Boundary-following working method and apparatus, electronic device, and storage medium

Abstract

Embodiments of the present application provide a boundary-following working method and apparatus, an electronic device, and a storage medium. The boundary-following working method comprises: controlling an automatic working apparatus to perform mobile work on the basis of a virtual boundary, and detecting whether there is a physical boundary; upon detection of a physical boundary, determining a boundary type of the physical boundary; and on the basis of the boundary type of the physical boundary, controlling the automatic working apparatus to perform mobile work in a corresponding working mode, wherein at least two boundary types of physical boundaries are provided, the at least two boundary types correspond to at least two working modes, and the distance between the automatic working apparatus and the physical boundary varies with the working mode in which the automatic working apparatus performs mobile work. Therefore, by means of the preset solution, the distance between the automatic working apparatus and the physical boundary can be adjusted on the basis of the boundary type of the physical boundary, to achieve good work effects in an area surrounded by the physical boundary and in an area near the physical boundary, thereby improving the working efficiency of the automatic working apparatus.

Description

Border patrol operation method, device, electronic equipment and storage medium

[0001] This application claims priority to the Chinese invention patent application with an application date of August 31, 2023, application number "CN202311117364.3", and patent name "Border patrol operation method, device, electronic equipment and storage medium", all of which are incorporated herein by reference. Technical Field

[0002] The embodiments of the present application relate to the field of automation technology, and in particular to a border patrol method, device, electronic device, and storage medium. Background Art

[0003] With the continuous development of automation technology, more and more automatic operating devices are being applied to work or life, such as automatic lawn mowers or sweeping robots.

[0004] Current automatic lawn mowers usually move along the boundary of the area to be mowed when patrolling and mowing. During the process of patrolling and mowing, the automatic lawn mower is controlled to maintain a preset distance from the boundary of the area to be mowed as much as possible to reduce the possibility of the automatic lawn mower colliding with obstacles outside the area to be mowed and being damaged or trapped.

[0005] However, the size of the preset distance is usually preset by the designers of the automatic lawn mower based on the common scenarios of the automatic lawn mower. Taking into account the complex and changeable actual working environment, the preset distance is usually large, so that when the automatic lawn mower is patrolling and mowing the grass, the grass near the boundary of the area to be mowed is basically unable to be cleaned, and subsequent manual cleaning or rework cleaning is required. Therefore, the mowing efficiency of the automatic lawn mower is low.

[0006] Summary of the Invention

[0007] In view of this, embodiments of the present application provide a border patrol method, device, electronic device, and storage medium to at least partially solve the above-mentioned problems.

[0008] According to the first aspect of an embodiment of the present application, a border patrol operation method is provided, which is applied to an automatic operation device, and the method includes: controlling the automatic operation device to perform mobile operation according to a virtual boundary and detecting a physical boundary; after detecting the physical boundary, determining the boundary type of the physical boundary; according to the boundary type of the physical boundary, controlling the automatic operation device to perform mobile operation in a corresponding operation mode, wherein there are at least two boundary types of the physical boundary, and at least two boundary types correspond to at least two operation modes. When the automatic operation device performs mobile operation in different operation modes, the distance between the automatic operation device and the physical boundary is different.

[0009] According to the second aspect of the embodiment of the present application, a border patrol operation device is provided, including: a detection unit, used to control the automatic operation device to perform mobile operation according to the virtual boundary and detect the physical boundary; an identification unit, used to determine the boundary type of the physical boundary after detecting the physical boundary; a control unit, used to control the automatic operation device to perform mobile operation in a corresponding operation mode according to the boundary type of the physical boundary, wherein there are at least two boundary types of the physical boundary, and at least two boundary types correspond to at least two operation modes. When the automatic operation device performs mobile operation in different operation modes, the distance between the automatic operation device and the physical boundary is different.

[0010] According to the third 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 the operation corresponding to the method of the first aspect above.

[0011] According to a fourth 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 used by a processor to execute the method of the first aspect.

[0012] According to a fifth 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 of the first aspect described above.

[0013] According to the border patrol operation scheme provided by the embodiment of the present application, when the automatic operation device is controlled to perform a mobile operation according to the virtual boundary, if a physical boundary is detected, the automatic operation device is controlled to perform a border patrol movement operation in a corresponding operation mode according to the boundary type of the physical boundary. Therefore, since at least two boundary types correspond to at least two operation modes, and when the automatic operation device performs a mobile operation in different operation modes, the distance between the automatic operation device and the detected physical boundary is different, the automatic operation device can adjust the distance between the automatic operation device and the physical boundary according to the boundary type of the physical boundary when performing a border patrol movement operation. Therefore, under the premise of minimizing the possibility of the automatic operation device being trapped or damaged, the operation effect of the area within the area surrounded by the physical boundary and near the physical boundary can be better. It is also possible to expand the operation area of ​​the automatic operation device as much as possible and reduce the area where it cannot operate, while ensuring the safe movement of the automatic operation device as much as possible, so as to reduce the possibility of subsequent rework or manual operation, thereby improving the operation efficiency of the automatic operation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] 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.

[0015] FIG1 is a flow chart of a border patrol method according to an embodiment of the present application;

[0016] FIG2 is a schematic diagram of an operation corresponding to a first boundary attribute according to an embodiment of the present application;

[0017] FIG3 is a schematic diagram of an operation corresponding to a second boundary attribute according to an embodiment of the present application;

[0018] FIG4 is a schematic diagram of an operation corresponding to a third boundary attribute according to an embodiment of the present application;

[0019] FIG5 is a schematic diagram of a border patrol device according to an embodiment of the present application;

[0020] FIG6 is a schematic block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] 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.

[0022] Border patrol operation methods

[0023] The embodiments of the present application provide a border patrol method, which is described in detail below through multiple embodiments.

[0024] The border patrol operation method is applied to automatic operating devices such as automatic mowing devices and sweeping robots. The applicable scenarios of the border patrol operation method are the operating scenarios of automatic operating devices. For example, the automatic mowing device uses the border patrol operation method to perform mowing operations, or the sweeping robot uses the border patrol operation method to perform sweeping operations, etc.

[0025] The working process of an automatic mowing device generally includes two stages, namely, a mapping stage and an operation stage. The edge patrol operation method provided in the embodiment of the present application includes at least the following steps applied in the operation stage:

[0026] FIG1 is a flow chart of a border patrol method according to an embodiment of the present application. As shown in FIG1 , the border patrol method includes the following steps:

[0027] Step 101: Control the automatic operation device to move according to the virtual boundary and detect the physical boundary.

[0028] Before the automatic operation device performs a mobile operation, a virtual boundary can be obtained to indicate the operation path of the automatic operation device when performing a border patrol operation. Specifically, the virtual boundary can be determined during the mapping stage through user presets or automatic collection by the automatic operation device; after obtaining the virtual boundary, the automatic operation device is controlled to perform a mobile operation according to the virtual boundary to realize the border patrol operation, and during the mobile operation, images of the surrounding environment are periodically collected and the images are recognized to determine whether a physical boundary can be detected.

