Courtyard device, control terminal and method of determining a map of its working area
By generating and calibrating map data for the yard device through the control terminal, the problem of the yard device having difficulty obtaining a map of the working area is solved, and precise operation and efficient automation are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- 元鼎智能创新(国际)有限公司
- Filing Date
- 2025-01-10
- Publication Date
- 2026-07-10
AI Technical Summary
In existing technologies, courtyard devices struggle to efficiently acquire map data of the work area, resulting in low levels of automation.
The control terminal of the courtyard device moves along the boundary of the work area, uses sensors to acquire sensing data, generates and sends map data, combines environmental data for calibration, and finally the courtyard device performs the operation.
It enables precise operation of the courtyard installation, improving work efficiency and automation.
Smart Images
Figure CN122363191A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to a garden device in a garden product, a control terminal for the garden device, and a method for determining a map of its working area. Background Technology
[0002] For yard areas such as outdoor lawns, yard appliances can be used for maintenance. Common yard products include lawnmowers, watering systems, and pool robots. With increasingly sophisticated user demands, the automation requirements for yard products are also rising, enabling them to perform maintenance based on a map of the work area. However, obtaining such maps is currently quite difficult using existing technologies. Summary of the Invention
[0003] On one hand, a method for determining a working area map of a garden device is disclosed, comprising: moving a control terminal of the garden device along the boundary of the working area; obtaining sensing data about the pose and / or trajectory of the control terminal during the movement through sensors of the control terminal; generating map data about the working area based on the sensing data; and sending the map data to the garden device.
[0004] In one or more embodiments, the method further includes: obtaining environmental data about the vicinity of the courtyard device; and calibrating the map data based on the environmental data.
[0005] In one or more embodiments, the environmental data includes at least one of the following: environmental data obtained by the control terminal at the courtyard device in the initial direction of the courtyard device; environmental data obtained by the control terminal during the process of moving from the courtyard device to the boundary along the initial direction; and environmental data obtained by the control terminal during the process of moving from the courtyard device to the boundary in the direction opposite to the initial direction.
[0006] In one or more embodiments, the initial orientation includes at least one of the following: the orientation of the courtyard device when preparing to obtain the environmental data through the control terminal; the orientation of the courtyard device when it is started; and a predetermined or marked reference orientation.
[0007] In one or more embodiments, the map data is generated from the sensing data by simultaneous visual localization and mapping or real-time localization and map building.
[0008] In one or more embodiments, the map data includes at least one of a contour map of the boundaries of the work area and a three-dimensional map of the work area.
[0009] In one or more embodiments, the sensor includes at least one of the following: an image sensor; a spatial attitude sensor; and a positioning system.
[0010] In one or more embodiments, the movement trajectory forms a closed loop.
[0011] On the other hand, a control terminal for a garden device is also disclosed, comprising: a sensor configured to sense the real-time pose and movement trajectory of the control terminal; a processor configured to perform the above-described method; and a transmitter configured to send data to the garden device.
[0012] On the other hand, a garden device is also disclosed, comprising: a receiver configured to receive data from a control terminal of the garden device, the data including map data generated by the control terminal by performing the above-described method; and a controller configured to control the garden device to operate based on the map data. Attached Figure Description
[0013] Figure 1 An example of a courtyard device according to an embodiment of the present disclosure is shown schematically.
[0014] Figure 2 An example of a control terminal for a courtyard device according to an embodiment of the present disclosure is shown schematically.
[0015] Figure 3 An example of a method for creating map data via a control terminal, according to embodiments of the present disclosure, is illustrated schematically.
[0016] Figure 4 An example illustrating the execution process of a method for creating map data via a control terminal according to an embodiment of the present disclosure is shown. Detailed Implementation
[0017] Embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. In the drawings, identical or equivalent parts are given the same reference numerals, and their descriptions are not repeated.
[0018] like Figure 1 As shown, the garden device 100 in the embodiments of this disclosure, for ease of understanding, takes an irrigation device as an example. This irrigation device includes structures or components such as a base, an inlet pipe, an outlet pipe, and a nozzle. The base can be configured with any suitable structure and shape to accommodate, support, and / or protect other components of the irrigation device. One end of the inlet pipe can be connected to an external water source (e.g., an external water pump), and the other end of the inlet pipe can be connected to one end of the outlet pipe. A nozzle can be disposed at the other end of the outlet pipe. Thus, water from an external water source can flow sequentially through the inlet and outlet pipes, and finally be sprayed outwards from the nozzle, thereby achieving the basic irrigation function.
