WO2017167207A1 - 自动工作系统及其工作区域的地图建立方法 - Google Patents

自动工作系统及其工作区域的地图建立方法 Download PDF

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Publication number
WO2017167207A1
WO2017167207A1 PCT/CN2017/078644 CN2017078644W WO2017167207A1 WO 2017167207 A1 WO2017167207 A1 WO 2017167207A1 CN 2017078644 W CN2017078644 W CN 2017078644W WO 2017167207 A1 WO2017167207 A1 WO 2017167207A1
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WIPO (PCT)
Prior art keywords
map
work area
boundary
data
coordinate data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/078644
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English (en)
French (fr)
Inventor
周昶
杨洲
邵勇
何明明
王家达
刘强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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Publication date
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Publication of WO2017167207A1 publication Critical patent/WO2017167207A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Definitions

  • the invention relates to an automatic working system and a map establishing method of a working area of an automatic working system.
  • the automatic working system similar to intelligent robots has begun to slowly enter people's lives.
  • the automatic mower can automatically cut grass and charge in the user's lawn without user intervention.
  • This automatic work system eliminates the need for effort management once it is set up, freeing users from tedious and time-consuming housework such as cleaning and lawn maintenance.
  • the automatic mower When the automatic mower cuts the working area, the working area of the automatic mower needs to be sent to the automatic mower in advance, and the automatic mower works in this working area.
  • the automatic mower is provided with boundary lines or virtual boundary lines.
  • the boundary line or virtual boundary line defines the working range of the automatic mower.
  • the automatic mower can automatically recognize the boundary line during work to prevent exceeding the boundary line or virtual boundary. line.
  • the initial boundary area is delineated by artificial means, and the information is input to the automatic mower. There is an error in this way, and the error may reach several meters, thereby affecting the accuracy of the boundary of the work area.
  • the automatic mower carries or installs the DGPS module, and the user controls the automatic mower to move along a predetermined virtual boundary line.
  • the DGPS module locates the automatic mower to generate continuous or discontinuous coordinate points during the movement, and the continuous coordinate points are connected.
  • the boundary line data is then formed and stored in the storage module of the automatic mower.
  • the boundary line formed does not have an intuitive operation interface, if the boundary line data is to be modified, such as adding or deleting a boundary, it is necessary to control the automatic mower to re-form the virtual boundary line, which is time consuming and labor intensive.
  • the present invention provides an automatic working system and method for drawing or editing a work area map by a user, which simplifies the establishment of a work area map, and can obtain a high-precision work area map.
  • An automatic working system comprising: a self-moving device, the self-moving device comprising: a mobile module driven by a driving motor to drive movement from the mobile device; and a control module to control the mobile module to drive the work defined by the mobile device in the map Moving and working in the area; the automatic working system further comprises: a map generating module, collecting feature position data of the working area, thereby generating a map; a map correction module, collecting feature position data of the corrected working area, using the corrected working area The feature location data correction map; the map generation module or the map correction module collects feature location data of the work area under human operation.
  • the feature location of the work area includes a boundary of the work area, or an obstacle in the work area, or a channel connecting different work areas.
  • the automated working system includes a docking station for docking and charging from the mobile device; the characteristic location of the working area includes a docking station location, or a path from the mobile device to leave or return to the docking station.
  • the map generating module is communicably connected to the display device; the map generating module acquires a satellite map of the working area, and displays the satellite map through the display device; and manually displays a satellite map displayed on the display device
  • the feature location data of the work area is collected, and the map generation module collects feature location data of the work area to generate a map.
  • the display device comprises a display device of an external smart terminal or a display device of an automatic working system.
  • the automatic working system includes application software, and the map generating module acquires a satellite map through the application software, and collects feature location data of the working area by using the application software.
  • the automatic working system comprises a positioning device that receives satellite navigation signals to acquire its own current location data.
  • the automatic working system includes at least one reference object disposed in a working area of the mobile device, and the map correction module uses the positioning device to acquire location data of the reference object; the map correction module passes the The application software provides at least one marker, the display device displays a map generated by the map generation module and the marker, the marker corresponding to the reference object in the work area; the map correction module passes the application software Providing preset position data for the marker, the preset position data being consistent with position data of a reference object in a corresponding work area; the map correction module manually moving the marker to a map on a map After the position is set, it is determined whether the position data after the movement of the marker satisfies the preset position data, and the map is corrected, wherein The preset position is a position that coincides with a position of the corresponding reference object in the work area.
  • the automatic correction module acquires the deviation value of the position data after the movement of the marker relative to the preset position data of the marker, and corrects the deviation value by using the deviation value. map.
  • the self-mobile device includes at least one environment recognition sensor that identifies a feature location of the work area; when the self-mobile device moves based on a map, the location device is installed on the self-mobile device, and outputs current location data from the mobile device.
  • the map correction module compares the current position data output by the positioning device with the feature position data in the map, and determines the environment recognition sensor identification. Whether the obtained feature position matches the feature position in the map, and if not, the map is corrected using the current position data output by the positioning device.
  • the environment recognition sensor comprises any one of a grass recognition sensor, an obstacle detection sensor, and a camera.
  • the map generating module performs an offset operation on the feature position data such that the position corresponding to the offset data is closer to the center position of the work area than the position corresponding to the unshifted data.
  • the feature location includes a boundary of the work area, and the offset boundary is reduced relative to the unshifted boundary.
  • the feature location includes an obstacle in the work area, and the offset obstacle is enlarged relative to the unshifted obstacle.
  • the map correction module is communicably connected to the display device, and the display device displays the map generated by the map generation module, and the map correction module collects the feature position of the modified work area by the operation of the map displayed by the display device. data.
  • the display device comprises a display device of the smart terminal or a display device of an automatic working system.
  • the automatic working system includes application software
  • the map correction module displays a map by using the application software, and collects feature location data of the corrected working area by using the application software.
  • the operation of manually displaying the map displayed by the display device comprises manually drawing on the map to collect feature location data of the modified work area.
  • the operation of the map displayed by the display device is artificially added or deleted.
  • Feature location data for the zone is artificially added or deleted.
  • the invention also provides a map establishing method for a working area of an automatic working system, the automatic working system comprising a self-moving device, moving and working within a map-defined working area; the map establishing method comprising the steps of: collecting a working area Feature location data, generating a work area map; collecting feature location data of the corrected work area, generating a corrected work area map; the step of collecting feature position data of the work area or collecting feature position data of the corrected work area, artificially Execute under operation.
  • the feature location of the work area includes a boundary of the work area, or an obstacle in the work area, or a channel connecting different work areas.
  • the automated working system includes a docking station for docking and charging from the mobile device; the characteristic location of the working area includes a docking station location, or a path from the mobile device to leave or return to the docking station.
  • collecting the feature location data of the work area comprises the steps of: acquiring a satellite map of the work area, displaying the satellite map by the display device, and manually collecting the feature location data of the work area on the satellite map displayed by the display device.
  • the satellite map is acquired by the application software, and the feature location data of the work area is collected by the application software.
  • the automatic working system includes a positioning device that receives satellite signals to acquire its own current location data.
  • acquiring the feature location data of the modified working area comprises the steps of: setting at least one reference object in the working area, acquiring location data of the reference object by using the positioning device; providing at least one marker in the application software Displaying a map and a marker, the marker corresponding to the reference object in the working area; providing the marker with preset position data, the preset position data being consistent with the position data of the corresponding reference object Manually moving the marker on the map to a preset position, the preset position being consistent with the position of the corresponding reference object in the work area; determining whether the position data after the marker moves meets the preset position data, If it is not satisfied, the map is corrected by the deviation value of the position data after the marker is moved with respect to the preset position data.
  • collecting the feature location data of the modified work area comprises the steps of: providing at least one environment recognition sensor from the mobile device, identifying a feature location of the work area; moving the mobile device based on the map, when the environment recognition sensor identifies the work Comparing the current location data output by the positioning device with the feature location data in the map, and determining the environment identification transmission Whether the feature position recognized by the sensor matches the feature position in the map, and if not, the map is corrected using the current position data output by the positioning device.
  • the environment recognition sensor comprises any one of a grass recognition sensor, an obstacle detection sensor, and a camera.
  • the feature position data is subjected to an offset operation such that the position corresponding to the offset data is closer to the center position of the work area than the position corresponding to the unshifted data.
  • the feature location includes a boundary of the work area, and the offset boundary is reduced relative to the unshifted boundary.
  • the feature location includes an obstacle in the work area, and the offset obstacle is enlarged relative to the unshifted obstacle.
  • collecting the feature location data of the modified work area comprises the steps of: displaying a map on the display device, and manually operating the map displayed by the display device.
  • the map is displayed by the application software, and the feature location data of the corrected work area is collected by the application software.
  • the operation of manually displaying the map displayed by the display device includes the steps of manually drawing on the map.
  • the operation of manually displaying the map displayed by the display device includes the step of manually adding or deleting feature location data of the work area.
  • the invention has the beneficial effects of simplifying the establishment of a work area map and obtaining a high-precision work area map.
  • the present invention also provides a method for determining a working area of a mobile device, comprising the steps of: delineating an initial boundary area on an electronic map, and transmitting boundary information related to the initial boundary area to the self-mobile device;
  • the mobile device performs walking according to the boundary information, and the self-mobile device is provided with a sensor for identifying the working area, and corrects and updates the boundary information according to the signal detected by the sensor of the self-mobile device.
  • the boundary information in the step of delineating an initial boundary region on the electronic map and transmitting the boundary information to the self-mobile device, the boundary information is the initial boundary region.
  • the step of delineating an initial boundary region on the electronic map and transmitting the boundary information to the self-mobile device comprises: delineating an initial boundary region on the electronic map, the initial boundary The region is preprocessed to obtain a reference boundary region, and the reference boundary region is obtained The domain is sent to the self-mobile device.
  • the step of determining the reference boundary region is: shifting the initial boundary region toward a center direction of the initial boundary region to obtain the reference boundary region.
  • the determining the reference boundary region is: delineating a non-working region in the initial boundary region, shifting the initial boundary region toward a center direction of the initial boundary region, and The non-working area is offset from a center direction away from the non-working area, and the offset initial boundary area and the offset non-working area are the reference boundary area.
  • the senor is a grass height sensor, an image sensor, or an infrared sensor.
  • the step of delineating an initial boundary region on the electronic map and transmitting boundary information related to the initial boundary region to the self-mobile device is performed in a mobile phone, a tablet or a computer
  • the initial boundary area is delineated on the map software.
  • the self-mobile device performs walking according to the boundary information
  • the self-mobile device is provided with a sensor for identifying a working area, and according to the signal detected by the sensor of the self-mobile device, In the step of updating the boundary information, the correction distance of the boundary information is less than or equal to a preset value.
  • the self-mobile device performs walking according to the boundary information
  • the self-mobile device is provided with a sensor for identifying a working area, and according to the signal detected by the sensor of the self-mobile device,
  • the method further includes the step of: transmitting the corrected and updated boundary information to the user, and the user manually adjusts the modified and updated boundary information.
  • An autonomous mobile self-mobile device comprising a sensor for identifying a work area, and a work area boundary determination system, the work area boundary determination system for acquiring an initial boundary area delineated on an electronic map, and indicating the self
  • the mobile device walks according to the boundary information related to the initial boundary region, and corrects and updates the initial boundary information according to the signal detected by the sensor.
  • the senor is a grass height sensor, an image sensor, or a red External sensor
  • the work area boundary determining system includes a receiving device, a positioning module, and a processing module, the receiving device is configured to receive boundary information related to the initial boundary region; and the processing module is configured to receive the Deriving a signal detected by the sensor and boundary information sent by the receiving device, and comparing and processing the signal detected by the sensor with the boundary information; the positioning module is configured to indicate that the autonomous mobile device is in accordance with the processing The processing result sent by the module is carried.
  • the method for determining a working area of the self-mobile device and the self-mobile device by delineating an initial boundary area on the electronic map, and transmitting the boundary information related to the initial boundary area to the self-mobile device, the self-mobile device receiving the boundary information Afterwards, the mobile device performs walking according to the boundary information, and the mobile device is provided with a sensor for identifying the working area.
  • the sensor detecting signal from the mobile device corrects the boundary information according to the signal, thereby In the process of determining the working area of the mobile device, the boundary is initially determined through the map, and the boundary is corrected by the sensor detection signal, thereby improving the accuracy of the determination of the working area of the mobile device.
  • the present invention also provides a method for generating a boundary line, comprising: acquiring basic coordinate data of a boundary line; acquiring new coordinate data generated on the basic coordinate data and requiring modification of the basic coordinate data; The coordinate data is used to modify the basic coordinate data; the modified basic coordinate data is used as an automatic lawn mower to cut the map.
  • the base coordinate data and the new coordinate data each include a plurality of consecutive or non-contiguous coordinate points, and the new coordinate data includes associated coordinate data and/or non-associated coordinate data, the associated coordinate data
  • the start coordinate point and the end coordinate point coincide with corresponding coordinate points in the base coordinate data, and the coordinate points included in the non-associated coordinate data are all inside the boundary line formed by the basic coordinate data.
  • the basic coordinate data is repaired according to the new coordinate data.
  • the steps to change include:
  • the basic coordinate data is modified according to the associated coordinate data
  • the basic coordinate data is modified according to the non-associated coordinate data.
  • the step of modifying the basic coordinate data according to the associated coordinate data comprises:
  • the associated coordinate data is added to the base coordinate data as the modified base coordinate data.
  • the method before the step of deleting the basic coordinate data between the coincident corresponding coordinate points in the basic coordinate data, the method further includes:
  • the base coordinate data is entered into a modifiable state.
  • the step of deleting the basic coordinate data between the coincident corresponding coordinate points in the basic coordinate data if the number of the corresponding coordinate points identified is 1 or 2 Then, the basic coordinate data between the coincident corresponding coordinate points is directly deleted.
  • the step of deleting the basic coordinate data between the coincident corresponding coordinate points in the basic coordinate data if the number of the corresponding coordinate points of the overlap is two or more, And identifying, in the basic coordinate data, corresponding coordinate points that coincide with the starting coordinate point and the ending coordinate point in the associated coordinate data, and deleting corresponding coordinate points that coincide with the starting coordinate point and the ending coordinate point.
  • the step of deleting the basic coordinate data between the coincident corresponding coordinate points in the basic coordinate data if the number of the corresponding coordinate points of the overlap is two or more, Then, the basic coordinate data between the adjacent two coincident coordinate points is sequentially deleted.
  • the step of modifying the basic coordinate data according to the non-associated coordinate data comprises:
  • the non-associated coordinate data is added to the base coordinate data as modified base coordinate data.
  • a boundary line generation system includes:
  • a first acquiring module configured to acquire basic coordinate data of the boundary line
  • a second acquiring module configured to acquire new coordinate data generated on the basic coordinate data and required to modify the basic coordinate data
  • a modifying module configured to modify the basic coordinate data according to the new coordinate data
  • the base coordinate data and the new coordinate data each include a plurality of consecutive or non-contiguous coordinate points, and the new coordinate data includes associated coordinate data and/or non-associated coordinate data, the associated coordinate data
  • the starting coordinate point coincides with a corresponding coordinate point in the basic coordinate data, and the coordinate points included in the non-associated coordinate data are all inside the boundary line formed by the basic coordinate data, and have no coincidence point with the basic coordinate data.
  • the modifying module comprises:
  • a recognition unit configured to identify associated coordinate data and/or non-associated coordinate data included in the new coordinate data
  • a first modifying unit configured to identify the coordinate data, and modify the basic coordinate data according to the associated coordinate data
  • a second modifying unit configured to modify the basic coordinate data according to the non-associated coordinate data when the data is identified as non-associated coordinate data.
  • the first modifying unit comprises:
  • a coordinate point identification subunit configured to identify, from the basic coordinate data, a corresponding coordinate point that coincides with a coordinate point of the associated coordinate data
  • Deleting a subunit configured to delete basic coordinate data between the coincident corresponding coordinate points in the base coordinate data
  • a subunit is added for adding the associated coordinate data to the base coordinate data as the modified base coordinate data.
  • the first modifying unit further includes:
  • a state setting subunit for entering the base coordinate data into a modifiable state.