[0029] The entity boundary can refer to the boundary surrounding the operable entity area, or it can be a section of the boundary surrounding the operable entity area. In most cases, the entity boundary detected by the automatic operation device is a section of the boundary surrounding the operable entity area, and the embodiments of the present application do not limit this.

[0030] The area outside the operable physical area and close to the operable physical area is the non-operable physical area. The operable area and the non-operable area can be the same type of area or different types of areas.

[0031] In one example, when the automatic operation device is an automatic mowing device, the physical boundary can be the connecting line where the grass physical area connects with the physical areas such as gravel roads or walls. Based on this, the grass physical area is an operable physical area, and the physical areas such as gravel roads or walls are non-operable physical areas; the physical boundary can also be a dividing line such as a ribbon or a paint line located in the grass physical area. At this time, the grass physical areas on both sides of the dividing line are respectively the first grass physical area and the second grass physical area. Based on this, the first grass physical area is an operable physical area, and the second grass physical area is a non-operable physical area, or the second grass physical area is an operable physical area, and the first grass physical area is a non-operable physical area.

[0032] In another example, when the automatic operating device is a sweeping robot, the physical boundary can be the connecting line where the ground physical area connects with the physical areas such as walls or furniture. Based on this, the ground physical area is an operable physical area, and the physical areas such as walls or furniture are non-operable physical areas; the physical boundary can also be a dividing line such as a ribbon or a paint line located in the ground physical area. At this time, the ground physical areas on both sides of the dividing line are the first ground physical area and the second ground physical area respectively. Based on this, the first ground physical area is an operable physical area, and the second ground physical area is a non-operable physical area, or, the second ground physical area is an operable physical area, and the first ground physical area is a non-operable physical area.

[0033] The physical boundary may be the outer boundary of the operable physical area or the inner boundary of the operable physical area. The inner boundary may be the outer boundary of an operation restricted area such as a garden, an obstacle or a pond surrounded by a grass physical area.

[0034] Step 102: After detecting the entity boundary, determine the boundary type of the entity boundary.

[0035] If it is recognized that the image of the surrounding environment captured by the automatic operation device includes a physical boundary, it means that the automatic operation device has detected the physical boundary. At this time, the boundary type of the detected physical boundary can be determined.

[0036] In one possible implementation, the specific process of determining the boundary type of the detected entity boundary may be inputting an image including the entity boundary into a trained image classification model, and then obtaining the output result of the image classification model to determine the boundary type of the entity boundary.

[0037] In another possible implementation, there are multiple boundary types, each of which has a corresponding type feature. Different boundary types have different corresponding type features. Based on this, the specific process of determining the boundary type of the detected entity boundary can be to determine the type feature satisfied by the detected entity boundary, and determine the boundary type of the entity boundary based on the type feature. For example, there are two boundary types: boundary type A and boundary type B. The type feature corresponding to boundary type A is that the height difference between the areas on both sides of the corresponding boundary is greater than a preset height difference, and the type feature corresponding to boundary type B is that the height difference between the areas on both sides of the corresponding boundary is less than or equal to the preset height difference. Based on this, when the height difference between the areas on both sides of the detected entity boundary is less than the preset height difference, the boundary type of the entity boundary can be determined to be boundary type B. The preset height difference can be 0.5 cm, 1 cm, or 2 cm, etc.

[0038] Step 103 : According to the boundary type of the detected physical boundary, the automatic operation device is controlled to perform a moving operation in a corresponding operation mode.

[0039] After determining the boundary type of the detected physical boundary, the automatic operation device is controlled to perform a patrol movement operation in a corresponding operation mode according to the physical boundary.

[0040] There are at least two boundary types set for the entity boundary, and the boundary type of the detected entity boundary is any one of all the set boundary types. At least two boundary types correspond to at least two operation modes. When the automatic operation device performs mobile operations in different operation modes, the distance between the automatic operation device and the detected entity boundary is different. Each boundary type can correspond to one operation mode or multiple operation modes.

[0041] In an embodiment of the present application, when the automatic operating device is controlled to perform a moving operation according to a virtual boundary, if a physical boundary is detected, the automatic operating device is controlled to perform a patrol movement operation in a corresponding operation mode according to the boundary type of the physical boundary. Thus, since at least two boundary types correspond to at least two operation modes, and when the automatic operating device performs a moving operation in different operation modes, the distance between the automatic operating device and the detected physical boundary is different, the automatic operating device can adjust the distance between the automatic operating device and the physical boundary according to the boundary type of the physical boundary when performing a patrol movement operation. Therefore, under the premise of minimizing the possibility of the automatic operating device being trapped or damaged, the operation effect of the area within the area surrounded by the physical boundary and near the physical boundary can be better. It is also possible to expand the operation area of ​​the automatic operating device as much as possible and reduce the area where it cannot operate, while ensuring the safe movement of the automatic operating device as much as possible, so as to reduce the possibility of subsequent rework or manual operation, thereby improving the operation efficiency of the automatic operating device.

[0042] Furthermore, since the distance between the automatic operation device and the physical boundary can be adjusted according to the boundary type of the physical boundary when the automatic operation device is performing border patrol operations, the applicability of the automatic operation device during border patrol operations can be improved.

[0043] In one possible implementation, in the process of controlling the automatic operation device to move along the physical boundary in a corresponding operation mode according to the boundary type of the physical boundary, the boundary attributes of the first boundary segment corresponding to the above-mentioned detected physical boundary in the virtual boundary can be obtained, and then the automatic operation device can be controlled to move in the corresponding operation mode according to the boundary type of the above-mentioned detected physical boundary and the boundary attributes of the first boundary segment.

[0044] The first boundary segment in the virtual boundary corresponding to the above-mentioned detected physical boundary can be the boundary segment in the virtual boundary that is directly opposite to the physical boundary. For example, the specific process of determining the first boundary segment corresponding to the physical boundary can be to take the virtual boundary between the two points in the virtual boundary closest to the two endpoints of the physical boundary as the first boundary segment.

[0045] After detecting the entity boundary, the boundary attributes of the first boundary segment can also be obtained, and then the automatic operation device can be controlled to move in the corresponding operation mode based on the boundary type of the entity boundary and the boundary attributes of the first boundary segment. That is, the operation path of the automatic operation device can be determined based on the boundary type of the entity boundary and the boundary attributes of the first boundary segment.

[0046] It should be noted that the boundary attributes of the first boundary segment can be determined during the process of generating the virtual boundary, or after the virtual boundary generation is completed, and this embodiment of the present application does not limit this. The above-mentioned acquisition of the boundary attributes of the first boundary segment can be performed after the above-mentioned determination of the boundary type of the physical boundary, or before the above-mentioned determination of the boundary type of the physical boundary, or can be performed simultaneously to obtain the boundary attributes of the first boundary segment and determine the boundary type of the physical boundary, and this embodiment of the present application does not limit this.

