Method for modifying a lawnmower work map and related device

Abstract

Embodiments of the present application disclose a method and related device for modifying a lawn mower operation map, the method comprising: obtaining target trajectory data of a user remotely controlling the lawn mower to walk through a user terminal; determining a relative position relationship between a trajectory contour corresponding to the target trajectory data and a boundary of an original operation map; identifying a modification intention of the user according to the relative position relationship, the modification intention comprising: an increase area intention, a deletion area intention, and a composite modification intention, the composite modification intention being used to represent that the user requires to increase an area and delete an area at the same time; and based on the modification intention, constructing a closed boundary according to the trajectory contour and the boundary of the original operation map to obtain a new operation map. In this way, the user can remotely control the lawn mower to walk through an open path, the change intention can be automatically identified and the boundary replacement can be completed, the operation steps of the user are simplified, the operation efficiency and fault tolerance of the generated map are improved, and the user experience is improved.

Description

Technical Field

[0001] This application relates to the field of lawnmower technology, and in particular to a method and apparatus for modifying lawnmower operation maps. Background Technology

[0002] With the rapid development of smart garden equipment technology, lawnmowers have been widely used for lawn maintenance in home gardens and public green spaces. A lawnmower's work map is a closed contour map created by the mowing robot through autonomous movement or remote control by the user, used to mark the boundaries of the work area. This map typically consists of a series of ordered boundary points that enclose the mower's working area. In actual use, users often need to modify the established work map due to changes in the work area, such as adding flower beds, removing obstacles, or adjusting the lawn's extent. For example, they might expand the boundaries outward to increase the mowing area or shrink them inward to avoid specific areas. The ease of map modification directly impacts the user experience.

[0003] For lawnmower robots that lack autonomous boundary mapping capabilities, existing technologies require users to control the lawnmower to follow a complete closed boundary outline via remote control when making local changes to the work map. However, existing technologies require following a complete closed boundary regardless of the size of the adjustment, making the operation cumbersome and inefficient. Furthermore, they cannot simultaneously add or remove areas in a single operation, requiring two separate drawing steps; the error tolerance is low, and operational mistakes necessitate a complete redrawing, resulting in a poor user experience. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a method and related apparatus for modifying lawnmower operation maps. By allowing users to remotely control the lawnmower to travel only a short open path, the method can automatically identify the intention to change the map and complete the boundary replacement, simplifying the user's operation steps, improving the efficiency and fault tolerance of map generation operations, and enhancing the user experience.

[0005] Firstly, this application provides a method for modifying a lawnmower operation map, including: Acquire the target trajectory data of the lawnmower being moved by the user through the user terminal, wherein the target trajectory data is an open trajectory connecting the first endpoint and the second endpoint of the original operation map boundary; Determine the relative positional relationship between the trajectory outline corresponding to the target trajectory data and the boundary of the original operation map; Based on the relative positional relationship, the user's modification intention is identified. The modification intention includes: intention to add a region, intention to delete a region, and a combined modification intention. The combined modification intention is used to represent that the user requests to add and delete regions simultaneously. Based on the stated modification intent, a closed boundary is constructed according to the trajectory outline and the original operation map boundary to obtain a new operation map.

[0006] In one possible embodiment, identifying the user's modification intent based on the relative positional relationship includes: The spatial distribution state of the trajectory contour relative to the boundary of the original operation map is determined, and the spatial distribution state includes: a first state representing the outside, a second state representing the inside, and a third state representing part of the outside and part of the inside; Based on the first state, the modification intention is determined to be the intention to add a region; Based on the second state, the corresponding modification intention is determined to be the intention to delete the region; Based on the third state, the corresponding modification intention is determined to be the composite modification intention.

[0007] In one possible embodiment, determining the modification intent corresponding to the third state as the composite modification intent includes: Obtain information on multiple intersection points between the trajectory contour and the boundary of the original operation map; Based on the multiple intersection point information, the trajectory contour is divided into multiple continuous trajectory segments; For each of the plurality of consecutive trajectory segments, the corresponding modification intent is identified; The combined modification intent is determined by summarizing the modification intents corresponding to the multiple consecutive trajectory segments.

[0008] In one possible embodiment, the method further includes: if the spatial distribution state of the trajectory contour is the second state, calculating the area of ​​two sub-regions formed by dividing the area of ​​the original operation map by the trajectory contour; if the difference in area between the two sub-regions is less than a preset threshold, outputting a prompt message to the user terminal to prompt the user to confirm the target reserved area.

[0009] In one possible embodiment, outputting prompt information to the user terminal includes: outputting image information of the two sub-regions to the user terminal, wherein the image information is an image of the two sub-regions highlighted in different colors; and outputting text information to the user terminal, wherein the text information is used to instruct the user to select one of the two sub-regions as the target reserved area.

[0010] In one possible embodiment, before acquiring the target trajectory data of the lawnmower being remotely controlled by the user via a user terminal, the method further includes: Real-time monitoring of the distance between the lawnmower and the boundary of the original work map; When the spacing is less than a preset correction threshold, a candidate anchor point is determined on the boundary of the original operation map. The candidate anchor point is the discrete point that is closest to the current position of the lawnmower in Euclidean distance. The candidate anchor points are selected according to preset conditions, and a target anchor point is determined. The preset conditions refer to the curvature change on the boundary of the original operation map being less than a preset curvature. The target anchor point is taken as the first endpoint.

[0011] In one possible embodiment, the method further includes: determining the shortest path information from the current position of the lawnmower to the first endpoint; controlling the lawnmower to automatically travel to the first endpoint at a safe speed based on the shortest path information; and when the lawnmower reaches the first endpoint, emitting a prompt sound and sending an arrival message to the user terminal, the arrival message being used to indicate that the first endpoint is highlighted at the user terminal.

[0012] In one possible embodiment, controlling the lawnmower to automatically travel to the first endpoint at a safe speed includes: activating the lawnmower's obstacle avoidance sensor; when an obstacle is detected by the obstacle avoidance sensor, controlling the lawnmower to apply a braking operation and outputting a prompt message requesting manual intervention to the user terminal; and, upon receiving a continue command or a manual remote control command sent by the user through the user terminal, responding to the continue command or the manual remote control command and restoring the lawnmower's travel control.

[0013] In one possible embodiment, after obtaining the new task map, the method further includes: validating the new task map, wherein the validity verification includes: verifying whether the new task map is a single closed contour, verifying whether the boundaries of the new task map are self-intersecting, and verifying whether the area of ​​the new task map is within a preset area range; if the validity verification passes, the new task map is stored; if the validity verification fails, the process is rolled back to the original task map, and a modification failure message is output to the user terminal.