  • the deleting subunit directly deletes the coincident corresponding coordinate points.
  • the deletion subunit identifies the same in the basic coordinate data. Corresponding coordinate points in which the starting coordinate point and the ending coordinate point coincide in the coordinate data, and the basic coordinate data between the corresponding coordinate points that coincide with the starting coordinate point and the ending coordinate point are deleted.
  • the deleting subunit sequentially deletes the adjacent two coincident corresponding coordinate points.
  • a mobile terminal includes a generation system having a boundary line as described above, and a visual interface for displaying and modifying the automatic lawn mower cutting map.
  • the automatic mower cutting map is divided into a cutting area or a non-cutting area.
  • the automatic mower cutting map further includes a route channel that communicates with the plurality of cutting regions along which the automatic mower moves between the plurality of cutting regions.
  • the present invention also provides a method for inspecting a map from a mobile device, comprising the steps of: walking from a mobile device along a boundary of an initial walking map; triggering a device equipped with an observation object such that the observation object falls on the initial walking On the boundary of the map; observe the location of the observation and The location of the observation is compared to the boundary of the actual area from which the mobile device is to operate.
  • the initial walking map is stored in the storage unit of the self-mobile device.
  • the apparatus containing the observation object is disposed in the The housing of the mobile device is detachably coupled to the housing.
  • the apparatus containing the observation object in the step of triggering the apparatus with the observation object such that the observation object falls on the boundary of the initial walking map, is disposed in the From the inner wall of the outer casing of the mobile device, and the means for viewing the object is integrally formed with the outer casing of the self-moving device.
  • the trigger connected to the device with the observation issues an instruction, the apparatus containing the observation receives the instruction and opens, and the observation object falls on the boundary of the initial walking map.
  • the observation in the step of triggering the device with the observation such that the observation is dropped on the boundary of the initial walking map, is lime, flour or environmentally friendly particles or powder.
  • the boundary determined by the location of the observation object does not coincide with the boundary of the actual area to be operated by the mobile device, and the boundary of the location where the marker is located does not coincide with the boundary of the actual region where the self-mobile device is to work.
  • the area, the learning map is taken, and the current walking map is obtained such that the boundary of the current walking map coincides with the boundary of the actual area to be operated by the mobile device.
  • An inspection device for a map of a mobile device comprising a self-moving device and a device equipped with an observation device, the device with an observation device being connected to a housing of the self-moving device, the device with an observation device being used for Dropping the observation during the walking of the self-moving device along the boundary of the initial walking map
  • a trigger unit is further included, the trigger unit is coupled to the device with an observation device, and the trigger unit is configured to trigger the device with the observation object such that the observation object is dropped On the boundary of the initial walking map.
  • the above-described method for checking a map of a mobile device and the device thereof by means of a device equipped with an observation object during walking along a boundary of the initial walking map from the mobile device, the observation object in the device equipped with the observation object is dropped On the boundary of the initial walking map, the boundary of the initial walking map is displayed, so that the user can observe the position of the observation object, thereby comparing the initial walking map with the boundary of the actual area to be operated by the mobile device. By observing the position of the observation object, the user can check the walking map of the mobile device, thereby reducing the risk of the error of the map from the mobile device.
  • FIG. 1 is a schematic diagram of an automatic working system according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of an automatic lawn mower in the embodiment of FIG. 1;
  • FIG. 3 is a schematic diagram of a map correction method in the embodiment of FIG. 1;
  • FIG. 4 is a schematic diagram of another map correction method in the embodiment of FIG. 1;
  • FIG. 5 is a schematic flowchart diagram of a method for determining a working area of a mobile device according to another embodiment of the present invention.
  • FIG. 6 is a schematic structural view of an initial boundary region delineated on a map
  • FIG. 7 is a schematic structural diagram of a reference boundary region after the initial boundary region shown in FIG. 6 is processed
  • FIG. 8 is a schematic structural view of the reference boundary area shown in FIG. 7 after being corrected
  • FIG. 9 is a schematic structural diagram of a self-mobile device according to another embodiment.
  • FIG. 10 is a schematic flow chart of a method for generating a boundary line according to another embodiment
  • step S1600 in FIG. 10 is a schematic flow chart of step S1600 in FIG. 10;
  • step S1640 in FIG. 11 is a schematic flow chart of step S1640 in FIG. 11;
  • FIG. 13 is another schematic flowchart of step S1640 in FIG. 11;
  • FIG. 14 is a schematic flowchart of step S1660 in FIG. 11;
  • 15 is a schematic structural diagram of a boundary line generating system of another embodiment
  • Figure 16 is a schematic structural view of the modified module of Figure 15;
  • Figure 17 is a schematic structural view of the first modification unit of Figure 16;
  • FIG. 18 is another schematic structural view of the first modification unit of FIG. 16.
  • 19 is a schematic flow chart of a method for inspecting a map of a mobile device according to another embodiment
  • 20 is a schematic structural diagram of an inspection apparatus for a map of a mobile device according to another embodiment.
  • the automated working system 100 includes self-mobile devices.
  • the self-moving device is an automatic lawn mower 1.
  • the self-mobile device may also be an unattended device such as an automatic cleaning device, an automatic watering device, an automatic snow sweeper, and the like.
  • the automated working system 100 also includes a charging station 2 (i.e., a docking station) for the automatic lawn mower 1 to dock and replenish electrical energy.
  • the automatic working system 100 includes a navigation module for outputting the current position of the automatic lawn mower.
  • the navigation module includes a base station 17 and a mobile station 15 (ie, a positioning device).
  • the automatic working system is used to operate in a predetermined working area.
  • the working area includes at least two sub-working areas separated from each other, and the sub-working areas are connected by the passage 400.
  • a boundary 200 is formed between the work area and the non-work area, and the work area includes obstacles 9, 11 and the obstacle includes trees, pits and the like.
  • the structure of the automatic mower 1 in this embodiment is as shown in FIG. 2.
  • the automatic mower 1 includes a housing 3, a moving module, a task execution module, an energy module, a control module, and the like.
  • the moving module comprises a crawler belt 5 driven by a driving motor to drive the automatic mower 1 to move.
  • the task execution module includes a cutting assembly 7 that performs mowing work.
  • the energy module includes a battery pack (not shown) that provides electrical energy for the movement and operation of the automatic mower 1.
  • the control module is electrically connected with the mobile module, the task execution module and the energy module, and controls the mobile module to drive the automatic mower 1 to move, and controls the task execution module to perform the work. Business.
  • the navigation module in this embodiment includes a base station 17 and a mobile station 15. Both the base station 17 and the mobile station 15 receive satellite signals, and the base station 17 transmits a positioning correction signal to the mobile station 15 to implement differential satellite positioning. In this embodiment, the base station 17 and the mobile station 15 receive the GPS positioning signal to implement DGPS positioning. Of course, in other embodiments, base station 17 and mobile station 15 may also receive positioning signals such as Galileo satellite navigation systems, or Beidou satellite navigation systems, or GLONASS.
  • positioning signals such as Galileo satellite navigation systems, or Beidou satellite navigation systems, or GLONASS.
  • the automatic working system of the embodiment includes a map generating module that collects feature position data of the working area to generate a map, and further includes a map correcting module that collects feature position data of the corrected working area and corrects the feature position data of the modified working area. map.
  • the map generation module and the map modification module in this embodiment may include hardware, such as a circuit structure, an input/output device, and the like, and may also include software, such as a program for implementing a certain function, or a combination of software and hardware. As long as you can achieve a specific function.
  • the feature location of the work area includes a boundary of the work area, or an obstacle in the work area (including an isolated island), or a channel connecting different work areas, and also includes a charging station position, the automatic lawn mower leaves or returns to the charging. The path of the station, etc.
  • the map generation module or the map correction module collects feature location data of the work area under human operation.
  • the map creation method of the work area includes the following steps.
  • the map generation module and the map modification module are in communication with the external intelligent terminal, and the external smart terminal may be the user's mobile phone, tablet, or the like.
  • the map generation module displays the satellite map on the smart terminal by using an existing satellite map, such as Google Maps, Baidu map, etc., and draws the work area by the user manually delineating.
  • an existing satellite map such as Google Maps, Baidu map, etc.
  • draws the work area by the user manually delineating The following description of the steps is based on the boundary of the set work area. It can be understood that the acquisition of other feature location data such as obstacles in the work area is similar.
  • the satellite terminal is displayed on the smart terminal, and the user finds the approximate working area of the automatic lawn mower on the satellite map, selects the area and downloads it, and then draws a boundary according to the actual working area, that is, collects the boundary position data and stores it as a map.
  • the data in the stored map is the position data corresponding to the boundary drawn on the satellite map.
  • the automatic working system includes application software, and the application software is loaded on the external intelligent terminal.
  • the user acquires the satellite map through the application software on the intelligent terminal, and draws the boundary through the application software, that is, collects the boundary position data.
  • the map correction module has various methods for correcting the map, one of which is based on the actual position of the reference object in the work area (the position confirmed by the DGPS navigation module) and the deviation value of the position data of the corresponding position in the satellite map. To fix the map.
  • the automatic working system utilizes DGPS positioning.
  • the mobile station outputs its own current location data by receiving satellite signals and signals transmitted by the base station.
  • the mobile station is detachably connected with the automatic lawn mower.
  • the current position data of the automatic lawn mower is outputted.
  • the mobile station can be moved and moved by the user. Go to a specific location to get location data for a specific location.
  • the working area includes at least one reference object, and the reference object may be an entity in the working area, such as a charging station, or may be only a reference point that represents a specific location.
  • the charging station is used as a reference, and the position of the charging station is obtained by using the DGPS navigation module. Specifically, the user can move the mobile station to the charging station position to obtain the coordinates (X1, Y1) output by the mobile station at this time. Or install the mobile station on the automatic mower and record the position coordinates (X1, Y1) when the automatic mower is docked at the charging station.
  • At least one tag is provided in the application software, and the smart terminal displays the generated map and the tag through the application software, and the tag corresponds to the reference object in the work area, and provides a preset for the tag through the application software.
  • the position data, the preset position data is consistent with the position data of the reference object in the corresponding work area.
  • a charging station model is provided in the application software, and the user can drag the model and place it at any position in the map.
  • the charging station in the actual working area is usually disposed at the edge of the house, and the user drags the charging station model 300 in the application software to the corresponding position according to the position of the charging station in the actual working area.
  • the application software outputs location data (X0, Y0) of the charging station model 300 in the current map. Since the application software provides the preset location data for the charging station model 300, the preset position data is the position data (X1, Y1) of the charging station acquired by the DGPS navigation module, and the precise position data (X1, Y1) is used. Correct the position (X0, Y0) of the charging station model 300 on the map. By comparing (X1, Y1) and (X0, Y0), the deviation value is obtained, and the deviation value is used to correct the map, so that the feature position data such as the boundary in the map is corrected, thereby obtaining a more accurate map.
  • Another map correction method is to install an environmental recognition sensor on an automatic mower, and automatically cut it.
  • the environment recognition sensor detects the boundary (or other characteristic position such as an obstacle), and uses the boundary position data detected by the environment recognition sensor to correct the map.
  • the automatic lawn mower includes at least one environment recognition sensor
  • the environment recognition sensor may be a grassland recognition sensor, such as a capacitance sensor, a humidity sensor, a grass height recognition sensor, etc., detecting a boundary of the work area;
  • the environment recognition sensor It may also be an obstacle detecting sensor such as a collision detecting sensor, an ultrasonic sensor or the like to detect an obstacle in the working area; of course, the environmental recognition sensor may also be a camera, and the feature position of the working area is recognized by the captured image.
  • the grass recognition sensor when the automatic lawn mower moves in the work area, the grass recognition sensor detects the ground surface under the automatic lawn mower in real time, and when the automatic lawn mower is about to move to the non-turf area, the grass recognition sensor detects the surface. From grass to non-grass, the output signal is sent to the control module, and the control module determines that the automatic mower moves to the boundary of the work area.
  • the current position coordinate output by the navigation module is the boundary position coordinate.
  • the map correction module compares the current position coordinates of the automatic mower and the boundary position coordinates stored in the map to determine whether the boundary stored in the map matches the actual boundary. If not, the current position coordinates are used to correct the boundary position data in the map. , thus getting a revised map.
  • Another map correction method is to perform an offset operation on a map delineated by a user on a satellite map so that the position corresponding to the offset data is closer to the center position of the work area than the position corresponding to the unshifted data. Specifically, the offset boundary is reduced with respect to the unshifted boundary, and the offset obstacle is expanded with respect to the unshifted obstacle. This operation ensures the safety of the automatic mower based on map work.
  • the environment recognition sensor can be reused to correct the boundary after the offset operation.
  • the above-mentioned map establishment method reduces the difficulty of establishing a map and reduces the labor for the user to establish a map.
  • the map can be corrected by various correction methods to improve the accuracy of the map and make the automatic mower work more precise and intelligent.
  • the carrier displaying the map may not be a smart terminal, and the automatic working system itself may include a display device, for example, the mobile station includes a display device, and the user may operate on the display device to generate or Fix the map.
  • the display device can be touch screen type, the user can draw directly on the display device, and the display device can also cooperate with the input device, and the user operates the map displayed by the display device through the input device.
  • the map correction module correcting the map may further include the following steps.
  • the user observes the map displayed by the intelligent terminal (or mobile station), compares the actual working area with the working area marked by the map, and judges whether the working area marked by the map is accurate. If not, if Manual modification on the smart terminal (or mobile station). Specifically, referring to FIG. 4(b), when the user determines that the boundary between point A and point B does not match the boundary of the actual working area, manually draw the boundary between point A and point B, and correct the boundary segment manually. map. Correcting the map allows the automatic mower to move based on the modified map without performing work tasks, such as moving along the modified boundary, and the user observes whether the moving path of the automatic mower matches the boundary of the actual working area, and if so, The correction is correct. If it does not match, correct it again. Corrections to obstacles (including isolated islands), passages, etc. are similar to the above process.
  • the application software includes an operation function, increasing feature location data of the work area, for example, adding obstacles or boundary segments, and further including a subtraction operation function, deleting feature location data of the work area, for example, deleting obstacles or boundary segments, etc.
  • the map correction module corrects the map by artificially performing an add or subtract operation function.
  • FIG. 5 Another embodiment of the present invention, as shown in FIG. 5, is a method for determining a working area of a mobile device, including the steps of:
  • S1 Demarcate an initial boundary area on an electronic map (satellite map), and transmit boundary information related to the initial boundary area to the mobile device.
  • the garden tool is exemplified by a garden tool
  • the garden tool includes various garden working robots such as mowing, sowing, loosening, spreading pesticides and watering.
  • the map software can be Google Maps, Baidu maps, and the like.
  • the area where the garden is located is defined as the initial boundary area on the Google map on the mobile phone, the tablet or the computer, as shown in FIG. 6 .
  • the automatic mower includes a receiving device, and the mobile phone, tablet or computer transmits boundary information associated with the delineated initial boundary area of the garden to the receiving device of the automatic mower.
  • the receiving device of the automatic mower receives boundary information related to the delineated initial boundary area of the garden and stores it.
  • the mobile phone, the tablet or the computer transmits the coordinate position or the like of the initial boundary area of the garden to the receiving device by wireless or wired means.
  • the wireless way includes Bluetooth, wifi, and the like.
  • the initial boundary area may also be directly defined on the electronic map of the automatic lawn mower.
  • the automatic lawn mower is equipped with an electronic device containing an electronic map, and an initial boundary area is directly defined on the electronic map of the electronic device, and the electronic device is connected with the receiving device, and the electronic device will have a boundary related to the delineated initial boundary region. The information is sent to the receiving device.
  • the boundary information is a reference boundary region obtained by pre-processing the initial boundary region.
  • the initial boundary area of the garden is usually defined larger. Therefore, before the initial boundary area is sent to the automatic mower, in order to reduce the error, the determination of the working area of the automatic mower is more precise, and the initial boundary area is offset from the center of the initial boundary area to obtain a reference work.
  • the area L2 is as shown in FIG.
  • the distance at which the initial boundary region is shifted toward the center of the initial boundary region is determined according to actual conditions.
  • the reference work area L2 is obtained based on the offset distance set in advance. Thereby, the longitude and latitude of each point on the boundary of the reference working area are obtained according to the longitude and latitude of each point on the boundary of the initial boundary area.
