Virtual wall generation method, device and storage medium

Abstract

The embodiments of the present application provide a virtual wall generation method, device, and storage medium. The method includes: obtaining current positioning data generated by a positioning module and current point cloud data generated by a laser radar module; determining first coordinate information of a first installation position corresponding to the positioning module in a set virtual wall map based on the current positioning data; determining second coordinate information of a brush end of a brush mechanism based on the first coordinate information, a set first transformation matrix, and a second transformation matrix; determining virtual wall height information corresponding to the second coordinate information based on the current point cloud data and the relative position of the laser radar module and the brush end; and updating virtual wall data in the virtual wall map based on the second coordinate information and the virtual wall height information. The method achieves the goal of using the brush mechanism of the virtual wall generation device to assist manual labor in completing precise edging, thereby improving the accuracy and matching of virtual wall data and the efficiency of virtual wall generation.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of computer technology, and in particular to a method, device, and storage medium for generating a virtual wall. Background Art

[0002] At present, in the field of sanitation, sanitation workers need to concentrate and drive the sweeper at a low speed to clean the roadside garbage as close to the edge as possible. This will undoubtedly increase driving fatigue and increase labor costs, but the degree of cleaning cannot be guaranteed and the cleaning efficiency is low. Therefore, an unmanned sweeper can be set up to perform precise cleaning based on the set virtual wall. Among them, the unmanned sweeper mainly integrates multiple technologies such as sensor technology, vehicle networking technology and artificial intelligence technology to perceive the surrounding environment information to control the movement of the vehicle.

[0003] However, in the existing technology, the virtual wall data of the unmanned sweeper is automatically fitted based on the data collected by the sensor module, which requires a large amount of data fusion and calibration, and is prone to large deviations in the virtual wall data, resulting in abnormal actual edge walking paths and low efficiency. Summary of the Invention

[0004] The embodiments of the present application provide a virtual wall generation method, device, and storage medium, which solve the problems of large amount of fusion calibration data, easy data deviation, and low efficiency in automatically fitting virtual walls, realize independent deployment of virtual wall generation equipment, and use the edge brush mechanism of the virtual wall generation equipment to assist manual completion of precise edge fitting. The real-time data generated by the positioning module and the lidar module, as well as the installation position relationship of the components, are used to effectively update the virtual wall data of the virtual wall map, improve the accuracy and matching of the virtual wall data, reduce the data processing volume, and improve the efficiency of virtual wall generation.

[0005] In a first aspect, an embodiment of the present application provides a virtual wall generation method, which is applied to a virtual wall generation device, wherein the virtual wall generation device includes a positioning module, a brush mechanism, and a laser radar module;

[0006] The virtual wall generation method includes:

[0007] Acquire current positioning data generated by the positioning module and current point cloud data generated by the lidar module;

[0008] Determining first coordinate information of a first installation position corresponding to the positioning module on a set virtual wall map according to the current positioning data;

[0009] Determine the second coordinate information of the brush end of the edge brush mechanism according to the first coordinate information, a set first transformation matrix, and a second transformation matrix, wherein the first transformation matrix is ​​used to convert the position coordinates of the positioning module into the device center coordinates of the virtual wall generating device, and the second transformation matrix is ​​used to convert the device center coordinates into the position coordinates of the brush end;

[0010] Determining virtual wall height information corresponding to the second coordinate information based on the current point cloud data and the relative position of the laser radar module and the brush end;

[0011] Based on the second coordinate information and the virtual wall height information, the virtual wall data in the virtual wall map is updated.

[0012] The step of determining the second coordinate information of the brush end of the edge brush mechanism according to the first coordinate information, the set first transformation matrix, and the second transformation matrix includes:

[0013] Extracting first transformation information from the set first coordinate information, and extracting second transformation information from the set second transformation matrix;

[0014] The first transformation information and the second transformation information are calculated based on the spatial coordinate relationship to obtain the second coordinate information of the brush end of the edge brush mechanism. The spatial coordinate relationship is set based on the spatial position relationship between the positioning module position, the device center of the virtual wall generating device and the brush end position of the edge brush mechanism.

