CN112034846B - Virtual boundary operation method, system, mobile terminal and storage medium - Google Patents
Virtual boundary operation method, system, mobile terminal and storage medium Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention is applicable to the technical field of robots, and provides a virtual boundary operation method, a virtual boundary operation system, a mobile terminal and a storage medium, wherein the method comprises the following steps: acquiring map data to be operated, wherein the map data to be operated comprises first virtual boundary information; acquiring a corresponding positioning error according to a preset positioning mode; and determining a virtual boundary area according to the first virtual boundary information and the positioning error, and operating in the virtual boundary area according to a preset operation path. According to the invention, no pre-buried boundary line is needed, and the phenomena of missed cutting, false cutting and uneven cutting at the boundary caused by positioning errors of the mowing robot are effectively reduced by determining and operating the virtual boundary area, so that the operation effect of the mowing robot is ensured.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a virtual boundary operation method, a virtual boundary operation system, a mobile terminal and a storage medium.
Background
In recent years, with the large increase of urban greening areas and home courtyard grasslands, the market of lawnmowers is gradually becoming larger, and particularly in developed European and American countries, the floor area of lawns is large, and a large number of lawnmowers are required to maintain and trim the lawns in both public places and home lawns.
At present, the types of mowers in the market are many, and the mowers can be divided into intelligent mowers and non-intelligent mowers according to the operation modes, and the traditional non-intelligent mowers are mainly divided into hand propelled mowers and riding mowers; the intelligent mower, namely the mowing robot, is a product which applies the robot technology to the field of mowers and can work autonomously. The traditional non-intelligent mower is time-consuming and labor-consuming in operation, and simultaneously generates great noise pollution, and the mowing robot can automatically mow, so that manual trimming is well replaced. With the development of the market, the mowing robot is necessary to gradually replace the traditional non-intelligent mowing machine.
In the existing mowing robot executing mowing task process, boundary lines are required to be pre-buried in advance, and magnetic induction coils are arranged on the mowing robot to judge whether the mowing robot reaches the boundary or not in a coil induction mode, a few mowing robots do not need to be buried with the boundary lines, virtual boundary lines of virtual working areas are established through positioning devices and teaching modes, but due to positioning errors, missed mowing is easy to occur at the virtual boundary lines, so that mowing effect at the boundary lines is poor, and attractive appearance is affected.
Disclosure of Invention
The embodiment of the invention aims to provide a virtual boundary operation method, which aims to solve the problem that the existing mowing robot is poor in operation effect when executing operation in an area to be operated without an embedded boundary line.
The embodiment of the invention is realized in such a way that a virtual boundary operation method comprises the following steps:
Acquiring map data to be operated, wherein the map data to be operated comprises first virtual boundary information;
acquiring a corresponding positioning error according to a preset positioning mode;
and determining a virtual boundary area according to the first virtual boundary information and the positioning error, and operating in the virtual boundary area according to a preset operation path.
Still further, the method further comprises:
determining the operation width of the virtual boundary area according to the positioning error;
and after the virtual boundary area operation is completed, determining second virtual boundary information according to the positioning error so as to generate a remaining area to be operated.
Further, the first virtual boundary information includes a first virtual boundary, and the performing the operation in the virtual boundary area according to the preset operation path includes:
And carrying out round trip operation in the virtual boundary area according to the first virtual boundary information and the direction parallel to the first virtual boundary.
Further, determining a virtual boundary region based on the positioning error includes:
determining the operation width of the virtual boundary area according to the positioning error;
and determining the virtual boundary area according to the job width and the first virtual boundary information.
Further, the performing the operation in the virtual boundary area according to the preset operation path further includes:
and acquiring the position of the preset base station, and returning to the position of the preset base station for calibration.
Still further, the determining the virtual boundary area according to the job width and the first virtual boundary information includes:
acquiring reference position information according to a preset base station;
determining the position of the virtual boundary area according to the reference position information and the first virtual boundary;
and determining the virtual boundary area according to the job width and the position of the virtual job area.
