Operation area merging method, device and equipment and computer readable storage medium

Abstract

The invention relates to the technical field of self-operation equipment, and provides an operation area merging method, device and equipment and a computer readable storage medium. Wherein a map interface is displayed, and the map interface comprises a plurality of operation areas constructed by self-operation equipment; in response to an input region connection drawing operation for the at least two operation regions, drawing a connection region for connecting the at least two operation regions in the map interface; and in response to an input region merging operation, merging the connection region and the at least two operation regions to obtain a merged operation region. The operation complexity of operation area merging can be reduced, and the efficiency of operation area merging can be improved.

Description

Technical Field

[0001] This invention relates to the field of self-operating equipment technology, and in particular to a method, apparatus, device, and computer-readable storage medium for merging operating areas. Background Technology

[0002] With the continuous development of technology, the use of autonomous equipment for automated operations can greatly improve work efficiency. For example, lawnmower robots, as a type of autonomous equipment, integrate technologies such as motion control, multi-sensor fusion, and path planning, and are widely used in the maintenance of home lawns and the mowing of large lawns. In related technologies, autonomous equipment constructs work areas through work area planning and then performs autonomous operations within those areas. When users want to merge multiple independent work areas into a continuous work area, they need to control the autonomous equipment to re-plan the work areas, which is cumbersome and inefficient. Summary of the Invention

[0003] This invention provides a method for merging work areas, a device for merging work areas, a self-operating device, and a computer-readable storage medium, which can improve the efficiency and flexibility of merging work areas of the self-operating device.

[0004] In a first aspect, the work area merging method provided by the present invention includes: The map interface is displayed, which includes multiple work areas constructed by the self-operating equipment; In response to an input operation to draw a region connection for at least two work areas, draw a connection region connecting at least two work areas in the map interface; In response to the input region merge operation, the connected region and at least two job regions are merged to obtain the merged job region.

[0005] Secondly, the work area merging device provided by the present invention includes: The map display module is used to display the map interface, which includes multiple work areas constructed by the self-operating equipment. The region drawing module is used to draw the connecting region between at least two work areas in the map interface in response to the input region connection drawing operation for at least two work areas. The region merging module is used to merge connected regions and at least two job regions in response to an input region merging operation, resulting in a merged job region.

[0006] Thirdly, the self-operating device provided by the present invention includes: ontology; The driving component is used to drive the movement of the main body; The working mechanism, set within the main body, is used to execute preset work tasks; The memory, located within the main unit, is used to store computer programs; The processor, located in the main body, is used to execute computer programs to implement the job area merging method provided in this application.

[0007] Fourthly, the computer-readable storage medium provided by the present invention stores a computer program that, when executed by a processor, implements the job region merging method provided by the present invention.

[0008] The work area merging scheme provided by this invention displays a map interface including multiple work areas constructed by the self-operating equipment; in response to an input region connection drawing operation for at least two work areas, a connection region connecting the at least two work areas is drawn on the map interface; in response to an input region merging operation, the connection region and the at least two work areas are merged to obtain a merged work area. In this way, interactive work area merging is realized, allowing users to intuitively and flexibly perform graphical connection and integrated merging of multiple work areas of the self-operating equipment, effectively reducing the operational complexity of work area merging and achieving the goal of improving the efficiency of work area merging. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a flowchart illustrating the work area merging method provided in an embodiment of the present invention; Figure 2 This is an example diagram of the map interface in an embodiment of the present invention; Figure 3 This is an example diagram of the drawing of the connection area in an embodiment of the present invention; Figure 4 This is an example diagram of the "Confirm Merged Area" virtual button in an embodiment of the present invention; Figure 5 This is an example diagram of the merged operation area obtained in an embodiment of the present invention; Figure 6 This is an example diagram of drawing anchor points to generate connection areas according to an embodiment of the present invention; Figure 7 This is an example diagram illustrating how a rectangular connected area is drawn by setting a control in this embodiment. Figure 8 This is an example diagram of generating a connected area through drag-and-drop operation in an embodiment of the present invention; Figure 9 This is an example diagram of the preview merged operation area obtained in an embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of the region merging device provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of the structure of the self-operating device provided in an embodiment of the present invention; Figure 12 This is an example diagram of the product form of the self-operating equipment provided in the embodiments of the present invention. Detailed Implementation

[0011] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0012] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0013] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0014] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0015] Furthermore, in the description of this invention and the appended claims, the terms “second”, “third”, etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0016] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0017] This invention provides a method for merging work areas, a device for merging work areas, a self-operating device, and a computer-readable storage medium. The method for merging work areas includes: displaying a map interface, the map interface including multiple work areas constructed by the self-operating device; drawing a connecting region connecting the at least two work areas in the map interface in response to an input region connection drawing operation for at least two work areas; and merging the connecting region and the at least two work areas in response to an input region merging operation to obtain a merged work area.