[0015] The updating of the virtual wall data in the virtual wall map based on the second coordinate information and the virtual wall height information includes:

[0016] If the virtual wall data associated with the second coordinate information in the virtual wall map is empty, generating virtual wall data based on the second coordinate information and the virtual wall height information, and adding the virtual wall data to the virtual wall map;

[0017] If the virtual wall data associated with the second coordinate information in the virtual wall map is not empty, virtual wall data is generated based on the second coordinate information and the virtual wall height information, and the virtual wall data associated with the second coordinate information is replaced.

[0018] The virtual wall generation method further includes:

[0019] Acquire first relative position information between the installation position of the positioning module and the device center of the virtual wall generating device, and second relative position information between the device center of the virtual wall generating device and the brush end of the edge brush mechanism;

[0020] Based on the first relative position information, determining a first transformation matrix for converting the installation position coordinates of the positioning module to the device center coordinates of the virtual wall generating device;

[0021] Based on the second relative position information, a second transformation matrix is ​​determined for transforming the device center coordinates of the virtual wall generating device to the position coordinates of the brush end of the edge brush mechanism.

[0022] Wherein, the virtual wall generation device further includes a wireless communication module;

[0023] The virtual wall generation method further includes:

[0024] In response to the wireless connection request, establishing a communication connection with the external terminal device;

[0025] The virtual wall data is sent to the external terminal device based on the communication connection.

[0026] Wherein, the virtual wall generating device further includes a mobile storage module;

[0027] The virtual wall generation method further includes:

[0028] storing the virtual wall data in the mobile storage module;

[0029] In response to the data export instruction, the virtual wall data is sent from the mobile storage module to a mobile storage medium.

[0030] Wherein, the virtual wall generating device further includes an alarm module;

[0031] The virtual wall generation method further includes:

[0032] When the current positioning data or the current point cloud data is empty, an alarm message is outputted through the alarm module.

[0033] In the second aspect, an embodiment of the present application also provides a virtual wall generation device, including a positioning module, a laser radar module, a storage module, a processor module, a wireless communication module, a mobile storage module, an alarm module, a side brush mechanism, a mobile mechanism and a box. The positioning module, the laser radar module, the storage module, the processor module, the wireless communication module, the mobile storage module, the alarm module, the side brush mechanism and the mobile mechanism are arranged in the box. The storage module is configured to store one or more programs. When the one or more programs are executed by the processor module, the processor module implements the virtual wall generation method described in any embodiment of the present application.

[0034] In a third aspect, an embodiment of the present application further provides a non-volatile storage medium storing computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are configured to execute the virtual wall generation method described in the embodiment of the present application.

[0035] In an embodiment of the present application, current positioning data generated by a positioning module and current point cloud data generated by a laser radar module are obtained; first coordinate information of a first installation position corresponding to the positioning module in a set virtual wall map is determined based on the current positioning data; second coordinate information of a brush end of a brush mechanism is determined based on the first coordinate information, a set first transformation matrix, and a second transformation matrix, wherein the first transformation matrix is ​​used to convert the position coordinates of the positioning module into the device center coordinates of the virtual wall generation device, and the second transformation matrix is ​​used to convert the device center coordinates into the position coordinates of the brush end; virtual wall height information corresponding to the second coordinate information is determined based on the current point cloud data and the relative position of the laser radar module and the brush end; and virtual wall data in the virtual wall map is updated based on the second coordinate information and the virtual wall height information. This achieves independent deployment of a virtual wall generation device, assists manual labor in completing precise edge alignment through the brush mechanism of the virtual wall generation device, and effectively updates the virtual wall data in the virtual wall map through real-time data generated by the positioning module and the laser radar module, as well as the installation position relationship of the components, thereby improving the accuracy and matching of the virtual wall data, reducing data processing volume, and improving the efficiency of virtual wall generation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A flowchart of a method for generating a virtual wall provided in an embodiment of the present application;

