Method and device for determining working boundary of operation equipment and storage medium

Abstract

The invention relates to a method and a device for determining a working boundary of operation equipment, and a storage medium. The method comprises the following steps: acquiring an initial virtual boundary of a working area; obtaining an adjustment vector; adjusting the initial virtual boundary part meeting a preset condition at least according to the adjustment vector; and determining the working boundary of the operation equipment according to the adjusted initial virtual boundary. By adopting the method, the working boundary of the boundary-line-free operation equipment with relatively high reliability can be established, so that the problem that the operation equipment is easy to collide in the edge process can be effectively improved.

Description

Method, device and storage medium for determining working boundaries of operating equipment Technical Field

[0001] The present application relates to the technical field of data processing of self-mobile equipment, and in particular to a method, device, and storage medium for determining the working boundary of an operating equipment. Background Art

[0002] With the development of science and technology, boundary-less automatic lawn mowers have gradually become mainstream, but how to determine a highly reliable working boundary is a common problem faced by manufacturers.

[0003] Currently, there is a method of using a portable device to move along the perimeter of the lawn to establish the working boundary of the automatic lawn mower. Although this method can easily obtain the virtual boundary of the lawn, when the automatic lawn mower works along the virtual boundary, there is still a risk of collision with surrounding objects. It can be seen that such a virtual boundary is not very reliable.

[0004] Summary of the Invention

[0005] The present application provides a method, device, and storage medium for determining the working boundary of an operating device, so as to determine the working boundary of an automatic lawn mower without a boundary line with high reliability. The technical solution of the present application includes the following.

[0006] According to a first aspect of an embodiment of the present application, a method for determining a working boundary of a working device is provided, wherein the working device is adapted to perform at least one working task within a working area, wherein the method comprises:

[0007] Obtaining an initial virtual boundary of the work area; wherein the initial virtual boundary is generated by position data collected by a position information collection device moving along the work boundary of the work area, and a first vertical distance is defined between a positioning device on the position information collection device and a portion of the position information collection device closest to the edge during the movement of the position information collection device along the edge;

[0008] Obtaining an adjustment vector; wherein the adjustment vector points to the working area, a second vertical distance exists between the positioning device on the working equipment and the edge-most portion of the working equipment during the edge-adjusting process, and an adjustment amplitude of the adjustment vector is greater than or equal to an absolute value of a difference between the second vertical distance and the first vertical distance;

[0009] Adjusting an initial virtual boundary portion that meets a preset condition at least according to the adjustment vector;

[0010] The working boundary of the operating equipment is determined according to the adjusted initial virtual boundary.

[0011] In one embodiment, adjusting the initial virtual boundary portion that meets the preset conditions at least according to the adjustment vector includes: obtaining a marked initial virtual boundary in the initial virtual boundary; wherein the marked initial virtual boundary is at least used to indicate an initial virtual boundary with a collision risk; and adjusting the marked initial virtual boundary at least according to the adjustment vector.

[0012] In one embodiment, the adjustment vector is pre-stored in a memory, and obtaining the adjustment vector of the initial virtual boundary includes: retrieving the adjustment vector of the initial virtual boundary from the memory.

[0013] In one embodiment, the memory is set in one or more of the following devices: the location information collection device, the operating device, the terminal device, and the cloud server.

[0014] In one embodiment, the first vertical distance is determined based on at least a first installation position of the positioning device on the position information acquisition device and a width of the position information acquisition device; the second vertical distance is determined based on at least a second installation position of the positioning device on the operating equipment and a width of the operating equipment.

[0015] In one embodiment, the first installation position is located on the longitudinal central symmetry plane of the position information acquisition device, the second installation position is located on the longitudinal central symmetry plane of the operating equipment, and the adjustment vector is determined based on at least the width difference between the position information acquisition device and the operating equipment.

[0016] In one embodiment, obtaining the adjustment vector of the initial virtual boundary includes: obtaining the first width of the position information acquisition device and the second width of the operating equipment; determining the first vertical distance based on the first installation position and the first width; determining the second vertical distance based on the second installation position and the second width; and determining the adjustment amplitude of the adjustment vector based on the first vertical distance and the second vertical distance.

[0017] In one embodiment, the adjusting of the initial virtual boundary portion that meets the preset conditions at least according to the adjustment vector includes: obtaining the initial virtual boundary portion in which the satellite positioning signal output by the positioning device on the position information acquisition device during the edge process does not meet the quality conditions; obtaining the shadow area compensation vector of the initial virtual boundary portion; wherein the shadow area compensation vector points to the operating area; and determining the working boundary of the operating equipment corresponding to the initial virtual boundary portion according to the initial virtual boundary, the adjustment vector, and the shadow area compensation vector.

[0018] In one embodiment, the compensation amplitude of the shadow area compensation vector is determined based on at least a positioning deviation of a positioning device on the working equipment in the shadow area.

[0019] In one embodiment, the adjustment range is determined based on at least the following relationship: d2-d1≤|D in |≤L-d3+(d2-d1);

[0020] Among them, |D in | represents the adjustment amplitude, d1 represents the first vertical distance, d2 represents the second vertical distance, d3 represents the third vertical distance between the outermost edge of the working tool of the working equipment and the edgemost part of the working equipment during the edge-adjusting process, and L represents the grass width threshold at the working boundary.

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

[0022] Acquiring an initial virtual boundary of the working area; wherein the initial virtual boundary is generated by collected position data of the working boundary of the working area, and during the collection process, a first vertical distance exists between the positioning device and the edgemost portion of the mobile device;

[0023] Obtaining an adjustment vector; wherein the adjustment vector points to the working area, a second vertical distance exists between the positioning device on the working equipment and the edge-most portion of the working equipment during the edge-adjusting process, and an adjustment amplitude of the adjustment vector is greater than or equal to an absolute value of a difference between the second vertical distance and the first vertical distance;

[0024] Adjusting an initial virtual boundary portion that meets a preset condition at least according to the adjustment vector;

[0025] The working boundary of the operating equipment is determined according to the adjusted initial virtual boundary.

[0026] According to a third aspect of the present application, there is also provided a device for determining a working boundary of an operating device, the device comprising:

[0027] a first acquisition module configured to acquire an initial virtual boundary of the work area; wherein the initial virtual boundary is generated by position data collected by a position information acquisition device moving along the work boundary of the work area, and a first vertical distance is defined between a positioning device on the position information acquisition device and a portion of the position information acquisition device closest to the edge during the movement of the position information acquisition device;

[0028] A second acquisition module is configured to acquire an adjustment vector; wherein the adjustment vector points to the working area, a second vertical distance exists between the positioning device on the working equipment and the edge-most portion of the working equipment during the edge-adjusting process, and an adjustment amplitude of the adjustment vector is greater than or equal to an absolute value of a difference between the second vertical distance and the first vertical distance;

[0029] The boundary determination module is configured to adjust the initial virtual boundary portion that meets the preset condition at least according to the adjustment vector, so as to determine the working boundary of the operating equipment according to the adjusted initial virtual boundary.

