Operation machine, operation area boundary generation method and device thereof, medium and product

Abstract

The invention discloses an operation machine and an operation area boundary generation method and device thereof, a medium and a product, and relates to the field of robotics.The method comprises the steps that initial position information and initial environment information collected when the operation machine runs are obtained; if the loopback is not detected according to the initial position information and the initial environment information, the operation machine is controlled to execute an auxiliary action; acquiring auxiliary position information and auxiliary environment information acquired when the operation machine executes the auxiliary action, and assisting the operation machine to realize loopback optimization of the initial position information according to the auxiliary position information and the auxiliary environment information; and generating a virtual boundary of the operation area based on the initial position information after loopback optimization. Therefore, the problems that when the boundary is created in a wire embedding mode, installation is complex, wires are prone to abrasion and aging, and regular maintenance and replacement are needed are solved, meanwhile, positioning errors generated in the virtual boundary creating process are eliminated, and the consistency of the constructed virtual boundary and the actual boundary of the operation area is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to an operating machine and a method, device, medium and product for generating the boundary of an operating area thereof. Background Art

[0002] The boundary of the working area is of great significance to the working machine, which can limit the working area to prevent it from crossing the boundary and causing damage.

[0003] Taking the smart lawn mower as an example, there are currently a variety of technologies used to construct the boundaries of its operating area. One of them is to build it by burying wires, that is, laying wires along the edge of the lawn in the courtyard, but this method has problems such as complex installation and the wires are susceptible to wear and aging, and need regular maintenance and replacement. The other is to build it by creating a virtual boundary, which to a certain extent overcomes the shortcomings of the buried wire solution. However, at present, the process of creating a virtual boundary usually requires the positioning of the smart lawn mower, but the positioning position may have positioning errors, resulting in the constructed virtual boundary being inconsistent with the actual boundary of the lawn. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a working machine and a method, device, medium, and product for generating the boundary of the working area thereof, which avoids the problems of complex installation, easy wear and aging of the wires, and the need for regular maintenance and replacement when creating the boundary by burying wires, eliminates the positioning error generated in the process of creating the virtual boundary, and ensures the consistency between the constructed virtual boundary and the actual boundary of the working area. The specific scheme is as follows:

[0005] In a first aspect, the present application discloses a method for generating a work area boundary, comprising:

[0006] Acquire initial position information and initial environment information collected when the operating machine is traveling;

[0007] If no loop is detected according to the initial position information and the initial environment information, controlling the working machine to perform an auxiliary action;

[0008] Acquiring auxiliary position information and auxiliary environment information collected when the working machine performs the auxiliary action, and assisting the working machine to achieve loop optimization of the initial position information according to the auxiliary position information and the auxiliary environment information;

[0009] Generate the virtual boundary of the work area based on the initial position information after loop closure optimization.

[0010] Optionally, controlling the working machine to perform an auxiliary action includes:

[0011] Controlling the working machine to rotate in situ around a rotation center on a body of the working machine;

[0012] Alternatively, controlling the working machine to travel along a preset travel route;

[0013] Alternatively, the working machine is controlled to travel according to the initial position information.

[0014] Optionally, the method further includes:

[0015] If a loop is detected according to the initial position information and the initial environment information, loop optimization is performed on the initial position information to obtain loop-optimized initial position information.

[0016] Optionally, the initial position information includes first initial position information and second initial position information;

[0017] Accordingly, the loop optimization of the initial position information includes:

[0018] Performing loop optimization on the first initial position information;

[0019] Performing linear interpolation replacement on the second initial position information based on the first initial position information after loop closure optimization to obtain replaced second initial position information;

[0020] Accordingly, the virtual boundary of the operation area is generated based on the initial position information after loop optimization, including:

[0021] A virtual boundary of the work area is generated based on the replaced second initial position information.

[0022] Optionally, performing linear interpolation replacement on the second initial position information based on the first initial position information after loop closure optimization to obtain the replaced second initial position information includes:

[0023] An interpolation operation is performed on the first initial position information after loop optimization, and a replacement operation is performed on the second initial position information using the interpolated position data to obtain the replaced second initial position information.

