CN112034846A - Virtual boundary operation method, system, mobile terminal and storage medium - Google Patents
Virtual boundary operation method, system, mobile terminal and storage medium Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Abstract
The invention is suitable for the technical field of robots, and provides a virtual boundary operation method, a system, a mobile terminal and a storage medium, wherein the method comprises the following steps: acquiring map data to be operated, wherein the map data to be operated comprises first virtual boundary information; acquiring a corresponding positioning error according to a preset positioning mode; and determining a virtual boundary area according to the first virtual boundary information and the positioning error, and performing operation in the virtual boundary area according to a preset operation path. According to the invention, no boundary line needs to be pre-embedded, and the phenomena of missed cutting, mistaken cutting and uneven cutting at the boundary caused by positioning error of the mowing robot are effectively reduced through the determination and operation of the virtual boundary area, so that the operation effect of the mowing robot is ensured.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a virtual boundary operation method, a virtual boundary operation system, a mobile terminal and a storage medium.
Background
In recent years, with the great increase of urban greening area and household courtyard grassland, the market of the lawn mower is gradually increasing, particularly in developed countries in europe and the united states, the lawn has a large floor area, and a large amount of lawn mowers are needed to maintain and trim the lawn in public places and household lawns.
The existing grass mowers in the market are various in types, and can be divided into intelligent grass mowers and non-intelligent grass mowers according to the operation modes, and the traditional non-intelligent grass mowers are mainly divided into hand-push type grass mowers and riding type grass mowers; an intelligent mower, namely a mowing robot, can work autonomously for a product applying the robot technology to the field of mowers. The traditional non-intelligent mower is time-consuming and labor-consuming in operation, and simultaneously generates great noise pollution, and the mowing robot can automatically perform mowing operation so as to well replace manual trimming. With the market development, the mowing robot can gradually replace the traditional non-intelligent mowing machine.
In the process of executing a mowing task by an existing mowing robot, a boundary line needs to be pre-buried in advance, a magnetic induction coil is arranged on the mowing robot, whether the mowing robot reaches the boundary or not is judged in a coil induction mode, the boundary line does not need to be buried in a small number of mowing robots, a virtual working area virtual boundary line is established through a positioning device and a teaching mode, however, due to positioning errors, missed cutting is easily generated at the virtual boundary line, the mowing effect at the boundary is poor, and attractiveness is affected.
Disclosure of Invention
The invention provides a virtual boundary operation method, and aims to solve the problem that an existing mowing robot is poor in operation effect when performing operation in an area to be operated without an embedded boundary line.
The embodiment of the invention is realized in such a way that a virtual boundary operation method comprises the following steps:
acquiring map data to be operated, wherein the map data to be operated comprises first virtual boundary information;
acquiring a corresponding positioning error according to a preset positioning mode;
and determining a virtual boundary area according to the first virtual boundary information and the positioning error, and performing operation in the virtual boundary area according to a preset operation path.
Still further, the method further comprises:
determining the operation width of the virtual boundary area according to the positioning error;
and after the operation of the virtual boundary area is finished, determining second virtual boundary information according to the positioning error so as to generate a residual area to be operated.
Further, the first virtual boundary information includes a first virtual boundary, and the performing the operation in the virtual boundary area according to the preset operation path includes:
and according to the first virtual boundary information, performing reciprocating operation in the virtual boundary area in a direction parallel to the first virtual boundary.
Further, determining a virtual bounding region based on the positioning error comprises:
determining the operation width of the virtual boundary area according to the positioning error;
and determining the virtual boundary area according to the operation width and the first virtual boundary information.
Further, the performing the operation in the virtual boundary area according to the preset operation path further includes:
and acquiring the position of the preset base station, and returning to the position of the preset base station for calibration.
Further, the determining the virtual boundary area according to the operation width and the first virtual boundary information includes:
acquiring reference position information according to a preset base station;
determining the position of the virtual boundary area according to the reference position information and the first virtual boundary;
and determining the virtual boundary area according to the operation width and the position of the virtual operation area.