  • the user draws in the initial boundary area of the delineated garden on the electronic map.
  • This non-working area is shifted toward the center of the initial boundary region, and for the sake of safety, the non-working region is shifted away from the center of the non-working region, and the offset initial boundary region and offset
  • the latter non-working area is the reference boundary area.
  • S2 The mobile device walks according to the boundary information, and corrects and updates the boundary information according to the signal detected by the sensor of the mobile device.
  • the mobile device starts from a certain point on the boundary information obtained in step S1. From the starting point of the mobile device, walking along the boundary of the boundary information.
  • the mobile device is provided with a sensor for recognizing the working area, so that the sensor on the mobile device detects the actual situation of the garden during the walking process, and sends a signal of the actual situation of the garden detected by the sensor to the mobile device.
  • a processing module connected to the sensor, the processing module is configured to compare the signal data transmitted by the sensor, the positioning data from the mobile device, and the data of the reference working area, thereby correcting the parameter
  • the test work area L2 is obtained, and the corrected work area L3 is obtained, as shown in FIG.
  • the senor may be a grass height sensor, an image sensor, or an infrared sensor. It should be noted that the sensor may also be a humidity sensor or the like.
  • the grass height sensor detects the height of the grass on the garden during the walking of the automatic mower along the boundary of the reference work area.
  • the automatic mower walks along the boundary of the reference work area, when the grass height sensor detects a point on the boundary of the walking, the automatic mowing machine takes the point as the center and respectively points to the front and left and right sides of the point. Walk slowly. If the grass sensor detects that the height of the grass is not zero during the walking process, the automatic mowing machine will locate and store the position of the grass whose height is not zero.
  • the grass sensor detects that the height of the grass at a certain point is zero during the slow walking to the front and left and right sides of the point, the point is a new boundary, and then the point is centered. Walk slowly toward the front and left and right sides of the point. Then, the automatic mower continues to walk according to the boundary of the reference work area until the boundary of the entire reference work area is corrected.
  • the processing module in the automatic mower compares the height of the grass detected by the grassland sensor, the automatic mower positioning data, and the boundary data of the reference work area, corrects the boundary of the reference work area, and records the corrected The longitude and latitude of each point on the boundary of the reference work area.
  • the grassland height sensor is used to detect the actual situation of the grassland in the garden, and the working area after the automatic mower is cut according to the reference working area which is processed according to the initial boundary area delineated on the electronic map is determined, and the automatic mower work is improved.
  • the accuracy of the determination of the area reduces errors due to human influences.
  • the image sensor When the sensor is an image sensor, the image sensor is used to detect and photograph an image of the actual area garden in which the automatic lawn mower is to travel, and store an image of the actual area garden in which the automatic lawn mower is to be photographed.
  • the image sensor compares the captured image with the reference work area. If the reference work area is a garden, when the automatic mower walks along the boundary of the reference work area, the automatic mowing machine takes a point at the boundary of the reference work area as Center, slowly walk to the front and left and right sides of the point, if in the process of walking, send the information detected by the image sensor and the automatic mower positioning data to the processing module, the processing module in the automatic mower The information detected by the image sensor, the automatic mower positioning data, and the boundary data of the reference work area are compared.
  • the processing module in the automatic mower compares the grass information detected by the image sensor, the automatic mower positioning data, and the boundary data of the reference work area, corrects the boundary of the reference work area, and records the corrected reference. The longitude and latitude of each point on the boundary of the work area.
  • Determining and photographing the image of the actual area garden in which the automatic mower is to be operated by the image sensor, and determining the working area to be cut by the automatic mower in combination with the reference work area processed according to the initial boundary area delineated on the electronic map Improve the accuracy of the determination of the working area of the automatic mower and reduce the error caused by human influence.
  • the infrared sensor detects the boundaries of the garden during the walking of the automatic mower along the boundary of the reference work area.
  • the automatic mower walks forward and left and right at a certain point on the boundary of the reference work area.
  • the infrared sensor detects the boundary of the garden
  • the automatic mower continues to walk along the boundary of the reference work area and records the walking process. Positioning information for all points in the middle.
  • the automatic mower continues to walk until the entire boundary is reached.
  • the processing module in the automatic mower compares the information detected by the infrared sensor, the automatic mower positioning data and the boundary data of the reference working area, corrects the boundary of the reference working area, and records the corrected reference working area.
  • the longitude and latitude of each point on the boundary is a certain point on the boundary of the reference work area.
  • the infrared sensor is used to detect the boundary of the garden, and the referenced work area after the initial boundary area delineated on the Google map is used to determine the working area to be cut by the automatic mower, and the accuracy of the determination of the working area of the automatic mower is improved. To reduce errors caused by human influences.
  • the boundary information may also be an initial boundary area, and after the information of the initial boundary area is sent to the receiving device of the mobile device, the mobile device directly walks along the boundary of the initial boundary area, according to the sensor of the mobile device.
  • the detected signal corrects the boundary of the initial boundary region and is derived from the boundary of the final working area of the mobile device.
  • the correction distance of the boundary information may also be limited. In the correction process, the correction distance is less than or equal to the preset value, thereby ensuring that the automatic lawn mower does not go to certain specific areas, especially for cutting. The garden has adjacent grass.
  • step S2 the steps are further corrected and updated.
  • the boundary information is sent to the user, and the user performs manual adjustment and the like on the corrected and updated boundary information.
  • the self-mobile device 110 of an embodiment includes a sensor 111 and a work area boundary determination system 112.
  • the sensor 111 is used to identify the working area
  • the working area boundary determining system 112 is connected to the sensor 111.
  • the work area boundary determining system 112 is configured to acquire an initial boundary area delineated on the electronic map, and instruct the mobile device 110 to walk according to the boundary information related to the initial boundary area, and correct according to the signal detected by the sensor. Update the initial boundary information.
  • the sensor 111 is a grass sensor, an image sensor, or an infrared sensor.
  • the work area boundary determination system 112 includes a receiving device 1120, a positioning module 1121, and a processing module 1122.
  • the electronic map is stored in an electronic device from the mobile device 110 or in an external electronic device. External electronic devices include mobile phones, tablets or computers. An electronic map is used to delineate the initial boundary area.
  • the receiving module 1120 is connected to the processing module 1122, the sensor 111 is also connected to the processing module 1122, and the processing module 1122 is also connected to the positioning module 1121.
  • the receiving module 1120 is configured to acquire boundary information related to an initial boundary region delimited on the electronic map.
  • the boundary information is an initial boundary area or a pre-processed reference work area such as an inward offset or an outward offset on the initial boundary area.
  • the receiving module 1120 receives the coordinate position or the like of the boundary information and stores it.
  • An external electronic device such as a mobile phone, a tablet, or a computer transmits boundary information or the like to the receiving module 1120 by wireless or wired.
  • the wireless way includes Bluetooth, wifi, and the like.
  • the sensor 111 is also used to detect signals that are traveled from the mobile device 110 based on the boundary information.
  • the sensor 111 may be a grass height sensor, an image sensor, or an infrared sensor. It should be noted that the sensor may also be a humidity sensor or the like.
  • the processing module 1122 is configured to receive the signal detected by the sensor 111, the boundary information sent by the receiving device 1120, and the positioning data sent by the positioning module 1121, and compare and process the three data.
  • the positioning module 1121 is configured to locate the location from which the mobile device 110 is traveling, and send the location information to the processing module 1122, and is used to indicate that the mobile device 110 is walking according to the processing result sent by the processing module 1122.
  • the processing module 1122 is further configured to send the processed result to the user, The user can manually adjust the result of the processing.
  • the method for determining a working area of a self-mobile device and the autonomous mobile self-mobile device by delineating an initial boundary region on the electronic map, and transmitting the boundary information related to the initial boundary region to the self-mobile device, the self-mobile device receiving the After the boundary information, the mobile device performs walking according to the boundary information, and the mobile device is provided with a sensor for identifying the working area.
  • the sensor detecting signal from the mobile device corrects the boundary information according to the signal. Therefore, in the process of determining the working area of the mobile device, the boundary is initially determined through the map, and the boundary is corrected by the sensor detection signal, thereby improving the accuracy of the determination of the working area of the mobile device.
  • the method for generating a boundary line of another embodiment includes steps S1200 to S1800.
  • Step S1200 acquiring basic coordinate data of the boundary line.
  • the basic coordinate data of the boundary line is a boundary line area that defines the working range of the automatic mower.
  • the automatic mowing can be positioned by the DGPS module installed on the automatic mower.
  • these continuous or non-continuous coordinate points are the basic coordinate data of the boundary line, and connecting these consecutive coordinate points is the boundary line.
  • the automatic mower can store the basic coordinate data through its own storage module, and can send the basic coordinate data to the terminal that can be modified through wireless (such as wifi, etc.) or wired (such as usb interface), and the terminal includes intelligence.
  • the terminal can design corresponding modification programs, such as APP software that can be applied to a smartphone, or an installation package program for a computer device. After the terminal acquires the basic coordinate data of the boundary line, the basic coordinate data can be modified.
  • Step S1400 acquiring new coordinate data generated on the basic coordinate data and requiring modification of the basic coordinate data.
  • DGPS module It is possible to locate continuous or non-continuous coordinate points when moving along a preset boundary line to be modified, and these continuous or non-continuous coordinate points are new coordinate data, which represents that the basic coordinate data needs to be performed on the basic coordinate data according to the new coordinate data.
  • Automatic mower can The new coordinate data is stored by its own storage module, and the new coordinate data can be sent to the terminal that can be modified by wireless (such as wifi, etc.) or wired (such as usb interface). After the terminal acquires new coordinate data, the terminal can Modify the base coordinate data.
  • Step S1600 modifying the basic coordinate data according to the new coordinate data.
  • the new coordinate data includes associated coordinate data and/or non-associated coordinate data.
  • the starting coordinate point of the associated coordinate data coincides with the corresponding coordinate point in the basic coordinate data, indicating that the boundary line to be modified in this segment needs to change the boundary range.
  • the ending coordinate point of the associated coordinate data may coincide with the coordinate point in the basic coordinate data, indicating that a certain segment in the boundary line needs to be modified; the ending coordinate point of the associated coordinate data may also not coincide with the coordinate point in the basic coordinate data.
  • the non-associated coordinate data includes coordinate points that are all inside the boundary line formed by the base coordinate data. For example, when it is necessary to construct a pond in the lawn, the pond can be enclosed as a boundary line.
  • step S1600 includes S1620 to step S1660.
  • Step S1620 identifying associated coordinate data and/or non-associated coordinate data included in the new coordinate data.
  • the new coordinate data may include only the associated coordinate data or the non-associated coordinate data, and may also include the associated coordinate data and the non-associated coordinate data.
  • the terminal can automatically recognize that the new coordinate data is associated coordinate data and/or non-associated coordinate data.
  • step S1640 if it is identified as associated coordinate data, the basic coordinate data is modified according to the associated coordinate data.
  • the terminal recognizes that the new coordinate data includes the associated coordinate data, the basic coordinate data may be modified accordingly.
  • step S1640 includes step S1642, step S1644, and step S1646.
  • step S1642 corresponding coordinate points that coincide with the coordinate points of the associated coordinate data are identified from the base coordinate data.
  • the associated coordinate data is a re-modification of the boundary line range, and the terminal can automatically recognize the coincident coordinate points from the basic coordinate data.
  • step S1644 the basic coordinate data between the coincident corresponding coordinate points is deleted in the basic coordinate data. If the number of coincident coordinate points recognized by the terminal is one or two, the terminal may directly delete the basic coordinate data between the coincident corresponding coordinate points on the display interface. If the terminal recognizes coincidence The number of corresponding coordinate points is two or more, and the terminal can identify corresponding coordinate points that coincide with the start coordinate point and the end coordinate point in the associated coordinate data in the basic coordinate data, and delete and start coordinates and end The base coordinate data between the corresponding coordinate points where the coordinate points coincide. When the number of coincident coordinate points recognized by the terminal is two or more, the basic coordinate data between the adjacent two coincident coordinate points may be sequentially deleted.
  • step S1646 the associated coordinate data is added to the basic coordinate data as the modified basic coordinate data. After the corresponding coordinate point in the basic coordinate data is deleted by step S1644, the associated coordinate data is added to the basic coordinate data.
  • step S1643 is further included before step S1644.
  • step S1643 the basic coordinate data is entered into a modifiable state.
  • the terminal can enter the entire basic coordinate data into a modifiable state.
  • the coordinate points displayed on the terminal interface will correspondingly display a dynamic delete symbol, and the user clicks the delete symbol.
  • the corresponding coordinate points can be deleted, not displayed on the terminal interface, and the user can also cancel one or more deletion steps to prevent the user from being unable to recover when the operation is mishandled. Users can also delete them by gestures, etc., or they can use other methods.
  • step S1660 if it is identified as non-associated coordinate data, the basic coordinate data is modified according to the non-associated coordinate data. Specifically, as shown in FIG. 14, step S1660 includes step S1662 and step S1664.
  • step S1662 the basic coordinate data is entered into a modifiable state.
  • the terminal modifies the basic coordinate data the entire base coordinate data can be entered into a modifiable state.
  • step S1664 the non-associated coordinate data is added to the basic coordinate data as the modified basic coordinate data.
  • the terminal automatically recognizes and adds the non-associated coordinate data to the base coordinate data.
  • step S1800 the modified basic coordinate data is used as an automatic lawn mower to cut the map.
  • the terminal modifies the basic coordinate data according to the associated coordinate data or/and the non-associated coordinate data, and the modified basic coordinate data is the automatic lawn mower cutting map.
  • the terminal can sit on the modified base by wireless or wired
  • the standard data is sent to the automatic mower for storage, and the automatic mower can move according to the boundary line formed by the modified basic coordinate data.
  • the boundary line generation system of an embodiment includes a first acquisition module 1200, a second acquisition module 1400, a modification module 1600, and a generation module 1800.
  • the first obtaining module 1200 is configured to acquire basic coordinate data of the boundary line.
  • the basic coordinate data of the boundary line is a boundary line area that defines the working range of the automatic mower.
  • the automatic mowing can be positioned by the DGPS module installed on the automatic mower.
  • these continuous or non-continuous coordinate points are the basic coordinate data of the boundary line, and connecting these consecutive coordinate points is the boundary line.
  • the automatic mower can store the basic coordinate data through its own storage module, and can send the basic coordinate data to the terminal that can be modified through wireless (such as wifi, etc.) or wired (such as usb interface), and the terminal includes intelligence.
  • the terminal can design corresponding modification programs, such as APP software that can be applied to a smartphone, or an installation package program for a computer device. After the terminal acquires the basic coordinate data of the boundary line, the basic coordinate data can be modified.
  • the second obtaining module 1400 is configured to acquire new coordinate data generated on the basic coordinate data and required to modify the basic coordinate data.
  • DGPS module It is possible to locate continuous or non-continuous coordinate points when moving along a preset boundary line to be modified, and these continuous or non-continuous coordinate points are new coordinate data, which represents that the basic coordinate data needs to be performed on the basic coordinate data according to the new coordinate data. modify.
  • the automatic mower can store new coordinate data through its own storage module, and can send new coordinate data to the terminal that can be modified through wireless (such as wifi, etc.) or wired (such as usb interface), and the terminal acquires new After the coordinate data, the basic coordinate data can be modified.
  • wireless such as wifi, etc.
  • wired such as usb interface
  • the modification module 1600 is configured to modify the basic coordinate data according to the new coordinate data.
  • new The coordinate data includes associated coordinate data and/or non-associated coordinate data.
  • the starting coordinate point of the associated coordinate data coincides with the corresponding coordinate point in the basic coordinate data, indicating that the boundary line to be modified in this segment needs to change the boundary range.
  • the ending coordinate point of the associated coordinate data may coincide with the coordinate point in the basic coordinate data, indicating that a certain segment in the boundary line needs to be modified; the ending coordinate point of the associated coordinate data may also not coincide with the coordinate point in the basic coordinate data. Indicates that a new boundary line has been added to the outside of the boundary line.
  • the base coordinate data can be re-modified to expand or contract the range of the corresponding boundary line.