[0024] Optionally, the method further includes:

[0025] In response to a remote control command sent by a remote control device, the working machine is controlled to travel, and during the travel, the initial position information and the initial environment information are collected through a sensor component;

[0026] Alternatively, the actual boundary of the working area is identified by a sensor component, and the working machine is controlled to travel along the actual boundary according to the identification result, and the initial position information and the initial environment information are collected by the sensor component during the driving process.

[0027] Optionally, the method further includes:

[0028] If the working machine still cannot detect a loop after performing the auxiliary action, the initial position information is cleared.

[0029] In a second aspect, the present application discloses a device for generating a work area boundary, comprising:

[0030] An information collection module is used to obtain initial position information and initial environment information collected when the operating machine is traveling;

[0031] an auxiliary action execution module, configured to control the working machine to execute an auxiliary action if no loop is detected according to the initial position information and the initial environment information;

[0032] a loop optimization module, used for acquiring the auxiliary position information and the auxiliary environment information collected when the working machine performs the auxiliary action, and assisting the working machine to realize loop optimization of the initial position information according to the auxiliary position information and the auxiliary environment information;

[0033] The boundary generation module is used to generate a virtual boundary of the operation area based on the initial position information after loop optimization.

[0034] In a third aspect, the present application discloses an electronic device, comprising:

[0035] Memory, used to store computer programs;

[0036] A processor is used to execute the computer program to implement the aforementioned disclosed method for generating the boundary of the working area.

[0037] In a fourth aspect, the present application discloses a working machine, including a processor and a preset sensor assembly for collecting position information and environmental information;

[0038] Wherein, the processor is used to execute a computer program to implement the aforementioned disclosed method for generating a work area boundary.

[0039] Optionally, the processor is located on the machine body and / or the remote control device of the working machine.

[0040] Optionally, the preset sensor assembly includes an inertial measurement unit, and a lidar and / or a camera whose operating wavelength is within a preset wavelength range.

[0041] In a fifth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned disclosed method for generating a work area boundary is implemented.

[0042] In a sixth aspect, the present application discloses a computer program product, including a computer program / instruction, which implements the aforementioned method for generating a work area boundary when executed by a processor.

[0043] It can be seen that the present application proposes a method for generating the boundary of a work area, including: obtaining the initial position information and initial environment information collected when the work machine is traveling; if no loop is detected according to the initial position information and the initial environment information, controlling the work machine to perform an auxiliary action; obtaining the auxiliary position information and auxiliary environment information collected when the work machine performs the auxiliary action, and assisting the work machine to achieve loop optimization of the initial position information according to the auxiliary position information and the auxiliary environment information; generating a virtual boundary of the work area based on the initial position information after loop optimization. In summary, the present application first collects the initial position information and the initial environment information, and then performs loop detection according to the initial position information and the initial environment information. If no loop is detected, the work machine is controlled to perform a specific auxiliary action, and in this process, the auxiliary position information and the auxiliary environment information are collected again, and then the initial position information is loop optimized using the collected auxiliary position information and the auxiliary environment information, and finally the virtual boundary of the work area is generated based on the initial position information after loop optimization. In this way, the present application avoids the problems of complex installation and easy wear and aging of wires and the need for regular maintenance and replacement when creating boundaries by burying wires, thereby reducing installation and maintenance costs and improving the convenience of boundary construction. In addition, if no loop is detected based on the initial position information and initial environmental information, it means that there is an error in positioning that causes the trajectory of the operating machine to deviate from the actual boundary. For this reason, the present application controls the operating machine to perform specific auxiliary actions and collects auxiliary position information and auxiliary environmental information again in the process, so as to use the collected auxiliary position information and auxiliary environmental information to perform loop optimization on the initial position information. In this way, the errors generated in the positioning process can be eliminated through loop optimization, thereby ensuring the consistency between the constructed virtual boundary and the actual boundary of the working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0045] Figure 1 A flow chart of a method for generating a work area boundary disclosed in the present application;

[0046] Figure 2 A flowchart of a specific method for generating a working area boundary disclosed in this application;

[0047] Figure 3 A flowchart of a specific method for generating a working area boundary disclosed in this application;

[0048] Figure 4 This is a schematic diagram of a method and device structure for generating a working area boundary disclosed in the present application;