[0037] Figure 2 A flow chart of a method for determining second coordinate information of a brush end portion of a welt brush mechanism provided in an embodiment of the present application;

[0038] Figure 3 A flowchart of a method for updating virtual wall data in a virtual wall map provided in an embodiment of the present application;

[0039] Figure 4 A flowchart of a method for generating a first transformation matrix and a second transformation matrix provided in an embodiment of the present application;

[0040] Figure 5 A flowchart of another virtual wall generation method provided in an embodiment of the present application;

[0041] Figure 6 A flowchart of another virtual wall generation method provided in an embodiment of the present application;

[0042] Figure 7A schematic diagram of the structure of a virtual wall generation device provided in an embodiment of the present application;

[0043] Figure 8 A visual schematic diagram of a virtual wall map generated by a virtual wall generation device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The following is a further detailed description of the embodiments of the present application in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions of the embodiments of the present application, rather than all structures.

[0045] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0046] The virtual wall generation method provided in the embodiment of the present application can be used to provide a virtual wall data reference for edge cleaning for an unmanned road sweeper, and can also be used to provide a data reference for environmental obstacles for an unmanned road sweeper, wherein the virtual wall data includes the map coordinate position and height position of the virtual wall. The several application scenarios listed above are only exemplary and explanatory. In actual applications, the virtual wall generation method can also be used under the data requirements of other scenarios, and the embodiments of the present application do not limit this. The present application aims to provide a virtual wall generation method to solve the problems of large amount of fusion calibration data for automatic fitting of virtual walls, easy data deviation and low efficiency.

[0047] In the virtual wall generation method provided in the embodiment of the present application, the execution entity of each step can be a computer device, which refers to any electronic device with data calculation, processing and storage capabilities, such as mobile phones, PCs (Personal Computers), tablet computers and other terminal devices, or servers and other devices, or independently deployed virtual wall generation devices, etc., which are not limited in the embodiment of the present application.

[0048] Figure 1This is a flowchart of a virtual wall generation method provided in an embodiment of the present application. The virtual wall generation method can be implemented with a virtual wall generation device as the execution body. The virtual wall generation device includes a positioning module, a brush mechanism and a laser radar module. Figure 1 As shown, the virtual wall generation method specifically includes the following steps:

[0049] Step S101: Acquire the current positioning data generated by the positioning module and the current point cloud data generated by the lidar module.

[0050] Among them, the positioning module can be a GPS positioning module, a Beidou positioning module, etc. The current positioning data generated in real time may include latitude and longitude information, error information, time information, etc. The lidar module may include components such as a transmitting light source, a transmitting lens, a receiving lens, a receiving end, and a rotating platform, which can collect the current point cloud data of the surrounding environment in real time. In addition, the acquisition cycle frequency of positioning data and point cloud data can be determined based on the accuracy requirements of virtual wall data in different application scenarios, or can be determined with reference to the computing processing capabilities of the processor module of the virtual wall generation device. The virtual wall generation device is also provided with a side brush mechanism, which can provide a position reference for manually driving the virtual wall generation device to move and scan the image side by side through a brush set at the side position, which is conducive to improving the accuracy of the virtual wall data and ensuring the normal travel path of the virtual wall generation device.

[0051] Step S102: Determine first coordinate information of a first installation position corresponding to the positioning module on a set virtual wall map according to the current positioning data.

[0052] Among them, since the current positioning data includes information such as longitude and latitude, and the virtual wall map can be a high-precision location map, by converting the current positioning data, the first coordinate information corresponding to the map coordinate system of the virtual wall map can be obtained. The first coordinate information indicates the first installation position of the positioning module on the virtual wall generating device in the specific position of the virtual wall map. Therefore, based on this, the specific position of the brush end of the edge brush mechanism in the virtual wall map can be further determined.

[0053] Step S103: Determine the second coordinate information of the brush end of the edge brush mechanism based on the first coordinate information, the set first transformation matrix and the second transformation matrix. The first transformation matrix is ​​used to convert the position coordinates of the positioning module into the device center coordinates of the virtual wall generating device, and the second transformation matrix is ​​used to convert the device center coordinates into the position coordinates of the brush end.

