Working map generation method, operation method, control method and related device

Abstract

Embodiments of the present application provide a working map generation method, an operation method, a control method and a related device. The working map generation method comprises: controlling an automatic operation device to move, so as to record position information of a plurality of path points located on a moving path of the automatic operation device; receiving boundary attribute configuration information, and on the basis of the boundary attribute configuration information, determining boundary attributes of at least part of the path points; and generating a working map comprising position information of a plurality of boundary points and boundary attributes of at least part of the boundary points, wherein the position information of the plurality of boundary points is determined on the basis of the position information of the plurality of path points, and the boundary attributes of the boundary points are determined on the basis of the boundary attributes of the path points, the plurality of boundary points are used for indicating a virtual boundary surrounding a preset region, and when the automatic operation device operates along the virtual boundary, the working modes of the automatic operation device when moving to the boundary points corresponding to different boundary attributes are different. The present solution can improve the working efficiency of the automatic operation device.

Description

Work map generation method, operation method, control method and related devices

[0001] This application claims priority to the Chinese invention patent application with application date of August 31, 2023, application number "202311117360.5", and patent name "Work Map Generation Method, Operation Method, Control Method and Related Devices", all contents of which are hereby incorporated by reference. Technical Field

[0002] The embodiments of the present application relate to the field of automation technology, and in particular to a work map generation method, an operation method, a control method, and related devices. Background Art

[0003] With the continuous development of science and technology, automated equipment is increasingly being used in daily life, such as automatic sweeping robots or automatic lawn mowers.

[0004] Current automatic lawn mowers perform mowing operations within a predetermined working area. When the automatic lawn mower performs mowing operations at the boundary of the working area, it generally adopts a preset working mode for mowing, for example, mowing within the boundary of the working area and close to the boundary of the working area.

[0005] However, since the actual working environment is complex and changeable, and the automatic lawn mower adopts a single working mode when mowing at the boundary of the working area, there may be situations where the automatic lawn mower fails to clean the grass at at least part of the boundary of the working area, and the lawn mowing often needs to be reworked, which reduces the working efficiency of the automatic lawn mower.

[0006] Summary of the Invention

[0007] In view of this, embodiments of the present application provide a work map generation method, an operation method, a control method and related devices to at least partially solve the above problems.

[0008] According to a first aspect of an embodiment of the present application, a work map generation method is provided, which is applied to an automatic operation device, and the method includes: controlling the movement of the automatic operation device to record the position information of multiple path points located on the moving path of the automatic operation device through the automatic operation device; receiving boundary attribute configuration information, and determining the boundary attributes of at least some of the multiple path points based on the boundary attribute configuration information; generating a work map including the position information of multiple boundary points and the boundary attributes of at least some of the boundary points, wherein the position information of the multiple boundary points is determined based on the position information of the multiple path points, and the boundary attributes of the boundary points are determined based on the boundary attributes of the path points. The multiple boundary points are used to indicate a virtual boundary including a surrounding preset area, and when the automatic operation device operates along the virtual boundary according to the work map, the working mode of the automatic operation device is different when it moves to the boundary points corresponding to different boundary attributes.

[0009] According to a second aspect of an embodiment of the present application, an operating method is provided, which is applied to an automatic operating device, and the method includes: obtaining a working map, wherein the working map includes location information of multiple boundary points and boundary attributes of at least some of the boundary points, and the multiple boundary points are used to indicate a virtual boundary surrounding a preset area; according to the working map, controlling the automatic operating device to operate along the virtual boundary, and when the automatic operating device moves to a boundary point with boundary attributes, controlling the automatic operating device to operate in a corresponding working mode according to the boundary attributes of the boundary point, wherein the working mode of the automatic operating device is different when it moves to a boundary point corresponding to different boundary attributes.

[0010] According to a third aspect of an embodiment of the present application, a method for controlling an automatic operating device is provided, which is applied to a control device outside the automatic operating device, and the method includes: sending boundary attribute configuration information to the automatic operating device; sending motion control instructions to the automatic operating device to move the automatic operating device, so that the automatic operating device records the position information of multiple path points located on the moving path, and determines the boundary attributes of at least some of the multiple path points based on the boundary attribute configuration information, and generates a working map including the position information of multiple boundary points and the boundary attributes of at least some of the boundary points, wherein the position information of the multiple boundary points is determined based on the position information of the multiple path points, and the boundary attributes of the boundary points are determined based on the boundary attributes of the path points. The multiple boundary points are used to indicate a virtual boundary including a surrounding preset area. When the automatic operating device operates along the virtual boundary according to the working map, the working mode of the automatic operating device is different when it moves to the boundary points corresponding to different boundary attributes.

[0011] According to a fourth aspect of an embodiment of the present application, an automatic operation device is provided, comprising: a motion control unit for controlling the movement of the automatic operation device so as to record the position information of a plurality of path points on the moving path of the automatic operation device through the automatic operation device; an information receiving unit for receiving boundary attribute configuration information, and determining the boundary attributes of at least some of the plurality of path points based on the boundary attribute configuration information; a map generating unit for generating a working map including the position information of a plurality of boundary points and the boundary attributes of at least some of the boundary points, wherein the position information of the plurality of boundary points is determined based on the position information of the plurality of path points, the boundary attributes of the boundary points are determined based on the boundary attributes of the path points, and the plurality of boundary points are used to indicate a virtual boundary including a surrounding preset area, and when the automatic operation device operates along the virtual boundary according to the working map, the working mode of the automatic operation device is different when it moves to the boundary points corresponding to different boundary attributes.

[0012] According to the fifth aspect of the embodiment of the present application, an automatic operation device is provided, including: a map acquisition unit for acquiring a working map, wherein the working map includes location information of multiple boundary points and boundary attributes of at least some of the boundary points, and the multiple boundary points are used to indicate a virtual boundary surrounding a preset area; an operation control unit for controlling the automatic operation device to operate along the virtual boundary according to the working map, and when the automatic operation device moves to a boundary point with boundary attributes, controlling the automatic operation device to operate in a corresponding working mode according to the boundary attributes of the boundary point, wherein the working mode of the automatic operation device is different when it moves to a boundary point corresponding to different boundary attributes.

[0013] According to the sixth aspect of the embodiment of the present application, a control device for an automatic operation device is provided, including: a first sending unit for sending boundary attribute configuration information to the automatic operation device; a second sending unit for sending motion control instructions to the automatic operation device to move the automatic operation device, so that the automatic operation device records the position information of multiple path points located on the moving path, and determines the boundary attributes of at least some of the multiple path points according to the boundary attribute configuration information, and generates a working map including the position information of multiple boundary points and the boundary attributes of at least some of the boundary points, wherein the position information of the multiple boundary points is determined according to the position information of the multiple path points, and the boundary attributes of the boundary points are determined according to the boundary attributes of the path points. The multiple boundary points are used to indicate a virtual boundary including a surrounding preset area. When the automatic operation device operates along the virtual boundary according to the working map, the working mode of the automatic operation device is different when it moves to the boundary points corresponding to different boundary attributes.

[0014] According to the seventh aspect of the embodiment of the present application, an electronic device is provided, including: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the methods described in the first, second or third aspects above.

[0015] According to an eighth aspect of the embodiments of the present application, a computer storage medium is provided, on which a computer program is stored, and the program is executed by a processor to execute the method described in the first aspect, second aspect or third aspect above.

[0016] According to a ninth aspect of an embodiment of the present application, a computer program product is provided, comprising computer instructions, wherein the computer instructions instruct a computing device to execute the method described in the first, second or third aspect above.

[0017] According to the work map generation solution provided by the embodiment of the present application, in the process of controlling the movement of the automatic operation device, the position information of multiple path points on the moving path is collected, and the boundary attributes of at least some of the path points are determined, so as to generate a work map including the position information of multiple boundary points and the boundary attributes of at least some of the boundary points based on the position information of the multiple path points and the boundary attributes of at least some of the path points, and the multiple boundary points are used to indicate the virtual boundary. Therefore, since the working mode of the automatic operation device is different when it moves to the boundary points corresponding to different boundary attributes, the setting of the boundary attributes can make the working mode adopted by the automatic operation device different when it moves to at least different positions of the virtual boundary to perform operations, so that the automatic operation device can process the area near the virtual boundary and reduce the possibility of needing to rework the operation. Therefore, the working efficiency of the automatic operation device can be improved, and the user's personalized needs for the working effect of the automatic operation device can also be met. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0019] FIG1 is a flow chart of a method for generating a work map according to an embodiment of the present application;

[0020] FIG2 is a flow chart of an operating method according to an embodiment of the present application;

[0021] FIG3 is a flow chart of a method for controlling an automatic operation device according to an embodiment of the present application;

[0022] FIG4 is a diagram of a display interface for selecting an attribute control according to an embodiment of the present application;

[0023] FIG5 is a diagram showing a display interface of a control device when building a map based on a first boundary attribute according to an embodiment of the present application;

[0024] FIG6 is a diagram showing a display interface of a control device when building a map based on a second boundary attribute according to an embodiment of the present application;

[0025] FIG7 is a diagram showing a display interface of a control device when building a map based on a third boundary attribute according to an embodiment of the present application;

[0026] FIG8 is a schematic diagram of an automatic operation device according to an embodiment of the present application;

[0027] FIG9 is a schematic diagram of an automatic operation device according to another embodiment of the present application;

[0028] FIG10 is a schematic diagram of a control device of an automatic operation device according to an embodiment of the present application;

[0029] FIG11 is a schematic block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present application.

[0031] The work map generation method and operation method in the following embodiments can be applied to automatic operation devices such as automatic mowing devices and sweeping robots. The following describes the work map generation method and operation method respectively, taking the application of the automatic mowing device as an example. It should be noted that in order to be able to illustrate the specific implementation of the work map generation method and operation method in conjunction with the application scenario, the following embodiments use a scenario-adaptive description method to illustrate the work map generation method and operation method. For example, the mowing path is a scenario-adaptive description of the operation path, and the grassland entity boundary is a scenario-adaptive description of the entity boundary.

[0032] The present application provides a method for generating a work map, which is described in detail below through multiple embodiments. The operation process of an automatic mowing device generally includes two stages: establishing a work map and performing a mowing operation. During the establishing work map stage, the automatic mowing device generally operates using the above-described method for generating a work map.

[0033] FIG1 is a flow chart of a method for generating a work map according to an embodiment of the present application. As shown in FIG1 , the method for generating a work map includes the following steps:

[0034] Step 101: Control the movement of an automatic lawn mowing device to record position information of a plurality of path points on a moving path of the automatic lawn mowing device.

[0035] The automatic mowing device can be controlled to move from a starting point along the boundary of the area to be mowed, and the position information of multiple path points along the path of the automatic mowing device can be recorded. The starting point can be located at or near the boundary of the area to be mowed. The area to be mowed is the application scenario of the automatic mowing device, typically a lawn or an area within a lawn. Preferably, the area to be mowed is a lawn of 400-500 square meters.

[0036] In one specific example, the automatic mowing device can be controlled to move from a starting point along the outer boundary of the area to be mowed, and the position information of multiple path points along the path of the automatic mowing device can be recorded. In another specific example, the automatic mowing device can be controlled to move from a starting point along the inner boundary of the area to be mowed, that is, along the outer boundary of a restricted area such as a flower bed or obstacle area within the area to be mowed, and the position information of multiple path points along the path of the automatic mowing device can be recorded. Preferably, the path of the automatic mowing device can be a closed path that is connected end to end.