[0049] Figure 5 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] The boundary of the working area is of great significance to the working machine, which can limit the working area and prevent it from crossing the boundary and causing damage. Taking the smart lawn mower as an example, there are currently many technologies used to construct the boundary of its working area. One of them is to construct it by burying wires, that is, laying wires along the edge of the lawn in the courtyard, but this method has problems such as complex installation and the wires are susceptible to wear and aging, and need regular maintenance and replacement. The other is to construct it by creating a virtual boundary, which to a certain extent overcomes the defects of the buried wire solution. However, the current process of creating a virtual boundary usually relies on the positioning of the smart lawn mower, but the positioning position may have positioning errors, resulting in the constructed virtual boundary being inconsistent with the actual boundary of the lawn.

[0052] To this end, an embodiment of the present application proposes a method for generating a work area boundary, which avoids the problems of complex installation, easy wear and aging of wires, and the need for regular maintenance and replacement when creating boundaries by burying wires, eliminates the positioning errors generated in the process of creating virtual boundaries, and ensures the consistency of the constructed virtual boundaries with the actual boundaries of the work area.

[0053] The present application embodiment discloses a method for generating a work area boundary. Figure 1 As shown, including:

[0054] Step S11: Acquire initial position information and initial environment information collected when the working machine is traveling.

[0055] In a specific implementation, in response to a remote control instruction sent by a remote control device, the working machine is controlled to travel, and initial position information and initial environment information are collected through a sensor component during the travel process.

[0056] Specifically, the remote control device, as a remote control terminal of the working machine, includes various forms. For example, the remote control device can be a handheld remote control equipped with buttons and joysticks, wherein the buttons are used to control the working machine to move forward, backward, turn left, turn right, etc., and the joystick adjusts the driving speed and direction of the working machine, so that the operator can adjust the travel path of the working machine according to the actual situation. The remote control device can also be an application based on an intelligent mobile platform, such as a control software installed on a mobile phone or tablet computer. Through the touch screen of the intelligent device, the operator can control the working machine. When the working machine responds to the remote control command sent by the remote control device, the sensor component carried by the working machine collects initial position information and initial environmental information. It should be pointed out that the initial position information can be the coordinates of multiple positions passed by the working machine, and the initial environmental information can be the sensor component's perception information of the environment collected during the driving process of the working machine, such as a point cloud or image. The duration of the driving process specifically refers to: from the time when the user clicks the "start recording boundary" button on the corresponding application until the working machine walks a complete circle around the boundary of the working area under the user's remote control and completes the recording. Sensor components include, but are not limited to, LiDAR, IMU (Inertial Measurement Unit) and camera. LiDAR continuously emits laser beams and constructs a three-dimensional point cloud map of the surrounding environment by analyzing the reflected light to accurately obtain relevant information about surrounding objects; IMU monitors the acceleration and angular velocity of the operating machine in real time, and then infers changes in its posture, speed and displacement; the camera captures the visual image of the surrounding environment, and uses image recognition and feature extraction technology to assist LiDAR and IMU to further determine the position of the operating machine. Through the collaborative work of the above sensors, the operating machine can comprehensively and accurately collect initial position information and initial environmental information. For example, LiDAR determines the position of the operating machine through the previous and next two frames of point cloud, which is then merged with the position of the operating machine located by the IMU to obtain a more accurate position of the operating machine. It should be pointed out that in conditions where poor lighting or strong light results in poor visual reliability, lidar relies on precise laser ranging technology to stably output a three-dimensional point cloud map of the surrounding environment, thereby ensuring the accuracy and efficiency of boundary construction. It should be further pointed out that the traditional virtual boundary construction process relies on satellite navigation signals, resulting in the virtual boundary creation effect being limited by the strength of satellite navigation information. The combination of lidar and IMU can obtain more accurate location information and overcome the defect of poor virtual boundary creation effect caused by weak satellite navigation signals.

[0057] In another specific embodiment, the actual boundary of the working area is identified by a sensor component, and the working machine is controlled to travel along the actual boundary according to the identification result, and the initial position information and the initial environment information are collected by the sensor component during the driving process.