  • the non-associated coordinate data includes coordinate points that are all inside the boundary line formed by the base coordinate data. For example, when it is necessary to construct a pond in the lawn, the pond can be enclosed as a boundary line.
  • the modification module 1600 includes an identification unit 1620, a first modification unit 1640, and a second modification unit 1660.
  • the identification unit 1620 is configured to identify associated coordinate data and/or non-associated coordinate data included in the new coordinate data.
  • the new coordinate data may include only the associated coordinate data or the non-associated coordinate data, and may also include the associated coordinate data and the non-associated coordinate data.
  • the terminal can automatically recognize that the new coordinate data is associated coordinate data and/or non-associated coordinate data.
  • the basic coordinate data is modified according to the associated coordinate data.
  • the terminal recognizes that the new coordinate data includes the associated coordinate data, the basic coordinate data may be modified accordingly.
  • the first modifying unit 1640 includes a coordinate point identification sub-unit 1642, a deletion sub-unit 1644, and a joiner. Unit 1646.
  • the coordinate point identification sub-unit 1642 is configured to recognize, from the base coordinate data, corresponding coordinate points that coincide with the coordinate points of the associated coordinate data.
  • the associated coordinate data is a re-modification of the boundary line range, and the terminal can automatically recognize the coincident coordinate points from the basic coordinate data.
  • the delete subunit 1644 is for deleting the base coordinate data between the coincident corresponding coordinate points in the base coordinate data. If the number of coincident corresponding coordinate points identified by the coordinate point identification sub-unit 1642 is one or two, the deletion sub-unit 1644 can delete the basic coordinate data between the coincident corresponding coordinate points directly on the display interface. If the number of coincident corresponding coordinate points identified by the coordinate point identification sub-unit 1642 is two or more, the deletion sub-unit 1644 may identify the initial coordinate point and the end coordinate point in the associated coordinate data in the basic coordinate data. Corresponding to coordinate points and deleting with the starting coordinate point and The base coordinate data between the corresponding coordinate points where the coordinate points coincide. When the number of coincident corresponding coordinate points identified by the coordinate point identification sub-unit 1642 is two or more, the deletion sub-unit 1644 may sequentially delete the basic coordinate data between the adjacent two coincident corresponding coordinate points.
  • the join subunit 1646 is for adding the associated coordinate data to the base coordinate data as the modified base coordinate data. After the corresponding coordinate point in the basic coordinate data is deleted by the deletion subunit 1644, the associated coordinate data is added to the basic coordinate data.
  • the first modification unit 1640 further includes a state setting sub-unit 1643.
  • the state setting sub-unit 1643 is configured to enter the basic coordinate data into a modifiable state.
  • the terminal can enter the entire basic coordinate data into a modifiable state.
  • the coordinate points displayed on the terminal interface will correspondingly display a dynamic delete symbol, and the user clicks the delete symbol.
  • the corresponding coordinate points can be deleted, not displayed on the terminal interface, and the user can also cancel one or more deletion steps to prevent the user from being unable to recover when the operation is mishandled. Users can also delete them by gestures, etc., or they can use other methods.
  • the second modifying unit 1660 is configured to modify the base coordinate data according to the non-associated coordinate data when the data is identified as non-associated coordinate data.
  • the second modification unit 1660 may enter the base coordinate data into the modifiable state, and then add the non-associated coordinate data to the base coordinate data as the modified base coordinate data.
  • the terminal automatically recognizes and adds the non-associated coordinate data to the base coordinate data.
  • the generating module 1800 is configured to cut the modified base coordinate data as an automatic lawn mower.
  • the terminal modifies the basic coordinate data according to the associated coordinate data or/and the non-associated coordinate data, and the modified basic coordinate data is the automatic lawn mower cutting map.
  • the terminal can send the modified basic coordinate data to the automatic mower for storage by wireless or wired, and the automatic mower can move according to the boundary line formed by the modified basic coordinate data.
  • boundary line generation system when it is necessary to generate a new boundary line, it is only necessary to generate new coordinate data to be modified on the basic coordinate data of the boundary line, and modify the basic coordinate data according to the new coordinate data. Without having to control the automatic mower to re-form the boundary line, greatly Improve the efficiency of boundary line generation.
  • the embodiment further provides a mobile terminal, which includes the above-mentioned boundary line generation system, and a visual interface for displaying and modifying the lawn mower cutting map.
  • the mobile terminal may be a mobile phone, a PAD, or the like, wherein the automatic lawn mower cutting map is divided into a cutting area, a non-cutting area, and a route channel.
  • a plurality of cutting regions are connected by a route channel, and the automatic mower can be moved from one cutting region to another along the route channel. It should be pointed out that when the automatic mower moves on the route channel, it only moves without cutting action. Through the route channel, the automatic mower can move freely between the cutting areas to achieve efficient multi-grass cutting, for example, When there is a front yard and a backyard in the home, the automatic lawn mower can automatically move from the front yard to the back yard through the user-designated route, avoiding manual movement by the user.
  • the route channel in this embodiment includes a lane set by a person or a route set only for the mower to move.
  • a method for inspecting a map of a mobile device includes the steps of:
  • S102 Walk from the mobile device along the boundary of the initial walking map.
  • the self-mobile device includes a storage unit, and the initial walking map is stored in a storage unit of the self-mobile device, and the self-mobile device further includes a positioning module, and the positioning module is connected to the storage unit. After the self-mobile device is activated, the self-mobile device walks according to an initial walking map in the storage unit, starting from a certain point of the initial walking map.
  • the positioning module in the mobile device records the positioning information from the mobile device when the mobile device is walking, and records and stores the positioning information.
  • S104 Trigger the device with the observation object so that the observation object falls on the boundary of the initial walking map.
  • the device containing the observation is triggered such that the observation in the device containing the observation falls on the boundary of the initial walking map.
  • the apparatus containing the observation object is disposed on the outer casing of the mobile device, and the device equipped with the observation object is detachably coupled to the outer casing.
  • the device equipped with the observation device is mounted on the outer casing of the mobile device such that when the mobile device walks along the boundary of the initial walking map, the device equipped with the observation device is triggered to cause the observation object to fall on the initial walking map.
  • the device equipped with the observation device can be detached from the outer casing of the mobile device when performing other work from the mobile device.
  • the device containing the viewing object may also be disposed on the inner wall of the housing of the self-moving device, the device containing the viewing device being integrally formed with the outer casing of the mobile device.