[0037] Regarding controlling the automatic mowing device to move from a moving starting point along the boundary of the area to be mowed, one specific implementation method may be that the operator remotely controls the automatic mowing device to move from the moving starting point along the boundary of the area to be mowed through a remote control button on an application. Another specific implementation method may be that the automatic mowing device automatically moves from the moving starting point along the boundary of the area to be mowed based on the boundary of the mowing area identified by a sensor.

[0038] A specific implementation of recording the location information of multiple path points may be, during the process of controlling the movement of the automatic lawn mower, periodically acquiring the coordinate information of the current location of the automatic lawn mower as the location information of a path point. Another specific implementation of recording the location information of multiple path points may be, during the process of controlling the movement of the automatic lawn mower, each time the automatic lawn mower moves a preset unit distance, acquiring the coordinate information of the current location of the automatic lawn mower as the location information of a path point. For example, during the process of controlling the movement of the automatic lawn mower, when the automatic lawn mower moves to a position with a movement distance of 2 cm, 4 cm, 6 cm, 8 cm, etc. from the starting point, the coordinate information of the current location of the automatic lawn mower is acquired, where the preset unit distance is 2 cm.

[0039] Among them, the coordinate information can be two-dimensional rectangular coordinate information or latitude and longitude coordinate information with the starting point of movement as the origin, and the current position of the automatic mowing device can be the position of any point in the automatic mowing device. For example, the automatic mowing device is provided with a roller on both sides of the forward direction of the automatic mowing device. The current position of the automatic mowing device can be the midpoint of the line connecting the center points of the two rollers of the automatic mowing device.

[0040] Step 102: Receive boundary attribute configuration information, and determine boundary attributes of at least some of the path points in the plurality of path points according to the boundary attribute configuration information.

[0041] During the process of controlling the movement of the automatic lawn mower, boundary attribute configuration information transmitted by the control module may be received, and boundary attributes of at least some path points may be determined based on the received boundary attribute configuration information. The control module may transmit the boundary attribute configuration information in response to automatic triggering by a program setting or in response to manual triggering by a user. The control module may be installed inside the automatic lawn mower or may be external to the automatic lawn mower, and this is not limited in the present embodiment.

[0042] The boundary attribute configuration information may be sent by the control module to the automatic mowing device in response to a manual trigger by an operator, or may be automatically sent by the control module to the automatic mowing device according to preset rules. For example, when the automatic mowing device identifies a relatively clear boundary, the control module sends boundary attribute configuration information indicating boundary attribute a to the automatic mowing device. When the automatic mowing device identifies a relatively unclear boundary, the control module sends boundary attribute configuration information indicating boundary attribute b to the automatic mowing device. Boundary attribute a is different from boundary attribute b.

[0043] Since the height of an automatic lawn mowing device is usually around 35 cm, the automatic lawn mowing device is close to the ground, so that the field of view of the automatic lawn mowing device during recognition is limited and there are many blind spots. Therefore, compared with the control module automatically sending boundary attribute configuration information to the automatic lawn mowing device according to preset rules, it is more reliable for the control module to send boundary attribute configuration information to the automatic lawn mowing device in response to manual triggering by the operator, thereby improving the reliability of receiving the boundary attribute configuration information.

[0044] The above steps 101 and 102 can be two parallel steps, or two steps performed sequentially, that is, the boundary attributes of at least some of the path points can be determined during the process of collecting the location information of multiple path points, or the boundary attributes of at least some of the path points can be determined after the location information of multiple path points is collected. The embodiments of the present application do not limit this.

[0045] Step 103: Generate a working map including location information of multiple boundary points and boundary attributes of at least some of the boundary points.

[0046] The position information of the plurality of boundary points is determined according to the position information of the plurality of path points, the boundary attributes of the boundary points are determined according to the boundary attributes of the path points, and the plurality of boundary points are used to indicate a virtual boundary including a surrounding preset area.

[0047] In the process of controlling the movement of the automatic lawn mowing device, when the movement path of the automatic lawn mowing device forms a closed path connected end to end, the collection of the position information of the path points in this round is ended, and the position information of the path points collected in this round is pre-processed by screening, fitting and / or deletion to obtain the position information of multiple boundary points, at least some of the boundary points are path points among the path points whose position information is collected in this round. According to the position information of the above multiple boundary points, two adjacent boundary points are connected in sequence to draw a virtual boundary, and for at least some of the boundary points in the virtual boundary, the position information of the boundary point is bound to the boundary attribute of the boundary point. Finally, a working map including the position information of multiple boundary points and the boundary attributes of at least some of the boundary points can be generated.

[0048] For a preset area, if the location information of the path points collected in this round is collected while the automatic mowing device is moving along the outer boundary of the area to be mowed, the virtual boundary is the outer boundary of the preset area, that is, the area within the virtual boundary is the preset area. If the path points are collected while the automatic mowing device is moving along the inner boundary of the area to be mowed, the virtual boundary is the inner boundary of the preset area, that is, the area outside the virtual boundary is the preset area. The inner boundary of the area to be mowed is the outer boundary of restricted areas such as flower beds or obstacle areas within the area to be mowed.

[0049] The above pre-processing can make the lines of the virtual boundary smoother and have fewer turning points, so that the automatic mowing device can turn more smoothly when mowing along the virtual boundary, thereby improving the working efficiency.

[0050] Compared to generating a working map after collecting the location information of the path points and then configuring the boundary attributes of different boundary points in the working map, the present application determines the boundary attributes of at least some of the path points during the process of collecting the location information of multiple path points, and generates a working map based on the location information of multiple path points and the boundary attributes of at least some of the path points. This can reduce the possibility of boundary attribute configuration errors caused by reasons such as the misalignment of the starting point of the attribute configuration, thereby improving the accuracy of the boundary attribute configuration and the matching degree between the boundary attributes and the actual environment.

[0051] When the automatic mowing device performs mowing operations along a virtual boundary according to a work map, the automatic mowing device operates in different modes when it moves to boundary points corresponding to different boundary attributes. Specifically, when the automatic mowing device performs mowing operations along a virtual boundary according to a work map, the automatic mowing device operates in different modes when it moves to boundary segments within the virtual boundary where boundary points corresponding to different boundary attributes are located.

[0052] If each boundary point has a boundary attribute, then for each boundary point in the virtual boundary, the boundary segment in which the boundary point is located is the portion of the virtual boundary between the boundary point and the next adjacent boundary point. Alternatively, for each boundary point in the virtual boundary, the boundary line in which the boundary point is located is the portion of the virtual boundary between the boundary point and the next adjacent boundary point. If some boundary points have boundary attributes, then for each boundary point in the virtual boundary with boundary attributes, the boundary segment in which the boundary point is located is the portion of the virtual boundary between the boundary point and the first boundary point after the path point that has boundary attributes.

[0053] In an embodiment of the present application, during the process of controlling the movement of an automatic lawn mower, position information of multiple path points on the moving path is collected, and boundary attributes of at least some of the path points are determined. Based on the position information of the multiple path points and the boundary attributes of at least some of the path points, a work map including the position information of the multiple boundary points and the boundary attributes of at least some of the boundary points is generated, wherein the multiple boundary points are used to indicate a virtual boundary. Thus, since the automatic lawn mower operates in different modes when moving to boundary points corresponding to different boundary attributes, the setting of the boundary attributes can enable the automatic lawn mower to adopt different operating modes when moving to at least different positions of the virtual boundary for mowing operations, so that the automatic lawn mower can clean the grass near the virtual boundary more cleanly, reducing the possibility of needing to rework mowing. Therefore, the working efficiency of the automatic lawn mower can be improved, and the user's personalized needs for the mowing effect of the automatic lawn mower can also be met.

[0054] In a possible implementation, the specific processing included in the above step 102 may be as follows: for each path point, when the automatic mowing device determines the path point, the boundary attribute indicated by the most recently received boundary attribute configuration information is determined as the boundary attribute of the path point.

[0055] In an embodiment of the present application, by determining the boundary attribute indicated by the most recently received boundary attribute configuration information as the boundary attribute of each path point when determining the path point, each collected path point can have a boundary attribute. Compared with the case where some of the collected path points have boundary attributes, the case where each collected path point has a boundary attribute can make the boundary attribute of the boundary point more accurate. Therefore, when the automatic mowing device moves to the virtual boundary to perform mowing operations, the accuracy of determining the working mode adopted by the automatic mowing device can be improved, the possibility of errors in determining the working mode can be reduced, and the possibility of needing to rework mowing can be reduced, thereby further improving the working efficiency of the automatic mowing device.

[0056] Based on this, when determining the boundary attributes of the boundary points, the boundary attributes of all the boundary points may be determined, or the boundary attributes of some of the boundary points may be determined, which is not limited in the embodiment of the present application.

[0057] The specific process of determining the boundary attributes of all boundary points can be as follows: for each boundary point, determine whether the boundary point is a path point; if so, use the boundary attributes of the path point as the boundary attribute of the boundary point; otherwise, use the boundary attributes of the path point closest to the boundary point as the boundary attribute of the boundary point. Based on this, the boundary attributes of all boundary points can be obtained.

[0058] The specific process of determining the boundary attributes of some boundary points may be as follows: performing boundary attribute determination processing on each boundary point in sequence according to the order in which the boundary points are arranged along the boundary direction of the virtual boundary; when performing boundary attribute determination processing on the first boundary point in the virtual boundary, determining whether the boundary point is any path point; if so, using the boundary attribute of the path point as the boundary attribute of the boundary point; otherwise, using the boundary attribute of the path point closest to the boundary point as the boundary attribute of the boundary point; when performing boundary attribute determination processing on each boundary point after the first boundary point in the virtual boundary, if the boundary point is any path point, determining whether the boundary attribute of the path point is the same as the boundary attribute of the boundary point immediately preceding the boundary point; if so, determining that the boundary point does not have the boundary attribute; otherwise, using the boundary attribute of the path point immediately preceding the boundary point as the boundary attribute of the boundary point; if each path point is not the boundary point, determining whether the boundary attribute of the path point closest to the boundary point is the same as the boundary attribute of the boundary point immediately preceding the boundary point; if so, determining that the boundary point does not have the boundary attribute; otherwise, using the boundary attribute of the path point closest to the boundary point as the boundary attribute of the boundary point. Based on this, the boundary properties of some boundary points can be obtained.

[0059] The boundary direction of the virtual boundary is the direction along the virtual boundary from the path point with an earlier corresponding collection time to the path point with a later corresponding collection time. The corresponding collection time of the path point is the time when the automatic mowing device records the position information of the path point, that is, the path points on the virtual boundary are arranged in the order of the corresponding collection time from front to back along the boundary direction of the virtual boundary.

[0060] In another possible implementation, the specific processing included in the above step 102 can also be as follows: for each boundary attribute configuration information, after receiving the boundary attribute configuration information, the boundary attribute of the first path point determined after receiving the boundary attribute configuration information is determined to be the boundary attribute indicated by the boundary attribute configuration information.

[0061] In an embodiment of the present application, by determining the boundary attribute of the first path point determined after receiving each boundary attribute configuration information as the boundary attribute indicated by the boundary attribute configuration information, some of the collected path points can have boundary attributes. Compared with each collected path point having a boundary attribute, some of the collected path points having boundary attributes can reduce the amount of data transmission and save storage space.

[0062] Based on this, when determining the boundary attributes of the boundary points, the boundary attributes of all the boundary points may be determined, or the boundary attributes of some of the boundary points may be determined, which is not limited in the embodiment of the present application.

