Autonomous operation equipment, control method and device thereof and storage medium

Abstract

The invention provides autonomous operation equipment and a control method and device thereof, and a storage medium, and is applied to the field of automatic control, and the method comprises the steps: obtaining an initial map boundary of a target operation area; the autonomous operation equipment is controlled to execute edgewise operation; under the condition that the autonomous operation equipment executes edge operation, the autonomous operation equipment performs boundary detection on the target operation area to obtain a detection map boundary; under the condition that the detection map boundary is obtained, the initial map boundary is corrected according to the detection map boundary to obtain a first corrected boundary, so that the autonomous operation equipment operates based on the first corrected boundary, the difficulty of creating a working map by a user can be reduced, the operation convenience of the autonomous operation equipment is improved, and the user experience is improved. And meanwhile, the working map accuracy and the overall operation effect are improved.

Description

Technical Field

[0001] This application relates to the field of automatic control, and in particular to autonomous operating equipment and its control methods, devices and storage media. Background Technology

[0002] With technological advancements, autonomous work equipment is commonly used to replace human labor in tasks such as material handling, inspection, and cleaning. These devices are typically equipped with sensors, navigation systems, and control algorithms, enabling them to perceive their surroundings and take appropriate actions. Currently, various types of autonomous work equipment are available on the market to assist people in their work, such as sweepers, lawnmowers, and vacuum cleaners, providing convenience for people's lives and work.

[0003] For autonomous robots such as lawnmowers and robotic vacuum cleaners, a working map needs to be pre-created at the initial stage of operation. This working map determines the robot's operating range. In existing technologies, this pre-created working map typically requires the user to remotely control the robot to walk around the boundary of the target working area. The map boundary is then determined based on the robot's movement trajectory, thus generating the working map. To create an accurate working map, the user needs to control the robot to move as close to the boundary as possible when determining the map boundary, which places a significant burden and inconvenience on the user, impacting the user experience. Furthermore, due to the inherent errors in manual operation, there is a discrepancy between the determined map boundary and the actual boundary of the target working area, resulting in a less accurate working map. This is detrimental to further robot operation and leads to a reduction in overall operational efficiency. Summary of the Invention

[0004] In view of this, embodiments of this application provide an autonomous operating device and its control method and apparatus, which can solve the problems of high user requirements and low accuracy of manually creating working maps, thereby improving the ease of operation and overall operating effect of the autonomous operating device. The technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a control method for autonomous operating equipment, the method comprising:

[0006] S101. Obtain the initial map boundary of the target work area;

[0007] S102, The self-moving device performs edge-following operations;

[0008] S103. When the self-mobile device performs edge operation, the self-mobile device performs boundary detection on the target operation area and obtains the detection map boundary.

[0009] S104. Upon obtaining the detected map boundary, the initial map boundary is corrected based on the detected map boundary to obtain a first corrected boundary, so that the self-moving device performs operations based on the first corrected boundary. Further, step S101 includes:

[0010] In response to control commands, the autonomous operating equipment travels along the actual boundary of the target operating area and records the trajectory of the autonomous operating equipment.

[0011] In response to a stop command, the recording of the travel trajectory is terminated;

[0012] The initial map boundary is generated based on the travel trajectory.

[0013] Further, step S103 includes:

[0014] The autonomous operating equipment is controlled to detect the actual boundary of the target operating area and obtain the environmental information corresponding to the actual boundary.

[0015] The environmental information is identified to obtain the detection map boundary.

[0016] Further, step S104 includes:

[0017] For a given initial map boundary, if the autonomous operating device obtains the corresponding detected map boundary, the detected map boundary and the initial map boundary are compared.

[0018] For a deviation boundary that deviates from the initial map boundary from the detected map boundary, obtain the first boundary information of the detected map boundary corresponding to the deviation boundary;

[0019] Based on the first boundary information, the deviation boundary is corrected to obtain the first corrected boundary, which coincides with the detection map boundary.

[0020] Furthermore, step S104 also includes:

[0021] For a given initial map boundary, if the autonomous operating device acquires the corresponding detected map boundary, it determines whether the detected map boundary is located outside the corresponding initial map boundary.

[0022] When the detected map boundary is located outside the initial map boundary, the second boundary information of the detected map boundary located outside the initial map boundary is obtained; the initial map boundary is corrected based on the second boundary information to obtain the first corrected boundary, which coincides with the detected map boundary.

[0023] Furthermore, after determining whether the detected map boundary is located outside the corresponding initial map boundary, the method further includes the step of performing a correlation analysis on the detected map boundary and the initial map boundary to obtain a correlation result when the detected map boundary is located inside the initial map boundary:

[0024] When the correlation result is greater than the correlation threshold, the third boundary information of the detected map boundary located outside the initial map boundary is obtained; the initial map boundary is corrected based on the boundary information to obtain the first corrected boundary, which coincides with the detected map boundary.

[0025] Furthermore, after the step of performing correlation analysis on the detected map boundary and the initial map boundary to obtain a correlation result, the method further includes the step of comparing the smoothness of the detected map boundary and the initial map boundary pair to obtain a comparison result when the correlation result is less than or equal to the correlation threshold:

[0026] When the comparison result indicates that the detected map boundary is smoother than the initial map boundary, the fourth boundary information of the detected map boundary located inside the initial map boundary is obtained; the initial map boundary is corrected based on the fourth boundary information to obtain the first corrected boundary, which coincides with the detected boundary.

[0027] If the comparison result indicates that the initial map boundary is smoother than the detected map boundary, the initial map boundary segment is retained as the first corrected boundary.

[0028] Furthermore, the steps for obtaining the correlation results include:

[0029] The detected map boundary and the corresponding initial map boundary are divided into multiple sub-segments of the same number, resulting in multiple detected map boundary sub-segments and multiple initial map boundary sub-segments;

[0030] Establish a reference coordinate system to determine the reference direction;

[0031] Based on the reference direction, the detected map boundary segment, and the initial map boundary segment, a first angle sequence and a second angle sequence are obtained. The first angle sequence includes multiple first angles, where each first angle is the angle of the detected map boundary segment relative to the reference direction. The second angle sequence includes multiple second angles, where each second angle is the angle of the initial map boundary segment relative to the reference direction.

[0032] Perform a difference operation on the first angle sequence and the second angle sequence respectively to obtain the first angle change sequence and the second angle change sequence;

[0033] Correlation analysis was performed on the first angle change sequence and the second angle change sequence to obtain the correlation results.

[0034] Furthermore, step S104 also includes:

[0035] For the actual boundary of the same target work area, if the autonomous work equipment does not acquire the detected map boundary, the initial map boundary corresponding to that segment is retained as the first corrected boundary.

[0036] Furthermore, after S104, the method further includes:

[0037] S105. Obtain the missing area of ​​the operation based at least on the first correction boundary;

[0038] S106. The autonomous operating equipment travels to the missed operating area and performs boundary detection to obtain the boundary of the area map.

[0039] S107. The first modified boundary is modified according to the boundary of the area map to obtain a second modified boundary, so that the autonomous operating equipment can perform operations based on the second modified boundary.

[0040] Further, step S105 includes:

[0041] Obtain the operation trajectory of the autonomous operating equipment performing edge operations;

[0042] By comparing the work trajectory with the first correction boundary, the portion of the first correction boundary that is at a certain distance from the work trajectory is taken as the omission boundary, and the area corresponding to the omission boundary is taken as the omission area of ​​the work.

