US-20260126806-A1 - METHOD FOR BOUNDARY OPERATION, APPARATUS FOR BOUNDARY OPERATION, ELECTRONIC DEVICE, AND STORAGE MEDIUM

Abstract

A method for a boundary operation, an apparatus for a boundary operation, an electronic device an electronic device, and a storage medium are provided. The method for a boundary operation comprises: controlling an autonomous operating apparatus to move based on a virtual boundary and detecting a physical boundary while the autonomous operating apparatus moves; determining a boundary type of the physical boundary, after detecting the physical boundary; and controlling the autonomous operating apparatus to move in a corresponding operation mode based on the boundary type of the physical boundary, wherein at least two boundary types are defined for the physical boundary, the at least two boundary types correspond to at least two operation modes respectively, and when the autonomous operating apparatus moves in different operation modes, a respective distance between the autonomous operating apparatus and the physical boundary in each of the operation modes is different.

Inventors

• Hanjun Zhang
• Chunhong Li
• Tianning Yu
• Zichong CHEN

Assignees

• Willand (Beijing) Technology Co., Ltd.

Dates

Publication Date

20260507

Application Date

20251231

Priority Date

20230831

Claims (20)

1. 1 . A method for a boundary operation, applied to an autonomous operating apparatus, comprising: controlling the autonomous operating apparatus to move based on a virtual boundary and detecting a physical boundary while the autonomous operating apparatus moves; determining a boundary type of the physical boundary, after detecting the physical boundary; and controlling the autonomous operating apparatus to move in a corresponding operation mode based on the boundary type of the physical boundary, wherein at least two boundary types are defined for the physical boundary, the at least two boundary types correspond to at least two operation modes respectively, and when the autonomous operating apparatus moves in different operation modes, a respective distance between the autonomous operating apparatus and the physical boundary in each of the operation modes is different.
2. 2 . The method according to claim 1 , wherein the controlling the autonomous operating apparatus to move in the corresponding operation mode based on the boundary type of the physical boundary comprises: obtaining a boundary attribute of a first boundary segment corresponding to the physical boundary in the virtual boundary; and controlling the autonomous operating apparatus to move in the corresponding operation mode based on the boundary type of the physical boundary and the boundary attribute of the first boundary segment.
3. 3 . The method according to claim 2 , wherein the controlling the autonomous operating apparatus to move in the corresponding operation mode based on the boundary type of the physical boundary and the boundary attribute of the first boundary segment comprises: in response to the physical boundary being within a region enclosed by the virtual boundary, or the physical boundary being outside the region enclosed by the virtual boundary and spaced from the first boundary segment by less than a first distance, controlling the autonomous operating apparatus to move in a first operation mode when the boundary attribute of the first boundary segment is a first boundary attribute and the boundary type of the physical boundary is a first boundary type, so that the autonomous operating apparatus moves within the region enclosed by the virtual boundary following an operation path spaced from the physical boundary by the first distance; and in response to the physical boundary being within the region enclosed by the virtual boundary, or the physical boundary being outside the region enclosed by the virtual boundary and spaced from the first boundary segment by less than a second distance, controlling the autonomous operating apparatus to move in a second operation mode when the boundary attribute of the first boundary segment is the first boundary attribute and the boundary type of the physical boundary is a second boundary type or a third boundary type, so that the autonomous operating apparatus moves within the region enclosed by the virtual boundary following an operation path spaced from the physical boundary by the second distance, wherein the second distance is less than the first distance.
4. 4 . The method according to claim 3 , wherein the controlling the autonomous operating apparatus to move in the corresponding operation mode based on the boundary type of the physical boundary and the boundary attribute of the first boundary segment comprises: in response to the physical boundary being outside the region enclosed by the virtual boundary, and the physical boundary being spaced from the first boundary segment by greater than or equal to the first distance, controlling the autonomous operating apparatus to move in a third operation mode when the boundary attribute of the first boundary segment is the first boundary attribute and the boundary type of the physical boundary is the first boundary type, so that the autonomous operating apparatus moves within the region enclosed by the virtual boundary following an operation path spaced from the virtual boundary by a third distance, wherein the third distance is less than the second distance; and in response to the physical boundary being outside the region enclosed by the virtual boundary, and the physical boundary being spaced from the first boundary segment by greater than or equal to the second distance, controlling the autonomous operating apparatus to move in the third operation mode when the boundary attribute of the first boundary segment is the first boundary attribute, and the boundary type of the physical boundary is the second boundary type or the third boundary type.