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a method for merging work areas provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the process of this work area merging method can be as follows: In S110, a map interface is displayed, which includes multiple work areas constructed by the self-operating equipment.

[0020] Autonomous robots are intelligent devices that can autonomously sense their environment, plan their paths, and move along those paths. They include, but are not limited to, mobile robots that use differential speed models, four-wheel four-turn models, or omnidirectional movement models as their chassis, such as sweeping robots, logistics handling robots, and lawn mowing robots. They can also be robots that use wheeled or quadrupedal locomotion methods, and so on.

[0021] The work area is the geographical range within which an autonomous device performs a specific task. It is generated by the device in advance by scanning the surrounding environment using sensors such as LiDAR and visual sensors, combined with mapping technologies such as SLAM. For example, when the autonomous device is a lawnmower robot, the work area is the area of ​​the lawn where it needs to mow; or when the autonomous device is a robot vacuum cleaner, the work area corresponds to the indoor space it needs to clean, and so on.

[0022] The map interface is a visual, interactive interface used to present multiple work areas constructed by the self-operating equipment. It can display the spatial location, boundary outlines, and connection status of each work area in real time, and supports user interaction through gestures, clicks, or drags. For example, this map interface can be implemented using graphics rendering technologies such as Canvas, SVG, or WebGL. See, for example, [reference needed]. Figure 2 In this embodiment of the invention, Canvas technology can be used to generate a two-dimensional map interface. By mapping coordinates, the geographical data of each work area can be converted into graphic elements on the canvas, so that users can intuitively identify adjacent or scattered work areas in the map interface and initiate area merging operations based on actual needs.

[0023] The following description uses a self-operating device as an example to illustrate the method for merging work areas provided by this invention.

[0024] In this embodiment of the invention, when the autonomous operating device is equipped with a screen or other display components, it can directly display the map interface through the configured display components to achieve a visual presentation of the operating area. When the autonomous operating device is not equipped with a display component or the display component is unavailable, it can transmit the map interface to an external terminal device (such as a mobile phone, tablet, or PC) for display through a communication module. After the external terminal completes the human-computer interaction operation, it sends the data back to the autonomous operating device to perform subsequent operations.

[0025] In S120, in response to the input region connection drawing operation for at least two work areas, a connection region connecting at least two work areas is drawn in the map interface.

[0026] The region connection drawing operation refers to the interactive behavior of a user creating a connecting path between at least two work areas in the map interface. For example, when the display component of the self-operating device is a touch screen, the user can slide their finger or stylus on the screen to draw a line trajectory that forms a closed shape between two work areas to be merged, or draw a line trajectory that does not form a closed shape between two work areas to be merged, thereby inputting the region connection drawing operation for the two work areas to be merged. As another example, when the self-operating device displays the map interface through an external terminal device, the user can draw a line trajectory between two work areas to be merged through the input device such as the touch screen, mouse or keyboard of the external terminal device, thereby receiving the region connection drawing operation corresponding to the line trajectory drawn by the user from the external terminal device.

[0027] In this embodiment of the invention, after receiving an input area connection drawing operation for at least two work areas, the self-operating device draws a connection area connecting the at least two work areas on the map interface according to the connection trajectory corresponding to the area connection drawing operation. The connection area is a visual connected area generated based on the connection trajectory. Its shape and width can be dynamically adjusted according to preset rules or user-defined parameters to intuitively present the connection relationship between the areas.

[0028] For example, when a user draws a broken line or curve between two work areas, the self-operating equipment can generate a strip-shaped connecting area with a certain width based on the connecting line trajectory. Its path is consistent with the trajectory drawn by the user, and its two ends are respectively merged with the boundaries of the corresponding work areas to form a visually continuous whole.

[0029] It should be noted that, in practice, the generation of the connected regions can be based on a configured smoothing algorithm to smooth the original connection trajectory, eliminating hand tremor noise or breakpoints during user drawing and ensuring the continuity of the connected region boundaries. Simultaneously, to maintain visual distinction from the original work area, the connected regions can be drawn using different fill patterns or transparency. For example, please refer to... Figure 3 The connecting areas are presented with vertical lines filled with patterns, thus clearly distinguishing the original work area from the connecting area in the map interface and avoiding confusion.

[0030] In S130, in response to the input region merging operation, the connected region and at least two job regions are merged to obtain a merged job region.