[0043] Furthermore, step S105 also includes:

[0044] For a segment of the first correction boundary, determine whether the segment of the first correction boundary is a retained initial map boundary; if the first correction boundary is a retained initial map boundary, then the area corresponding to the segment of the first correction boundary is taken as the omission area of ​​the operation.

[0045] When the first corrected boundary is not the original map boundary that is retained, the area corresponding to the first corrected boundary segment is regarded as the area that has been worked on.

[0046] Further, step S107 includes:

[0047] When the boundary of the region map is located inside the first correction boundary corresponding to the region where the operation was missed, the first correction boundary is corrected based on the boundary of the region map to obtain the second correction boundary, which coincides with the boundary of the region map.

[0048] Secondly, embodiments of this application provide a control device for autonomous operating equipment, the device comprising:

[0049] The acquisition module is used to obtain the initial map boundaries of the target work area;

[0050] The operation module is used to control the autonomous operation equipment to perform edge operations;

[0051] The first detection module is used to control the autonomous operating equipment to perform boundary detection on the target operating area and obtain the detection map boundary when the autonomous operating equipment is performing edge operation.

[0052] The first correction module is used to correct the initial map boundary according to the detected map boundary to obtain a first corrected boundary, so that the autonomous operating equipment can perform operations based on the first corrected boundary.

[0053] Thirdly, embodiments of this application provide an autonomous operating device, which includes a main body and is equipped with a control device as described in the second aspect.

[0054] Fourthly, embodiments of this application provide a computer-readable storage medium storing at least one program, which is loaded and executed by a processor to implement the control method for autonomous operating equipment as described above. Attached Figure Description

[0055] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 A flowchart illustrating an exemplary embodiment of the control method for autonomous operating equipment provided in this application is shown.

[0057] Figure 2 This application illustrates a schematic diagram of a work trajectory provided by an exemplary embodiment.

[0058] Figure 3This illustration shows a schematic diagram of the positional relationship between an initial map boundary and a detected map boundary provided in an exemplary embodiment of this application;

[0059] Figure 4 This illustration shows a schematic diagram of a job omission area provided in an exemplary embodiment of this application;

[0060] Figure 5 A schematic diagram of a second modified boundary provided by an exemplary embodiment of this application is shown;

[0061] Figure 6 A schematic diagram of the process for obtaining the first correction boundary provided in an exemplary embodiment of this application is shown;

[0062] Figure 7 A schematic diagram of the process for obtaining the first correction boundary is shown in another exemplary embodiment of this application;

[0063] Figure 8 A schematic diagram of the process for obtaining the first correction boundary is shown in another exemplary embodiment of this application;

[0064] Figure 9 A schematic diagram illustrating the acquisition of a displacement vector is shown in an exemplary embodiment of this application;

[0065] Figure 10 A schematic diagram illustrating the correlation analysis provided by another exemplary embodiment of this application is shown;

[0066] Figure 11 A schematic diagram of the process for obtaining the first correction boundary is shown in another exemplary embodiment of this application;

[0067] Figure 12 A structural block diagram of an autonomous operating equipment control device provided in an exemplary embodiment of this application is shown. Detailed Implementation

[0068] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0069] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0070] It should be noted that the terms "first," "second," etc., used in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0071] The following describes the control method for the autonomous operating equipment of the present invention. Figure 1 This is a flowchart illustrating a control method for an autonomous operating device according to an embodiment of the present invention. This specification provides the operational steps described in the embodiments or flowcharts, but based on conventional or non-inventive methods, more or fewer operational steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only possible execution order. In actual autonomous operating devices performing tasks, the methods shown in the embodiments or drawings can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment). Specifically, as shown... Figure 1 As shown, the above method may include:

[0072] S101. Obtain the initial map boundary of the target work area.

[0073] The initial map boundary is a user-defined working boundary of the autonomous working device within the target work area. This initial map boundary can be generated using an autonomous working device equipped with a positioning device (such as an RTK positioning device). Specifically, the user controls the movement of the autonomous working device through a control terminal, guiding it to move as close as possible to the actual boundary of the target work area, thus generating the initial map boundary. However, due to human error, there is usually a deviation between the initial map boundary and the actual boundary of the target work area, requiring further optimization. The actual boundary is the objectively existing true boundary of the target work area, and the robot should be strictly confined to within this actual boundary during operation.

[0074] In one possible implementation, when the user controls the autonomous operating equipment to move along the actual boundary of the target operating area, the coordinates of the autonomous operating equipment are obtained in real time through a positioning device (such as an RTK positioning device), and the trajectory of the autonomous operating equipment is obtained based on the obtained coordinates. After obtaining the trajectory of the autonomous operating equipment, the trajectory can be directly used as the initial map boundary, or the trajectory can be further optimized by combining data such as the size of the machine body outline and the preset edge interval, such as appropriately enlarging or shrinking the trajectory, and the optimized trajectory can be used as the initial map boundary.

[0075] S102. Autonomous operating equipment performs edge operations.

[0076] After acquiring the initial map boundary, the autonomous working device performs edge-following operations along a first path. This first path may include the initial map boundary, the boundary detected by the robot's vision sensors, and other boundaries that can represent the actual boundary of the working area within a certain error / accuracy range. When performing edge-following operations, the autonomous working device can automatically perform the operations according to preset program instructions, or it can perform the operations in response to user control, or it can perform the operations in other ways. For the sake of illustrating the embodiments of this application, the following mainly uses the example of the autonomous working device automatically performing edge-following operations according to preset program instructions. When performing edge-following operations, the autonomous working device can simply walk along the first path, or it can perform tasks such as mowing, cleaning, snow sweeping, and leaf collection while walking along the first path.

[0077] In one implementation, for example, the autonomous operating device performs edge-following tasks based on the initial map boundary. Since obstacles may exist near the initial map boundary during edge-following operations, the autonomous operating device will automatically bypass these obstacles to ensure operational safety and effectiveness. After bypassing the obstacles, the autonomous operating device continues its operation along the initial map boundary. In this scenario, the operating trajectory of the autonomous operating device will differ from the acquired initial map boundary. Figure 2A schematic diagram of a work trajectory provided in an exemplary embodiment of this application is shown, including an actual boundary 21, a work trajectory 22, and obstacles 23. Accordingly, if there are no obstacles obstructing the initial map boundary when performing edge-based operations, the work trajectory substantially coincides with the initial map boundary.

[0078] In another implementation, for example, the autonomous working device can also perform edge-following operations based on the detection map boundary detected by the vision sensor. Since obstacles may exist near the work area boundary when performing edge-following operations, the autonomous working device will automatically bypass the obstacles to ensure operational safety and effectiveness. After bypassing the obstacles, the autonomous working device continues to operate along the detection map boundary. In this case, the working trajectory of the autonomous working device will differ from the acquired detection map boundary. In some embodiments, the autonomous working device may identify obstacle boundaries as detection map boundaries, thereby making the working trajectory of the autonomous working device the same as the detection map boundary. Conversely, if there are no obstacles near the work area boundary when performing edge-following operations, the working trajectory is the same as the detection map boundary.

[0079] In one embodiment, when the autonomous working device performs edge work, it also records the working trajectory of the autonomous working device, which can be used to identify missed areas in the work.

[0080] S103. When the autonomous operating equipment is performing edge operations, control the autonomous operating equipment to perform boundary detection on the target operating area and obtain the detection map boundary.