[0019] In some embodiments, the irrigation device may further include a structure or component, such as a gimbal, capable of rotating and / or oscillating at least a portion of the irrigation device in the horizontal and / or vertical directions. For example, one end of the outlet pipe may be rigidly fixed or connected to the gimbal, and the outlet pipe and the inlet pipe may be connected by a rotary joint, such that while ensuring communication between the outlet pipe and the inlet pipe, at least a portion of the outlet pipe and the nozzle disposed at the end of the outlet pipe may rotate and / or oscillate in the horizontal and / or vertical directions under the action of the gimbal, thereby achieving different irrigation angles and irrigation distances.
[0020] In some embodiments, controllable valves such as electrically controlled valves, electric float valves, hydraulically controlled valves, electromagnetically controlled valves, and flow control valves may be configured on the water flow channel, including the outlet pipe and the inlet pipe, so as to control the flow rate or velocity of the water in the water flow channel by controlling the valve opening degree, opening duration, closing duration, switching frequency, switching cycle, etc.
[0021] like Figure 1 As shown, the garden device 100 may also include a controller 110. The controller 110 may include any circuitry and / or modules with data processing and / or instruction execution capabilities and suitable for the garden device 100, such as a central processing unit (CPU), a graphics processing unit (GPU), or a field-programmable gate array (FPGA), and may be configured, for example, to perform data processing and / or control related to the operation and / or other functions of the garden device 100 based on program instructions stored in a memory (not shown) within the garden device 100, user instructions from a control panel of the garden device 100, or a control terminal 200.
[0022] For example, taking an irrigation device as an example, the controller 110 can be configured to determine one or more control parameters for controlling one or more controllable components of the irrigation device, such as a gimbal, nozzles, and valves, based on one or more factors such as map data of the irrigation device's working area (i.e., the irrigation area), water pressure, user commands, humidity, temperature, wind force, and time. Then, the controller 110 can perform corresponding operations on one or more components of the irrigation device based on the determined one or more control parameters, enabling the irrigation device to intelligently control the timing, duration, angle, and range of water jetting, for example, by considering one or more factors such as map data of the irrigation device's working area (i.e., the irrigation area), water pressure, user commands, humidity, temperature, wind force, and time.
[0023] like Figure 2 As shown, a control terminal 200 for the garden device 100 can be configured in conjunction with the garden device 100.
[0024] The control terminal 200 can be a portable smart terminal such as a smartphone or tablet, and users can remotely control the yard appliance 100 through an application installed on the control terminal 200. The control terminal 200 can also be a remote control specifically designed and configured for the yard appliance 100, enabling users to input commands and remotely control the yard appliance 100 via buttons, touchscreens, microphones, etc., on the control terminal 200. The control terminal 200 may also include user-controllable devices such as drones or unmanned vehicles. In different embodiments, the control terminal 200 can be entirely movable or partially movable.
[0025] The control terminal 200 may include a processor 210. The controller 210 may include any circuitry and / or module with data processing and / or instruction execution capabilities suitable for the control terminal 200, such as a central processing unit (CPU), a graphics processing unit (GPU), or a field-programmable gate array (FPGA), and may be configured, for example, to perform data processing and / or control related to the functions of the control terminal 200 based on program instructions stored in a memory (not shown) within the control terminal 200, user instructions input by the user of the control terminal 200 via buttons, touchscreens, microphones, etc., and sensing data from sensors.
[0026] like Figure 2 As shown, the control terminal 200 may further include a sensor 230 for sensing the real-time pose and / or movement trajectory of the control terminal 200. The sensor 230 may include, for example, one or more of the following: an image sensor such as a camera; a space attitude sensor such as an inertial measurement unit or a gyroscope; a positioning system such as the BeiDou Navigation Satellite System or the Global Positioning System.
[0027] like Figure 1 As shown, the garden device 100 may also include a receiver 120 for receiving control commands or data from the control terminal 200, and as... Figure 2 As shown, the control terminal 200 may also include a transmitter 220 for sending control commands or data to the garden device 100, enabling the garden device 100 and the control terminal 200 to communicate wirelessly.
[0028] Wireless communication between the yard device 100 and the control terminal 200 may include direct communication or one-way communication, and may also include radio frequency communication via a base station and / or satellite communication via a satellite. Accordingly, the receiver 120 of the yard device 100 and the transmitter 220 of the control terminal 200 may be implemented in any manner suitable for wireless communication between the yard device 100 and the control terminal 200.
[0029] Figure 3 An exemplary method 300 in an embodiment of the present disclosure is illustrated schematically. One or more steps of the method 300 may be performed by a controller 310 of a control terminal 300 for precisely creating map data of a work area.