  • the triggering unit of the mobile device issues an instruction to the device with the observation object, and the device with the observation object receives the instruction, and is equipped with
  • the device of the observation opens the button so that the observations therein fall, and as the self-moving device walks along the boundary of the initial walking map, the observations in the device with the observations are always dropped on the boundary of the initial walking map.
  • the observer displays the boundary of the initial walking map.
  • the trigger unit is connected to the device equipped with the observation object.
  • the device is equipped with a button mounted thereon such that when the mobile device begins to walk along the boundary of the initial walking map, the button on the viewing device is actuated to cause the viewing object to fall. drop.
  • the self-moving device walks along the boundary of the initial walking map
  • the observations in the device with the observations are always dropped on the boundary of the initial walking map.
  • the observer displays the boundary of the initial walking map.
  • the observation object may be lime, flour or environmentally friendly particles or powder.
  • the environmentally friendly particles or powder may be degradable polylactic acid particles or powders and the like.
  • the observation object is a white powder such as lime.
  • S106 Observe the position of the observation object, and compare the position of the observation object with the boundary of the actual area to be operated by the mobile device.
  • step S104 the position where the observed object falls in step S104 is observed, and the boundary displayed by the observed object is compared with the actual boundary to be operated by the mobile device, thereby initial walking on the mobile device.
  • the map is checked.
  • the initial walking map from the mobile device is displayed by the observation.
  • the user compares the initial walking map displayed by the observation with the actual area to be operated by the mobile device.
  • the user can manually adjust the initial walking map to determine the current walking map, that is, the adjusted walking map.
  • the user compares the initial walking map displayed by the observation object with the actual area to be operated by the mobile device, and when the two do not overlap with each other, the boundary of the position where the mark is located and the self-moving The area where the boundary of the actual area where the device is to be operated does not overlap, and the learning map is re-executed to obtain the current walking map, so that the boundary of the current walking map coincides with the boundary of the actual area to be operated by the mobile device.
  • the above-described method for inspecting a map of a mobile device triggers a device equipped with an observation object during walking from a boundary of the initial walking map from the mobile device, and the observation object in the device equipped with the observation object is dropped at the initial On the boundary of the walking map, the boundary of the initial walking map is displayed, so that the user can observe the position of the observation object, and then the initial walking map can be compared with the boundary of the actual area to be operated by the mobile device, the user By observing the position of the observation object, it is possible to check the walking map of the mobile device, thereby reducing the risk of the error from the map of the mobile device.
  • the inspection device 10 of the map of the mobile device of an embodiment includes the device 120 from the mobile device 110 and the device observation.
  • the device 120 containing the object is coupled to the housing of the mobile device 110, and the device 120 containing the object is used to drop the object during walking from the boundary of the initial walking map.
  • the device 120 equipped with the observation object may be detachably connected to the outer casing of the mobile device 110, or may be integrally formed.
  • the observation object in the device 120 equipped with the observation object falls down, and the initial walking map from the mobile device 110 is taken.
  • the boundaries are shown.
  • the user can check the actual area to be operated by the mobile device 110 based on the boundary of the initial walking map displayed by the observation.
  • the self-mobile device 110 includes a storage unit 113 in which an initial walking map is stored. After the mobile device 110 is activated, the mobile device 110 performs walking based on a certain point of the initial walking map according to the initial walking map in the storage unit 113.
  • the self-moving device 110 further includes a triggering unit 114 connected to the device 120 equipped with an observation object, and the triggering unit 114 is configured to trigger the device 120 with the observation object such that the observation object therein falls on the boundary of the initial walking map. on.
  • the device 120 equipped with the observation object may also be equipped with a button, and when the mobile device starts to walk along the boundary of the initial walking map, press the button on the observation device to make the observation object therein. Dropped.
  • the above-described inspection device for the map of the mobile device can check the walking map of the mobile device, thereby reducing the risk of the map from the mobile device.

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Abstract

一种自动工作系统（100），包括：自移动设备（1，110），自移动设备（1，110）包括：移动模块，由驱动马达驱动，带动自移动设备（1，110）移动；控制模块，控制移动模块带动自移动设备（1，110）在地图限定的工作区域内移动和工作；自动工作系统（100）还包括：地图生成模块，采集工作区域的特征位置数据，从而生成地图；地图修正模块，采集修正的工作区域的特征位置数据，利用修正的工作区域的特征位置数据修正地图；地图生成模块或地图修正模块在人为操作下采集工作区域的特征位置数据。自动工作系统（100）能简化工作区域地图的建立，并且能够获得高精度的工作区域地图。

Description

自动工作系统及其工作区域的地图建立方法 技术领域
本发明涉及一种自动工作系统，以及自动工作系统的工作区域的地图建立方法。
背景技术
随着计算机技术和人工智能技术的不断进步，类似于智能机器人的自动工作系统己经开始慢慢的走进人们的生活。其中，自动割草机能够自动在用户的草坪中割草、充电，无需用户干涉。这种自动工作系统一次设置之后就无需再投入精力管理，将用户从清洁、草坪维护等枯燥且费时费力的家务工作中解放出来。
在自动割草机对工作区域进行切割工作时，需要事先将自动割草机的工作区域发送给自动割草机，自动割草机在此工作区域内进行工作。通常为自动割草机设置有边界线或虚拟边界线，边界线或虚拟边界线规定了自动割草机的工作范围，自动割草机在工作时可以自动识别边界线防止超出边界线或虚拟边界线。
利用网络地图，通过人为的方式划定初始边界区域，将信息输入给自动割草机，这种方式会存在误差，这个误差可能达到数米，从而影响工作区域边界的准确性。
自动割草机携带或者安装DGPS模块，用户控制自动割草机沿预定的虚拟边界线移动，DGPS模块定位自动割草机在移动过程中生成连续或不连续的坐标点，连续的坐标点连线后形成边界线数据并被存储在自动割草机的存储模块中。但由于形成的边界线没有直观的操作界面，如果要修改边界线数据，比如增加或者删除一段边界，必须控制自动割草机重新形成虚拟边界线，耗时耗力。
发明内容
为解决现有技术问题，本发明提供一种由用户介入的绘制或编辑工作区域地图的自动工作系统和方法，简化了工作区域地图的建立，并且能够获得高精度的工作区域地图。
本发明解决现有技术问题所采用的技术方案是：
一种自动工作系统，包括：自移动设备，所述自移动设备包括：移动模块，由驱动马达驱动，带动自移动设备移动；控制模块，控制所述移动模块带动自移动设备在地图限定的工作区域内移动和工作；所述自动工作系统还包括：地图生成模块，采集工作区域的特征位置数据，从而生成地图；地图修正模块，采集修正的工作区域的特征位置数据，利用修正的工作区域的特征位置数据修正地图；所述地图生成模块或地图修正模块在人为操作下采集工作区域的特征位置数据。
优选的，所述工作区域的特征位置包括，工作区域的边界，或工作区域内的障碍，或连接不同工作区域的通道。
优选的，所述自动工作系统包括停靠站，供自移动设备停靠并充电；所述工作区域的特征位置包括停靠站位置，或自移动设备离开或回归所述停靠站的路径。
优选的，所述地图生成模块与显示设备通信连接；所述地图生成模块获取工作区域的卫星地图，并通过所述显示设备显示所述卫星地图；通过人为的在所述显示设备显示的卫星地图上采集工作区域的特征位置数据，所述地图生成模块采集工作区域的特征位置数据，从而生成地图。
优选的，所述显示设备包括外部智能终端的显示设备，或者自动工作系统的显示设备。
优选的，所述自动工作系统包括应用软件，所述地图生成模块通过所述应用软件获取卫星地图，并通过所述应用软件采集工作区域的特征位置数据。
优选的，所述自动工作系统包括定位设备，接收卫星导航信号，以获取自身的当前位置数据。
优选的，所述自动工作系统包括至少一个参照物，设置于自移动设备的工作区域，所述地图修正模块利用所述定位设备获取所述参照物的位置数据；所述地图修正模块通过所述应用软件提供至少一个标记物，所述显示设备显示地图生成模块生成的地图及标记物，所述标记物与所述工作区域中的参照物一一对应；所述地图修正模块通过所述应用软件为所述标记物提供预设位置数据，所述预设位置数据与对应的工作区域中的参照物的位置数据一致；所述地图修正模块通过人为的将所述标记物在地图上移动至预设位置后，判断标记物的移动后的位置数据是否满足预设位置数据，来修正地图，其中， 所述预设位置为与所对应的参照物在工作区域中的位置一致的位置。
优选的，若标记物的移动后的位置数据不满足预设位置数据，则自动修正模块获取标记物移动后的位置数据相对于标记物的预设位置数据的偏差值，使用所述偏差值修正地图。
优选的，所述自移动设备包括至少一个环境识别传感器，识别工作区域的特征位置；所述自移动设备基于地图移动时，所述定位设备安装于自移动设备，输出自移动设备的当前位置数据；所述自移动设备基于地图移动时，当所述环境识别传感器识别到工作区域的特征位置时，地图修正模块比较定位设备输出的当前位置数据与地图中的特征位置数据，判断环境识别传感器识别到的特征位置与地图中的特征位置是否相符，若不相符，则使用定位设备输出的当前位置数据修正地图。
优选的，所述环境识别传感器包括草地识别传感器，障碍检测传感器，摄像头中的任一种。
优选的，所述地图生成模块对所述特征位置数据进行偏移操作，使得偏移后的数据对应的位置相对于未偏移的数据对应的位置更靠近工作区域的中心位置。
优选的，所述特征位置包括工作区域的边界，偏移后的边界相对于未偏移的边界缩小。
优选的，所述特征位置包括工作区域内的障碍，偏移后的障碍相对于未偏移的障碍扩大。
优选的，所述地图修正模块与显示设备通信连接，显示设备显示所述地图生成模块生成的地图，通过人为对显示设备显示的地图的操作，所述地图修正模块采集修正的工作区域的特征位置数据。
优选的，所述显示设备包括智能终端的显示设备，或者自动工作系统的显示设备。
优选的，所述自动工作系统包括应用软件，所述地图修正模块通过所述应用软件显示地图，并通过所述应用软件采集修正的工作区域的特征位置数据。
优选的，人为对显示设备显示的地图的操作包括，人为在地图上绘制，来采集修正的工作区域的特征位置数据。
优选的，人为对显示设备显示的地图的操作包括，人为增加或删除工作 区域的特征位置数据。
本发明还提供一种自动工作系统的工作区域的地图建立方法，所述自动工作系统包括自移动设备，在地图限定的工作区域内移动和工作；所述地图建立方法包括步骤：采集工作区域的特征位置数据，生成工作区域地图；采集修正的工作区域的特征位置数据，生成修正的工作区域地图；所述采集工作区域的特征位置数据或采集修正的工作区域的特征位置数据的步骤，在人为操作下执行。
优选的，所述工作区域的特征位置包括，工作区域的边界，或工作区域内的障碍，或连接不同工作区域的通道。
优选的，所述自动工作系统包括停靠站，供自移动设备停靠并充电；所述工作区域的特征位置包括停靠站位置，或自移动设备离开或回归所述停靠站的路径。