[0081] There is often a significant deviation between the initial map boundary and the actual boundary of the target work area. For example, the initial map boundary manually created by the user may be too far from the actual boundary; in the case of an automated lawnmower, the robot may not be able to cut the portion of the lawn near the actual boundary. Alternatively, the initial map boundary may be too close to the actual boundary; for example, when there is a large angle at the actual boundary, the autonomous equipment may collide with the actual boundary due to untimely control response. Therefore, when the automated equipment performs edge-to-edge operations according to the initial map boundary, the actual boundary is detected to obtain a detected map boundary, which is used to adjust the initial map boundary subsequently. Figure 3 This illustration shows the positional relationship between an initial map boundary and a detected map boundary provided in this disclosure, including an actual boundary 31, an initial map boundary 32, and a detected map boundary 33.

[0082] Specifically, when the autonomous operating equipment performs edge operations, the control system can perform boundary detection on the target operating area. This can be achieved by using LiDAR or a vision sensor to acquire a 3D point cloud map near the actual boundary of the target operating area and extracting the detection map boundary. Alternatively, the vision sensor deployed on the autonomous operating equipment can collect 2D environmental images of the target operating area in real time, perform AI recognition on the 2D environmental images to obtain the detection map boundary in the 2D environmental images, and further match the detection map boundary in the 2D environment with the point cloud in the 3D point cloud map to obtain the detection map boundary in the 3D point cloud map.

[0083] For example, when performing boundary recognition by acquiring a two-dimensional environmental image of the target work area through a vision sensor, the two-dimensional environmental image is obtained through the vision sensor, and the obtained two-dimensional environmental image is segmented into a work area (such as a grassy area) and a non-work area (such as a non-grassy area) in the two-dimensional image using an AI semantic segmentation method. The boundary between the work area and the non-work area is the boundary of the work area in the two-dimensional image.

[0084] Furthermore, a 3D / depth point cloud map of the environment is acquired through a visual sensor or LiDAR. The 3D / depth point cloud map of the environment contains 3D point clouds of objects in the environment, and each feature point in the 3D point cloud contains 3D coordinate information.

[0085] After obtaining the working area boundary and the three-dimensional point cloud map in the two-dimensional image, the feature points of the working area boundary in the two-dimensional image are matched with the feature points of the three-dimensional point cloud map to obtain the feature points of the three-dimensional point cloud map of the working area boundary, that is, the three-dimensional point cloud of the working area boundary, and then the three-dimensional coordinates of the working area boundary point cloud are obtained.

[0086] In this embodiment, the visual sensor and the satellite positioning device achieve coordinate system alignment during the initialization phase. Therefore, the point cloud coordinates in the 3D point cloud map and the coordinates output by the RTK positioning device have the same coordinate system, that is, the coordinates of the point cloud at the boundary of the working area and the coordinates of the boundary points of the initial map are in the same coordinate system.

[0087] When there are no obstacles on the robot's path along the edge, the vision sensor can detect the boundary of the detection map. However, when the boundary of the work area is not obvious or there are obstacles on the robot's path along the edge, the vision sensor may not detect the boundary of the detection map, or it may mistakenly identify the obstacle boundary as the boundary of the detection map when it detects the obstacle boundary.

[0088] S104. When the detection map boundary is obtained, the initial map boundary is corrected according to the detection map boundary to obtain a first corrected boundary, so that the autonomous operating equipment can perform operations based on the first corrected boundary.

[0089] In some embodiments, after obtaining the detected map boundary, the initial map boundary is corrected based on the detected map boundary. For the portion where the detected map boundary and the initial map boundary overlap, the initial map boundary is retained and used as the first corrected boundary. For the portion where the initial map boundary deviates from the detected map boundary, the detected map boundary is selected to replace that portion of the initial map boundary as the first corrected boundary. In one possible case, if the autonomous operating device fails to successfully obtain the detected map boundary corresponding to a certain segment of the actual boundary, the initial map boundary corresponding to that segment of the actual boundary is still partially retained as the first corrected boundary.

[0090] Understandably, in practical applications, when determining the relative position of the detected map boundary and the initial map boundary, an error range is set. When the distance between the detected map boundary and the initial map boundary is less than or equal to the set range, it is determined that the detected map boundary and the initial map boundary trajectory coincide; only when the distance between the detected map boundary and the initial map boundary is greater than the set range, it is determined that the detected map boundary and the initial map boundary deviate from each other.

[0091] In other possible embodiments, the initial map boundary is retained for the portion where the detected map boundary and the initial map boundary overlap, and used as the first correction boundary; for the portion where the initial map boundary deviates from the detected map boundary, the deviation of the initial map boundary is further determined. For example, with the center of the target operation area as a reference, it is determined whether the initial map boundary is outside or inside the detected map boundary. If the initial map boundary is outside the detected map boundary, the portion of the initial map boundary is retained; otherwise, the detected map boundary is used to replace the portion of the initial map boundary as the first correction boundary.

[0092] In other possible embodiments, the initial map boundary is retained for the portion where the detected map boundary and the initial map boundary overlap, and is used as the first correction boundary; for the portion where the initial map boundary deviates from the detected map boundary, a new fused boundary can be generated based on the boundary position information of the initial map boundary and the boundary position information of the detected map boundary, and is used as the first correction boundary.

[0093] In the above embodiments, the initial map boundary is corrected based on the detected map boundary to obtain the first corrected boundary. Under the premise of obtaining the user-established initial map boundary, the autonomous operating equipment obtains the detected map boundary to correct the initial map boundary. Therefore, the initial map boundary does not need to maintain high accuracy, which reduces the requirement for the user to manually create the working map and improves the ease of operation of the autonomous operating equipment.

[0094] In some embodiments, after obtaining the first corrected boundary, due to temporary obstacles or large corners at the boundary of the target working area, the detected map boundary may differ significantly from the initial map boundary, and the corrected first corrected boundary may still be inaccurate. Therefore, the first corrected boundary can be further corrected to correct the error of the first corrected boundary and obtain a more accurate second corrected boundary. The above method may include:

[0095] S105. At least based on the first correction boundary, the missing area of ​​the operation is obtained.

[0096] Due to the presence of obstacles, the actual boundary of the target work area may differ significantly from the initial map boundary. This means that the corrected first boundary may not accurately reflect the actual boundary. Therefore, it is necessary to first determine the missing work area based on the first corrected boundary to facilitate subsequent correction based on the missing work area.

[0097] Optionally, in some embodiments, the missed work area can be obtained by the following method: by using a positioning device installed on the autonomous work equipment to obtain the work trajectory of the autonomous work equipment performing edge work; by comparing the work trajectory with the first correction boundary, the part of the first correction boundary that is more than a certain threshold away from the work trajectory is taken as the missed boundary, and the area corresponding to the missed boundary is taken as the missed work area, wherein the aforementioned specific threshold can be a value set by the user in advance.

[0098] Understandably, in practical applications, when comparing the work trajectory with the first correction boundary trajectory, the work trajectory is expanded outward by a specific distance based on factors such as the robot's body width and the robot's safe walking distance along the edge, resulting in a processed work trajectory. The processed work trajectory is then compared with the first correction boundary.