[0030] According to a fourth aspect of the implementation of the present application, a computer device is further provided, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any one of the embodiments of the present application is implemented.

[0031] According to the fifth aspect of the implementation of the present application, a computer-readable storage medium is also provided. When the instructions in the storage medium are executed by the processor of an electronic device, the electronic device can execute the method described in any embodiment of the present application.

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

[0033] According to a seventh aspect of the present application, there is also provided an automatic working system, comprising: a mapping device and an operating device,

[0034] The mapping device is configured to record a movement trajectory when moving along the working boundary of the working area to generate a working boundary of the working equipment; wherein the mapping device includes wheels;

[0035] The working device is configured to process the surface of the working area along the working boundary; wherein, during movement along the working boundary, the outer side of the outermost wheel of the working device is substantially flush with the outer side of the outermost wheel of the mapping device when recording the movement trajectory.

[0036] In the technical solution provided in the embodiment of the present application, by adjusting the initial virtual boundary by adjusting the vector, the problem of easy collision of the operating equipment during the edge process can be effectively improved, thereby facilitating the establishment of a working boundary of a boundary-free operating equipment with higher reliability.

[0037] In the technical solution provided in the embodiment of the present application, during the movement along the working boundary, by controlling the outer side of the wheel closest to the edge of the working equipment to be basically flush with the outer side of the wheel closest to the edge of the mapping device when recording the movement trajectory, the problem of the working equipment being prone to collision during the movement along the edge can be effectively improved.

[0038] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the implementation methods of this specification or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the implementation methods or the description of the prior art. Obviously, the drawings described below are only some implementation methods recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0040] FIG1 is a schematic diagram of establishing a boundary using a portable device in conventional technology;

[0041] FIG2 is a flowchart of steps in an embodiment of the present application;

[0042] FIG3 is a schematic structural diagram of an operating device according to an embodiment of the present application;

[0043] FIG4 is a schematic structural diagram of a location information collection device according to an embodiment of the present application;

[0044] FIG5 is a schematic diagram of a location information collection device in a scene along an edge according to an embodiment of the present application;

[0045] FIG6 (a) is a schematic diagram of an operating device according to an embodiment of the present application moving along an initial virtual boundary B1 in the scene shown in FIG5 ;

[0046] FIG6( b ) is a schematic diagram of an operating device according to an embodiment of the present application moving along the adjusted initial virtual boundary B2 in the scene shown in FIG5 ;

[0047] FIG7 is a schematic diagram of an edge of a location information collection device according to an embodiment of the present application in another scenario;

[0048] FIG8 is a schematic diagram of an operating device according to an embodiment of the present application along an edge in the scenario described in FIG7 ;

[0049] FIG9 is a schematic diagram of the composition of a device for determining a working boundary of an operating device according to an embodiment of the present application;

[0050] FIG10 is a schematic diagram of the composition of a computer device according to an embodiment of the present application;

[0051] FIG11 is a schematic structural diagram of an automatic working system according to an embodiment of the present application.

[0052] The symbols in the figure represent the following:

[0053] B0, operation boundary, B01, wall, B02, road surface, B1, initial virtual boundary, B2, working boundary;

[0054] d1, first vertical distance, d2, second vertical distance, d3, third vertical distance, H1, width of operating equipment, H2, width of location information collection equipment;

[0055] 100. Operating equipment, 110. Body, 120. Driving device, 121. Front wheel assembly, 122. Rear wheel assembly, 130. Positioning device, 140. Cutting device;

[0056] 200. Position information acquisition device, 210. Body, 220. Driving device, 230. Positioning device, 240. Control device. DETAILED DESCRIPTION

[0057] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0058] It should be noted that the width described in this application generally refers to the equipment space parameter in the direction perpendicular to the direction of travel when the operating equipment or position information acquisition equipment is working normally. At this time, it can be understood that the length of the operating equipment or position information acquisition equipment refers to the equipment space parameter in the normal direction of travel (backward). It should also be understood that the construction of virtual boundaries, working boundaries, etc. described in the embodiments of this application is usually processed based on the longitudinal central symmetry plane when the positioning device is on the operating equipment or the position information acquisition equipment. The longitudinal direction mentioned here generally refers to the direction of travel during operation. For example, in a two-dimensional coordinate system, when the operating equipment moves along the X-axis direction, the longitudinal direction is the X-axis direction, and the corresponding transverse direction is the Y-axis direction. For example, at this time, the width of the operating equipment is its maximum dimension length in the Y-axis direction, and the length of the operating equipment is its maximum dimension length in the X-axis direction.

[0059] With the rapid development of science and technology, the application of intelligent control technology in people's lives is becoming more and more extensive. As a smart product derived from intelligent control technology, operating equipment with autonomous working capabilities can bring convenience and speed to people's lives. Therefore, autonomous working devices are frequently used in people's lives.

[0060] Generally, such an operating device may refer to a device with an automatic driving function, which can perform work tasks during the automatic driving process. The types of operating devices may include multiple types, and the embodiments of the present application are not limited to this. For example, the operating device may be an automatic lawn mower, an automatic snow blower, an automatic watering machine, an automatic leaf blower, an automatic sweeper, a mopping robot, a sweeping and mopping robot, etc. Further, the operating device is suitable for performing one or more work tasks within the operating area. For example, when the operating device is an automatic lawn mower, it can perform a mowing task within the operating area; for another example, when the operating device is an automatic snow blower, it can perform a snow sweeping task within the operating area; for another example, when the operating device is an automatic watering machine, it can perform a watering task within the operating area; for another example, when the operating device is an automatic leaf blower, it can perform a leaf blowing task within the operating area; for another example, when the operating device is an automatic sweeper, it can perform a sweeping task within the operating area; for another example, when the operating device has both a cutting component and a watering component, it can perform both a mowing task and a watering task within the operating area, and so on.

[0061] As shown in FIG1 , when establishing the working boundary of an operating device, a user may select a portable device 200' equipped with a positioning device. By moving the portable device 200' along the perimeter of a lawn, the position data of the lawn edge B0 can be obtained. For example, when the lawn is surrounded by a wide road, the portable device 200' may be moved with the longitudinal center axis of the positioning device aligned with the boundary between the road and the lawn. For example, when the lawn is surrounded by a wall or fence, the portable device 200' may be moved with the edge of the lawn substantially aligned with the wall or fence (but without significant interaction). For example, when the lawn is surrounded by a stepped surface (e.g., a low-lying step or pond), the portable device 200' may be moved with the edge of the lawn substantially aligned with the edge of the lawn.

[0062] However, when the operating equipment is working along the virtual boundary formed by the portable device 200', it is usually easy to collide with surrounding objects. On the other hand, there are usually many obstructions around the lawn, which can easily form shadow areas during the process of working along the edge, thereby affecting the acquisition of actual boundary position data. If the operating equipment is still working along the edge according to the position data obtained in the shadow area, the operating equipment will easily collide with surrounding objects due to lack of accurate navigation. In addition, when the user is operating the portable device, some boundary position data with large deviations may be recorded. If the operating equipment is still working according to this boundary position data, the collision risk of the operating equipment during the process of working along the edge will also increase.