[0047] In an embodiment of the present application, when controlling the automatic operation device to perform a moving operation according to a virtual boundary, if a physical boundary is detected, the automatic operation device is controlled to perform a patrol movement operation in a corresponding operation mode according to the boundary type of the physical boundary and the boundary attributes of the first boundary segment corresponding to the physical boundary in the virtual boundary. Thus, when the automatic operation device performs a patrol movement operation, the operation path can be determined based on the boundary type of the physical boundary and the boundary attributes of the virtual boundary. That is, the operation path of the automatic operation device not only takes into account the boundary type of the detected physical boundary, but also takes into account the boundary attributes of the first boundary segment corresponding to the detected physical boundary in the virtual boundary. This can further reduce the possibility of the automatic operation device being trapped or damaged, and can further optimize the operation effect of the automatic operation device to improve the operation efficiency of the automatic operation device.

[0048] Specifically, the boundary type of the entity boundary can be a first boundary type, a second boundary type or a third boundary type, and the boundary attribute of the first boundary segment can be a first boundary attribute, a second boundary attribute or a third boundary attribute. For example, the first boundary attribute can be a prohibited outward expansion attribute, the second boundary attribute can be an outward expansion attribute, and the third boundary attribute can be a straddle attribute. The prohibited outward expansion attribute limits the automatic operation device from crossing the virtual boundary during operation and can only move within the area surrounded by the virtual boundary. The outward expansion attribute is set for the case where the area outside the virtual boundary is still an operable area. When the automatic operation device moves along a virtual boundary with a boundary attribute of the outward expansion attribute, the automatic operation device can extend a certain distance outside the virtual boundary and move along an extended boundary parallel to the virtual boundary. The straddle attribute is set for the case where the height difference between the working area and the non-working area is small. When the automatic operation device moves along a virtual boundary with a boundary attribute of the straddle attribute, the automatic operation device can straddle the virtual boundary to move.

[0049] The process of setting the boundary attributes of the boundary segments in the virtual boundary can be as follows: in the mapping stage, the automatic operation device can be controlled to move along the boundary of a certain area to be operated from the moving starting point to collect multiple path points on the moving path of the automatic operation device, and in the process of controlling the automatic operation device to move along the boundary of a certain area to be operated from the moving starting point, boundary attribute information for indicating the path points is received from an external device, and then the automatic operation device can determine the virtual boundary based on the position information of the multiple path points, and determine the boundary attributes of each boundary segment in the virtual boundary based on the boundary attribute information. For example, in the process of controlling the automatic operation device to move along the boundary of a certain area to be operated from the moving starting point, the user can select the boundary attribute multiple times through the external device according to the situation of the boundary of the area to be operated. After each selection of the boundary attribute, the external device will send the boundary attribute information corresponding to the selected boundary attribute to the automatic operation device. For the first path point corresponding to the boundary attribute information received twice in succession by the automatic operation device, that is, the path point collected by the automatic operation device when the boundary attribute information is received for the first time, and the path point collected between the first time the boundary attribute information is received and the second time the boundary attribute information is received, the automatic operation device can determine the boundary attribute of the first path point as the boundary attribute indicated by the boundary attribute information received for the first time, so that the boundary attribute of the boundary segment formed by the first path point in the virtual boundary is the boundary attribute indicated by the boundary attribute information received for the first time.

[0050] In addition, after determining the virtual boundary, you can also adjust the virtual boundary. The specific processing method is as follows:

[0051] By receiving a first control signal from an external device, the automatic operation device is controlled 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 are points on the virtual boundary; a starting point confirmation instruction is received from the external device, and according to the starting point confirmation instruction, the second starting point is used as the starting point for modifying the virtual boundary; a second control signal is received, and according to the second control signal, the automatic operation device is controlled to move from the second starting point to the end point, and an updated virtual boundary is determined based on the walking trajectory between the second starting point and the end point. In the process of controlling the automatic operation device to move from the second starting point to the end point according to the second control signal, the path points on the walking trajectory between the second starting point and the end point are re-collected, and then the automatic operation device can determine the virtual boundary based on the re-collected path points, and determine the boundary attributes of each boundary segment included in the portion of the virtual boundary moving from the second starting point to the end point according to the boundary attribute information, wherein the path point collection process of the portion between the second starting point and the end point in the updated virtual boundary is similar to the process of collecting the path points of the original virtual boundary, and the process of obtaining the portion between the second starting point and the end point in the updated virtual boundary is similar to the process of obtaining the original virtual boundary. The embodiments of the present application will not be repeated here.

[0052] The determination of the boundary type can be achieved not only in the operation stage, but also in the mapping stage and / or the stage of adjusting the virtual boundary, which is not limited in the embodiments of the present application.

[0053] The following describes the operation of the automatic operation device based on the boundary attributes of the first boundary segment being the first boundary attribute, the second boundary attribute, and the third boundary attribute:

[0054] In one possible implementation, based on the boundary attribute of the first boundary segment being the first boundary attribute, controlling the automatic operation device to perform the mobile operation in the corresponding operation mode according to the boundary type of the detected physical boundary and the boundary attribute of the first boundary segment may include the following specific processing:

[0055] When the boundary attribute of the first boundary segment is the first boundary attribute and the boundary type of the physical boundary is the first boundary type, if the physical boundary is within the area enclosed by the virtual boundary, or the physical boundary is outside the area enclosed by the virtual boundary and the distance between it and the first boundary segment is less than the first distance, the automatic operation device is controlled to move in the first operation mode, so that the automatic operation device moves within the area enclosed by the virtual boundary according to the operation path with the distance between it and the physical boundary being the first distance.

[0056] When the boundary attribute of the first boundary segment is the first boundary attribute and the boundary type of the physical boundary is the second boundary type or the third boundary type, if the physical boundary is within the area enclosed by the virtual boundary, or the physical boundary is outside the area enclosed by the virtual boundary and the distance between it and the first boundary segment is less than the second distance, the automatic operation device is controlled to move in the second operation mode, so that the automatic operation device moves within the area enclosed by the virtual boundary according to the operation path with the distance between it and the physical boundary being the second distance.

[0057] The distance between the robot's operating path and any boundary is the distance between the centerline of the robot's width when in operation and the boundary. The second distance is smaller than the first distance. For example, the first distance is 30 cm plus half the robot's width, while the second distance is 10 cm plus half the robot's width. Alternatively, the first distance is 20 cm plus half the robot's width, while the second distance is half the robot's width.

[0058] When the boundary attribute of the first boundary segment is the first boundary attribute and the boundary type of the physical boundary is the first boundary type, if the physical boundary is outside the area enclosed by the virtual boundary and the distance between the physical boundary and the first boundary segment is greater than or equal to the first distance, the automatic operation device is controlled to move in the third operation mode, so that the automatic operation device moves within the area enclosed by the virtual boundary according to an operation path with a distance from the virtual boundary being the third distance.

[0059] Among them, the third distance is smaller than the second distance, for example, the second distance is the sum of 25 cm and half of the width of the automatic operating device, and the third distance is the sum of 10 cm and half of the width of the automatic operating device, or the second distance is the sum of 10 cm and half of the width of the automatic operating device, and the third distance is the sum of half of the width of the automatic operating device.