[0099] Specifically, the first correction boundary and the operation trajectory of the autonomous operation equipment are compared to identify the areas where the first correction boundary 41 and the operation trajectory 42 differ significantly as the operation omission areas, so that they can be detected and corrected later. Figure 4 This illustration shows a schematic diagram of a missed work area provided in this disclosure, including a first correction boundary 41, a work trajectory 42, a missed boundary 43, and a missed work area 44. Specifically, in one possible implementation, the portion of the first correction boundary 41 that is more than a certain threshold away from the work trajectory 42 is considered as the missed boundary 43, and a specific area near the missed boundary 43 is considered as the missed work area 44.

[0100] Optionally, in other embodiments, the missed work area can also be obtained in the following way: for the actual boundary of the same target work area, determine whether the first corrected boundary of the segment is the retained initial map boundary; if so, the area corresponding to the first corrected boundary of the segment is taken as the missed work area; if not, the area corresponding to the first corrected boundary of the segment is taken as the already worked area.

[0101] S106. Control the autonomous operating equipment to travel to the missed area of ​​the operation to perform boundary detection and obtain the boundary of the area map.

[0102] Specifically, the autonomous operating equipment travels to the missed area and performs boundary detection. Specifically, with the help of vision or other sensors installed on the autonomous operating equipment, the boundary is extracted by obtaining a 3D point cloud map through LiDAR or vision sensors, or by using AI image segmentation and 2D-3D image matching methods to detect the actual boundary of the missed area and obtain the boundary of the area map.

[0103] S107. Correct the first correction boundary according to the regional map boundary to obtain the second correction boundary.

[0104] In some embodiments, for the actual boundary of the same missing area in the same operation, the corresponding part of the boundary in the first correction boundary can be directly replaced by the boundary of the area map to generate the second correction boundary. Figure 5 A schematic diagram of a second modified boundary provided in this disclosure is shown. Figure 5 This includes the first correction boundary 51, the second correction boundary 52, and the regional map boundary 53.

[0105] For example, after obtaining the first correction boundary, the autonomous operating equipment re-detects the missed area to determine whether there are still obstacles in the missed area. Figure 5 The diagram illustrates a scenario where obstacles still exist. During a secondary detection by the autonomous operating equipment, the obstacle boundary is still detected. In this case, the obstacle is considered a fixed obstacle, and a second corrected boundary is obtained based on the obstacle boundary (region map boundary). After obtaining the region map boundary corresponding to the missed area, the first corrected boundary is further corrected based on the region map boundary to obtain the second corrected boundary. Specifically, if the region map boundary is located inside or outside the first corrected boundary corresponding to the missed area, the first corrected boundary is corrected based on the region map boundary to obtain the second corrected boundary. Alternatively, the first corrected boundary corresponding to the missed area can be replaced with the region map boundary to generate the second corrected boundary.

[0106] When performing the first boundary correction, the autonomous operating equipment replaces the initial map boundary with the detected map boundary for boundary segments where the detected map boundary is outside the initial map boundary. For boundary segments where the detected map boundary is inside the initial map boundary, in some embodiments, the outer initial map boundary may be retained as the first correction boundary. Simultaneously, due to the obstacle avoidance strategy of the autonomous operating equipment, it will travel along the inner obstacle boundary (which may be identified as the detected map boundary) when operating along the edge. Therefore, for areas where the outer initial map boundary is retained during the first boundary correction, the autonomous operating equipment will identify these as missed areas and return to these missed areas for a second boundary detection.

[0107] When a secondary boundary detection of a missed area still detects the area map boundary as being inside the initial map boundary, the likelihood of dynamic or temporary obstacles in that boundary segment is low. Furthermore, the possibility of false detections during the autonomous operation equipment's secondary detection is significantly reduced. Therefore, the detection by the autonomous operation equipment can be trusted, and the area map boundary or the detected map boundary of that segment should be replaced with the first corrected boundary or the initial map boundary to obtain the second corrected boundary. When the equipment returns to the missed area for secondary detection, if the newly detected area map boundary coincides with the initial map boundary, or if the newly detected area map boundary is outside the initial map boundary, it indicates that there may have been dynamic obstacles or false detections during the initial detection. In this case, the newly detected area map boundary should be used to replace the first corrected boundary or the initial map boundary to refine the boundary trajectory.

[0108] In some embodiments, after obtaining the second corrected boundary, the autonomous operating device can perform operations based on the second corrected boundary. Specifically, this includes generating a working map of the target operating area based on the second corrected boundary, so that the autonomous operating device can perform operations on the target operating area based on the working map.

[0109] The second corrected boundary, after two rounds of testing and correction, is more accurate than the initial map boundary. The terminal device obtains the second corrected boundary and uses it as the working boundary of the autonomous operating equipment in the target operating area, generating a working map of the target operating area so that the autonomous operating equipment can perform operations in the target operating area based on the working map.

[0110] In this embodiment, an initial map boundary of the target work area is obtained. An autonomous work device is controlled to perform edge-based operations according to the initial map boundary, recording the work trajectory. During edge-based operations, the autonomous work device performs boundary detection on the target work area to obtain the detected map boundary. Furthermore, a first corrected boundary is compared with the work trajectory to identify missed areas. Boundary detection is then performed in these missed areas to obtain the region map boundary, which is used to correct the first corrected boundary, resulting in a second corrected boundary. This further eliminates errors in the first corrected boundary, thereby generating a more accurate working map of the target work area. The autonomous work device completes the work based on a highly accurate working map, improving the overall work efficiency.

[0111] In other embodiments, the positional relationship and / or correlation and / or smoothness between the regional map boundary and the initial map boundary can be analyzed, and the appropriate boundary to be used as the second correction boundary can be determined based on the analysis results. For example, when the regional map boundary is located inside the initial map boundary, the initial map boundary is retained as the second correction boundary.

[0112] In other embodiments, in scenarios such as steep slopes with grasslands both in front and behind, when returning to the missed area for boundary detection, the area map boundary may still not be detected. If the area map boundary cannot be detected, the initial map boundary or the first corrected map boundary is retained as the second corrected boundary.

[0113] After obtaining the initial map boundary and the detected map boundary, it is crucial to correct the initial map boundary based on the detected map boundary, so as to obtain a more accurate first corrected boundary through reasonable correction.

[0114] In some embodiments, Figure 6 A schematic diagram of the process for obtaining the first correction boundary provided by an exemplary embodiment of this application is shown.

[0115] S601. Obtain the initial map boundary and record the operation trajectory when the autonomous operating equipment performs edge operations.

[0116] The specific implementation of step S601 is the same as that of steps S101-S103, and will not be repeated here.

[0117] S602. Determine whether the detection map boundary corresponding to the initial map boundary has been obtained.

[0118] When autonomous operating equipment performs edge operations, in scenarios such as steep slopes with grasslands in front and behind, it may not be able to obtain the detection map boundary corresponding to a certain segment of the actual boundary of the target operating area. Therefore, before correcting the initial map boundary, it is necessary to determine whether the autonomous operating equipment has obtained the corresponding detection map boundary.

[0119] S603. For an initial map boundary segment, if the autonomous operating device fails to acquire the detected map boundary, the corresponding initial map boundary segment is retained as the first correction boundary.

[0120] If the detection map boundary cannot be obtained, the corresponding initial map boundary with a certain degree of reliability is retained as the first correction boundary to ensure the integrity of the first correction boundary.

[0121] S604. For the boundary of the same target operation area, when the autonomous operation equipment obtains the detection map boundary, it compares the detection map boundary with the initial map boundary.

