CN-121995907-A - Self-mobile device and boundary map acquisition method

CN121995907ACN 121995907 ACN121995907 ACN 121995907ACN-121995907-A

Abstract

The application provides self-mobile equipment and a boundary map acquisition method, wherein the self-mobile equipment comprises a control module, a visual positioning module and a storage module which are connected with the control module in a signal mode, the control module is configured to receive positioning information and image information, obtain a first virtual boundary of a working area based on the positioning information and obtain boundary attributes of the area boundary based on the image information, the control module is further configured to offset the first virtual boundary based on the boundary attributes to obtain a second virtual boundary and a boundary map formed by encircling the second virtual boundary, and the control module is further configured to control the self-mobile equipment to run along the virtual boundary so that a task execution module executes a working task in the area boundary of the working area. The self-mobile equipment provided by the application does not need to manually set the boundary attribute, more accurately covers the whole working area, reduces the missing area, reduces the time for identifying the boundary attribute and adjusting the operation mode on site, and improves the working efficiency.

Inventors

GUO XU
CHEN LING
LIANG XUEHUI
PAN XUN
WANG QUANZHAN
ZHANG YIBIN

Assignees

苏州宝时得电动工具有限公司

Dates

Publication Date: 20260508
Application Date: 20241104

Claims (10)

1. A self-mobile device, comprising: The visual positioning module is used for acquiring positioning information and image information of the region boundary of the working region; The storage module is used for storing the map of the working area; The task execution module is used for executing the work task; characterized in that the self-mobile device further comprises: the visual positioning module and the storage module are both connected with the control module through signals; the control module is configured to receive the positioning information and the image information, obtain a first virtual boundary of the working area based on the positioning information, and obtain boundary attributes of the area boundary based on the image information; The control module is further configured to perform offset adjustment on the first virtual boundary based on the boundary attribute to obtain a second virtual boundary and a boundary map formed by enclosing the second virtual boundary; The control module is further configured to control the self-mobile device to run along the second virtual boundary, so that the task execution module executes a work task within the region boundary of the work region.
2. The self-mobile device of claim 1, wherein the boundary attributes include a security boundary and a risk boundary, the security boundary being an area boundary spanned by the self-mobile device, the risk boundary being an area boundary not spanned by the mobile device; The control module is further configured to superimpose the boundary attribute onto the first virtual boundary to form a safe boundary segment and a dangerous boundary segment, respectively.
3. The self-mobile device of claim 2, wherein the offset adjustment of the first virtual boundary based on the boundary attribute comprises: And shifting the safety boundary section to the outside of the regional boundary by a first distance, shifting the dangerous boundary section to the inside of the regional boundary by a second distance to obtain the second virtual boundary, and constructing and acquiring the boundary map based on the second virtual boundary.
4. The self-mobile device of claim 1, wherein the control module is further configured to derive a boundary category of the region boundary based on the image information; the control module performs offset adjustment on the first virtual boundary based on the boundary attribute and the boundary category.
5. The self-mobile device of claim 4, wherein offset adjustment distances corresponding to different boundary categories are the same or different for the same boundary attribute.
6. The self-mobile device according to claim 1 or 4, wherein the region boundaries include at least one boundary type including at least a sub-region boundary, an island boundary formed in the sub-region boundary, and a channel boundary for communicating a plurality of the sub-region boundaries; The control module is configured to offset the first virtual boundary based on a boundary type and/or a boundary category of the region boundary and in combination with the boundary attribute.
7. A method for acquiring a boundary map, comprising: Acquiring positioning information and image information of a region boundary of a working region; obtaining a first virtual boundary of the region boundary based on the positioning information, and obtaining boundary attributes of the region boundary based on the image information; and carrying out offset adjustment on the first virtual boundary based on the boundary attribute to obtain a second virtual boundary and a boundary map formed by enclosing the second virtual boundary, wherein the second virtual boundary is used for defining an operation area of the self-mobile equipment.
8. The method of claim 7, wherein the boundary attributes include a safety boundary and a risk boundary, the safety boundary being an area boundary spanned by the self-mobile device, the risk boundary being an area boundary not spanned by the mobile device; the performing offset adjustment on the first virtual boundary based on the boundary attribute includes: Superposing the boundary attribute on the first virtual boundary to form a safety boundary section and a dangerous boundary section respectively; Shifting the safety boundary section to the outside of the area boundary by a first distance to obtain an outer expansion boundary, and shifting the dangerous boundary section to the inside of the working area by a second distance to obtain an inner contraction boundary; And fitting the expanding boundary and the shrinking boundary to obtain the second virtual boundary, and performing smoothing processing on the second virtual boundary to obtain a boundary map formed by encircling the second virtual boundary.
9. The method according to claim 7, further comprising determining a boundary type of the region boundary before the acquiring of the positioning information and the image information of the region boundary of the work region, wherein the boundary type includes at least a sub-region boundary, an island boundary formed in the sub-region boundary, and a channel boundary for communicating a plurality of the sub-region boundaries; The offset adjustment of the first virtual boundary based on the boundary attribute comprises offset adjustment of the first virtual boundary based on the boundary type of the region boundary and combined with the boundary attribute.
10. The method for acquiring a boundary map according to claim 7, wherein, The obtaining the first virtual boundary of the region boundary based on the positioning information includes: controlling the self-mobile device to run along the region boundary; Confirming whether the self-mobile equipment returns to the vicinity of the starting point, if so, prompting the user that the first virtual boundary acquisition is finished, otherwise, prompting the manual takeover; and acquiring the first virtual boundary.