[0014] Secondly, this application provides a lawnmower, including a memory and a processor, wherein the memory stores a computer program, and the computer program executes the method for modifying the lawnmower operation map as described in any one of the first aspects when the processor is running.

[0015] Thirdly, this application provides a device for modifying a lawnmower operation map. The device includes: an acquisition unit, a determination unit, an identification unit, and a generation unit. The acquisition unit acquires target trajectory data of a lawnmower driven remotely by a user via a user terminal. The target trajectory data is an open trajectory connecting the first and second endpoints of the original operation map boundary. The determination unit determines the relative positional relationship between the trajectory outline corresponding to the target trajectory data and the boundary of the original operation map. The identification unit identifies the user's modification intention based on the relative positional relationship. The modification intention includes: an intention to add an area, an intention to delete an area, and a combined modification intention. The combined modification intention represents the user's request to simultaneously add and delete areas. The generation unit, based on the modification intention, constructs a closed boundary according to the trajectory outline and the boundary of the original operation map to obtain a new operation map.

[0016] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when run on a processor, executes the method for modifying the lawnmower operation map as described in any of the foregoing embodiments.

[0017] The method and related apparatus for modifying lawnmower operation maps provided in this application allow users to remotely control the lawnmower to travel only a section of open path rather than a complete closed boundary. The lawnmower can automatically recognize the intention to change and complete the boundary replacement. This enables a single operation to simultaneously support the addition, deletion, or combined addition and deletion of the operation area, thereby simplifying the user's operation steps and reducing the difficulty of remote control movement. This helps to shorten the map change time, improve operation efficiency and fault tolerance, and improve the user experience. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0019] Figure 1 This is a schematic diagram of an application scenario for generating operation maps using existing lawnmowers, provided in an embodiment of this application. Figure 2 This is a schematic diagram of the system architecture of a job map modification system provided in an embodiment of this application; Figure 3 This is a flowchart illustrating a method for modifying a lawnmower operation map provided in an embodiment of this application; Figure 4This is a schematic diagram of the spatial distribution of a trajectory contour provided in an embodiment of this application; Figure 5 This is a schematic diagram of the spatial distribution of another trajectory contour provided in an embodiment of this application; Figure 6 This is another spatial distribution diagram of a trajectory contour provided in the embodiments of this application; Figure 7 This is a schematic diagram of the spatial distribution of a composite trajectory profile provided in an embodiment of this application; Figure 8 This is a schematic diagram of a user-side device interface provided in an embodiment of this application; Figure 9 This is a functional unit block diagram of a device for modifying a lawnmower operation map provided in an embodiment of this application; Figure 10 This is a schematic diagram of the structure of the lawnmower provided in the embodiments of this application. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0021] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but in some embodiments includes steps or units not listed, or in some embodiments includes other steps or units inherent to these processes, methods, products, or apparatuses.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] In the embodiments of this application, "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist simultaneously; B exists alone. Among them, A and B can be singular or plural.

[0024] In this embodiment, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. Alternatively, the symbol " / " can also represent a division sign, i.e., performing a division operation. For example, A / B can mean A divided by B.

[0025] In the embodiments of this application, "at least one item" or its similar expression refers to any combination of these items, including any combination of a single item or a plurality of items. "One or more" means one or more, while "multiple" means two or more. For example, "at least one item" of a, b, or c can represent the following seven cases: a, b, c; a and b; a and c; b and c; a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0026] In the embodiments of this application, "equal to" can be used with "greater than" and is applicable to technical solutions used when "greater than" is used; it can also be used with "less than" and is applicable to technical solutions used when "less than" is used. When "equal to" is used with "greater than", it is not used with "less than"; when "equal to" is used with "less than", it is not used with "greater than".

[0027] The following describes the relevant content, concepts, meanings, technical issues, technical solutions, and beneficial effects involved in the embodiments of this application.

[0028] With the rapid development of smart garden equipment technology, lawnmowers have been widely used for lawn maintenance in home gardens and public green spaces. A lawnmower's work map is a closed contour map created by the mowing robot through autonomous movement or remote control by the user, used to mark the boundaries of the work area. This map typically consists of a series of ordered boundary points that enclose the mower's working area. In actual use, users often need to modify the established work map due to changes in the work area, such as adding flower beds, removing obstacles, or adjusting the lawn's extent. For example, they might expand the boundaries outward to increase the mowing area or shrink them inward to avoid specific areas. The ease of map modification directly impacts the user experience.

[0029] For lawnmower robots that lack autonomous boundary mapping capabilities, existing technologies require users to control the lawnmower to follow a complete closed boundary outline via remote control when making local changes to the work map. However, existing technologies require following a complete closed boundary regardless of the size of the adjustment, making the operation cumbersome and inefficient. Furthermore, they cannot simultaneously add or remove areas in a single operation, requiring two separate drawing steps; the error tolerance is low, and operational mistakes necessitate a complete redrawing, resulting in a poor user experience.

[0030] To address the aforementioned issues, this application provides a method and related apparatus for modifying lawnmower operation maps. By allowing users to remotely control the lawnmower to travel only a short open path, the method can automatically identify the intention to change the map and complete the boundary replacement, simplifying the user's operation steps, improving the efficiency and fault tolerance of map generation operations, and enhancing the user experience.

[0031] Please see Figure 1 Typical application scenarios of existing technical solutions include Figure 1 As shown: The original work map has a closed outline, and the area enclosed by this boundary is the current workable range of the lawnmower. Due to changes in the yard layout (such as adding flower beds, removing obstacles, or adjusting the lawn area), users need to make partial modifications to the original work map. For example, the boundary segment between point A and point B in the map can be expanded outward to increase the mowing area, or shrunken inward to avoid newly planted plants.

[0032] According to existing technical solutions, users must use a remote control to control the lawnmower to move along a complete closed boundary profile along the desired new boundary, such as... Figure 1 As shown in the red path. The closed boundary of this dashed line must partially overlap with the original work map. For example, the dashed boundary intersects with the solid boundary near points A and B, forming an overlapping area. During operation, the user needs to remotely control the lawnmower to move precisely along the dashed path for an extended period to ensure the closed boundary is complete and correctly intersects with the original boundary. If operational errors such as trajectory deviation, incomplete closure, or trajectory intersection occur during the movement, the entire modification process must be restarted.

[0033] The method in this embodiment is applied to the controller of a lawnmower, combined with Figure 2 The method for modifying the lawnmower operation map in the embodiments of this application will be described.

[0034] Figure 2 This is a schematic diagram of the system architecture of a job map modification system provided in an embodiment of this application, such as... Figure 2 As shown, the work map modification system 100 includes: a lawnmower 110 and a user-side device 120 that is communicatively connected to the lawnmower 110.