[0063] The specific process of determining the boundary attributes of all boundary points can be as follows: for each boundary point, determine whether the boundary point is a path point with boundary attributes; if so, use the boundary attributes of the path point as the boundary attribute of the boundary point; otherwise, use the boundary attributes of the path point with boundary attributes closest to the boundary point as the boundary attribute of the boundary point. Based on this, the boundary attributes of all boundary points can be obtained.

[0064] The specific processing of determining the boundary attributes of some boundary points can be: according to the order in which the boundary points are arranged along the boundary direction of the virtual boundary in the virtual boundary, the boundary attribute determination processing is performed on each boundary point in turn. When the boundary attribute determination processing is performed on the first boundary point in the virtual boundary, it is determined whether the boundary point is any path point with boundary attributes; if so, the boundary attributes of the path point are used as the boundary attributes of the boundary point; otherwise, the boundary attributes of the path point with boundary attributes that is closest to the boundary point are used as the boundary attributes of the boundary point. When performing boundary attribute determination processing on each boundary point after the first boundary point in the virtual boundary, if the boundary point is any path point with boundary attributes, then determine whether the boundary attributes of the path point are the same as the boundary attributes of the previous boundary point of the boundary point. If so, it is determined that the boundary point does not have the boundary attributes. Otherwise, the boundary attributes of the path point are used as the boundary attributes of the boundary point. If each path point is not the boundary point, then determine whether the boundary attributes of the path point with boundary attributes closest to the boundary point are the same as the boundary attributes of the previous boundary point of the boundary point. If so, it is determined that the boundary point does not have the boundary attributes. Otherwise, the boundary attributes of the path point with boundary attributes closest to the boundary point are used as the boundary attributes of the boundary point. Based on this, the boundary attributes of some boundary points can be obtained.

[0065] In a possible implementation, during the process of controlling the movement of the automatic lawn mowing device, the movement of the automatic lawn mowing device may be controlled according to a control instruction from an external control device.

[0066] When the automatic mowing device is at the moving starting point, the automatic mowing device can be manually controlled to move, that is, the user can remotely control the automatic mowing device through an external control device, so that the control device sends a control instruction to the automatic mowing device, and the automatic mowing device controls the movement of the automatic mowing device according to the control instruction.

[0067] In an embodiment of the present application, by using a control device to remotely control the automatic mowing device to control the movement of the automatic mowing device, the generated work map can better meet the user's personalized needs.

[0068] In the process of controlling the movement of the automatic lawn mowing device according to the control instructions from the external control device, if the boundary attribute indicated by the most recently received boundary attribute configuration information is the first boundary attribute, then when the lawn physical boundary is identified and the automatic lawn mowing device is not straddling the lawn physical boundary, the automatic lawn mowing device can be forced not to straddle the lawn physical boundary, or the automatic lawn mowing device can be forced to straddle the lawn physical boundary. This embodiment of the present application is not limited to this.

[0069] The specific process of preventing the automatic mowing device from forcibly straddling the boundary of the lawn entity may be as follows:

[0070] In the process of controlling the movement of the automatic lawn mowing device according to the control instructions from the external control device, if the boundary attribute indicated by the boundary attribute configuration information most recently received is the first boundary attribute, then when the lawn entity boundary is identified and the automatic lawn mowing device does not straddle the lawn entity boundary, a prompt message is sent to the control device to ensure that the automatic lawn mowing device does not forcibly straddle the lawn entity boundary.

[0071] The prompt information is used to prompt the user to control the automatic mowing device to move astride the physical boundary of the lawn.

[0072] After receiving the above prompt information, the control device may display the prompt information on the display interface of the control device until the automatic mowing device straddles the physical boundary of the lawn and moves.

[0073] In an embodiment of the present application, when the boundary attribute indicated by the most recently received boundary attribute configuration information is the first boundary attribute, and the automatic mowing device moves according to the control instruction from the external control device, if the automatic mowing device does not straddle the physical boundary of the lawn, the automatic mowing device will not be forced to straddle the physical boundary of the lawn. Therefore, the solution of sending prompt information to the control device adopted in this application can better meet the user's personalized needs.

[0074] In the work map establishment stage, the specific process of forcing the automatic mowing device to straddle the boundary of the lawn entity may be as follows:

[0075] In the process of controlling the movement of the automatic lawn mowing device according to the control instructions from the external control device, if the boundary attribute indicated by the boundary attribute configuration information received most recently is the first boundary attribute, then when the lawn entity boundary is identified and the automatic lawn mowing device is not riding on the lawn entity boundary, the automatic lawn mowing device is controlled to ride on the identified lawn entity boundary, so as to realize that the automatic lawn mowing device is forced to ride on the lawn entity boundary.

[0076] Among them, the automatic mowing device may include a visual sensor. The above-mentioned identification of the physical boundary of the lawn and identification of whether the automatic mowing device is riding astride the physical boundary of the lawn can be carried out by identifying the image information collected by the visual sensor to determine whether the physical boundary of the lawn can be identified and whether the automatic mowing device is riding astride the physical boundary of the lawn.

[0077] In another possible implementation, during the process of controlling the movement of the automatic mowing device, if the automatic mowing device identifies a physical boundary of a lawn that meets the autonomous movement conditions, the automatic mowing device is controlled to move autonomously along the physical boundary of the lawn.

[0078] Once the automatic mowing device is at its starting point, it can be controlled to move autonomously. Specifically, when the automatic mowing device identifies a grass boundary that meets the autonomous movement conditions, it is controlled to move autonomously along the grass boundary. The autonomous movement conditions include identifying a clear and simple grass boundary, or identifying a preset grass boundary.

[0079] During the process of controlling the movement of the automatic mowing device, if the self-moving mowing device identifies a physical boundary of the lawn that meets the conditions for autonomous movement, it can also send an autonomous movement request to the control device; after receiving the confirmation instruction sent by the control device for the autonomous movement request, the automatic mowing device is controlled to move autonomously along the physical boundary of the lawn.

[0080] In the embodiment of the present application, by adopting a solution for autonomous movement of the automatic mowing device, manpower can be saved and the efficiency of generating a work map can be improved.

[0081] In the process of controlling the movement of the automatic lawn mowing device and collecting path points, the movement of the automatic lawn mowing device can be controlled manually, or the movement of the automatic lawn mowing device can be controlled autonomously. Alternatively, a combination of manual control and autonomous movement of the automatic lawn mowing device may be used. This is not limited to the embodiments of the present application.

[0082] When the user manually controls the movement of the automatic mowing device to collect path points, the automatic mowing device is usually controlled to move along the physical boundary of the grass. At this time, if the user sees that the physical boundary of the grass near the automatic mowing device is clear, and the height difference between the grass area surrounded by the physical boundary of the grass near the automatic mowing device and the non-grass area outside the physical boundary of the grass is small, the control device is caused to send boundary attribute configuration information indicating the first boundary attribute to the automatic mowing device. For example, if the user sees that the physical boundary of the grass near the automatic mowing device is clear, and the height difference between the grass area surrounded by the physical boundary of the grass near the automatic mowing device and the non-grass area outside the physical boundary of the grass is less than 1 cm, the control device is caused to send boundary attribute configuration information indicating the first boundary attribute to the automatic mowing device; if the user sees that the physical boundary of the grass near the automatic mowing device is clear, and If the user determines that the risk of falling and / or being trapped when the automatic mowing device moves along the physical boundary of the grass near it is small, the control device will send boundary attribute configuration information indicating the second boundary attribute to the automatic mowing device. If the user sees that the physical boundary of the grass near the automatic mowing device is clear, and the user determines that the risk of falling and / or being trapped when the automatic mowing device moves along the physical boundary of the grass near it is small; if the user sees that the physical boundary of the grass near the automatic mowing device is unclear, or the user determines that the risk of falling and / or being trapped when the automatic mowing device moves along the physical boundary of the grass near it is large, the control device will send boundary attribute configuration information indicating the third boundary attribute to the automatic mowing device.

[0083] In a possible implementation, the boundary attributes include at least two of a first boundary attribute, a second boundary attribute, and a third boundary attribute. Based on this, after the work map is generated, that is, during the mowing operation phase:

[0084] If the boundary attribute of the boundary point is the first boundary attribute, the automatic mowing device is controlled to perform mowing operations in the first working mode, so that the automatic mowing device moves to the boundary point to perform mowing operations. If the boundary segment where the boundary point is located in the virtual boundary is a physical boundary of the grassland, the automatic mowing device is controlled to straddle the boundary segment where the boundary point is located to perform mowing operations. If the boundary segment where the boundary point is located in the virtual boundary is not a physical boundary of the grassland, the automatic mowing device is controlled to move to a grassland area outside the preset area to perform mowing operations.

[0085] If the boundary attribute of the boundary point is the second boundary attribute, the automatic mowing device is controlled to perform mowing operations in the second working mode, so that the automatic mowing device moves to the boundary point to perform mowing operations. If the boundary segment where the boundary point is located in the virtual boundary is a physical boundary of the grassland, the automatic mowing device is controlled to perform mowing operations along the boundary segment where the boundary point is located within the preset area; if the boundary segment where the boundary point is located in the virtual boundary is not a physical boundary of the grassland, the automatic mowing device is controlled to move to a grassland area outside the preset area to perform mowing operations.

[0086] If the boundary attribute of the boundary point is the third boundary attribute, the automatic mowing device is controlled to perform mowing operations in the third working mode, so that when the automatic mowing device moves to the boundary point to perform mowing operations, the automatic mowing device moves along the virtual boundary where the boundary point is located within the preset area to perform mowing operations.

[0087] In one possible implementation, when controlling the automatic mowing device to move to a grass area outside a preset area to perform mowing operations, if the distance between the physical boundary of the grass outside the boundary segment where the boundary point is located and the boundary segment where the boundary point is located is less than or equal to a third distance, the automatic mowing device is controlled to perform mowing operations along the physical boundary of the grass outside the boundary segment where the boundary point is located; if the distance between the physical boundary of the grass outside the boundary segment where the boundary point is located and the boundary segment where the boundary point is located is greater than the third distance, the automatic mowing device is controlled to perform mowing operations along an extended path whose distance from the boundary segment where the boundary point is located is equal to the third distance.

[0088] Based on this, in this implementation, when controlling the automatic mowing device to move to a grass area outside a preset area to perform mowing operations, if a physical boundary of the grass is identified within a first distance outside the preset area or at a first distance outside the preset area, the automatic mowing device is controlled to straddle the physical boundary of the grass and perform mowing operations along the physical boundary of the grass. If a physical boundary of the grass is not identified within the first distance outside the preset area or at a first distance outside the preset area, the automatic mowing device is controlled to remain within the grass area outside the preset area and move along a line outside the virtual boundary that is a first distance away from the virtual boundary to perform mowing operations. The third distance may be preset, for example, 0.5 meters or 1 meter.

[0089] In an embodiment of the present application, by generating a work map including at least two boundary points of a first boundary attribute, a second boundary attribute, and a third boundary attribute, the adaptability of the automatic mowing device in the process of mowing according to the work map can be improved. Specifically, the boundary points of the first boundary attribute can reduce the risk of the automatic mowing device falling or getting stuck during the mowing process. At the same time, because the automatic mowing device mows by straddling the boundary segment where the boundary points of the first boundary attribute are located, the grass near the physical boundary of the lawn can be cleaned more cleanly; the boundary points of the second boundary attribute can enable the automatic mowing device to expand mowing to the lawn area outside the preset area as much as possible when the risk of falling or getting stuck is small, thereby enabling the automatic mowing device to clean more grass and improve mowing efficiency; the boundary points of the third boundary attribute can reduce the risk of the automatic mowing device falling or getting stuck during the mowing process.