[0060] When the boundary attribute of the first boundary segment is the first boundary attribute and the boundary type of the physical boundary is the second boundary type or the third boundary type, if the physical boundary is outside the area enclosed by the virtual boundary and the distance between the physical boundary and the first boundary segment is greater than or equal to the second distance, the automatic operation device is controlled to perform moving operation in the third operation mode.

[0061] For example, Figure 2 is an operation schematic diagram corresponding to the first boundary attribute of an embodiment of the present application. As shown in Figure 2, line a is a virtual boundary, line b is a detected physical boundary, point a1 and point a2 are both two position points in the virtual boundary. Based on this, the line between point a1 and point a2 in line a is the first boundary segment. Since the physical boundary is in the area surrounded by the virtual boundary at this time, the boundary attribute of the first boundary segment is the first boundary attribute, and the boundary type of the physical boundary is the first boundary type. After detecting the physical boundary b, the automatic operation device can move according to line c, that is, line c is the operation path of the automatic operation device in the first operation mode. At this time, the distance between c and b is the first distance.

[0062] In another possible implementation, based on the boundary attribute of the first boundary segment being the second boundary attribute, controlling the automatic operation device to perform the mobile operation in the corresponding operation mode according to the boundary type of the detected physical boundary and the boundary attribute of the first boundary segment may include the following specific processing:

[0063] When the boundary attribute of the first boundary segment is the second boundary attribute, the extended boundary is determined according to the virtual boundary, and the extended boundary is outside the area surrounded by the virtual boundary and is spaced apart from the virtual boundary by a sixth distance.

[0064] The sixth distance may be preset or determined according to the width of the automatic operation device. For example, the sixth distance may be 30 cm or 50 cm, or half the width of the automatic operation device.

[0065] When the boundary attribute of the first boundary segment is the second boundary attribute and the boundary type of the entity boundary is the first boundary type, if the entity boundary is within the area enclosed by the extended boundary, or the entity boundary is outside the area enclosed by the extended boundary and the distance between the entity boundary and the extended boundary is less than the first distance, the automatic operation device is controlled to move in the first operation mode, so that the automatic operation device operates within the area enclosed by the extended boundary according to an operation path with a distance from the entity boundary being the first distance.

[0066] When the boundary attribute of the first boundary segment is the second boundary attribute and the boundary type of the entity boundary is the second boundary type or the third boundary type, if the entity boundary is within the area enclosed by the extended boundary, or the entity boundary is outside the area enclosed by the extended boundary and the distance between the entity boundary and the extended boundary is less than the second distance, the automatic operation device is controlled to move in the second operation mode, so that the automatic operation device operates within the area enclosed by the extended boundary according to an operation path with a distance from the entity boundary being the second distance.

[0067] When the boundary attribute of the first boundary segment is the second boundary attribute and the boundary type of the physical boundary is the first boundary type, if the physical boundary is outside the area enclosed by the extended boundary and the distance between the physical boundary and the extended boundary is greater than or equal to the first distance, the automatic operation device is controlled to move in the fourth operation mode, so that the automatic operation device moves within the area enclosed by the extended boundary according to an operation path with a distance from the extended boundary being the fourth distance.

[0068] Among them, the fourth distance is smaller than the second distance. For example, the second distance is the sum of 15 cm and half of the width of the automatic operating device, and the fourth distance is the sum of 7 cm and half of the width of the automatic operating device. Alternatively, the second distance is the sum of 5 cm and half of the width of the automatic operating device, and the fourth distance is the sum of half of the width of the automatic operating device.

[0069] When the boundary attribute of the first boundary segment is the second boundary attribute and the boundary type of the physical boundary is the second boundary type or the third boundary type, if the physical boundary is outside the area enclosed by the extended boundary and the distance between the physical boundary and the extended boundary is greater than or equal to the second distance, the automatic operation device is controlled to perform mobile operation in the fourth operation mode.

[0070] For example, Figure 3 is an operation schematic diagram corresponding to the second boundary attribute of an embodiment of the present application. As shown in Figure 3, line a is a virtual boundary, line b is a detected physical boundary, and d is an extended boundary. Based on this, the line between point a1 and point a2 in line a is the first boundary segment. Since the physical boundary is in the area surrounded by the extended boundary at this time, the boundary attribute of the first boundary segment is the second boundary attribute, and the boundary type of the physical boundary is the second boundary type. After detecting the physical boundary b, the automatic operation device can move according to line e, that is, line c is the operation path of the automatic operation device in the second operation mode. At this time, the distance between e and b is the second distance.

[0071] In another possible implementation, based on the boundary attribute of the first boundary segment being the third boundary attribute, controlling the automatic operation device to perform a mobile operation in a corresponding operation mode based on the boundary type of the detected physical boundary and the boundary attribute of the first boundary segment may include the following specific processing:

[0072] When the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the first boundary type, if the physical boundary is within the area enclosed by the virtual boundary, or the physical boundary is outside the area enclosed by the virtual boundary and the distance between it and the first boundary segment is less than the first distance, the automatic operation device is controlled to perform mobile operation in the first operation mode.

[0073] When the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the second boundary type, if the physical boundary is within the area enclosed by the virtual boundary, or the physical boundary is outside the area enclosed by the virtual boundary and the distance between it and the first boundary segment is less than the second distance, the automatic operation device is controlled to perform mobile operation in the second operation mode.

[0074] When the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the third boundary type, if the physical boundary is within the area surrounded by the virtual boundary or on the virtual boundary, the automatic operation device is controlled to perform mobile operation in the fifth operation mode, so that the automatic operation device straddles the physical boundary to perform mobile operation.

[0075] Among them, the automatic operating device straddling any boundary and moving can mean that the automatic operating device covers the boundary and moves stably. Specifically, the automatic operating device covering the boundary can mean that the rollers in the automatic operating device used to move itself are evenly distributed on both sides of the boundary. For example, in the automatic mowing device, a roller is respectively provided on both sides of the forward direction of the automatic mowing device. When the automatic operating device straddles any boundary, the two rollers in the automatic operating device are distributed on both sides of the boundary.

[0076] When the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the first boundary type, if the physical boundary is outside the area enclosed by the virtual boundary and the distance between the physical boundary and the first boundary segment is greater than or equal to the first distance, the automatic operation device is controlled to move in the sixth operation mode, so that the automatic operation device moves within the area enclosed by the virtual boundary according to an operation path with a distance from the virtual boundary being the fifth distance.

[0077] Among them, the fifth distance is smaller than the second distance. For example, the second distance is half of the width of the 8 cm automatic operation device, and the fifth distance is half of the width of the 5 cm automatic operation device. Alternatively, the second distance is half of the width of the 20 cm automatic operation device, and the fifth distance is half of the width of the automatic operation device.