Still further, the method further comprises:
acquiring a real-time positioning error;
and when the real-time positioning error reaches the maximum positioning error, returning to the preset position of the base station, and performing positioning correction.
Another objective of an embodiment of the present invention is to provide a virtual boundary operating system, including:
the map acquisition unit is used for acquiring map data to be operated, and the map data to be operated comprises first virtual boundary information;
the error acquisition unit is used for acquiring a corresponding positioning error according to a preset positioning mode;
and the operation execution unit is used for determining a virtual boundary area according to the first virtual boundary information and the positioning error and performing operation in the virtual boundary area according to a preset operation path.
Another object of an embodiment of the present invention is to provide a mobile terminal, including a storage device and a processor, where the storage device is used to store a computer program, and the processor runs the computer program to make the mobile terminal execute the above virtual boundary operation method.
Another object of an embodiment of the present invention is to provide a storage medium, which stores a computer program used in the mobile terminal, wherein the computer program, when executed by a processor, implements the steps of the virtual boundary operating method.
According to the embodiment of the invention, no boundary line needs to be pre-embedded, and the phenomena of missed cutting, mistaken cutting and uneven cutting at the boundary line caused by positioning errors of the mowing robot are effectively reduced through the determination and operation of the virtual boundary area, so that the operation effect of the mowing robot is ensured.
Drawings
FIG. 1 is a flowchart of a virtual boundary operation method according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a to-be-operated area and a virtual boundary according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a to-be-operated area and a virtual boundary according to a first embodiment of the present invention;
fig. 4 is a schematic structural diagram of a to-be-operated area and a virtual boundary provided in the first embodiment of the present invention;
FIG. 5 is a flowchart of a virtual boundary operation method according to a second embodiment of the present invention;
FIG. 6 is a flowchart of a virtual boundary operation method according to a third embodiment of the present invention;
fig. 7 is a schematic structural diagram of a to-be-operated area and a virtual boundary provided in a third embodiment of the present invention;
FIG. 8 is a block diagram of a virtual boundary operating system according to a fourth embodiment of the present invention;
fig. 9 is a schematic structural diagram of a mobile terminal according to a fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
According to the embodiment of the invention, no boundary line needs to be pre-embedded, and the phenomena of missed cutting, mistaken cutting and uneven boundary line cutting caused by positioning errors of the mowing robot are effectively reduced through the determination and operation of the virtual boundary area, so that the operation effect of the mowing robot is further ensured.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Example one
Referring to fig. 1, a flowchart of a virtual boundary operating method according to a first embodiment of the present invention is shown, which includes the following steps:
in step S1, the map data to be worked is acquired.
The map data to be operated comprises first virtual boundary information, the first virtual boundary information is a virtual boundary line of an area to be operated in a current mowing task, the virtual boundary line is defined as a working area boundary line which cannot be identified by a sensor carried by the robot, if the current working area is a lawn connected with a neighboring lawn, the sensor carried by the robot is a visual sensor, and the visual sensor of the robot cannot identify a boundary line of the two lawns because the connected lawns have no visual distinguishing features, and the boundary line is the virtual boundary line of the working area. The method can be used for preventing the robot from crossing the boundary aiming at the current mowing task, and the virtual boundary line can be a straight line, a curve or a broken line and the like.
Further, the map data to be operated further includes physical boundary information, where the physical boundary information is actual boundary information of an area to be operated, where the actual boundary information is a boundary of a working area that can be identified by a sensor carried by the robot, for example, a boundary where a mowing robot carrying a visual sensor can distinguish a lawn from a cement ground, or a boundary where a mowing robot carrying a collision sensor can distinguish a wall, a fence, or the like, and the boundary is a physical boundary line, and the boundary information of the area to be operated is used to control the mowing robot to perform an operation in a preset area, so that the mowing robot performs a mowing operation on the area to be operated.
And step S2, acquiring a corresponding positioning error according to a preset positioning mode.
The positioning errors caused by different positioning modes are different, so that the positioning errors are obtained in the step based on the current positioning mode applied to the mowing robot.