[0090] In a possible implementation, the boundary attribute includes a straddle attribute, an extension attribute, or a prohibition of extension attribute. Based on this, the following processing may be performed during the process of controlling the automatic mowing device to autonomously move along the boundary of the lawn entity:

[0091] If the boundary attribute indicated by the most recently received boundary attribute configuration information is the first boundary attribute, the automatic mowing device is controlled to straddle the lawn entity boundary and move autonomously along the lawn entity boundary; if the boundary attribute indicated by the most recently received boundary attribute configuration information is the second boundary attribute or the third boundary attribute, the automatic mowing device is controlled to move autonomously along the lawn entity boundary within the lawn area surrounded by the lawn entity boundary.

[0092] In one example, the specific processing of controlling the automatic mowing device to straddle the physical boundary of the lawn and move autonomously along the physical boundary of the lawn may be that, in the process of controlling the automatic mowing device to move autonomously along the physical boundary of the lawn, the central axis of the automatic mowing device parallel to the head to tail direction of the automatic mowing device is located above the physical boundary of the lawn and flush with the physical boundary of the lawn, so as to enable the automatic mowing device to straddle the physical boundary of the lawn and move along the physical boundary of the lawn.

[0093] In another example, the specific process for controlling the automatic mowing device to straddle and autonomously move along the physical boundary of the lawn can also include defining two lines on either side of the physical boundary of the lawn, each spaced apart by half the width of the automatic mowing device, as first and second boundaries, respectively. During the process of controlling the automatic mowing device to autonomously move along the physical boundary of the lawn, the automatic mowing device is caused to move between the first and second boundaries to achieve the automatic mowing device straddling and moving along the physical boundary of the lawn. When the automatic mowing device is placed on a horizontal surface for mowing, the height of the automatic mowing device is parallel to the vertical direction, the length of the automatic mowing device is parallel to the direction from the head to the tail of the automatic mowing device, and the width of the automatic mowing device is perpendicular to the height of the automatic mowing device. Based on this, the width of the automatic mowing device is the maximum dimension of the automatic mowing device along the width of the automatic mowing device.

[0094] The specific processing of controlling the automatic mowing device to move autonomously along the physical boundary of the grass within the grass area surrounded by the physical boundary of the grass can be as follows: in the process of controlling the automatic mowing device to move autonomously along the physical boundary of the grass, the automatic mowing device is controlled to be located within the grass area, and the automatic mowing device is controlled to be as close as possible to the physical boundary of the grass and close to the edge of the grass area on the working plane of the automatic mowing device.

[0095] In an embodiment of the present application, in the process of the automatic mowing device autonomously moving along the identified physical boundary of the grassland that meets the autonomous movement conditions to collect path points, the relative position of the automatic mowing device and the physical boundary of the grassland is adjusted according to the boundary attributes indicated by the latest received boundary attribute configuration information. This can make the way the automatic mowing device collects path points more flexible and better meet the user's personalized needs. It can also enable the subsequent automatic mowing device to move to each boundary point in the virtual boundary obtained according to the collected path points to mow the lawn, and the working mode adopted by the automatic mowing device is more matched with the boundary attributes of the boundary point, thereby achieving the purpose of cleaning the grass near the virtual boundary more cleanly.

[0096] In one possible implementation, the boundary attribute of a boundary point is used to characterize the relative positional relationship between the mowing path of the automatic mowing device and the virtual boundary when the automatic mowing device moves to the boundary segment where the boundary point is located in the virtual boundary to perform mowing operations; or, the boundary attribute of a boundary point is used to characterize the relative positional relationship between the mowing path of the automatic mowing device and the physical boundary of the grassland when the automatic mowing device moves to the boundary segment where the boundary point is located in the virtual boundary to perform mowing operations.

[0097] In one possible implementation, the virtual boundary includes an adjacent first boundary point and a second boundary point, the first boundary point and the second boundary point correspond to different boundary attributes, and when the automatic mowing device performs a mowing operation along the virtual boundary and the automatic mowing device moves from a first boundary segment where the first boundary point is located to a second boundary segment where the second boundary point is located, the distance between the mowing path of the automatic mowing device and the physical boundary of the lawn changes from the first distance to the second distance.

[0098] The distance between the mowing path of the automatic mowing device and the physical boundary of the lawn is the distance between the midpoint of the line connecting the center points of the two rollers of the automatic mowing device and the physical boundary of the lawn on the working plane of the automatic mowing device.

[0099] If the boundary attribute of the boundary point is the first boundary attribute, the automatic mowing device is controlled to perform mowing operations in the first working mode. When the automatic mowing device moves to the boundary point to perform mowing operations, if the boundary segment where the boundary point is located in the virtual boundary is a physical boundary of the grassland, the automatic mowing device is controlled to straddle the boundary segment where the boundary point is located to perform mowing operations. At this time, the distance between the mowing path of the automatic mowing device and the physical boundary of the grassland is the first target distance. If the boundary segment where the boundary point is located in the virtual boundary is not a physical boundary of the grassland, the automatic mowing device is controlled to move to a grassland area outside the preset area to perform mowing operations. At this time, the distance between the mowing path of the automatic mowing device and the physical boundary of the grassland is the second target distance.

[0100] Among them, the first target distance is greater than or equal to 0 meters, and the first target distance is less than the first preset distance, for example, the first target distance is greater than or equal to 0 meters, and the first target distance is less than 0.1 meters; if the boundary segment where the boundary point in the virtual boundary is located is not a physical boundary of the grassland, then when the distance between the boundary segment and the physical boundary of the grassland is less than or equal to the second preset distance, the second target distance is equal to the first target distance; when the distance between the boundary segment and the physical boundary of the grassland is greater than the second preset distance, the second target distance is the distance between the second preset distance outside the physical boundary of the grassland and the physical boundary of the grassland, and the second preset distance is greater than 0 meters, for example, the second target distance is 1 meter.

[0101] If the boundary attribute of the boundary point is the second boundary attribute, the automatic mowing device is controlled to perform mowing operations in the second working mode. When the automatic mowing device moves to the boundary point to perform mowing operations, if the boundary segment where the boundary point is located in the virtual boundary is a physical boundary of the grassland, the automatic mowing device is controlled to perform mowing operations along the boundary segment where the boundary point is located within the preset area. At this time, the distance between the mowing path of the automatic mowing device and the physical boundary of the grassland is the third target distance. If the boundary segment where the boundary point is located in the virtual boundary is not a physical boundary of the grassland, the automatic mowing device is controlled to move to a grassland area outside the preset area to perform mowing operations. At this time, the distance between the mowing path of the automatic mowing device and the physical boundary of the grassland is the second target distance.

[0102] If the boundary attribute of the boundary point is the third boundary attribute, the automatic mowing device is controlled to perform mowing operations in the third working mode, so that when the automatic mowing device moves to the boundary point to perform mowing operations, the automatic mowing device moves along the virtual boundary where the boundary point is located within the preset area to perform mowing operations. At this time, the distance between the mowing path of the automatic mowing device and the physical boundary of the lawn is the third target distance.

[0103] In one possible implementation, when controlling the automatic mowing device to move to a grass area outside a preset area to perform mowing operations, if the distance between the physical boundary of the grass outside the boundary segment where the boundary point is located and the boundary segment where the boundary point is located is less than or equal to a third distance, the automatic mowing device is controlled to perform mowing operations along the physical boundary of the grass outside the boundary segment where the boundary point is located; if the distance between the physical boundary of the grass outside the boundary segment where the boundary point is located and the boundary segment where the boundary point is located is greater than the third distance, the automatic mowing device is controlled to perform mowing operations along an extended path whose distance from the boundary segment where the boundary point is located is equal to the third distance.

[0104] Based on this, in this implementation, when controlling the automatic mowing device to move to a grass area outside a preset area to perform mowing operations, if a physical boundary of the grass is identified within a first distance outside the preset area or at a first distance outside the preset area, the automatic mowing device is controlled to straddle the physical boundary of the grass and perform mowing operations along the physical boundary of the grass. If a physical boundary of the grass is not identified within the first distance outside the preset area or at a first distance outside the preset area, the automatic mowing device is controlled to remain within the grass area outside the preset area and move along a line outside the virtual boundary that is a first distance away from the virtual boundary to perform mowing operations. The third distance may be preset, for example, 0.5 meters or 1 meter.

[0105] Based on this, the first distance is the first target distance, the second target distance or the third target distance, and the second distance is the first target distance, the second target distance or the third target distance.

[0106] In a possible implementation, a transition path segment is provided between the first boundary segment and the second boundary segment, one end of the transition path segment is connected to the end of the first boundary segment, and the other end of the transition path segment is connected to the beginning of the second boundary segment.

[0107] When controlling an automatic mowing device to autonomously move along an identified lawn boundary that meets autonomous movement conditions, if the boundary attribute indicated by the most recently received boundary attribute configuration information is the first boundary attribute, and the automatic mowing device is intended to straddle the lawn boundary and move along it, the automatic mowing device can identify whether straddling is possible. If the lawn boundary is a high wall or fence, for example, then straddling is not possible, and the automatic mowing device automatically exits the autonomous movement state. If the lawn boundary is identified as straddling, the device will straddle the lawn boundary and move along it. Based on this, if the lawn boundary is identified as straddling but is not actually straddling, the automatic mowing device will be controlled to forcibly move toward the lawn boundary, causing the automatic mowing device to become trapped, ultimately triggering the automatic mowing device's protection mechanism and automatically exiting the autonomous movement state.

[0108] In addition, after determining the virtual boundary, you can also adjust the virtual boundary. The specific processing method is as follows:

[0109] The method includes receiving a first control signal and controlling the automatic lawn mowing device to move from a first starting point to a second starting point along a virtual boundary according to the first control signal; the first starting point and the second starting point being points on the virtual boundary; receiving a starting point confirmation instruction and using the second starting point as a starting point for modifying the virtual boundary according to the starting point confirmation instruction; receiving a second control signal and controlling the automatic lawn mowing device to move from the second starting point to an end point according to the second control signal, and determining an updated virtual boundary based on the walking trajectory between the second starting point and the end point. During the process of controlling the automatic lawn mowing device to move from the second starting point to the end point according to the second control signal, path points and boundary attributes of at least some of the path points on the walking trajectory between the second starting point and the end point are recollected, so that the boundary points and boundary attributes of the boundary points on the portion of the updated virtual boundary moving from the second starting point to the end point are also updated. The path point collection process for the portion of the updated virtual boundary between the second starting point and the end point is similar to the process for collecting the path points of the original virtual boundary, and the process for obtaining the portion of the updated virtual boundary between the second starting point and the end point is similar to the process for obtaining the original virtual boundary. The embodiments of the present application will not be described in detail herein.

[0110] The working process of an automatic mowing device usually includes two stages, namely, a work map establishment stage and a mowing operation stage. In the work map establishment stage, the automatic mowing device usually adopts the above-mentioned work map generation method to work, and in the mowing operation stage, the automatic mowing device usually adopts the mowing operation method to work.

[0111] The embodiments of the present application provide an operation method, which is described in detail below through multiple embodiments.

[0112] FIG2 is a flow chart of an operation method according to an embodiment of the present application. As shown in FIG2 , the operation method includes the following steps:

[0113] Step 201: Get a work map.

[0114] The working map may be the working map in step 103 above, or a working map that satisfies the following conditions: the working map includes location information of multiple boundary points and boundary attributes of at least some of the boundary points, and the multiple boundary points are used to indicate virtual boundaries surrounding a preset area.