[0078] When the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the second boundary type, if the physical boundary is outside the area enclosed by the virtual boundary and the distance between the physical boundary and the first boundary segment is greater than or equal to the second distance, the automatic operation device is controlled to perform moving operation in the sixth operation mode.

[0079] When the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the third boundary type, if the physical boundary is outside the area surrounded by the virtual boundary, the automatic operation device is controlled to perform a moving operation in the sixth operation mode.

[0080] For example, Figure 4 is an operation diagram corresponding to the third boundary attribute of an embodiment of the present application. As shown in Figure 4, line a is a virtual boundary, and line b is a detected physical boundary. Based on this, the line between point a1 and point a2 in line a is the first boundary segment. Since the physical boundary is within the area surrounded by the extended boundary at this time, the boundary attribute of the first boundary segment is the third boundary attribute, and the boundary type of the physical boundary is the third boundary type. After detecting the physical boundary b, the automatic operation device can straddle b to perform mobile operations, that is, the automatic operation device operates in the fifth operation mode.

[0081] In a possible implementation, the border patrol operation method further includes: when no physical boundary is detected, obtaining boundary attributes of a second boundary segment in the virtual boundary, and controlling the automatic operation device to perform mobile operation in a corresponding operation mode according to the boundary attributes of the second boundary segment.

[0082] The second boundary segment is a boundary segment in the virtual boundary that has the smallest distance from the automatic operation device.

[0083] When the automatic operation device fails to detect the physical boundary, the boundary attribute of the second boundary segment in the virtual boundary may be periodically acquired, and the automatic operation device may be controlled to perform the moving operation in the operation mode corresponding to the boundary attribute.

[0084] In an embodiment of the present application, even if the automatic operation device does not detect the physical boundary, it can adopt the corresponding operation mode to perform mobile operations according to the boundary attributes of the second boundary segment in the virtual boundary. Therefore, when the automatic operation device is patrolling and moving, if the physical boundary is not detected, the distance between the automatic operation device and the physical boundary can be adjusted according to the boundary attributes of the second boundary segment. Under the premise of minimizing the possibility of the automatic operation device being trapped or damaged, the operation effect of the area surrounded by the physical boundary and the area near the physical boundary is better, the possibility of subsequent rework or manual operation is reduced, and the operation efficiency of the automatic operation device can be improved.

[0085] In a possible implementation, when controlling the automatic operation device to perform a moving operation in a corresponding operation mode according to the boundary attribute of the second boundary segment:

[0086] If the boundary attribute of the second boundary segment is the first boundary attribute, the automatic operation device is controlled to operate in the third operation mode, so that the automatic operation device moves within the area surrounded by the virtual boundary along an operation path with a third distance from the second boundary segment.

[0087] If the boundary attribute of the second boundary segment is the second boundary attribute, the automatic operation device is controlled to operate in the fourth operation mode, so that the automatic operation device moves within the area surrounded by the expanded boundary according to an operation path with a fourth distance between the expanded boundary and the expanded boundary, wherein the expanded boundary is outside the area surrounded by the virtual boundary and is at a sixth distance between the expanded boundary and the virtual boundary.

[0088] If the boundary attribute of the second boundary segment is the third boundary attribute, the automatic operation device is controlled to perform mobile operation in the sixth operation mode, so that the automatic operation device moves within the area surrounded by the virtual boundary according to the operation path with a fifth distance from the second boundary segment.

[0089] The distance between the operating path and the second boundary segment is the distance between the automatic operating device and the second boundary segment when the automatic operating device moves along the operating path.

[0090] Since the working process of an automatic mowing device generally includes a mapping phase and an operation phase, the border patrol operation method provided in the embodiment of the present application may further include specific processing applied in the mowing phase as follows:

[0091] In one possible implementation, the border patrol method further includes the following specific processing: controlling the automatic operation device to autonomously move along the physical boundary to generate at least a portion of the virtual boundary; in the process of controlling the automatic operation device to autonomously move along the physical boundary:

[0092] If the boundary type of the physical boundary is the first boundary type, the automatic operation device is controlled to move within the area enclosed by the physical boundary along a mapping path that is a first distance away from the physical boundary, and multiple path points on the mapping path are collected to generate at least a portion of the virtual boundary based on the multiple path points.

[0093] If the boundary type of the physical boundary is the second boundary type or the third boundary type, the automatic operation device is controlled to move within the area enclosed by the physical boundary along a mapping path that is a second distance away from the physical boundary, and multiple path points on the mapping path are collected to generate at least a portion of the virtual boundary based on the multiple path points.

[0094] The distance between the mapping path and the entity boundary is the distance between the automatic operation device and the entity boundary when the automatic operation device moves along the mapping path.

[0095] In the process of generating at least a portion of the virtual boundary based on multiple path points, the collected multiple path points can be preprocessed by screening, fitting and / or deletion, and the preprocessed path points can be connected to obtain at least a portion of the virtual boundary.

[0096] In the process of collecting path points to generate a virtual boundary, if the automatic operation device recognizes a clear and simple physical boundary, it can move autonomously along the physical boundary and collect multiple path points. If the automatic operation device does not recognize a clear and simple physical boundary, the automatic operation device can move and collect multiple path points according to remote control instructions.

[0097] In an embodiment of the present application, during the autonomous movement of the automatic operating device along the physical boundary, the distance between the automatic operating device and the physical boundary can be determined based on the boundary type of the physical boundary, thereby reducing the possibility of the automatic operating device being trapped or falling and damaged. It can also reduce the possibility of poor operating results when the subsequent automatic operating device performs moving operations based on the generated virtual boundary, thereby improving the applicability of the automatic operating device.

[0098] In one possible implementation, a first boundary type indicates a physical boundary that could cause the autonomous device to fall or become trapped, a second boundary type indicates a physical boundary where the autonomous device has no risk of falling or becoming trapped, and a third boundary type indicates a physical boundary where the autonomous device can straddle. The first boundary type can be a hard boundary type, the second boundary attribute can be a soft boundary type, and the third boundary attribute can be a straddleable boundary type.

[0099] Regarding the physical boundary that may cause the automatic operating device to fall or become trapped, specifically, the area outside the physical boundary is the area that may cause the automatic operating device to be at risk of falling and being damaged or being trapped. For example, the area outside the physical boundary is an area such as a pool, a cliff, bushes, or trees. The pool and cliff are easily obscured by grass, and there may be conditions near the pool and cliff that are not conducive to the smooth movement of the lawn mower, such as a large slope or slippery ground. In addition, the visual recognition component in the automatic operating device is close to the working surface such as grass or the ground, and thus the automatic operating device is less likely to recognize the pool or cliff, resulting in a greater risk of falling and being damaged. The bushes may contain fallen flowers and plants, and thus the automatic operating device is easily entangled, resulting in a greater risk of being trapped. The trees have protruding roots, which may easily block the movement of the automatic operating device, resulting in a greater risk of being trapped.