5. 5 . The method according to claim 3 , wherein the controlling the autonomous operating apparatus to move in the corresponding operation mode based on the boundary type of the physical boundary and the boundary attribute of the first boundary segment comprises: determining an expanded boundary based on the virtual boundary when the boundary attribute of the first boundary segment is a second boundary attribute, wherein the expanded boundary is outside the region enclosed by the virtual boundary and is spaced from the virtual boundary by a sixth distance; in response to the physical boundary being within a region enclosed by the expanded boundary, or the physical boundary being outside the region enclosed by the expanded boundary and spaced from the expanded boundary by less than the first distance, controlling the autonomous operating apparatus to move in the first operation mode when the boundary attribute of the first boundary segment is the second boundary attribute and the boundary type of the physical boundary is the first boundary type, so that the autonomous operating apparatus moves within the region enclosed by the expanded boundary following the operation path spaced from the physical boundary by the first distance; and in response to the physical boundary being within the region enclosed by the expanded boundary, or the physical boundary being outside the region enclosed by the expanded boundary and spaced from the expanded boundary by less than the second distance, controlling the autonomous operating apparatus to move in the second operation mode when the boundary attribute of the first boundary segment is the second boundary attribute and the boundary type of the physical boundary is the second boundary type or the third boundary type, so that the autonomous operating apparatus moves within the region enclosed by the expanded boundary following the operation path spaced from the physical boundary by the second distance.
6. 6 . The method according to claim 5 , wherein the controlling the autonomous operating apparatus to move in the corresponding operation mode based on the boundary type of the physical boundary and the boundary attribute of the first boundary segment comprises: in response to the physical boundary being outside the region enclosed by the expanded boundary, and the physical boundary being spaced from the expanded boundary by greater than or equal to the first distance, controlling the autonomous operating apparatus to move in a fourth operation mode when the boundary attribute of the first boundary segment is the second boundary attribute and the boundary type of the physical boundary is the first boundary type, so that the autonomous operating apparatus moves within the region enclosed by the expanded boundary following an operation path spaced from the expanded boundary by a fourth distance, wherein the fourth distance is less than the second distance; and in response to the physical boundary being outside the region enclosed by the expanded boundary, and the physical boundary being spaced from the expanded boundary by greater than or equal to the second distance, controlling the autonomous operating apparatus to move in the fourth operation mode when the boundary attribute of the first boundary segment is the second boundary attribute, and the boundary type of the physical boundary is the second boundary type or the third boundary type.
7. 7 . The method according to claim 3 , wherein the controlling the autonomous operating apparatus to move in the corresponding operation mode based on the boundary type of the physical boundary and the boundary attribute of the first boundary segment comprises: in response to the physical boundary being within the region enclosed by the virtual boundary, or the physical boundary being outside the region enclosed by the virtual boundary and spaced from the first boundary segment by less than the first distance, controlling the autonomous operating apparatus to move in the first operation mode when the boundary attribute of the first boundary segment is a third boundary attribute and the boundary type of the physical boundary is the first boundary type; in response to the physical boundary being within the region enclosed by the virtual boundary, or the physical boundary being outside the region enclosed by the virtual boundary and spaced from the first boundary segment by less than the second distance, controlling the autonomous operating apparatus to move in the second operation mode when the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the second boundary type; and in response to the physical boundary being within the region enclosed by the virtual boundary or on the virtual boundary, controlling the autonomous operating apparatus to move in a fifth operation mode when the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the third boundary type, so that the autonomous operating apparatus moves while straddling the physical boundary.
