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CN-122003579-A - Control method of autonomous working system and autonomous working system

CN122003579ACN 122003579 ACN122003579 ACN 122003579ACN-122003579-A

Abstract

A control method of an autonomous working system, a map acquisition method, a control method of an autonomous robot, and an autonomous working system, wherein the control method of the autonomous working system includes acquiring environment information acquired over a target area (S901), the environment information including image data, position data, generating a map of the target area based on the environment information (S902), wherein the map includes at least one attribute information associated with a specific area in the map, and generating a working strategy of the autonomous robot in the target area based on the attribute information (S903). By adopting the mode, an accurate and comprehensive map can be obtained quickly, so that the complete work of the working area is realized.

Inventors

  • YU HANG
  • ZHONG YINBIAO

Assignees

  • 苏州宝时得电动工具有限公司

Dates

Publication Date
20260508
Application Date
20250530
Priority Date
20240531

Claims (20)

  1. A control method of an autonomous working system, comprising: Acquiring environment information acquired above a target area, wherein the environment information comprises image data and position data; Generating a map of the target area based on the environmental information, wherein the map includes at least one attribute information associated with a specific area in the map; And generating a working strategy of the autonomous robot in the target area based on the attribute information.
  2. The method of any claim, wherein the image data comprises at least one of an orthographic image, a oblique image, and a close-up image.
  3. The method of any claim, wherein the image information is geo-registered based on the location information, generating a map of the target area.
  4. The method of any of the claims, wherein the method comprises format converting and/or coordinate calibrating a map of the target area to generate a map matching the autonomous robotic navigation system.
  5. The method of any claim, wherein the attribute information includes at least one of a topographical feature, an environmental feature, and a functional feature.
  6. The method of any claim, wherein the attribute information further comprises at least one of the terrain feature classification, environmental feature classification, and functional feature classification.
  7. The method of any claim, wherein the environment type includes a satellite signal shadowing status, the method comprising: processing the image information and identifying obstacles affecting the satellite positioning signal quality; Calculating the shielding range of the obstacle according to at least one of the position, the height, the shape parameter and the distribution density of the obstacle; and determining a working area of which the satellite positioning signal quality is smaller than a preset signal quality threshold value based on the shielding range.
  8. The method of any claim, wherein the target area is divided into a plurality of sub-areas according to the attribute information, the plurality of sub-areas each including at least one attribute information.
  9. The method of any of claims, wherein the generating a work strategy for an autonomous robot at the plurality of work areas based on the attribute information further comprises: establishing a mapping relation between attribute information and a working strategy; And configuring corresponding working strategies for the subareas with different attributes according to the mapping relation.
  10. The method of any of claims, wherein generating a working strategy of an autonomous robot at the plurality of sub-regions based on the attribute information further comprises: acquiring working performance parameters of the autonomous robot, wherein the working performance parameters comprise types and/or capabilities; establishing a mapping relation between attribute information and the working performance parameters; And configuring corresponding autonomous robots for the subareas with different attributes according to the mapping relation.
  11. The method of any claim, wherein the establishing a mapping of attribute information to the performance parameter comprises at least one of: matching a terrain attribute with a robot mobility, the mobility being based on a drive motor torque parameter of the autonomous robot and a structural type parameter of a mobile component; Matching functional attributes with the operation capability of the robot, wherein the operation capability is based on the type parameters and the operation precision parameters of the working components of the autonomous robot; The environmental attribute is matched with an adaptation capability of the robot, the adaptation capability being based on a sensor type parameter and a detection accuracy parameter of the autonomous robot.
  12. The method according to any of the claims, wherein said configuring respective autonomous robots for sub-areas of different properties according to said mapping relationship further comprises: Evaluating task complexity of a work area and determining a required robot type and/or number based on the task complexity; When the single robot capability does not meet the requirement of the subareas, a plurality of robots with complementary capabilities are configured to perform collaborative work.
  13. The method according to any of the claims, wherein the method comprises establishing a switching rule of the robot between different sub-areas, including at least one of a switching condition, a switching path and a cutting parameter configuration.
  14. The method of any of the claims, wherein the method comprises generating a purchase proposal for the autonomous robot from the attribute information, the purchase proposal comprising a category and a quantity of the autonomous robot.
  15. A map acquisition method, comprising: Acquiring environment information acquired above a target area, wherein the environment information comprises image data and position data; A map of the target area is generated based on the environmental information, wherein the map contains at least one attribute information associated with a particular area in the map.
  16. The method of any claim, wherein the image data comprises at least one of an orthographic image, a oblique image, and a close-up image.
  17. The method of any claim, wherein the map of the target area is generated by geo-registering the image information based on the location information.
  18. The method of any of the claims, wherein the method comprises format converting and/or coordinate calibrating a map of the target area to generate a map matching the autonomous robotic navigation system.
  19. The method of any claim, wherein the attribute information includes at least one of a topographical feature, an environmental feature, and a functional feature.
  20. The method of any claim, wherein the attribute information further comprises at least one of the terrain feature classification, environmental feature classification, and functional feature classification.