[0054] Among them, the second coordinate information of the brush end of the edge brush mechanism can be obtained by matrix operation based on the first coordinate information, the first transformation matrix and the second transformation matrix, or by extracting the transformation information of the first transformation matrix and the second transformation matrix and performing basic mathematical operations based on the spatial coordinate relationship. This application does not impose any restrictions here.

[0055] Specifically, Figure 2 A flowchart of a method for determining the second coordinate information of the brush end of the edge brush mechanism provided in an embodiment of the present application is shown as follows: Figure 2 As shown, the specific process of determining the second coordinate information of the brush end of the edge brush mechanism includes the following steps:

[0056] Step S1031: extract first transformation information from the set first coordinate information, and extract second transformation information from the set second transformation matrix.

[0057] The first coordinate information and the second transformation matrix may be a four-dimensional transformation matrix, and the four-dimensional transformation matrix may be composed of a three-dimensional rotation transformation part and a one-dimensional translation part, for example:

[0058] The i-th first coordinate information recorded can be:

[0059]

[0060] The second transformation matrix can be:

[0061]

[0062] in, is the rotation transformation information of the second transformation matrix, is the translation information of the second transformation matrix. Optionally, the first transformation information and the second transformation information may be corresponding matrix element information. Specifically, the corresponding information may be extracted in combination with the spatial coordinate relationship.

[0063] Step S1032: Calculate the first transformation information and the second transformation information based on the spatial coordinate relationship to obtain the second coordinate information of the brush end of the edge brush mechanism. The spatial coordinate relationship is set based on the spatial position relationship between the positioning module position, the device center of the virtual wall generating device, and the position of the brush end of the edge brush mechanism.

[0064] Among them, since the positioning module and the edge brush mechanism are fixed in the installation position of the virtual wall generation device, the corresponding spatial coordinate relationship can be obtained based on the spatial position relationship between the positioning module, the edge brush mechanism and the device center of the virtual wall generation device. Specifically, combining the first transformation information and the second transformation information, the calculation formula of the second coordinate information based on the spatial coordinate relationship can be obtained:

[0065]

[0066]

[0067] θ=arctan(b 21 / b 11 ),

[0068] Wherein, x2 and y2 represent the x-axis translation coordinate and y-axis translation coordinate of the second transformation matrix, and θ is the heading angle of the virtual wall generating device.

[0069] Therefore, the second coordinate information of the brush end of the edge brush mechanism is calculated by the set formula, which can effectively reduce the amount of calculation of the processor module and improve the efficiency of coordinate calculation compared to matrix calculation.

[0070] Step S104: Determine the virtual wall height information corresponding to the second coordinate information based on the current point cloud data and the relative position of the laser radar module and the brush end.

[0071] Specifically, the polar coordinate position on the scanning plane of the laser radar module can be determined based on the projection position of the brush end on the scanning plane, including angle information and radius information, and the target point cloud data in the vertical direction corresponding to the polar coordinate position can be obtained from the current point cloud data. The obstacle height information is statistically obtained, and then the virtual wall height information corresponding to the second coordinate information is determined.

[0072] Step S105: updating the virtual wall data in the virtual wall map based on the second coordinate information and the virtual wall height information.

[0073] Among them, the second coordinate information can determine the route distribution of the virtual wall, and the virtual wall height information can determine the height distribution on the route distribution, thereby constructing complete virtual wall data, providing accurate virtual wall data reference, and synchronously updating the virtual wall data in the virtual wall map. Specifically, Figure 8 A schematic diagram of a virtual wall map generated by a virtual wall generation device provided in an embodiment of the present application is shown as follows: Figure 8 As shown, in the visualized virtual wall map, the wall structure that the virtual wall generating device sweeps along can be marked by a spline curve, which can be used as a reference for the edge path of the target device receiving the virtual wall data.