8. 8 . The method according to claim 7 , wherein the controlling the autonomous operating apparatus to move in the corresponding operation mode based on the boundary type of the physical boundary and the boundary attribute of the first boundary segment comprises: in response to the physical boundary being outside the region enclosed by the virtual boundary, and the physical boundary being spaced from the first boundary segment by greater than or equal to the first distance, controlling the autonomous operating apparatus to move in a sixth operation mode when the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the first boundary type, so that the autonomous operating apparatus moves within the region enclosed by the virtual boundary following an operation path spaced from the virtual boundary by a fifth distance, wherein the fifth distance is less than the second distance; in response to the physical boundary being outside the region enclosed by the virtual boundary, and the physical boundary being spaced from the first boundary segment by greater than or equal to the second distance, controlling the autonomous operating apparatus to move in the sixth operation mode when the boundary attribute of the first boundary segment is the third boundary attribute, and the boundary type of the physical boundary is the second boundary type; and in response to the physical boundary being outside the region enclosed by the virtual boundary, controlling the autonomous operating apparatus to move in the sixth operation mode when the boundary attribute of the first boundary segment is the third boundary attribute, and the boundary type of the physical boundary is the third boundary type.
9. 9 . The method according to claim 1 , wherein the method further comprises: obtaining a boundary attribute of a second boundary segment in the virtual boundary when no physical boundary is detected, wherein the second boundary segment is a boundary segment with the smallest spacing from the autonomous operating apparatus in the virtual boundary; and controlling the autonomous operating apparatus to move in the corresponding operation mode based on the boundary attribute of the second boundary segment.
10. 10 . The method according to claim 9 , wherein the controlling the autonomous operating apparatus to move in the corresponding operation mode based on the boundary attribute of the second boundary segment comprises: in response to the boundary attribute of the second boundary segment being a first boundary attribute, controlling the autonomous operating apparatus to move in a third operation mode, so that the autonomous operating apparatus moves within the region enclosed by the virtual boundary following an operation path spaced from the second boundary segment by a third distance; in response to the boundary attribute of the second boundary segment being a second boundary attribute, controlling the autonomous operating apparatus to move in a fourth operation mode, so that the autonomous operating apparatus moves within a region enclosed by an expanded boundary following an operation path spaced from the expanded boundary by a fourth distance, wherein the expanded boundary is outside the region enclosed by the virtual boundary and spaced from the virtual boundary by a sixth distance; and in response to the boundary attribute of the second boundary segment being a third boundary attribute, controlling the autonomous operating apparatus to move in a sixth operation mode, so that the autonomous operating apparatus moves within the region enclosed by the virtual boundary following an operation path spaced from the second boundary segment by a fifth distance.
11. 11 . The method according to claim 1 , wherein the method further comprises: controlling the autonomous operating apparatus to move autonomously along the physical boundary to generate at least part of the virtual boundary; and in a process of controlling the autonomous operating apparatus to move autonomously along the physical boundary, in response to the boundary type of the physical boundary being the first boundary type, controlling the autonomous operating apparatus to move within the region enclosed by the physical boundary following a map establishment path spaced from the physical boundary by the first distance, and collecting a plurality of path points on the map establishment path, to generate the at least part of the virtual boundary based on the plurality of path points; and in response to the boundary type of the physical boundary being the second boundary type or the third boundary type, controlling the autonomous operating apparatus to move within the region enclosed by the physical boundary following a map establishment path spaced from the physical boundary by the second distance, and collecting a plurality of path points on the map establishment path, to generate the at least part of the virtual boundary based on the plurality of path points, wherein the second distance is less than the first distance.
12. 12 . The method according to claim 1 , wherein the first boundary type is indicative of a physical boundary that causes the autonomous operating apparatus to be at risk of falling or being trapped, the second boundary type is indicative of a physical boundary where the autonomous operating apparatus faces no risk of falling or being trapped, and the third boundary type is indicative of a physical boundary straddled by the autonomous operating apparatus during operation.