[0115] Step 202: Control the automatic mowing device to perform mowing operations along the virtual boundary according to the work map, and when the automatic mowing device moves to a boundary point with boundary attributes, control the automatic mowing device to perform mowing operations in a corresponding work mode according to the boundary attributes of the boundary point.

[0116] The automatic mowing device operates in different modes when it moves to boundary points corresponding to different boundary attributes.

[0117] In an embodiment of the present application, after obtaining a working map including the location information of multiple boundary points and the boundary attributes of at least some of the boundary points, the automatic mowing device is controlled to perform mowing operations along the virtual boundary according to the working map. Thus, since the working modes of the automatic mowing device are different when it moves to boundary points with different boundary attributes in the virtual boundary to perform mowing operations, the setting of the boundary attributes can enable the automatic mowing device to adopt different working modes when it moves to at least some different positions of the virtual boundary to perform mowing operations, so that the automatic mowing device can clean the grass near the virtual boundary more cleanly and reduce the possibility of needing to rework mowing. Therefore, the working efficiency of the automatic mowing device can be improved, and the user's personalized needs for the mowing effect of the automatic mowing device can also be met.

[0118] In one possible implementation, the boundary attribute of a boundary point is used to characterize the relative positional relationship between the mowing path of the automatic mowing device and the virtual boundary when the automatic mowing device moves to the boundary segment where the boundary point is located in the virtual boundary to perform mowing operations; or, the boundary attribute of a boundary point is used to characterize the relative positional relationship between the mowing path of the automatic mowing device and the physical boundary of the grassland when the automatic mowing device moves to the boundary segment where the boundary point is located in the virtual boundary to perform mowing operations.

[0119] In one possible implementation, obtaining the working map may include the following specific processes: obtaining an initial map; configuring boundary attributes for at least some boundary points in the initial map; and generating a working map including location information of the plurality of boundary points and boundary attributes of at least some of the boundary points. The initial map includes location information of the plurality of boundary points, and the plurality of boundary points are used to indicate virtual boundaries surrounding a predetermined area.

[0120] After obtaining the location information of multiple path points and the boundary attributes of at least some of the path points, the location information of the multiple path points is preprocessed by screening, fitting, and / or deleting to obtain the location information of the multiple boundary points, thereby generating an initial map including the location information of the multiple boundary points. Within the initial map, the boundary attributes of at least some of the boundary points are determined based on the attribute information of at least some of the path points. A working map is then generated based on the location information of the multiple boundary points and the boundary attributes of at least some of the boundary points. The specific processing method for determining the boundary attributes of at least some of the boundary points based on the attribute information of at least some of the path points has been described in detail in the embodiments of the working map generation method and will not be further described in detail in the embodiments of the present application.

[0121] In a possible implementation, the initial map includes: a map generated according to the movement path of the remote-controlled automatic lawn mowing device, a map generated according to the movement path of the automatic lawn mowing device when it moves autonomously, a map drawn by the user, or a pre-created map.

[0122] The above-mentioned initial map includes the location information of multiple boundary points, and the location information of the multiple boundary points is obtained based on the location information of multiple path points. Based on this, the location information of the multiple path points can be obtained based on the moving path of the remote-controlled automatic lawn mowing device when it moves, or based on the moving path of the automatic lawn mowing device when it moves autonomously, or can be drawn by the user or created in advance, and the embodiments of the present application are not limited here.

[0123] In one possible implementation, when controlling an automatic mowing device to perform a mowing operation in a corresponding operating mode based on a boundary attribute of a boundary point, if the boundary attribute of the boundary point is a first boundary attribute, the automatic mowing device is controlled to perform a mowing operation in the first operating mode. When the automatic mowing device is mowing in the first operating mode, if the boundary segment of the virtual boundary where the boundary point is located is a physical boundary of the grassland, the automatic mowing device is controlled to straddle the boundary segment where the boundary point is located to perform the mowing operation; if the boundary segment of the virtual boundary where the boundary point is located is not a physical boundary of the grassland, the automatic mowing device is controlled to move to a grassland area outside the preset area to perform the mowing operation.

[0124] In one possible implementation, when controlling an automatic mowing device to perform a mowing operation in a corresponding operating mode based on a boundary attribute of a boundary point, if the boundary attribute of the boundary point is a second boundary attribute, the automatic mowing device is controlled to perform a mowing operation in the second operating mode. When the automatic mowing device is performing a mowing operation in the second operating mode, if the boundary segment of the virtual boundary where the boundary point is located is a physical boundary of the grassland, the automatic mowing device is controlled to perform a mowing operation within a preset area along the boundary segment where the boundary point is located. If the boundary segment of the virtual boundary where the boundary point is located is not a physical boundary of the grassland, the automatic mowing device is controlled to move to a grassland area outside the preset area to perform a mowing operation.

[0125] In one possible implementation, when controlling the automatic mowing device to move to a grass area outside a preset area to perform mowing operations, if the distance between the physical boundary of the grass outside the boundary segment where the boundary point is located and the boundary segment where the boundary point is located is less than or equal to a third distance, the automatic mowing device is controlled to perform mowing operations along the physical boundary of the grass outside the boundary segment where the boundary point is located; if the distance between the physical boundary of the grass outside the boundary segment where the boundary point is located and the boundary segment where the boundary point is located is greater than the third distance, the automatic mowing device is controlled to perform mowing operations along an extended path whose distance from the boundary segment where the boundary point is located is equal to the third distance.

[0126] Based on this, in this implementation, when controlling the automatic mowing device to move to a grass area outside a preset area to perform mowing operations, if a physical boundary of the grass is identified within a first distance outside the preset area or at a first distance outside the preset area, the automatic mowing device is controlled to straddle the physical boundary of the grass and perform mowing operations along the physical boundary of the grass. If a physical boundary of the grass is not identified within the first distance outside the preset area or at a first distance outside the preset area, the automatic mowing device is controlled to remain within the grass area outside the preset area and move along a line outside the virtual boundary that is a first distance away from the virtual boundary to perform mowing operations. The third distance may be preset, for example, 0.5 meters or 1 meter.

[0127] In one possible implementation, in the process of controlling the automatic mowing device to perform mowing operations in a corresponding working mode according to the boundary attributes of the boundary point, if the boundary attribute of the boundary point is a third boundary attribute, the automatic mowing device is controlled to perform mowing operations in the third working mode, so that the automatic mowing device performs mowing operations along the boundary segment where the boundary point is located within a preset area.

[0128] In an embodiment of the present application, the setting of the boundary attributes can enable the automatic mowing device to adopt different working modes when moving to at least part of the virtual boundary to perform mowing operations, so that the automatic mowing device can clean the grass near the virtual boundary more cleanly, reducing the possibility of needing to rework mowing. Therefore, the working efficiency of the automatic mowing device can be improved, and the user's personalized needs for the mowing effect of the automatic mowing device can be met.

[0129] In one possible implementation, the mowing operation method also includes: when the automatic mowing device moves from a first boundary segment where a first boundary point is located to a second boundary segment where a second boundary point is located, controlling the distance between the mowing path of the automatic mowing device and the physical boundary of the grassland to change from a first distance to a second distance, wherein the first boundary point and the second boundary point are adjacent boundary points in the virtual boundary, and the first boundary point and the second boundary point correspond to different boundary attributes.

[0130] In one possible implementation, when the automatic mowing device moves from the first boundary segment to the second boundary segment, the automatic mowing device moves from the end of the first boundary segment to one end of the transition path segment, and moves from the other end of the transition path segment to the beginning of the second boundary segment.

[0131] In addition, in the process of controlling the automatic mowing device to perform mowing operations along the virtual boundary according to the work map, the automatic mowing device can identify whether there is an obstacle within the virtual boundary and the distance between the obstacle and the virtual boundary is less than a third preset distance. If so, the automatic mowing device will move toward the direction within the virtual boundary to avoid the obstacle, thereby reducing the possibility of the automatic mowing device being damaged or malfunctioning due to collision with the obstacle. The third preset distance can be 0.3 meters or 0.5 meters, etc.

[0132] The embodiments of the present application provide a method for controlling an automatic operating device, and the method for controlling an automatic operating device is described in detail below through a plurality of embodiments. The method for controlling an automatic operating device in the following embodiments can be applied to external control devices such as automatic mowing devices and sweeping robots. The method for controlling an automatic operating device is described below by taking the automatic operating device as an automatic mowing device as an example. It should be noted that in order to be able to describe the specific implementation of the method for controlling an automatic operating device in combination with the application scenario, the following embodiments use a scenario-adaptive description method to describe the method for controlling an automatic operating device, for example, a scenario-adaptive description of a mowing control as an operating control, a scenario-adaptive description of a grass entity boundary as an entity boundary, a scenario-adaptive description of a mowing path as an operating path, a scenario-adaptive description of a mowing instruction as an operating instruction, etc.

[0133] The automatic operation device control method is applied to an external control device, and can specifically be applied to software such as an application or applet within the control device. The control device can be a smart device such as a mobile phone or computer, and the embodiments of the present application do not limit this.

[0134] FIG3 is a flow chart of a method for controlling an automatic operation device according to an embodiment of the present application. As shown in FIG3 , the method for controlling an automatic mowing device includes the following steps:

[0135] Step 301: Send boundary attribute configuration information to an automatic mowing device.

[0136] Step 302: Send a motion control instruction to the automatic mowing device to move the automatic mowing device, so that the automatic mowing device records the position information of multiple path points located on the moving path, and determines the boundary attributes of at least some of the multiple path points based on the boundary attribute configuration information, and generates a working map including the position information of the multiple boundary points and the boundary attributes of at least some of the boundary points.

[0137] Among them, the position information of multiple boundary points is determined according to the position information of multiple path points, the boundary attributes of the boundary points are determined according to the boundary attributes of the path points, and the multiple boundary points are used to indicate a virtual boundary including a surrounding preset area. When the automatic mowing device performs mowing operations along the virtual boundary according to the work map, the working mode of the automatic mowing device is different when it moves to the boundary points corresponding to different boundary attributes.

[0138] In an embodiment of the present application, a control device causes the automatic mowing device to move by sending boundary attribute configuration information and motion control instructions to the automatic mowing device, so that the automatic mowing device records the location information of multiple path points located on the movement path and generates a work map including the location information of the multiple boundary points and the boundary attributes of at least some of the boundary points. When the automatic mowing device performs a mowing operation along a virtual boundary according to the work map, the automatic mowing device operates in different modes when it moves to boundary points corresponding to different boundary attributes. Thus, because the automatic mowing device operates in different modes when it moves to boundary points corresponding to different boundary attributes, the setting of the boundary attributes can enable the automatic mowing device to adopt different operating modes when it moves to at least different locations along the virtual boundary to perform a mowing operation. This allows the automatic mowing device to clean the grass near the virtual boundary more cleanly, reducing the possibility of needing to rework mowing. Therefore, the working efficiency of the automatic mowing device can be improved, and the user's personalized needs for the mowing effect of the automatic mowing device can be met.

[0139] In a possible implementation, when the boundary attribute configuration information is sent to the automatic mowing device, in response to a mapping control or an attribute control in the control device being triggered, the boundary attribute configuration information is sent to the automatic mowing device.

[0140] The mapping controls and property controls may be buttons installed on the control device, or may be touch-sensitive controls displayed on the display interface of the control device, which is not limited in the embodiments of the present application.

[0141] In one possible implementation, in response to the attribute control being triggered, sending the boundary attribute configuration information to the automatic mowing device includes: in response to each time the attribute control is triggered, sending the boundary attribute configuration information to the automatic mowing device, wherein two adjacent times of sending the boundary attribute configuration information to the automatic mowing device indicate the same or different boundary attributes.