[0074] Specifically, Figure 3 A flowchart of a method for updating virtual wall data in a virtual wall map provided in an embodiment of the present application is shown as follows: Figure 3 As shown, the specific process of updating the virtual wall data in the virtual wall map includes the following steps:

[0075] Step S104: Determine the virtual wall height information corresponding to the second coordinate information based on the current point cloud data and the relative position of the laser radar module and the brush end.

[0076] Step S1051: If the virtual wall data associated with the second coordinate information in the virtual wall map is empty, generate virtual wall data based on the second coordinate information and the virtual wall height information, and add the virtual wall data to the virtual wall map;

[0077] Step S1052: If the virtual wall data associated with the second coordinate information in the virtual wall map is not empty, generate virtual wall data based on the second coordinate information and the virtual wall height information, and replace the virtual wall data associated with the second coordinate information.

[0078] It is worth noting that users can use virtual wall generation equipment to identify unrecorded wall structures in the area and add the corresponding virtual wall data to the virtual wall map. They can also use virtual wall generation equipment to re-identify recorded wall structures in the area and replace the original data of the virtual wall map with the updated virtual wall data. This can adapt to changes in the regional environment, ensure the timeliness of the virtual wall map, and provide a reliable data reference for subsequent operations related to virtual wall data.

[0079] The above method obtains current positioning data generated by the positioning module and current point cloud data generated by the laser radar module; determines first coordinate information of a first installation position corresponding to the positioning module in a set virtual wall map based on the current positioning data; determines second coordinate information of the brush end of the edge brush mechanism based on the first coordinate information, a set first transformation matrix, and a second transformation matrix, wherein the first transformation matrix is ​​used to convert the position coordinates of the positioning module into the device center coordinates of the virtual wall generation device, and the second transformation matrix is ​​used to convert the device center coordinates into the position coordinates of the brush end; determines virtual wall height information corresponding to the second coordinate information based on the current point cloud data and the relative position of the laser radar module and the brush end; and updates virtual wall data in the virtual wall map based on the second coordinate information and the virtual wall height information. This method achieves independent deployment of the virtual wall generation device, uses the edge brush mechanism of the virtual wall generation device to assist manual labor in completing precise edge alignment, and effectively updates virtual wall data in the virtual wall map based on real-time data generated by the positioning module and the laser radar module, as well as the installation position relationship of the components, thereby improving the accuracy and matching of the virtual wall data, reducing data processing volume, and improving virtual wall generation efficiency.

[0080] In one embodiment, the first transformation matrix and the second transformation matrix mentioned in the above embodiment can be input into the virtual wall generation device after being calculated by the user through an external terminal device, or can be obtained by the virtual wall generation device through calculation based on the position information input by the user, which is not limited in this application. Figure 4 A flowchart of a method for generating a first transformation matrix and a second transformation matrix provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the specific process of generating the first transformation matrix and the second transformation matrix includes the following steps:

[0081] Step S1001: Acquire first relative position information between the installation position of the positioning module and the device center of the virtual wall generating device, and second relative position information between the device center of the virtual wall generating device and the brush end of the edge brush mechanism;

[0082] Step S1002: determining a first transformation matrix for converting the installation position coordinates of the positioning module to the device center coordinates of the virtual wall generating device based on the first relative position information;

[0083] Step S1003: Based on the second relative position information, determine a second transformation matrix for transforming the device center coordinates of the virtual wall generating device to the position coordinates of the brush end of the edge brush mechanism.

[0084] The first relative position information and the second relative position information can be used to determine the position coordinates of the positioning module and the brush end in different coordinate systems, thereby determining the corresponding transformation matrix. Therefore, when the positioning module and the edge brush mechanism undergo position adjustments or structural changes, the first transformation matrix and the second transformation matrix can be updated in a timely manner by inputting the corresponding relative position information, thereby ensuring the accuracy of the generated virtual wall data.