优选的，采集工作区域的特征位置数据包括步骤：获取工作区域的卫星地图，通过显示设备显示卫星地图，人为的在显示设备显示的卫星地图上采集工作区域的特征位置数据。
优选的，通过应用软件获取卫星地图，并通过应用软件采集工作区域的特征位置数据。
优选的，所述自动工作系统包括定位设备，接收卫星信号，以获取自身的当前位置数据。
优选的，采集修正的工作区域的特征位置数据包括步骤：在工作区域中设置至少一个参照物，利用所述定位设备获取所述参照物的位置数据；在所述应用软件中提供至少一个标记物，显示地图及标记物，所述标记物与所述工作区域中的参照物一一对应；为所述标记物提供预设位置数据，所述预设位置数据与对应的参照物的位置数据一致；人为的将所述标记物在地图上移动至预设位置，所述预设位置与对应的参照物在工作区域中的位置一致；判断标记物移动后的位置数据是否满足预设位置数据，若不满足，则利用标记物移动后的位置数据相对于预设位置数据的偏差值来修正地图。
优选的，采集修正的工作区域的特征位置数据包括步骤：为自移动设备提供至少一个环境识别传感器，识别工作区域的特征位置；使自移动设备基于地图移动，当所述环境识别传感器识别到工作区域的特征位置时，比较所述定位设备输出的当前位置数据与地图中的特征位置数据，判断环境识别传 感器识别到的特征位置与地图中的特征位置是否相符，若不相符，则使用定位设备输出的当前位置数据修正地图。
优选的，所述环境识别传感器包括草地识别传感器，障碍检测传感器，摄像头中的任一种。
优选的，对所述特征位置数据进行偏移操作，使得偏移后的数据对应的位置相对于未偏移的数据对应的位置更靠近工作区域的中心位置。
优选的，所述特征位置包括工作区域的边界，偏移后的边界相对于未偏移的边界缩小。
优选的，所述特征位置包括工作区域内的障碍，偏移后的障碍相对于未偏移的障碍扩大。
优选的，采集修正的工作区域的特征位置数据包括步骤：在显示设备上显示地图，人为对显示设备显示的地图进行操作。
优选的，通过应用软件显示地图，并通过应用软件采集修正的工作区域的特征位置数据。
优选的，人为对显示设备显示的地图进行操作包括步骤，人为在地图上绘制。
优选的，人为对显示设备显示的地图进行操作包括步骤，人为增加或删除工作区域的特征位置数据。
与现有技术相比，本发明的有益效果是：简化了工作区域地图的建立，并且能够获得高精度的工作区域地图。
本发明还提供一种自移动设备工作区域的确定方法，包括步骤：在电子地图上划定初始边界区域，并将与所述初始边界区域相关的边界信息发送给所述自移动设备；所述自移动设备根据所述边界信息进行行走，所述自移动设备上设有用于识别工作区域的传感器，根据所述自移动设备的传感器检测的信号，修正并更新所述边界信息。
在其中一个实施例中，在所述在电子地图上划定初始边界区域，并将边界信息发送给所述自移动设备的步骤中，所述边界信息为所述初始边界区域。
在其中一个实施例中，在所述在电子地图上划定初始边界区域，并将边界信息发送给所述自移动设备的步骤包括：在电子地图上划定初始边界区域，将所述初始边界区域进行预处理，得到参考边界区域，并将所述参考边界区 域发送给所述自移动设备。
在其中一个实施例中，确定所述参考边界区域的步骤为：将所述初始边界区域向所述初始边界区域的中心方向进行偏移，得到所述参考边界区域。
在其中一个实施例中，确定所述参考边界区域的步骤为：在所述初始边界区域中划定非工作区域，将所述初始边界区域向所述初始边界区域的中心方向进行偏移，并将所述非工作区域向远离所述非工作区域的中心方向进行偏移，偏移后的所述初始边界区域和偏移后的所述非工作区域为所述参考边界区域。
在其中一个实施例中，所述传感器为草地高度传感器、图像传感器或红外传感器。
在其中一个实施例中，在所述在电子地图上划定初始边界区域，并将与所述初始边界区域相关的边界信息发送给所述自移动设备的步骤中，通过在手机、平板或电脑上的地图软件上划定初始边界区域。
在其中一个实施例中，在所述自移动设备根据所述边界信息进行行走，所述自移动设备上设有用于识别工作区域的传感器，根据所述自移动设备的传感器检测的信号，修正并更新所述边界信息的步骤中，对所述边界信息的修正距离小于等于预设值。
在其中一个实施例中，在所述自移动设备根据所述边界信息进行行走，所述自移动设备上设有用于识别工作区域的传感器，根据所述自移动设备的传感器检测的信号，修正并更新所述边界信息的步骤之后，还包括步骤：将所述修正并更新后的边界信息发送给用户，所述用户对所述修正并更新后的边界信息进行手动调整。
一种自主移动自移动设备，包括用于识别工作区域的传感器，以及工作区域边界确定系统，所述工作区域边界确定系统用于获取在电子地图上划定的初始边界区域，并指示所述自移动设备根据与所述初始边界区域相关的边界信息进行行走，根据所述传感器检测的信号，修正并更新所述初始边界信息。
在其中一个实施例中，所述传感器为草地高度传感器、图像传感器或红 外传感器
在其中一个实施例中，所述工作区域边界确定系统包括接收装置、定位模块及处理模块，所述接收装置用于接收与所述初始边界区域相关的边界信息；所述处理模块用于接收所述传感器检测的信号和所述接收装置发送的边界信息，并所述传感器检测的信号和所述边界信息进行比较和处理；所述定位模块用于指示所述自主移动自移动设备根据所述处理模块发送的处理结果进行行走。
上述自移动设备工作区域的确定方法及自移动设备，通过在电子地图上划定初始边界区域，并将该与初始边界区域相关的边界信息发送给自移动设备，自移动设备在接收该边界信息后，自移动设备根据该边界信息进行行走，且自移动设备上设有用于识别工作区域的传感器，在行走的过程中，自移动设备的传感器检测信号，根据该信号，修正该边界信息，从而在自移动设备工作区域的确定过程中，通过地图初步确定边界，再通过传感器检测信号来修正边界，进而提高自移动设备工作区域的确定的准确性。
本发明还提供一种边界线的生成方法，包括：获取边界线的基础坐标数据；获取在所述基础坐标数据上生成的需要对所述基础坐标数据进行修改的新坐标数据；根据所述新坐标数据对所述基础坐标数据进行修改；将修改后的基础坐标数据作为自动割草机切割地图。
以上所述边界线的生成方法，在需要生成新的边界线时，只需要在边界线的基础坐标数据上生成需要修改的新坐标数据，并根据新坐标数据在基础坐标数据上进行修改即可，而无须控制自动割草机重新形成边界线，极大地提高了边界线生成的效率。
在其中一个实施例中，所述基础坐标数据和新坐标数据均包括若干连续或非连续的坐标点，所述新坐标数据包括关联坐标数据和/或非关联坐标数据，所述关联坐标数据的起始坐标点和结束坐标点与所述基础坐标数据中对应坐标点重合，所述非关联坐标数据包括的坐标点均在所述基础坐标数据形成的边界线内部。
在其中一个实施例中，根据所述新坐标数据对所述基础坐标数据进行修 改的步骤包括：
识别所述新坐标数据包括的关联坐标数据和/或非关联坐标数据；
若识别为关联坐标数据，则根据所述关联坐标数据对所述基础坐标数据进行修改；
若识别为非关联坐标数据，则根据所述非关联坐标数据对所述基础坐标数据进行修改。
在其中一个实施例中，根据所述关联坐标数据对所述基础坐标数据进行修改的步骤包括：
从所述基础坐标数据中识别出与所述关联坐标数据的坐标点重合的对应坐标点；
在所述基础坐标数据中删除所述重合的对应坐标点之间的基础坐标数据；
将所述关联坐标数据加入所述基础坐标数据作为修改后的基础坐标数据。
在其中一个实施例中，在所述基础坐标数据中删除所述重合的对应坐标点之间的基础坐标数据的步骤之前还包括：
将所述基础坐标数据进入可修改状态。
在其中一个实施例中，在所述基础坐标数据中删除所述重合的对应坐标点之间的基础坐标数据的步骤中，若识别的所述重合的对应坐标点的个数为1个或2个，则直接删除所述重合的对应坐标点之间的基础坐标数据。
在其中一个实施例中，在所述基础坐标数据中删除所述重合的对应坐标点之间的基础坐标数据的步骤中，若识别的所述重合的对应坐标点的个数为2个以上，则在所述基础坐标数据中识别出与所述关联坐标数据中的起始坐标点和结束坐标点重合的对应坐标点，并删除与所述起始坐标点和结束坐标点重合的对应坐标点之间的基础坐标数据。
在其中一个实施例中，在所述基础坐标数据中删除所述重合的对应坐标点之间的基础坐标数据的步骤中，若识别的所述重合的对应坐标点的个数为2个以上，则依次删除相邻的两个重合的对应坐标点之间的基础坐标数据。
在其中一个实施例中，根据所述非关联坐标数据对所述基础坐标数据进行修改的步骤包括：
将所述基础坐标数据进入可修改状态；
将所述非关联坐标数据加入所述基础坐标数据作为修改后的基础坐标数据。
一种边界线的生成系统，包括：
第一获取模块，用于获取边界线的基础坐标数据；
第二获取模块，用于获取在所述基础坐标数据上生成的需要对所述基础坐标数据进行修改的新坐标数据；
修改模块，用于根据所述新坐标数据对所述基础坐标数据进行修改；
生成模块，用于将修改后的基础坐标数据作为自动割草机切割地图。
以上所述边界线的生成系统，在需要生成新的边界线时，只需要在边界线的基础坐标数据上生成需要修改的新坐标数据，并根据新坐标数据在基础坐标数据上进行修改即可，而无须控制自动割草机重新形成边界线，极大地提高了边界线生成的效率。
在其中一个实施例中，所述基础坐标数据和新坐标数据均包括若干连续或非连续的坐标点，所述新坐标数据包括关联坐标数据和/或非关联坐标数据，所述关联坐标数据的起始坐标点与所述基础坐标数据中对应坐标点重合，所述非关联坐标数据包括的坐标点均在所述基础坐标数据形成的边界线内部，与基础坐标数据无重合点。
在其中一个实施例中，所述修改模块包括：
识别单元，用于识别所述新坐标数据包括的关联坐标数据和/或非关联坐标数据；
第一修改单元，用于识别的为关联坐标数据时，则根据所述关联坐标数据对所述基础坐标数据进行修改；
第二修改单元，用于在识别为非关联坐标数据时，则根据所述非关联坐标数据对所述基础坐标数据进行修改。
在其中一个实施例中，所述第一修改单元包括：
坐标点识别子单元，用于从所述基础坐标数据中识别出与所述关联坐标数据的坐标点重合的对应坐标点；
删除子单元，用于在所述基础坐标数据中删除所述重合的对应坐标点之间的基础坐标数据；
加入子单元，用于将所述关联坐标数据加入所述基础坐标数据作为修改后的基础坐标数据。
在其中一个实施例中，所述第一修改单元还包括：
状态设置子单元，用于将所述基础坐标数据进入可修改状态。
在其中一个实施例中，若所述坐标点识别子单元识别的所述重合的对应坐标点的个数为1个或2个，则所述删除子单元直接删除所述重合的对应坐标点之间的基础坐标数据。
在其中一个实施例中，若所述坐标点识别子单元识别的所述重合的对应坐标点的个数为2个以上，则所述删除子单元在所述基础坐标数据中识别出与所述关联坐标数据中的起始坐标点和结束坐标点重合的对应坐标点，并删除与所述起始坐标点和结束坐标点重合的对应坐标点之间的基础坐标数据。
在其中一个实施例中，若所述坐标点识别子单元识别的所述重合的对应坐标点的个数为2个以上，则所述删除子单元依次删除相邻的两个重合的对应坐标点之间的基础坐标数据。
一种移动终端，移动终端包括有以上所述的边界线的生成系统，还包括可视界面，用于显示和修改所述自动割草机切割地图。
在其中一个实施例中，所述自动割草机切割地图被划分为切割区域或不切割区域。
在其中一个实施例中，所述自动割草机切割地图还包括路线通道，所述路线通道连通多个切割区域，自动割草机沿所述路线通道在多个切割区域之间移动。
本发明还提供一种自移动设备的地图的检查方法，包括步骤：自移动设备沿着初始行走地图的边界行走；触发装有观察物的装置，使得所述观察物掉落在所述初始行走地图的边界上；观察所述观察物所在的位置，并将所述 观察物所在的位置与所述自移动设备所要工作的实际区域的边界进行比较。
在其中一个实施例中，在所述自移动设备沿着初始行走地图的边界行走的步骤中，所述初始行走地图存储在所述自移动设备的存储单元中。
在其中一个实施例中，在所述触发装有观察物的装置，使得所述观察物掉落在所述初始行走地图的边界上的步骤中，所述装有观察物的装置设置在所述自移动设备的外壳上，且所述装有观察物的装置与所述外壳可拆卸连接。
在其中一个实施例中，在所述触发装有观察物的装置，使得所述观察物掉落在所述初始行走地图的边界上的步骤中，所述装有观察物的装置设置在所述自移动设备的外壳的内壁上，且所述装有观察物的装置与所述自移动设备的外壳一体成型。
在其中一个实施例中，在所述触发装有观察物的装置，使得所述观察物掉落在所述初始行走地图的边界上的步骤中，在所述自移动设备行走之前，通过按动所述装有观察物的装置上的按钮，使得在所述自移动设备行走的过程中，所述观察物掉落在所述初始行走地图的边界上。
在其中一个实施例中，在所述触发装有观察物的装置，使得所述观察物掉落在所述初始行走地图的边界上的步骤中，与所述装有观察物的装置连接的触发单元发出指令，所述装有观察物的装置接收该指令并打开，所述观察物掉落在所述初始行走地图的边界上。
在其中一个实施例中，在所述触发装有观察物的装置，使得所述观察物掉落在所述初始行走地图的边界上的步骤中，所述观察物为石灰、面粉或环保颗粒或粉末。
在其中一个实施例中，在所述观察所述观察物所在的位置，并将所述观察物所在的位置与所述自移动设备所要工作的实际区域的边界进行比较的步骤中，若所述观察物所在的位置所确定的边界与所述自移动设备所要工作的实际区域的边界不重合，则对所述标记所在的位置的边界与所述自移动设备所要工作的实际区域的边界不重合的区域，进行学习地图，得到当前行走地图，使得所述当前行走地图的边界与所述自移动设备所要工作的实际区域的边界重合。
一种自移动设备的地图的检查装置，包括自移动设备和装有观察物的装置，所述装有观察物的装置与所述自移动设备的外壳连接，所述装有观察物的装置用于在所述自移动设备沿着初始行走地图的边界行走的过程中，掉落所述观察物
在其中一个实施例中，还包括触发单元，所述触发单元与所述装有观察物的装置连接，所述触发单元用于触发所述装有观察物的装置，使得所述观察物掉落在所述初始行走地图的边界上。
上述自移动设备的地图的检查方法及其装置，通过在自移动设备沿着初始行走地图的边界行走的过程中，触发装有观察物的装置，装有观察物的装置中的观察物掉落在该初始行走地图的边界上，将该初始行走地图的边界显示出来，从而使用者能通过观察观察物所在的位置，进而可以将初始行走地图与自移动设备所要工作的实际区域的边界进行比较，使用者通过观察观察物的位置，实现对自移动设备行走地图进行检查，进而减少自移动设备的地图存在有误风险。
附图说明
以上所述的本发明的目的、技术方案以及有益效果可以通过下面附图实现：
图1为本发明一实施例的自动工作系统示意图；
图2为图1的实施例中的自动割草机的结构示意图；
图3为图1的实施例中的一种地图修正方法的示意图；
图4为图1的实施例中的另一种地图修正方法的示意图；
图5为本发明另一实施例的自移动设备工作区域的确定方法的流程示意图；
图6为在地图上划定的初始边界区域的结构示意图；
图7为图6所示的初始边界区域进行处理后的参考边界区域的结构示意图；
图8为图7中所示的参考边界区域进行修正后的结构示意图；
图9为另一实施例的自移动设备的结构示意图。
图10为另一实施例的边界线生成方法的流程示意图；
图11为图10中步骤S1600的流程示意图；
图12为图11中步骤S1640的一流程示意图；
图13为图11中步骤S1640的另一流程示意图；
图14为图11中步骤S1660的流程示意图；
图15为另一实施例的边界线生成系统的结构示意图；
图16为图15中修改模块的结构示意图；
图17为图16中第一修改单元的一结构示意图；
图18为图16中第一修改单元的另一结构示意图。
图19为另一实施例的自移动设备的地图的检查方法的流程示意图；
图20为另一实施例的自移动设备的地图的检查装置的结构示意图。
具体实施方式
图1为本发明的一实施例的自动工作系统100示意图。自动工作系统包括自移动设备。本实施例中，自移动设备为自动割草机1，在其他实施例中，自移动设备也可以为自动清洁设备、自动浇灌设备、自动扫雪机等适合无人值守的设备。自动工作系统100还包括充电站2(即停靠站)，用于供自动割草机1停靠并补给电能。本实施例中，自动工作系统100包括导航模块，用于输出自动割草机的当前位置。具体的，导航模块包括基站17和移动站15(即定位设备)。
如图1所示，自动工作系统用于在预定的工作区域内工作，本实施例中，工作区域包括至少两个相互分离的子工作区域，子工作区域由通道400连通。工作区域与非工作区域之间形成边界200，工作区域内包括障碍9、11，障碍包括树木、凹坑等。
本实施例中的自动割草机1的结构如图2所示。自动割草机1包括壳体3，移动模块，任务执行模块，能源模块，控制模块等。其中，移动模块包括履带5，由驱动马达驱动以带动自动割草机1移动。任务执行模块包括切割组件7，执行割草工作。能源模块包括电池包(图未示)，为自动割草机1的移动和工作提供电能。控制模块与移动模块、任务执行模块和能源模块电连接，控制移动模块带动自动割草机1移动，并控制任务执行模块执行工作任 务。
本实施例中的导航模块包括基站17和移动站15。基站17和移动站15均接收卫星信号，基站17向移动站15发送定位修正信号，实现差分卫星定位。本实施例中，基站17和移动站15接收GPS定位信号，实现DGPS定位。当然，在其他实施例中，基站17和移动站15也可以接收伽利略卫星导航系统、或北斗卫星导航系统、或GLONASS等定位信号。
本实施例的自动工作系统包括地图生成模块，采集工作区域的特征位置数据，从而生成地图；还包括地图修正模块，采集修正的工作区域的特征位置数据，利用修正的工作区域的特征位置数据修正地图。
本实施例中的地图生成模块和地图修正模块，既可以包括硬件，例如电路结构、输入输出设备等，也可以包括软件，例如实现某一功能的程序等，也可以包括软件与硬件的组合，只要能够实现特定的功能即可。
本实施例中，工作区域的特征位置包括工作区域的边界，或工作区域内的障碍(包括隔离岛)，或连接不同工作区域的通道，还包括充电站位置，自动割草机离开或回归充电站的路径等。
本实施例中，地图生成模块或地图修正模块在人为操作下采集工作区域的特征位置数据。具体的，工作区域的地图建立方法包括下面的步骤。
本实施例中，地图生成模块和地图修正模块与外部智能终端通信连接，外部智能终端可以是用户的手机、平板等。地图生成模块利用现有的卫星地图，例如谷歌地图、百度地图等，在智能终端上显示卫星地图，通过用户手动圈定的方式划出工作区域。下面对步骤的说明均以设定工作区域的边界为例，可以理解的是，对工作区域内的障碍等其他特征位置数据的获取方式与之类似。具体的，智能终端上显示卫星地图，用户在卫星地图上找到自动割草机的大致工作区域，框选该区域并下载，然后根据实际工作区域绘制边界，即采集边界位置数据，并存储为地图。所存储的地图中的数据，为在卫星地图上绘制的边界所对应的位置数据。
本实施例中，自动工作系统包括应用软件，应用软件加载于外部智能终端，用户在智能终端上通过应用软件获取卫星地图，并通过应用软件绘制边界，即采集边界位置数据。
由于卫星地图提供的位置数据往往存在偏差，因此需要对获取的地图进行修正。地图修正模块修正地图的方法有多种，其中一种方法为，根据工作区域中的参考物的实际位置(由DGPS导航模块确认的位置)，以及卫星地图中相应位置的位置数据的偏差值，来修正地图。
本实施例中，自动工作系统利用DGPS定位，具体的，移动站通过接受卫星信号和基站发送的信号，输出自身的当前位置数据。移动站与自动割草机可拆卸的连接，当移动站安装于自动割草机上时，输出自动割草机的当前位置数据，当移动站从自动割草机上取出时，可以由用户移动，移动至特定位置以获取特定位置的位置数据。
本实施例中，工作区域中包括至少一个参考物，该参考物可以是工作区域中的某一实体，例如充电站，也可以只是一个表征特定位置的参考点。本实施例中，以充电站为参考物，利用DGPS导航模块获取充电站的位置，具体的，可以由用户将移动站移动至充电站位置，获取此时移动站输出的坐标(X1，Y1)，或者将移动站安装于自动割草机，记录自动割草机停靠在充电站时的位置坐标(X1，Y1)。