[0142] In one possible implementation, when determining the boundary attributes of a path point, the automatic lawn mower device determines the boundary attributes of the path point based on the most recently received boundary attribute configuration information. Multiple attribute controls are provided, and when different attribute controls are triggered, different attribute configuration information is sent to the automatic lawn mower device, with different boundary attribute configuration information indicating different boundary attributes. Alternatively, a single attribute control is provided, and when triggered, the attribute control selects one attribute configuration information from the multiple different attribute configuration information in a predetermined sequence and sends it to the automatic lawn mower device, with different boundary attribute configuration information indicating different boundary attributes.

[0143] If there are multiple attribute controls, then at the same time, one boundary attribute control in the control device is in a triggered state. Based on this, the specific operation process of the attribute control being triggered can be as follows: after the mapping control in the control device is triggered, the display interface of the control device only displays one attribute control. If this attribute control is triggered, all boundary attribute controls in the display interface of the control device will be expanded and displayed, and then another attribute control can be selected to be triggered. After the triggering, the display interface of the control device will continue to display only the other attribute control, and other attribute controls except the other attribute control will be hidden. Figure 4 is a display interface diagram of selecting an attribute control in an embodiment of the present application. The display interface when all attribute controls in the display interface of the control device are expanded and displayed is shown in Figure 4.

[0144] In one possible implementation, the above-mentioned sending of motion control instructions to the automatic mowing device includes the following specific processing: in response to a first motion control in the control device being triggered, sending a first motion control instruction to the automatic mowing device, wherein the first motion control instruction includes at least one of a motion direction parameter, a motion speed parameter, and a motion acceleration parameter; and / or, receiving an autonomous movement request from the automatic mowing device, in response to a second motion control in the control device being triggered, sending a second motion control instruction to the automatic mowing device, wherein the autonomous movement request is sent by the automatic mowing device to the control device when it identifies a grass entity boundary that meets the autonomous movement conditions, and the second motion control instruction is used to instruct the automatic mowing device to move autonomously along the identified grass entity boundary that meets the autonomous movement conditions.

[0145] The above-mentioned second motion control can also be in an untriggerable state by default. After receiving an autonomous movement request from the automatic mowing device, the second motion control can be put into a confirmable trigger state, and then the user can manually trigger the second motion control to send a second motion control instruction to the automatic mowing device.

[0146] When the second motion control is triggered, one of the multiple attribute controls is triggered by default. The second motion control is either an outer boundary second motion control or an inner boundary second motion control. If the outer boundary second motion control is triggered, it indicates that the automatic mowing device is to be controlled to move along the outer boundary of the area to be mowed starting from the moving starting point. In this case, the attribute control triggered by default is the attribute control for indicating the second boundary attribute. If the inner boundary second motion control is triggered, it indicates that the automatic mowing device is to be controlled to move along the inner boundary of the area to be mowed starting from the moving starting point. In this case, the attribute control triggered by default is the attribute control for indicating the third boundary attribute.

[0147] For example, Figure 5 is a diagram of the display interface of the control device when mapping based on the first boundary attribute according to an embodiment of the present application. After the second motion control is triggered, if the most recently triggered attribute control in the control device is an attribute control for indicating the first boundary attribute, the display interface of the control device is as shown in Figure 5. Figure 6 is a diagram of the display interface of the control device when mapping based on the second boundary attribute according to an embodiment of the present application. After the second motion control is triggered, if the most recently triggered attribute control in the control device is an attribute control for indicating the second boundary attribute, the display interface of the control device is as shown in Figure 6. Figure 7 is a diagram of the display interface of the control device when mapping based on the third boundary attribute according to an embodiment of the present application. After the mapping control in the control device is triggered, if the most recently triggered attribute control in the control device is an attribute control for indicating the third boundary attribute, the display interface of the control device is as shown in Figure 7.

[0148] The second motion control may be the same control as the mapping control, or may be a different control from the mapping control, which is not limited in the embodiment of the present application.

[0149] In one possible implementation, the automatic lawn mowing device control method further includes: receiving location information of a path point sent by the automatic lawn mowing device; determining a previous path point of a current path point according to the order in which the automatic lawn mowing device moves to different path points, wherein the current path point is not the first path point moved by the automatic lawn mowing device; and displaying a line between the current path point and the previous path point in a display interface of the control device using a line style corresponding to a boundary attribute of the current path point, wherein different boundary attributes correspond to different line styles.

[0150] In a possible implementation, the automatic lawn mowing device control method further includes: for a first path point, receiving location information of the path point sent by the automatic lawn mowing device, and displaying the path point in a preset point style in a display interface of the control device.

[0151] In one possible implementation, the automatic lawn mowing device control method further includes: receiving boundary attribute configuration information of a path point sent by the automatic lawn mowing device, and determining the boundary attribute of the current path point based on the boundary attribute configuration information of the current path point; or, determining the boundary attribute configuration information most recently sent to the automatic lawn mowing device before the automatic lawn mowing device records the position information of the current path point, and determining the boundary attribute indicated by the boundary attribute configuration information as the boundary attribute of the current path point.

[0152] In one possible implementation, the automatic mowing device control method further includes: in response to a mowing control in a control device being triggered, sending a mowing instruction to the automatic mowing device, wherein the mowing instruction is used to instruct the automatic mowing device to perform a mowing operation according to a work map, and sending positioning information to the control device, the positioning information being used to indicate the position of the automatic mowing device during the mowing operation; receiving the positioning information from the automatic mowing device; and displaying the position of the automatic mowing device on a display interface of the control device according to the positioning information.

[0153] The positioning information may be two-dimensional rectangular coordinate information or longitude and latitude coordinate information with the starting point of the mowing operation as the origin.

[0154] In a possible implementation, the boundary attribute includes at least two of a first boundary attribute, a second boundary attribute, and a third boundary attribute, based on which:

[0155] If the boundary attribute of the boundary point is the first boundary attribute, the automatic mowing device is controlled to perform mowing operations in the first working mode, so that the automatic mowing device moves to the boundary point to perform mowing operations. If the boundary segment where the boundary point is located in the virtual boundary is a physical boundary of the grassland, the automatic mowing device is controlled to straddle the boundary segment where the boundary point is located to perform mowing operations. If the boundary segment where the boundary point is located in the virtual boundary is not a physical boundary of the grassland, the automatic mowing device is controlled to move to a grassland area outside the preset area to perform mowing operations.

[0156] If the boundary attribute of the boundary point is the second boundary attribute, the automatic mowing device is controlled to perform mowing operations in the second working mode, so that the automatic mowing device moves to the boundary point to perform mowing operations. If the boundary segment where the boundary point is located in the virtual boundary is a physical boundary of the grassland, the automatic mowing device is controlled to perform mowing operations along the boundary segment where the boundary point is located within the preset area; if the boundary segment where the boundary point is located in the virtual boundary is not a physical boundary of the grassland, the automatic mowing device is controlled to move to a grassland area outside the preset area to perform mowing operations.

[0157] If the boundary attribute of the boundary point is the third boundary attribute, the automatic mowing device is controlled to perform mowing operations in the third working mode, so that when the automatic mowing device moves to the boundary point to perform mowing operations, the automatic mowing device moves along the virtual boundary where the boundary point is located within the preset area to perform mowing operations.

[0158] FIG8 shows a schematic diagram of an automatic operation device according to an embodiment of the present application. As shown in FIG8 , the automatic operation device 800 includes:

[0159] A motion control unit 801 is used to control the movement of the automatic operation device so as to record position information of a plurality of path points on the movement path of the automatic operation device through the automatic operation device;

[0160] An information receiving unit 802 is configured to receive boundary attribute configuration information and determine boundary attributes of at least some of the path points according to the boundary attribute configuration information;

[0161] The map generation unit 803 is used to generate a working map including the location information of multiple boundary points and the boundary attributes of at least some of the boundary points, wherein the location information of the multiple boundary points is determined based on the location information of multiple path points, and the boundary attributes of the boundary points are determined based on the boundary attributes of the path points. The multiple boundary points are used to indicate a virtual boundary including a surrounding preset area. When the automatic operation device operates along the virtual boundary according to the working map, the working mode of the automatic operation device is different when it moves to the boundary points corresponding to different boundary attributes.

[0162] In the embodiment of the present application, the motion control unit 801 can control the automatic operation device to collect the position information of multiple path points on the moving path during the movement, the information receiving unit 802 can be used to determine the boundary attributes of at least some of the path points, and then the map generation unit 803 can generate a working map including the position information of multiple boundary points and the boundary attributes of at least some of the boundary points. Therefore, since the working mode of the automatic operation device is different when it moves to the boundary points corresponding to different boundary attributes, the setting of the boundary attributes can make the automatic operation device adopt different working modes when it moves to at least different positions of the virtual boundary to perform operations, so that the automatic operation device can process the area near the virtual boundary and reduce the possibility of needing to rework the operation. Therefore, the working efficiency of the automatic operation device can be improved, and the user's personalized needs for the working effect of the automatic operation device can also be met.

[0163] It should be noted that the automatic operation device of this embodiment is used to implement the corresponding work map generation method in the aforementioned method embodiment and has the beneficial effects of the corresponding method embodiment, which will not be repeated here. The automatic mowing device in the embodiment of this application can be an automatic mowing device, a sweeping robot, etc.

[0164] FIG9 shows a schematic diagram of an automatic operation device according to an embodiment of the present application. As shown in FIG9 , the automatic operation device 900 includes:

[0165] A map acquisition unit 901 is configured to acquire a working map, wherein the working map includes location information of a plurality of boundary points and boundary attributes of at least some of the boundary points, wherein the plurality of boundary points are used to indicate virtual boundaries surrounding a preset area;

[0166] The operation control unit 902 is used to control the automatic operation device to operate along the virtual boundary according to the work map, and when the automatic operation device moves to a boundary point with boundary attributes, the automatic operation device is controlled to operate in a corresponding operation mode according to the boundary attributes of the boundary point, wherein the operation mode of the automatic operation device is different when it moves to a boundary point corresponding to different boundary attributes.

[0167] In an embodiment of the present application, after the map acquisition unit 901 acquires a work map including the location information of multiple boundary points and the boundary attributes of at least some of the boundary points, the operation control unit 902 controls the automatic operation device to operate along the virtual boundary, and when the automatic operation device moves to a boundary point with boundary attributes, the operation control unit 902 controls the automatic operation device to operate in a corresponding operation mode according to the boundary attributes of the boundary point. Thus, since the operation mode of the automatic operation device is different when it moves to boundary points with different boundary attributes in the virtual boundary to operate, the setting of the boundary attributes can enable the automatic operation device to adopt different operation modes when it moves to at least some different positions of the virtual boundary to operate, so that the automatic operation device can process the area near the virtual boundary and reduce the possibility of needing to rework the operation. Therefore, the work efficiency of the automatic operation device can be improved, and the user's personalized needs for the operation effect of the automatic operation device can also be met.

[0168] The automatic operation device provided in the embodiments of the present application may be an automatic lawn mowing device, a sweeping robot, etc. In one example, when the automatic operation device is an automatic lawn mowing device, the automatic lawn mowing device may include a visual sensor for identifying the physical boundary of the lawn, and may also include a positioning sensor for determining position information, such as an RTK (Real-time kinematic) sensor, an IMU (Inertial Measurement Unit) sensor, or a gyroscope. The position information may be determined by a single positioning sensor or by a fusion of multiple positioning sensors, and this is not limited in the embodiments of the present application.