[0063] Based on the above problems, an embodiment of the present application provides a method for determining the working boundary of an operating equipment to reduce the collision risk of the operating equipment during the actual edge-following process and help boundaryless operating equipment determine a more reliable working boundary.

[0064] Specifically, the determination method provided in this application is based on the following design principles:

[0065] Because portable devices typically used for mapping are typically small (to facilitate flexible manipulation by the user), this can easily lead to discrepancies in the distance between the positioning device and the boundary during mapping and edge tracking. If the device is still operating along the edge according to the initially established virtual boundary, it will collide with the wall or fence when moving along it. On the other hand, for the shadow zone boundary position data recorded by the portable device, a retraction adjustment strategy can be adopted. That is, the device is moved as close to the lawn as possible to reduce the collision risk. As for the extent of the retraction, the originally recorded shadow zone boundary position data can be considered to also have a collision risk. The collision risk of moving along the shadow zone boundary can be reduced based on the retraction extent of the device moving along the wall or fence. Similarly, for the deviation data recorded by user manipulation, a retraction adjustment strategy can also be adopted. As for the retraction extent, this recorded error data can also be considered to have a collision risk. The collision risk of moving along this recorded error data can be reduced based on the retraction extent of the device moving along the wall or fence.

[0066] Thus, by resolving the issue of working equipment being prone to collisions when moving along a wall or fence based on a virtual boundary established by a portable device, the issues of shadow areas and user operation deviation can be alleviated to a certain extent. Based on the above considerations, it was further conceived that by shrinking the original virtual boundary to at least "the distance difference between the positioning device and the boundary during mapping and edge-to-edge operation," the issue of working equipment being prone to collisions when moving along a wall or fence based on a virtual boundary established by a portable device can be resolved, thereby forming the determination method provided in this application.

[0067] It should be pointed out that the above-mentioned conception process of the invention should also be regarded as the contribution made by this application.

[0068] The following describes the determination methods of various embodiments of this application in detail with reference to the accompanying drawings. In the following embodiments, the implementation of this embodiment is described using the operating equipment of a smart lawn mower as an example. Accordingly, in the following embodiments, the operating area is a lawn, and the operating equipment can be different models of smart lawn mowers. Generally, different models of smart lawn mowers can have different widths.

[0069] In one embodiment, as shown in Figure 3, the working equipment 100 is suitable for performing at least one work task in the working area, and may include a body 110, and a driving device 120, a positioning device 130, and a cutting device 140 connected to the body 110, and of course also includes a control circuit (not shown in the figure) to control the operation of the aforementioned driving device 120, positioning device 130, and cutting device 140.

[0070] Optionally, the drive device 120 may include a front wheel group 121 and a rear wheel group 122. As shown in Figure 3, the front wheel group 121 and the rear wheel group 122 are both arranged on the outside of the fuselage and the size of the rear wheel group 122 is larger than that of the front wheel group 121, so that the width of the working equipment 100 can be expressed as the vertical distance H1 between the outermost sides of the two wheels of the rear wheel group 122; of course, the front and rear wheel groups can also be accommodated in the fuselage 110. In this case, the width of the working equipment 100 can be expressed as the maximum length of the fuselage 110 in a direction perpendicular to the direction of travel of the working equipment 100.

[0071] Optionally, the cutting device 140 can be driven by a motor to rotate a long straight blade for cutting, or by a motor to drive a cutter disc to drive a blade for cutting. Furthermore, the cutting device 140 can be a grass-chopping cutting device or a cutting device with a grass collecting component, which is not limited in this application.

[0072] Optionally, the positioning device 130 may be offset or centrally mounted on the fuselage 110. Optionally, the positioning device 130 may also be detachably connected to the fuselage 100. On the other hand, the positioning device 130 may obtain the coordinate information of its position through absolute positioning or relative positioning. Accordingly, the positioning device 130 may include a visual sensor (such as a monocular camera, a multi-camera camera, a depth camera, etc.), an image sensor, a satellite positioning sensor, etc. Accordingly, the positioning device 130 may obtain the coordinate information of its position using one or more of the following positioning technologies: GPS technology, visual simultaneous localization and mapping (VSLAM) technology, inertial measurement unit (IMU) technology, real-time kinematic (RTK) positioning technology, network RTK (NRTK) positioning technology, undifferenced network RTK (URTK) positioning technology, precise point positioning RTK (PPP-RTK) positioning technology, etc.

[0073] In this embodiment, the position information collection device 200 is used as a portable device to collect virtual position data of the working boundary of the working area of ​​the working device 100. As shown in Figure 4, the position information collection device includes a body 210, and a driving device 220, a positioning device 230, and a control device 240 connected to the body 210.

[0074] Optionally, the driving device 220 may include a pair of wheel sets (such as universal wheel sets or drive wheel sets) arranged on the outside of the fuselage, so that the width of the position information collection device 200 can be expressed as the vertical distance H2 between the outermost sides of the two wheels of the wheel set. Of course, the wheel set can also be accommodated in the fuselage 210. In this case, the width of the position information collection device 200 can be expressed as the maximum dimension length of the fuselage 210 in a direction perpendicular to the direction of travel of the position information collection device 200.

[0075] Optionally, the positioning device 230 may refer to the positioning device 130 on the aforementioned operating equipment 100, which will not be described in detail here.

[0076] Optionally, the user can control the position information collection device 200 to move along the edge by hand-held control device 240, in which case the control device 240 can be a handle, a push rod or the like. In addition, the user can also control the position information collection device 200 to move along the edge by remote control control device 240, in which case the control device 240 can be an antenna or the like.

[0077] As shown in FIG2 , the method for determining the working boundary of the operating equipment in this embodiment may include:

[0078] S200. Obtain an initial virtual boundary of the working area; wherein the initial virtual boundary is generated by position data collected by a position information collection device when it moves along the working boundary of the working area, and a first vertical distance exists between a positioning device on the position information collection device and the edge-most portion of the position information collection device during the process of moving along the edge.

[0079] For example, as shown in Figure 5, when the position information acquisition device 200 is controlled by the user to move along the wall B01, the position data collected by the position information acquisition device actually reflects the coordinate data of the position of the positioning device 230 thereon. At this time, since there is a first vertical distance d1 between the positioning device 230 and the edgemost part of the position information acquisition device 200 (the outer edge of the wheel group on one side of the driving device 220), the initial virtual boundary B1 and the wall B01 usually also have a distance of d1.

[0080] S400. Obtain an adjustment vector; wherein the adjustment vector points to the working area, and there is a second vertical distance between the positioning device on the working equipment and the edge-most part of the working equipment during the edge-adjusting process, and the adjustment amplitude of the adjustment vector is greater than or equal to the absolute value of the difference between the second vertical distance and the first vertical distance.

