CN114322980A - Method for obtaining position coordinates and drawing electronic map, computer-readable storage medium, and autonomous operating apparatus - Google Patents
Method for obtaining position coordinates and drawing electronic map, computer-readable storage medium, and autonomous operating apparatus Download PDFInfo
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Abstract
The invention discloses a method for obtaining position coordinates, a method for drawing an electronic map, a computer readable storage medium and an autonomous operation device, which comprises the steps of controlling the autonomous operation device to walk along a preset path and obtain satellite acquisition coordinates and vision acquisition coordinates, wherein the autonomous operation device is configured to be provided with a satellite positioning device and a vision positioning device, evaluating satellite positioning precision and identifying an anchoring reference object according to environment image information acquired by the vision positioning device, and further determining the vision acquisition coordinates of the autonomous operation device according to the relative position relation of the autonomous operation device and the anchoring reference object; when the satellite positioning precision meets a first preset condition, using the satellite acquisition coordinate as a position coordinate; and when the satellite positioning precision does not meet a first preset condition, using the transformed vision acquisition coordinate as a position coordinate.
Description
Technical Field
The present invention relates to a method of acquiring position coordinates, a method of drawing an electronic map, a computer-readable storage medium, and an autonomous operating device.
Background
For autonomous working devices, positioning is one of its key technologies. The intelligent mower is typical outdoor autonomous operation equipment, on one hand, the positioning technology helps the intelligent mower to optimize a working path, reduce the time for repeated walking and efficiently and comprehensively cover a working area S; on the other hand, due to the relatively strict safety regulations, the smart lawn mower is required to work only within a limited working area S, and once the boundary of the working area S is exceeded, safety actions are required to be immediately performed. As is known, the global navigation satellite system is a commonly used positioning technology. The global navigation satellite system can provide location information that meets accuracy requirements if the satellite receiving device located on the intelligent lawn mower can receive enough satellite signals. However, due to the special environment of the intelligent lawn mower, in some special areas, such as the periphery of a house or the vicinity of tall trees, some satellite signals may be blocked, and thus weak signal areas may be formed in the periphery of the house or the vicinity of the tall trees. When the intelligent mower enters a weak signal area, the positioning of the intelligent mower can drift due to the fact that enough satellite signals cannot be received. If the working area S boundary crosses the weak signal area, the intelligent mower cannot accurately determine the boundary of the working area S, and the uncontrolled entrance into the non-working area S can cause danger.
Disclosure of Invention
The invention aims to provide autonomous operating equipment, which can solve the problems in the prior art.
In order to solve the technical problem, the method for acquiring the position coordinate of the autonomous operating equipment comprises the steps of controlling the autonomous operating equipment to walk along a preset path and acquiring a satellite acquisition coordinate and a visual acquisition coordinate, wherein the autonomous operating equipment is configured to be provided with a satellite positioning device and a visual positioning device, evaluates satellite positioning precision, identifies an anchoring reference object according to environment image information acquired by the visual positioning device, and determines the visual acquisition coordinate of the autonomous operating equipment according to the relative position relation between the autonomous operating equipment and the anchoring reference object; when the satellite positioning precision meets a first preset condition, using the satellite acquisition coordinate as a position coordinate; and when the satellite positioning precision does not meet a first preset condition, using the transformed vision acquisition coordinate as a position coordinate.
As a specific embodiment of the present invention, it is preferable that the visual positioning device is configured to acquire environment image information in a forward direction of the autonomous working apparatus and environment image information on a side of the forward direction of the autonomous working apparatus. Further, the vision positioning device is configured to collect environment image information on the left and right sides of the advancing direction of the autonomous operating equipment. Further, the control module determines the distance and angle between the autonomous working machine and the anchoring reference according to the environmental image information collected by the visual positioning device 164.
As an embodiment of the present invention, preferably, the visual positioning device is a monocular image capturing device, a binocular image capturing device or a multi-view image capturing device. Further, the vision positioning device is a monocular panoramic camera or a binocular panoramic camera.
As a specific embodiment of the present invention, preferably, the anchoring reference is a building, a structure and/or a tall plant. Further, the building is a fixed building, and the tall plants are trees.
As a specific embodiment of the present invention, preferably, the control module is further configured to identify a reference anchor point according to the environment image information, the reference anchor point being configured as a feature point on the reference anchor reference.
As a specific embodiment of the present invention, it is preferable that the reference anchoring point is configured as a marker pattern fixed on the reference anchoring reference.