[0122] Specifically, if the detection map boundary and the initial map boundary can be obtained simultaneously for the boundary of the same target operation area, there may be two situations: the initial map boundary and the detection map boundary coincide, or the initial map boundary deviates from the detection map boundary.

[0123] S605. For the deviation boundary of the initial map boundary that deviates from the detection map boundary, obtain the first boundary information of the detection map boundary corresponding to the deviation boundary.

[0124] Specifically, taking the center of the target operation area as a reference, regardless of whether the initial map boundary deviates inward or outward from the detection map boundary, the first boundary information of the detection map boundary corresponding to the deviation of the initial map boundary is obtained. The first boundary information may include information such as the position and shape of this part of the detection map boundary.

[0125] S606. On the initial map boundary, based on the first boundary information, the partial deviation from the boundary is corrected to obtain the first corrected boundary.

[0126] Specifically, based on the first boundary information, the deviation from the boundary is replaced with the detected map boundary to obtain the first corrected boundary.

[0127] In the above embodiments, for the initial map boundary that deviates from the detection map boundary, the detection map boundary is considered more reliable, and the deviation of the initial map boundary is replaced by the detection map boundary to generate the first correction boundary. If a certain segment of the detection map boundary is not obtained, the initial map boundary is used as the first correction boundary to ensure the integrity of the first correction boundary.

[0128] In some embodiments, when an autonomous working device performs edge-following operations, new obstacles may appear on the initial map boundary. The autonomous working device will avoid these obstacles by following their outer contours. When the obstacle's outer contour is a relatively complete surface, and the obstacle surface differs significantly from the working area (e.g., a grassy area), the area where the obstacle is located in the 2D image may be identified as a non-working area (e.g., a non-grassy area). This could lead to the device's perception system mistakenly detecting the obstacle's outer contour as the actual boundary of the target working area, resulting in the generation of a detection map boundary that differs significantly from the initial map boundary. If the obstacle is a temporary obstacle, i.e., an obstacle that only exists at a specific time (e.g., when the autonomous working device performs edge-following operations to correct the initial map boundary), in this case, if the autonomous working device updates the obstacle's contour to the detection map boundary, directly corrects the initial map boundary based on the detection map boundary, and generates a working map, it may cause the autonomous working device to ignore the area occupied by the temporary obstacle during subsequent operations, resulting in missed operations.

[0129] Therefore, when correcting the initial map boundary based on the detected map boundary, further judgment should be made. For non-overlapping initial map boundaries and detected map boundaries, the more reliable boundary should be selected as the first correction boundary. For example... Figure 7 As shown, Figure 7 A schematic diagram of the process for obtaining the first correction boundary is shown in another exemplary embodiment of this application.

[0130] The specific implementation methods of steps S701-S703 in the figure are the same as those of steps S601-S603, and will not be repeated here.

[0131] S704. For the actual boundary of the same target operation area, when the autonomous operation equipment obtains the corresponding detection map boundary, it determines whether the detection map boundary corresponding to the actual boundary is located outside the corresponding initial map boundary.

[0132] For example, taking the center of the target work area as a reference, for this segment of the actual boundary, it is determined whether the corresponding initial map boundary is outside or inside the detected map boundary. When the detected map boundary detected by the autonomous operating equipment's perception system is inside the initial map boundary, it is considered that the detected map boundary is a false detection caused by an obstacle. When generating the first corrected boundary for this segment of the actual boundary, the initial map boundary is retained, and the detected map boundary is not used to replace the initial map boundary. Conversely, when the detected map boundary is outside the initial map boundary, it is considered that the detected map boundary is more accurate than the initial map boundary, and the detected map boundary is still used when generating the first corrected boundary.

[0133] S705. If so, obtain the second boundary information of the detected map boundary located outside the initial map boundary.

[0134] Specifically, if the initial map boundary is located inside the detection map boundary, then the second boundary information of the detection map boundary corresponding to the initial map boundary is obtained. The second boundary information may include information such as the position and shape of this part of the detection map boundary.

[0135] S706. Based on the second boundary information, the initial map boundary is corrected to obtain the first corrected boundary.

[0136] Specifically, based on the boundary information, the initial map boundary located on the inside of this segment is replaced with the detected map boundary to obtain the first corrected boundary.

[0137] S707. If not, retain the initial map boundary of that segment as the first correction boundary.

[0138] Specifically, if the initial map boundary is located outside the detection map boundary, then that portion of the initial map boundary is retained as the first correction boundary.

[0139] In the above embodiments, for the initial map boundary that deviates from the detection map boundary, the positional relationship between the initial map boundary and the detection map boundary is further determined. When the detection map boundary is located outside the initial map boundary, the detection map boundary is considered more reliable, and the deviation of the initial map boundary is replaced by the detection map boundary. Otherwise, the initial map boundary is retained as the first correction boundary to improve the accuracy of the first correction boundary.

[0140] In some embodiments, when an autonomous working device performs edge-based operations, the situation where the detected map boundary is located inside the initial map boundary for a certain segment of the actual boundary may not be caused by obstacles. When the actual boundary of the target work area changes significantly (e.g., the actual boundary forms a small angle, or the autonomous working device needs to rotate a large angle), and the user does not notice the change in the actual boundary in time, or the real-time movement of the autonomous working device fails to respond to user control in a timely manner, the device's trajectory may temporarily approach or even exceed the actual boundary, resulting in the initial map boundary obtained based on the trajectory exceeding the actual boundary. In this case, if the autonomous working device's perception system detects the actual boundary and generates a more accurate detected map boundary, this detected map boundary will also be located inside the initial map boundary. If the above-described S701-S707 scheme is adopted, i.e., for the portion where the detected map boundary is inside the initial map boundary, the initial map boundary is retained as the first correction boundary, then the first correction boundary also retains the corresponding error, which may cause the autonomous working device to subsequently operate outside the target work area.

[0141] Therefore, when correcting the initial map boundary based on the detected map boundary, if the detected map boundary is located inside the corresponding initial map boundary, the correlation between this segment of the detected map boundary and the initial map boundary is determined, and then a first corrected boundary is generated to further eliminate any errors that the first corrected boundary may contain. Figure 8 As shown, Figure 8 A schematic diagram of the process for obtaining the first correction boundary is shown in another exemplary embodiment of this application.

[0142] Figure 8 For details on the specific implementation of steps S801-S806, please refer to steps S701-S706, which will not be repeated here.

[0143] S807. When the detected map boundary is located inside the initial map boundary, perform a correlation analysis between this detected map boundary segment and the corresponding initial map boundary to obtain the correlation results. This can be achieved in the following way:

[0144] The detected map boundary and its corresponding initial map boundary are each divided into an equal number of sub-segments, resulting in multiple detected map boundary sub-segments and multiple initial map boundary sub-segments. Specifically, a specific number of sub-segments can be set, and the initial map boundary and detected map boundary can be divided into sub-segments based on this number of sub-segments. Alternatively, the geometric center point of the target work area can be found, and the plane can be divided into multiple regions of equal curvature. The detected map boundary sub-segments and the initial map boundary sub-segments can then be obtained based on these equally spaced regions. Figure 9 As shown, Figure 9 A schematic diagram of obtaining a boundary provided by an exemplary embodiment of this application is shown, including 91 an initial map boundary segment and 92 a detected map boundary segment.