[0169] It should be noted that the automatic operation device of this embodiment is used to implement the corresponding operation method in the aforementioned method embodiment and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0170] FIG10 is a schematic diagram of a control device of an automatic operation device according to an embodiment of the present application. As shown in FIG10 , the control device 1000 of the automatic operation device includes:

[0171] The first sending unit 1001 is used to send boundary attribute configuration information to the automatic operation device;

[0172] The second sending unit 1002 is used to send motion control instructions to the automatic operation device to move the automatic operation device, so that the automatic operation device records the position information of multiple path points on the moving path, and determines the boundary attributes of at least some of the multiple path points based on the boundary attribute configuration information, and generates a working map including the position information of multiple boundary points and the boundary attributes of at least some of the boundary points, wherein the position information of the multiple boundary points is determined based on the position information of the multiple path points, and the boundary attributes of the boundary points are determined based on the boundary attributes of the path points. The multiple boundary points are used to indicate a virtual boundary including a surrounding preset area. When the automatic operation device operates along the virtual boundary according to the working map, the working mode of the automatic operation device is different when it moves to the boundary points corresponding to different boundary attributes.

[0173] In an embodiment of the present application, the first sending unit 1001 sends boundary attribute configuration information to the automatic operation device, and the second sending unit 1002 sends a motion control instruction to the automatic operation device to move the automatic operation device, so that the automatic operation device records the position information of multiple path points on the moving path, and generates a work map including the position information of multiple boundary points and the boundary attributes of at least some of the boundary points. When the automatic operation device operates along the virtual boundary according to the work map, the working mode of the automatic operation device when it moves to the boundary points corresponding to different boundary attributes is different. Therefore, since the working mode of the automatic operation device when it moves to the boundary points corresponding to different boundary attributes is different, the setting of the boundary attributes can enable the automatic operation device to adopt different working modes when it moves to at least different positions of the virtual boundary to operate, so that the automatic operation device can process the area near the virtual boundary and reduce the possibility of needing to rework. Therefore, the working efficiency of the automatic operation device can be improved, and the user's personalized needs for the working effect of the automatic operation device can also be met.

[0174] It should be noted that the control device of the automatic operation device of this embodiment is used to implement the corresponding automatic operation device control method in the aforementioned method embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0175] Figure 11 is a schematic block diagram of an electronic device provided in an embodiment of the present application. The specific embodiments of the present application do not limit the specific implementation of the electronic device. As shown in Figure 11, the electronic device may include: a processor 1102, a communication interface 1104, a memory 1106, and a communication bus 1108. Among them:

[0176] The processor 1102 , the communication interface 1104 , and the memory 1106 communicate with each other via a communication bus 1108 .

[0177] The communication interface 1104 is used to communicate with other electronic devices or servers.

[0178] The processor 1102 is used to execute the program 1110, and specifically can execute the relevant steps of the aforementioned work map generation method, or execute the relevant steps of the aforementioned operation method, or execute the relevant steps of the aforementioned automatic operation device control method.

[0179] Specifically, the program 1110 may include program codes, which include computer operation instructions.

[0180] Processor 1102 may be a CPU, an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs, or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0181] The memory 1106 is used to store the program 1110. The memory 1106 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0182] The program 1110 can be specifically used to enable the processor 1102 to execute the work map generation method, operation method or automatic operation device control method in any of the aforementioned embodiments.

[0183] The specific implementation of each step in program 1110 can be found in the corresponding descriptions of the corresponding steps and units in any of the aforementioned work map generation method embodiments, work method embodiments, or automatic work device control method embodiments, and will not be repeated here. Those skilled in the art will clearly understand that for the sake of convenience and brevity, the specific working processes of the devices and modules described above can refer to the corresponding process descriptions in the aforementioned method embodiments, and will not be repeated here.

[0184] Through the electronic device of the embodiment of the present application, since the working mode of the automatic operation device is different when it moves to the boundary point corresponding to different boundary attributes, the setting of the boundary attributes can enable the automatic operation device to adopt different working modes when it moves to at least part of the different positions of the virtual boundary to perform operations, so that the automatic operation device can process the area near the virtual boundary and reduce the possibility of needing to rework the operation. Therefore, the working efficiency of the automatic operation device can be improved, and the user's personalized needs for the operating effect of the automatic operation device can also be met.

[0185] This application also provides a computer-readable storage medium storing instructions for causing a machine to execute the work map generation method, operation method, or automatic operation device control method described herein. Specifically, a system or device equipped with a storage medium can be provided, wherein the storage medium stores software program code that implements the functions of any of the above-described embodiments, and a computer (or CPU or MPU) of the system or device can read and execute the program code stored in the storage medium.

[0186] In this case, the program code read from the storage medium itself can realize the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of this application.

[0187] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0188] An embodiment of the present application also provides a computer program product, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0189] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0190] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or can be implemented as software or computer code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or can be implemented as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded via a network and will be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0191] Those skilled in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of this application.

[0192] The above implementation methods are only used to illustrate the embodiments of the present application, and are not intended to limit the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.

Claims

1. A method for generating a work map, applied to an automatic operation device, characterized in that: The method comprises: Controlling the movement of the automatic operation device so as to record position information of a plurality of path points on a moving path of the automatic operation device through the automatic operation device; receiving boundary attribute configuration information, and determining boundary attributes of at least some of the path points among the plurality of path points according to the boundary attribute configuration information; Generate a working map including location information of multiple boundary points and boundary attributes of at least some of the boundary points, wherein the location information of the multiple boundary points is determined according to the location information of the multiple path points, and the boundary attributes of the boundary points are determined according to the boundary attributes of the path points, and the multiple boundary points are used to indicate a virtual boundary including a surrounding preset area, and when the automatic working device operates along the virtual boundary according to the working map, the working mode of the automatic working device is different when it moves to a boundary point corresponding to a different boundary attribute.

2. The method according to claim 1, characterized in that The determining, according to the boundary attribute configuration information, boundary attributes of at least some of the plurality of path points comprises: When the automatic operation device determines a path point, the boundary attribute indicated by the most recently received boundary attribute configuration information is determined as the boundary attribute of the path point.

3. The method according to claim 1, characterized in that The determining, according to the boundary attribute configuration information, boundary attributes of at least some of the plurality of path points comprises: After receiving the boundary attribute configuration information, the boundary attribute of the first path point determined after receiving the boundary attribute configuration information is determined to be the boundary attribute indicated by the boundary attribute configuration information.

4. The method according to claim 1, characterized in that: The controlling the movement of the automatic operation device comprises: The movement of the automatic working device is controlled according to the control command from the external control device.

5. The method according to claim 4, characterized in that In the process of controlling the movement of the automatic operation device according to the control instruction from the external control device, the method further includes: If the boundary attribute indicated by the most recently received boundary attribute configuration information is the first boundary attribute, then when a physical boundary is identified and the automatic operation device is not straddling the physical boundary, a prompt message is sent to the control device, wherein the prompt message is used to prompt the user to control the automatic operation device to move astride the physical boundary.

6. The method according to claim 1, characterized in that The controlling the movement of the automatic operation device comprises: If the automatic operation device recognizes a physical boundary that meets the autonomous movement conditions, the automatic operation device is controlled to move autonomously along the physical boundary.

7. The method according to claim 6, characterized in that The boundary attributes include at least two of a first boundary attribute, a second boundary attribute, and a third boundary attribute. After the work map is generated, If the boundary attribute of the boundary point is the first boundary attribute, the automatic operation device is controlled to operate in the first working mode, so that when the automatic operation device moves to the boundary point to operate, if the boundary segment where the boundary point in the virtual boundary is located is a physical boundary, the automatic operation device is controlled to straddle the boundary segment where the boundary point is located to operate; if the boundary segment where the boundary point in the virtual boundary is located is not a physical boundary, the automatic operation device is controlled to move to an area outside the preset area to operate; If the boundary attribute of the boundary point is the second boundary attribute, the automatic operation device is controlled to operate in the second working mode, so that when the automatic operation device moves to the boundary point to operate, if the boundary segment where the boundary point in the virtual boundary is located is a physical boundary, the automatic operation device is controlled to operate along the boundary segment where the boundary point is located within the preset area; if the boundary segment where the boundary point in the virtual boundary is located is not a physical boundary, the automatic operation device is controlled to move to an area outside the preset area to operate; If the boundary attribute of the boundary point is the third boundary attribute, the automatic operation device is controlled to operate in the third working mode, so that when the automatic operation device moves to the boundary point to operate, the automatic operation device moves along the virtual boundary where the boundary point is located within the preset area to operate.

8. The method according to claim 7, characterized in that The controlling the automatic operation device to move autonomously along the entity boundary comprises: If the boundary attribute indicated by the most recently received boundary attribute configuration information is the first boundary attribute, the automatic The mobile working device straddles the physical boundary and moves autonomously along the physical boundary; If the boundary attribute indicated by the most recently received boundary attribute configuration information is the second boundary attribute or the third boundary attribute, the automatic operation device is controlled to move autonomously along the physical boundary within the area surrounded by the physical boundary.

9. The method according to claim 1, characterized in that: The boundary attribute of the boundary point is used to characterize the relative position relationship between the operation path of the automatic operation device and the virtual boundary when the automatic operation device moves to the boundary segment where the boundary point is located in the virtual boundary to perform operation; or, The boundary attribute of the boundary point is used to characterize the relative position relationship between the operation path of the automatic operation device and the physical boundary when the automatic operation device moves to the boundary segment where the boundary point is located in the virtual boundary to perform operation.

10. The method according to claim 1, characterized in that The virtual boundary includes adjacent first boundary points and second boundary points, the first boundary points and the second boundary points correspond to different boundary attributes, and when the automatic operating device operates along the virtual boundary and the automatic operating device moves from a first boundary segment where the first boundary point is located to a second boundary segment where the second boundary point is located, the distance between the operating path of the automatic operating device and the physical boundary changes from a first distance to a second distance.

11. The method according to claim 10, characterized in that A transition path segment is provided between the first boundary segment and the second boundary segment, one end of the transition path segment is connected to the end of the first boundary segment, and the other end of the transition path segment is connected to the beginning of the second boundary segment.

12. A working method, applied to an automatic working device, characterized in that: The method comprises: Acquire a working map, wherein the working map includes location information of a plurality of boundary points and boundary attributes of at least some of the boundary points, and the plurality of boundary points are used to indicate virtual boundaries surrounding a preset area; According to the work map, the automatic operating device is controlled to operate along the virtual boundary, and when the automatic operating device moves to a boundary point with boundary attributes, the automatic operating device is controlled to operate in a corresponding working mode according to the boundary attributes of the boundary point, wherein the working mode of the automatic operating device is different when it moves to boundary points corresponding to different boundary attributes.

13. The method according to claim 12, characterized in that The boundary attribute of the boundary point is used to characterize the relative position relationship between the operation path of the automatic operation device and the virtual boundary when the automatic operation device moves to the boundary segment where the boundary point is located in the virtual boundary to perform operation; or, The boundary attribute of the boundary point is used to characterize the relative position relationship between the operation path of the automatic operation device and the physical boundary when the automatic operation device moves to the boundary segment where the boundary point is located in the virtual boundary to perform operation.

14. The method according to claim 12, characterized in that The obtaining of the work map comprises: Acquire an initial map, wherein the initial map includes location information of a plurality of boundary points, and the plurality of boundary points are used to indicate virtual boundaries surrounding a preset area; configuring boundary attributes for at least some of the boundary points in the initial map; A working map including the location information of the plurality of boundary points and boundary attributes of at least part of the boundary points is generated.