[0081] For example, as shown in FIG6 , since the positioning device 130 has a second vertical distance d2 from the edge-most portion of the working device 100 when the working device 100 is along the edge, and as can be seen from the aforementioned introduction to the portable device, d2 is usually greater than d1, if the working device 100 is still moved along the initial virtual boundary B1, it will cause the working device 100 to collide with the wall B01 (as shown in FIG6 (a)). Therefore, the initial virtual boundary B1 can be adjusted by an adjustment vector to reduce the risk of collision. As shown in FIG6 (b), when the initial virtual boundary B1 is retracted and adjusted by the Din distance to obtain the B2 boundary, and the working device 100 is moved along the B2 boundary, the distance between the positioning device 130 and the wall B01 is greater than or equal to d2, so that the working device 100 can move smoothly along the wall B01. Among them, the Din distance is greater than or equal to the absolute value of the difference between the second vertical distance d2 and the first vertical distance d1.

[0082] Optionally, the difference in magnitude between the first vertical distance d1 and the second vertical distance d2 can determine the direction of the adjustment vector, and the difference in magnitude between the first vertical distance d1 and the second vertical distance d2 can determine the amplitude of the adjustment vector. For example, if d1 is 100mm and d2 is 300mm, then d1 is less than d2, and the adjustment vector points within the working area, and the amplitude of the adjustment vector is 200mm. If d1 is 100mm and d2 is 80mm, then d1 is greater than d2, and the adjustment vector can point outside the working area, and the amplitude of the adjustment vector is 20mm. If d1 is 100mm and d2 is also 100mm, then d1 and d2 are the same, the amplitude of the adjustment vector is 0, and the direction can be arbitrary.

[0083] S600: Adjust an initial virtual boundary portion that meets a preset condition at least according to an adjustment vector.

[0084] For example, as shown in Figures 7 and 8, when the position information collection device 200 moves along the dividing line between the lawn and the wide road B02, the initial virtual boundary formed by it does not need to be adjusted, because there are no obstacles such as walls and fences near the road B02 at this time, and there is no risk of collision when the working equipment 100 moves along the initial virtual boundary.

[0085] For example, when the location information collection device 200 moves along a surface with a gradient, the initial virtual boundary formed by the device 200 basically does not need to be adjusted.

[0086] It can be seen that not all initial virtual boundaries corresponding to the working boundaries of the working area need to be adjusted, but only the initial virtual boundary parts that meet the preset conditions are adjusted. This can ensure the cutting effect when the working equipment 100 moves along the initial virtual boundary parts that do not need to be adjusted.

[0087] Optionally, the initial virtual boundary portion that meets the preset conditions can be an initial virtual boundary with a collision risk (for example, an initial virtual boundary corresponding to an operating boundary such as a wall or fence), or an initial virtual boundary portion located in a shadow area, or an initial virtual boundary portion with a large deviation formed when the user operates the position information collection device.

[0088] It should be noted that determining whether the initial virtual boundary portion meets or does not meet the preset conditions is not a necessary step in the determination method of each embodiment of the present application. In other words, the "initial virtual boundary portion that meets the preset conditions" described in the present application is a modified limitation of the "initial virtual boundary portion" rather than a limitation of the method steps.

[0089] For example, in addition to adjusting the initial virtual boundary by adjusting the vector, a set safety distance can be further introduced for adjustment to further improve safety; a compensation vector for the shadow area can be further introduced to further improve the accuracy of the working boundary of the shadow area.

[0090] S800: Determine the working boundary of the operating equipment according to the adjusted initial virtual boundary.

[0091] Exemplarily, the adjusted initial virtual boundary includes an adjusted initial virtual boundary portion and an initial virtual boundary portion that does not need to be adjusted. Exemplarily, the two initial virtual boundary portions are smoothed to form a working boundary of the operating equipment.

[0092] The determination method of this embodiment, by adjusting the initial virtual boundary inward by adjusting the vector, can effectively improve the problem of collisions that may occur when the operating equipment moves along a wall or fence based on the virtual boundary established by the portable device. It can also, to a certain extent, improve the problems of shadow areas and user operation deviations, thereby facilitating the establishment of a more reliable working boundary for borderless operating equipment. Furthermore, the determination method of this embodiment can be applied to forming working boundaries for different operating equipment and has good universality. In other words, for different operating equipment, each corresponding working boundary can be constructed based on the initial virtual boundary combined with the adjustment vector, without having to construct a working boundary for each operating equipment separately.

[0093] In some implementations of this embodiment, in order to simplify the adjustment settings, the initial virtual boundaries can be adjusted by default. Among them, for the initial virtual boundary portion that does not originally need to be adjusted, when obtaining the position data of the working boundary of this portion, the deviated position data can be manually obtained based on the adjustment vector. In this way, it can be adjusted to a more accurate working boundary during subsequent unified adjustments.

[0094] In another embodiment, the operating equipment is provided with a detachable positioning device, and the positioning device is configured to be coupled with another mobile device in a detached state to move and collect position data of the operating boundary of the operating area. Accordingly, the determination method of this embodiment includes:

[0095] S200', obtaining the initial virtual boundary of the working area;

[0096] The initial virtual boundary is generated by the collected position data of the working boundary of the working area, and during the collection process, there is a first vertical distance between the positioning device and the edgemost part of the mobile device;

[0097] S400', obtaining an adjustment vector;

[0098] The adjustment vector points to the working area, and there is a second vertical distance between the positioning device on the working equipment and the edge-most portion of the working equipment during the edge-adjusting process, and the adjustment amplitude of the adjustment vector is greater than or equal to the absolute value of the difference between the second vertical distance and the first vertical distance;

[0099] S600′, adjusting the initial virtual boundary portion that meets the preset condition at least according to the adjustment vector;

[0100] S800': Determine the working boundary of the operating equipment according to the adjusted initial virtual boundary.

[0101] Optionally, the operating equipment of this embodiment is provided with an installation portion that is detachably connected to the positioning device, and the rest is consistent with the configuration of the operating equipment 100.

[0102] Optionally, the mobile device of this embodiment is provided with an installation portion that is detachably connected to the positioning device, and the rest of the configuration is consistent with that of the location information collection device 200 .

[0103] The determination method of this embodiment, through a detachable positioning device, is conducive to improving the sharing of the positioning device, and using the same positioning device for both mapping and navigation is also conducive to ensuring that mapping and navigation use the same coordinate system, and is also conducive to reducing the preparation cost of operating equipment and / or position information collection equipment.

[0104] The following will provide some implementation methods that can be selected and used by the determination methods in the above embodiments with reference to the accompanying drawings, taking the operating device 100 and the position information collection device 200 as examples.

[0105] In some embodiments, adjusting the initial virtual boundary portion that meets the preset condition at least according to the adjustment vector includes:

[0106] S620: Obtain a marked initial virtual boundary in the initial virtual boundary; wherein the marked initial virtual boundary is at least used to indicate an initial virtual boundary with a collision risk;

[0107] S640: Adjust the initial virtual boundary of the mark at least according to the adjustment vector.