As a specific embodiment of the present invention, it is preferable that the reference anchoring reference includes at least two reference anchoring points.
As an embodiment of the present invention, preferably, the height of the reference anchor point from the ground is not less than the first height threshold and not more than the second height threshold.
As a specific embodiment of the present invention, it is preferable that the autonomous operating device acquires the visual collection coordinates at the same time as the satellite collection coordinates are acquired.
As an embodiment of the present invention, it is preferable that the autonomous operating device is configured to acquire the satellite acquisition coordinates and the visual acquisition coordinates once at intervals of a preset time.
As a specific embodiment of the present invention, preferably, when the satellite positioning accuracy meets the first preset condition, a transformation relationship between the satellite acquisition coordinate and the visual acquisition coordinate is obtained according to at least one set of the satellite acquisition coordinate and the visual acquisition coordinate that are simultaneously obtained; and when the satellite positioning precision does not meet the first preset condition, transforming the vision acquisition coordinate into a calculation coordinate according to the transformation relation, and using the calculation coordinate as a position coordinate.
In order to solve the technical problem, the method for drawing the electronic map comprises the steps of controlling the autonomous operating equipment to walk along the boundary of a working area for at least one circle from a reference position; acquiring a sequence of position coordinates according to the method; generating the boundary of the working area according to the sequence fitting of the position coordinates; and generating an electronic map of the working area according to the boundary of the working area.
As an embodiment of the present invention, it is preferable that the reference position is a position at which the autonomous working apparatus is parked at a parking station.
To address the above technical problem, a non-transitory computer-readable storage medium of the present invention has stored thereon processor-executable instructions configured to cause a processor of an autonomous working apparatus to perform operations including the above method.
In order to solve the above technical problem, an autonomous working apparatus of the present invention includes a moving mechanism and a control module, wherein the control module includes the non-transitory computer readable storage medium.
To solve the above technical problem, an autonomous working apparatus of the present invention includes a moving mechanism 14 and a control module 18, wherein the control module is configured to perform the operations of the above method.
Drawings
FIG. 1 is a diagram of an autonomous operating system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an autonomous working apparatus according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.
It is to be understood that the terms "first," "second," and the like in the description of the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
In the embodiments of the present invention, unless otherwise explicitly stated or limited, the terms "connected" and "connected" should be interpreted broadly, e.g., as a fixed connection, a movable connection, a detachable connection, or an integral connection; can be directly connected or indirectly connected through an intermediate medium; either as communication within the two elements or as an interactive relationship of the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In particular embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or the first and second features being in contact, not directly, but via another feature therebetween.
In particular embodiments of the present invention, the term "plurality" means two or more unless explicitly stated or limited otherwise.
Referring to fig. 1 to 2, the present embodiment provides an autonomous operating system including an autonomous operating device 100, a docking station 900, and a boundary 800.
The autonomous working apparatus 100 is, in particular, a robot which autonomously moves within a predetermined area and performs a specific work, typically, an intelligent sweeper/cleaner which performs a cleaning work, or an intelligent mower which performs a mowing work, or the like. The specific job is particularly a job for processing the work surface and changing the state of the work surface. The present invention will be described in detail with reference to an intelligent lawn mower as an example. The autonomous working apparatus 100 can autonomously walk on the surface of the working area S, and can autonomously perform mowing work on the ground particularly as an intelligent mower. The autonomous working apparatus 100 includes at least a main body mechanism 12, a moving mechanism 14, a working mechanism, an energy module, a detection module, an interaction module, a control module 18, and the like.
The main body mechanism 12 generally includes a chassis for mounting and housing the moving mechanism 14, the working mechanism, the energy module, the detection module, the interaction module, the control module 18, and other functional mechanisms and functional modules. The housing is typically configured to at least partially enclose the chassis, primarily to enhance the aesthetics and visibility of the autonomous working apparatus 100. In this embodiment, the housing is configured to be repositionable with respect to the chassis for translation and/or rotation under an external force, and further functions to sense an impact, lift, etc. event in conjunction with a suitable sensing module, such as a hall sensor, for example.