Description

Self-mobile device and boundary map acquisition method Technical Field The present application relates to the field of self-mobile devices, and in particular, to a self-mobile device and a method for obtaining a boundary map. Background With the rapid development of robotics, some robots may autonomously move within an active area to perform a task. Accordingly, such robots may be referred to as self-moving devices. Currently, common self-moving devices include sweeping robots, intelligent mowers, automatic snowploughs, and the like. In the existing self-moving equipment, taking a mower as an example, in the process of drawing, the mower needs to identify and set the attribute of the map boundary in real time by a user, and adjust the operation parameters of the mower. However, the condition of missed cutting can occur in the parameter adjustment process, and the mowing effect is affected. Disclosure of Invention In view of the above, the present application is directed to a self-mobile device and a method for obtaining a boundary map, which are helpful for improving the quality and safety of the operation and reducing the manual intervention. To achieve one of the above disclosed objects, the present application provides a self-mobile device comprising: The visual positioning module is used for acquiring positioning information and image information of the region boundary of the working region; The storage module is used for storing the map of the working area; The task execution module is used for executing the work task; The self-mobile device further includes: the visual positioning module and the storage module are both connected with the control module through signals; the control module is configured to receive the positioning information and the image information, obtain a first virtual boundary of the working area based on the positioning information, and obtain boundary attributes of the area boundary based on the image information; The control module is further configured to perform offset adjustment on the first virtual boundary based on the boundary attribute to obtain a second virtual boundary and a boundary map formed by enclosing the second virtual boundary; The control module is further configured to control the self-mobile device to run along the second virtual boundary, so that the task execution module executes a work task within the region boundary of the work region. As a further improvement of the embodiment of the present application, the boundary attribute includes a safety boundary and a dangerous boundary, the safety boundary is an area boundary which can be spanned by the self-mobile device, and the dangerous boundary is an area boundary which cannot be spanned by the mobile device; The control module is further configured to superimpose the boundary attribute onto the first virtual boundary to form a safe boundary segment and a dangerous boundary segment, respectively. As a further improvement of the embodiment of the present application, the offset adjustment of the first virtual boundary based on the boundary attribute includes: And shifting the safety boundary section to the outside of the regional boundary by a first distance, shifting the dangerous boundary section to the inside of the regional boundary by a second distance to obtain the second virtual boundary, and constructing and acquiring the boundary map based on the second virtual boundary. As a further improvement of the embodiment of the present application, the control module is further configured to obtain a boundary category of the region boundary based on the image information; the control module performs offset adjustment on the first virtual boundary based on the boundary attribute and the boundary category. As a further improvement of the embodiment of the present application, the offset adjustment distances corresponding to different boundary categories are the same or different under the same boundary attribute. As a further improvement of the embodiment of the present application, the region boundary includes at least one boundary type including at least a sub-region boundary, island boundaries formed in the sub-region boundary, and channel boundaries for communicating a plurality of the sub-region boundaries; The control module is configured to offset the first virtual boundary based on a boundary type and/or a boundary category of the region boundary and in combination with the boundary attribute. In order to achieve one of the above disclosed objects, the present application further provides a method for acquiring a boundary map, which includes: Acquiring positioning information and image information of a region boundary of a working region; obtaining a first virtual boundary of the region boundary based on the positioning information, and obtaining boundary attributes of the region boundary based on the image information; and based on the boundary attribute, performing offset adjustment on the first vi