[0100] For a physical boundary that eliminates the risk of falling or being trapped by the automated operating device, specifically, an obstacle is installed or placed outside the area enclosed by the physical boundary, the side of the obstacle closest to the physical boundary is relatively flush, and the boundary between the obstacle and the physical boundary is clear. For example, the area enclosed by the physical boundary may be a wire fence, a vertical wall, a wooden wall, or a stone wall.

[0101] For a physical boundary that the automatic operation device can straddle, specifically, the height difference between the areas on both sides of the physical boundary is small, for example, the height difference between the areas on both sides of the physical boundary is less than 0.3 cm, 0.5 cm, 1 cm, or 2 cm.

[0102] If the automatic operation device cannot determine the boundary type of the physical boundary, it can determine that the boundary type of the physical boundary is the first boundary type.

[0103] In a possible implementation, after detecting the entity boundary, determining the boundary type of the entity boundary may include the following specific processing:

[0104] After acquiring an image including an entity boundary, the image is input into a classification model, wherein the classification model includes a first module, a second module, and a third module, the first module is used to extract features from the image to obtain an original feature map corresponding to the image, and output multiple processed feature maps obtained by downsampling the original feature map by different multiples to the second module, the second module is used to fuse the multiple processed feature maps to obtain a fused feature map, and output the fused feature map to the third module, and the third module is used to determine the location information and boundary type of the entity boundary based on the fused feature map;

[0105] An output result of the classification model is obtained, wherein the output result includes the location information and boundary type of the entity boundary output by the third module.

[0106] During the border patrol operation of the automatic operation device, the automatic operation device can periodically take pictures of the working environment and detect the taken images. After detecting the image including the entity boundary, the image can be pre-processed such as cropping and resolution adjustment, and the processed image can be input into the classification model, and then the output result of the classification model is obtained to obtain the boundary type of the entity boundary.

[0107] In the first module, feature extraction can be performed through a feature extraction network, and in the second module, multiple processed feature maps can be fused through a feature pyramid network (FPN).

[0108] In one possible implementation, the third module includes a first submodule, a second submodule, and a third submodule. The first submodule is used to output whether there is an entity boundary in each area in the fused feature map, the second submodule is used to output the location information of the entity boundary in each area where the entity boundary exists in the fused feature map, the third submodule is used to output the image category of each area in the fused feature map, and the third module is used to determine the location information and boundary type of the entity boundary based on the output results of the first submodule, the second submodule, and the third submodule.

[0109] The fused feature map can be rasterized. For each grid obtained after rasterization, the corresponding area is used as an area in the fused feature map. The image category of a single area can be any one of the image category corresponding to the first boundary type, the image category corresponding to the second boundary type, the image category corresponding to the third boundary type, and the image category corresponding to the background image.

[0110] Border patrol equipment

[0111] Corresponding to the above method embodiment, FIG5 shows a schematic diagram of a border patrol operation device according to an embodiment of the present application. As shown in FIG5 , the border patrol operation device 500 includes:

[0112] The detection unit 501 is used to control the automatic operation device to move according to the virtual boundary and detect the physical boundary.

[0113] The identification unit 502 is configured to determine the boundary type of the entity boundary after detecting the entity boundary.

[0114] The control unit 503 is used to control the automatic operation device to perform mobile operations in a corresponding operation mode according to the boundary type of the physical boundary, wherein there are at least two boundary types of the physical boundary, and at least two boundary types correspond to at least two operation modes. When the automatic operation device performs mobile operations in different operation modes, the distance between the automatic operation device and the physical boundary is different.

[0115] In one example, the detection unit 501 is used to control the central control module and the image processing module. The central control module is used to control the movement of the automatic operation device based on the virtual boundary in the virtual map and the positioning information of the positioning module in the automatic operation device; the image processing module is connected to the camera in the automatic operation device. During the moving operation of the automatic operation device, the camera captures images to obtain pictures. The image processing module is used to detect the pictures obtained by the camera to detect the entity boundaries.

[0116] In an embodiment of the present application, the detection unit 501 can control the automatic operation device to move according to the virtual boundary and detect the physical boundary. The recognition unit 502 can determine the boundary type of the physical boundary after detecting the physical boundary. The control unit 503 can control the automatic operation device to perform the patrol movement operation in the corresponding operation mode according to the boundary type of the physical boundary. Therefore, since at least two boundary types correspond to at least two operation modes, and when the automatic operation device performs the movement operation in different operation modes, the distance between the automatic operation device and the detected physical boundary is different, the automatic operation device can adjust the distance between the automatic operation device and the physical boundary according to the boundary type of the physical boundary when performing the patrol movement operation. Therefore, under the premise of minimizing the possibility of the automatic operation device being trapped or damaged, the operation effect of the area within the area surrounded by the physical boundary and near the physical boundary can be better. It is also possible to expand the operation area of ​​the automatic operation device as much as possible and reduce the area where it cannot operate while ensuring the safe movement of the automatic operation device as much as possible, so as to reduce the possibility of subsequent rework or manual operation, thereby improving the operation efficiency of the automatic operation device.

[0117] It should be noted that the border patrol operation device of this embodiment is used to implement the corresponding border patrol operation method in the aforementioned method embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0118] electronic devices

[0119] Figure 6 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 6, the electronic device may include: a processor (processor) 602, a communication interface (Communications Interface) 604, a memory (memory) 606, and a communication bus 608. Among them:

[0120] The processor 602 , the communication interface 604 , and the memory 606 communicate with each other via a communication bus 608 .

[0121] The communication interface 604 is used to communicate with other electronic devices or servers.

[0122] The processor 602 is configured to execute the program 610 , and specifically may execute the relevant steps in any of the aforementioned embodiments of the border patrol method.

[0123] Specifically, the program 610 may include program codes, which include computer operation instructions.

[0124] Processor 602 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.

[0125] RISC-V is an open-source instruction set architecture based on the principles of the Reduced Instruction Set (RISC). It can be applied to various fields, including microcontrollers and FPGA chips. Specifically, it has applications in areas such as IoT security, industrial control, mobile phones, and personal computers. Designed with small size, high speed, and low power consumption in mind, it is particularly suitable for modern computing devices such as warehouse-scale cloud computers, high-end mobile phones, and tiny embedded systems. With the rise of the artificial intelligence (AI) Internet of Things (AIoT), the RISC-V instruction set architecture has also received increasing attention and support, and is expected to become the next generation of widely used CPU architecture.

[0126] The computer operating instructions in the embodiments of the present application may be computer operating instructions based on the RISC-V instruction set architecture. Accordingly, the processor 602 may be designed based on the RISC-V instruction set. Specifically, the processor chip in the electronic device provided in the embodiments of the present application may be a chip designed using the RISC-V instruction set. The chip may execute executable code based on the configured instructions, thereby implementing the edge patrol operation method in the above-mentioned embodiments.

[0127] The memory 606 is used to store the program 610. The memory 606 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.

[0128] The program 610 can be specifically used to enable the processor 602 to execute the border patrol operation method in any of the aforementioned embodiments.

[0129] The specific implementation of each step in program 610 can be found in the corresponding descriptions of the corresponding steps and units in any of the aforementioned embodiments of the border patrol operation method, and will not be repeated here. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the aforementioned method embodiments, and will not be repeated here.