The moving mechanism 14 is configured to support the main body mechanism 12 on the ground and drive the main body mechanism 12 to move on the ground, and generally includes a wheel type moving mechanism, a crawler type or semi-crawler type moving mechanism, a walking type moving mechanism 14, and the like. In this embodiment, the moving mechanism 14 is a wheeled moving mechanism, and includes at least one driving wheel 142 and at least one traveling prime mover 144. Travel prime mover 144 is preferably an electric motor, and in other embodiments may be an internal combustion engine or a machine that uses another type of energy source to generate power. In the present embodiment, it is preferable to provide a left driving wheel, a left traveling prime mover driving the left driving wheel, a right driving wheel, and a right traveling prime mover driving the right driving wheel. In this embodiment, the straight travel of the autonomous working machine is realized by the equidirectional and constant-speed rotation of the left and right drive wheels, and the steering travel is realized by the equidirectional differential or opposite-direction rotation of the left and right drive wheels. In other embodiments, movement mechanism 14 may also include a steering mechanism independent of the drive wheels and a steering prime mover independent of the travel prime mover 144. In this implementation, the movement mechanism 14 further includes at least one driven wheel, typically configured as a universal wheel, with the drive wheel 142 and the driven wheel being located at the front and rear ends of the autonomous working apparatus, respectively.
The work mechanism is configured for performing a specific work task and includes a work piece and a work prime mover for driving the work piece in operation. Illustratively, for an intelligent sweeper/cleaner, the workpiece includes a roller brush, a dust collection pipe, a dust collection chamber, and the like; for an intelligent mower, the working member comprises a cutting blade or a cutting cutter disc, and further comprises other components for optimizing or adjusting the mowing effect, such as a height adjusting mechanism for adjusting the mowing height. The working prime mover is preferably an electric motor, and in other embodiments may be an internal combustion engine or a machine that uses another type of energy source to generate power. In other embodiments, the working prime mover and the walking prime mover are configured as the same prime mover.
The energy module is configured to provide energy for various operations of the autonomous working apparatus 100. In this embodiment, the energy module includes a battery, preferably a rechargeable battery, and a charging connection structure, preferably a charging electrode, which may be exposed outside the autonomous working apparatus.
The detection module is configured as at least one sensor that senses an environmental parameter of the autonomous working apparatus 100 or an operating parameter of the autonomous working apparatus itself. Typically, the detection module may comprise sensors associated with the definition of the working area S, of various types, for example magnetic induction, impact, ultrasound, infrared, radio, etc., the type of sensor being adapted to the position and number of the corresponding signal generating means. The detection module may also include positioning navigation related sensors such as satellite positioning device 162, laser positioning device, electronic compass, acceleration sensor, odometer, angle sensor, geomagnetic sensor, visual positioning device 164, and the like. The detection module may also include sensors related to its own operational safety, such as obstacle sensors, lift sensors, battery pack temperature sensors, etc. The detection module may also include sensors associated with the external environment, such as an ambient temperature sensor, an ambient humidity sensor, a light sensor, a rain sensor, and the like.
The interactive module is configured at least for receiving control instruction information input by a user, emitting information required to be perceived by the user, communicating with other systems or devices to transmit and receive information, and the like. In the present embodiment, the interactive module includes an input device provided on the autonomous working apparatus 100 for receiving control instruction information input by a user, typically, such as a control panel, an emergency stop key, and the like; the interactive module further includes a display screen, an indicator light, and/or a buzzer provided on the autonomous working apparatus 100, and allows a user to perceive information by emitting light or sound. In other embodiments, the interactive module includes a communication module provided on the autonomous working apparatus 100 and a terminal device, such as a mobile phone, a computer, a web server, etc., independent of the autonomous working apparatus 100, and control instruction information or other information of the user may be input on the terminal device and reach the autonomous working apparatus 100 via the wired or wireless communication module.
The control module 18 typically includes at least one processor and at least one non-volatile memory, with a pre-written computer program or set of instructions stored in the memory, according to which the processor controls the execution of movements, work, etc. of the autonomous working apparatus 100. Further, the control module 18 may also be capable of controlling and adjusting the respective behavior of the autonomous working apparatus 100, modifying parameters in the memory, etc. according to the signals of the detection module and/or user control instructions.
The boundary 800 is the perimeter of the working area S of the robotic system and generally includes an outer boundary and an inner boundary. The autonomous working apparatus 100 is restricted to move and work within the outer boundary, outside the inner boundary, or between the outer boundary and the inner boundary. The boundary may be solid, typically such as a wall, fence, railing, etc.; the boundary may also be virtual, typically as a virtual boundary signal, typically an electromagnetic or optical signal, issued by a boundary signal generating device, in some prior art boundaries 800 are configured as closed energized conductors electrically connected to the boundary signal generating device, which is typically disposed within the docking station 900. For the autonomous working apparatus 100 provided with a positioning device of the present invention, a virtual boundary is constructed in an electronic map formed by two-dimensional or three-dimensional coordinates as an example.