[0058] Specifically, the working machine identifies the actual boundary of the working area through its own sensor components, and the control system of the working machine controls the working machine to drive along the actual boundary. During the driving process, the sensor components will also continuously collect initial position information and initial environment information to provide the working machine with the data required to establish the virtual boundary.

[0059] In this embodiment, the initial position information includes key positioning points and initial boundary data. The laser radar determines the displacement of the operating machine by matching the point cloud collected at the current moment with the point cloud collected at the previous moment, thereby obtaining its own position. At the same time, the positioning information of the laser radar is fused with the positioning information of the IMU to obtain the initial position information, which can be a positioning coordinate at a certain distance (for example, 0.075m).

[0060] Step S12: If no loop is detected according to the initial position information and the initial environment information, the working machine is controlled to perform an auxiliary action.

[0061] It should be pointed out that the user remotely controls the working machine to drive around the boundary of the working area. After the user clicks on the application to end the recording, the working machine starts the loop detection process, wherein the working machine loop refers to the working machine sensing through the sensor that it has returned to the position it has passed before or identifying the environmental features that have been recorded during the operation. In this embodiment, if the loop is not detected according to the initial position information and the initial environmental information, the working machine is controlled to perform auxiliary actions, so that the working machine actively changes the driving path, expands the detection range, or adjusts the scanning angle and frequency of the sensor through the auxiliary action, thereby increasing the working machine's perception dimension and data collection of the surrounding environment, thereby increasing the probability of detecting the loop and enabling it to better adapt to the complex working environment.

[0062] For example, this embodiment can control the working machine to rotate in situ around the rotation center on the fuselage of the working machine. When the working machine fails to detect a loop based on the initial position information and the initial environmental information, its internal control system issues an in situ rotation command, and the working machine starts to rotate slowly with the central axis at the bottom as the rotation center. Exemplarily, the working machine can rotate clockwise at a speed of 10 degrees per second. During the rotation, the sensor assembly continues to work, and the collected auxiliary position information and auxiliary environmental information are transmitted back to the control system in real time. It should be pointed out that this auxiliary action can greatly increase the possibility of detecting a loop in a small area without changing the position of the working machine.

[0063] For another example, this embodiment can control the working machine to travel along a preset route. The working machine reads the pre-stored route data and uses its own navigation system to start the travel program, so that the working machine travels along the preset route, wherein the preset route includes an S shape and an arc shape. During the driving process, the auxiliary position information and auxiliary environment information are collected to avoid the working machine from blindly exploring in an unknown environment, thereby improving the efficiency and success rate of loop detection.

[0064] For another example, this embodiment can control the working machine to travel according to the initial position information. Specifically, a planned path is obtained according to the initial position information, and the working machine is controlled to travel along the planned path. During the driving process, the sensor component is used to collect auxiliary position information and auxiliary environmental information, thereby improving the efficiency of loop detection, wherein the auxiliary position information is the coordinates of multiple positions passed by the working machine, and the auxiliary environmental information is the point cloud or image.

[0065] Step S13: Acquire the auxiliary position information and auxiliary environment information collected when the working machine performs the auxiliary action, and assist the working machine to achieve loop optimization of the initial position information according to the auxiliary position information and the auxiliary environment information.

[0066] In this embodiment, the operating machine will conduct a detailed comparative analysis of the collected auxiliary position information and the initial position information, and calculate the position deviation and correlation between the two based on the comparative analysis results. At the same time, for the auxiliary environmental information, the operating machine will compare and analyze it with the initial environmental information to analyze and identify similar features and change areas in the environment. Based on the above analysis and processing results, the operating machine can more accurately judge its own motion trajectory and position changes, so as to perform real-time and accurate loop optimization adjustments on the initial position information. In this way, the accumulated position errors caused by various factors can be effectively corrected, and the accuracy, stability and reliability of its operation can be further improved.

[0067] Step S14: Generate a virtual boundary of the work area based on the initial position information after loop optimization.

[0068] In this embodiment, the virtual boundary of the working area is generated based on the initial position information after loop optimization. Compared with before optimization, the optimized position information makes the positioning of the virtual boundary more accurate, effectively reducing the boundary deviation caused by the initial position error, so that the working machine can more accurately follow the predetermined trajectory during the operation process, avoiding unnecessary detours and out-of-bounds operations, and improving work efficiency.