[0108] Among them, the marked initial virtual boundary can be represented as a mark with corresponding attributes, such as a marked boundary with the attribute of a fixed obstacle (such as a wall, fence, step, flower bed, landscape plant, pool and other isolated islands), a marked boundary with the attribute of a shadow area, a marked boundary with the attribute of a deviation, etc., which can all be used to indicate the initial virtual boundary with a collision risk. On the other hand, there are also various ways to obtain these marked initial virtual boundaries. For example, the user can manually mark the part of the initial virtual boundary that needs to be adjusted in combination with the boundary terrain of the actual working area and the displayed initial virtual boundary; for example, the position information acquisition device 200 can also identify the boundary position data that needs to be adjusted in combination with its own sensor component when collecting the position data of the working area boundary, and assign corresponding attributes, and then mark the part of the initial virtual boundary that needs to be adjusted when generating the initial virtual boundary.

[0109] It should be noted that it is also possible not to mark the initial virtual boundaries. For example, it can be assumed that all initial virtual boundaries formed require adjustment, so there is no need to mark the initial virtual boundaries that require adjustment. The implementation method of not marking the initial virtual boundaries can refer to the implementation method of "adjusting all initial virtual boundaries" described above, and will not be repeated here.

[0110] In some embodiments, the adjustment vector is pre-stored in a memory, and obtaining the adjustment vector of the initial virtual boundary includes: retrieving the adjustment vector of the initial virtual boundary from the memory.

[0111] Optionally, the memory can be a local memory, such as a memory in a location information acquisition device, a memory in an operating device, a memory in a mobile terminal, or it can be mounted in a virtual server through cloud storage technology (for example, in the form of a cloud disk).

[0112] Optionally, the entity that executes the initial virtual boundary establishment can be any one of the location information collection device 200, the operating device 100, the mobile terminal, and the cloud server.

[0113] Optionally, the entity that performs the initial virtual boundary adjustment may be any one of the location information collection device 200, the operating device 100, the mobile terminal, and the cloud server.

[0114] Optionally, the subject executing the determination method of each embodiment described above may be one or more of the location information collection device 200, the operating device 100, the mobile terminal, and the cloud server.

[0115] In some embodiments, the first vertical distance d1 is determined based on at least the first installation position of the positioning device 230 on the position information collection device 200 and the width of the position information collection device 200; the second vertical distance d2 is determined based on at least the second installation position of the positioning device 130 on the working equipment 100 and the width of the working equipment 100.

[0116] Taking positioning device 230 as an example, assuming its first installation position is located one-third of the width of the position information collection device 200, the width of the position information collection device 200 can be used to determine that first vertical distance d1 is one-third of the width H2 of the position information collection device 200. Similarly, based on the second installation position of positioning device 130 and the width H1 of working equipment 100, the length of second vertical distance d2 can be determined.

[0117] In some embodiments, as shown in Figures 3 and 4 , the first mounting position is located on the longitudinal center symmetry plane of the position information collection device 200, and the second mounting position is located on the longitudinal center symmetry plane of the working device 100. Thus, the adjustment vector can be determined based at least on the width difference between the position information collection device 200 and the working device 100. This arrangement simplifies the calculation of the amplitude of the adjustment vector, thereby facilitating adjustment of the initial virtual boundary.

[0118] In some embodiments, obtaining an adjustment vector of the initial virtual boundary includes:

[0119] S420, obtaining a first width of the position information collection device 200 and a second width of the operating device 100;

[0120] S440, determining a first vertical distance d1 according to the first installation position and the first width;

[0121] S460, determining a second vertical distance d2 according to the second installation position and the second width;

[0122] S480 , determining an adjustment amplitude of the adjustment vector according to the first vertical distance d1 and the second vertical distance d2 .

[0123] This method allows the user to input the first width of the position information collection device 200 and the second width of the operating device 100 to automatically calculate the adjustment amplitude of the adjustment vector, which is convenient and quick. Alternatively, another device can send the width information to the adjustment vector generation device. Alternatively, the adjustment vector generation device can retrieve the width information of the position information collection device 200 and the operating device 100 from memory.

[0124] In some embodiments, adjusting the initial virtual boundary portion that meets the preset condition at least according to the adjustment vector includes:

[0125] S610: Acquire an initial virtual boundary portion where the satellite positioning signal output by the positioning device on the position information acquisition device during the edge-along process does not meet the quality condition;

[0126] S630: Obtain a shadow area compensation vector of the initial virtual boundary portion; wherein the shadow area compensation vector points to the working area;

[0127] S650: Determine the working boundary of the operating equipment corresponding to the initial virtual boundary portion according to the initial virtual boundary, the adjustment vector, and the shadow area compensation vector.

[0128] During satellite operation, signal obstruction can cause poor signal quality in some edge areas of the location information collection device, resulting in inaccurate boundary location data. By introducing a compensation vector for shadow areas, the boundary location data in these shadow areas can be effectively corrected, further improving the reliability of the working boundary of the operating device 100.

[0129] In some embodiments, the compensation magnitude of the shadow area compensation vector is determined based at least on the positioning deviation of the positioning device 130 on the working equipment 100 in the shadow area. For example, the positioning deviation of the positioning device 130 in the shadow area can be measured in different shadow area environments, and the corresponding positioning deviation data can be collected. The positioning deviation of the positioning device 130 in the shadow area can be obtained through relevant data processing methods (e.g., one or more of averaging, root mean square, and least squares).

[0130] In some embodiments, the adjustment amplitude is determined based on at least the following relationship: d2-d1≤|D in |≤L-d3+(d2-d1);

[0131] Among them, |D in | represents the adjustment amplitude, d1 represents the first vertical distance, d2 represents the second vertical distance, d3 represents the third vertical distance between the outermost edge of the working tool of the working equipment and the edgemost part of the working equipment during the edge-adjusting process, and L represents the grass width threshold at the working boundary.

[0132] As shown in FIG3 , a third vertical distance d3 is defined between the outermost edge of the cutting device 140 and the edge-most portion of the working device 100 during the trimming process. To prevent the adjustment vector from being set too large, resulting in an excessively wide grass-retaining width for the working device 100 and thus affecting the trimming effect, an upper limit for the adjustment range can be set based on a grass-retaining width threshold. This upper limit is L - d3 + (d2 - d1). The grass-retaining width threshold can be set based on cutting requirements, for example, 80 mm, 100 mm, 120 mm, 150 mm, 180 mm, 200 mm, and so on.

[0133] In some embodiments, a safety distance can be introduced to further adjust the initial virtual boundary. For example, the safety distance can be a safety distance applicable to the initial virtual boundary as a whole, so that the adjustment amount of the initial virtual boundary is "adjustment amplitude + equipment safety distance"; the safety distance can be a safety distance set considering the swing amplitude of the operating equipment, so that the adjustment amount of the initial virtual boundary is "adjustment amplitude + swing safety distance"; the safety distance can also be a safety distance set considering the braking situation when the operating equipment is moving towards the boundary, so that the adjustment amount of the initial virtual boundary is "adjustment amplitude + braking safety distance". Of course, the above safety distances can also be used simultaneously with each other.