The docking station 900 is generally configured on or within the boundary 800 for the autonomous working apparatus 100 to be docked, and in particular is capable of supplying energy to the autonomous working apparatus 100 docked at the docking station.
In the present embodiment, the autonomous working apparatus 100 includes a main body mechanism 12, a moving mechanism 14 disposed on the main body mechanism 12, a satellite positioning device 162, a visual positioning device 164, and a control module 18, and the control module 18 is electrically connected to the walking prime mover 144, the satellite positioning device 162, and the visual positioning device 164, respectively. Satellite positioning device 162 is configured to communicate with a satellite navigation system (GNSS) to obtain coordinate information of its current location, denoted as the satellite acquisition coordinates { x }s,ys}. Those skilled in the art will appreciate that the satellite positioning device 162 typically needs to establish communication with a plurality of satellites in a satellite navigation system. Generally, the more the number of satellites establishing communication between the satellite positioning device 162 and the satellite navigation system is, the higher the accuracy of the acquired satellite coordinates is; accordingly, the less the number of satellites in communication with the satellite navigation system by the satellite positioning device 162, the lower the accuracy of the acquired coordinates of the satellites. When the autonomous operating device 100 travels to the weak signal area W, the number of satellites for establishing communication with the satellite navigation system by the satellite positioning device 162 is reduced by a specific number K, so that the accuracy of the acquired satellite coordinates cannot meet the positioning requirement of the autonomous operating device 100. The visual positioning device 164 is configured to collect the environmental image information in the forward direction of the autonomous working apparatus 100, further collect the environmental image information on one side of the forward direction of the autonomous working apparatus 100, and further collect the environmental image information on both the left and right sides of the forward direction of the autonomous working apparatus 100. As a preferable aspect of the present embodiment, the visual positioning device 164 is configured to include a panoramic camera. In some preferred versions, visual positioning device 164 is configured to include a monocular panoramic camera. In other exemplary embodiments, the visual positioning device 164 is designed as a binocular panoramic camera. In this embodiment, the control module 18 can calculate and analyze the distance d between the autonomous working apparatus 100 and the anchoring reference according to the environment image around the autonomous working apparatus 100 collected by the visual positioning device 164vAnd/or azimuth angle alpha of autonomous working apparatus 100vFurther, the position coordinates of the current autonomous working apparatus 100 may be calculated from the known position coordinates and may be recorded as the visual collection coordinates { x }v,yv}. As will be appreciated by those skilled in the art, the satellite acquires coordinates { x }s,ysUsually absolute coordinates, vision acquisition coordinates xv,yvUsually in relative coordinates.
A method of acquiring position coordinates of an autonomous operating device 100 according to an embodiment of the present invention includes controlling the autonomous operating device 100 to travel along a predetermined path and acquiring satellite acquisition coordinates and visual acquisition coordinates. The satellite acquisition coordinates are established in the geodetic coordinate system, and the autonomous operating device 100 evaluates the satellite positioning accuracy. In this embodiment, when the number of satellites in communication between the satellite positioning device 162 and the satellite navigation system is not less than K, it is determined that the satellite positioning accuracy meets a first preset condition, and then it is determined that the satellite positioning accuracy meets the requirement; when the number of satellites establishing communication between the satellite positioning device 162 and the satellite navigation system is smallAnd when K, judging that the satellite positioning precision does not meet the first preset condition, and further judging that the satellite positioning precision does not meet the requirement. Generally, K is a positive integer not less than 3. When the satellite positioning precision meets a first preset condition, the satellite is used for collecting coordinates { xs,ysAs the position coordinates { X, Y } of the autonomous operating apparatus 100. The environmental image information collected by the visual positioning device 164 identifies the anchoring reference, and further determines the visual collection coordinates of the autonomous operating device 100 according to the relative position relationship between the autonomous operating device 100 and the anchoring reference. When the satellite positioning precision does not meet a first preset condition, visual acquisition coordinates { x ] are usedv,yvAs the current position coordinates { X, Y } of the autonomous working apparatus 100.