[0030] like Figure 3 As shown, method 300 may include steps 310, 320, 330 and 340.
[0031] In step 310, the control terminal 200 (e.g., carried, manipulated by a movable part of the control terminal 200, or controlled by a controller 210 of the control terminal 200) can be moved along the boundary of the working area. For example, the movement trajectory can eventually form a closed loop. After the movement forms a closed loop, the control terminal 200 can be moved further along the boundary of the working area by a predetermined distance to facilitate determining the end of the movement and to facilitate subsequent trajectory optimization.
[0032] In step 320, sensor data about the pose and / or trajectory of the control terminal 200 during movement can be obtained through the sensor 230 of the control terminal 200.
[0033] In step 330, controller 210 may generate map data about the work area based on the sensing data obtained in step 320. For example, controller 210 may be configured to generate map data about the work area using one or more suitable methods, such as Visual Simultaneous Localization and Mapping (VSLAM) or Simultaneous Localization and Mapping (SLAM). The generated map data may include one or more types of map data, such as a contour map of the work area's boundaries or a 3D map that may contain richer information about the work area.
[0034] In step 340, the controller 210 can send the generated map data to the courtyard device 100 via the transmitter 220.
[0035] The yard device 100 can receive data from the control terminal 200 via the receiver 120, including map data about the work area. Then, the controller 110 of the yard device 100 can control the operation of one or more components of the yard device 100 based on the received map data, thereby performing work in the work area.
[0036] Method 300 enables the creation of map data in one go with high precision, which helps improve work efficiency and the operational accuracy of the courtyard device 100.
[0037] In one or more embodiments, in method 300, environmental data about the vicinity of the courtyard device 100 may be obtained, for example, before step 310, at the beginning of step 310, or at other suitable times, and further, the map data generated in step 330 may be calibrated based on the obtained environmental data.
[0038] For example, in one embodiment, the control terminal 200 can be placed near the garden device 100 (e.g., directly above the garden device 100), and the control terminal 200 can be moved back and forth within a certain range, for example, the control terminal 200 can be moved forward and backward a certain distance (e.g., about 10 centimeters). During this movement, environmental data related to the environment in the direction consistent with the current orientation of the nozzle of the garden device 100 can be acquired by the image sensor or the like in the sensor 230.
[0039] Then, for example during, after, or at any other suitable time during step 330, the controller 210 may use the environmental data to match the sensing data obtained in step 320, and / or calibrate the map data generated in step 330. The calibration includes matching the current position of the garden device 100 with the map data to obtain the position of the garden device 100 on the map; furthermore, obtaining the boundary point corresponding to the current orientation of the garden device 100, and using the boundary point as a reference point for subsequent operations of the garden device 100.
[0040] Environmental data and its acquisition methods may include, for example, at least one of the following: environmental data obtained by the control terminal 200 at the courtyard device 100 in the initial direction of the courtyard device 100; environmental data obtained by the control terminal 200 during the process of moving from the courtyard device 100 to the boundary of the work area along the initial direction of the courtyard device 100; and environmental data obtained by the control terminal 200 during the process of moving from the courtyard device 100 to the boundary of the work area in the direction opposite to the initial direction of the courtyard device 100. The initial direction of the courtyard device 100 may include, for example, including but not limited to: the orientation of the courtyard device 100 when preparing to obtain environmental data via the control terminal 200; the orientation of the courtyard device 100 at startup; and a predetermined or marked reference direction.
[0041] Figure 4 An example of the execution process of method 300 is shown schematically.
[0042] like Figure 4 As shown, the position O of the courtyard device 100 can be taken as the starting point, and the current orientation of the courtyard device 100 (such as...) can be... Figure 4The arrow pointing from O to C in the middle is used as the initial direction of the courtyard device 100.
[0043] Then, step 310 of method 300 can be performed, wherein, for example, the user of the courtyard device 100 carries the control terminal 200 and moves from position O to position C on the boundary of the work area 400, and then continues to move along the boundary of the work area 400 as indicated by the arrow on the boundary of the work area 400.
[0044] During this movement, step 320 can be performed to obtain sensing data about the pose and / or trajectory of the control terminal 200 during the movement through the sensor 230 of the control terminal 200.
[0045] Then, in step 330, a precise outline of the work area 400 can be generated, for example, based on the sensing data such as the movement trajectory obtained in step 320, using methods such as SLAM. For example, a precise outline of the work area 400 can be generated while the control terminal 200 is moved, using methods such as SLAM. In addition to generating a trajectory map, in step 330, three-dimensional map data of the work area 400 can also be generated based on the sensing data such as the movement trajectory obtained in step 320, using methods such as SLAM, to enrich the boundary information of the work area 400.