[0145] A reference coordinate system is established on the target work area to determine the reference direction. Based on the boundary segments and the reference direction, the angle of each boundary segment relative to the reference direction is determined, resulting in a first angle sequence and a second angle sequence. The first angle sequence includes multiple first angles, which are the angles of the detected map boundary segments relative to the reference direction. The second angle sequence includes multiple second angles, which are the angles of the initial map boundary segments relative to the reference direction.

[0146] The first angle sequence and the second angle sequence are differentially processed to obtain the first angle change sequence and the second angle change sequence. Specifically, the first angle change sequence reflects the angle change of each detected map boundary segment relative to the previous detected map boundary segment, and the second angle change sequence reflects the angle change of each initial map boundary segment relative to the previous initial map boundary segment.

[0147] Through the above processing, discrete sequences representing the local directional changes of the initial map boundary and the detected map boundary can be obtained. Among them, the first angle change sequence is used to represent the changing trend of the detected map boundary detected by the autonomous operating equipment, and the angle change sequence of the initial map boundary (the second angle change sequence) can be used to represent the user's control intention on the direction of travel of the autonomous operating equipment.

[0148] Correlation analysis was performed on the first and second angle change sequences to obtain the correlation results. Based on these two sets of angle change sequences, for the interval where the detected map boundary is located near the boundary segment inside the initial map boundary, if the angle change sequence of the detected map boundary is highly correlated with the angle change sequence of the initial map boundary, it indicates that the changing trend of the actual boundary detected by the autonomous operating equipment is consistent with the user's control intention for the autonomous operating equipment's direction of travel. In this case, the detected map boundary can be trusted, meaning it is considered reliable and there is no misidentification caused by obstacles. Therefore, when making the first correction to the initial map boundary, the detected map boundary can be used to replace the initial map boundary to obtain the first corrected boundary.

[0149] Optionally, correlation analysis can be performed by methods such as covariance calculation, cross-correlation function calculation, and correlation coefficient calculation on the first-angle change sequence and the second-angle change sequence.

[0150] Figure 10This illustration shows a correlation analysis provided by an exemplary embodiment of the present application, including: an initial map boundary 101, a detection map boundary 102, and multiple extreme points 103. Optionally, based on the boundary segment where the detection map boundary is located inside the initial map boundary, specific interval data of two sets of angle change sequences are extracted for correlation analysis. The specific interval can be the sequence interval corresponding to the boundary segment where the detection map boundary is located inside the initial map boundary; it can also be the sequence interval defined by the two extreme points before and after the two sets of sequence intervals, the two zero points before and after the two zero points, other statistical feature points, or combinations thereof. For example, the two extreme points before and after the two extreme points can be the two extreme points before and after the first angle change sequence, or the two extreme points before and after the second angle change sequence, or any combination of the four sets of intervals formed by the two preceding extreme points and the two following extreme points of the two sets of sequences; furthermore, it can be the combination that can determine the largest range interval. In a preferred embodiment, the left endpoint of a specific interval is determined by the following method: Since the detected map boundary and the initial map boundary determine the same number of segments, the first angle change sequence and the second angle numbering sequence also have a corresponding relationship. The extreme points of the first angle change sequence and the second angle change sequence are obtained, and the earlier extreme point with the smaller sequence number is selected as the left endpoint of the specific interval. Similarly, the extreme points of the first angle change sequence and the second angle change sequence are obtained, and the later extreme point with the larger sequence number is selected as the right endpoint of the specific interval. Determining the left and right endpoints determines the specific interval. Data from the first angle change sequence corresponding to this specific interval and data from the second angle change sequence corresponding to this specific interval are taken. The data from these two sequences within the specific interval contain relatively complete angle change features of the initial map boundary and the detected map boundary. Correlation analysis of the specific interval data from the two sets of angle change sequences can improve the accuracy of the analysis.

[0151] S808. Determine whether the correlation result is greater than the correlation threshold.

[0152] A correlation analysis is performed on the first and second angle change sequences to obtain the correlation results, and it is determined whether the correlation results are greater than a correlation threshold. The correlation analysis uses covariance calculation as an example, calculating the covariance of the first and second angle change sequences. When the covariance value is greater than a specific threshold, the detected map boundary and the initial map boundary are considered to be highly correlated; otherwise, they are considered uncorrelated. Optionally, the correlation analysis can also use a cross-correlation function to calculate the cross-correlation function between the first and second angle change sequences. If the extreme value of the cross-correlation function is greater than a specific threshold, the detected map boundary and the initial map boundary are considered to be highly correlated. Optionally, the correlation analysis can also calculate the correlation coefficient between the first and second angle change sequences. If the correlation coefficient is greater than a specific threshold, the detected map boundary and the initial map boundary are considered to be highly correlated.

[0153] S809. When the correlation result is greater than the correlation threshold, obtain the third boundary information of the detected map boundary located inside the initial map boundary. The third boundary information may include information such as the position and shape of this part of the detected map boundary.

[0154] S810. On the initial map boundary, the initial map boundary is corrected based on the third boundary information to obtain the first corrected boundary.

[0155] S811. When the correlation result is less than or equal to the correlation threshold, the initial map boundary of that segment is retained as the first correction boundary.

[0156] In the above embodiments, the initial map boundary is corrected based on the detected map boundary. If the detected map boundary is located inside the corresponding initial map boundary, the correlation between this segment of the detected map boundary and the initial map boundary is determined, and a first corrected boundary is generated. In other embodiments, further, when the detected map boundary and the initial map boundary are not correlated (the correlation result is less than or equal to the correlation threshold), the smoothness of this segment of the detected map boundary and the initial map boundary can be further determined, and the smoother boundary is selected as the first corrected boundary. The principle is that when the detected map boundary is located inside the initial map boundary, the detected map boundary exhibits a large angle change, while the initial map boundary established according to user control is relatively smooth. This may be due to temporary obstacles encountered when the equipment performs edge operations. The obstacle occlusion makes the detected map boundary less smooth, and in this case, the initial map boundary better reflects the actual boundary. Conversely, when the detected map boundary trajectory is located inside the initial map boundary, the detected map boundary is relatively smooth, and the initial map boundary exhibits a large angle change, the unsmoothness of the initial map boundary may be due to the deviation and correction process of the user-controlled autonomous operation equipment. In this case, the detected map boundary better reflects the actual boundary. Therefore, retaining a relatively smooth boundary to obtain the first corrected boundary can reduce the boundary misidentification problem caused by the above situation.

[0157] like Figure 11 As shown, Figure 11 A schematic diagram of the process for obtaining the first correction boundary is shown in another exemplary embodiment of this application.

[0158] Figure 11 For details on the specific implementation of steps S1101-S1110, please refer to steps S801-S810, which will not be repeated here.

[0159] S1111 When the correlation result is less than or equal to the correlation threshold, compare the smoothness of the detected map boundary with the smoothness of the corresponding initial map boundary to obtain the comparison result.

[0160] Optionally, in one embodiment, the smoothness of the boundary can be obtained by calculating the variance of the angle sequence, that is, calculating the variance of the first angle change sequence and the second angle change sequence respectively, and comparing the magnitude of the two variances. The smaller the variance, the more concentrated (or more stable) the angle values ​​of the first or second angle are, and thus the boundary can be considered smoother.

[0161] S1112. Based on the comparison results, determine the smoothness of the detected map boundary and the smoothness of the corresponding initial map boundary, and retain the smoother boundary as the first correction boundary.