[0085] Optionally, after completing the update of the virtual wall data in the virtual wall map, the user can export the virtual wall data in different ways. For example, the virtual wall generation device includes a wireless communication module, which can be a Bluetooth module, a WIFI module, etc. The virtual wall generation device can connect to an external terminal device through the wireless communication module and perform data transmission. Specifically, Figure 5 A flowchart of another virtual wall generation method provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, in Figure 1 Based on the embodiment, a process of transmitting data between the virtual wall generating device and the external terminal device through the wireless communication module is added, including the following steps:

[0086] Step S201: Acquire current positioning data generated by the positioning module and current point cloud data generated by the lidar module;

[0087] Step S202: Determine first coordinate information of a first installation position corresponding to the positioning module on a set virtual wall map based on the current positioning data;

[0088] Step S203: Determine the second coordinate information of the brush end of the edge brush mechanism based on the first coordinate information, the set first transformation matrix, and the second transformation matrix, where the first transformation matrix is ​​used to convert the position coordinates of the positioning module into the device center coordinates of the virtual wall generation device, and the second transformation matrix is ​​used to convert the device center coordinates into the position coordinates of the brush end;

[0089] Step S204: Determine virtual wall height information corresponding to the second coordinate information based on the current point cloud data and the relative position of the laser radar module and the brush end;

[0090] Step S205: updating the virtual wall data in the virtual wall map based on the second coordinate information and the virtual wall height information.

[0091] Step S206: Establishing a communication connection with the external terminal device in response to the wireless connection request;

[0092] Step S207: Send the virtual wall data to the external terminal device based on the communication connection.

[0093] Therefore, after the virtual wall generation device completes the update of the virtual wall data, the virtual wall data can be output to the external terminal device in a timely manner. The user can distribute the virtual wall data to the corresponding execution device through the external terminal device according to actual needs, or the virtual wall generation device can directly send the virtual wall data to the execution device to facilitate device operation.

[0094] also, Figure 6 A flowchart of another virtual wall generation method provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, in Figure 1 Based on the embodiment, a process in which a virtual wall generating device outputs virtual wall data through a mobile storage module is added, including the following steps:

[0095] Step S301: Acquire current positioning data generated by the positioning module and current point cloud data generated by the lidar module;

[0096] Step S302: Determine first coordinate information of a first installation position corresponding to the positioning module on a set virtual wall map based on the current positioning data;

[0097] Step S303: Determine the second coordinate information of the brush end of the edge brush mechanism based on the first coordinate information, the set first transformation matrix, and the second transformation matrix. The first transformation matrix is ​​used to convert the position coordinates of the positioning module into the device center coordinates of the virtual wall generation device, and the second transformation matrix is ​​used to convert the device center coordinates into the position coordinates of the brush end.

[0098] Step S304: Determine virtual wall height information corresponding to the second coordinate information based on the current point cloud data and the relative position of the laser radar module and the brush end;

[0099] Step S305: Update the virtual wall data in the virtual wall map based on the second coordinate information and the virtual wall height information.

[0100] Step S306: storing the virtual wall data in a mobile storage module;

[0101] Step S307: In response to the data export instruction, the virtual wall data is sent from the mobile storage module to the mobile storage medium.

[0102] Therefore, after the virtual wall generation device completes the update of the virtual wall data, the virtual wall generation device will store the virtual wall data in the mobile storage module. The user can connect the mobile storage medium to the virtual wall generation device and export the updated virtual wall data to facilitate data backup and avoid data loss due to device abnormalities.

[0103] In one embodiment, since the positioning module and the lidar module may have data collection anomalies, resulting in the virtual wall data being empty or having large errors, in order to ensure the validity of the virtual wall data, the virtual wall generation device also includes an alarm module. When the current positioning data or the current point cloud data is empty, an alarm message is output through the alarm module. The alarm module can be a buzzer, an indicator light or a voice module, etc., which promptly reminds the user of possible abnormalities in the device module through sound or light signals, so that the user can stop the device in time to check for abnormalities and reduce the risk of invalid virtual wall data.