15. The method according to claim 14, characterized in that The initial map includes: a map generated based on a movement path of the automatic working device when it moves remotely, a map generated based on a movement path of the automatic working device when it moves autonomously, a map drawn by a user, or a pre-created map.

16. The method according to claim 12, characterized in that The controlling the automatic operation device to operate in a corresponding working mode according to the boundary attribute of the boundary point includes: If the boundary attribute of the boundary point is the first boundary attribute, the automatic operation device is controlled to operate in the first working mode. When the automatic operation device operates in the first working mode, if the boundary segment where the boundary point in the virtual boundary is located is a physical boundary, the automatic operation device is controlled to straddle the boundary segment where the boundary point is located to operate; if the boundary segment where the boundary point in the virtual boundary is located is not a physical boundary, the automatic operation device is controlled to move to an area outside the preset area to operate.

17. The method according to claim 12, characterized in that The controlling the automatic operation device to operate in a corresponding working mode according to the boundary attribute of the boundary point includes: If the boundary attribute of the boundary point is the second boundary attribute, the automatic operation device is controlled to operate in the second working mode. The automatic operation device is configured to perform operation in the second working mode, wherein, when the automatic operation device is operating in the second working mode, if the boundary segment where the boundary point in the virtual boundary is located is a physical boundary, the automatic operation device is controlled to perform operation within the preset area along the boundary segment where the boundary point is located; if the boundary segment where the boundary point in the virtual boundary is located is not a physical boundary, the automatic operation device is controlled to move to an area outside the preset area to perform operation.

18. The method according to claim 16 or 17, characterized in that The controlling the automatic operation device to move to an area outside the preset area to perform operation includes: If the distance between the physical boundary outside the boundary segment where the boundary point is located and the boundary segment where the boundary point is located is less than or equal to a third distance, controlling the automatic operation device to operate along the physical boundary outside the boundary segment where the boundary point is located; If the distance between the physical boundary outside the boundary segment where the boundary point is located and the boundary segment where the boundary point is located is greater than the third distance, the automatic operation device is controlled to operate along an extended path whose distance from the boundary segment where the boundary point is located is equal to the third distance.

19. The method according to claim 12, characterized in that The controlling the automatic operation device to operate in a corresponding working mode according to the boundary attribute of the boundary point includes: If the boundary attribute of the boundary point is the third boundary attribute, the automatic operation device is controlled to operate in the third operation mode, so that the automatic operation device operates in the preset area along the boundary segment where the boundary point is located.

20. The method according to claim 12, characterized in that The method further comprises: When the automatic operation device moves from a first boundary segment where a first boundary point is located to a second boundary segment where a second boundary point is located, the distance between the operation path of the automatic operation device and the physical boundary is controlled to change from a first distance to a second distance, wherein the first boundary point and the second boundary point are adjacent boundary points in the virtual boundary, and the first boundary point and the second boundary point correspond to different boundary attributes.

21. The method according to claim 20, characterized in that When the automatic operation device moves from the first boundary segment to the second boundary segment, the automatic operation device moves from the end of the first boundary segment to one end of the transition path segment, and moves from the other end of the transition path segment to the beginning of the second boundary segment.

22. A method for controlling an automatic operation device, applied to a control device outside the automatic operation device, characterized in that: The method comprises: Sending boundary attribute configuration information to the automatic operation device; Send a motion control instruction to the automatic operation device to move the automatic operation device, so that the automatic operation device records the position information of multiple path points on the moving path, and determines the boundary attributes of at least some of the multiple path points according to the boundary attribute configuration information, and generates a working map including the position information of multiple boundary points and the boundary attributes of at least some of the boundary points, wherein the position information of the multiple boundary points is determined according to the position information of the multiple path points, and the boundary attributes of the boundary points are determined according to the boundary attributes of the path points, and the multiple boundary points are used to indicate a virtual boundary including a surrounding preset area, and when the automatic operation device operates along the virtual boundary according to the working map, the working mode of the automatic operation device is different when it moves to the boundary points corresponding to different boundary attributes.

23. The method according to claim 22, characterized in that The sending of boundary attribute configuration information to the automatic operation device includes: In response to a mapping control or an attribute control in the control device being triggered, boundary attribute configuration information is sent to the automatic operation device.

24. The method according to claim 23, characterized in that In response to the attribute control being triggered, sending boundary attribute configuration information to the automatic operation device includes: In response to the attribute control being triggered each time, boundary attribute configuration information is sent to the automatic operation device, wherein two consecutive times of sending the boundary attribute configuration information to the automatic operation device indicate the same or different boundary attributes.

25. The method according to claim 23, characterized in that When determining the boundary attribute of the path point, the automatic operation device determines the boundary attribute of the path point according to the most recently received boundary attribute configuration information; There are multiple attribute controls, and different attribute controls send different attribute configuration information to the automatic operation device when triggered, and different boundary attribute configuration information indicates different boundary attributes; or, The attribute control is provided with one, and when the attribute control is triggered, selects one attribute configuration information from a plurality of different attribute configuration information in a cycle according to a preset sequence and sends it to the automatic operation device, and different boundary attribute configuration information indicates The boundary properties are different.

26. The method according to claim 22, characterized in that The sending of a motion control instruction to the automatic operation device comprises: In response to a first motion control in the control device being triggered, sending a first motion control instruction to the automatic operation device, wherein the first motion control instruction includes at least one of a motion direction parameter, a motion speed parameter, and a motion acceleration parameter; and / or, After receiving an autonomous movement request from the automatic operation device, in response to the second motion control in the control device being triggered, a second motion control instruction is sent to the automatic operation device, wherein the autonomous movement request is sent by the automatic operation device to the control device when the automatic operation device identifies a physical boundary that meets the autonomous movement conditions, and the second motion control instruction is used to instruct the automatic operation device to move autonomously along the identified physical boundary that meets the autonomous movement conditions.

27. The method according to claim 22, characterized in that The method further comprises: Receiving location information of the path point sent by the automatic operation device; Determine the previous path point of the current path point according to the order in which the automatic operation device moves to different path points, wherein the current path point is not the first path point moved by the automatic operation device; In the display interface of the control device, the line between the current path point and the previous path point is displayed by a line style corresponding to a boundary attribute of the current path point, wherein different boundary attributes correspond to different line styles.

28. The method according to claim 27, characterized in that The method further comprises: Receiving the boundary attribute configuration information of the path point sent by the automatic operation device, and determining the boundary attribute of the current path point according to the boundary attribute configuration information of the current path point; or, Determine the boundary attribute configuration information that was most recently sent to the automatic operation device before the automatic operation device recorded the position information of the current path point, and determine the boundary attribute indicated by the boundary attribute configuration information as the boundary attribute of the current path point.

29. The method according to claim 22, characterized in that The method further comprises: In response to the operation control in the control device being triggered, sending an operation instruction to the automatic operation device, wherein the operation instruction is used to instruct the automatic operation device to perform the operation according to the work map, and sending positioning information to the control device, wherein the positioning information is used to indicate the position of the automatic operation device during the operation process; receiving the positioning information from the automatic operation device; The position of the automatic operation device is displayed on the display interface of the control device according to the positioning information.

30. The method according to any one of claims 22 to 29, characterized in that: The boundary attributes include at least two of a first boundary attribute, a second boundary attribute, and a third boundary attribute; If the boundary attribute of the boundary point is the first boundary attribute, the automatic operation device is controlled to operate in the first working mode, so that when the automatic operation device moves to the boundary point to operate, if the boundary segment where the boundary point in the virtual boundary is located is a physical boundary, the automatic operation device is controlled to straddle the boundary segment where the boundary point is located to operate; if the boundary segment where the boundary point in the virtual boundary is located is not a physical boundary, the automatic operation device is controlled to move to an area outside the preset area to operate; If the boundary attribute of the boundary point is the second boundary attribute, the automatic operation device is controlled to operate in the second working mode, so that when the automatic operation device moves to the boundary point to operate, if the boundary segment where the boundary point in the virtual boundary is located is a physical boundary, the automatic operation device is controlled to operate along the boundary segment where the boundary point is located within the preset area; if the boundary segment where the boundary point in the virtual boundary is located is not a physical boundary, the automatic operation device is controlled to move to an area outside the preset area to operate; If the boundary attribute of the boundary point is the third boundary attribute, the automatic operation device is controlled to operate in the third working mode, so that when the automatic operation device moves to the boundary point to operate, the automatic operation device moves along the virtual boundary where the boundary point is located within the preset area to operate.

31. An automatic operation device, characterized in that: include: A motion control unit is used to control the movement of the automatic operation device so as to record the position of the automatic operation device. Position information of multiple path points on the moving path of the mobile working device; An information receiving unit, configured to receive boundary attribute configuration information, and determine boundary attributes of at least some of the path points among the plurality of path points according to the boundary attribute configuration information; A map generation unit, used to generate a working map including location information of multiple boundary points and boundary attributes of at least some of the boundary points, wherein the location information of the multiple boundary points is determined based on the location information of the multiple path points, and the boundary attributes of the boundary points are determined based on the boundary attributes of the path points. The multiple boundary points are used to indicate a virtual boundary including a surrounding preset area, and when the automatic operation device operates along the virtual boundary according to the working map, the working mode of the automatic operation device is different when it moves to a boundary point corresponding to a different boundary attribute.

32. An automatic operation device, characterized in that: include: A map acquisition unit, configured to acquire a working map, wherein the working map includes location information of a plurality of boundary points and boundary attributes of at least some of the boundary points, wherein the plurality of boundary points are used to indicate a virtual boundary surrounding a preset area; An operation control unit is used to control the automatic operation device to operate along the virtual boundary according to the work map, and when the automatic operation device moves to a boundary point with boundary attributes, control the automatic operation device to operate in a corresponding operation mode according to the boundary attributes of the boundary point, wherein the operation mode of the automatic operation device is different when it moves to a boundary point corresponding to different boundary attributes.

33. A control device for an automatic operation device, characterized in that: include: A first sending unit, used for sending boundary attribute configuration information to the automatic operation device; A second sending unit is used to send motion control instructions to the automatic operation device to move the automatic operation device, so that the automatic operation device records the position information of multiple path points on the moving path, and determines the boundary attributes of at least some of the multiple path points according to the boundary attribute configuration information, and generates a working map including the position information of multiple boundary points and the boundary attributes of at least some of the boundary points, wherein the position information of the multiple boundary points is determined according to the position information of the multiple path points, and the boundary attributes of the boundary points are determined according to the boundary attributes of the path points. The multiple boundary points are used to indicate a virtual boundary including a surrounding preset area. When the automatic operation device operates along the virtual boundary according to the working map, the working mode of the automatic operation device is different when it moves to the boundary points corresponding to different boundary attributes.

34. An electronic device, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, which enables the processor to execute the work map generation method described in any one of claims 1-11, or the operation corresponding to the working method described in any one of claims 12-21, or the automatic working device control method described in any one of claims 22-30.

35. A computer storage medium, characterized in that A computer program is stored thereon, which, when executed by a processor, implements a work map generation method as described in any one of claims 1 to 11, an operation method as described in any one of claims 12 to 21, or an automatic operation device control method as described in any one of claims 22 to 30.

36. A computer program product, characterized in that It comprises computer instructions, which instruct a computing device to execute the work map generation method as described in any one of claims 1 to 11, or the working method as described in any one of claims 12 to 21, or the automatic working device control method as described in any one of claims 22 to 30.

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