[0134] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the accompanying drawings may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times. The order of execution of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with other steps or at least a portion of steps or stages in other steps.

[0135] Based on the same inventive concept, embodiments of the present application also provide a device for determining the working boundaries of operating equipment for implementing the aforementioned method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of the embodiments of the device for determining the working boundaries of one or more operating equipment provided below can be found in the above-mentioned limitations of the method for determining the working boundaries of operating equipment, and will not be further elaborated here.

[0136] In one embodiment, as shown in FIG9 , a device 300 for determining a working boundary of an operating device is provided, comprising:

[0137] A first acquisition module is configured to acquire an initial virtual boundary of the work area; wherein the initial virtual boundary is generated by position data collected by a position information acquisition device moving along the work boundary of the work area, and a first vertical distance is defined between a positioning device on the position information acquisition device and a portion of the position information acquisition device closest to the edge during the movement of the position information acquisition device along the edge;

[0138] a second acquisition module configured to acquire an adjustment vector; wherein the adjustment vector points to the working area, a second vertical distance exists between the positioning device on the working equipment and the edge-most portion of the working equipment during the edge-adjusting process, and an adjustment amplitude of the adjustment vector is greater than or equal to an absolute value of a difference between the second vertical distance and the first vertical distance;

[0139] The boundary determination module is configured to adjust the initial virtual boundary portion that meets the preset conditions according to at least the adjustment vector, so as to determine the working boundary of the operating equipment according to the adjusted initial virtual boundary.

[0140] According to the description of the aforementioned method embodiment, the present application also provides an apparatus embodiment corresponding to the method. In each apparatus embodiment corresponding to the method, similar first module, second module, third module, etc. can be used to describe the implementation steps of the corresponding method. For example, another embodiment of the apparatus may also include a third acquisition module for obtaining the equipment safety distance corresponding to different operating equipment. Correspondingly, the boundary determination module at least adjusts the initial virtual boundary portion that meets the preset conditions according to the adjustment vector, including: adjusting the initial virtual boundary portion that meets the preset conditions according to the adjustment vector and the equipment safety distance, so as to determine the working boundary of the operating equipment according to the adjusted initial virtual boundary. Similar to the apparatus embodiment corresponding to the method, its overall concept and implementation method for solving the technical problem are the same or similar to the method, and will not be repeated here one by one.

[0141] Each module in the above-mentioned apparatus may be implemented in whole or in part by software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0142] In another embodiment, the present application also provides a computer device, which can be a terminal or a system, such as a software control system of an operating device, and its internal structure diagram can be shown in Figure 10. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, it implements a method for determining the working boundary of an operating device described in any method embodiment of the present application. The display screen of the computer device can be a liquid crystal display or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse.

[0143] Those skilled in the art will understand that the structure shown in FIG10 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0144] In one embodiment, the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0145] In one embodiment, the present application further provides a computer program product, including a computer program, which implements the steps in the above-mentioned method embodiments when executed by a processor.

[0146] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0147] According to the description of the above-mentioned method embodiment, it can be seen that the method for determining the working boundary of the above-mentioned operating equipment can reduce the risk of collision of the operating equipment during the actual edge-following process, and help the borderless operating equipment to determine a more reliable working boundary. However, after the working boundary of the operating equipment is determined based on the above-mentioned method, due to the possible differences in the sizes of the operating equipment and the mapping equipment, the possible differences in the sizes of different operating equipment, and the unknown correspondence between the working boundary and the operating equipment, it may cause the operating equipment to collide with the boundary when actually controlling the operating equipment to work along the edge. For example, during actual operation, although the adjustment vector of the initial virtual boundary is known when determining the working boundary, due to the difference in the sizes of the operating equipment and the mapping equipment, it is impossible to determine the vertical distance between the most edge-facing part of the operating equipment and the boundary when working along the edge, so that the vertical distance between the most edge-facing part of the operating equipment and the boundary may be less than the preset safety distance when working along the edge, which in turn causes the operating equipment to collide with the boundary during the edge-following process.

[0148] Based on this, the embodiment of the present application also provides an automatic working system to reduce the risk of collision of the operating equipment during the actual edge-tracking process. As shown in Figure 11, the automatic working system provided by the present application includes a mapping device and an operating device, wherein:

[0149] The mapping device is configured to record a movement trajectory when moving along the working boundary of the working area to generate a working boundary of the working equipment; wherein the mapping device includes wheels;

[0150] The working device is configured to process the surface of the working area along the working boundary; wherein, during movement along the working boundary, the outer side of the outermost wheel of the working device is substantially flush with the outer side of the outermost wheel of the mapping device when recording the movement trajectory.

[0151] In this embodiment, the mapping device can be a device carrying a positioning device, such as a movable device carrying a positioning device (for example, an automatic lawn mower, an automatic snow blower, an automatic sweeper, or a wheelbarrow, etc.), the aforementioned portable device carrying a positioning device (for example, the aforementioned position information acquisition device), etc. As shown in Figure 1, the mapping device is controlled to move along the working boundary (B0) of the working area (such as a lawn) to record the movement trajectory (B1). The working area can be a lawn, etc. The working boundary can be understood as the physical boundary of the working area, that is, the actual boundary. The movement trajectory can be understood as the trajectory generated by the position data recorded by the positioning device on the mapping device during the movement of the mapping device along the physical boundary of the working area, that is, the aforementioned initial virtual boundary. The working boundary can be understood as the path of the working equipment when working along the edge.

[0152] In this embodiment, the operating equipment may refer to a device with an automatic driving function, which can perform work tasks during the automatic driving process, such as processing the surface of the working area during the automatic driving process. The types of operating equipment may include various types, which are not limited in the embodiments of the present application. For example, the operating equipment may be an automatic lawn mower, an automatic snow blower, an automatic watering machine, an automatic leaf blower, an automatic sweeper, a mopping robot, a sweeping and mopping robot, etc. Furthermore, the operating equipment is suitable for performing one or more work tasks in the working area. For example, if the operating device is an automatic lawn mower, it can perform mowing tasks within the operating area; for another example, if the operating device is an automatic snow blower, it can perform snow blowing tasks within the operating area; for another example, if the operating device is an automatic watering machine, it can perform watering tasks within the operating area; for another example, if the operating device is an automatic leaf blower, it can perform leaf blowing tasks within the operating area; for another example, if the operating device is an automatic sweeper, it can perform sweeping tasks within the operating area; for another example, if the operating device has both a cutting component and a watering component, it can perform both mowing tasks and watering tasks within the operating area, etc. It should be noted that the mapping device and the operating device can be the same device or different devices.