[0031] The region merging operation refers to the interactive behavior triggered by a user after drawing a connected region, which merges at least two working regions with the connected region into a single working region through a preset operation method. This region merging operation can be initiated by clicking a virtual button, executing a gesture command, or inputting a voice command. For example, please refer to... Figure 4The map interface has a virtual "Confirm Merge Area" button. After drawing the connection area, the user can click this button to input the area merging operation into the self-operating device.

[0032] In this embodiment of the invention, after receiving the input area merging operation, the self-operating device merges the user-drawn connected area with at least two corresponding operating areas. That is, it geometrically merges the connected area and its corresponding operating areas to form a new operating area that is logically connected and has closed boundaries, which is denoted as the merged operating area.

[0033] It should be noted that the method of merging the connecting region and the working region is not limited in the embodiments of the present invention, and those skilled in the art can choose a suitable merging method according to actual needs. For example, the self-operating device can use the union operation in polygon Boolean operations to geometrically merge the connecting region with at least two corresponding working regions to generate a closed merged working region. This merged working region is composed of the unconnected parts of the original working region boundaries and the outer contour of the connecting region, ensuring that the merged working region is spatially continuous and without overlapping gaps. As another example, the self-operating device can also use boundary expansion to expand the boundaries of each working region along the connecting direction until they are connected to each other, and then generate a unified closed boundary through a contour reconstruction algorithm to form a merged working region.

[0034] Furthermore, after the self-operating equipment merges the work areas, it also synchronously updates the image display on the map interface, replacing the graphics of the original work areas and connected areas with the graphics of the merged work areas, and drawing them with a uniform fill style, so that users can intuitively identify the merging result. For example, please refer to... Figure 5 The merged work area is filled with solid color, which is different from the diagonal line pattern before the merge, thus clearly reflecting the change in the status of the work area.

[0035] Optionally, in one embodiment, after the self-operating device generates a merged work area, the area connection drawing operation includes an anchor point drawing operation. In response to an input area connection drawing operation for at least two work areas, a connection area connecting the at least two work areas is drawn in the map interface, including: In response to an anchor point drawing operation for at least two work areas, draw anchor points in at least two work areas; Connecting the anchor points drawn in at least two working areas forms a closed polygon, thus obtaining the connected region.

[0036] Anchor point drawing refers to the interactive behavior of users setting anchor points with coordinate information within the work area on the map interface. For example, when the display component of the self-operating device is a touch screen, users can tap any position within any work area on the map interface to input anchor point drawing operations for that work area.

[0037] In this embodiment of the invention, after receiving an input anchor point drawing operation for any work area through the map interface, the self-operating device draws anchor points at the positions indicated by the anchor point drawing operation within the work area. Correspondingly, when the user inputs an anchor point drawing operation for another work area, the self-operating device also draws corresponding anchor points within that work area. When anchor points are drawn in at least two work areas, and the drawn anchor points are sufficient to form a closed polygon, the self-operating device connects all drawn anchor points based on the coordinate information of each anchor point using a polygon generation algorithm to form a closed polygon as the connecting area. The boundary of the closed polygon is formed by connecting adjacent anchor points sequentially, and its shape and position are completely determined by the anchor point coordinates.

[0038] For example, please refer to Figure 6 The user drew two anchor points in each of the work areas A and B. The work equipment then connected the four anchor points to form a quadrilateral connection area, which connected work areas A and B.

[0039] It should be noted that, in practice, at least three anchor points are required to ensure the geometric validity of the closed polygon, and the lines connecting any adjacent anchor points must not intersect with other lines to avoid generating self-overlapping invalid areas. Furthermore, to ensure the effectiveness of subsequent area merging, when generating the connecting area, the self-operating device first converts the coordinates of the anchor points from the screen coordinate system to the actual map coordinate system (for example, the coordinate system conversion can be achieved using the mapbox's latLng=mapboxMap.getProjection().fromScreenLocation(pointF) method) before constructing the polygon, ensuring that the connecting area is consistent with the actual working space.

[0040] The above drawing scheme, which generates a closed polygon by drawing anchor points, enables users to flexibly control the shape and position of the connected areas, improving the intuitiveness and accuracy of merging work areas.

[0041] Optionally, in one embodiment, the map interface includes a settings control, and the region connection drawing operation includes a trigger operation on the settings control. In response to an input region connection drawing operation for at least two work areas, drawing a connection region connecting at least two work areas in the map interface includes: In response to a selection operation targeting at least two work areas in the map interface, select the at least two work areas; In response to a trigger action on the settings control, a pre-defined connecting region is drawn in the map interface, covering the boundary portions of at least two selected work areas.