[0035] The lawnmower 110 is an intelligent lawnmower robot with mobility, positioning and mapping capabilities, and the ability to communicate with user-side devices. The lawnmower 110 includes a positioning module (e.g., a multi-sensor fusion positioning system using RTK-GPS, IMU, wheel speed odometer, etc.), obstacle avoidance sensors (ultrasonic sensors, collision detection sensors), a wireless communication module (Wi-Fi, Bluetooth, or 4G / 5G module), a memory, and a processor. The lawnmower 110 responds to user-initiated map modification commands via user-side device 120, performs intelligent starting point anchoring, automatically travels to the anchor point, receives and records the target trajectory data remotely controlled by the user, analyzes the relative positional relationship between the trajectory outline and the original map boundary, automatically identifies the user's modification intent, replaces the corresponding segments of the original boundary with the trajectory outline to form a closed boundary to generate a new map, and performs validity verification and storage or rollback operations on the new map.

[0036] User-side device 120 is a smart terminal device that establishes a wireless communication connection with lawnmower 110, including but not limited to mobile phones, tablets, smartwatches, or dedicated remote controls. A lawnmower control application (APP) is installed on user-side device 120, interacting with the user through a graphical user interface. User-side device 120 receives user-triggered commands to modify the work map on the interface, displays the work map interface and current position of the lawnmower in real time, receives user commands to remotely control the lawnmower and forwards them to lawnmower 110, displays the trajectory outline image, highlighted anchor point information, image information of two sub-areas, and text prompts transmitted by lawnmower 110, and sends user commands to lawnmower 110 after receiving user confirmation of the target retention area selection command or a continue / manual remote control command.

[0037] The following is combined with Figure 3 This application describes a method for modifying a lawnmower operation map according to an embodiment of the present application. Figure 3 This is a flowchart illustrating a method for modifying a lawnmower operation map according to an embodiment of this application. The method in this embodiment is applied to, for example... Figure 2 The lawnmower 110 of the operation map modification system 100 shown includes the following steps: S310: Obtain the target trajectory data of the lawnmower being remotely controlled by the user through the user terminal.

[0038] The user terminal can be a mobile application (APP) or a dedicated remote control. When the user needs to modify the work map, they first remotely control the lawnmower to a starting point (first endpoint) on the original work map boundary, and then remotely control the lawnmower to walk along the desired new boundary path until it reaches another endpoint (second endpoint) on the original work map boundary. Throughout the movement, the lawnmower records its own position information in real time, generating a continuous, non-closed walking path connecting two different points on the original boundary, i.e., an open trajectory.

[0039] In one possible embodiment, before acquiring the target trajectory data of the lawnmower being remotely controlled by the user via a user terminal, the method further includes: real-time monitoring of the distance between the lawnmower and the boundary of the original work map; when the distance is less than a preset correction threshold, determining candidate anchor points on the boundary of the original work map, wherein the candidate anchor points are discrete points with the closest Euclidean distance to the current position of the lawnmower; filtering the candidate anchor points according to preset conditions, and determining a target anchor point, wherein the preset conditions are that the curvature change on the boundary of the original work map is less than a preset curvature; and using the target anchor point as the first endpoint.

[0040] S320. Determine the relative positional relationship between the trajectory outline corresponding to the target trajectory data and the boundary of the original operation map.

[0041] Specifically, after acquiring the set of trajectory points of the user's remote-controlled movement, the lawnmower first performs data preprocessing: Kalman filtering is used to remove random noise, eliminating pauses with a speed below 0.05 m / s and a duration exceeding 1 second, smoothing the trajectory using a moving average algorithm, and downsampling using the Douglas-Puk algorithm to obtain a clear and continuous trajectory outline. Then, this trajectory outline is spatially compared with the boundary of the original work map, calculating whether the position of each point on the trajectory outline relative to the original boundary is inside or outside, thereby obtaining the overall relative positional relationship between the two.

[0042] S330. Identify the user's intent to modify based on the relative positional relationship.

[0043] The modification intentions include: adding area intentions, deleting area intentions, and combined modification intentions. Combined modification intentions are used to represent user requests to simultaneously add or delete areas. The lawnmower automatically determines the user's modification intention based on the relative positional relationship between the trajectory outline and the original boundary, without requiring the user to manually select the operation mode.

[0044] In one possible embodiment, identifying the user's modification intent based on the relative positional relationship includes: determining the spatial distribution state of the trajectory outline relative to the boundary of the original operation map, the spatial distribution state including: a first state representing being located outside, a second state representing being located inside, and a third state representing being partially outside and partially inside; determining the modification intent as adding a region based on the first state; determining the corresponding modification intent as deleting a region based on the second state; and determining the corresponding modification intent as a composite modification intent based on the third state.

[0045] Specifically, if the trajectory outline is entirely outside the boundary of the original work map, the user's modification intention is identified as an intention to add an area, meaning the user wants to add the area outside the trajectory to the original work map to expand the work area; if the trajectory outline is entirely inside the boundary of the original work map, the user's modification intention is identified as an intention to delete an area, meaning the user wants to remove the area inside the trajectory from the original work map to reduce the work area; if the trajectory outline is partially outside the boundary of the original work map and partially inside, the user's modification intention is identified as a composite modification intention, meaning the user wants to simultaneously add the area outside the trajectory and delete the area inside the trajectory in one operation.

[0046] In one possible embodiment, determining the corresponding modification intent as a composite modification intent based on the third state includes: obtaining multiple intersection point information between the trajectory outline and the boundary of the original operation map; dividing the trajectory outline into multiple continuous trajectory segments based on the multiple intersection point information; identifying the corresponding modification intent for each of the multiple continuous trajectory segments; and summarizing the modification intents corresponding to the multiple continuous trajectory segments to determine the composite modification intent.

[0047] S340. Based on the modification intention, a closed boundary is formed according to the trajectory outline and the original operation map boundary to obtain a new operation map.

[0048] Specifically, after clarifying the user's modification intention, the lawnmower automatically performs boundary replacement and splicing. It extracts the original boundary segment from the first endpoint to the second endpoint on the original work map boundary. Based on the modification intention, it replaces this original boundary segment with the trajectory outline drawn by the user, forming a new closed boundary.

[0049] For adding regions: New boundary = original boundary - original boundary segment + trajectory outline, so that the region outside the trajectory is included in the new operation map; For deleting regions: New boundary = original boundary - original boundary segment + trajectory outline, so that the region inside the trajectory is removed from the new operation map; For compound modification: Based on the multiple intersections between the trajectory and the original boundary, the original boundary and trajectory are divided into several segments, and recombined according to the principle of retaining the outer segments and removing the inner segments to form a new closed boundary.