[0069] Furthermore, if a loop is detected based on the initial position information and the initial environmental information, loop optimization is directly performed on the initial position information to obtain the initial position information after loop optimization, and the virtual boundary of the working area is generated based on the initial position information after loop optimization. In this way, the response speed and operation efficiency of the operating system are greatly improved, and the accuracy of the virtual boundary of the working area is guaranteed.

[0070] Furthermore, if the operating machine still cannot detect a loop after performing the auxiliary action, the initial position information is cleared, thereby avoiding the waste of resources on invalid data and optimizing the overall performance of the system.

[0071] It can be seen that the present application proposes a method for generating the boundary of a work area, including: obtaining the initial position information and initial environment information collected when the work machine is traveling; if no loop is detected according to the initial position information and the initial environment information, controlling the work machine to perform an auxiliary action; obtaining the auxiliary position information and auxiliary environment information collected when the work machine performs the auxiliary action, and assisting the work machine to achieve loop optimization of the initial position information according to the auxiliary position information and the auxiliary environment information; generating a virtual boundary of the work area based on the initial position information after loop optimization. In summary, the present application first collects the initial position information and the initial environment information, and then performs loop detection according to the initial position information and the initial environment information. If no loop is detected, the work machine is controlled to perform a specific auxiliary action, and in this process, the auxiliary position information and the auxiliary environment information are collected again, and then the initial position information is loop optimized using the collected auxiliary position information and the auxiliary environment information, and finally the virtual boundary of the work area is generated based on the initial position information after loop optimization. In this way, the present application avoids the problems of complex installation and easy wear and aging of wires and the need for regular maintenance and replacement when creating boundaries by burying wires, thereby reducing installation and maintenance costs and improving the convenience of boundary construction. In addition, if no loop is detected based on the initial position information and initial environmental information, it means that there is an error in positioning that causes the trajectory of the operating machine to deviate from the actual boundary. For this reason, the present application controls the operating machine to perform specific auxiliary actions and collects auxiliary position information and auxiliary environmental information again in the process, so as to use the collected auxiliary position information and auxiliary environmental information to perform loop optimization on the initial position information. In this way, the errors generated in the positioning process can be eliminated through loop optimization, thereby ensuring the consistency between the constructed virtual boundary and the actual boundary of the working area.

[0072] The embodiment of the present application discloses a specific method for generating the boundary of an operation area. Compared with the previous embodiment, the initial position information includes the first initial position information and the second initial position information. Based on this, the present embodiment further explains and optimizes the technical solution. Figure 2 As shown, specifically including:

[0073] Step S21: Acquire initial position information and initial environment information collected when the working machine is traveling.

[0074] Step S22: If no loop is detected according to the initial position information and the initial environment information, the working machine is controlled to perform an auxiliary action.

[0075] Among them, the more specific working process of step S21 and step S22 can be found in the aforementioned disclosed embodiment, and will not be described in detail here.

[0076] Step S23: Acquire the auxiliary position information and auxiliary environment information collected when the working machine performs auxiliary actions, assist the working machine to implement loop optimization of the first initial position information according to the auxiliary position information and the auxiliary environment information, and perform linear interpolation replacement on the second initial position information based on the first initial position information after loop optimization to obtain the replaced second initial position information.

[0077] In this embodiment, a series of position points are outputted through a positioning module built based on laser radar + IMU. From this series of position points, two groups of position points are sampled at different frequencies, one of which is the first initial position information, and the other is the second initial position information. Among them, the first initial position information is the key positioning position point mentioned above, and the second initial position information is the initial boundary data mentioned above. The first initial position information after loop optimization is interpolated, and the second initial position information is replaced with the interpolated position data to obtain the replaced second initial position information. The following is an explanation through the corresponding interpolation replacement calculation model:

[0078] It should be pointed out that is the second initial position information, i.e., the initial boundary data, n is the number of boundary position points recorded at a certain frequency, The global pose information of It indicates that, Represents the acquisition timestamp, , , Respectively represent The horizontal coordinate, vertical coordinate and heading angle of the working machine at a certain point in time. It represents the first initial position information after loop optimization, that is, the key positioning position point after loop optimization, and m is the number of positioning position points.