[0042] The selection of a work area refers to the interactive behavior of a user selecting a work area within the map interface. For example, when the display component of the self-operated equipment is a touch screen, the user can enter the selection operation for the work area by clicking or long-pressing the work area.

[0043] In this embodiment of the invention, the self-operating device provides a setting control on the map interface for triggering the drawing of a connection area of ​​a preset shape. In specific implementations, the setting control can be configured as a button, icon, or menu item, etc., and no specific limitation is made here.

[0044] When a user needs to draw a connection area, they can first input a selection operation to instruct the automated work device to select at least two work areas to be merged. Then, a setting control is triggered, instructing the automated work device to automatically draw a connection area of ​​a preset shape. On the other hand, after receiving a selection operation for at least two work areas on the map interface, the automated work device responds by selecting the at least two work areas the user wishes to merge. Upon detecting the triggering of the setting control, it draws a connection area of ​​a preset shape on the map interface. This preset shape connection area covers the boundary portions of the at least two work areas selected by the user, ensuring the connectivity of the connection area with the actual work space and preventing omissions or boundary violations.

[0045] It should be noted that the preset shape is not limited in the embodiments of the present invention, and it can be configured as any shape such as a polygon or a circle according to the actual needs of the scenario. For example, please refer to Figure 7 When the preset shape is a rectangle, after the self-operating device detects two selected operating areas, it generates a rectangular connecting area that covers the adjacent boundaries of the two areas. Its length and width automatically adapt to the relative position and boundary size of the selected areas to ensure seamless connection.

[0046] The above drawing scheme, which generates connection areas of preset shapes, not only simplifies the user's operation process but also effectively improves the accuracy and efficiency of merging work areas.

[0047] Optionally, in one embodiment, after drawing a connection region of a preset shape in the map interface, the method further includes: In response to an adjustment operation on the connected area, at least one of the size, shape, or position of the connected area is adjusted, and the adjusted connected area is displayed in real time.

[0048] To further enhance user operational flexibility, embodiments of the present invention also provide an adjustment mechanism for the drawn connection regions.

[0049] Among them, the adjustment operation refers to the user's interactive behavior such as dragging, scaling or rotating the generated connected area in the map interface to change its spatial parameters.

[0050] For example, taking a touchscreen as the display component of the self-operating device, the connection area is configured to support multi-touch editing mode, allowing users to adjust the size of the connection area by pinching and zooming with two fingers, adjust the shape of the connection area by dragging its edges or vertices, or adjust its overall position by long-pressing and dragging it. Simultaneously, to ensure the continuity of the operation during the adjustment process, when the self-operating device detects a change in the connection area, it verifies its coverage relationship with the boundary of the associated operation area to prevent disconnections or boundary violations, and provides real-time adjustment suggestions or automatically corrects deviations.

[0051] In addition, after the connection area is adjusted, the self-operating equipment displays the outline of the adjusted connection area in real time to provide visual feedback on the user's adjustment operation and ensure that the user can intuitively confirm the connection status between the connection area and the working area.

[0052] Optionally, in one embodiment, in response to an input region connection drawing operation for at least two work areas, drawing the connection region of the at least two work areas indicated by the region connection drawing operation in the map interface includes: In response to a region editing operation targeting a work area, display the editable points corresponding to that work area; In response to a drag operation targeting an editable point, deform the work area following the drag operation; If the work area connects to another work area after deformation, the portion of the work area that is newly added as a result of the drag operation is used as the connection area between the work area and the other work area.

[0053] This invention also provides a drawing scheme based on dynamic deformation to generate connected regions. By directly converting the editing operations of the work area itself into the basis for generating connected regions, the learning cost for users of independent connection operations is further reduced.

[0054] The area editing operation is an interactive behavior in the map interface that triggers the editing of the work area. For example, the map interface can provide a control for triggering the area editing operation. This control is configured to be activated and displayed after the user selects a work area. The user can enter the editing mode by clicking or long-pressing the control.

[0055] In this embodiment of the invention, after the self-operating device receives a region editing operation for a certain working area through the map interface, it switches the working area to an editable state and generates multiple editable points on the boundary of the working area. For example, the editable points are distributed at the vertices and midpoints of the edges of the working area, and users can drag them through touch operations.

[0056] When a user drags any editable point, the self-operating device acquires the displacement data of that editable point in real time and dynamically adjusts the boundary shape of the working area based on the displacement data. At the same time, it detects the spatial distance between the working area and the adjacent working areas. When the distance between the deformed part and the boundary of another working area is less than a preset threshold, the self-operating device determines that the two form an effective connection and uses the part of the working area newly added during the deformation process as the connection area.