[0046] like Figure 4 As shown, the user of the courtyard device 100 can carry the control terminal 200 and move from position O to position C on the boundary of the work area 400. During this process, environmental data related to the environment in the direction from O to C can be acquired. This allows the positional relationship between the courtyard device 100 and the boundary trajectory of the work area 400 to be determined, which helps to ensure the consistency of the coordinate system or coordinate data used for positioning.
[0047] In addition, such as Figure 4 As shown, the movement trajectory of the control terminal 200 on the boundary of the working area 400 can form a closed loop. Even after the closed loop is formed, the control terminal 200 can continue to move a certain distance on the boundary of the working area 400. Thus, the boundary range of the working area 400 and the timing of creating the map data of the working area 400 can be conveniently determined through the closed loop judgment.
[0048] Then, the control terminal 200 can execute step 340 to send the generated map data to the garden device 100, so that the garden device 100 can operate according to the map data.
[0049] The basic principles of this disclosure have been described above with reference to embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of the various embodiments of this disclosure. Furthermore, the foregoing details are for illustrative and facilitative purposes only, and are not limitations; the foregoing details do not limit the scope of this disclosure to its implementation.
[0050] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. In various embodiments, these devices, apparatuses, devices, and systems may be connected, arranged, and configured in any suitable manner.
[0051] Additionally, words such as "including," "containing," and "having" in the text are open-ended terms meaning "including but not limited to," and can be used interchangeably. The words "or" and "and" used here refer to the words "and / or," and can be used interchangeably unless the context explicitly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to," and can be used interchangeably.
[0052] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.
[0053] In this article, modifiers without quantifiers, such as "first" and "second," are intended to distinguish different components / parts / circuits / modules / devices / steps, rather than to emphasize order, positional relationship, importance, or priority. In contrast, modifiers with quantifiers, such as "first" and "second," can be used to emphasize the order, positional relationship, importance, or priority of different components / parts / circuits / modules / devices / steps.
[0054] The above description is given for illustrative and descriptive purposes only. This description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.
Claims
1. A method for determining a working area map of a courtyard installation, comprising: The control terminal of the courtyard device is moved along the boundary of the working area; The sensors of the control terminal are used to obtain sensing data about the pose and / or trajectory of the control terminal during movement. Based on the sensed data, generate map data about the work area; as well as The map data is sent to the courtyard device.
2. The method of claim 1, further comprising: Obtain environmental data about the vicinity of the courtyard device; as well as The map data is calibrated based on the environmental data.
3. The method as described in claim 2, wherein, The environmental data includes at least one of the following: Environmental data obtained at the courtyard device via the control terminal according to the initial orientation of the courtyard device; Environmental data obtained by the control terminal during the process of moving from the courtyard device to the boundary along the initial direction; as well as Environmental data obtained by the control terminal during the process of moving from the courtyard device to the boundary in a direction opposite to the initial direction.
4. The method of claim 3, wherein, The initial direction includes at least one of the following: The orientation of the courtyard device when preparing to obtain the environmental data through the control terminal; The orientation of the courtyard device upon startup; and The reference direction of the courtyard device is predetermined or marked in advance.
5. The method according to any one of claims 1 to 4, wherein, Map data about the work area is generated from the sensed data using Visual Simultaneous Localization and Mapping (VSLAM) or Simultaneous Localization and Mapping (SLAM).
6. The method as described in any one of claims 1 to 4, wherein, The map data includes at least one of a contour map of the boundaries of the work area and a three-dimensional map of the work area.
7. The method as described in any one of claims 1 to 4, wherein, The sensor includes at least one of the following: Image sensor; Spatial attitude sensor; and Positioning system.
8. The method as described in any one of claims 1 to 4, wherein, The movement trajectory forms a closed loop.
9. A control terminal for a garden device, comprising: The sensor is configured to sense the real-time pose and movement trajectory of the control terminal; The processor is configured to use the method as described in any one of claims 1 to 8; and A transmitter is configured to send data to the courtyard device.
10. A courtyard device, comprising: A receiver is configured to receive data from a control terminal of the yard device, the data including map data generated by the control terminal by performing the method as described in any one of claims 1 to 8; as well as The controller is configured to control the operation of the yard device based on the map data.
11. The courtyard device as claimed in claim 10, wherein, The courtyard device includes an irrigation device configured to irrigate the work area based on the map data.