As a preference for one embodiment of the invention, the anchoring reference is generally configured as an object around which a weak signal area W is generated, typically a building a1, a structure a2 and/or a plant A3. Further, since the position is fixed and the autonomous working apparatus 100 returns periodically, the docking station 900 may be used as an anchor reference. Further, the building is a fixed building, typically a house a1 as shown in fig. 1. The structure is a fixed structure, typically a water tower a2 as shown in fig. 1. The plant is a tree or tall shrub, typically the tree a3 shown in fig. 1. Further, the control module 18 is further configured to identify, from the ambient image information, a reference anchor point configured as a feature point on the reference anchor reference, typically a window and/or a door on a house a 1. Further, the reference anchor point is configured as a marker pattern fixed on the reference anchor reference, for example, suspending a specific pattern marker on water tower a2 and plant A3. Further, the reference anchor reference comprises at least two reference anchor points. Further, the height of the reference anchor point from the ground is not less than a first height threshold and not greater than a second height threshold. In this embodiment, the first height threshold is not less than 500mm, and the second height threshold is not more than 2000 mm. In the present embodiment, the visual positioning device 164 can detect at least one reference anchor point when the autonomous working apparatus 100 is at any position within the working area S.
As a preferred embodiment of the present invention, the autonomous working apparatus 100 acquires the visual collection coordinates at the same time as the satellite collection coordinates are acquired. Further, the autonomous working apparatus 100 is configured to acquire the satellite collection coordinates and the visual collection coordinates once at intervals of a preset time. Further, when the satellite positioning accuracy meets the first preset condition, acquiring the coordinates { x) according to at least one group of simultaneously acquired satellitess,ysAnd the vision acquisition coordinate { x }v,yvObtaining the satellite acquisition coordinate { x }s,ysAnd the vision acquisition coordinate { x }v,yvThe transformation relation of { x }s,ys}＝f({xv,yv}); when the satellite positioning precision does not meet the first preset condition, the vision acquisition coordinate is transformed into a calculation coordinate { x } according to the transformation relationc,yc}＝f({xv,yv}) using said calculated coordinates { xc,ycAs position coordinates X, Y.
Specifically, assume that at time t1When the autonomous operating device 100 is located within the working area S and outside the weak signal area W, the satellite positioning accuracy satisfies the first preset condition, and the satellite acquisition coordinate is obtained according to the satellite positioning device 162
The satellite acquisition coordinate is a credible coordinate; obtaining vision acquisition coordinates from vision positioning device 164
The satellite acquired coordinates are taken as the current coordinates of the autonomous working apparatus 100, i.e., the coordinates of the satellite acquired coordinates are taken as the current coordinates of the autonomous working apparatus 100
In addition, the satellite collection coordinates are obtained by calculation as authentic coordinates
And the vision collection coordinate
Transformation relation of
At time t2When (where t is2＝t1+ Δ t, Δ t being a preset time interval), the autonomous operating apparatus 100 is located within the working area S and within the weak signal area W, the satellite positioning accuracy does not satisfy the first preset condition, and the satellite acquisition coordinates are obtained according to the satellite positioning device 162
The satellite acquisition coordinate is an untrusted coordinate; obtaining vision acquisition coordinates from vision positioning device 164
Then according to the transformation relation obtained when the satellite positioning precision meets the first preset condition, transforming the visual acquisition coordinate to obtain a calculation coordinate
With transformed coordinates as current coordinates of the autonomous working apparatus, i.e.
In one embodiment of the present invention, a method for drawing an electronic map is further disclosed, which includes controlling the autonomous operating apparatus 100 to travel at least one turn along a boundary of the working area S from a reference position; acquiring a sequence of position coordinates according to the method; generating the boundary of the working area S according to the sequence fitting of the position coordinates; and generating an electronic map of the working area S according to the boundary of the working area S.
As a preferred embodiment of the present invention, the reference position is a position at which the autonomous operating device 100 is parked at the docking station 900.
Also disclosed is a non-transitory computer-readable storage medium having stored thereon processor-executable instructions configured to cause a processor of the autonomous working apparatus 100 to perform operations comprising any of the methods.
An embodiment of the present invention also discloses an autonomous working apparatus 100 comprising a moving mechanism 14 and a control module 18, wherein the control module 18 comprises the non-transitory computer readable storage medium described above.
An embodiment of the present invention also discloses an autonomous working apparatus 100 comprising a moving mechanism 14 and a control module 18, wherein the control module 18 is configured to perform the operations of the above-mentioned method.