[0104] Figure 7 This is a structural diagram of a virtual wall generation device provided in an embodiment of the present application. The virtual wall generation device is configured to execute the virtual wall generation method provided in the above embodiment and has the corresponding functional modules and beneficial effects of the execution method. Figure 7 As shown, the virtual wall generation device specifically includes: a positioning module 101, a laser radar module 102, a storage module ( Figure 7 Not shown), processor module 103, wireless communication module ( Figure 7 Not shown), mobile storage module ( Figure 7 Not shown), alarm module ( Figure 7 Not shown), the edge brush mechanism 104, the moving mechanism 105 and the box 106, the positioning module 101, the laser radar module 102, the storage module ( Figure 7 Not shown), processor module 103, wireless communication module ( Figure 7 Not shown), mobile storage module ( Figure 7 Not shown), alarm module ( Figure 7 Not shown), the edge brush mechanism 104, the moving mechanism 105 is set in the box 106, the storage module ( Figure 7 (not shown), configured to store one or more programs, when the one or more programs are executed by the processor module 103, the processor module 103 implements the virtual wall generation method of any embodiment of the present application.

[0105] Among them, such as Figure 7 As shown, the moving mechanism 105 includes a push rod 1051 and a moving wheel assembly 1052. The moving wheel assembly 1052 is configured to move in the direction of the pushing force when the push rod 1051 receives the pushing force. This allows the user to flexibly push the virtual wall generation device. By using the brush end of the edge brush mechanism as a reference, the virtual wall generation device can be pushed along the intended edge path. This can reduce errors in the path, lower the risk of abnormal fluctuations in the virtual wall data, and ensure the validity of the virtual wall data. Furthermore, the virtual wall generation device in this embodiment of the present application is easy to store, compact, and highly portable.

[0106] An embodiment of the present application also provides a non-volatile storage medium containing computer-executable instructions, which, when executed by a computer processor, are configured to execute a virtual wall generation method described in the above embodiment, which includes: obtaining current positioning data generated by the positioning module and current point cloud data generated by the laser radar module; determining first coordinate information of a first installation position corresponding to the positioning module in a set virtual wall map based on the current positioning data; determining second coordinate information of a brush end of the edge brush mechanism based on the first coordinate information, a set first transformation matrix, and a second transformation matrix, the first transformation matrix being used to convert the position coordinates of the positioning module into the device center coordinates of the virtual wall generation device, and the second transformation matrix being used to convert the device center coordinates into the position coordinates of the brush end; determining virtual wall height information corresponding to the second coordinate information based on the current point cloud data and the relative position of the laser radar module and the brush end; and updating the virtual wall data in the virtual wall map based on the second coordinate information and the virtual wall height information.

[0107] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROMs, floppy disks, or tape drives; computer device memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disks or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer device in which the program is executed, or may be located in a different second computer device that is connected to the first computer device via a network (such as the Internet). The second computer device can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (e.g., in different computer devices connected via a network). The storage medium may store program instructions (e.g., embodied as a computer program) that can be executed by one or more processors.

[0108] Of course, the computer executable instructions of the storage medium containing computer executable instructions provided in the embodiment of the present application are not limited to the virtual wall generation method described above, and can also execute related operations in the virtual wall generation method provided in any embodiment of the present application.

[0109] It is worth noting that in the embodiment of the above-mentioned virtual wall generation device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not configured to limit the scope of protection of the embodiments of this application.

[0110] It should be noted that the numbering of each step in this solution is only used to describe the overall design framework of this solution, and does not represent the necessary order relationship between the steps. On the basis that the overall implementation process conforms to the overall design framework of this solution, it belongs to the protection scope of this solution, and the order of precedence in the form of text when describing is not an exclusive limitation on the specific implementation process of this solution. Those skilled in the art should understand that the embodiments of the present application can be provided as methods, devices, or computer program products. In a typical configuration, the computing device includes one or more processors (CPU), input / output interface, network interface and memory. The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0111] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0112] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A virtual wall generation method, applied to a virtual wall generation device, characterized in that: The virtual wall generation device includes a positioning module, an edge brush mechanism and a laser radar module; The virtual wall generation method includes: Acquire current positioning data generated by the positioning module and current point cloud data generated by the lidar module; Determining first coordinate information of a first installation position corresponding to the positioning module on a set virtual wall map according to the current positioning data; Determine the second coordinate information of the brush end of the edge brush mechanism according to the first coordinate information, a set first transformation matrix, and a second transformation matrix, wherein the first transformation matrix is ​​used to convert the position coordinates of the positioning module into the device center coordinates of the virtual wall generating device, and the second transformation matrix is ​​used to convert the device center coordinates into the position coordinates of the brush end; Determining virtual wall height information corresponding to the second coordinate information based on the current point cloud data and the relative position of the laser radar module and the brush end; Based on the second coordinate information and the virtual wall height information, the virtual wall data in the virtual wall map is updated.