For example, when the mowing robot currently adopts the GPS as the positioning method, the positioning error is obtained by previously measuring the positioning error under the condition that the GPS environment is relatively severe (such as the existence of trees, house shelter, and the like) as the currently acquired positioning error, and for example, when the mowing robot adopts the inertial navigation as the positioning method, the maximum accumulated error of the mowing robot in the time length is evaluated according to the working time length of the mowing robot which is calibrated according to the non-return reference position after the mowing robot is expected to be fully charged, and is used as the currently acquired positioning error.
Furthermore, in the embodiment, when the positioning of the lawn mowing robot is performed by using the inertial navigation, the position is usually estimated by combining an Inertial Measurement Unit (IMU) and a odometer, wherein the attitude and the heading are mainly obtained by integrating a gyroscope in the IMU, and the position is mainly obtained by integrating the odometer. The error of inertial navigation is accumulated along with the walking mileage, so the error of relative position of the mowing robot can be estimated according to the accumulated walking distance of the mowing robot:
△P＝kP；
wherein, Δ P is a positioning error, P is an accumulated displacement, k is an error coefficient, and k can be a constant or a function related to P;
specifically, k may be obtained through an actual test, and the specific test mode may be: an accurate positioning device, such as a high-precision carrier phase difference GPS, is bound on the mowing robot, so that the robot runs different distances on a target field, and the inertial navigation estimated position is compared with the data of a standard measuring device, so that the measurement error of inertial navigation can be obtained.
If the inertial measurement positioning mode is simply adopted, the measurement error is a relative error, if an absolute position error is obtained relative to a site, a certain fixed reference point (such as a charging base station) in the site can be used as a reference point (such as a coordinate origin) of the position, and after the robot leaves the reference point, the position of the robot relative to the reference point is calculated in real time and the position error of the robot is estimated.
When the error reaches a certain threshold value, the robot can return to the base station again to correct the position, so that the error of the robot is controlled within a certain range in the working process. In addition, in order to reduce the influence of factors such as slippage on the error evaluation accuracy, slippage detection can be added to the robot, for example, magnets are added to driven wheels, a Hall detection plate is arranged on a chassis of the robot, and whether the magnetic field changes periodically or not is detected to determine whether the robot slips or not.
In addition, when the position of the robot mower is located by bluetooth, the robot mower is located by triangulation based on RSSI (signal field strength indicator) values. The error of Bluetooth positioning is usually 1-3 meters, which is related to the distance between a Bluetooth Beacon (Beacon) and a receiver, and when the Bluetooth positioning accuracy is actually evaluated, the positioning accuracy can be determined according to the actually measured relation between the Bluetooth positioning accuracy and the distance between the receiver and the Beacon during working.
Step S3, determining a virtual boundary area according to the first virtual boundary information and the positioning error, and performing an operation in the virtual boundary area according to a preset operation path.
Determining a virtual boundary area according to the first virtual boundary information and the positioning error, specifically: translating and positioning the first virtual boundary to obtain a virtual boundary area; or adding a preset distance to the first virtual boundary translation positioning error to obtain a virtual boundary area, wherein the preset distance is greater than or equal to 0.
Specifically, referring to fig. 2, 3 and 4, in this step, the first virtual boundary B may be translated toward the area to be worked a by a distance s3 according to the positioning error s3 to obtain a second virtual boundary c, and an area formed by the second virtual boundary c, the first virtual boundary B and boundary lines on two sides of the area to be worked a is set as the virtual boundary area B. Referring to fig. 2, fig. 3 and fig. 4, the virtual boundary area may be the virtual boundary area B, or may be a virtual boundary area B, and in the case of the virtual boundary area B, the acquisition mode comprises the following steps of determining a virtual boundary area B according to the virtual boundary area B, the positioning error and the preset distance, the predetermined distance may be equal to the positioning error, the area of the virtual boundary region B is greater than or equal to the virtual boundary region B, it specifically comprises a part of the area A to be operated, which is close to the virtual boundary area, and operates according to the virtual boundary operation area, the virtual boundary working area and the common area where the area to be worked a partially coincide with each other, by the acquisition of the virtual boundary working area and the repeated working of the common area, the problem of incomplete operation caused by large positioning error can be effectively avoided, and the effect of missed cutting is effectively prevented.