[0050] As can be seen, the lawnmower operation map modification method proposed in this embodiment is as follows: First, the trajectory data corresponding to the open path of the lawnmower remotely controlled by the user is obtained. The open path is a non-closed trajectory connecting the first point and the second point on the original operation map boundary. Second, the original operation map boundary of the lawnmower is obtained. Then, the relative positional relationship between the trajectory outline corresponding to the trajectory data and the original operation map boundary is determined. Third, based on the relative positional relationship, the user's modification intention is determined. The modification intention includes at least one of the following: adding an area, deleting an area, or a combination of addition and subtraction. Finally, based on the modification intention, the original boundary segment from the first point to the second point in the original operation map boundary is replaced with the trajectory outline to generate a new operation map boundary. In this way, the user is allowed to remotely control the lawnmower to travel only a section of open path instead of a complete closed boundary. The lawnmower can automatically recognize the modification intention and complete the boundary replacement, enabling a single operation to simultaneously support the addition, deletion, or combination of addition and subtraction of the operation area. This simplifies the user's operation steps and reduces the difficulty of remote control movement, which helps to shorten the map modification time, improve operation efficiency and fault tolerance, and improve the user experience.

[0051] In one possible embodiment, identifying the user's intent to modify based on relative positional relationships includes: Determine the spatial distribution state of the trajectory outline relative to the boundary of the original operation map. The spatial distribution state includes: a first state representing the outside, a second state representing the inside, and a third state representing part of the outside and part of the inside. Based on the first state, the intention to modify is determined to be to add a region; Based on the second state, the corresponding modification intent is determined to be the intent to delete a region; Based on the third state, the corresponding modification intent is determined to be a composite modification intent.

[0052] After obtaining the trajectory contour generated by the user-controlled lawnmower, the trajectory contour is spatially overlaid with the boundary of the original work map. For each trajectory point on the trajectory contour, the position of the point relative to the boundary of the original work map is calculated: if the point is outside the original boundary, it is marked as an external point; if the point is inside the original boundary, it is marked as an internal point.

[0053] Specifically, if all trajectory points are located outside the boundaries of the original operational map, the spatial distribution state is determined to be the first state. Please refer to [link / reference]. Figure 4The following is a specific scenario: The original work map has a closed boundary. The user remotely controls the lawnmower 110, starting from the first endpoint A1 on the original boundary, and travels along an open track outside the original boundary to reach the second endpoint B1 on the original boundary. The entire track is completely outside the original boundary outline and does not enter the interior of the original boundary. At this time, the spatial distribution state is the first state, indicating that the user wants to include the area outside the track in the work area. That is, the user requests to expand outward from the original work map, adding an additional area enclosed or indicated by the track outline.

[0054] If all trajectory points are located inside the boundaries of the original work map, the spatial distribution state is determined to be the second state. Please refer to [link / reference]. Figure 5 The illustration shows a specific scenario: the original work map has a closed boundary. The user remotely controls the lawnmower, starting from the first endpoint A2 on the original boundary, and travels along an open path inside the original boundary to reach the second endpoint B2 on the original boundary. The entire path lies entirely within the outline of the original boundary and does not extend beyond it. At this point, the spatial distribution is in the second state, indicating that the user wants to remove the area inside the path from the original work map; that is, the user requests to shrink the work map and delete the area enclosed or indicated by the path outline.

[0055] If some trajectory points in the trajectory outline are located outside the original operation map boundary, and another portion of trajectory points are located inside, then the spatial distribution state is determined to be the third state. Please refer to [link / reference]. Figure 6 The illustration shows a specific scenario: The original work map has a closed boundary. The user remotely controls the lawnmower, starting from the first endpoint A3 on the original boundary. It first travels outwards along a section of the outer edge, then crosses the boundary and travels inwards along a section of the inner edge, finally returning to the second endpoint B3 on the original boundary. The entire trajectory is partly outside and partly inside, forming an S-shape. At this point, the spatial distribution is in the third state, indicating that the user wants to simultaneously add and remove areas in a single operation; that is, the user requests to simultaneously add areas corresponding to the outer segments of the trajectory and remove areas corresponding to the inner segments.

[0056] As can be seen, in this embodiment, by analyzing the spatial distribution of the trajectory contour relative to the boundary of the original work map, the intentions of adding, deleting, and combining are respectively identified as being entirely outside, entirely inside, and partially outside and partially inside. This achieves automatic recognition and classification of user intentions. Thus, without requiring additional user input, the user's intention is determined directly based on spatial relationships, lowering the operational threshold, ensuring the accuracy and robustness of intention recognition, and optimizing user convenience.

[0057] In one possible embodiment, determining the corresponding modification intent as a composite modification intent based on the third state includes: obtaining multiple intersection point information between the trajectory outline and the boundary of the original operation map; dividing the trajectory outline into multiple continuous trajectory segments based on the multiple intersection point information; identifying the corresponding modification intent for each of the multiple continuous trajectory segments; and summarizing the modification intents corresponding to the multiple continuous trajectory segments to determine the composite modification intent.

[0058] Intersection information refers to the position coordinates and order of the intersection points between the trajectory outline and the boundary of the original work map, including the arrangement order of the intersection points on the trajectory, the corresponding positions of the intersection points on the original boundary, and the trajectory direction between adjacent intersection points.

[0059] Specifically, please refer to Figure 7 ,like Figure 7 As shown, when the lawnmower 110 determines that the spatial distribution state of the trajectory outline is in the third state, the lawnmower 110 first calculates all the intersection points between the trajectory outline and the boundary of the original work map. The boundary of the original work map is a closed area. The user remotely controls the lawnmower to start from the first endpoint A4 on the original boundary, travels a section of open trajectory, and reaches the second endpoint B4. This trajectory intersects the original boundary at intersection points P1, P2, and P3, forming a total of three intersection points. The lawnmower 110 records the position coordinates of these intersection points and their order on the trajectory. Then, the lawnmower 110 divides the entire trajectory outline into multiple continuous trajectory segments based on these intersection points: the first segment is from the first endpoint A4 to the intersection point P1, the second segment is from the intersection point P1 to the intersection point P2, the third segment is from the intersection point P2 to the intersection point P3, and the fourth segment is from the intersection point P3 to the second endpoint B. Next, the lawnmower 110 determines the position of each consecutive trajectory segment relative to the original work map boundary: the first segment (A4 to P1) is entirely outside the original boundary, therefore the modification intention corresponding to this segment is identified as an intention to add an area; the second segment (P1 to P2) is entirely inside the original boundary, therefore it is identified as an intention to delete an area; the third segment (P2 to P3) is entirely outside the original boundary, therefore it is identified as an intention to add an area; the fourth segment (P3 to B4) is entirely inside the original boundary, therefore it is identified as an intention to delete an area. Finally, the lawnmower 110 summarizes the modification intentions corresponding to all consecutive trajectory segments and determines the overall intention of this operation as a composite modification intention.