[0162] Specifically, if the comparison result indicates that the detected map boundary is smoother than the initial map boundary, the fourth boundary information of the detected map boundary located inside the initial map boundary is obtained. The fourth boundary information may include information such as the position and shape of this part of the detected map boundary. Based on the fourth boundary information, the initial map boundary is corrected on the initial map boundary to obtain the first corrected boundary. If the comparison result indicates that the initial map boundary is smoother than the detected map boundary, this segment of the initial map boundary is retained as the first corrected boundary.

[0163] Figure 12 This is a structural block diagram of a control device for an autonomous operating device provided in an exemplary embodiment of this application. The device includes:

[0164] The acquisition module 1201 is used to acquire the initial map boundary of the target work area;

[0165] Operation module 1202 is used for autonomous operation equipment to perform edge operations;

[0166] The first detection module 1203 is used to control the autonomous operating equipment to perform boundary detection on the target operating area and obtain the detection map boundary when the autonomous operating equipment is performing edge operation.

[0167] The first correction module 1204 is used to correct the initial map boundary according to the detected map boundary to obtain a first corrected boundary, so that the autonomous operating device can perform operations based on the first corrected boundary;

[0168] Optionally, the control device for autonomous operating equipment may also include:

[0169] A region module is used to obtain the region where the operation was missed, at least based on the first correction boundary.

[0170] The second detection module is used to control the autonomous operating equipment to travel to the missed area of ​​the operation to perform boundary detection and obtain the boundary of the area map.

[0171] The second correction module is used to correct the first correction boundary according to the regional map boundary to obtain the second correction boundary, so that the autonomous operating equipment can perform operations based on the second correction boundary.

[0172] Optionally, module 1201 is also used for:

[0173] In response to control commands, the autonomous operating equipment moves along the boundary of the target operating area and records the trajectory of the autonomous operating equipment;

[0174] In response to a stop command, the recording of the travel trajectory is terminated;

[0175] The initial map boundaries are generated based on the travel trajectory.

[0176] Optionally, the first detection module 1203 is also used for:

[0177] The autonomous operating equipment is controlled to detect the boundary of the target operating area and obtain the environmental information corresponding to the boundary of the target operating area;

[0178] By performing boundary identification on environmental information, the boundaries of the detection map are obtained.

[0179] Optionally, the first correction module 1204 is also used for:

[0180] For an initial map boundary, if the autonomous operating equipment acquires the detected map boundary, compare the detected map boundary with the initial map boundary.

[0181] For the deviation boundary of the initial map boundary that deviates from the detection map boundary, obtain the boundary information of the detection map boundary corresponding to the deviation boundary;

[0182] On the initial map boundary, the initial map boundary is corrected based on the boundary information to obtain a first corrected boundary, which coincides with the detected map boundary.

[0183] Optionally, the first correction module 1204 is also used for:

[0184] Given an initial map boundary, once the autonomous operating device acquires the detection map boundary, it determines whether the detection map boundary is located outside the initial map boundary.

[0185] When the detected map boundary is outside the initial map boundary, the second boundary information of the detected map boundary outside the initial map boundary is obtained; the initial map boundary is corrected based on the second boundary information to obtain the first corrected boundary, which coincides with the detected map boundary.

[0186] When the detected map boundary is inside the initial map boundary, the initial map boundary segment is retained as the first correction boundary.

[0187] Optionally, the first correction module 1204 is also used for:

[0188] After determining whether the detected map boundary is located outside the corresponding initial map boundary, the method further includes the step of performing a correlation analysis on the detected map boundary and the initial map boundary to obtain the correlation result when the detected map boundary is located inside the initial map boundary:

[0189] When the correlation result is greater than the correlation threshold, the third boundary information of the detected map boundary located inside the initial map boundary is obtained; the initial map boundary is corrected based on the third boundary information to obtain the first corrected boundary, which coincides with the detected boundary.

[0190] When the correlation result is less than or equal to the correlation threshold, the initial map boundary of that segment is retained as the first correction boundary.

[0191] Optionally, the first correction module 1204 is also used for:

[0192] After performing correlation analysis on the detected map boundary and the initial map boundary to obtain correlation results, the method further includes the step of comparing the smoothness of the detected map boundary and the initial map boundary pair to obtain comparison results when the correlation results are less than or equal to a correlation threshold.

[0193] When the comparison result indicates that the detected map boundary is smoother than the initial map boundary, the fourth boundary information of the detected map boundary located inside the initial map boundary is obtained; the initial map boundary is corrected based on the fourth boundary information to obtain the first corrected boundary, which coincides with the detected boundary.

[0194] When the comparison result indicates that the initial map boundary is smoother than the detected map boundary, this segment of the initial map boundary is retained as the first correction boundary. Accordingly, the first correction module 1204 is also used for:

[0195] The detected map boundary and the corresponding initial map boundary are divided into multiple sub-segments of equal number, resulting in multiple detected map boundary sub-segments and multiple initial map boundary sub-segments.

[0196] Establish a reference coordinate system to determine the reference direction;

[0197] Based on the reference direction, the detected map boundary segment, and the initial map boundary segment, a first angle sequence and a second angle sequence are obtained. The first angle sequence includes multiple first angles, which are the angles of the detected map boundary segment relative to the reference direction. The second angle sequence includes multiple second angles, which are the angles of the initial map boundary segment relative to the reference direction.

[0198] Perform difference operations on the first angle sequence and the second angle sequence respectively to obtain the first angle change sequence and the second angle change sequence;

[0199] Correlation analysis is performed on the first angle change sequence and the second angle change sequence to obtain the correlation results. Optionally, the first correction module 1204 is also used for:

[0200] For an initial map boundary segment, if the autonomous operating device fails to acquire the detected map boundary, the corresponding initial map boundary segment is retained as the first correction boundary.

[0201] Optionally, the region module is also used for:

[0202] Acquire the operational trajectory of autonomous equipment performing edge-line operations;

[0203] By comparing the operation trajectory with the first correction boundary, the part of the first correction boundary that is a certain distance away from the operation trajectory is taken as the omission boundary, and the area corresponding to the omission boundary is taken as the operation omission area.

[0204] Optionally, the region module is also used for:

[0205] For a segment of the first correction boundary, determine whether the segment of the first correction boundary is a retained initial map boundary;

[0206] When the first correction boundary is the original map boundary that is preserved, the area corresponding to the first correction boundary segment is regarded as the omission area in the operation.

[0207] When the first corrected boundary is not the preserved initial map boundary, the area corresponding to that segment of the first corrected boundary is considered the worked area. Optionally, the second correction module is also used for:

[0208] If the boundary of the regional map is located inside or outside the first correction boundary corresponding to the area missed in the operation, the first correction boundary is corrected based on the boundary of the regional map to obtain the second correction boundary, which coincides with the boundary of the regional map.

[0209] It should be noted that the apparatus provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the apparatus can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and their implementation process can be found in the method embodiments, which will not be repeated here.

[0210] In an exemplary embodiment, an autonomous operating device is also provided, comprising: a device body; and a control device for the autonomous operating device as described in the above embodiments. The control device for the autonomous operating device is used to implement a control method for an autonomous operating device as described in the embodiments of this disclosure.

[0211] This application also provides a computer-readable storage medium storing at least one instruction, which is loaded and executed by a processor to implement the control method for the autonomous operating device described in the above embodiments.

[0212] Optionally, the computer-readable storage medium may include ROM, RAM, solid-state drives (SSDs), or optical discs, etc. The RAM may include resistive random access memory (ReRAM) and dynamic random access memory (DRAM).