13. 13 . The method according to claim 1 , wherein the determining the boundary type of the physical boundary after detecting the physical boundary comprises: inputting, after acquiring an image comprising the physical boundary, the image into a classification model, wherein the classification model comprises a first module, a second module, and a third module, the first module is configured to perform feature extraction on the image, to obtain an original feature map corresponding to the image, and output a plurality of processed feature maps obtained by downsampling the original feature map at different scales to the second module, the second module is configured to fuse the plurality of processed feature maps to obtain a fused feature map, and output the fused feature map to the third module, and the third module is configured to determine position information and the boundary type of the physical boundary based on the fused feature map; and obtaining an output result from the classification model, wherein the output result comprises the position information and the boundary type of the physical boundary outputted from the third module.
14. 14 . The method according to claim 13 , wherein the third module comprises a first submodule, a second submodule, and a third submodule, the first submodule is configured to output whether there is a physical boundary within each region in the fused feature map, the second submodule is configured to output position information of a physical boundary within each region of the fused feature map with the physical boundary, the third submodule is configured to output an image category of each region in the fused feature map, and the third module is configured to determine the position information and the boundary type of the physical boundary based on output results from the first submodule, the second submodule, and the third submodule.
15. 15 . An apparatus for a boundary operation, comprising: a processor, a memory, a communications interface, and a communication bus, wherein the processor, the memory, and the communications interface are configured to communicate with each other through the communication bus; and the memory is configured to store at least one executable instruction, wherein the executable instruction causes the processor to: control an autonomous operating apparatus to move based on a virtual boundary and detect a physical boundary while the autonomous operating apparatus moves; determine a boundary type of the physical boundary, after detecting the physical boundary; and control the autonomous operating apparatus to move in a corresponding operation mode based on the boundary type of the physical boundary, wherein at least two boundary types are defined for the physical boundary, the at least two boundary types correspond to at least two operation modes respectively, and when the autonomous operating apparatus moves in different operation modes, a respective distance between the autonomous operating apparatus and the physical boundary in each of the operation modes is different.
16. 16 . The apparatus according to claim 15 , the processor is further configured to: obtain a boundary attribute of a first boundary segment corresponding to the physical boundary in the virtual boundary; and control the autonomous operating apparatus to move in the corresponding operation mode based on the boundary type of the physical boundary and the boundary attribute of the first boundary segment.
17. 17 . The apparatus according to claim 16 , the processor is further configured to: in response to the physical boundary being within a region enclosed by the virtual boundary, or the physical boundary being outside the region enclosed by the virtual boundary and spaced from the first boundary segment by less than a first distance, control the autonomous operating apparatus to move in a first operation mode when the boundary attribute of the first boundary segment is a first boundary attribute and the boundary type of the physical boundary is a first boundary type, so that the autonomous operating apparatus moves within the region enclosed by the virtual boundary following an operation path spaced from the physical boundary by the first distance; and in response to the physical boundary being within the region enclosed by the virtual boundary, or the physical boundary being outside the region enclosed by the virtual boundary and spaced from the first boundary segment by less than a second distance, control the autonomous operating apparatus to move in a second operation mode when the boundary attribute of the first boundary segment is the first boundary attribute and the boundary type of the physical boundary is a second boundary type or a third boundary type, so that the autonomous operating apparatus moves within the region enclosed by the virtual boundary following an operation path spaced from the physical boundary by the second distance, wherein the second distance is less than the first distance.