[0060] As can be seen, in this embodiment, by acquiring multiple intersection points between the trajectory outline and the boundary of the original work map, the trajectory is divided into multiple continuous trajectory segments based on the intersection points. The modification intent corresponding to each trajectory segment is identified segment by segment, and the combined modification intent is obtained. This allows the lawnmower to accurately analyze the multiple area change requirements contained in the complex intersecting trajectory of a single remote-controlled movement, achieving compound modification in a single operation. This improves the flexibility and efficiency of map modification while reducing the user's operational burden and error rate.

[0061] In one possible embodiment, the method further includes: if the spatial distribution state of the trajectory contour is in the second state, calculating the area of ​​the two sub-regions formed by dividing the area of ​​the original operation map by the trajectory contour; if the difference between the areas of the two sub-regions is less than a preset threshold, outputting a prompt message to the user terminal to prompt the user to confirm the target reserved area.

[0062] The preset threshold is used to measure whether the areas of two sub-regions are too close, in order to prevent the lawnmower from making potentially incorrect mowing decisions when the user's intentions are unclear. This threshold can be an absolute area difference or a relative proportion difference; for example, a prompt may be triggered when the difference between the areas of two sub-regions is less than 10% of the total area.

[0063] Specifically, when the lawnmower determines that the spatial distribution of the trajectory outline is in the second state, i.e., the entire trajectory is located inside the original boundary, the lawnmower first divides the original boundary into two segments based on the positions of the two endpoints of the trajectory outline on the original boundary: a first boundary segment and a second boundary segment. Then, the trajectory outline forms a first closed sub-region with the first boundary segment and a second closed sub-region with the second boundary segment. The lawnmower calculates the area of ​​these two sub-regions. If the difference in area between the two sub-regions is less than a preset threshold, for example, the area difference is less than 10% of the total area of ​​the original map, or the absolute area difference is less than 1 square meter, it indicates that the trajectory drawn by the user has roughly divided the original area into two equal parts, and the lawnmower cannot uniquely determine which side of the area the user wants to delete. At this time, the lawnmower outputs a prompt message to the user to confirm the target area to be retained. This prompt message can be in the form of a pop-up window, voice, or text, such as displaying "Detected that you have divided the area into two pieces with similar areas, please click to select the area you want to keep" on a mobile app. After the user confirms, the lawnmower takes the sub-region selected by the user as the area to be retained, and the other sub-region is deleted, thus completing the map modification.

[0064] As can be seen, in this embodiment, when the lawnmower's trajectory is entirely within the original boundary, it calculates the area of ​​the two sub-regions formed by the trajectory segmentation, and outputs a prompt message to the user to confirm the target area to be retained when the area difference is less than a preset threshold. This avoids the problem of the lawnmower misinterpreting the deletion intention due to symmetrical or centered user operation trajectories. By proactively requesting confirmation when the user's intention is ambiguous, it ensures the accuracy and reliability of the map modification results and improves the human-machine collaborative experience.

[0065] Specifically, please refer to Figure 8 In one possible embodiment, outputting prompt information to the user terminal includes: outputting image information of two sub-regions to the user terminal, wherein the image information is an image of the two sub-regions highlighted in different colors; and outputting text information to the user terminal, wherein the text information is used to instruct the user to select one of the two sub-regions as the target reserved area.

[0066] like Figure 8 As shown, the image information refers to the visual map interface generated by the lawnmower and sent to the user terminal 80. In this interface, the two sub-regions of the original operation map are highlighted with different colors, such as area C highlighted in green and area D highlighted in red, so that the user can distinguish them intuitively. The text information refers to the text prompts displayed along with the image information, which are used to clearly inform the user that the current operation is ambiguous and guide the user to make a choice. For example, the pop-up window 81 displays "Please click on the area you wish to keep".

[0067] As can be seen, in this embodiment, the lawnmower simultaneously outputs image information highlighting two sub-regions in different colors, along with text information instructing the user to select the target area to retain. Thus, through visual color differentiation and text guidance, users can intuitively understand the current map segmentation status and quickly make selections, effectively reducing operational difficulty and cognitive ambiguity in complex scenarios, and improving the synergy of human-computer interaction and the accuracy of map modifications.

[0068] In one possible embodiment, before acquiring the target trajectory data of the lawnmower being moved by the user remotely controlled via a user terminal, the method further includes: Real-time monitoring of the distance between the lawnmower and the boundary of the original work map; When the spacing is less than the preset correction threshold, candidate anchor points are determined on the boundary of the original operation map. The candidate anchor point is the discrete point with the closest Euclidean distance to the current position of the lawnmower. Candidate anchor points are selected based on preset conditions, and a target anchor point is determined. The preset conditions refer to the curvature change on the boundary of the original operation map being less than the preset curvature. Use the target anchor point as the first endpoint.

[0069] The preset correction threshold is used to determine whether the lawnmower's current position is close enough to the boundary of the original work map to trigger automatic anchoring correction. This threshold can be adjusted in the application according to user needs, with a default value of, for example, 0.5 meters. Since the original boundary is usually stored as a discrete point sequence, the lawnmower needs to traverse all boundary points to calculate the Euclidean distance to find the nearest point. The preset condition specifically selects points on the original boundary with curvature changes less than a preset curvature as target anchor points, avoiding the selection of anchor points at sharp corners, inflection points, or other locations with drastic curvature changes, to ensure the smoothness of subsequent trajectory stitching.

[0070] Specifically, when a user triggers the map modification function, the lawnmower monitors the distance between its current position and the boundary of the original map in real time. The lawnmower calculates the Euclidean distance from its current position to all discrete points on the original boundary at a fixed frequency, such as 10 Hz, and takes the minimum value as the current distance. When this distance is less than a preset correction threshold, such as 0.5 meters, the lawnmower triggers automatic correction logic. The lawnmower first determines candidate anchor points on the boundary of the original map, that is, finds one or more discrete boundary points with the closest Euclidean distance to the current position. If multiple boundary points have extremely small distance differences from the current position, such as less than 0.1 meters, these points are all considered candidate anchor points. Then, the lawnmower filters the candidate anchor points according to preset conditions: it calculates the curvature change value of each candidate anchor point on the original boundary, for example, by estimating the curvature through the vector angle formed by the point and its adjacent points. The lawnmower selects points with curvature changes less than a preset curvature, such as angle changes less than 15 degrees, as target anchor points. If the curvature changes of all candidate anchor points are greater than the preset curvature, the lawnmower will select the closest point as the target anchor point by default. Finally, the lawnmower will designate this target anchor point as the first endpoint, i.e., the starting point where the user will begin drawing the open trajectory. The lawnmower will display the target anchor point on the application interface with a highlighted icon, such as a yellow dot, and will automatically plan the shortest path from the current location to that point, autonomously traveling to the point at a safe speed, waiting for the user to begin remotely controlling and recording the trajectory.