[0213] This application provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the control method for the autonomous operating device described in the above embodiments.

[0214] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0215] In this specification, the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the descriptions of the embodiments described later are relatively simple, and relevant parts can be referred to the descriptions of the foregoing embodiments.

[0216] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method of an autonomous work apparatus, characterized by, The method comprises: acquiring an initial map boundary of a target work area; the autonomous work device performs edge work; in the case that the autonomous work device performs edge work, the autonomous work device performs boundary detection on the target work area to acquire a detection map boundary; in the case that the detection map boundary is acquired, the initial map boundary is corrected according to the detection map boundary to obtain a first corrected boundary, so that the autonomous work device works based on the first corrected boundary.

2. The method of claim 1, wherein, acquiring the initial map boundary of the target work area comprises: in response to a control instruction, the autonomous work device travels along the actual boundary of the target work area and records the travel trajectory of the autonomous work device; in response to a stop instruction, the recording of the travel trajectory is ended; the initial map boundary is generated according to the travel trajectory.

3. The method of claim 1, wherein, the autonomous work device performs boundary detection on the target work area to acquire the detection map boundary comprises: controlling the autonomous work device to detect the actual boundary of the target work area to obtain environmental information corresponding to the actual boundary; the environmental information is identified to obtain the detection map boundary.

4. The method of claim 1, wherein, correcting the initial map according to the detection map boundary comprises: for a section of the initial map boundary, in the case that the corresponding detection map boundary is acquired by the autonomous work device, the detection map boundary and the initial map boundary are compared; for a deviated boundary of the initial map boundary deviating from the detection map boundary, first boundary information of the detection map boundary corresponding to the deviated boundary is acquired; the deviated boundary is corrected based on the first boundary information to obtain the first corrected boundary, and the first corrected boundary coincides with the detection map boundary.

5. The method of claim 1, wherein, correcting the initial map according to the detection map boundary further comprises: for a section of the initial map boundary, in the case that the corresponding detection map boundary is acquired by the autonomous work device, it is judged whether the detection map boundary is located outside the corresponding initial map boundary; when the detection map boundary is located outside the initial map boundary, second boundary information of the detection map boundary located outside the initial map boundary is acquired; the initial map boundary is corrected based on the second boundary information to obtain the first corrected boundary, and the first corrected boundary coincides with the detection map boundary.

6. The method of claim 5, wherein, after judging whether the detection map boundary is located outside the corresponding initial map boundary, the method further comprises the step of, when the detection map boundary is located inside the initial map boundary, performing correlation analysis on the detection map boundary and the initial map boundary to obtain a correlation result: when the correlation result is greater than a correlation threshold, third boundary information of the detection map boundary located outside the initial map boundary is acquired; the initial map boundary is corrected based on the third boundary information to obtain the first corrected boundary, and the first corrected boundary coincides with the detection boundary.

7. The method of claim 6, wherein, After the step of performing the correlation analysis on the detected map boundary and the initial map boundary to obtain a correlation result, the method further comprises a step of comparing smoothness of the pair of the detected map boundary and the initial map boundary to obtain a comparison result when the correlation result is less than or equal to the correlation threshold: When the comparison result indicates that the detected map boundary is smoother than the initial map boundary, obtaining fourth boundary information of the detected map boundary inside the initial map boundary; and modifying the initial map boundary based on the fourth boundary information to obtain the first modified boundary, wherein the first modified boundary coincides with the detected boundary. When the comparison result indicates that the initial map boundary is smoother than the detected map boundary, retaining the segment of the initial map boundary as the first modified boundary.

8. The method of claim 6, wherein, The step of obtaining the correlation result comprises: dividing the segment of the detected map boundary and the corresponding initial map boundary into a same number of sub-segments to obtain a plurality of detected map boundary sub-segments and a plurality of initial map boundary sub-segments; establishing a reference coordinate system to determine a reference direction; based on the reference direction, the detected map boundary sub-segments and the initial map boundary sub-segments, obtaining a first angle sequence and a second angle sequence, wherein the first angle sequence comprises a plurality of first angles, the first angle being an angle of the detected map boundary sub-segment relative to the reference direction, and the second angle sequence comprises a plurality of second angles, the second angle being an angle of the initial map boundary sub-segment relative to the reference direction; performing a difference operation on the first angle sequence and the second angle sequence respectively to obtain a first angle change sequence and a second angle change sequence; performing a correlation analysis on the first angle change sequence and the second angle change sequence to obtain a correlation result.

9. The method according to any of claims 1 to 8, characterized in that, The method of modifying the initial map according to the detected map boundary further comprises: for a segment of the initial map boundary, retaining the corresponding initial map boundary as the first modified boundary when the autonomous work equipment does not obtain the detected map boundary.

10. The method of claim 1, wherein, After modifying the initial map according to the detected map boundary, the method further comprises: obtaining a work omission area according to at least the first modified boundary; the autonomous work equipment travels to the work omission area for boundary detection to obtain a regional map boundary; modifying the first modified boundary according to the regional map boundary to obtain a second modified boundary, so that the autonomous work equipment performs work based on the second modified boundary.

11. The method of claim 10, wherein, Obtaining the work omission area according to at least the first modified boundary comprises: obtaining a work trajectory of the autonomous work equipment performing edge work; comparing the work trajectory and the first modified boundary, regarding a part of the first modified boundary that is a specific distance away from the work trajectory as an omission boundary, and regarding a region corresponding to the omission boundary as the work omission area.

12. The method of claim 10, wherein Obtaining the work omission area according to at least the first modified boundary comprises: obtaining a work trajectory of the autonomous work equipment performing edge work; comparing the work trajectory and the first modified boundary, regarding a part of the first modified boundary that is a specific distance away from the work trajectory as an omission boundary, and regarding a region corresponding to the omission boundary as the work omission area. For a segment of the first corrected boundary, it is judged whether the segment of the first corrected boundary is the reserved initial map boundary; When the first corrected boundary is the reserved initial map boundary, a region corresponding to the segment of the first corrected boundary is taken as the operation omission region; When the first corrected boundary is not the reserved initial map boundary, a region corresponding to the segment of the first corrected boundary is taken as the operation region.

13. The method of claim 10, wherein, The first corrected boundary is corrected according to the region map boundary to obtain a second corrected boundary, including: In a case where the region map boundary is located on an inner side of the first corrected boundary corresponding to the operation omission region, the first corrected boundary is corrected based on the region map boundary to obtain the second corrected boundary, and the second corrected boundary is coincident with the region map boundary.

14. A computer-readable storage medium, characterized in that, The readable storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the control method of the autonomous operation device according to any one of claims 1 to 13.

15. A control device of an autonomous work apparatus, characterized by comprising: The control device includes: An acquisition module is configured to acquire an initial map boundary of a target operation region; An operation module is configured to control the autonomous operation device to perform edge operation; A first detection module is configured to control the autonomous operation device to perform boundary detection on the target operation region in a case where the autonomous operation device performs edge operation, and acquire a detected map boundary; A first correction module is configured to correct the initial map boundary according to the detected map boundary to obtain a first corrected boundary in a case where the detected map boundary is acquired, so that the autonomous operation device performs operation based on the first corrected boundary.

16. An autonomous work apparatus characterized by comprising: including: A device body; The autonomous operation device is configured with the control device according to claim 15.

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