[0130] Through the electronic device of the embodiment of the present application, when the automatic operation device is controlled to move according to the virtual boundary, if a physical boundary is detected, the automatic operation device is controlled to perform a patrol movement operation in a corresponding operation mode according to the boundary type of the physical boundary. Therefore, since at least two boundary types correspond to at least two operation modes, and when the automatic operation device moves in different operation modes, the distance between the automatic operation device and the detected physical boundary is different, the automatic operation device can adjust the distance between the automatic operation device and the physical boundary according to the boundary type of the physical boundary when performing the patrol movement operation. Therefore, under the premise of minimizing the possibility of the automatic operation device being trapped or damaged, the operation effect of the area surrounded by the physical boundary and the area near the physical boundary can be better. It is also possible to expand the operation area of ​​the automatic operation device as much as possible and reduce the area that cannot be operated under the premise of ensuring the safe movement of the automatic operation device as much as possible, so as to reduce the possibility of subsequent rework or manual operation, thereby improving the operation efficiency of the automatic operation device.

[0131] Computer storage media

[0132] This application also provides a computer-readable storage medium storing instructions for causing a machine to execute the edge patrol 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.

[0133] 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.

[0134] 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.

[0135] Computer program product

[0136] 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.

[0137] It should be noted that the user-related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to sample data used to train the model, data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0138] 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.

[0139] 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.

[0140] It should be noted that the user-related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to sample data used to train the model, data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0141] 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 specific applications, but such implementation should not be considered to be beyond the scope of the embodiments of this application.

[0142] 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 border patrol method, applied to an automatic operation device, characterized in that: The method comprises: Controlling the automatic operation device to perform moving operation according to the virtual boundary and detecting the physical boundary; After detecting the entity boundary, determining the boundary type of the entity boundary; According to the boundary type of the physical boundary, the automatic operating device is controlled to perform mobile operation in a corresponding operation mode, wherein there are at least two boundary types of the physical boundary, and at least two boundary types correspond to at least two operation modes. When the automatic operating device performs mobile operation in different operation modes, the distance between the automatic operating device and the physical boundary is different.

2. The method according to claim 1, characterized in that According to the boundary type of the physical boundary, controlling the automatic operation device to move along the physical boundary in a corresponding operation mode includes: Acquire a boundary attribute of a first boundary segment in the virtual boundary corresponding to the physical boundary; According to the boundary type of the physical boundary and the boundary attribute of the first boundary segment, the automatic operation device is controlled to perform mobile operation in a corresponding operation mode.

3. The method according to claim 2, characterized in that The step of controlling the automatic operation device to perform mobile operation in a corresponding operation mode according to the boundary type of the physical boundary and the boundary attribute of the first boundary segment includes: When the boundary attribute of the first boundary segment is the first boundary attribute and the boundary type of the physical boundary is the first boundary type, if the physical boundary is within the area surrounded by the virtual boundary, or the physical boundary is outside the area surrounded by the virtual boundary and the distance between the physical boundary and the first boundary segment is less than the first distance, the automatic operation device is controlled to perform a mobile operation in a first operation mode, so that the automatic operation device performs a mobile operation in the area surrounded by the virtual boundary according to an operation path whose distance between the physical boundary and the physical boundary is the first distance; When the boundary attribute of the first boundary segment is the first boundary attribute, and the boundary type of the physical boundary is the second boundary type or the third boundary type, if the physical boundary is within the area enclosed by the virtual boundary, or the physical boundary is outside the area enclosed by the virtual boundary and the distance between it and the first boundary segment is less than the second distance, the automatic operation device is controlled to perform mobile operation in the second operation mode, so that the automatic operation device performs mobile operation within the area enclosed by the virtual boundary according to an operation path whose distance between it and the physical boundary is the second distance, wherein the second distance is less than the first distance.

4. The method according to claim 3, characterized in that The step of controlling the automatic operation device to perform mobile operation in a corresponding operation mode according to the boundary type of the physical boundary and the boundary attribute of the first boundary segment includes: When the boundary attribute of the first boundary segment is the first boundary attribute and the boundary type of the physical boundary is the first boundary type, if the physical boundary is outside the area surrounded by the virtual boundary and the distance between the physical boundary and the first boundary segment is greater than or equal to the first distance, the automatic operation device is controlled to perform a mobile operation in a third operation mode, so that the automatic operation device performs a mobile operation in the area surrounded by the virtual boundary according to an operation path whose distance from the virtual boundary is a third distance, wherein the third distance is less than the second distance; When the boundary attribute of the first boundary segment is the first boundary attribute, and the boundary type of the physical boundary is the second boundary type or the third boundary type, if the physical boundary is outside the area surrounded by the virtual boundary, and the If the distance between the physical boundary and the first boundary segment is greater than or equal to the second distance, the automatic operation device is controlled to perform the moving operation in the third operation mode.

5. The method according to claim 3, characterized in that: The step of controlling the automatic operation device to perform mobile operation in a corresponding operation mode according to the boundary type of the physical boundary and the boundary attribute of the first boundary segment includes: When the boundary attribute of the first boundary segment is the second boundary attribute, determining an extended boundary according to the virtual boundary, wherein the extended boundary is outside the area surrounded by the virtual boundary and is spaced from the virtual boundary by a sixth distance; When the boundary attribute of the first boundary segment is the second boundary attribute and the boundary type of the physical boundary is the first boundary type, if the physical boundary is within the area surrounded by the extended boundary, or the physical boundary is outside the area surrounded by the extended boundary and the distance between the physical boundary and the extended boundary is less than the first distance, the automatic operation device is controlled to perform mobile operation in the first operation mode, so that the automatic operation device operates in the area surrounded by the extended boundary according to the operation path whose distance between the physical boundary and the physical boundary is the first distance; When the boundary attribute of the first boundary segment is the second boundary attribute, and the boundary type of the physical boundary is the second boundary type or the third boundary type, if the physical boundary is within the area enclosed by the extended boundary, or the physical boundary is outside the area enclosed by the extended boundary and the distance between the physical boundary and the extended boundary is less than the second distance, the automatic operation device is controlled to perform mobile operation in the second operation mode, so that the automatic operation device operates within the area enclosed by the extended boundary according to an operation path whose distance from the physical boundary is the second distance.

6. The method according to claim 5, characterized in that The step of controlling the automatic operation device to perform mobile operation in a corresponding operation mode according to the boundary type of the physical boundary and the boundary attribute of the first boundary segment includes: When the boundary attribute of the first boundary segment is the second boundary attribute and the boundary type of the physical boundary is the first boundary type, if the physical boundary is outside the area surrounded by the extended boundary and the distance between the physical boundary and the extended boundary is greater than or equal to the first distance, the automatic operation device is controlled to perform a mobile operation in a fourth operation mode, so that the automatic operation device performs a mobile operation in the area surrounded by the extended boundary according to an operation path whose distance from the extended boundary is a fourth distance, wherein the fourth distance is less than the second distance; When the boundary attribute of the first boundary segment is the second boundary attribute, and the boundary type of the physical boundary is the second boundary type or the third boundary type, if the physical boundary is outside the area enclosed by the extended boundary, and the distance between the physical boundary and the extended boundary is greater than or equal to the second distance, the automatic operation device is controlled to perform mobile operation in the fourth operation mode.