[0071] As can be seen, in this embodiment, the lawnmower monitors the distance between itself and the boundary of the original work map in real time before acquiring the target trajectory data. When the distance is less than a preset correction threshold, it determines the candidate anchor point with the closest Euclidean distance and selects the target anchor point as the first endpoint based on the curvature change. In this way, the problem of insufficient positioning accuracy when manually controlled by the user is solved. The anchor point is automatically positioned at a point with gentle curvature on the boundary, avoiding the anchor point falling at a sharp corner, which would cause uneven subsequent trajectory stitching or the generation of an invalid map. At the same time, it lowers the user's operating threshold and realizes fuzzy remote control and precise anchoring.

[0072] In one possible embodiment, the method further includes: determining the shortest path information from the current position of the lawnmower to the first endpoint; controlling the lawnmower to automatically travel to the first endpoint at a safe speed based on the shortest path information; and when the lawnmower reaches the first endpoint, emitting a prompt sound and sending an arrival message to the user terminal, the arrival message being used to instruct the first endpoint to be highlighted at the user terminal.

[0073] Since the lawnmower's current location may not coincide with the first endpoint, and there may be obstacles or non-working areas between them, the lawnmower needs to plan the shortest and safest path. This path is usually a straight line, because the lawnmower has confirmed that the distance between its current location and the first endpoint is less than a preset correction threshold, such as 0.5 meters. The straight distance is short, and complex obstacle avoidance planning is unnecessary. Safe speed refers to the low-speed driving parameters used by the lawnmower during automatic driving, such as 0.1 m / s, to ensure timely braking in case of emergencies and protect the equipment and the surrounding environment. Arrival message refers to the status notification generated after the lawnmower successfully reaches the first endpoint. This message is sent to the user terminal, such as a mobile app, to trigger visual feedback on the user interface.

[0074] Specifically, after determining the first endpoint, the lawnmower calculates the straight-line distance and direction between the two points based on its current position and the coordinates of the first endpoint, generating the shortest path information. Due to the relatively small correction threshold setting, this path is usually a straight line and short in length. Based on this shortest path information, the lawnmower controls itself to automatically move towards the first endpoint at a safe speed. During the movement, the lawnmower activates its obstacle avoidance sensors in real time. If an obstacle is detected on the path, it immediately stops and prompts the user for manual intervention. When the lawnmower reaches the first endpoint, it emits a local prompt sound, such as a buzzer, to remind the user that anchoring is complete and remote control movement and trajectory recording can begin. At the same time, the lawnmower sends an arrival message to the user's device, such as a mobile app. Upon receiving this message, the user's device highlights the first endpoint on the map interface, for example, changing the originally yellow anchor point icon to red and flashing it twice on the map, visually informing the user that the lawnmower is in position, and the user can then remotely control the lawnmower to move along the desired new boundary.

[0075] As can be seen, in this embodiment, the lawnmower determines the shortest path from its current location to the first endpoint, automatically travels to the first endpoint at a safe speed, emits a prompt sound upon arrival, and sends an arrival message to the user to highlight the first endpoint. This achieves automatic connection from the user's remote control location to the precise anchor point, eliminating the need for manual fine-tuning by the user. This saves user time and ensures the user's awareness of the current status through both sound and visual feedback, improving the smoothness of the map modification process and the user experience.

[0076] In one possible embodiment, controlling the lawnmower to automatically travel to the first endpoint at a safe speed includes: activating the lawnmower's obstacle avoidance sensor; when an obstacle is detected by the obstacle avoidance sensor, controlling the lawnmower to apply a braking operation and outputting a prompt message requesting manual intervention to the user terminal; and, upon receiving a continue command or a manual remote control command sent by the user terminal, responding to the continue command or the manual remote control command and restoring the lawnmower's travel control.

[0077] Obstacle avoidance sensors refer to the sensing devices mounted on the lawnmower used to detect obstacles in the surrounding environment, including but not limited to ultrasonic sensors, infrared sensors, lidar, or collision detection sensors. The manual intervention request message refers to a message sent by the lawnmower to the user's end, such as a mobile app, to notify the user that automatic driving is currently obstructed and requires user intervention. This message may include text prompts, such as "Obstacle detected ahead, please manually control the mower to bypass it," and optional sound or vibration alerts. The continue command refers to the command issued by the user to resume automatic driving by clicking the "Continue" button on the user's interface after clearing the obstacle. The manual remote control command refers to the operation command by which the user directly controls the lawnmower to bypass obstacles and continue driving towards the first endpoint using the remote control or the direction control buttons on the app.

[0078] Specifically, when the lawnmower begins to automatically travel towards the first endpoint at a safe speed, such as 0.1 m / s, based on the shortest path information, it simultaneously activates obstacle avoidance sensors, including ultrasonic sensors and collision detection sensors, to monitor the environmental information ahead and around the travel path in real time. During automatic travel, if the obstacle avoidance sensors detect an obstacle on the path, such as a flower pot, toy, pet, or a suddenly appearing pedestrian, and the distance between the obstacle and the lawnmower is less than a safe threshold, such as 0.2 m, the lawnmower immediately controls the travel motor to apply the brakes, bringing the lawnmower to a smooth stop in front of the obstacle. Subsequently, the lawnmower outputs a prompt message to the user requesting manual intervention, such as a pop-up window on the APP interface displaying "There is an obstacle on the automatic travel path. Please manually control the lawnmower to bypass the obstacle, or clear the obstacle and click Continue."

[0079] After receiving the prompt, the user can choose to clear the obstacle and then send a continue command by clicking the "Continue" button in the app; alternatively, the user can choose not to clear the obstacle but instead send a manual remote control command using the remote control or the directional control buttons on the app to manually control the lawnmower to bypass the obstacle and continue moving towards the first endpoint. Upon receiving the continue command or manual remote control command from the user through the app, the lawnmower responds as follows: if it's a continue command, the lawnmower resumes automatic movement along the original shortest path; if it's a manual remote control command, the lawnmower temporarily exits automatic mode and is entirely controlled by the user until the user has successfully bypassed the obstacle. Afterward, the lawnmower can re-detect the distance to the first endpoint and re-trigger the automatic connection logic.