Still further, the method further comprises:
acquiring a real-time positioning error;
And when the real-time positioning error reaches the maximum positioning error, returning to the position where the preset base station is located, and performing positioning correction.
It is another object of an embodiment of the present invention to provide a virtual boundary operating system, the system including:
The map acquisition unit is used for acquiring map data to be operated, wherein the map data to be operated comprises first virtual boundary information;
the error acquisition unit is used for acquiring a corresponding positioning error according to a preset positioning mode;
and the operation execution unit is used for determining a virtual boundary area according to the first virtual boundary information and the positioning error and carrying out operation in the virtual boundary area according to a preset operation path.
Another object of an embodiment of the present invention is to provide a mobile terminal, which includes a storage device and a processor, where the storage device is configured to store a computer program, and the processor runs the computer program to enable the mobile terminal to execute the virtual boundary operation method described above.
Another object of an embodiment of the present invention is to provide a storage medium storing a computer program used in the above-mentioned mobile terminal, which when executed by a processor, implements the steps of the virtual boundary operation method described above.
According to the embodiment of the invention, the boundary line is not required to be pre-buried, and the phenomena of missed cutting, false cutting and uneven cutting at the boundary line caused by positioning errors of the mowing robot are effectively reduced by determining and operating the virtual boundary area, so that the operation effect of the mowing robot is ensured.
Drawings
FIG. 1 is a flow chart of a virtual boundary operation method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a region to be worked and a virtual boundary according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a region to be worked and a virtual boundary according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram of a structure of a region to be worked and a virtual boundary according to a first embodiment of the present invention;
FIG. 5 is a flow chart of a virtual boundary operation method according to a second embodiment of the present invention;
FIG. 6 is a flow chart of a virtual boundary operation method according to a third embodiment of the present invention;
FIG. 7 is a schematic diagram of a structure of a region to be worked and a virtual boundary according to a third embodiment of the present invention;
FIG. 8 is a schematic diagram of a virtual boundary operating system according to a fourth embodiment of the present invention;
fig. 9 is a schematic structural diagram of a mobile terminal according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
According to the embodiment of the invention, the boundary line is not required to be pre-buried, and the phenomena of missed cutting, false cutting and uneven boundary line cutting caused by positioning errors of the mowing robot are effectively reduced by determining and operating the virtual boundary area, so that the operation effect of the mowing robot is ensured.
In order to illustrate the technical scheme of the invention, the following description is made by specific examples.
Example 1
Referring to fig. 1, a flowchart of a virtual boundary operation method according to a first embodiment of the present invention includes the steps of:
Step S1, obtaining map data to be worked.
The map data to be worked comprises first virtual boundary information, wherein the first virtual boundary information is a virtual boundary line of a region to be worked in a current mowing task, the virtual boundary line is defined as a working region boundary line which cannot be identified by a sensor carried by a robot, if the current working region is a lawn connected with a neighbor lawn, the sensor carried by the robot is a visual sensor, and the visual sensor of the robot cannot identify the boundary line of two lawns because the connected lawns have no visual distinguishing characteristics, and the boundary line is the virtual boundary line of the working region. The virtual boundary line can be a straight line, a curve or a broken line and the like for preventing the mowing robot from crossing the boundary for the current mowing task.
Further, the map data to be worked further includes physical boundary information, where the physical boundary information is actual boundary information of an area to be worked, and is a working area boundary line that can be identified by a sensor carried by a robot, for example, a boundary line that can be distinguished between a lawn and a cement land by a mowing robot carrying a vision sensor, or a boundary line that can be distinguished between a wall body and a fence by a mowing robot carrying a collision sensor, and the boundary information of the area to be worked is used for controlling the mowing robot to perform work in a preset area, so that the mowing robot performs mowing work on the area to be worked.
And S2, acquiring a corresponding positioning error according to a preset positioning mode.