[0079] The corresponding interpolation replacement calculation model is:

[0080] ;

[0081] in, , represents the interpolation ratio, Represents the i-th boundary position point The acquisition timestamp, and Indicates the first initial position information after loop optimization, and the timestamp The key positioning points after loop closure optimization corresponding to the two closest moments, The global pose information can be obtained by express, The horizontal coordinate of the working machine, Indicates the vertical coordinate of the working machine, Indicates the heading angle of the working machine. Indicates the acquisition timestamp. Represents the second initial position information after replacement, that is, the initial boundary data after replacement.

[0082] Step S24: generating a virtual boundary of the working area based on the replaced second initial position information.

[0083] After obtaining the replaced second initial position information through the interpolation replacement calculation model, the boundary points of the working area are determined according to the replaced second initial position information, and these boundary points are connected through relevant algorithms to form a virtual boundary of the working area. The virtual boundary is used to determine the working range of the working machine.

[0084] In this way, the position information after loop optimization can ensure the accuracy of the boundary points, avoid operation deviations caused by inaccurate position information, and use relevant algorithms to connect the precise boundary points to form a virtual boundary, making the boundary of the work area clear and unambiguous, reducing the ambiguity of operations near the boundary.

[0085] See also Figure 3 As shown, taking the working machine as an intelligent lawn mower as an example, the working area boundary generation method described in this application is described:

[0086] Initial position information and initial environment information collected when the smart lawn mower is driving are obtained. If no loop is detected based on the initial position information and the initial environment information, the smart lawn mower is controlled to perform an auxiliary action, and auxiliary position information and auxiliary environment information collected when the smart lawn mower performs the auxiliary action are obtained. Then, the smart lawn mower is assisted to realize loop optimization of the initial position information based on the auxiliary position information and the auxiliary environment information. Finally, a virtual boundary of the lawn is generated based on the initial position information after loop optimization.

[0087] It should be pointed out that the initial position information includes key positioning points and initial lawn boundary data. To avoid the initial lawn boundary position points collected being too dense, the initial lawn boundary position points output by the fusion sensor (i.e., the aforementioned sensor component) can be recorded at a driving interval of 0.075 m. The fusion sensor can be a camera and an inertial measurement unit. In order to efficiently build a virtual lawn boundary at night or in low light conditions, the fusion sensor can also include a lidar. The lidar and the inertial measurement unit work together to provide high-precision positioning for the smart lawn mower. During the entire mowing process, the lidar will continuously update the environmental map, and the inertial measurement unit will continuously monitor the motion trajectory of the smart lawn mower, thereby accurately controlling the cutting range of the smart lawn mower, avoiding omissions or over-cutting, and improving the quality of smart mowing work. Since the fusion sensor will produce positioning errors during the fusion positioning process, the initial lawn boundary position points and key positioning position points will deviate from the actual coordinates. Therefore, when no loop is detected based on the initial lawn boundary data, key positioning position points, and initial environmental data, this embodiment controls the intelligent lawn mower to perform auxiliary actions. The auxiliary action can be to control the intelligent lawn mower to rotate in situ around the rotation center on the body of the intelligent lawn mower, or to control the intelligent lawn mower to travel along a preset route, or to control the intelligent lawn mower to travel according to the key positioning position points and the initial lawn boundary data. At the same time, the auxiliary position information and auxiliary environmental information collected when the intelligent lawn mower performs the auxiliary action are obtained, and the intelligent lawn mower is assisted in realizing loop optimization of the initial position information based on the auxiliary position information and auxiliary environmental information, and finally a virtual boundary of the lawn is generated based on the initial position information after loop optimization.

[0088] It should be noted that, since the initial lawn boundary position points recorded at a fixed frequency are not in a one-to-one correspondence with the key positioning position points, they cannot be completely replaced. Therefore, this embodiment performs interpolation replacement on the recorded initial lawn boundary position points according to the timestamp. When performing interpolation replacement, this embodiment can find the two loop-optimized key positioning position points closest to a certain initial lawn boundary point based on the above interpolation replacement calculation model, and calculate the interpolation ratio of the two closest loop-optimized key positioning position points, further calculate the replaced initial lawn boundary position points, and generate the virtual boundary of the lawn based on the replaced initial lawn boundary position points. In this way, the problem of inaccurate boundary construction caused by positioning errors is avoided. Without relying on GNSS (Global Navigation Satellite System) signal strength and ambient light conditions, the speed and efficiency of lawn boundary construction are improved, which greatly broadens the application scenarios of smart lawn mowers and solves the problem of inaccurate lawn boundary data caused by insufficient light or weak signals. The user's convenience and satisfaction are greatly improved, allowing users to enjoy an all-weather, all-scenario smart mowing experience and realize worry-free smart mowing operations.

