EP-4741971-A1 - WORKING MAP GENERATION METHOD, CONTROL METHOD AND RELATED DEVICES

EP4741971A1EP 4741971 A1EP4741971 A1EP 4741971A1EP-4741971-A1

Abstract

Embodiments of the application provide a method for generating a working map, an operation method, a control method, and a related apparatus. The method for generating a working map includes the following operations. The automatic operation apparatus is controlled to move, to record position information of multiple path points on a movement path of the automatic operation apparatus. Boundary attribute configuration information is received, and boundary attributes of at least a part of the path points are determined according to the boundary attribute configuration information. A working map including position information of multiple boundary points and boundary attributes of at least a part of the boundary points is generated. The position information of multiple boundary points are determined according to the position information of multiple path points, the boundary attribute of the boundary point is determined according to the boundary attribute of the path point, multiple boundary points are configured to indicate a virtual boundary surrounding a preset area, and when the automatic operation apparatus performs operations along the virtual boundary, working modes when the automatic operation apparatus moves to boundary points corresponding to different boundary attributes are different. This solution may improve work efficiency of the automatic operation apparatus.

Inventors

LV, Zhuo
LI, CHUNHONG
YU, TIANNING
LI, Shuai
TANG, Weijie

Assignees

Willand (Beijing) Technology Co., Ltd.

Dates

Publication Date: 20260513
Application Date: 20240524

Claims (15)