[0153] In the embodiments of the present specification, during movement along the working boundary, by controlling the outer side of the wheel closest to the edge of the working equipment to be substantially flush with the outer side of the wheel closest to the edge of the mapping device when recording the movement trajectory, the risk of collision of the working equipment during the actual edge movement can be reduced. At the same time, the missed mowing area caused by edge retraction can be reduced, thereby improving cutting efficiency.

[0154] To make the above-mentioned objects, features, and advantages of the present application more readily apparent, a detailed description of specific embodiments of the automatic operating system provided by the present application is provided below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0155] In some embodiments, if the mapping device is a cart, the cart can be pushed along the work area's work boundary, with the positioning device recording position data during movement, thereby obtaining a movement trajectory. Specifically, when recording the movement trajectory, the user can select a cart equipped with a positioning device and push it along the perimeter of the lawn to obtain the position data of the lawn edge. For example, if the lawn is surrounded by a wide road, the cart can be pushed with the longitudinal center axis of the positioning device aligned with the boundary between the road and the lawn. If the lawn is surrounded by a wall or fence, the cart can be pushed with the edge of the lawn substantially in contact with the wall or fence (but without significant interaction). If the lawn is surrounded by a stepped surface (e.g., a low-lying step or pond), the cart can be pushed with the edge of the lawn substantially in contact with the lawn edge.

[0156] In other embodiments, if the mapping device is a self-moving device (such as a lawn mower), the movement trajectory can be obtained by controlling the self-moving device to move along the working boundary of the working area and recording the position data through the positioning device during the movement. In order to make the position data recorded by the self-moving device more accurate, the user can control the self-moving device to move along the working boundary of the working area within a certain distance from the self-moving device. In this way, by recording the position data under the user's monitoring, the self-moving device can be prevented from leaving the working area or being too far away from the working boundary, thereby improving the accuracy of the recorded data while ensuring safety. Of course, the above is only an exemplary description of the method of generating a movement trajectory, and this application specification does not limit this.

[0157] Since the size of a general mapping device is relatively small (to facilitate flexible manipulation when pushed by the user), it is easy to cause a difference in the distance between the positioning device and the boundary during mapping and working along the edge. After obtaining the movement trajectory, if the operating equipment is still allowed to work along the edge according to the initially recorded movement trajectory, the operating equipment is usually prone to collision with surrounding objects. Based on this, in some embodiments, after the mapping device records the movement trajectory, the movement trajectory recorded by the mapping device can be converted into the path of the operating equipment when working along the edge (i.e., the working boundary) through the aforementioned method for determining the working boundary of the operating equipment, so that subsequent operating equipment can work along the edge based on the working boundary. It should be noted that the process of converting the movement trajectory recorded by the mapping device into the working boundary through the method for determining the working boundary of the operating equipment can refer to the embodiment of the method for determining the working boundary of the operating equipment, and will not be described in detail.

[0158] In the embodiment of this specification, after obtaining the moving trajectory, the moving trajectory is converted by using the above-mentioned method for determining the working boundary of the working equipment to generate the working boundary of the working equipment, which can effectively improve the problem of the working equipment being prone to collision during the process of moving along the edge, thereby facilitating the establishment of a more reliable working boundary for boundaryless working equipment.

[0159] In some embodiments, after generating a work boundary, the work device may process the surface of the work area according to the work boundary. Specifically, if the work device is a robot vacuum, processing the surface of the work area may include cleaning a carpet, for example. If the work device is an automatic lawn mower, processing the surface of the work area may include cutting or trimming the lawn, for example. Of course, the above description is merely illustrative and does not limit other embodiments of this specification.

[0160] After determining the working boundary of the operating equipment based on the above method, due to the possible differences in the sizes of the operating equipment and the mapping equipment, the possible differences in the sizes of different operating equipment, the unknown correspondence between the working boundary and the operating equipment, etc., it may cause the operating equipment to collide with the boundary when the operating equipment is actually controlled to process the surface of the operating area according to the working boundary. Specifically, for example, during the actual operation, the initial virtual boundary of the operating area is obtained by controlling the vertical distance between the most edge part (such as the most edge wheel) of the mapping equipment (such as a cart) and the boundary during the edge process to be a1, and then the working boundary of the operating equipment is determined based on the above method. Then, after determining the working boundary of the operating equipment, it may be unknown which operating equipment the working boundary corresponds to, and the sizes of different operating equipment are different, and the sizes of the operating equipment and the mapping equipment are different. In this way, although the adjustment vector of the initial virtual boundary is known when determining the working boundary, it is impossible to determine the vertical distance between the portion of the working equipment closest to the edge and the boundary when working along the edge (that is, the vertical distance between the portion closest to the edge and the boundary when working along the edge may be greater than or equal to the preset safety distance, or may be less than the preset safety distance). As a result, the vertical distance between the portion closest to the edge of the working equipment and the boundary may be less than the preset safety distance when working along the edge, thereby causing the working equipment to collide with the boundary during the process of working along the edge. It is also possible that the vertical distance between the portion closest to the edge of the working equipment and the boundary is much greater than the preset safety distance when working along the edge, thereby causing a large number of uncut areas between the working equipment and the boundary during the process of working along the edge. For example, assuming the preset safety distance is a1, if the vertical distance between the portion closest to the edge of the working equipment and the boundary when working along the edge is less than a1, the working equipment will collide with the boundary during the process of working along the edge; if the vertical distance between the portion closest to the edge of the working equipment and the boundary when working along the edge is much greater than a1, then a large number of uncut areas between the working equipment and the boundary will exist during the process of working along the edge, thereby reducing the cutting coverage rate. Among them, the preset safety distance can be set according to the actual scenario, and this application does not limit this.

[0161] To this end, in this embodiment, during the movement along the working boundary, the outermost portion of the control working equipment is controlled to be substantially flush with the outermost portion of the mapping device when recording the movement trajectory.

[0162] Typically, the wheels are located at the outermost sides of the equipment or device (as shown in FIG3 , the rear wheel set 122 of the working equipment; as shown in FIG4 , the drive device 220 of the position information acquisition device). Therefore, in some embodiments, during movement along the working boundary, the outer side of the outermost wheel of the working equipment can be controlled to be substantially flush with the outer side of the outermost wheel of the mapping device when recording the movement trajectory.

[0163] On the one hand, since the movement trajectory is recorded under the premise of ensuring that the mapping device does not collide, during the movement along the working boundary, the outer side of the wheel closest to the edge of the controlling working device is basically flush with the outer side of the wheel closest to the edge of the mapping device when recording the movement trajectory. In this way, no matter which working device corresponds to the working boundary, how much the size of different working devices differs, or how much the size of the working device differs from that of the mapping device, the risk of collision of the working devices during the actual movement along the edge can be avoided.

