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US-20260126299-A1 - AREA BOUNDARY LINE GENERATION METHOD, GROUND MOBILE ROBOT, AND STORAGE MEDIUM

US20260126299A1US 20260126299 A1US20260126299 A1US 20260126299A1US-20260126299-A1

Abstract

The present disclosure relates to the technical field of image processing, and provides a method for generating a boundary line of an area, a ground mobile robot, and a storage medium. The method includes: determining sub-boundary lines one by one according to a predetermined strategy, each respective sub-boundary line having an identical or different length, where the predetermined strategy includes: acquiring boundary points sequentially one by one, and determining a start point and an end point of the respective sub-boundary line based on at least one of an angle and a height of a shape formed by respective boundary points of the boundary points; and performing linear fitting on boundary points between the start point and the end point to obtain the respective sub-boundary line, wherein the shape is a triangle.

Inventors

  • Chong Wu
  • Yunbo Hong

Assignees

  • JIANGSU DONGCHENG M&E TOOLS CO., LTD.

Dates

Publication Date
20260507
Application Date
20251229
Priority Date
20231229

Claims (20)

  1. 1 . A method for generating a boundary line of an area, the boundary line including a plurality of sub-boundary lines, and the method comprising: determining sub-boundary lines one by one according to a predetermined strategy, each respective sub-boundary line of the plurality of sub-boundary lines having an identical or different length; wherein the predetermined strategy includes: acquiring boundary points sequentially one by one, and determining a start point and an end point of the respective sub-boundary line based on at least one of an angle and a height of a shape determined by respective boundary points of the boundary points; and performing linear fitting on boundary points between the start point and the end point to obtain the respective sub-boundary line, wherein the shape is a triangle.
  2. 2 . The method according to claim 1 , wherein when a number of boundary points on the respective sub-boundary line is less than a preset value, a height of a shape formed by the start point and the end point of the respective sub-boundary line together with a boundary point on an adjacent next sub-boundary line is configured as greater than a preset height value.
  3. 3 . The method according to claim 2 , wherein the end point of the respective sub-boundary line is configured as the start point of the adjacent next sub-boundary line, and the boundary point on the adjacent next sub-boundary line is configured as an adjacent next boundary point located after the start point of the adjacent next sub-boundary line.
  4. 4 . The method according to claim 1 , wherein when a number of boundary points on the respective sub-boundary line is not less than a preset value, the angle at the start point of the shape formed by the boundary points is less than or equal to a preset angle value.
  5. 5 . The method according to claim 1 , wherein when a number of boundary points on the respective sub-boundary line is not less than a preset value, a height of a shape formed by the start point and the end point of the respective sub-boundary line together with the boundary point between the start point and the end point of the respective sub-boundary line is not greater than a preset height value.
  6. 6 . The method according to claim 4 , wherein a height of a shape formed by the start point and the end point of the respective sub-boundary line together with the boundary point on an adjacent next sub-boundary line is greater than a preset height value.
  7. 7 . The method according to claim 4 , wherein in a shape formed by the start point and the end point of the respective sub-boundary line together with a boundary point on an adjacent next sub-boundary line, the angle at the start point is greater than a preset angle value.
  8. 8 . The method according to claim 4 , wherein a number of boundary points on the respective sub-boundary line is greater than or equal to a preset maximum value.
  9. 9 . The method according to claim 5 , wherein the height of the shape is defined as a height value corresponding to a base line formed by connecting the start point and the end point of the respective boundary line.
  10. 10 . The method according to claim 6 , wherein the height of the shape is defined as a height value corresponding to a base line formed by connecting the start point and the end point of the respective boundary line.
  11. 11 . The method according to claim 1 , wherein there is an inflection point between adjacent sub-boundary lines.
  12. 12 . The method according to claim 11 , wherein acquiring the boundary points sequentially one by one comprise: performing sampling from a sensing route of the ground mobile robot targeting a boundary of a target area according to a preset interval distance to acquire a plurality of sequentially arranged boundary points.
  13. 13 . A ground mobile robot, comprising: at least one processor; and a memory, communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are configured to cause, when executed by the at least one processor, the at least one processor to execute the method according to claim 1 .
  14. 14 . A non-transitory computer-readable storage medium storing a computer program, wherein the computer program is configured to implement, when executed by a processor, a method for generating a boundary line of an area, the boundary line including a plurality of sub-boundary lines, and the method including: determining sub-boundary lines one by one according to a predetermined strategy, each respective sub-boundary line of the plurality of sub-boundary lines having an identical or different length; wherein the predetermined strategy includes: acquiring boundary points sequentially one by one, and determining a start point and an end point of the respective sub-boundary line based on at least one of an angle and a height of a shape determined by respective boundary points of the boundary points; and performing linear fitting on boundary points between the start point and the end point to obtain the respective sub-boundary line wherein the shape is a triangle.
  15. 15 . The non-transitory computer-readable storage medium according to claim 14 , wherein when a number of boundary points on the respective sub-boundary line is less than a preset value, a height of a shape formed by the start point and the end point of the respective sub-boundary line together with a boundary point on an adjacent next sub-boundary line is configured as greater than a preset height value.
  16. 16 . The non-transitory computer-readable storage medium according to claim 15 , wherein the end point of the respective sub-boundary line is configured as the start point of the adjacent next sub-boundary line, and the boundary point on the adjacent next sub-boundary line is configured as an adjacent next boundary point located after the start point of the adjacent next sub-boundary line.
  17. 17 . The non-transitory computer-readable storage medium according to claim 14 , wherein when a number of boundary points on the respective sub-boundary line is not less than a preset value, the angle at the start point of the shape formed by the respective boundary points is less than or equal to a preset angle value.
  18. 18 . The non-transitory computer-readable storage medium according to claim 14 , wherein a height of a shape formed by the start point and the end point of the respective sub-boundary line together with the boundary point between the start point and the end point of the respective sub-boundary line is not greater than a preset height value.
  19. 19 . The non-transitory computer-readable storage medium according to claim 17 , wherein a height of a shape formed by the start point and the end point of the respective sub-boundary line together with the boundary point on an adjacent next sub-boundary line is greater than a preset height value.
  20. 20 . The non-transitory computer-readable storage medium according to claim 17 , wherein in a shape formed by the start point and the end point of the respective sub-boundary line together with the boundary point on an adjacent next sub-boundary line, the angle at the start point is greater than a preset angle value.

