental map based on the environmental image; The environmental map generation device is further configured to, in response to a user instruction, acquire the boundary segment to be corrected in the work boundary, and correct the boundary segment to be corrected in the work boundary in the environmental map according to the boundary information of the workable area contained in the environmental image, to obtain the corrected work boundary; the boundary segment to be corrected is the entire work boundary or a partial work boundary; the boundary segment to be corrected is dynamically marked by turning the correction function on / off during the movement of the outdoor robot along the boundary of the workable area; The correction includes: combining the pose data of the outdoor robot when collecting the environmental image, converting the position coordinates of the boundary information in the environmental image in the machine coordinate system into the position coordinates in the map coordinate system to obtain the reference boundary; Calculate the distance between the boundary segment to be corrected and the corresponding boundary position on the reference boundary; if the distance is less than or equal to a first distance threshold, correct the boundary segment to be corrected to the corresponding boundary position on the reference boundary; if the distance is greater than the first distance threshold, correct the boundary segment to be corrected to the position corresponding to the first distance threshold.

17. A work control device, characterized in that, include: Receive module, acquire module, and control module; The receiving module is used to receive work instructions, which instruct the outdoor robot to perform work tasks within the workable area; The acquisition module is used to acquire an environmental map of the workable area. The environmental map includes the work boundary corresponding to the workable area and the restricted area boundary corresponding to the non-workable area. The restricted area boundary is located within the work boundary, and the restricted area boundary and the work boundary together define the workable area. The control module is used to control the outdoor robot to perform work tasks within the workable area based on the restricted area boundary and the work boundary; The operation boundary is obtained by modifying the method described in claim 10 or 11.

18. An electronic device, characterized in that, include: Memory and processor; The memory is used to store a computer program; the processor, coupled to the memory, is used to execute the computer program to implement the steps of the method according to any one of claims 1-11.

19. An outdoor robot, characterized in that, include: The device body includes: a memory and a processor; the memory is used to store a computer program; the processor is coupled to the memory and is used to execute the computer program to implement the steps of the method of claim 12.

20. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it causes the processor to perform the steps of the method according to any one of claims 1-12.

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