An operation method, applied to an automatic operation apparatus, comprising: acquiring a working map, wherein the working map comprises position information of a plurality of boundary points and boundary attributes of at least a part of the boundary points, and the plurality of boundary points are configured to indicate a virtual boundary surrounding a preset area; and controlling, according to the working map, the automatic operation apparatus to perform operations along the virtual boundary, and when the automatic operation apparatus moves to a boundary point with a boundary attribute, controlling, according to the boundary attribute of the boundary point, the automatic operation apparatus to perform operations in a corresponding working mode, wherein working modes when the automatic operation apparatus moves to boundary points corresponding to different boundary attributes are different.
The method of claim 1, wherein the boundary attribute of the boundary point is configured to indicate a relative position relationship between an operation path of the automatic operation apparatus and the virtual boundary when the automatic operation apparatus moves to a boundary segment where the boundary point is located in the virtual boundary to perform operations; or the boundary attribute of the boundary point is configured to indicate a relative position relationship between the operation path of the automatic operation apparatus and an physical boundary, when the automatic operation apparatus moves to the boundary segment where the boundary point is located in the virtual boundary to perform operations.
The method of claim 1, wherein acquiring the working map comprises: acquiring an initial map, wherein the initial map comprises the position information of the plurality of boundary points, and the plurality of boundary points are configured to indicate the virtual boundary surrounding the preset area; configuring boundary attributes for at least a part of the boundary points in the initial map; and generating the working map comprising the position information of the plurality of boundary points and the boundary attributes of at least the part of the boundary points.
The method of claim 3, wherein the initial map comprises: a map generated from a movement path when the automatic operation apparatus is remotely controlled to move, a map generated from a movement path when the automatic operation apparatus moves autonomously, a map drawn by a user, or a map created in advance.
The method of claim 1, wherein controlling, according to the boundary attribute of the boundary point, the automatic operation apparatus to perform operations in the corresponding working mode comprises: if the boundary attribute of the boundary point is a first boundary attribute, controlling the automatic operation apparatus to perform operations in a first working mode, wherein when the automatic operation apparatus performs operations in the first working mode, if a boundary segment where the boundary point is located in the virtual boundary is a physical boundary, the automatic operation apparatus is controlled to straddle the boundary segment where the boundary point is located to perform operations, and if the boundary segment where the boundary point is located in the virtual boundary is not the physical boundary, the automatic operation apparatus is controlled to move toward an area outside the preset area to perform operations.
The method of claim 1, wherein controlling the automatic operation apparatus to perform operations in the corresponding working mode according to the boundary attribute of the boundary point comprises: if the boundary attribute of the boundary point is a second boundary attribute, controlling the automatic operation apparatus to perform operations in a second working mode, wherein when the automatic operation apparatus performs operations in the second working mode, if a boundary segment where the boundary point is located in the virtual boundary is a physical boundary, the automatic operation apparatus is controlled to perform operations, in the preset area, along the boundary segment where the boundary point is located, and if the boundary segment where the boundary point is located in the virtual boundary is not the physical boundary, the automatic operation apparatus is controlled to move toward an area outside the preset area to perform operations.
The method of claim 5 or 6, wherein controlling the automatic operation apparatus to move toward the area outside the preset area to perform operations comprises: if a distance between a physical boundary outside the boundary segment where the boundary point is located and the boundary segment where the boundary point is located is less than or equal to a third distance, controlling the automatic operation apparatus to perform operations along the physical boundary outside the boundary segment where the boundary point is located; and if the distance between the physical boundary outside the boundary segment where the boundary point is located and the boundary segment where the boundary point is located is greater than the third distance, controlling the automatic operation apparatus to perform operations along an extended path, wherein a distance between the extended path and the boundary segment where the boundary point is located is equal to the third distance.
The method of claim 1, wherein controlling, according to the boundary attribute of the boundary point, the automatic operation apparatus to perform operations in the corresponding working mode comprises: if the boundary attribute of the boundary point is a third boundary attribute, controlling the automatic operation apparatus to perform operations in a third working mode, so that the automatic operation apparatus performs operations, in the preset area, along the boundary segment where the boundary point is located.
The method of claim 1, further comprising: when the automatic operation apparatus moves from a first boundary segment where a first boundary point is located to a second boundary segment where a second boundary point is located, controlling a distance between an operation path of the automatic operation apparatus and a physical boundary to be changed from a first distance to a second distance, wherein the first boundary point and the second boundary point are adjacent boundary points in the virtual boundary, and the first boundary point and the second boundary point correspond to different boundary attributes.
The method of claim 9, wherein when the automatic operation apparatus moves from the first boundary segment to the second boundary segment, the automatic operation apparatus moves from a terminal end of the first boundary segment to an end of a transition path segment, and moves from another end of the transition path segment to a head end of the second boundary segment.
The method of any one of claims 1 to 10, wherein acquiring the working map comprises: controlling, according to a control instruction received from a control device external to the automatic operation apparatus, the automatic operation apparatus to move, to record, by the automatic operation apparatus, position information of a plurality of path points on a movement path of the automatic operation apparatus; receiving boundary attribute configuration information sent from the control device external to the automatic operation apparatus, and determining, according to the boundary attribute configuration information, boundary attributes of at least a part of the plurality of path points; and generating a working map comprising position information of a plurality of boundary points and boundary attributes of at least a part of the boundary points, wherein the position information of the plurality of boundary points is determined according to the position information of the plurality of path points, the boundary attributes of the at least the part of the boundary points are determined according to the boundary attributes of the at least the part of the plurality of path points, the plurality of boundary points are configured to indicate a virtual boundary surrounding a preset area.
The method of claim 11, wherein controlling the automatic operation apparatus to move comprises: if the automatic operation apparatus recognizes an physical boundary meeting an autonomous movement condition, controlling the automatic operation apparatus to autonomously move along the physical boundary, wherein controlling the automatic operation apparatus to autonomously move along the physical boundary comprises: if a boundary attribute indicated by most recently received boundary attribute configuration information is the first boundary attribute, controlling the automatic operation apparatus to straddle the physical boundary and autonomously move along the physical boundary; and if the boundary attribute indicated by the most recently received boundary attribute configuration information is the second boundary attribute or the third boundary attribute, controlling the automatic operation apparatus to autonomously move along the physical boundary in an area surrounded by the physical boundary.
The method of any one of claims 1 to 12, wherein the boundary attributes comprise at least two of a first boundary attribute, a second boundary attribute and a third boundary attribute.
An automatic operation apparatus, comprising: a map acquisition unit, configured to acquire a working map, wherein the working map comprises position information of a plurality of boundary points and boundary attributes of at least a part of the boundary points, and the plurality of boundary points are configured to indicate a virtual boundary surrounding a preset area; and an operation control unit, configured to control the automatic operation apparatus to perform operations along the virtual boundary according to the working map, and when the automatic operation apparatus moves to a boundary point with a boundary attribute, control the automatic operation apparatus to perform operations in a corresponding working mode according to the boundary attribute of the boundary point, wherein working modes when the automatic operation apparatus moves to boundary points corresponding to different boundary attributes are different.
An electronic device, comprising a processor, a memory, a communication interface and a communication bus, wherein mutual communication among the processor, the memory and the communication interface is implemented through the communication bus, the memory is configured to store at least one executable instruction which enables the processor to perform the method for generating a working map of any one of claims 1 to 13.