[0057] For example, please refer to Figure 8 The work area C is originally a rectangle, and the editable points are located at its four vertices and the midpoints of each side. When the user drags its right midpoint to move it horizontally to the right, the work area C is stretched to the right to form a new rectangular outline. As the stretching process continues, the right extension of the work area will connect to its adjacent work area D. At this time, the work equipment uses the right extension of the work area C as the connection area between the work area C and the work area D.

[0058] Optionally, in one embodiment, before merging the connected region and at least two job regions in response to the input region merging operation to obtain the merged job region, the method further includes: In response to the input preview operation, a preview merged work area of ​​at least two work areas is generated based on the connected area, and the preview merged work area is displayed in the map interface.

[0059] This invention also provides an intuitive preview mechanism, allowing users to view the overall shape of the merged connection area and associated job area before performing the formal merge, helping users to determine whether the merge result meets expectations.

[0060] The preview operation is an interactive behavior triggered in the map interface to view the merging effect. For example, the map interface can provide a preview control, which is configured to be automatically activated and displayed after the generation of the connected area is detected. Users can click, swipe or long press the preview control to input preview operations.

[0061] In this embodiment of the invention, after receiving the input preview operation, the self-operating device virtually integrates the connected area with at least two operating areas according to the actual merging logic to generate a preview merged operating area, and displays the preview merged operating area on the map interface.

[0062] For example, please refer to Figure 9The work area E and work area F form a preview merged work area due to the generation of the connecting area. This preview merged work area is displayed on top of the original work area with a highlighted border, intuitively showing the space range after the merge.

[0063] It should be noted that previewing the merged work area does not affect the actual layout of the original work area. Users can perform the formal merge operation after confirming that everything is correct, or they can cancel the preview and adjust the shape of the connected area. This preview mechanism can effectively reduce the risk of accidental operation and further improve the flexibility and accuracy of work area merging.

[0064] Optionally, in one embodiment, in response to an input region merging operation, the connected region and at least two job regions are merged to obtain a merged job region, including: In response to the input region merging operation, determine the region merging strategy corresponding to the geometry of the connected regions; According to the region merging strategy, the connecting region and at least two work regions are merged to obtain the merged work region.

[0065] To improve the adaptability of work area merging, this embodiment of the invention introduces a dynamic area merging strategy selection mechanism.

[0066] When the self-operating device receives the input area merging operation, it first parses the geometry of the connected area, and determines the area merging strategy corresponding to the geometry of the connected area according to the correspondence between the configured geometry and the area merging strategy. Then, it merges the connected area and at least two operating areas according to the area merging strategy to obtain the merged operating area.

[0067] It should be noted that the determination of the region merging strategy depends on the specific geometric characteristics of the connected regions. For example, for regular geometric shapes, boundary expansion and adjacent filling strategies are used to achieve efficient merging; for irregular shapes, topology analysis and contour fitting are used to ensure the continuity and integrity of the merged working area.

[0068] For example, when the connecting area is rectangular or approximately rectangular, the self-operating equipment adopts a boundary expansion strategy to extend the boundaries of adjacent operating areas along the connecting direction and fill the overlapping parts, forming a smoothly transitioned merged operating area. When the connection area is a non-closed polyline, the self-operating equipment adopts a topology connection strategy. By identifying the access relationship between the polyline node and the adjacent operating area, a dynamic connection path is established, and each operating area is segmented and merged along the polyline direction to form a merged operating area with a continuous topology structure. When the connecting area presents an arc or curve shape, the self-operating equipment uses a contour fitting strategy to sample and prefit the connecting area, generate a supplementary shape, and smoothly splice it with the boundary of the original operating area to form a merged operating area with a natural arc transition. When the connecting area is an irregular polygon, the self-operating device will use the connecting area as a supplementary area and perform a Boolean union operation with the original operating area to form a merged operating area with seamless boundary connection and consistent internal connectivity.

[0069] Optionally, in one embodiment, after merging the connecting region and at least two working regions according to the region merging strategy to obtain the merged working region, the method further includes: Determine the path generation strategy corresponding to the geometry; Based on the respective job paths of at least two job areas, generate job paths for the merged job areas according to the path generation strategy.

[0070] To ensure that the merged work areas are not only spatially connected but also maintain continuity along the work paths, this invention provides a path continuity guarantee mechanism.

[0071] In this process, after merging the connecting area and at least two working areas to obtain a merged working area, the self-operating equipment determines the path generation strategy corresponding to the geometry of the connecting area based on the correspondence between the configured geometry and the path generation strategy. Then, according to the working paths of the at least two working areas, it interpolates or reconstructs the paths in the connecting area according to the path generation strategy to obtain a complete and continuous working path for the merged working area.