2. The virtual wall generation method according to claim 1, characterized in that: The determining of the second coordinate information of the brush end of the edge brush mechanism according to the first coordinate information, the set first transformation matrix, and the second transformation matrix includes: Extracting first transformation information from the set first coordinate information, and extracting second transformation information from the set second transformation matrix; The first transformation information and the second transformation information are calculated based on the spatial coordinate relationship to obtain the second coordinate information of the brush end of the edge brush mechanism. The spatial coordinate relationship is set based on the spatial position relationship between the positioning module position, the device center of the virtual wall generating device and the brush end position of the edge brush mechanism.

3. The virtual wall generation method according to claim 1, characterized in that: The updating of the virtual wall data in the virtual wall map based on the second coordinate information and the virtual wall height information includes: If the virtual wall data associated with the second coordinate information in the virtual wall map is empty, generating virtual wall data based on the second coordinate information and the virtual wall height information, and adding the virtual wall data to the virtual wall map; If the virtual wall data associated with the second coordinate information in the virtual wall map is not empty, virtual wall data is generated based on the second coordinate information and the virtual wall height information, and the virtual wall data associated with the second coordinate information is replaced.

4. The virtual wall generation method according to claim 1, characterized in that: The virtual wall generation method further includes: Acquire first relative position information between the installation position of the positioning module and the device center of the virtual wall generating device, and second relative position information between the device center of the virtual wall generating device and the brush end of the edge brush mechanism; Based on the first relative position information, determining a first transformation matrix for converting the installation position coordinates of the positioning module to the device center coordinates of the virtual wall generating device; Based on the second relative position information, a second transformation matrix is ​​determined for transforming the device center coordinates of the virtual wall generating device to the position coordinates of the brush end of the edge brush mechanism.

5. The virtual wall generation method according to claim 1, characterized in that: The virtual wall generation device further includes a wireless communication module; The virtual wall generation method further includes: In response to the wireless connection request, establishing a communication connection with the external terminal device; The virtual wall data is sent to the external terminal device based on the communication connection.

6. The virtual wall generation method according to claim 1, characterized in that: The virtual wall generation device further includes a mobile storage module; The virtual wall generation method further includes: storing the virtual wall data in the mobile storage module; In response to the data export instruction, the virtual wall data is sent from the mobile storage module to a mobile storage medium.

7. The virtual wall generation method according to claim 1, characterized in that: The virtual wall generating device further includes an alarm module; The virtual wall generation method further includes: When the current positioning data or the current point cloud data is empty, an alarm message is outputted through the alarm module.

8. A virtual wall generation device, characterized in that: The method comprises a positioning module, a laser radar module, a storage module, a processor module, a wireless communication module, a mobile storage module, an alarm module, a brush mechanism, a mobile mechanism and a box. The positioning module, the laser radar module, the storage module, the processor module, the wireless communication module, the mobile storage module, the alarm module, the brush mechanism and the mobile mechanism are arranged in the box. The storage module is configured to store one or more programs. When the one or more programs are executed by the processor module, the processor module implements the virtual wall generation method according to any one of claims 1 to 7.

9. The virtual wall generating device according to claim 8, characterized in that: The moving mechanism includes a push rod and a moving wheel set; the moving wheel set is used to move in the direction of the driving force when the push rod receives the driving force.

10. A non-volatile storage medium storing computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are configured to execute the virtual wall generation method according to any one of claims 1 to 7.

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