The positioning errors caused by different positioning modes are different, so that the positioning errors are obtained based on the current positioning mode applied to the mowing robot in the step.
For example, when the mowing robot currently adopts a GPS as a positioning mode, the positioning error is used as a currently acquired positioning error by actually measuring the positioning error in advance under the condition that the GPS environment is severe (such as trees, house shielding and the like are present), for example, when the mowing robot adopts inertial navigation as the positioning mode, the maximum accumulated error of the mowing robot in the time length is estimated according to the expected working time length of the mowing robot after full charge and without reference position calibration, and the maximum accumulated error is used as the currently acquired positioning error.
Furthermore, in the present embodiment, when the positioning of the mowing robot is performed by inertial navigation, since inertial navigation is usually combined with an Inertial Measurement Unit (IMU) and an odometer to estimate the position, the pose and heading are mainly obtained by integrating gyroscopes in the IMU, and the position is mainly obtained by integrating odometers. The error of inertial navigation is accumulated along with the walking mileage, so that the error of the relative position of the mowing robot can be estimated according to the accumulated walking distance of the mowing robot:
△P＝kP；
Wherein DeltaP is a positioning error, P is an accumulated displacement, k is an error coefficient, and k can be a constant or a function related to P;
specifically, k may be obtained through an actual test, and a specific test mode may be: a precise positioning device, such as a high-precision carrier phase difference GPS, is bound on the mowing robot, so that the robot can run different distances on a target field, and the inertial navigation estimated position is compared with the data of a standard measuring device, so that the inertial navigation measuring error can be obtained.
If the inertial measurement positioning mode is adopted, the measurement error is a relative error, if the absolute position error is to be obtained relative to the field, a certain fixed reference point (such as a charging base station) in the field can be used as a reference point (such as a coordinate origin) of the position, and the position of the robot relative to the reference point is calculated in real time after the robot leaves the reference point, and the position error is estimated.
When the error reaches a certain threshold value, the robot can be returned to the base station again for position correction, so that the error control of the robot in a certain range in the working process is ensured. In addition, in order to reduce the influence of factors such as slipping on the accuracy of error evaluation, slipping detection can be added on the robot, for example, a magnet is added on a driven wheel, a Hall detection plate is arranged on a chassis of the robot, and whether the magnetic field periodically changes or not is detected to determine whether the robot slips or not.
In addition, when the position of the mowing robot is located by adopting the Bluetooth locating mode, the Bluetooth locating is based on an RSSI (signal field intensity indication) value, and the locating is carried out by a triangle locating principle. The error of bluetooth location is usually 1-3 meters, and is specifically related to the distance between a bluetooth Beacon (Beacon) and a receiver, and when the bluetooth location accuracy is actually evaluated, the location accuracy can be determined according to the relationship between the actually measured bluetooth location accuracy and the distance, and when the bluetooth location accuracy is working, the location accuracy can be determined according to the distance between the receiver and the Beacon.
And S3, determining a virtual boundary area according to the first virtual boundary information and the positioning error, and operating in the virtual boundary area according to a preset operation path.
Determining a virtual boundary area according to the first virtual boundary information and the positioning error, specifically: translating the first virtual boundary to position errors to obtain a virtual boundary region; or adding a preset distance to the first virtual boundary translation positioning error to obtain a virtual boundary region, wherein the preset distance is greater than or equal to 0.
Specifically, referring to fig. 2,3 and 4, in this step, the first virtual boundary B may be shifted toward the to-be-operated area a by a distance s3 according to the positioning error s3 to obtain a second virtual boundary c, and an area formed between the second virtual boundary c, the first virtual boundary B and boundary lines on both sides of the to-be-operated area a is set as the virtual boundary area B. Referring to fig. 2,3 and 4, the virtual boundary area may be the virtual boundary area B, and may also be the virtual boundary area B, and when the virtual boundary area B is obtained, the method includes the steps of determining the virtual boundary area B according to the virtual boundary area B, the positioning error and a preset distance, where the preset distance may be equal to the positioning error, and the area of the virtual boundary area B is greater than or equal to the virtual boundary area B, which specifically includes a portion of the to-be-operated area a close to the virtual boundary area, and performs the operation according to the virtual boundary operation area, where the virtual boundary operation area and the to-be-operated area a have a partially overlapped common area.
