Method, device and storage medium for determining a working boundary of an operating equipment

Patent metadata

Field	Value
Publication number	US-2025324920-A1
Application number	US-202519253387-A
Country	US
Kind code	A1
Filing date	Jun 27, 2025
Priority date	Dec 30, 2022
Publication date	Oct 23, 2025
Grant date	—

Abstract

A method, a device, and a storage medium for determining a working boundary of an operating equipment are provided. The method includes: obtaining an initial virtual boundary of an operating area; obtaining an adjustment vector; adjusting a portion of the initial virtual boundary that meets a preset condition at least according to the adjustment vector; and determining the working boundary of the operating equipment according to the adjusted initial virtual boundary.

First claim

What is claimed is that:

1 . A method for determining a working boundary of an operating equipment, wherein the operating equipment is adapted to perform at least one work task in an operating area, and the method comprises:
obtaining an initial virtual boundary of the operating area; wherein the initial virtual boundary is generated from position data collected by a position information collection device moving along an operation boundary of the operating area, and there is a first vertical distance between a positioning device on the position information collection device and a portion closest to the operation boundary of the position information collection device during an operation boundary-following process; obtaining an adjustment vector; wherein the adjustment vector points toward the interior of the operating area, and there is a second vertical distance between a positioning device on the operating equipment and a portion closest to the operation boundary of the operating equipment during the operation boundary-following process, and an adjustment magnitude of the adjustment vector is greater than or equal to an absolute value of a difference between the second vertical distance and the first vertical distance; adjusting a portion of the initial virtual boundary that meets a preset condition at least according to the adjustment vector; determining the working boundary of the operating equipment according to the adjusted initial virtual boundary.

2 . The method according to claim 1 , wherein adjusting a portion of the initial virtual boundary that meets a preset condition at least according to the adjustment vector comprises:
obtaining a marked initial virtual boundary of the initial virtual boundary; wherein the marked initial virtual boundary is at least used to indicate an initial virtual boundary with a collision risk; adjusting the marked initial virtual boundary at least according to the adjustment vector.

3 . The method according to claim 1 , wherein the adjustment vector is pre-stored in a memory, wherein obtaining the adjustment vector for the initial virtual boundary comprises: retrieving the adjustment vector for the initial virtual boundary from the memory.

4 . The method according to claim 3 , wherein the memory is set in one or more of the following devices: the position information collection device, the operating equipment, a terminal device, a cloud server.

5 . The method according to claim 1 , wherein:
the first vertical distance is determined at least based on a first installation position of the positioning device on the position information collection device and a width of the position information collection device; the second vertical distance is determined at least based on a second installation position of the positioning device on the operating equipment and a width of the operating equipment.

6 . The method according to claim 5 , wherein the first installation position is located on a longitudinal center symmetry plane of the position information collection device, the second installation position is located on a longitudinal center symmetry plane of the operating equipment, and the adjustment vector is determined at least based on a width difference between the position information collection device and the operating equipment.

7 . The method according to claim 5 , wherein obtaining the adjustment vector for the initial virtual boundary comprises:
obtaining a first width of the position information collection device and a second width of the operating equipment; determining the first vertical distance according to the first installation position and the first width; determining the second vertical distance according to the second installation position and the second width; determining the adjustment magnitude of the adjustment vector according to the first vertical distance and the second vertical distance.

8 . The method according to claim 1 , wherein adjusting a portion of the initial virtual boundary that meets a preset condition at least according to the adjustment vector comprises:
obtaining a portion of the initial virtual boundary where a satellite positioning signal output by the positioning device on the position information collection device during the operation boundary-following process does not meet a quality condition; obtaining a shadow area compensation vector for the portion of the initial virtual boundary; wherein the shadow area compensation vector points toward the interior of the operating area; determining the working boundary of the operating equipment corresponding to the portion of the initial virtual boundary according to the initial virtual boundary, the adjustment vector, and the shadow area compensation vector.

9 . The method according to claim 8 , wherein a compensation magnitude of the shadow area compensation vector is determined at least based on a positioning deviation amount of the positioning device on the operating equipment in a shadow area.

10 . The method according to claim 1 , wherein the adjustment magnitude is determined at least based on the following relation:

d
2

-

d
1

≤

❘
"\[LeftBracketingBar]"

D
in

❘
"\[RightBracketingBar]"

≤

L
-

d
3

+

(

d
2

-

d
1

)

;

wherein |D in | represents the adjustment magnitude, d 1 represents the first vertical distance, d 2 represents the second vertical distance, d 3 represents a third vertical distance between an outermost edge of an operating tool of the operating equipment and the portion closest to the operation boundary of the operating equipment during the operation boundary-following process, L represents a grass-leaving width threshold at the operation boundary.

11 . A method for determining a working boundary of an operating equipment, wherein the operating equipment is adapted to perform at least one work task in an operating area, and the operating equipment is provided with a detachable positioning device, the positioning device is configured to be coupled with another mobile device in a detached state to move and collect position data of an operation boundary of the operating area, wherein the method comprises:
obtaining an initial virtual boundary of the operating area; wherein the initial virtual boundary is generated from the collected position data of the operation boundary of the operating area, and during a collection process, there is a first vertical distance between the positioning device and a portion closest to the operation boundary o

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• Lian Hongkui
• Liao Liangliang
• Zhang Chuang
• Gao Shilin

Classifications

• A01D2101/00

  Lawn-mowers · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title

• G05D1/43

  Control of position or course in two dimensions [2D] · CPC title

• G05D1/648

  Performing a task within a working area or space, e.g. cleaning · CPC title

• A01D34/00

  Mowers (combined with apparatus performing additional operations while mowing A01D37/00 - A01D41/00, A01D43/00; convertible to apparatus for purposes other than mowing or capable of performing operations other than mowing A01D42/00); Mowing apparatus of harvesters · CPC title