Specifically, referring to fig. 2, 3, and 4, the boundary b is translated to the area a to be operated by s2, s2 is the sum of the positioning error s3 and the preset distance, that is, s2 is not less than s3, so as to obtain a boundary a, an area formed between the boundary a, the first virtual boundary b, and the boundary lines on both sides of the area a to be operated is set as a virtual boundary area b, and an area formed between the boundary a and the second virtual boundary c is a common area where the virtual boundary area coincides with the area a to be operated, and the common area is operated in the virtual boundary area, and is operated in the common area in the area a to be operated, and is operated in the common area repeatedly, so that the problem of incomplete operation caused by a large positioning error can be effectively avoided, and the effect of missing cutting can be effectively prevented.
Further, in this step, the first virtual boundary information includes a first virtual boundary, and the step of performing the operation in the virtual boundary area according to the preset operation path further includes:
according to the first virtual boundary information, performing reciprocating operation in the virtual boundary area in a direction parallel to the first virtual boundary; or
Acquiring the shape attribute of the virtual boundary area, and acquiring a target track according to the shape attribute;
and performing operation in the virtual boundary area according to the target track.
When the virtual boundary area is operated in the mode, grass cutting at the virtual boundary is neat and attractive, and the problem of uneven grass cutting caused by positioning errors is avoided.
The shape attribute is an actual environment shape of the virtual boundary area, and different shape attributes correspond to different target tracks, for example, a rectangular virtual boundary area may adopt a zigzag type operation track.
In an embodiment of the present invention, the robot may perform a job along a boundary of the to-be-worked area according to the to-be-worked map data during a working process, obtain the current position information in real time, and determine that the robot is currently located in or close to the virtual boundary area when a distance between the current position information and the virtual boundary is within a preset range, where the robot may perform the job in the virtual boundary area through a preset job path.
The operation track and the operation mode when the operation is carried out along the boundary of the area to be operated can be set according to requirements, the operation track is the running track of the mowing robot, the operation mode comprises a plurality of operation parameters, and the operation parameters can be parameters such as operation power and running speed.
Further, in this step, the current position information of the mowing robot can be acquired by adopting satellite positioning, inertial navigation, bluetooth positioning, UWB (ultra wide band wireless positioning) and other modes.
Specifically, referring to fig. 2, in the embodiment, the mowing track of the mowing robot is a linear reciprocating movement, the mowing robot is controlled to perform a linear reciprocating mowing operation according to the boundary of the area to be worked a, and the current position information of the mowing robot is obtained in real time, so as to obtain the coordinate value of the coordinate point a 1.
Further, referring to fig. 3, in the figure, the first virtual boundary b is a broken line, and when it is determined that the distance s1 between the coordinate point a1 and the first virtual boundary b is within the range of 0 to s3, it is determined that the virtual boundary area is currently located, that is, when it is determined that the maximum distance between the coordinate point a1 and the first virtual boundary b is within the range of 0 to s3, it is determined that the virtual boundary area is currently located, and at this time, the operation can be performed in the virtual boundary area through a preset operation path. And after the virtual boundary area operation is completed, forming a new area A to be operated, wherein the second virtual boundary c of the new area A to be operated is used as a new boundary line. Of course, the operation is performed in the virtual boundary area or in the new to-be-operated area a, and the operation is not limited herein.
Further, referring to fig. 4, in which the first virtual boundary b is a curve, when the distance s1 between the coordinate point a1 and the first virtual boundary b is determined to be within the range of 0 to s2, it is determined that the virtual boundary is currently located in the virtual boundary area, that is, when the minimum distance between the coordinate point a1 and the first virtual boundary b is determined to be within the range of 0 to s2, it is determined that the virtual boundary area is currently located in the virtual boundary area, and at this time, the operation can be performed in the virtual boundary area through the preset operation path. And after the virtual boundary area operation is finished, forming a new area A to be operated, wherein the new area A to be operated or the second virtual boundary c is used as a new boundary line. Of course, the operation is performed in the virtual boundary area or in the new to-be-operated area a during the operation, which is not limited herein, and when the operation is performed on the virtual boundary area, the reciprocating operation along the parallel first virtual boundary may be selected, so that the cutting at the first virtual boundary is orderly.