[0089] Correspondingly, the present application also discloses a device for generating a boundary of an operation area, see Figure 4 As shown, the device comprises:

[0090] The information collection module 11 is used to obtain the initial position information and initial environment information collected when the working machine is traveling;

[0091] an auxiliary action execution module 12, configured to control the working machine to execute an auxiliary action if no loop is detected according to the initial position information and the initial environment information;

[0092] A loop optimization module 13, used for acquiring the auxiliary position information and the auxiliary environment information collected when the working machine performs the auxiliary action, and assisting the working machine to realize loop optimization of the initial position information according to the auxiliary position information and the auxiliary environment information;

[0093] The boundary generation module 14 is used to generate a virtual boundary of the operation area based on the initial position information after loop optimization.

[0094] Among them, for more specific working processes of the above-mentioned modules, please refer to the corresponding contents disclosed in the aforementioned embodiments, which will not be repeated here.

[0095] It can be seen that the present application proposes a method for generating the boundary of a work area, including: obtaining the initial position information and initial environment information collected when the work machine is traveling; if no loop is detected according to the initial position information and the initial environment information, controlling the work machine to perform an auxiliary action; obtaining the auxiliary position information and auxiliary environment information collected when the work machine performs the auxiliary action, and assisting the work machine to achieve loop optimization of the initial position information according to the auxiliary position information and the auxiliary environment information; generating a virtual boundary of the work area based on the initial position information after loop optimization. In summary, the present application first collects the initial position information and the initial environment information, and then performs loop detection according to the initial position information and the initial environment information. If no loop is detected, the work machine is controlled to perform a specific auxiliary action, and in this process, the auxiliary position information and the auxiliary environment information are collected again, and then the initial position information is loop optimized using the collected auxiliary position information and the auxiliary environment information, and finally the virtual boundary of the work area is generated based on the initial position information after loop optimization. In this way, the present application avoids the problems of complex installation and easy wear and aging of wires and the need for regular maintenance and replacement when creating boundaries by burying wires, thereby reducing installation and maintenance costs and improving the convenience of boundary construction. If no loop is detected based on the initial position information and initial environmental information, it means that there is an error in positioning that causes the trajectory of the operating machine to deviate from the actual boundary. For this reason, the present application controls the operating machine to perform specific auxiliary actions and collects auxiliary position information and auxiliary environmental information again in the process, so as to use the collected auxiliary position information and auxiliary environmental information to perform loop optimization on the initial position information. In this way, the errors generated in the positioning process can be eliminated through loop optimization, thereby ensuring the consistency between the constructed virtual boundary and the actual boundary of the working area.

[0096] Furthermore, an embodiment of the present application also provides an electronic device. Figure 5 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0097] Figure 5 The present invention provides a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the method for generating the boundary of the work area disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0098] In this embodiment, the power supply 25 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 23 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0099] In addition, the memory 22, as a carrier for storing resources, may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include a computer program 221, and the storage method may be temporary storage or permanent storage. In addition to including a computer program that can be used to complete the method for generating the boundary of the work area executed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 221 may further include a computer program that can be used to complete other specific tasks.

[0100] Furthermore, the embodiment of the present application also discloses a working machine, including a processor and a preset sensor component for collecting position information and environmental information;

[0101] Wherein, the processor is used to execute a computer program to implement the aforementioned method for generating the boundary of the working area. The processor is located on the machine body and / or the remote control device of the working machine. The preset sensor assembly includes an inertial measurement unit, a laser radar and / or a camera whose working wavelength is within a preset wavelength range. It should be pointed out that the above-mentioned camera can be a camera working within the visible light wavelength range, or a camera working within the infrared light wavelength range, or a camera working within other wavelength ranges. If necessary, it can also be a combination of multiple cameras working within different wavelength ranges. The embodiment of the present application can determine the type and quantity of the above-mentioned cameras based on actual application needs, and is not specifically limited here.