[0072] For example, when the connecting area is rectangular or approximately rectangular, the self-operating equipment adopts a boundary expansion strategy to extend the boundaries of adjacent operating areas along the connecting direction and fill the overlapping parts to form a smoothly transitioned merged operating area. Then, within the connecting area, local path planning is performed based on the respective operating paths of the original operating areas to form a transition path that covers the connecting area and smoothly connects with the existing operating path. The transition path and the existing operating path together constitute the continuous and complete operating path after merging. When the connection area is a non-closed polyline, the self-operating equipment adopts a topology connection strategy. By identifying the access relationship between the polyline nodes and adjacent operating areas, a dynamic connection path is established. Each operating area is segmented and merged along the polyline direction to form a merged operating area with a continuous topology structure. Then, the nodes on the polyline path are interpolated and combined with the existing operating path of the original operating area to generate a transition path that extends continuously along the polyline direction. The transition path and the existing operating path together constitute the merged continuous and complete operating path. When the connecting area presents an arc or curve shape, the self-operating equipment activates the contour fitting strategy to sample and prefit the connecting area, generate a supplementary shape, and smoothly splice it with the boundary of the original operating area to form a merged operating area with a natural arc transition. Then, path interpolation calculation is performed within the supplementary shape, and a transition path that fits the arc direction is generated by combining the existing operating path. The transition path and the existing operating path together constitute a continuous and complete operating path after merging. When the connecting area is an irregular polygon, the self-operating equipment performs a Boolean union operation between the connecting area as a supplementary area and the original operating area to form a merged operating area with seamless boundary connection and consistent internal connectivity. Then, within the connecting area, local path planning is performed based on the respective operating paths of the original operating areas to form a transition path that covers the connecting area and smoothly connects with the existing operating path. The transition path and the existing operating path together constitute the merged continuous and complete operating path.

[0073] As can be seen from the above, the work area merging scheme provided by the present invention displays a map interface, which includes multiple work areas constructed by the self-operating equipment; in response to the input of a region connection drawing operation for at least two work areas, a connection region connecting at least two work areas is drawn in the map interface; in response to the input of a region merging operation, the connection region and at least two work areas are merged to obtain a merged work area. In this way, interactive work area merging is realized, enabling users to intuitively and flexibly perform graphical connection and integrated merging of multiple work areas of the self-operating equipment, effectively reducing the operational complexity of work area merging and achieving the goal of improving the efficiency of work area merging.

[0074] To facilitate better implementation of the above-described method for merging work areas, this embodiment of the invention also provides a corresponding work area merging device. The meanings of the terms used are the same as in the above-described work area merging method; for specific implementation details, please refer to the descriptions in the above method embodiments.

[0075] Please refer to Figure 10 The work area merging device may include a map display module 210, an area drawing module 220, and an area merging module 230, wherein, The map display module 210 is used to display the map interface, which includes multiple work areas constructed by the self-operating equipment. The region drawing module 220 is used to draw a connecting region that connects at least two work areas in the map interface in response to an input region connection drawing operation for at least two work areas. The region merging module 230 is used to merge the connected region and at least two job regions in response to the input region merging operation to obtain the merged job region.

[0076] Optionally, in one embodiment, the region connection drawing operation includes an anchor point drawing operation. The region drawing module 220 is used to draw anchor points in at least two work areas in response to the anchor point drawing operation for at least two work areas; and connect the anchor points drawn in at least two work areas to form a closed polygon to obtain a connection region.

[0077] Optionally, in one embodiment, the map interface includes a setting control, the region connection drawing operation includes a triggering operation for the setting control, and the region drawing module 220 is used to select at least two work areas in response to a selection operation for at least two work areas in the map interface; and to draw a connection area of ​​a preset shape in the map interface in response to the triggering operation for the setting control, the connection area covering the boundary portion of the selected at least two work areas.

[0078] Optionally, in one embodiment, the work area merging device provided by the present invention further includes an area adjustment module, which is used to adjust at least one of the size, shape or position of the connecting area in response to an adjustment operation on the connecting area, and to display the adjusted connecting area in real time.

[0079] Optionally, in one embodiment, the region drawing module 220 is used to display editable points corresponding to a work area in response to a region editing operation for a work area; to deform the work area following the drag operation in response to a drag operation for the editable points; and if the work area is connected to another work area after deformation, the part of the work area added by following the drag operation is used as the connection area between the work area and the other work area.