Specifically, referring to fig. 2,3 and 4, the boundary b is translated to the to-be-operated area a by s2, s2 is the sum of the positioning error s3 and the preset distance, that is, s2 is greater than or equal to s3, so as to obtain a boundary a, an area formed among the boundary a, the first virtual boundary b and the boundary lines on both sides of the to-be-operated area a is set as a virtual boundary area b, an area formed among the boundary a and the second virtual boundary c is a public area overlapping the virtual boundary area a and the to-be-operated area a, the public area is operated when the virtual boundary area is operated, the public area is operated when the to-be-operated area a is operated, the problem of incomplete operation caused by large positioning error can be effectively avoided through repeated operation on the public area, and the effect of preventing missed cutting is effectively avoided.
Further, in this step, the first virtual boundary information includes a first virtual boundary, and the step of performing the job in the virtual boundary area according to the preset job path further includes:
performing round trip operation in the virtual boundary area according to the first virtual boundary information and the direction parallel to the first virtual boundary; or (b)
Acquiring the shape attribute of the virtual boundary region, and acquiring a target track according to the shape attribute;
according to the target track and performing operation in the virtual boundary area.
When the virtual boundary area is operated in the mode, grass at the virtual boundary can be tidy and attractive, and the problem of uneven mowing caused by positioning errors is avoided.
The shape attribute is an actual environment shape of the virtual boundary area, and different shape attributes correspond to different target tracks, for example, a rectangular virtual boundary area can adopt an arcuate type operation track.
In one embodiment of the present invention, the robot may perform an operation along a boundary of the to-be-operated area according to the map data to be operated during the operation, and acquire the current position information in real time, and may determine that the robot is currently located in or near the virtual boundary area when the distance between the current position information and the virtual boundary is within a preset range, and may perform the operation in the virtual boundary area through a preset operation path.
The operation track and the operation mode during operation along the boundary of the to-be-operated area can be set according to requirements, the operation track is the running track of the mowing robot, the operation mode comprises a plurality of operation parameters, and the operation parameters can be parameters such as operation power, running speed and the like.
Further, in this step, the current position information of the mowing robot may be acquired by satellite positioning, inertial navigation, bluetooth positioning, UWB (ultra wide band wireless positioning), or the like.
Specifically, referring to fig. 2, in the embodiment, the mowing track of the mowing robot moves back and forth in a straight line, so that the mowing robot is controlled to execute the straight line back and forth mowing operation according to the boundary of the area a to be worked, and the current position information of the mowing robot is obtained in real time to obtain the coordinate value of the coordinate point A1.
Further, referring to fig. 3, in the figure, the first virtual boundary b is a broken line, when it is determined that the distance s1 between the coordinate point A1 and the first virtual boundary b is within the range 0 to s3, it is determined that the current virtual boundary is in the virtual boundary region, that is, when it is determined that the maximum distance between the coordinate point A1 and the first virtual boundary b is within the range 0 to s3, it is determined that the current virtual boundary region is in the virtual boundary region, and at this time, an operation can be performed in the virtual boundary region through a preset operation path. After the virtual boundary area operation is completed, a new area A to be operated is formed, and the new area A to be operated takes the second virtual boundary c as a new boundary line. Of course, when performing the operation, the operation is performed in the virtual boundary area or in the new area to be operated a, and is not limited herein.