[0080] As can be seen, in this embodiment, the lawnmower activates its obstacle avoidance sensor when it automatically travels to the first endpoint. Upon detecting an obstacle, it brakes and requests manual intervention. After receiving a continuation command from the user or a manual remote control command, it resumes travel control. This leverages the convenience of automatic travel while prioritizing safety when encountering unexpected obstacles. Furthermore, the user intervention mechanism compensates for the limitations of automatic planning, preventing process bottlenecks or collisions caused by obstructed fixed paths, and enhancing the robustness and safety of the automatic anchoring function in complex real-world environments.

[0081] In one possible embodiment, after obtaining the new work map, the method further includes: validating the new work map, wherein the validity verification includes: verifying whether the new work map is a single closed contour, verifying whether the boundaries of the new work map are self-intersecting, and verifying whether the area of ​​the new work map is within a preset area range; if the validity verification passes, the new work map is stored; if the validity verification fails, the original work map is rolled back and a modification failure message is output to the user.

[0082] The validity verification includes: verifying whether the new work map is a single closed outline, that is, whether the new boundary is composed of a continuous closed loop path, without multiple unconnected isolated boundary segments; verifying whether the boundary of the new work map has self-intersections, that is, whether the boundary line intersects itself to form an "8" shape or a more complex intersection pattern. Self-intersecting boundaries will lead to fuzzy map area definitions and the lawnmower's inability to correctly plan the work path; verifying whether the area size of the new work map is within the preset area range. This range is set according to the lawnmower's working capabilities, such as battery life, blade coverage, and the actual size of the user's yard. For example, the minimum area is 1 square meter and the maximum area is 5000 square meters. If the area is too small, the lawnmower may frequently enter and exit invalid areas, and if the area is too large, it may exceed the lawnmower's single-operation capacity or the boundary range set by the user.

[0083] Specifically, the lawnmower first checks whether the new work map is a single closed contour: it traverses all points of the new boundary, confirming that the boundary point sequence is connected end-to-end to form a closed loop, and that there are no boundary segments independent of the main boundary in the entire sequence. If the check passes, it continues to verify whether the boundary of the new work map has self-intersections: using a scanline algorithm or a line segment intersection detection algorithm, it determines whether there are intersection points between any two non-adjacent line segments on the boundary. If any self-intersection point is detected, it is determined to be a self-intersection. If the self-intersection check passes, it continues to verify the area size of the new work map: it calculates the area of ​​the polygon enclosed by the new boundary and determines whether the area is within a preset area range, such as between 1 square meter and 5000 square meters. If all three verifications pass, the lawnmower determines that the new work map is valid and stores the new work map in local non-volatile memory, while also synchronizing it to the cloud server for users to view on multiple devices.

[0084] If any of the above verifications fails, the lawnmower determines that the validity verification has failed and immediately performs a rollback operation: restoring the currently used map data to the original working map version before the modification, and discarding the newly generated working map data. At the same time, the lawnmower outputs a modification failure message to the user, which specifically explains which verification failed and the possible reasons, such as "The new map boundary has self-intersections, please check if the drawn trajectory is excessively curved or intersecting", or "The new map area is only 0.8 square meters, which is less than the minimum allowable area of ​​1 square meter, please expand the modification area".

[0085] As can be seen, in this embodiment, the lawnmower performs three validity checks on the newly obtained work map: whether it is a single closed contour, whether the boundaries intersect, and whether the area is within a preset range. If the checks pass, the new map is stored; if they fail, the original work map is rolled back and a modification failure message is output. This ensures that only geometrically correct and safe navigation work maps are officially adopted, avoiding problems such as boundary crossings, collisions, getting stuck, or incomplete work during subsequent lawnmower operations due to invalid maps. At the same time, the rollback mechanism allows users to quickly locate the problem and retry after a modification failure, improving operational fault tolerance.

[0086] This application embodiment can divide the electronic device into functional units according to the above method example. For example, each function can be divided into a separate functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0087] and Figure 3 The implementation is consistent with the previous one; please refer to [link / reference]. Figure 9 , Figure 9 This application provides a functional unit block diagram of a lawnmower operation map modification device 900, which includes: an acquisition unit 910, a determination unit 920, an identification unit 930, and a generation unit 940. The acquisition unit 910 acquires target trajectory data of the lawnmower remotely controlled by a user terminal. The target trajectory data is an open trajectory connecting the first and second endpoints of the original operation map boundary. The determination unit 920 determines the relative positional relationship between the trajectory outline corresponding to the target trajectory data and the original operation map boundary. The identification unit 930 identifies the user's modification intention based on the relative positional relationship. The modification intention includes: an intention to add an area, an intention to delete an area, and a combined modification intention, where a combined modification intention represents a user requesting to simultaneously add and delete areas. The generation unit 940, based on the modification intention, constructs a closed boundary according to the trajectory outline and the original operation map boundary to obtain a new operation map.

[0088] Please see Figure 10 This application also provides a lawnmower 1000, including a memory 1002 and a processor 1001. The memory 1002 stores a computer program, which executes the method for modifying the lawnmower operation map provided in any embodiment of this application when the processor 1001 is running.

[0089] The processor 1001 is the arithmetic control unit of the lawnmower. It can be an embedded microprocessor, microcontroller unit (MCU), ARM chip, or other processing chip with real-time computing capabilities. It is used to perform operations such as acquiring the target trajectory data of the lawnmower remotely controlled by the user, determining the relative positional relationship between the trajectory outline and the boundary of the original operation map, identifying the user's intention to add or delete areas, combining modification intentions, replacing the corresponding segments of the original boundary with the trajectory outline to form a closed boundary to generate a new operation map based on the modification intention, intelligent start and end point anchoring correction, automatic driving to the anchor point, calculating the area of ​​sub-regions and outputting image and text information to the user during ambiguity handling, verifying the validity of the new operation map, and rolling back. The memory 1002 is a non-volatile storage unit used to store computer programs, original operation map data, historical versions of the new operation map, the trajectory point set of the user's remote control movement, the intersection information of the trajectory outline and the original boundary, preset correction thresholds, preset curvature thresholds, preset area ranges, area difference thresholds during ambiguity handling, and temporary data and log information during map modification, ensuring stable storage and fast retrieval of control programs and map data.