[0164] On the other hand, since the mapping device records the movement trajectory under the premise of reducing the area of ​​missed mowing, during the movement along the working boundary, the outer side of the wheel closest to the edge of the working equipment is controlled to be basically flush with the outer side of the wheel closest to the edge of the mapping device when recording the movement trajectory. In this way, no matter which working boundary corresponds to which working boundary, how much difference there is in the sizes of different working equipment, or how much difference there is in the sizes of the working equipment and the mapping device, the area of ​​missed mowing between the working equipment and the boundary during the process of moving along the edge can be reduced, thereby improving the cutting coverage rate.

[0165] In addition, since the comparison relationship between the outer sides of the wheels closest to the edge is relatively intuitive during actual operation, it is relatively easy to achieve that the outer side of the wheel closest to the edge of the control equipment is basically flush with the outer side of the wheel closest to the edge of the mapping device when recording the movement trajectory during movement along the work boundary, thereby achieving efficient control of the work equipment.

[0166] In the embodiments of the present specification, since the outer side of the wheel closest to the edge of the working equipment is always substantially flush with the outer side of the wheel closest to the edge of the mapping device when recording the movement trajectory during the movement of the working equipment along the working boundary, this strategy, compared to directly controlling the movement of the working equipment along the working boundary after determining the working boundary, can not only reduce the risk of collision when moving along the edge, but also reduce the missed mowing area caused by retraction, thereby improving the cutting coverage rate.

[0167] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar items and are not necessarily 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 the present application described herein can be implemented in an order other than that illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with certain aspects of this application, as detailed in the appended claims. The terms "comprise," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, product, or apparatus comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, product, or apparatus. Without further limitation, this does not preclude the presence of additional identical or equivalent elements in the process, method, product, or apparatus comprising the elements. For example, the use of terms such as "first," "second," and the like are intended to indicate names and do not imply any specific order.

[0168] In this application, when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intervening element. When an element is considered to be "connected" to another element or "connected to" another element, it may be directly connected to the other element or there may be an intervening element, and this should be understood broadly. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection. Those skilled in the art will understand the specific meanings of these terms in this application.

[0169] The terms "vertical", "horizontal", "left", "right", "up", "down", "front", "rear", "circumferential", "direction of travel" and similar expressions used in this document are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0170] Unless otherwise defined, the technical and scientific terms used herein may have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The terms "and / or," "and / or," and "at least one of" as used herein include any and all combinations of one or more of the relevant listed items.

[0171] The technical features of the above embodiments can also be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] The above-described embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for determining a working boundary of a working device, wherein the working device is suitable for performing at least one working task within a working area, characterized in that: The method comprises: Obtaining an initial virtual boundary of the work area; wherein the initial virtual boundary is generated by position data collected by a position information collection device moving along the work boundary of the work area, and a first vertical distance is defined between a positioning device on the position information collection device and a portion of the position information collection device closest to the edge during the movement of the position information collection device along the edge; Obtaining an adjustment vector; wherein the adjustment vector points to the working area, a second vertical distance exists between the positioning device on the working equipment and the edge-most portion of the working equipment during the edge-adjusting process, and an adjustment amplitude of the adjustment vector is greater than or equal to an absolute value of a difference between the second vertical distance and the first vertical distance; Adjusting an initial virtual boundary portion that meets a preset condition at least according to the adjustment vector; The working boundary of the operating equipment is determined according to the adjusted initial virtual boundary.

2. The method according to claim 1, characterized in that The adjusting the initial virtual boundary portion that meets the preset condition at least according to the adjustment vector includes: Acquire a marked initial virtual boundary in the initial virtual boundary; wherein the marked initial virtual boundary is at least used to indicate an initial virtual boundary with a collision risk; The initial virtual boundary of the mark is adjusted at least according to the adjustment vector.

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

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

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

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

7. The method according to claim 5, characterized in that The obtaining of the adjustment vector of the initial virtual boundary comprises: Obtaining a first width of the position information acquisition device and a second width of the operating device; determining the first vertical distance according to the first installation position and the first width; determining the second vertical distance according to the second installation position and the second width; An adjustment amplitude of the adjustment vector is determined according to the first vertical distance and the second vertical distance.

8. The method according to claim 1, characterized in that The adjusting the initial virtual boundary portion that meets the preset condition at least according to the adjustment vector includes: Acquire an initial virtual boundary portion where the satellite positioning signal output by the positioning device on the position information acquisition device during the edge-along process does not meet the quality condition; Obtaining a shadow area compensation vector of the initial virtual boundary portion; wherein the shadow area compensation vector points to the operating area; The working boundary of the operating equipment corresponding to the initial virtual boundary portion is determined according to the initial virtual boundary, the adjustment vector, and the shadow area compensation vector.

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

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

11. A method for determining a working boundary of an operating device, wherein the operating device is adapted to perform at least one working task within a working area, and the operating device is provided with a detachable positioning device, wherein the positioning device is configured to be coupled with another mobile device in a detached state to move and collect position data of the working boundary of the working area, characterized in that: The method comprises: Acquiring an initial virtual boundary of the working area; wherein the initial virtual boundary is generated by collected position data of the working boundary of the working area, and during the collection process, a first vertical distance exists between the positioning device and the edgemost portion of the mobile device; Obtaining an adjustment vector; wherein the adjustment vector points to the working area, a second vertical distance exists between the positioning device on the working equipment and the edge-most portion of the working equipment during the edge-adjusting process, and an adjustment amplitude of the adjustment vector is greater than or equal to an absolute value of a difference between the second vertical distance and the first vertical distance; Adjusting an initial virtual boundary portion that meets a preset condition at least according to the adjustment vector; The working boundary of the operating equipment is determined according to the adjusted initial virtual boundary.

12. A device for determining a working boundary of a working device, wherein the working device is adapted to perform at least one working task within a working area, characterized in that: The device comprises: a first acquisition module configured to acquire an initial virtual boundary of the work area; wherein the initial virtual boundary is generated by position data collected by a position information acquisition device moving along the work boundary of the work area, and a first vertical distance is defined between a positioning device on the position information acquisition device and a portion of the position information acquisition device closest to the edge during the movement of the position information acquisition device; A second acquisition module is configured to acquire an adjustment vector; wherein the adjustment vector points to the working area, a second vertical distance exists between the positioning device on the working equipment and the edge-most portion of the working equipment during the edge-adjusting process, and an adjustment amplitude of the adjustment vector is greater than or equal to an absolute value of a difference between the second vertical distance and the first vertical distance; The boundary determination module is configured to adjust the initial virtual boundary portion that meets the preset condition at least according to the adjustment vector, so as to determine the working boundary of the operating equipment according to the adjusted initial virtual boundary.

13. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 11 are implemented.

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

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

16. An automatic working system, characterized in that: include: Mapping equipment and operating equipment, The mapping device is configured to record a movement trajectory when moving along the working boundary of the working area to generate a working boundary of the working equipment; wherein the mapping device includes wheels; The working device is configured to process the surface of the working area along the working boundary; wherein, during movement along the working boundary, the outer side of the outermost wheel of the working device is substantially flush with the outer side of the outermost wheel of the mapping device when recording the movement trajectory.

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