Further, before performing the job in the virtual boundary area, the method further includes: and acquiring the position of the preset base station, and returning to the position of the preset base station for calibration. The mowing robot can be calibrated by returning to the preset base station before operation, so that the positioning error is minimized, the phenomena of missed cutting, mistaken cutting and uneven cutting at the boundary caused by the positioning error of the mowing robot are effectively reduced, and the mowing efficiency is improved.
According to the embodiment, a boundary line is not required to be pre-embedded, and the phenomena of missed cutting, mistaken cutting and uneven cutting at the boundary caused by positioning errors of the mowing robot are effectively reduced through the determination and operation of the virtual boundary area, so that the operation effect of the mowing robot is guaranteed.
Example two
Referring to fig. 5, a flowchart of a virtual boundary operating method according to a second embodiment of the present invention is shown, which includes the steps of:
after the step S2 obtaining the corresponding positioning error according to the preset positioning method, the method further includes a step S4, determining the operation width of the virtual boundary area according to the positioning error.
Referring to fig. 2, the operation width is equal to the distance between the boundary a and the first virtual boundary b.
Further, in this embodiment, the positioning error is smaller than or equal to the working width.
Step S5, after the virtual boundary area operation is completed, determining second virtual boundary information according to the positioning error to generate a remaining area to be operated.
When the operation aiming at the virtual boundary area is finished, acquiring the area information of the current environment, removing the virtual boundary area from the area information of the current environment to generate the remaining area to be operated, and sending the remaining area to be operated to a preset communication address or directly displaying an image so as to enable a user to know the information of the remaining area to be operated in the current environment of the mowing robot.
Further, in this step, the step of determining the second virtual boundary information according to the positioning error includes:
translating the first virtual boundary b to the area to be worked by a positioning error s3 to determine information of a second virtual boundary c; the operation to the virtual boundary area is performed to the second virtual boundary c or exceeds the second virtual boundary c, the operation to the second virtual boundary c is performed to the operation area A, and the problem of incomplete operation caused by large positioning error can be effectively avoided through repeated operation to the second virtual boundary c or the public area near the second virtual boundary c, so that the effect of missed cutting is effectively prevented.
According to the embodiment, a boundary line does not need to be pre-embedded, the missed cutting and mistaken cutting phenomena caused by the positioning error of the mowing robot are effectively reduced through the determination and operation of the virtual boundary area, and the operation effect of the mowing robot is further guaranteed.
EXAMPLE III
Referring to fig. 6, a flowchart of a virtual boundary operating method according to a fourth embodiment of the present invention is shown, including the steps of:
in step S1, the map data to be worked is acquired.
The map data to be operated comprises first virtual boundary information and entity boundary information.
And step S2, acquiring a corresponding positioning error according to a preset positioning mode.
The positioning errors caused by different positioning modes are different, so that the positioning errors are obtained in the step based on the current positioning mode applied to the mowing robot.
For example, when the mowing robot currently adopts the GPS as the positioning method, the positioning error is obtained by previously measuring the positioning error under the condition that the GPS environment is relatively severe (such as the existence of trees, house shelter, and the like) as the currently acquired positioning error, and for example, when the mowing robot adopts the inertial navigation as the positioning method, the maximum accumulated error of the mowing robot in the time length is evaluated according to the working time length of the mowing robot which is calibrated according to the non-return reference position after the mowing robot is expected to be fully charged, and is used as the currently acquired positioning error.
The mowing robot may be any robot having a moving function.
Step S6, determining the operation width of the virtual boundary area according to the positioning error;
the operation width is determined according to different positioning errors caused by different positioning modes, and the values of the positioning errors and the operation width can be equal, or the operation width is larger than the positioning errors.
Step S7, determining the virtual boundary area according to the job width and the first virtual boundary information.
In one embodiment of the present invention, step S7 includes step S71 and step S72, which are detailed as follows:
step S71, obtaining reference position information according to a preset base station, and determining the position of the virtual boundary area according to the reference position information and the first virtual boundary.