7. The method according to claim 3, characterized in that The step of controlling the automatic operation device to perform mobile operation in a corresponding operation mode according to the boundary type of the physical boundary and the boundary attribute of the first boundary segment includes: When the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the first boundary type, if the physical boundary is within the area surrounded by the virtual boundary, or if the physical boundary is outside the area surrounded by the virtual boundary and the distance between the physical boundary and the first boundary segment is less than the first distance, the automatic operation device is controlled to perform mobile operation in the first operation mode; When the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the second boundary type, if the physical boundary is within the area surrounded by the virtual boundary, or the physical boundary is outside the area surrounded by the virtual boundary and the distance between the physical boundary and the first boundary segment is less than the second distance, the automatic operation is controlled. The device performs a mobile operation in the second operation mode; When the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the third boundary type, if the physical boundary is within the area enclosed by the virtual boundary or on the virtual boundary, the automatic operation device is controlled to perform mobile operation in the fifth operation mode, so that the automatic operation device straddles the physical boundary to perform mobile operation.

8. The method according to claim 7, characterized in that The step of controlling the automatic operation device to perform mobile operation in a corresponding operation mode according to the boundary type of the physical boundary and the boundary attribute of the first boundary segment includes: When the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the first boundary type, if the physical boundary is outside the area surrounded by the virtual boundary and the distance between the physical boundary and the first boundary segment is greater than or equal to the first distance, the automatic operation device is controlled to perform a mobile operation in a sixth operation mode, so that the automatic operation device performs a mobile operation in the area surrounded by the virtual boundary according to an operation path whose distance from the virtual boundary is a fifth distance, wherein the fifth distance is less than the second distance; When the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the second boundary type, if the physical boundary is outside the area surrounded by the virtual boundary and the distance between the physical boundary and the first boundary segment is greater than or equal to the second distance, controlling the automatic operation device to perform the moving operation in the sixth operation mode; When the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the third boundary type, if the physical boundary is outside the area surrounded by the virtual boundary, the automatic operation device is controlled to perform the moving operation in the sixth operation mode.

9. The method according to claim 1, characterized in that: The method further comprises: When no physical boundary is detected, obtaining a boundary attribute of a second boundary segment in the virtual boundary, wherein the second boundary segment is a boundary segment in the virtual boundary with the smallest distance from the automatic operation device; According to the boundary attribute of the second boundary segment, the automatic operation device is controlled to perform mobile operation in a corresponding operation mode.

10. The method according to claim 9, characterized in that According to the boundary attribute of the second boundary segment, controlling the automatic operation device to perform mobile operation in a corresponding operation mode includes: If the boundary attribute of the second boundary segment is the first boundary attribute, the automatic operation device is controlled to operate in a third operation mode, so that the automatic operation device moves within the area surrounded by the virtual boundary along an operation path that is a third distance away from the second boundary segment; If the boundary attribute of the second boundary segment is the second boundary attribute, the automatic operation device is controlled to operate in a fourth operation mode, so that the automatic operation device moves within the area surrounded by the extended boundary and according to an operation path that is spaced a fourth distance from the extended boundary, wherein the extended boundary is outside the area surrounded by the virtual boundary and is spaced a sixth distance from the virtual boundary; If the boundary attribute of the second boundary segment is the third boundary attribute, the automatic operation device is controlled to perform mobile operation in the sixth operation mode, so that the automatic operation device performs mobile operation in the area surrounded by the virtual boundary along an operation path with a fifth distance from the second boundary segment.

11. The method according to any one of claims 1 to 10, characterized in that The method further comprises: controlling the automatic operation device to move autonomously along the physical boundary to generate at least a portion of the virtual boundary; In the process of controlling the automatic operation device to move autonomously along the physical boundary, If the boundary type of the physical boundary is a first boundary type, controlling the automatic operation device to move within the area surrounded by the physical boundary along a mapping path that is a first distance away from the physical boundary, and collecting a plurality of path points on the mapping path to generate at least a portion of the virtual boundary according to the plurality of path points; If the boundary type of the physical boundary is the second boundary type or the third boundary type, the automatic operation device is controlled to move within the area enclosed by the physical boundary along a mapping path whose distance from the physical boundary is a second distance, and multiple path points on the mapping path are collected to generate at least part of the virtual boundary based on the multiple path points, wherein the second distance is less than the first distance.

12. The method according to any one of claims 1 to 10, characterized in that The first boundary type is used to indicate a physical boundary that may cause the automatic working device to fall or be trapped, the second boundary type is used to indicate a physical boundary where the automatic working device has no risk of falling or being trapped, and the third boundary type is used to indicate a physical boundary where the automatic working device can straddle and operate.

13. The method according to claim 1, characterized in that After detecting the entity boundary, determining the boundary type of the entity boundary includes: After acquiring an image including an entity boundary, the image is input into a classification model, wherein the classification model includes a first module, a second module and a third module, the first module is used to perform feature extraction on the image to obtain an original feature map corresponding to the image, and output a plurality of processed feature maps obtained by performing downsampling processing on the original feature map by different multiples to the second module, the second module is used to fuse the plurality of processed feature maps to obtain a fused feature map, and output the fused feature map to the third module, and the third module is used to determine the location information and boundary type of the entity boundary according to the fused feature map; An output result of the classification model is obtained, wherein the output result includes the location information and boundary type of the entity boundary output by the third module.

14. The method according to claim 13, characterized in that The third module includes a first submodule, a second submodule and a third submodule. The first submodule is used to output whether there is an entity boundary in each area in the fused feature map, the second submodule is used to output the location information of the entity boundary in each area where the entity boundary exists in the fused feature map, the third submodule is used to output the image category of each area in the fused feature map, and the third module is used to determine the location information and boundary type of the entity boundary according to the output results of the first submodule, the second submodule and the third submodule.

15. A border patrol device, characterized in that: The device comprises: A detection unit, used to control the automatic operation device to perform a moving operation according to a virtual boundary and detect a physical boundary; an identification unit, configured to determine a boundary type of the entity boundary after detecting the entity boundary; A control unit is used to control the automatic operation device to perform mobile operation in a corresponding operation mode according to the boundary type of the physical boundary, wherein there are at least two boundary types of the physical boundary, and the at least two boundary types correspond to at least two When the automatic operation device performs mobile operation in different operation modes, the distance between the automatic operation device and the entity boundary is different.

16. 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, and the executable instruction enables the processor to execute the method as claimed in any one of claims 1-14.

17. A computer storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

18. A computer program product, characterized in that The method comprises computer instructions for instructing a computing device to execute the method according to any one of claims 1 to 14.

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