Description

CROSS REFERENCE TO RELATED APPLICATIONS The present application is a continuation of PCT Patent Application No. PCT/CN2024/126553, entitled “AREA BOUNDARY LINE GENERATION METHOD, GROUND MOBILE ROBOT, AND STORAGE MEDIUM,” filed Oct. 22, 2024, which claims priority to Chinese patent application No. 202311870841.3, entitled “AREA BOUNDARY LINE GENERATION METHOD, GROUND MOBILE ROBOT, AND STORAGE MEDIUM,” filed Dec. 29, 2023, each of which is incorporated by reference herein in its entirety. TECHNICAL FIELD Embodiments of the present disclosure relate to the technical field of image processing, and more specifically to an area boundary line generation method, a ground mobile robot, and a storage medium. BACKGROUND Ground mobile robots such as intelligent lawn mowers and intelligent floor sweepers liberate users' hands by eliminating the need for direct manual operation, thereby improving work efficiency and gaining increasing popularity. Currently, to enable more rational work planning for such a ground mobile robot, it is necessary to determine its working area prior to operation to prevent exceeding the boundary during work, that is, the ground mobile robot requires map construction for the working area. SUMMARY Embodiments of the present disclosure provide an area boundary line generation method, a ground mobile robot, and a storage medium, enabling the ground mobile robot to obtain an area boundary line more rapidly and accurately. The embodiments of the present disclosure provide a method for generating a boundary line of an area, applied to a ground mobile robot, where the boundary line includes a plurality of sub-boundary lines, and the method includes: determining sub-boundary lines one by one according to a predetermined strategy, each respective sub-boundary line having an identical or different length; the predetermined strategy includes: acquiring boundary points sequentially one by one, and determining a start point and an end point of the respective sub-boundary line based on at least one of an angle and a height of a shape formed by respective boundary points of the boundary points; and performing linear fitting on boundary points between the start point and the end point to obtain the respective sub-boundary line. The present disclosure further provides a ground mobile robot, including: at least one processor; and a memory, communicatively connected to the at least one processor. The memory stores instructions executable by the at least one processor, and the instructions are configured to cause, when executed by the at least one processor, the at least one processor to execute the method for generating the boundary line of the area in any of the above embodiments. The present disclosure further provides a computer-readable storage medium storing a computer program, where the computer program is configured to implement, when executed by a processor, the method for generating the boundary line of the area in any of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS One or more embodiments are exemplarily described with reference to the corresponding figures in the accompanying drawings, and the descriptions are not to be construed as limiting the embodiments. FIG. 1 is a flowchart of a first area boundary line generation method provided by embodiments of the present disclosure. FIG. 2 is a flowchart of a second area boundary line generation method provided by embodiments of the present disclosure. FIG. 3 is a flowchart of a third area boundary line generation method provided by embodiments of the present disclosure. FIG. 4 is a flowchart of a fourth area boundary line generation method provided by embodiments of the present disclosure. FIG. 5 is a schematic diagram of multiple boundary points provided by embodiments of the present disclosure. FIG. 6 is a schematic diagram of an area boundary line generation apparatus provided by embodiments of the present disclosure. FIG. 7 is a structural schematic diagram of a ground mobile robot provided by embodiments of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS To make the objects, technical solutions and advantages of the present disclosure clearer, embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings. Those of ordinary skill in the art should appreciate that in embodiments of the present disclosure, numerous technical details have been presented to enable better understanding of the present disclosure. However, even without these technical details and various variations and modifications based on the following embodiments, the technical solutions claimed in the present disclosure can be realized. The division of the following embodiments is for descriptive convenience and shall not constitute any limitation on specific implementation manners of the present disclosure. The embodiments can be combined and cross-referenced with each other without contradiction. Ground mobi