本实施例中，在应用软件中提供至少一个标记物，智能终端通过应用软件显示生成的地图以及标记物，标记物与工作区域中的参照物一一对应，通过应用软件为标记物提供预设位置数据，预设位置数据与对应的工作区域中的参照物的位置数据一致。具体的，本实施例中，在应用软件中提供充电站模型，用户能够拖动该模型，将其放置在地图中的任一位置。如图3所示，实际工作区域中充电站通常设置在房屋边缘，用户根据充电站在实际工作区域中的位置，将应用软件中的充电站模型300拖动至对应位置。应用软件输出充电站模型300在当前地图中的位置数据(X0，Y0)。由于应用软件为充电站模型300提供了预设位置数据，该预设位置数据即利用DGPS导航模块获取的充电站的位置数据(X1，Y1)，利用该精确的位置数据(X1，Y1)来修正充电站模型300在地图上的位置(X0，Y0)。通过比较(X1，Y1)和(X0，Y0)，获取偏差值，利用该偏差值来修正地图，使地图中边界等特征位置数据得到修正，从而获得更精确的地图。
另一种地图修正方法为，在自动割草机上安装环境识别传感器，自动割 草机在工作区域中移动时环境识别传感器检测边界(或障碍等其他特征位置)，使用环境识别传感器检测到的边界位置数据来修正地图。
具体的，本实施例中，自动割草机包括至少一个环境识别传感器，环境识别传感器可以是草地识别传感器，例如电容传感器，湿度传感器，草高识别传感器等，检测工作区域的边界；环境识别传感器也可以是障碍检测传感器，例如碰撞检测传感器，超声波传感器等，检测工作区域中的障碍；当然环境识别传感器也可以是摄像头，通过捕获图像识别工作区域的特征位置。以草地识别传感器为例，自动割草机在工作区域中移动时，草地识别传感器实时检测自动割草机下方或前方地表，当自动割草机即将移动至非草坪区域时，草地识别传感器检测到地表由草地变为非草地，输出信号给控制模块，控制模块判断自动割草机移动至工作区域的边界。导航模块输出的当前位置坐标即为边界位置坐标。地图修正模块比较自动割草机的当前位置坐标和地图中存储的边界位置坐标，判断地图中存储的边界与实际边界是否相符，若不相符，则用当前位置坐标来修正地图中的边界位置数据，从而得到修正的地图。
另一种地图修正方法为，对用户在卫星地图上划定的地图进行偏移操作，使偏移后的数据对应的位置相对于未偏移的数据对应的位置更靠近工作区域的中心位置。具体的，偏移后的边界相对于未偏移的边界缩小，偏移后的障碍相对于未偏移的障碍扩大。这样操作能够保证自动割草机基于地图工作的安全性。在偏移操作后可以再利用环境识别传感器去修正边界。
上述地图建立方式，降低了建立地图的难度，减少用户建立地图付出的劳动。同时可以通过多种修正方法修正地图，来提高地图的精度，使自动割草机的作业更加精准智能。
可以理解的是，为实现上述地图建立方法，显示地图的载体也可以不是智能终端，自动工作系统本身可以包括显示设备，例如移动站包括显示设备，用户可以在该显示设备上进行操作来生成或修正地图。显示设备可以是触摸屏式的，用户能够在显示设备上直接绘制，显示设备也可以与输入设备配合，用户通过输入设备对显示设备显示的地图进行操作。
本实施例中，地图修正模块修正地图还可以包括下面的步骤。
参考图4(a)-(c)，用户观察智能终端(或移动站)显示的地图，比较实际工作区域与地图表征的工作区域，判断地图表征的工作区域是否准确，若不准确，则在智能终端(或移动站)上进行手动修改。具体的，参考图4(b)，当用户判断A点与B点之间的边界与实际工作区域的边界不符时，手动绘制A点与B点之间的边界，使用手动绘制的边界段修正地图。修正地图后可使自动割草机基于修正的地图移动，而不执行工作任务，例如沿修正的边界移动，用户观察自动割草机的移动路径是否与实际工作区域的边界相符，若相符，则说明修正正确，若不相符，则再次修正。对障碍(包括隔离岛)、通道等的修正与上述过程类似。
本实施例中，应用软件包括加操作功能，增加工作区域的特征位置数据，例如增加障碍或边界段等，还包括减操作功能，删除工作区域的特征位置数据，例如删除障碍或边界段等，通过人为执行加或减操作功能，地图修正模块修正地图。
本发明的另一实施例，如图5所示，自移动设备工作区域的确定方法，包括步骤：
S1：在电子地图(卫星地图)上划定初始边界区域，并将与初始边界区域相关的边界信息发送给自移动设备。
在本实施例中，自移动设备以花园工具为例，花园工具包括各种花园工作的机器人，如割草、播种，松土、撒农药及浇水等。以自动割草机为例，具体地，通过在手机、平板或电脑上的地图软件上划定初始边界区域。其中，地图软件可以为谷歌地图、百度地图等。
在本实施例中，根据自动割草机所要实际进行切割的工作区域花园，在手机、平板或电脑上的谷歌地图上划定该花园所在的区域为初始边界区域，如图6所示。自动割草机包括接收装置，手机、平板或电脑将与划定的该花园的初始边界区域相关的边界信息发送给自动割草机的接收装置。自动割草机的接收装置接收与划定的该花园的初始边界区域相关的边界信息，并将其存储。
手机、平板或电脑通过无线或有线的方式将划定的该花园的初始边界区域的坐标位置等发送给接收装置。其中，无线的方式包括蓝牙、wifi等。
需要说明的是，在其他实施例中，也可以直接在自动割草机的电子地图上划定初始边界区域。自动割草机中安装有含有电子地图的电子设备，直接在该电子设备的电子地图上划定初始边界区域，该电子设备和接收装置连接，电子设备将与划定的初始边界区域相关的边界信息发送给接收装置。
在本实施例中，边界信息为将初始边界区域进行预处理后的得到的参考边界区域。
由于在谷歌地图上划定的时候，通常会将花园的初始边界区域划定的比较大。因此在将初始边界区域发送给自动割草机之前，为了减少误差，使得自动割草机的工作区域的确定更加精确，将初始边界区域向该初始边界区域的中心方向进行偏移，得到参考工作区域L2，如图7所示。
其中，将初始边界区域向该初始边界区域的中心方向进行偏移的距离根据实际情况进行确定。在本实施例中，根据预先设定的偏移距离，得到参考工作区域L2。从而根据初始边界区域的边界上的各点的经度和纬度，得到参考工作区域的边界上的各点的经度和纬度。
此外，在其他实施例中，当划定的花园的初始边界区域中存在非工作区域，如池塘、树丛或空地等时，用户在电子地图上的该划定的花园的初始边界区域中划出该非工作区域。此时，将初始边界区域向初始边界区域的中心方向进行偏移，而为了安全起见，并将非工作区域向远离非工作区域的中心方向进行偏移，偏移后的初始边界区域和偏移后的非工作区域为参考边界区域。
S2：自移动设备根据边界信息进行行走，根据自移动设备的传感器检测的信号，修正并更新边界信息。
具体地，自移动设备以步骤S1中得到的边界信息上的某一点为起点。自移动设备从起点出发，沿着边界信息的边界行走。自移动设备上设有用于识别工作区域的传感器，从而自移动设备在行走的过程中，自移动设备上的传感器检测花园的实际情况，并将传感器检测到的花园的实际情况的信号发送给与传感器连接的处理模块，该处理模块用于将传感器传送过来的信号数据、自移动设备的定位数据以及参考工作区域的数据进行比较，从而修正参 考工作区域L2，得到修正后的工作区域L3，如图8所示。
在本实施例中，传感器可以为草地高度传感器、图像传感器或红外传感器。需要说明的是，传感器还可以为湿度传感器等。
当传感器为草地高度传感器时，在自动割草机沿着参考工作区域的边界行走的过程中，草地高度传感器检测花园上的草的高度。自动割草机沿着参考工作区域的边界行走时，当草地高度传感器检测到所行走的边界上的某点时，则自动割草机会以该点为中心，分别向该点的前边和左右两边慢慢行走，若在行走的过程中，草地传感器检测到草的高度不为零，则自动割草机会将这些草的高度不为零的点的位置定位下来并储存。若在以该点为中心分别向该点的前边和左右两边慢慢行走过程中，草地传感器检测到某点的草的高度为零，则该点为新的边界，再以该点为中心，分别向该点的前边和左右两边慢慢行走。接着，自动割草机根据参考工作区域的边界继续行走，直至对整个参考工作区域的边界进行修正。自动割草机中的处理模块对草地传感器所检测到的草的高度的数据，自动割草机定位数据以及参考工作区域的边界数据进行比较处理，修正参考工作区域的边界，并记录下修正后的参考工作区域的边界上的各点的经度和纬度。
通过草地高度传感器检测花园的草地的实际情况，结合根据将电子地图上划定的初始边界区域进行处理后的参考工作区域，确定自动割草机所要进行切割的工作区域，提高自动割草机工作区域的确定的准确性，减少由于人为等影响而产生的误差。
当传感器为图像传感器时，图像传感器用于检测和拍摄自动割草机所要行走的实际区域花园的图像，并存储拍摄的自动割草机所要行走的实际区域花园的图像。图像传感器将拍摄的图像和参考工作区域进行比较，若该参考工作区域为花园，则自动割草机沿着参考工作区域的边界行走时，自动割草机会以参考工作区域的边界的某一点为中心，分别向该点的前边和左右两边慢慢行走，若在行走的过程中，将图像传感器所检测的信息和自动割草机定位数据发送给处理模块，自动割草机中的处理模块对图像传感器所检测到的信息，自动割草机定位数据以及参考工作区域的边界数据进行比较处理。接 着，自动割草机根据参考工作区域的边界继续行走，直至对整个参考工作区域的边界进行修正。自动割草机中的处理模块对图像传感器所检测到的草的信息、自动割草机定位数据以及参考工作区域的边界数据进行比较处理，修正参考工作区域的边界，并记录下修正后的参考工作区域的边界上的各点的经度和纬度。
通过图像传感器检测和拍摄自动割草机所要工作的实际区域花园的图像，结合根据将电子地图上划定的初始边界区域进行处理后的参考工作区域，确定自动割草机所要进行切割的工作区域，提高自动割草机工作区域的确定的准确性，减少由于人为等影响而产生的误差。
当传感器为红外传感器时，在自动割草机沿着参考工作区域的边界行走的过程中，红外传感器探测花园的边界。自动割草机以参考工作区域的边界的某一点往前和左右方向行走，当红外传感器探测到花园的边界时，则自动割草机继续沿着参考工作区域的边界行走，并记录所行走过程中所有点的定位信息。自动割草机继续行走，直至行走完整个边界。自动割草机中的处理模块对红外传感器所探测到的信息，自动割草机定位数据以及参考工作区域的边界数据进行比较处理，修正参考工作区域的边界，并记录下修正后的参考工作区域的边界上的各点的经度和纬度。
通过红外传感器检测花园的边界，结合谷歌地图上划定的初始边界区域进行处理后的参考工作区域，确定自动割草机所要进行切割的工作区域，提高自动割草机工作区域的确定的准确性，减少由于人为等影响而产生的误差。
需要说明的是，边界信息也可以为初始边界区域，并将初始边界区域的信息发送给自移动设备的接收装置之后，自移动设备直接沿着初始边界区域的边界行走，根据自移动设备的传感器检测的信号，修正初始边界区域的边界，得到自移动设备的最终工作区域的边界。
在其他实施例中，也可以对边界信息的修正距离设限制，在修正过程中，修正距离小于等于预设值，从而保证自动割草机不会走到一些特定区域，尤其是对于需要切割的花园有相邻的草地的情况。
此外，在其他实施例中，在步骤S2之后，还包括步骤将修正并更新后 的边界信息发送给用户，用户对所述修正并更新后的边界信息进行手动调整等处理。
如图9所示，一实施例的自移动设备110包括传感器111和工作区域边界确定系统112。其中，传感器111用于识别工作区域，工作区域边界确定系统112与传感器111连接。工作区域边界确定系统112用于获取在电子地图上划定的初始边界区域，并指示自移动设备110根据与所述初始边界区域相关的边界信息进行行走，根据所述传感器检测的信号，修正并更新所述初始边界信息。
具体地，传感器111为草地传感器、图像传感器或红外传感器。工作区域边界确定系统112包括接收装置1120、定位模块1121以及处理模块1122。电子地图存储于自移动设备110的电子设备中或外接的电子装置中。外接的电子装置包括手机、平板或电脑等。电子地图用于划定初始边界区域。
接收模块1120与处理模块1122连接，传感器111也与处理模块1122连接，处理模块1122还与定位模块1121连接。接收模块1120用于获取与在电子地图上划定的初始边界区域相关的边界信息。该边界信息为初始边界区域或对该初始边界区域进行内向偏移或外向偏移等预处理后的参考工作区域。接收模块1120接收边界信息的坐标位置等，并将其存储。外接的电子装置如手机、平板或电脑通过无线或有线的方式将边界信息等发送给接收模块1120。其中，无线的方式包括蓝牙、wifi等。
传感器111还用于检测自移动设备110根据边界信息行走的信号。在本实施例中，传感器111可以为草地高度传感器、图像传感器或红外传感器。需要说明的是，传感器还可以为湿度传感器等。
处理模块1122用于接收传感器111检测的信号、接收装置1120发送的边界信息以及定位模块1121发送的定位数据，并将三者数据进行比较和处理。定位模块1121用于定位自移动设备110所行走的位置，并将该位置信息发送给处理模块1122，且用于指示自移动设备110根据所述处理模块1122发送的处理结果进行行走。
在其他实施例中，处理模块1122还用于将处理的结果发送给用户，用 户可对该处理的结果进行手动调整等。
上述自移动设备工作区域的确定方法及自主移动自移动设备，通过在电子地图上划定初始边界区域，并将该与初始边界区域相关的边界信息发送给自移动设备，自移动设备在接收该边界信息后，自移动设备根据该边界信息进行行走，且自移动设备上设有用于识别工作区域的传感器，在行走的过程中，自移动设备的传感器检测信号，根据该信号，修正该边界信息，从而在自移动设备工作区域的确定过程中，通过地图初步确定边界，再通过传感器检测信号来修正边界，进而提高自移动设备工作区域的确定的准确性。
如图10所示，另一实施例的边界线的生成方法包括步骤S1200至步骤S1800。
步骤S1200，获取边界线的基础坐标数据。
其中，边界线的基础坐标数据是规定自动割草机工作范围的边界线区域，在控制自动割草机沿预定的边界线移动时，可以通过在自动割草机上安装的DGPS模块定位自动割草机移动时的连续或非连续坐标点，这些连续或非连续的坐标点即为边界线的基础坐标数据，而将这些连续的坐标点连线即为边界线。自动割草机可以通过自身的存储模块存储基础坐标数据，并通过无线(如wifi等)或有线(如usb接口等)的方式可以将基础坐标数据发送至可以进行修改的终端上，终端包括智能手机、平板、计算机设备等。终端可以设计相应的修改程序，如可应用于智能手机的APP软件，或者适用于计算机设备的安装包程序等。终端获取边界线的基础坐标数据后即可对基础坐标数据进行修改。
步骤S1400，获取在基础坐标数据上生成的需要对基础坐标数据进行修改的新坐标数据。
其中，当需要对基础坐标数据进行修改时，不需要重新控制自动割草机沿新边界线全部重新移动一次，只需要控制自动割草机沿需要修改的预设边界线移动即可，DGPS模块可以定位沿需要修改的预设边界线移动时的连续或非连续坐标点，这些连续或非连续坐标点即为新坐标数据，其代表需要在基础坐标数据上根据新坐标数据对基础坐标数据进行修改。自动割草机可以 通过自身的存储模块存储新坐标数据，并通过无线(如wifi等)或有线(如usb接口等)的方式可以将新坐标数据发送至可以进行修改的终端上，终端获取新坐标数据后，可以对基础坐标数据进行修改。
步骤S1600，根据新坐标数据对基础坐标数据进行修改。
其中，新坐标数据包括关联坐标数据和/或非关联坐标数据。关联坐标数据的起始坐标点与基础坐标数据中对应坐标点重合，表明此段需要修改的边界线需要改变边界范围。关联坐标数据的结束坐标点可以与基础坐标数据中的坐标点重合，表示需要对边界线中的某一段进行修改；关联坐标数据的结束坐标点也可以与基础坐标数据中的坐标点不重合，表示在边界线的外部增加了新的边界线。例如，当草坪变大或变小时，就可以重新修改基础坐标数据，扩大或缩小相应边界线的范围。非关联坐标数据包括的坐标点均在基础坐标数据形成的边界线内部，例如，当需要在草坪中建设一个池塘时，可以将池塘围起来作为边界线。具体的，如图11所示，步骤S1600包括S1620至步骤S1660。
步骤S1620，识别新坐标数据包括的关联坐标数据和/或非关联坐标数据。新坐标数据可以仅包括关联坐标数据或非关联坐标数据，也可以同时包括关联坐标数据和非关联坐标数据。终端可以自动识别新坐标数据是关联坐标数据和/或者非关联坐标数据。
步骤S1640，若识别为关联坐标数据，则根据关联坐标数据对基础坐标数据进行修改。当终端识别新坐标数据包括关联坐标数据时，可以对基础坐标数据进行相应修改，具体的，如图12所示，步骤S1640包括步骤S1642、步骤S1644和步骤S1646。
步骤S1642，从基础坐标数据中识别出与关联坐标数据的坐标点重合的对应坐标点。关联坐标数据是对边界线范围的重新修改，终端可以从基础坐标数据中自动识别出重合的坐标点。
步骤S1644，在基础坐标数据中删除重合的对应坐标点之间的基础坐标数据。若终端识别的重合的对应坐标点的个数为1个或2个，终端可以直接在显示界面删除重合的对应坐标点之间的基础坐标数据。若终端识别的重合 的对应坐标点的个数为2个以上，终端可以在基础坐标数据中识别出与关联坐标数据中的起始坐标点和结束坐标点重合的对应坐标点，并删除与起始坐标点和结束坐标点重合的对应坐标点之间的基础坐标数据。当终端识别的重合的对应坐标点的个数为2个以上时，也可以依次删除相邻的两个重合的对应坐标点之间的基础坐标数据。
步骤S1646，将关联坐标数据加入基础坐标数据作为修改后的基础坐标数据。由步骤S1644将基础坐标数据中的相应坐标点删除后，将关联坐标数据加入到基础坐标数据中即可。
如图13所示，步骤S1644之前还包括步骤S1643。
步骤S1643，将基础坐标数据进入可修改状态。终端在修改基础坐标数据时，可以将整个基础坐标数据进入可修改状态，作为可实现的一种方式，在终端界面显示的坐标点均会相应的显示一个动态的删除符号，用户点击该删除符号，相应的坐标点即可被删除，不在终端界面上显示，用户也可以撤销一个或一个以上的删除步骤，防止用户误操作时无法挽回。用户也可以通过手势等操作进行删除，也可以采用其他方式。
步骤S1660，若识别为非关联坐标数据，则根据非关联坐标数据对基础坐标数据进行修改。具体的，如图14所示，步骤S1660包括步骤S1662和步骤S1664。
步骤S1662，将基础坐标数据进入可修改状态。终端在修改基础坐标数据时，可以将整个基础坐标数据进入可修改状态。
步骤S1664，将非关联坐标数据加入基础坐标数据作为修改后的基础坐标数据。对于非关联坐标数据，由于其是在边界线的内部增加了新的边界线，没有对基础坐标数据进行修改，因此，终端会自动识别，将非关联坐标数据加入基础坐标数据。
步骤S1800，将修改后的基础坐标数据作为自动割草机切割地图。
其中，无论是关联坐标数据或/和非关联坐标数据，终端根据关联坐标数据或/和非关联坐标数据对基础坐标数据进行修改后，修改的基础坐标数据即为自动割草机切割地图。终端可以通过无线或有线的方式将修改后的基础坐 标数据发送至自动割草机进行存储，自动割草机便可按照修改后的基础坐标数据形成的边界线移动。
以上所述边界线的生成方法，在需要生成新的边界线时，只需要在边界线的基础坐标数据上生成需要修改的新坐标数据，并根据新坐标数据在基础坐标数据上进行修改即可，而无须控制自动割草机重新形成边界线，极大地提高了边界线生成的效率。
如图15所示，一实施例的边界线的生成系统包括第一获取模块1200、第二获取模块1400、修改模块1600和生成模块1800。
第一获取模块1200用于获取边界线的基础坐标数据。其中，边界线的基础坐标数据是规定自动割草机工作范围的边界线区域，在控制自动割草机沿预定的边界线移动时，可以通过在自动割草机上安装的DGPS模块定位自动割草机移动时的连续或非连续坐标点，这些连续或非连续的坐标点即为边界线的基础坐标数据，而将这些连续的坐标点连线即为边界线。自动割草机可以通过自身的存储模块存储基础坐标数据，并通过无线(如wifi等)或有线(如usb接口等)的方式可以将基础坐标数据发送至可以进行修改的终端上，终端包括智能手机、平板、计算机设备等。终端可以设计相应的修改程序，如可应用于智能手机的APP软件，或者适用于计算机设备的安装包程序等。终端获取边界线的基础坐标数据后即可对基础坐标数据进行修改。