Description

TECHNICAL FIELD Embodiments of the disclosure relate to the technical field of automation, and in particular to a method for generating a working map, an operation method, a control method, and a related apparatus. BACKGROUND With the continuous development of science and technology, automation devices are more and more widely applied to daily life, such as an automatic sweeping robot, or an automatic lawn mower, etc. At present, the automatic lawn mower performs mowing operations in a predetermined work area, and when the automatic lawn mower performs mowing operations at a boundary of the work area, the automatic lawn mower generally adopts a preset working mode to mow grass, for example, to mow grass close to the boundary of the work area in the boundary of the work area, etc. However, since actual work environments are complex and changeable, and the automatic lawn mower adopts a single working mode when it performs the mowing operations at the boundary of the work area, there may be a situation where the automatic lawn mower fails to clean the grass in at least a part of the boundary of the work area, and then the automatic lawn mower often needs to rework to mow grass, which reduces work efficiency of the automatic lawn mower. SUMMARY In view of the above, embodiments of the disclosure provide a method for generating a working map, an operation method, a control method, and a related apparatus, to at least partially solve the above problem. According to a first aspect of the embodiments of the disclosure, there is provided a method for generating a working map, the method is applied to an automatic operation apparatus, and the method includes the following operations. The automatic operation apparatus is controlled to move, to record, by the automatic operation apparatus, position information of a plurality of path points on a movement path of the automatic operation apparatus. Boundary attribute configuration information is received, and boundary attributes of at least a part of a plurality of path points are determined according to the boundary attribute configuration information. A working map including position information of a plurality of boundary points and boundary attributes of at least a part of the boundary points is generated. The position information of a plurality of boundary points are determined according to the position information of a plurality of path points, the boundary attribute of the boundary point is determined according to the boundary attribute of the path point, a plurality of boundary points are configured to indicate including a virtual boundary surrounding a preset area, and when the automatic operation apparatus performs operations along the virtual boundary according to the working map, working modes when the automatic operation apparatus moves to boundary points corresponding to different boundary attributes are different. According to a second aspect of the embodiments of the disclosure, there is provided an operation method, the method is applied to an automatic operation apparatus, and the method includes the following operations. A working map is acquired, the working map includes position information of a plurality of boundary points and boundary attributes of at least a part of the boundary points, and a plurality of boundary points are configured to indicate a virtual boundary surrounding a preset area. The automatic operation apparatus is controlled to perform operations along the virtual boundary according to the working map, and when the automatic operation apparatus moves to a boundary point with a boundary attribute, the automatic operation apparatus is controlled to perform operations in a corresponding working mode according to the boundary attribute of the boundary point. Working modes when the automatic operation apparatus moves to boundary points corresponding to different boundary attributes are different. According to a third aspect of the embodiments of the disclosure, there is provided a method for controlling an automatic operation apparatus, the method is applied to a control device external to the automatic operation apparatus, and the method includes the following operations. Boundary attribute configuration information is sent to the automatic operation apparatus. A motion control instruction is sent to the automatic operation apparatus, to instruct the automatic operation apparatus to move, to enable the automatic operation apparatus to record position information of a plurality of path points on a movement path, and determine, according to the boundary attribute configuration information, boundary attributes of at least a part of a plurality of path points, and generate a working map including position information of a plurality of boundary points and boundary attributes of at least a part of the boundary points. The position information of a plurality of boundary points are determined according to the position information of a plurality o