[0102] Furthermore, an embodiment of the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned disclosed method for generating a work area boundary is implemented.

[0103] For the specific steps of the method, reference may be made to the corresponding contents disclosed in the aforementioned embodiments, which will not be described in detail here.

[0104] Furthermore, an embodiment of the present application also discloses a computer program product, including a computer program / instruction, which implements the aforementioned method for generating a work area boundary when executed by a processor.

[0105] The various embodiments in this application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0106] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0107] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0108] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0109] The above is a detailed introduction to a method, device, equipment, and storage medium for generating a work area boundary provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for generating a work area boundary, characterized in that: include: Acquire initial position information and initial environment information collected when the operating machine is traveling; If no loop is detected according to the initial position information and the initial environment information, controlling the working machine to perform an auxiliary action; Acquiring auxiliary position information and auxiliary environment information collected when the working machine performs the auxiliary action, and assisting the working machine to achieve loop optimization of the initial position information according to the auxiliary position information and the auxiliary environment information; Generate the virtual boundary of the work area based on the initial position information after loop closure optimization.

2. The method for generating the boundary of the working area according to claim 1, characterized in that: The controlling the working machine to perform an auxiliary action includes: Controlling the working machine to rotate in situ around a rotation center on a body of the working machine; Alternatively, controlling the working machine to travel along a preset travel route; Alternatively, the working machine is controlled to travel according to the initial position information.

3. The method for generating the boundary of the working area according to claim 1, characterized in that: The method further comprises: If a loop is detected according to the initial position information and the initial environment information, loop optimization is performed on the initial position information to obtain loop-optimized initial position information.

4. The method for generating a work area boundary according to claim 1, characterized in that: The initial position information includes first initial position information and second initial position information; Accordingly, the loop optimization of the initial position information includes: Performing loop optimization on the first initial position information; Performing linear interpolation replacement on the second initial position information based on the first initial position information after loop closure optimization to obtain replaced second initial position information; Accordingly, the virtual boundary of the operation area is generated based on the initial position information after loop optimization, including: A virtual boundary of the work area is generated based on the replaced second initial position information.

5. The method for generating the boundary of the working area according to claim 4, characterized in that: The performing linear interpolation replacement on the second initial position information based on the first initial position information after loop closure optimization to obtain the replaced second initial position information includes: An interpolation operation is performed on the first initial position information after loop optimization, and a replacement operation is performed on the second initial position information using the interpolated position data to obtain the replaced second initial position information.

6. The method for generating the boundary of the working area according to claim 1, characterized in that: The method further comprises: In response to a remote control command sent by a remote control device, the working machine is controlled to travel, and during the travel, the initial position information and the initial environment information are collected through a sensor component; Alternatively, the actual boundary of the working area is identified by a sensor component, and the working machine is controlled to travel along the actual boundary according to the identification result, and the initial position information and the initial environment information are collected by the sensor component during the driving process.

7. The method for generating a work area boundary according to any one of claims 1 to 6, characterized in that: The method further comprises: If the working machine still cannot detect a loop after performing the auxiliary action, the initial position information is cleared.

8. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the method for generating a work area boundary as claimed in any one of claims 1 to 7.

9. A working machine, characterized in that: including a processor and a preset sensor component for collecting position information and environmental information; Wherein, the processor is used to execute a computer program to implement the method for generating a work area boundary as described in any one of claims 1 to 7.

10. The working machine according to claim 9, characterized in that: The processor is located on a machine body and / or a remote control device of the working machine.

11. The working machine according to claim 9, characterized in that: The preset sensor assembly includes an inertial measurement unit, a laser radar and / or a camera whose working wavelength is within a preset wavelength range.

12. A computer-readable storage medium, characterized in that: Used to store a computer program; wherein, when the computer program is executed by a processor, the method for generating a work area boundary as described in any one of claims 1 to 7 is implemented.

13. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method for generating a work area boundary as claimed in any one of claims 1 to 7 is implemented.

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