[0090] In one possible embodiment, the lawnmower can collect high-precision positioning information through a multi-sensor fusion system including RTK-GPS, inertial measurement unit (IMU), and wheel speed odometer, achieving centimeter-level positioning accuracy. This information is used to generate trajectory data for remote control by the user. Simultaneously, it can be equipped with obstacle avoidance sensors such as ultrasonic sensors and collision detection sensors for safety during automatic travel to the anchor point. The lawnmower also interacts with the user (mobile app or remote control) via a wireless communication module, receiving user remote control commands and trajectory data, and outputting highlighted image information, text prompts, arrival messages, and modification failure messages.

[0091] In this embodiment, when the computer program is loaded and run by the processor 1001, it can realize the process control logic of real-time monitoring of the distance between the lawnmower and the boundary of the original work map, intelligent anchor point selection and automatic driving, target trajectory data acquisition and preprocessing, judgment of the spatial distribution status of the trajectory outline and the original boundary, automatic identification of modification intentions (including addition, deletion and compound modification), trajectory segment segmentation based on intersection points and segment-by-segment intention recognition, sub-region area calculation and user confirmation guidance in ambiguous scenarios, seamless boundary stitching to generate a new work map, and new map validity verification and anomaly rollback. This enables the lawnmower to support users to complete the local addition, deletion or simultaneous addition and deletion of the work map by simply remotely driving a section of open trajectory, without the need to draw a complete closed boundary. This effectively solves the current technical problems of cumbersome operation, low efficiency, inability to make single compound modifications, and low fault tolerance, improves the convenience and flexibility of map modification, and adapts to the intelligent map editing needs of various scenarios such as family courtyards, public green spaces, and complex shape boundaries.

[0092] This application also provides a computer storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements some or all of the steps of any of the methods described in the above method embodiments.

[0093] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments.

[0094] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, the division of units is merely a logical functional division, and there may be other division methods in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0096] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0097] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware or in the form of hardware plus software functional units.

[0098] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute partial steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, volatile memory, or non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM), etc., which are various media capable of storing program code.

[0099] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can easily conceive of variations or substitutions without departing from the spirit and scope of the present invention, and various modifications and alterations can be made, including combinations of the different functions and implementation steps described above, as well as software and hardware implementation methods, all of which are within the protection scope of the present invention.

Claims

1. A method for modifying a lawnmower operation map, characterized in that, The methods include: Acquire the target trajectory data of the lawnmower being moved by the user through the user terminal, wherein the target trajectory data is an open trajectory connecting the first endpoint and the second endpoint of the original operation map boundary; Determine the relative positional relationship between the trajectory outline corresponding to the target trajectory data and the boundary of the original operation map; Based on the relative positional relationship, the user's modification intention is identified. The modification intention includes: intention to add a region, intention to delete a region, and a combined modification intention. The combined modification intention is used to represent that the user requests to add and delete regions simultaneously. Based on the stated modification intent, a closed boundary is constructed according to the trajectory outline and the original operation map boundary to obtain a new operation map.

2. The method according to claim 1, characterized in that, The step of identifying the user's modification intent based on the relative positional relationship includes: The spatial distribution state of the trajectory contour relative to the boundary of the original operation map is determined, and the spatial distribution state includes: a first state representing the outside, a second state representing the inside, and a third state representing part of the outside and part of the inside; Based on the first state, the modification intention is determined to be the intention to add a region; Based on the second state, the corresponding modification intention is determined to be the intention to delete the region; Based on the third state, the corresponding modification intention is determined to be the composite modification intention.

3. The method according to claim 2, characterized in that, The step of determining the corresponding modification intent as the composite modification intent based on the third state includes: Obtain information on multiple intersection points between the trajectory contour and the boundary of the original operation map; Based on the multiple intersection point information, the trajectory contour is divided into multiple continuous trajectory segments; For each of the plurality of consecutive trajectory segments, the corresponding modification intent is identified; The combined modification intent is determined by summarizing the modification intents corresponding to the multiple consecutive trajectory segments.

4. The method according to claim 2, characterized in that, The method further includes: If the spatial distribution state of the trajectory contour is the second state, calculate the area of ​​the two sub-regions formed by dividing the area of ​​the original operation map by the trajectory contour; If the difference in area between the two sub-regions is less than a preset threshold, a prompt message is output to the user terminal to prompt the user to confirm the target reserved area.

5. The method according to claim 4, characterized in that, The step of outputting a prompt message to the user terminal includes: The image information of the two sub-regions is output to the user terminal, wherein the image information displays the images of the two sub-regions in different highlighted colors; and, Text information is output to the user terminal, which instructs the user to select one of the two sub-regions as the target reserved region.

6. The method according to any one of claims 1-5, characterized in that, Before acquiring the target trajectory data of the lawnmower remotely controlled by the user via a user terminal, the method further includes: Real-time monitoring of the distance between the lawnmower and the boundary of the original work map; When the spacing is less than a preset correction threshold, a candidate anchor point is determined on the boundary of the original operation map. The candidate anchor point is the discrete point that is closest to the current position of the lawnmower in Euclidean distance. The candidate anchor points are selected according to preset conditions, and a target anchor point is determined. The preset conditions refer to the curvature change on the boundary of the original operation map being less than a preset curvature. The target anchor point is taken as the first endpoint.

7. The method according to claim 6, characterized in that, The method further includes: Determine the shortest path information from the current position of the lawnmower to the first endpoint; Based on the shortest path information, the lawnmower is controlled to automatically travel to the first endpoint at a safe speed; When the lawnmower reaches the first endpoint, it emits a prompt sound and sends an arrival message to the user terminal, the arrival message being used to indicate that the first endpoint is highlighted on the user terminal.

8. The method according to claim 7, characterized in that, Controlling the lawnmower to automatically travel to the first endpoint at a safe speed includes: Activate the obstacle avoidance sensor of the lawnmower; When an obstacle is detected by the obstacle avoidance sensor, the lawnmower is controlled to brake and a prompt message requesting manual intervention is sent to the user terminal. Upon receiving a continue command or a manual remote control command sent by the user through the user terminal, the lawnmower responds to the continue command or the manual remote control command and resumes its walking control.

9. The method according to any one of claims 1-8, characterized in that, After obtaining the new work map, the method further includes: The validity of the new operation map is verified, which includes: verifying whether the new operation map is a single closed contour, verifying whether the boundary of the new operation map is self-intersecting, and verifying whether the area of ​​the new operation map is within a preset area range. If the validity verification is passed, the new operation map is stored; If the validity verification fails, the process will revert to the original operation map and output a modification failure message to the user terminal.

10. A lawnmower, characterized in that, The system includes a memory and a processor, the memory storing a computer program that, when the processor is run, executes the method for modifying a lawnmower operation map as described in any one of claims 1-9.

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