第二获取模块1400用于获取在基础坐标数据上生成的需要对基础坐标数据进行修改的新坐标数据。其中，当需要对基础坐标数据进行修改时，不需要重新控制自动割草机沿新边界线全部重新移动一次，只需要控制自动割草机沿需要修改的预设边界线移动即可，DGPS模块可以定位沿需要修改的预设边界线移动时的连续或非连续坐标点，这些连续或非连续坐标点即为新坐标数据，其代表需要在基础坐标数据上根据新坐标数据对基础坐标数据进行修改。自动割草机可以通过自身的存储模块存储新坐标数据，并通过无线(如wifi等)或有线(如usb接口等)的方式可以将新坐标数据发送至可以进行修改的终端上，终端获取新坐标数据后，可以对基础坐标数据进行修改。
修改模块1600用于根据新坐标数据对基础坐标数据进行修改。其中，新 坐标数据包括关联坐标数据和/或非关联坐标数据。关联坐标数据的起始坐标点与基础坐标数据中对应坐标点重合，表明此段需要修改的边界线需要改变边界范围。关联坐标数据的结束坐标点可以与基础坐标数据中的坐标点重合，表示需要对边界线中的某一段进行修改；关联坐标数据的结束坐标点也可以与基础坐标数据中的坐标点不重合，表示在边界线的外部增加了新的边界线。例如，当草坪变大或变小时，就可以重新修改基础坐标数据，扩大或缩小相应边界线的范围。非关联坐标数据包括的坐标点均在基础坐标数据形成的边界线内部，例如，当需要在草坪中建设一个池塘时，可以将池塘围起来作为边界线。
具体的，如图16所示，修改模块1600包括识别单元1620、第一修改单元1640和第二修改单元1660。
识别单元1620用于识别新坐标数据包括的关联坐标数据和/或非关联坐标数据。新坐标数据可以仅包括关联坐标数据或非关联坐标数据，也可以同时包括关联坐标数据和非关联坐标数据。终端可以自动识别新坐标数据是关联坐标数据和/或者非关联坐标数据。
第一修改单元1640用于识别的为关联坐标数据时，则根据关联坐标数据对基础坐标数据进行修改。当终端识别新坐标数据包括关联坐标数据时，可以对基础坐标数据进行相应修改，具体的，如图17所示，第一修改单元1640包括坐标点识别子单元1642、删除子单元1644和加入子单元1646。
坐标点识别子单元1642用于从基础坐标数据中识别出与关联坐标数据的坐标点重合的对应坐标点。关联坐标数据是对边界线范围的重新修改，终端可以从基础坐标数据中自动识别出重合的坐标点。
删除子单元1644用于在基础坐标数据中删除重合的对应坐标点之间的基础坐标数据。若坐标点识别子单元1642识别的重合的对应坐标点的个数为1个或2个，删除子单元1644可以直接在显示界面删除重合的对应坐标点之间的基础坐标数据。若坐标点识别子单元1642识别的重合的对应坐标点的个数为2个以上，删除子单元1644可以在基础坐标数据中识别出与关联坐标数据中的起始坐标点和结束坐标点重合的对应坐标点，并删除与起始坐标点和 结束坐标点重合的对应坐标点之间的基础坐标数据。当坐标点识别子单元1642识别的重合的对应坐标点的个数为2个以上时，删除子单元1644也可以依次删除相邻的两个重合的对应坐标点之间的基础坐标数据。
加入子单元1646用于将关联坐标数据加入基础坐标数据作为修改后的基础坐标数据。由删除子单元1644将基础坐标数据中的相应坐标点删除后，将关联坐标数据加入到基础坐标数据中即可。
如图18所示，第一修改单元1640还包括状态设置子单元1643。
其中，状态设置子单元1643用于将基础坐标数据进入可修改状态。终端在修改基础坐标数据时，可以将整个基础坐标数据进入可修改状态，作为可实现的一种方式，在终端界面显示的坐标点均会相应的显示一个动态的删除符号，用户点击该删除符号，相应的坐标点即可被删除，不在终端界面上显示，用户也可以撤销一个或一个以上的删除步骤，防止用户误操作时无法挽回。用户也可以通过手势等操作进行删除，也可以采用其他方式。
第二修改单元1660用于在识别为非关联坐标数据时，则根据非关联坐标数据对基础坐标数据进行修改。第二修改单元1660可以将基础坐标数据进入可修改状态，然后将非关联坐标数据加入基础坐标数据作为修改后的基础坐标数据。对于非关联坐标数据，由于其是在边界线的内部增加了新的边界线，没有对基础坐标数据进行修改，因此，终端会自动识别，将非关联坐标数据加入基础坐标数据。
生成模块1800用于将修改后的基础坐标数据作为自动割草机切割地图。
其中，无论是关联坐标数据或/和非关联坐标数据，终端根据关联坐标数据或/和非关联坐标数据对基础坐标数据进行修改后，修改的基础坐标数据即为自动割草机切割地图。终端可以通过无线或有线的方式将修改后的基础坐标数据发送至自动割草机进行存储，自动割草机便可按照修改后的基础坐标数据形成的边界线移动。
以上所述边界线的生成系统，在需要生成新的边界线时，只需要在边界线的基础坐标数据上生成需要修改的新坐标数据，并根据新坐标数据在基础坐标数据上进行修改即可，而无须控制自动割草机重新形成边界线，极大地 提高了边界线生成的效率。
本实施例还提供了一种移动终端，移动终端包括以上所述的边界线的生成系统，还包括可视界面，用于显示和修改所述割草机切割地图。移动终端可以是手机、PAD等，其中，自动割草机切割地图被划分为切割区域、不切割区域和路线通道。
本实施例中，多个切割区域之间通过路线通道连接，自动割草机可沿路线通道从一个切割区域移动至另一个切割区域。需要指出的是，自动割草机在路线通道上移动时，只移动不进行切割动作，通过路线通道，自动割草机可自由的在切割区域间移动，实现高效的多草地切割，例如，在家中有前院和后院时，通过用户指定的路线通道，自动割草机能够自动从前院移动到后院，避免用户人工搬动。可以知道的是，本实施例中的路线通道包括人们设置的车道或者设置的仅供割草机移动的路线。
如图19所示，另一实施例的自移动设备的地图的检查方法，包括步骤：
S102：自移动设备沿着初始行走地图的边界行走。
具体地，自移动设备包括存储单元，初始行走地图存储在自移动设备的存储单元中，该自移动设备还包括定位模块，定位模块和存储单元连接。启动自移动设备后，自移动设备根据存储单元中的初始行走地图，以该初始行走地图的某一点为起始点进行行走。
自移动设备中的定位模块在自移动设备进行行走的时候，记录自移动设备的定位信息，并将该定位信息进行记录和存储。
需要说明的是，
S104：触发装有观察物的装置，使得观察物掉落在初始行走地图的边界上。
具体地，当自移动设备沿着初始行走地图的边界行走时，触发装有观察物的装置，使得该装有观察物的装置中的观察物掉落在初始行走地图的边界上。
在本实施例中，装有观察物的装置设置在自移动设备的外壳上，且装有观察物的装置与外壳可拆卸连接。从而在自移动设备对其行走的地图进行检 查时，将装有观察物的装置安装在自移动设备的外壳上，使得自移动设备沿着初始行走地图的边界行走时，触发装有观察物的装置使得观察物掉落在初始行走地图的边界上。需要说明的是，该装有观察物的装置在自移动设备进行其他工作时，可以将其从自移动设备的外壳上拆卸下来。
此外，在其他实施例中，装有观察物的装置也可以设置在自移动设备的外壳的内壁上，该装有观察物的装置与自移动设备的外壳一体成型。
在本实施例中，当自移动设备开始沿着初始行走地图的边界行走时，自移动设备的触发单元发出指令给装有观察物的装置，装有观察物的装置接收该指令，且装有观察物的装置打开按钮，使得其中的观察物掉落，随着自移动设备沿着初始行走地图的边界行走，装有观察物的装置中的观察物一直掉落在初始行走地图的边界上。当自移动设备行走玩初始行走地图的边界时，观察物将初始行走地图的边界显示出来。其中，触发单元与装有观察物的装置相连。
在其他实施例中，装有观察物的装置上安装有按钮，从而在自移动设备沿着初始行走地图的边界开始行走时，按动装有观察物装置上的按钮，使得其中的观察物掉落。从而随着自移动设备沿着初始行走地图的边界行走，装有观察物的装置中的观察物一直掉落在初始行走地图的边界上。当自移动设备行走玩初始行走地图的边界时，观察物将初始行走地图的边界显示出来。
在本实施例中，观察物可以为石灰、面粉或环保颗粒或粉末。其中，环保颗粒或粉末可以为可降解的聚乳酸颗粒或粉末等。优选地，观察物为石灰等白色粉状物。
S106：观察观察物所在的位置，并将观察物所在的位置与自移动设备所要工作的实际区域的边界进行比较。
具体地，在本实施例中，观察步骤S104中观察物所掉落的位置，将观察物所显示出来的边界与自移动设备所要工作的实际的边界进行比较，从而对自移动设备的初始行走地图进行检查。
通过观察物，将自移动设备的初始行走地图显示出来。使用者根据观察物显示出来的初始行走地图，将其与自移动设备所要工作的实际区域进行比 较，当两者不重合有误差时，则使用者可以进行手动调节该初始行走地图，确定当前行走地图，也就是调节后的行走地图。
需要说明的是，使用者根据观察物显示出来的初始行走地图，将其与自移动设备所要工作的实际区域进行比较，当两者不重合有误差时，对标记所在的位置的边界与自移动设备所要工作的实际区域的边界不重合的区域，重新进行学习地图，得到当前行走地图，使得当前行走地图的边界与自移动设备所要工作的实际区域的边界重合。
上述自移动设备的地图的检查方法，通过在自移动设备沿着初始行走地图的边界行走的过程中，触发装有观察物的装置，装有观察物的装置中的观察物掉落在该初始行走地图的边界上，将该初始行走地图的边界显示出来，从而使用者能通过观察观察物所在的位置，进而可以将初始行走地图与自移动设备所要工作的实际区域的边界进行比较，使用者通过观察观察物的位置，实现对自移动设备行走地图进行检查，进而减少自移动设备的地图存在有误风险。
如图20所示，一实施例的自移动设备的地图的检查装置10包括自移动设备110和装置观察物的装置120。装有观察物的装置120与自移动设备110的外壳连接，装有观察物的装置120用于在自移动设备沿着初始行走地图的边界行走的过程中，掉落观察物。
需要说明的是，装有观察物的装置120可以与自移动设备110的外壳可拆卸连接，也可以一体成型。
具体地，在本实施例中，自移动设备110沿着初始行走地图的边界进行行走时，装有观察物的装置120中的观察物掉落下来，将自移动设备110所行走的初始行走地图的边界显示出来。从而使用者可以根据该观察物所显示出来的初始行走地图的边界，对自移动设备110所要工作的实际区域进行检查。
在本实施例中，自移动设备110包括存储单元113，初始行走地图存储在该存储单元113中。启动自移动设备110后，自移动设备110根据存储单元113中的初始行走地图，以该初始行走地图的某一点为起始点进行行走。
自移动设备110还包括触发单元114，触发单元114与装有观察物的装置120连接，触发单元114用于触发装有观察物的装置120，使得其中的观察物掉落在初始行走地图的边界上。
需要说明的是，装有观察物的装置120也可以安装有按钮，而在自移动设备沿着初始行走地图的边界开始行走时，按动装有观察物装置上的按钮，使得其中的观察物掉落。
上述自移动设备的地图的检查装置，能够实现对自移动设备行走地图进行检查，进而减少自移动设备的地图存在有误风险。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (35)

  1. 一种自动工作系统，包括：
    自移动设备，所述自移动设备包括：
    移动模块，由驱动马达驱动，带动自移动设备移动；
    控制模块，控制所述移动模块带动自移动设备在地图限定的工作区域内移动和工作；
    所述自动工作系统还包括：
    地图生成模块，采集工作区域的特征位置数据，从而生成地图；
    地图修正模块，采集修正的工作区域的特征位置数据，利用修正的工作区域的特征位置数据修正地图；其特征在于，
    所述地图生成模块或地图修正模块在人为操作下采集工作区域的特征位置数据。
  2. 根据权利要求1所述的自动工作系统，其特征在于，所述工作区域的特征位置包括，工作区域的边界，或工作区域内的障碍，或连接不同工作区域的通道。
  3. 根据权利要求1所述的自动工作系统，其特征在于，所述自动工作系统包括停靠站，供自移动设备停靠并充电；所述工作区域的特征位置包括停靠站位置，或自移动设备离开或回归所述停靠站的路径。
  4. 根据权利要求1所述的自动工作系统，其特征在于，所述地图生成模块与显示设备通信连接；所述地图生成模块获取工作区域的卫星地图，并通过所述显示设备显示所述卫星地图；通过人为的在所述显示设备显示的卫星地图上采集工作区域的特征位置数据，所述地图生成模块采集工作区域的特征位置数据，从而生成地图。
  5. 根据权利要求4所述的自动工作系统，其特征在于，所述显示设备包括外部智能终端的显示设备，或者自动工作系统的显示设备。
  6. 根据权利要求4所述的自动工作系统，其特征在于，所述自动工作系统包括应用软件，所述地图生成模块通过所述应用软件获取卫星地图，并通过所述应用软件采集工作区域的特征位置数据。
  7. 根据权利要求6所述的自动工作系统，其特征在于，所述自动工作系统包括定位设备，接收卫星导航信号，以获取自身的当前位置数据。
  8. 根据权利要求7所述的自动工作系统，其特征在于，所述自动工作系统包 括至少一个参照物，设置于自移动设备的工作区域，所述地图修正模块利用所述定位设备获取所述参照物的位置数据；
    所述地图修正模块通过所述应用软件提供至少一个标记物，所述显示设备显示地图生成模块生成的地图及标记物，所述标记物与所述工作区域中的参照物一一对应；
    所述地图修正模块通过所述应用软件为所述标记物提供预设位置数据，所述预设位置数据与对应的工作区域中的参照物的位置数据一致；
    所述地图修正模块通过人为的将所述标记物在地图上移动至预设位置后，判断标记物的移动后的位置数据是否满足预设位置数据，来修正地图，其中，所述预设位置为与所对应的参照物在工作区域中的位置一致的位置。
  9. 根据权利要求8所述的自动工作系统，其特征在于，若标记物的移动后的位置数据不满足预设位置数据，则自动修正模块获取标记物移动后的位置数据相对于标记物的预设位置数据的偏差值，使用所述偏差值修正地图。
  10. 根据权利要求7所述的自动工作系统，其特征在于，
    所述自移动设备包括至少一个环境识别传感器，识别工作区域的特征位置；
    所述自移动设备基于地图移动时，所述定位设备安装于自移动设备，输出自移动设备的当前位置数据；
    所述自移动设备基于地图移动时，当所述环境识别传感器识别到工作区域的特征位置时，地图修正模块比较定位设备输出的当前位置数据与地图中的特征位置数据，判断环境识别传感器识别到的特征位置与地图中的特征位置是否相符，若不相符，则使用定位设备输出的当前位置数据修正地图。
  11. 根据权利要求10所述的自动工作系统，其特征在于，所述环境识别传感器包括草地识别传感器，障碍检测传感器，摄像头中的任一种。
  12. 根据权利要求4所述的自动工作系统，其特征在于，所述地图生成模块对所述特征位置数据进行偏移操作，使得偏移后的数据对应的位置相对于未偏移的数据对应的位置更靠近工作区域的中心位置。
  13. 根据权利要求12所述的自动工作系统，其特征在于，所述特征位置包括工作区域的边界，偏移后的边界相对于未偏移的边界缩小。
  14. 根据权利要求12所述的自动工作系统，其特征在于，所述特征位置包括工作区域内的障碍，偏移后的障碍相对于未偏移的障碍扩大。
  15. 根据权利要求1所述的自动工作系统，其特征在于，所述地图修正模块与显示设备通信连接，显示设备显示所述地图生成模块生成的地图，通过人为对显示设备显示的地图的操作，所述地图修正模块采集修正的工作区域的特征位置数据。
  16. 根据权利要求15所述的自动工作系统，其特征在于，所述显示设备包括智能终端的显示设备，或者自动工作系统的显示设备。
  17. 根据权利要求15所述的自动工作系统，其特征在于，所述自动工作系统包括应用软件，所述地图修正模块通过所述应用软件显示地图，并通过所述应用软件采集修正的工作区域的特征位置数据。
  18. 根据权利要求15所述的自动工作系统，其特征在于，人为对显示设备显示的地图的操作包括，人为在地图上绘制，来采集修正的工作区域的特征位置数据。
  19. 根据权利要求15所述的自动工作系统，其特征在于，人为对显示设备显示的地图的操作包括，人为增加或删除工作区域的特征位置数据。
  20. 一种自动工作系统的工作区域的地图建立方法，所述自动工作系统包括自移动设备，在地图限定的工作区域内移动和工作；所述地图建立方法包括步骤：
    采集工作区域的特征位置数据，生成工作区域地图；
    采集修正的工作区域的特征位置数据，生成修正的工作区域地图；其特征在于，
    所述采集工作区域的特征位置数据或采集修正的工作区域的特征位置数据的步骤，在人为操作下执行。
  21. 根据权利要求20所述的地图建立方法，其特征在于，所述工作区域的特征位置包括，工作区域的边界，或工作区域内的障碍，或连接不同工作区域的通道。
  22. 根据权利要求20所述的地图建立方法，其特征在于，所述自动工作系统包括停靠站，供自移动设备停靠并充电；所述工作区域的特征位置包括停靠站位置，或自移动设备离开或回归所述停靠站的路径。
  23. 根据权利要求20所述的地图建立方法，其特征在于，采集工作区域的特征位置数据包括步骤：获取工作区域的卫星地图，通过显示设备显示卫星地图，人为的在显示设备显示的卫星地图上采集工作区域的特征位置数据。
  24. 根据权利要求23所述的地图建立方法，其特征在于，通过应用软件获取卫星地图，并通过应用软件采集工作区域的特征位置数据。
  25. 根据权利要求24所述的地图建立方法，其特征在于，所述自动工作系统包括定位设备，接收卫星信号，以获取自身的当前位置数据。
  26. 根据权利要求25所述的地图建立方法，其特征在于，采集修正的工作区域的特征位置数据包括步骤：
    在工作区域中设置至少一个参照物，利用所述定位设备获取所述参照物的位置数据；
    在所述应用软件中提供至少一个标记物，显示地图及标记物，所述标记物与所述工作区域中的参照物一一对应；
    为所述标记物提供预设位置数据，所述预设位置数据与对应的参照物的位置数据一致；
    人为的将所述标记物在地图上移动至预设位置，所述预设位置与对应的参照物在工作区域中的位置一致；
    判断标记物移动后的位置数据是否满足预设位置数据，若不满足，则利用标记物移动后的位置数据相对于预设位置数据的偏差值来修正地图。
  27. 根据权利要求25所述的地图建立方法，其特征在于，采集修正的工作区域的特征位置数据包括步骤：
    为自移动设备提供至少一个环境识别传感器，识别工作区域的特征位置；
    使自移动设备基于地图移动，当所述环境识别传感器识别到工作区域的特征位置时，比较所述定位设备输出的当前位置数据与地图中的特征位置数据，判断环境识别传感器识别到的特征位置与地图中的特征位置是否相符，若不相符，则使用定位设备输出的当前位置数据修正地图。
  28. 根据权利要求27所述的地图建立方法，其特征在于，所述环境识别传感器包括草地识别传感器，障碍检测传感器，摄像头中的任一种。
  29. 根据权利要求23所述的地图建立方法，其特征在于，对所述特征位置数据进行偏移操作，使得偏移后的数据对应的位置相对于未偏移的数据对应的位置更靠近工作区域的中心位置。
  30. 根据权利要求29所述的地图建立方法，其特征在于，所述特征位置包括工作区域的边界，偏移后的边界相对于未偏移的边界缩小。
  31. 根据权利要求29所述的地图建立方法，其特征在于，所述特征位置包括 工作区域内的障碍，偏移后的障碍相对于未偏移的障碍扩大。
  32. 根据权利要求20所述的地图建立方法，其特征在于，采集修正的工作区域的特征位置数据包括步骤：在显示设备上显示地图，人为对显示设备显示的地图进行操作。
  33. 根据权利要求32所述的地图建立方法，其特征在于，通过应用软件显示地图，并通过应用软件采集修正的工作区域的特征位置数据。
  34. 根据权利要求32所述的地图建立方法，其特征在于，人为对显示设备显示的地图进行操作包括步骤，人为在地图上绘制。
  35. 根据权利要求32所述的地图建立方法，其特征在于，人为对显示设备显示的地图进行操作包括步骤，人为增加或删除工作区域的特征位置数据。
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