The position design of the virtual boundary area is determined according to the reference position information and the first virtual boundary information, so that the border crossing operation of the mowing robot is effectively avoided.
Specifically, in this step, the first virtual boundary information includes a first virtual boundary, and the position of the virtual boundary area is determined by taking the first virtual boundary as one side of the virtual boundary area and facing the reference position.
Referring to fig. 7, the predetermined base station is located above the area to be operated a, and therefore, the determined position of the virtual boundary area is a direction from the first virtual boundary b to the predetermined base station.
Continuing with fig. 7, in step S72, the virtual boundary area is determined according to the operation width and the position of the virtual operation area.
In this embodiment, the operation width is equal to the positioning error, that is, in this step, the first virtual boundary B is translated towards the preset base station by s3 length to obtain a second virtual boundary c, and an area formed by the second virtual boundary c, the first virtual boundary B and the boundary on both sides of the area to be operated a is set as the virtual boundary area B; or translating the second virtual boundary c by a preset distance, that is, translating the first virtual boundary B by s2 length toward the preset base station to obtain a boundary a, and setting an area formed by the boundary a, the first virtual boundary B and the boundaries at the two sides of the area to be operated a as the virtual boundary area B.
And step S3, performing operation in the virtual boundary area according to a preset operation path.
Further, the invention also comprises the following steps of obtaining real-time positioning error, returning to the position of the preset base station when the real-time positioning error reaches the maximum positioning error, and performing positioning correction;
the error of the inertial navigation is accumulated along with the actual mileage of walking, that is, the longer the working time of the mowing robot is, the larger the positioning error is, so that when the real-time positioning error reaches the maximum positioning error, the positioning correction needs to be performed on the real-time positioning error to ensure that the error of the mowing robot is controlled within a certain range in the working process.
According to the embodiment, a boundary line does not need to be pre-embedded, the missed cutting and mistaken cutting phenomena caused by the positioning error of the mowing robot are effectively reduced through the determination and operation of the virtual boundary area, and the operation effect of the mowing robot is further guaranteed.
Example four
Referring to fig. 8, a schematic structural diagram of a virtual boundary operating system 100 according to a fifth embodiment of the present invention is shown, including: a map acquisition unit 10, an error acquisition unit 20, and a job execution unit 30, wherein:
a map acquisition unit 10 for acquiring map data to be operated;
the map data to be operated comprises first virtual boundary information and further comprises entity boundary information;
an error obtaining unit 20, configured to obtain a corresponding positioning error according to a preset positioning manner;
and the operation executing unit 30 is configured to determine a virtual boundary area according to the positioning error and the first virtual boundary information, and perform an operation in the virtual boundary area according to a preset operation path.
Wherein the job execution unit 30 is further configured to: and according to the first virtual boundary information, performing reciprocating operation in the virtual boundary area in a direction parallel to the first virtual boundary.
Further, the job execution unit 30 is further configured to: determining the operation width of the virtual boundary area according to the positioning error; and determining the virtual boundary area according to the operation width and the first virtual boundary.
Further, the job execution unit 30 is further configured to: acquiring reference position information according to a preset base station; determining the position of the virtual boundary area according to the reference position information and the first virtual boundary; and determining the virtual boundary area according to the operation width and the position of the virtual operation area.
Further, the virtual boundary operating system 100 further includes:
and the boundary updating unit 40 is configured to determine the operation width of the virtual boundary area according to the positioning error, and determine second virtual boundary information according to the positioning error after the operation of the virtual boundary area is completed, so as to generate a remaining area to be operated.
A positioning correction unit 50 for acquiring a real-time positioning error; and when the real-time positioning error reaches the maximum positioning error, returning to the preset position of the base station, and performing positioning correction.
And the calibration unit is used for acquiring the position of the preset base station before the virtual boundary area is operated, and returning the position of the preset base station for calibration.
According to the embodiment, a boundary line does not need to be pre-embedded, the missed cutting and mistaken cutting phenomena caused by the positioning error of the mowing robot are effectively reduced through the determination and operation of the virtual boundary area, and the operation effect of the mowing robot is further guaranteed.