[0080] Optionally, in one embodiment, the work area merging device provided by the present invention further includes a merging preview module, which, in response to an input preview operation, generates a preview merged work area of ​​at least two work areas based on the connected areas, and displays the preview merged work area on a map interface.

[0081] Optionally, in one embodiment, the region merging module 230 is used to determine a region merging strategy corresponding to the geometry of the connected region in response to an input region merging operation; and to merge the connected region and at least two job regions according to the region merging strategy to obtain a merged job region.

[0082] Optionally, in one embodiment, the work area merging device provided by the present invention further includes a path planning module, used to determine a path generation strategy corresponding to the geometry; and to generate a work path for merging work areas according to the path generation strategy based on the work paths of at least two work areas respectively.

[0083] Specific limitations regarding the work area merging device can be found in the limitations of the work area merging method described above, and will not be repeated here. Each module in the aforementioned work area merging device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0084] In one embodiment, a self-operating device is provided, the internal structure of which can be as follows: Figure 11 As shown. The self-operating device includes a main body and a memory 310, a processor 320, a power supply 330, a sensor 340, a working mechanism 350, a communication module 360, a positioning module 370, a walking mechanism 380, and a bus 390, all mounted on the main body. The processor 320 is coupled to the memory 310, power supply 330, sensor 340, working mechanism 350, communication module 360, positioning module 370, and walking mechanism 380 via the bus 390.

[0085] Memory 310 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The RAM can be directly read and written by the processor 320 and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, as well as user and application data. The RAM may include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), and double data rate synchronous dynamic random access memory (DRAM). (memory, DDR SDRAM, etc.)

[0086] Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by the processor 320. Non-volatile memory can include disk storage devices and flash memory.

[0087] The memory 310 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 320. The one or more computer programs include multiple instructions, which, when executed by the processor 320, can implement the charging pile location calibration method provided by this invention.

[0088] In other embodiments, the self-operating device also includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-operating device.

[0089] Processor 320 may include one or more processing units, such as: application processor (AP), modem processor, graphics processing unit (GPU), image signal processor (ISP), controller, video codec, digital signal processor (DSP), baseband processor, and / or neural network processor. Processing units (NPUs), etc. Different processing units can be independent devices or integrated into one or more processors.

[0090] The processor 320 provides computing and control capabilities, for example, the processor 320 is used to execute computer programs stored in the memory 310 to implement the charging pile location calibration method provided by the present invention.

[0091] The power supply 330 is used to supply power to the self-operating equipment. In one embodiment of the present invention, the power supply 330 may include any one or more power supply devices of the type of battery, fuel generator, solar power generation module, wind power generation module, etc.

[0092] Sensor 340 is used to acquire information for the autonomous operating device, such as environmental information and movement information of the autonomous operating device. In one embodiment of the present invention, sensor 340 may include a binocular camera, and may also include one or more sensors of the type such as lidar, infrared sensor, encoder, etc.

[0093] The working mechanism 350 is used to perform preset tasks, such as mowing, de-icing, patrolling, sweeping, and spraying pesticides. In some embodiments of the present invention, the working mechanism 350 may include a motor, a transmission mechanism, and a blade disc. When the self-operating device is a lawnmower, the motor can drive the blade disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blades to adjust the mowing height and the mowing area.

[0094] The communication module 360 ​​is used to enable communication between the self-operating device and other devices. In one embodiment of the present invention, the communication module 360 ​​can interact with other devices via wired and / or wireless communication. The aforementioned wireless communication may include one or more combinations of communication methods such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0095] The positioning module 370 is used to determine the location of the autonomous operating device. In some embodiments of the present invention, the positioning module 370 may include one or more positioning modules of the type such as Global Positioning System (GPS), inertial navigation system, and real-time kinematic (RTK) carrier phase differential system.

[0096] The traveling mechanism 380 is used to enable the movement of the self-operating equipment and can be different types of traveling mechanisms such as wheeled, tracked, or legged mechanisms. In some embodiments of the present invention, the traveling mechanism 380 can realize the movement function of the self-operating equipment according to the control of the processor 320. In some embodiments of the present invention, the traveling mechanism 380 may include a left traveling mechanism and a right traveling mechanism.

[0097] Bus 390 is used at least to provide a channel for communication between the memory 310, processor 320, power supply 330, sensor 340, working mechanism 350, communication module 360, positioning module 370, and walking mechanism 380 in the self-operating device.

[0098] In addition, the self-operating equipment may also include a display component (not shown in the figure), a collision avoidance component, and a steering component. The collision avoidance component can be used to prevent the traveling mechanism 380 from colliding with obstacles in front of the self-operating equipment. The steering component can be used to adjust the traveling direction of the traveling mechanism 380. The display component can be used to present the equipment operating status, work progress, and environmental perception data in real time, and in the work area merging scheme provided by this invention, it is used to display a map interface and receive interactive operations input by the user to complete the intuitive merging and adjustment of multiple work areas.