It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (12)
1. A method for obtaining position coordinates, characterized in that,
the method comprises the steps that the autonomous operation equipment is controlled to walk along a preset path and acquire a satellite acquisition coordinate and a visual acquisition coordinate, wherein the autonomous operation equipment is configured to be provided with a satellite positioning device and a visual positioning device, evaluates satellite positioning precision, identifies an anchoring reference object according to environment image information acquired by the visual positioning device, and determines the visual acquisition coordinate of the autonomous operation equipment according to the relative position relation of the autonomous operation equipment and the anchoring reference object;
when the satellite positioning precision meets a first preset condition, using the satellite acquisition coordinate as a position coordinate;
and when the satellite positioning precision does not meet a first preset condition, using the transformed vision acquisition coordinate as a position coordinate.
2. The method of claim 1, wherein the visual positioning device is configured to collect at least environmental image information in a forward direction of the autonomous working machine; and the control module determines the distance and the angle between the autonomous operating equipment and the anchoring reference object according to the environment image information acquired by the visual positioning device.
3. The method of claim 2, wherein the visual positioning device is a monocular camera, a binocular camera, or a multi-view camera.
4. The method of claim 1, wherein the control module is configured to identify a reference anchor point from the environment image information, the reference anchor point being constructed as a feature point on the reference anchor.
5. The method of claim 4, wherein the reference anchor point is configured as a pattern of markings affixed to the reference anchor.
6. The method of claim 4, wherein the height of the reference anchor point from the ground is not less than a first height threshold and not greater than a second height threshold.
7. The method of claim 1, wherein the autonomous operating device obtains the visual acquisition coordinates at the same time as obtaining the satellite acquisition coordinates.
8. The method according to claim 7, wherein when the satellite positioning accuracy meets the first preset condition, a transformation relation between the satellite acquisition coordinate and the visual acquisition coordinate is obtained according to at least one group of the satellite acquisition coordinate and the visual acquisition coordinate which are acquired simultaneously; and when the satellite positioning precision does not meet the first preset condition, transforming the vision acquisition coordinate into a calculation coordinate according to the transformation relation, and using the calculation coordinate as a position coordinate.
9. A method for drawing an electronic map is characterized in that,
controlling the autonomous operating equipment to start from the reference position and walk along the boundary of the working area for at least one circle;
obtaining a sequence of position coordinates according to the method of any one of claims 1 to 8;
generating boundary coordinates of the working area according to the sequence fitting of the position coordinates;
and generating an electronic map of the working area according to the boundary coordinates of the working area.
10. A non-transitory computer-readable storage medium having stored thereon processor-executable instructions configured to cause a processor of an autonomous working device to perform operations comprising a method according to any of claims 1-9.
11. An autonomous working machine comprising a movement mechanism and a control module, characterized in that the control module comprises a non-transitory computer-readable storage medium according to claim 10.
12. An autonomous working machine comprising a moving mechanism and a control module, wherein the control module is configured to perform the operations of any of the methods of claims 1 to 9.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115291613A (en) * | 2022-09-16 | 2022-11-04 | 未岚大陆(北京)科技有限公司 | Autonomous mobile device, control method thereof, and computer-readable storage medium |
| CN117044478A (en) * | 2023-08-31 | 2023-11-14 | 未岚大陆(北京)科技有限公司 | Mower control method and device, mower, electronic equipment and storage medium |
| WO2024055855A1 (en) * | 2022-09-16 | 2024-03-21 | Willand (Beijing) Technology Co., Ltd. | Autonomous mobile device and method for controlling the same, and computer readable storage medium |
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2021
- 2021-09-30 CN CN202111159546.8A patent/CN114322980A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115291613A (en) * | 2022-09-16 | 2022-11-04 | 未岚大陆(北京)科技有限公司 | Autonomous mobile device, control method thereof, and computer-readable storage medium |
| WO2024055855A1 (en) * | 2022-09-16 | 2024-03-21 | Willand (Beijing) Technology Co., Ltd. | Autonomous mobile device and method for controlling the same, and computer readable storage medium |
| CN117044478A (en) * | 2023-08-31 | 2023-11-14 | 未岚大陆(北京)科技有限公司 | Mower control method and device, mower, electronic equipment and storage medium |
| CN117044478B (en) * | 2023-08-31 | 2024-03-19 | 未岚大陆(北京)科技有限公司 | Mower control method and device, mower, electronic equipment and storage medium |
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