18. 18 . The apparatus according to claim 17 , the processor is further configured to implement at least one of a first operation, a second operation, and a third operation: wherein the first operation further comprises: in response to the physical boundary being outside the region enclosed by the virtual boundary, and the physical boundary being spaced from the first boundary segment by greater than or equal to the first distance, controlling the autonomous operating apparatus to move in a third operation mode when the boundary attribute of the first boundary segment is the first boundary attribute and the boundary type of the physical boundary is the first boundary type, so that the autonomous operating apparatus moves within the region enclosed by the virtual boundary following an operation path spaced from the virtual boundary by a third distance, wherein the third distance is less than the second distance; and in response to the physical boundary being outside the region enclosed by the virtual boundary, and the physical boundary being spaced from the first boundary segment by greater than or equal to the second distance, controlling the autonomous operating apparatus to move in the third operation mode when the boundary attribute of the first boundary segment is the first boundary attribute, and the boundary type of the physical boundary is the second boundary type or the third boundary type; the second operation further comprises: determining an expanded boundary based on the virtual boundary when the boundary attribute of the first boundary segment is a second boundary attribute, wherein the expanded boundary is outside the region enclosed by the virtual boundary and is spaced from the virtual boundary by a sixth distance; in response to the physical boundary being within a region enclosed by the expanded boundary, or the physical boundary being outside the region enclosed by the expanded boundary and spaced from the expanded boundary by less than the first distance, controlling the autonomous operating apparatus to move in the first operation mode when the boundary attribute of the first boundary segment is the second boundary attribute and the boundary type of the physical boundary is the first boundary type, so that the autonomous operating apparatus moves within the region enclosed by the expanded boundary following the operation path spaced from the physical boundary by the first distance; and in response to the physical boundary being within the region enclosed by the expanded boundary, or the physical boundary being outside the region enclosed by the expanded boundary and spaced from the expanded boundary by less than the second distance, controlling the autonomous operating apparatus to move in the second operation mode when the boundary attribute of the first boundary segment is the second boundary attribute and the boundary type of the physical boundary is the second boundary type or the third boundary type, so that the autonomous operating apparatus moves within the region enclosed by the expanded boundary following the operation path spaced from the physical boundary by the second distance; and the third operation further comprises: in response to the physical boundary being within the region enclosed by the virtual boundary, or the physical boundary being outside the region enclosed by the virtual boundary and spaced from the first boundary segment by less than the first distance, controlling the autonomous operating apparatus to move in the first operation mode when the boundary attribute of the first boundary segment is a third boundary attribute and the boundary type of the physical boundary is the first boundary type; in response to the physical boundary being within the region enclosed by the virtual boundary, or the physical boundary being outside the region enclosed by the virtual boundary and spaced from the first boundary segment by less than the second distance, controlling the autonomous operating apparatus to move in the second operation mode when the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the second boundary type; and in response to the physical boundary being within the region enclosed by the virtual boundary or on the virtual boundary, controlling the autonomous operating apparatus to move in a fifth operation mode when the boundary attribute of the first boundary segment is the third boundary attribute and the boundary type of the physical boundary is the third boundary type, so that the autonomous operating apparatus moves while straddling the physical boundary.
19. 19 . An electronic device, comprising: a processor, a memory, a communications interface, and a communication bus, wherein the processor, the memory, and the communications interface are configured to communicate with each other through the communication bus; and the memory is configured to store at least one executable instruction, wherein the executable instruction causes the processor to implement the method according to claim 1 .