[0099] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on the self-operating device. In other embodiments of the present invention, the self-operating device may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0100] For example, please refer to Figure 12The actual product form of the self-operating equipment can be a lawn mowing robot. The lawn mowing robot also includes an anti-collision mechanism. Its working mechanism (not shown in the figure) includes a rotatable blade, which can perform lawn mowing operations while the walking mechanism drives the lawn mowing robot to travel in the lawn mowing work area.

[0101] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0102] The present invention also provides a computer program product, which includes a computer program that, when executed on a processor, causes the processor to implement the steps in the charging pile location calibration method provided by the present invention.

[0103] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0104] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

[0105] It should be noted that when the above embodiments of the present invention are applied to specific products or technologies, user-related data is involved, and user permission or consent must be obtained. Furthermore, the collection, use, and processing of such data must comply with the relevant laws, regulations, and standards of the relevant countries and regions.

Claims

1. A work area merging method characterized by comprising: The method comprises: displaying a map interface, the map interface comprising a plurality of work areas constructed by a work device; in response to an input area connection drawing operation for at least two work areas, drawing a connection area connecting the at least two work areas in the map interface; in response to an input area merging operation, merging the connection area and the at least two work areas to obtain a merged work area.

2. The work area merging method according to claim 1, characterized by, The area connection drawing operation comprises an anchor point drawing operation, and the response to the input area connection drawing operation for at least two work areas comprises: in response to an anchor point drawing operation for at least two work areas, drawing anchor points in the at least two work areas; connecting the drawn anchor points in the at least two work areas to form a closed polygon, thereby obtaining the connection area.

3. The work area merging method according to claim 1, characterized by, The map interface comprises a setting control, the area connection drawing operation comprises a trigger operation for the setting control, and the response to the input area connection drawing operation for at least two work areas comprises: in response to a selection operation for at least two work areas in the map interface, selecting the at least two work areas; in response to the trigger operation for the setting control, drawing a connection area of a preset shape in the map interface, the connection area covering a boundary part of the selected at least two work areas.

4. The work area merge method according to Claim 3, characterized by, After the drawing of the connection area of the preset shape in the map interface, the method further comprises: in response to an adjustment operation for the connection area, adjusting at least one of a size, a shape, or a position of the connection area, and displaying the adjusted connection area in real time.

5. The work area merging method according to claim 1, characterized by, The response to the input area connection drawing operation for at least two work areas comprises: in response to an area editing operation for a work area, displaying an editable point corresponding to the work area; in response to a dragging operation for the editable point, deforming the work area in response to the dragging operation; if the work area is connected to another work area after the deformation, taking a newly added part of the work area in response to the dragging operation as a connection area of the work area and the another work area.

6. The work area merging method according to any one of claims 1 to 5, characterized by, Before the response to the input area merging operation, the method further comprises: in response to an input preview operation, generating a preview merged work area of the at least two work areas according to the connection area, and displaying the preview merged work area in the map interface.

7. The work area merging method according to any one of claims 1 to 5, characterized by, The response to the input area merging operation comprises: in response to the input area merging operation, determining an area merging strategy corresponding to a geometric shape of the connection area; According to the region merging strategy, the connection region and the at least two work regions are merged to obtain a merged work region.

8. The work area merge method according to Claim 7, characterized by, After the connection region and the at least two work regions are merged to obtain a merged work region according to the region merging strategy, the method further comprises: determining a path generation strategy corresponding to the geometric shape; generating a work path of the merged work region according to the path generation strategy and the work paths of the at least two work regions.

9. An operation area merging device characterized by comprising: comprises: a map display module configured to display a map interface, the map interface comprising a plurality of work regions constructed by a self-propelled work device; a region drawing module configured to draw, in the map interface, a connection region connecting at least two work regions in response to an input region connection drawing operation for the at least two work regions; a region merging module configured to merge the connection region and the at least two work regions to obtain a merged work region in response to an input region merging operation. 10.A self-propelled work device, comprising: a body; a driving assembly configured to drive the body to move; a work mechanism arranged on the body and configured to perform a preset work task; a memory arranged on the body and configured to store a computer program; a processor arranged on the body and configured to execute the computer program to implement the work region merging method according to any one of claims 1 to 8. 11.A computer readable storage medium, storing a computer program, characterized in that, The computer program is executed by the processor to implement the work region merging method according to any one of claims 1 to 8.

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