Further, referring to fig. 4, in the figure, the first virtual boundary b is a curve, when it is determined that the distance s1 between the coordinate point A1 and the first virtual boundary b is within the range 0 to s2, it is determined that the current virtual boundary is in the virtual boundary region, that is, when it is determined that the minimum distance between the coordinate point A1 and the first virtual boundary b is within the range 0 to s2, it is determined that the current virtual boundary region is in the virtual boundary region, and at this time, an operation can be performed in the virtual boundary region through a preset operation path. After the virtual boundary area operation is completed, a new area A to be operated is formed, and the new area A to be operated takes the second virtual boundary c as a new boundary line. Of course, when the operation is performed, the operation is performed first in the virtual boundary area or performed first in the new area to be operated a, and the present invention is not limited thereto, and when the operation is performed on the virtual boundary area, a manner of performing the reciprocating operation along the first virtual boundary may be selected, so that the cutting at the first virtual boundary may be tidy.
Further, before the operation is performed in the virtual boundary area, the method further comprises: and acquiring the position of the preset base station, and returning to the position of the preset base station for calibration. By returning to the preset base station for calibration before operation, the positioning error is minimized, the phenomena of missed cutting, false cutting and uneven cutting at the boundary of the mowing robot caused by the positioning error are effectively reduced, and the mowing efficiency is improved.
According to the embodiment, no pre-buried boundary line is needed, and through the determination and operation of the virtual boundary area, the phenomena of missed cutting, false cutting and uneven cutting at the boundary caused by positioning errors of the mowing robot are effectively reduced, so that the operation effect of the mowing robot is guaranteed.
Example two
Referring to fig. 5, a flowchart of a virtual boundary operation method according to a second embodiment of the present invention includes the steps of:
step S2 further comprises step S4 after obtaining the corresponding positioning error according to the preset positioning mode, and the operation width of the virtual boundary area is determined according to the positioning error.
With continued reference to fig. 2, the job width is equal to the distance between the boundary a and the first virtual boundary b.
Further, in this embodiment, the positioning error is smaller than or equal to the working width.
And S5, after the operation of the virtual boundary area is completed, determining second virtual boundary information according to the positioning error so as to generate a remaining area to be operated.
When the operation aiming at the virtual boundary area is completed, the area information of the current environment is acquired, the virtual boundary area is removed from the area information of the current environment to generate the remaining operation area, and the remaining operation area is sent to a preset communication address or is directly displayed in an image mode, so that a user can know the information of the remaining operation area in the current environment of the mowing robot.
Further, in this step, the step of determining the second virtual boundary information according to the positioning error includes:
Translating the first virtual boundary b to the to-be-operated area by a positioning error s3 so as to determine the information of a second virtual boundary c; when the virtual boundary area is operated to the second virtual boundary c or exceeds the second virtual boundary c, the operation to the second virtual boundary c is operated when the operation area A is operated, and the problem of incomplete operation caused by large positioning error can be effectively avoided through repeated operation to the second virtual boundary c or a public area near the second virtual boundary c, so that the effect of preventing missed cutting is effectively prevented.
According to the embodiment, no pre-buried boundary line is needed, and through determination and operation of the virtual boundary area, the phenomena of missed cutting and false cutting caused by positioning errors of the mowing robot are effectively reduced, so that the operation effect of the mowing robot is guaranteed.
Example III
Referring to fig. 6, a flowchart of a virtual boundary operation method according to a fourth embodiment of the invention includes the steps of:
Step S1, obtaining map data to be worked.
The map data to be worked comprises first virtual boundary information and entity boundary information.
And S2, acquiring a corresponding positioning error according to a preset positioning mode.
The positioning errors caused by different positioning modes are different, so that the positioning errors are obtained based on the current positioning mode applied to the mowing robot in the step.
For example, when the mowing robot currently adopts a GPS as a positioning mode, the positioning error is used as a currently acquired positioning error by actually measuring the positioning error in advance under the condition that the GPS environment is severe (such as trees, house shielding and the like are present), for example, when the mowing robot adopts inertial navigation as the positioning mode, the maximum accumulated error of the mowing robot in the time length is estimated according to the expected working time length of the mowing robot after full charge and without reference position calibration, and the maximum accumulated error is used as the currently acquired positioning error.
In addition, the mowing robot may be any robot having a moving function.
Step S6, determining the operation width of the virtual boundary area according to the positioning error;
The working width is determined according to different positioning errors caused by different positioning modes, and the numerical values between the positioning errors and the working width can be equal or the working width is larger than the positioning errors.
And S7, determining the virtual boundary area according to the job width and the first virtual boundary information.
In one embodiment of the present invention, step S7 includes step S71 and step S72, which are described in detail below:
Step S71, acquiring reference position information according to a preset base station, and determining the position of the virtual boundary area according to the reference position information and the first virtual boundary.
The position design of the virtual boundary area is determined according to the reference position information and the first virtual boundary information, so that out-of-range operation of the mowing robot is effectively avoided.
Specifically, in this step, the first virtual boundary information includes a first virtual boundary, and the position of the virtual boundary region is determined by taking the first virtual boundary as one side of the virtual boundary region and toward the reference position.
Referring to fig. 7, the predetermined base station is located above the to-be-operated area a, so that the determined position of the virtual boundary area is in the direction of the first virtual boundary b toward the predetermined base station.
With continued reference to fig. 7, step S72 determines the virtual boundary area according to the job width and the position of the virtual job area.
In this embodiment, the operation width is equal to the positioning error, that is, in this step, the first virtual boundary B is shifted towards the preset base station by s3 length to obtain a second virtual boundary c, and the area formed by the second virtual boundary c, the first virtual boundary B and the boundaries on both sides of the area to be operated a is set as the virtual boundary area B; or shifting the second virtual boundary c by a preset distance, namely shifting the first virtual boundary B towards the preset base station by a length of s2 to obtain a boundary a, and setting the region formed by the boundary a, the first virtual boundary B and the boundaries at two sides of the region to be operated A as the virtual boundary region B.
And step S3, performing operation in the virtual boundary area according to a preset operation path.
Further, the method comprises the following steps of obtaining a real-time positioning error, returning to the position of a preset base station when the real-time positioning error reaches the maximum positioning error, and performing positioning correction;
the inertial navigation error is accumulated along with the actual travelling mileage, namely, the positioning error of the mowing robot is larger as the working time of the mowing robot is longer, so that when the real-time positioning error reaches the maximum positioning error, the real-time positioning error needs to be subjected to positioning correction so as to ensure that the error of the mowing robot is controlled within a certain range in the working process.
According to the embodiment, no pre-buried boundary line is needed, and through determination and operation of the virtual boundary area, the phenomena of missed cutting and false cutting caused by positioning errors of the mowing robot are effectively reduced, so that the operation effect of the mowing robot is guaranteed.
Example IV
Referring to fig. 8, a schematic structural diagram of a virtual boundary operating system 100 according to a fifth embodiment of the present invention includes: a map acquisition unit 10, an error acquisition unit 20, and a job execution unit 30, wherein:
a map acquisition unit 10 for acquiring map data to be worked;
The map data to be worked comprises first virtual boundary information and further comprises entity boundary information;
An error obtaining unit 20, configured to obtain a corresponding positioning error according to a preset positioning manner;
And a job execution unit 30, configured to determine a virtual boundary area according to the positioning error and the first virtual boundary information, and perform a job in the virtual boundary area according to a preset job path.
Wherein the job execution unit 30 is further configured to: and carrying out round trip operation in the virtual boundary area according to the first virtual boundary information and the direction parallel to the first virtual boundary.
Further, the job execution unit 30 is further configured to: determining the operation width of the virtual boundary area according to the positioning error; and determining the virtual boundary area according to the job width and the first virtual boundary.
Still further, the job execution unit 30 is further configured to: acquiring reference position information according to a preset base station; determining the position of the virtual boundary area according to the reference position information and the first virtual boundary; and determining the virtual boundary area according to the job width and the position of the virtual job area.
Further, the virtual boundary operating system 100 further includes:
The boundary updating unit 40 is configured to determine a job width of the virtual boundary area according to the positioning error, and determine second virtual boundary information according to the positioning error after the virtual boundary area is completely worked, so as to generate a remaining area to be worked.
A positioning correction unit 50 for acquiring a real-time positioning error; and when the real-time positioning error reaches the maximum positioning error, returning to the position where the preset base station is located, and performing positioning correction.
And the calibration unit is used for acquiring the position of the preset base station before operating the virtual boundary area, and returning to the position of the preset base station for calibration.
According to the embodiment, no pre-buried boundary line is needed, and through determination and operation of the virtual boundary area, the phenomena of missed cutting and false cutting caused by positioning errors of the mowing robot are effectively reduced, so that the operation effect of the mowing robot is guaranteed.
Example five
Referring to fig. 9, a mobile terminal 101 according to a fifth embodiment of the present invention includes a storage device and a processor, where the storage device is configured to store a computer program, and the processor is configured to execute the computer program to cause the mobile terminal 101 to execute the virtual boundary operation method described above.
The present embodiment also provides a storage medium having stored thereon a computer program for use in the above-described mobile terminal 101, which when executed, comprises the steps of:
acquiring a corresponding positioning error according to a preset positioning mode;
And determining a virtual boundary area according to the positioning error, and performing operation in the virtual boundary area according to a preset operation path. The storage medium includes: ROM/RAM, magnetic disks, optical disks, etc.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional units or modules according to needs, i.e. the internal structure of the storage device is divided into different functional units or modules, so as to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application.
Those skilled in the art will appreciate that the constituent structures shown in fig. 9 do not constitute a limitation of the virtual boundary operating system of the present invention, and may include more or less components than those illustrated, or may combine certain components, or may be arranged differently, while the virtual boundary operating methods of fig. 1, 2, 5, and 6 may also be implemented using more or less components, or may combine certain components, or may be arranged differently, as shown in fig. 8. The units, modules, etc. referred to in the invention are a series of computer programs that can be executed by a processor (not shown) in the target virtual boundary operating system and perform specific functions, and may be stored in a storage device (not shown) of the target virtual boundary operating system.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. A virtual boundary operation method, the method comprising:
acquiring map data to be worked, wherein the map data to be worked comprises first virtual boundary information, and the first virtual boundary information is a virtual boundary line of an area to be worked in a current mowing task;
acquiring a corresponding positioning error according to a preset positioning mode;
determining a virtual boundary area according to the first virtual boundary information and the positioning error, and operating in the virtual boundary area according to a preset operation path;
Determining a virtual boundary area according to the first virtual boundary information and the positioning error, specifically: translating the first virtual boundary by the positioning error to obtain the virtual boundary region; or translating the first virtual boundary by the positioning error and adding a preset distance to obtain the virtual boundary area, wherein the preset distance is greater than or equal to 0, and a part of the virtual boundary area and the area to be operated overlap to form a public area, the public area is operated when the virtual boundary area is operated, the public area is operated when the area to be operated is operated, and the operation is repeated in the public area; the virtual boundary region includes the first virtual boundary.
2. The virtual boundary operation method according to claim 1, wherein the method further comprises:
determining the operation width of the virtual boundary area according to the positioning error;
and after the virtual boundary area operation is completed, determining second virtual boundary information according to the positioning error so as to generate a remaining area to be operated.
3. The virtual boundary operation method according to claim 1, wherein the first virtual boundary information includes a first virtual boundary, and the operation is performed in the virtual boundary area according to a preset operation path, including:
And carrying out round trip operation in the virtual boundary area according to the first virtual boundary information and the direction parallel to the first virtual boundary.
4. The virtual boundary operation method according to claim 3, wherein the performing operation in the virtual boundary area according to a preset operation path further comprises:
and acquiring the position of the preset base station, and returning to the position of the preset base station for calibration.
5. The virtual boundary operation method according to claim 1, wherein determining a virtual boundary region from the positioning error comprises:
Determining the operation width of the virtual boundary area according to the positioning error;
and determining the virtual boundary area according to the job width and the first virtual boundary information.
6. The virtual boundary job method as set forth in claim 5, wherein the determining the virtual boundary region according to the job width and the first virtual boundary comprises:
acquiring reference position information according to a preset base station;
determining the position of the virtual boundary area according to the reference position information and the first virtual boundary;
and determining the virtual boundary area according to the job width and the position of the virtual boundary area.
7. The virtual boundary operation method according to any one of claims 1 to 6, further comprising:
acquiring a real-time positioning error;
And when the real-time positioning error reaches the maximum positioning error, returning to the position where the preset base station is located, and performing positioning correction.
8. A virtual boundary operating system, the system comprising:
The system comprises a map data acquisition unit to be operated, a first virtual boundary information acquisition unit and a second virtual boundary information acquisition unit, wherein the map data acquisition unit is used for acquiring map data to be operated, and the map data to be operated comprises the first virtual boundary information which is a virtual boundary line of a region to be operated in a current mowing task;
the error acquisition unit is used for acquiring a corresponding positioning error according to a preset positioning mode;
The operation execution unit is used for determining a virtual boundary area according to the positioning error and the first virtual boundary information and performing operation in the virtual boundary area according to a preset operation path;
Determining a virtual boundary area according to the first virtual boundary information and the positioning error, specifically: translating the first virtual boundary by the positioning error to obtain the virtual boundary region; or translating the first virtual boundary by the positioning error and adding a preset distance to obtain the virtual boundary area, wherein the preset distance is greater than or equal to 0, and a part of the virtual boundary area and the area to be operated overlap to form a public area, the public area is operated when the virtual boundary area is operated, the public area is operated when the area to be operated is operated, and the operation is repeated in the public area; the virtual boundary region includes the first virtual boundary.
9. A mobile terminal comprising a storage device for storing a computer program and a processor that runs the computer program to cause the mobile terminal to perform the virtual boundary operation method according to any one of claims 1 to 6.
10. A storage medium storing a computer program for use in the mobile terminal of claim 9, which when executed by a processor, implements the steps of the virtual boundary operation method of any one of claims 1 to 6.
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| CN112631299B (en) * | 2020-12-24 | 2023-09-26 | 南京苏美达智能技术有限公司 | Control method for multiple mowers in multiple areas |
| CN116917826A (en) * | 2021-06-30 | 2023-10-20 | 苏州宝时得电动工具有限公司 | automatic working system |
| CN114557197B (en) * | 2022-02-22 | 2023-10-03 | 深圳拓邦股份有限公司 | Cutting method for cutter head side-mounted mower in shape like Chinese character 'Hui', storage medium and mower |
| CN116088533B (en) * | 2022-03-24 | 2023-12-19 | 未岚大陆(北京)科技有限公司 | Information determination method, remote terminal, device, mower and storage medium |
| CN115167468B (en) * | 2022-08-15 | 2024-10-15 | 深圳拓邦股份有限公司 | Mowing robot touch virtual boundary control method and system and mowing robot |
| WO2024141023A1 (en) * | 2022-12-30 | 2024-07-04 | 苏州宝时得电动工具有限公司 | Method and apparatus for determining working boundary of operation device, and storage medium |
| CN118605488A (en) * | 2023-02-28 | 2024-09-06 | 苏州宝时得电动工具有限公司 | Mapping control method, mapping device and mobile equipment |
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| WO2017167207A1 (en) * | 2016-03-29 | 2017-10-05 | 苏州宝时得电动工具有限公司 | Automatic operating system and operating region map establishment method therefor |
| CN109032147A (en) * | 2018-09-10 | 2018-12-18 | 扬州方棱机械有限公司 | The method for generating grass-removing robot virtual boundary based on satellite positioning signal |
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