Description

Control method of autonomous working system and autonomous working system Technical Field The application relates to the technical field of aerial photographing equipment map building, in particular to a control method of an autonomous working system and the autonomous working system. Background With the development of agricultural mechanization and intelligent home furnishing, autonomous robots, such as automatic mowers, are used as efficient and convenient yard maintenance equipment and gradually enter the life of people. The automatic mower can realize autonomous path planning, obstacle avoidance and timing work through the built-in sensor, the navigation system and the intelligent control algorithm, does not need manual intervention, realizes coverage of the grassland area, improvement of mowing efficiency and reduction of energy consumption, and greatly improves the intelligent level of garden gardening. The autonomous robot can also be other devices capable of working autonomously, such as intelligent devices of an automatic snowplow robot, an automatic mopping robot and the like. Disclosure of Invention To overcome the defects of the prior art, the application provides a control method of an autonomous working system, which can comprise the following steps: The method comprises the steps of acquiring environment information acquired above a target area, generating a map of the target area based on the environment information, wherein the map comprises at least one attribute information, the attribute information is associated with a specific area in the map, and generating a working strategy of an autonomous robot in the target area based on the attribute information. By adopting the mode, an accurate and comprehensive map can be obtained quickly, so that the complete work of the working area is realized. To overcome the defects of the prior art, the application provides a control method of an autonomous working system, which can comprise the following steps: By adopting the control method, an accurate and comprehensive map can be obtained quickly, so that the complete work of the working area is realized. In order to overcome the defects in the prior art, the application provides a map acquisition method, which comprises the following steps: Acquiring environment information acquired above a target area, wherein the environment information comprises image data and position data; a map of the target area is generated based on the environmental information, wherein the map contains at least one attribute information associated with a particular area in the map. By adopting the map acquisition method, an accurate and comprehensive map can be quickly obtained. In order to overcome the defects in the prior art, the application provides a control method of an autonomous robot, which can comprise the following steps: The method comprises the steps of obtaining a map of a target area, wherein the map comprises a plurality of subareas, the subareas respectively comprise at least one attribute information, establishing a mapping relation between the attribute information and a working strategy, and configuring corresponding working strategies for the subareas with different attributes according to the mapping relation. By adopting the control method, an accurate and comprehensive map can be obtained quickly, so that the complete work of the working area is realized. In order to overcome the defects of the prior art, the application provides a map building method, a map building system and a storage medium for a working area, which can efficiently and accurately build a map of the working area. According to a first aspect of the present embodiment, there is provided a method of mapping a work area for movement and/or operation of an autonomous working machine therein, the method comprising: Acquiring a three-dimensional map of the working area through aerial photographing equipment, wherein the three-dimensional map comprises coordinate information of the working area; The autonomous working machine generates a working area map which can be identified by the autonomous working machine based on the three-dimensional map, wherein the working area map at least comprises boundaries of the working area, and the autonomous working machine moves and/or works in the working area based on the working area map. In one embodiment, generating the autonomous work machine identifiable work area map based on the three-dimensional map includes: Transmitting the three-dimensional map to a user-operable device configured to provide an interface for a user to operate on the three-dimensional map; And generating the working area map based on the operation of the user on the three-dimensional map. In one embodiment, generating the work area map based on a user operation on the three-dimensional map includes: And generating a boundary of the working area map based on at least three boundary points in the three-dimensional map selec