EXAMPLE five
Referring to fig. 9, a mobile terminal 101 according to a fifth embodiment of the present invention includes a storage device and a processor, where the storage device is used to store a computer program, and the processor runs the computer program to make the mobile terminal 101 execute the virtual boundary operating method.
The present embodiment also provides a storage medium on which a computer program used in the above-mentioned mobile terminal 101 is stored, which when executed, includes the steps of:
acquiring a corresponding positioning error according to a preset positioning mode;
and determining a virtual boundary area according to the positioning error, and operating in the virtual boundary area according to a preset operation path. The storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is used as an example, in practical applications, the above-mentioned function distribution may be performed by different functional units or modules according to needs, that is, the internal structure of the storage device is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application.
Those skilled in the art will appreciate that the configuration shown in fig. 9 does not constitute a limitation of the virtual boundary operating system of the present invention, and may include more or less components than those shown, or some components in combination, or a different arrangement of components, and that the virtual boundary operating method of fig. 1, 2, 5, and 6 may also be implemented using more or less components than those shown in fig. 8, or some components in combination, or a different arrangement of components. The units, modules, etc. referred to herein are a series of computer programs that can be executed by a processor (not shown) in the target virtual boundary operating system and that are all capable of performing a specific function, and that can be stored in a storage device (not shown) of the target virtual boundary operating system.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A virtual boundary operation method, the method comprising:
acquiring map data to be operated, wherein the map data to be operated comprises first virtual boundary information;
acquiring a corresponding positioning error according to a preset positioning mode;
and determining a virtual boundary area according to the first virtual boundary information and the positioning error, and performing operation in the virtual boundary area according to a preset operation path.
2. The virtual boundary operation method of claim 1, wherein the method further comprises:
determining the operation width of the virtual boundary area according to the positioning error;
and after the operation of the virtual boundary area is finished, determining second virtual boundary information according to the positioning error so as to generate a residual area to be operated.
3. The virtual boundary operation method according to claim 1, wherein the first virtual boundary information includes a first virtual boundary, and the performing operation in the virtual boundary area according to a preset operation path includes:
and according to the first virtual boundary information, performing reciprocating operation in the virtual boundary area in a direction parallel to the first virtual boundary.
4. The virtual boundary operation method according to claim 3, wherein the performing operation in the virtual boundary area according to the preset operation path further comprises:
and acquiring the position of the preset base station, and returning to the position of the preset base station for calibration.
5. The virtual boundary operation method of claim 1 wherein determining a virtual boundary region based on the positioning error comprises:
determining the operation width of the virtual boundary area according to the positioning error;
and determining the virtual boundary area according to the operation width and the first virtual boundary information.
6. The virtual boundary operation method of claim 5, wherein said determining the virtual boundary region based on the operation width and the first virtual boundary comprises:
acquiring reference position information according to a preset base station;
determining the position of the virtual boundary area according to the reference position information and the first virtual boundary;
and determining the virtual boundary area according to the operation width and the position of the virtual operation area.
7. The virtual boundary operation method of any one of claims 1 to 6, wherein the method further comprises:
acquiring a real-time positioning error;
and when the real-time positioning error reaches the maximum positioning error, returning to the preset position of the base station, and performing positioning correction.
8. A virtual border operating system, the system comprising:
the map data acquisition unit is used for acquiring map data to be operated, and the map data to be operated comprises first virtual boundary information;
the error acquisition unit is used for acquiring a corresponding positioning error according to a preset positioning mode;
and the operation execution unit is used for determining a virtual boundary area according to the positioning error and the first virtual boundary information and performing operation in the virtual boundary area according to a preset operation path.
9. A mobile terminal, characterized by comprising a storage device for storing a computer program and a processor for executing the computer program to cause the mobile terminal to execute the virtual boundary operation method according to any one of claims 1 to 6.
10. A storage medium storing a computer program for use in the mobile terminal according to claim 9, the computer program, when executed by a processor, implementing the steps of the virtual boundary operation method according to any one of claims 1 to 6.
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