20. 20 . A non-transitory computer storage medium, storing a computer program thereon, wherein the program, when executed by a processor, implements a method for a boundary operation, the method comprises: controlling the autonomous operating apparatus to move based on a virtual boundary and detecting a physical boundary while the autonomous operating apparatus moves; determining a boundary type of the physical boundary, after detecting the physical boundary; and controlling the autonomous operating apparatus to move in a corresponding operation mode based on the boundary type of the physical boundary, wherein at least two boundary types are defined for the physical boundary, the at least two boundary types correspond to at least two operation modes respectively, and when the autonomous operating apparatus moves in different operation modes, a respective distance between the autonomous operating apparatus and the physical boundary in each of the operation modes is different.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS AND INCORPORATION BY REFERENCE The present disclosure is a continuation of International Application No. PCT/CN2024/108257, filed on Jul. 29, 2024, which claims priority to Chinese Patent Application No. 202311117364.3, filed on Aug. 31, 2023, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD Embodiments of the present disclosure relate to the technical field of automation, and particularly relate to a method for a boundary operation, an apparatus for a boundary operation, an electronic device, and a storage medium. BACKGROUND With the continuous development of automation technology, more and more autonomous operating apparatuses are applied to work or life, such as an autonomous lawn mower or an autonomous sweeping robot. At present, during boundary mowing, an autonomous lawn mower generally moves for mowing along a boundary of a to-be-mowed region, and during the boundary mowing, the autonomous lawn mower is controlled to maintain a preset distance from the boundary of the to-be-mowed region as much as possible, to reduce a possibility that the autonomous lawn mower is damaged or trapped due to collision with an obstacle outside the to-be-mowed region. However, a magnitude of the preset distance is usually preset by a designer of the autonomous lawn mower based on a common scenario of the autonomous lawn mower. Given that an actual work environment is complex and changeable, the preset distance is usually large, so that during the boundary mowing, the autonomous lawn mower substantially fails to clean grass in the vicinity of the boundary of the to-be-mowed region, and then the autonomous lawn mower often needs to manually clean or rework to clean the grass, thereby resulting in a low mowing efficiency of the autonomous lawn mower. SUMMARY In view of the above, embodiments of the present disclosure provide a method for a boundary operation, an apparatus for a boundary operation, an electronic device, and a storage medium, to at least partially solve the above problem. According to an embodiment in a first aspect of the present disclosure, a method for a boundary operation is provided, wherein the method is applied to an autonomous operating apparatus, and comprises: controlling the autonomous operating apparatus to move based on a virtual boundary and detecting a physical boundary while the autonomous operating apparatus moves; determining a boundary type of the physical boundary, after detecting the physical boundary; and controlling the autonomous operating apparatus to move in a corresponding operation mode based on the boundary type of the physical boundary, wherein at least two boundary types are defined for the physical boundary, the at least two boundary types correspond to at least two operation modes respectively, and when the autonomous operating apparatus moves in different operation modes, a respective distance between the autonomous operating apparatus and the physical boundary in each of the operation modes is different. According to an embodiment in a second aspect of the present disclosure, an apparatus for a boundary operation is provided, comprising: a detection unit configured to control the autonomous operating apparatus to move based on a virtual boundary and detect a physical boundary while the autonomous operating apparatus moves; an identification unit configured to determine a boundary type of the physical boundary, after detecting the physical boundary; and a control unit configured to control the autonomous operating apparatus to move in a corresponding operation mode based on the boundary type of the physical boundary, wherein at least two boundary types are defined for the physical boundary, the at least two boundary types correspond to at least two operation modes respectively, and when the autonomous operating apparatus moves in different operation modes, a respective distance between the autonomous operating apparatus and the physical boundary in each of the operation modes is different. According to an embodiment in a third aspect of the present disclosure, an electronic device is provided, comprising: a processor, a memory, a communications interface, and a communication bus, wherein the processor, the memory, and the communications interface are configured to communicate with each other through the communication bus; and the memory is configured to store at least one executable instruction, wherein the executable instruction causes the processor to implement corresponding operations of the method in the above first aspect. According to an embodiment in a fourth aspect of the present disclosure, a computer storage medium is provided, storing a computer program thereon, wherein the program, when executed by a processor, implements the method in the above first aspect. According to an embodiment in a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer i