A walking path planning method, system and storage medium for a self-mobile device

Abstract

The present invention provides a walking path planning method, system and storage medium for a self-moving device, the method comprising: obtaining boundary information of a target working area; dividing the target working area into a plurality of sub-target working areas according to the boundary information; planning a walking path of the self-moving device according to the sub-target working areas, wherein a walking rule of the walking path comprises: performing a traversal walking of the plurality of sub-target working areas once in a first path mode; after completing the walking of the plurality of sub-target working areas, judging whether the walking once meets the working requirements; and when the working requirements are not met, performing a second walking of the plurality of sub-target working areas in a second path mode different from the first path mode.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence related technologies, and in particular to a walking path planning method, system and storage medium for a self-mobile device. Background Art

[0002] With the gradual development of society, smart tools play an important role in people's lives, such as self-moving vacuum cleaners and self-moving lawn mowers, which can effectively reduce people's workload and improve work efficiency. However, when a self-moving device encounters an obstacle during its mobile work, it will automatically avoid the obstacle. In the existing technology, the moving trajectory of the self-moving device is fixed, while the boundary shape of the working area is complex and the obstacle detection algorithm has limited accuracy. As a result, some working areas are not traversed and missed during the work process, resulting in low operation coverage of the self-moving device, which has a poor user experience. Summary of the invention

[0003] In view of the deficiencies in the above-mentioned technologies, the present application provides a walking path planning method, system and storage medium for a self-moving device, which can effectively improve the operation coverage of the self-moving device.

[0004] A first aspect of the present application provides a method for planning a walking path of a self-moving device, wherein the method includes: obtaining boundary information of a target working area; dividing the target working area into multiple sub-target working areas according to the boundary information; planning a walking path of the self-moving device according to the sub-target working areas, and the walking rules of the walking path include: traversing multiple sub-target working areas once in a first path mode; after completing the walking of multiple sub-target working areas, determining whether the walking meets the working requirements; when the working requirements are not met, walking the multiple sub-target working areas a second time in a second path mode different from the first path mode.

[0005] The second aspect of the present application provides a walking path planning system for an intelligent mobile device, the system comprising: a map acquisition unit, used to acquire boundary information of a target area; an area regularization unit, used to virtually regularize a target working area according to the boundary information to form a regular working area with a virtual boundary; an area division unit, used to divide the target working area into a plurality of sub-target working areas according to the regular working area and the boundary information; a path planning unit, used to plan a walking path of the intelligent lawn mower based on the boundary information of the sub-target working areas, the walking rules of the walking path comprising: traversing a plurality of sub-target working areas once in a first path mode; after completing walking in the plurality of sub-target working areas, determining whether the walking meets the working requirements once; and when the working requirements are not met, walking the plurality of sub-target working areas a second time in a second path mode.

[0006] According to a third aspect of the present application, a storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any method of the first aspect are implemented.

[0007] One or more technical solutions provided by this application have at least the following technical effects or advantages:

[0008] The technical solution provided by the present application divides the target working area into multiple sub-target working areas according to the boundary information of the target working area, so that the self-moving device plans the walking path according to the boundary information of the sub-target working area, performs a first traversal walking of the multiple sub-target working areas in a first path mode, and determines whether the first walking meets the working requirements. If not, a second traversal walking is performed in accordance with the second path mode. By formulating different walking working strategies for different target working areas, the present application avoids the problem of complex boundary contours of the working area and obstacles causing untraversed working areas in the working area, improves the coverage rate of the self-moving device during operation, and enhances the operation effect of the self-moving device.

[0009] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A schematic diagram of a process flow of a walking path planning method for a self-mobile device provided in this application;

[0011] Figure 2 for Figure 1 A schematic diagram of the working area after executing step S200 in the method;

[0012] Figure 3 A schematic diagram of a flow chart of a method for planning a walking path of a self-moving device provided in the first embodiment of the present application;

[0013] Figure 4 for Figure 3 A schematic diagram of the working area after executing step S311 in the method;

[0014] Figure 5 for Figure 3 A schematic diagram of the working area after executing step S400 in the method;

[0015] Figure 6 A schematic diagram of a flow chart of a method for planning a walking path of a self-moving device provided in the second embodiment of the present application;

[0016] Figure 7 for Figure 6 A schematic diagram of the working area after executing step S400 in the method shown;

[0017] Figure 8 A schematic diagram of a flow chart of a method for planning a walking path of a self-moving device provided in the third embodiment of the present application;

[0018] Fig. 9 for Figure 8 A schematic diagram of the working area after executing step S300 in the method shown;

[0019] Fig.10 for Figure 8 A schematic diagram of the working area after executing step S400 in the method shown;

[0020] Fig.11 A schematic diagram of a flow chart of a method for planning a walking path of a self-moving device provided in the fourth embodiment of the present application;

[0021] Fig.12 A flowchart of a method for planning a walking path of a self-moving device provided in the fifth embodiment of the present application;

[0022] Fig.13 A schematic diagram of the coverage effect of a walking operation after one walking operation in a walking path planning method of an intelligent lawn mower provided in the fifth embodiment of the present application;

[0023] Fig.14 A schematic diagram of the operation coverage effect after secondary walking in a walking path planning method for a mobile device provided in the fifth embodiment of the present application;

[0024] Fig.15 A schematic diagram of the operation coverage effect after the first walking and the second walking are combined in a walking path planning method for a mobile device provided in the fifth embodiment of the present application;

[0025] Fig.16 A schematic diagram of a flow chart of planning a walking path in a walking path planning method for a mobile device provided in a sixth embodiment of the present application;

[0026] Fig.17 for Fig.16 A schematic diagram of the coverage effect of the operation after one walk in the method shown;

[0027] Fig.18 for Fig.16 A schematic diagram of the operation coverage effect after the second walk in the method shown;

[0028] Fig.19 for Fig.16 A schematic diagram of the operation coverage effect after the first walking and the second walking are combined in the method shown;

[0029] Fig. 20 A flowchart of a method for planning a walking path of a self-moving device provided in the seventh embodiment of the present application;

[0030] Fig.21 A schematic diagram of a flow chart of a method for planning a walking path of a self-moving device provided in the eighth embodiment of the present application;

[0031] Fig. 22 For Fig.21 A schematic diagram of the coverage effect of the operation after one walk in the method shown;

[0032] Fig.23 For Fig. 22 A schematic diagram of the key areas marked after a walk is shown;

[0033] Fig.24 For Fig.21 A schematic diagram of the coverage effect of the working area after the second walk in the method shown;

[0034] Fig.25 For Fig.21 A schematic diagram of the coverage effect of key area operations after the first walk and the second walk are combined in the method shown;

[0035] Fig.26 A schematic diagram of the coverage effect of a practical application of a walking path planning method for a self-moving device provided in any embodiment of the present application;

[0036] Fig. 27 A schematic diagram of the structure of a walking path planning system for a self-moving device provided in the ninth embodiment of the present application;

[0037] Fig.28 A schematic diagram of the structure of an exemplary electronic device provided in this application.

[0038] Explanation of the reference numerals: walking path planning system 100 , map acquisition unit 110 , area regularization unit 120 , area division unit 130 , path planning unit 140 , electronic device 300 , memory 301 , processor 302 , communication interface 303 , bus architecture 304 . DETAILED DESCRIPTION

[0039] Application Overview

[0040] The overall idea of ​​the technical solution provided by this application is as follows:

[0041] Acquire map information of a target work area; virtually regularize the target work area according to the map information to form a regular work area with a virtual boundary; divide the regular work area into a plurality of sub-regular work areas; divide the target work area into a plurality of sub-target work areas based on the plurality of sub-regular work areas; plan a walking path of the smart lawn mower according to the sub-target work areas, wherein the walking rule of the walking path includes: traversing the plurality of sub-target work areas once in a first path mode; after completing the walking of the plurality of sub-target work areas, determining whether the walking once meets the working requirements; and when the working requirements are not met, walking the plurality of sub-target work areas a second time in a second path mode, wherein in the first path mode and the second path mode, for the same sub-target work area, the trajectory routes of the smart lawn mower are different.

[0042] After introducing the basic principles of the present application, various non-limiting implementation methods of the present application will be specifically described below in conjunction with the drawings in the specification.

[0043] like Figure 1 As shown, the present application provides a walking path planning method for a self-moving device, the method comprising the following steps:

[0044] S100, obtaining boundary information of a target working area;

[0045] In the embodiments of the present application, the self-moving device refers to any device in the prior art that can move autonomously within a target working area according to a set route and complete certain work tasks. Exemplarily, the self-moving device includes: a smart vacuum cleaner, a smart lawn mower, etc., wherein the target working area of ​​the smart vacuum cleaner is a living room, a bedroom, etc., and the target working area of ​​the smart lawn mower is a park, a community, a golf course, a football field, etc., but is not limited thereto. Preferably, the self-moving device used in the embodiments of the present application is a smart lawn mower.

[0046] The target working area is the area that currently needs to be mowed using the method and the intelligent lawn mower provided by the embodiment of the present application, and can be obtained by laying out boundary lines in advance. Preferably, the boundary lines of the target working area are rectangular.

[0047] The boundary information of the target working area can be obtained by the intelligent lawn mower patrolling the boundary line of the target working area and walking a circle on the boundary line of the target working area before the standard walking path, thereby forming an outer contour map of the target working area and obtaining the boundary information of the target working area.

[0048] S200, virtually regularizing the target working area according to the boundary information to form a regular working area with a virtual boundary;

[0049] Figure 2A possible schematic diagram of virtually regularizing the target working area in an embodiment of the present application is shown. In one embodiment, Figure 2 As shown, step S200 in the method provided by the present application includes:

[0050] S210, acquiring a boundary contour of a target working area according to boundary information;

[0051] S220 , obtaining a circumscribed rectangle of the boundary contour, and using the circumscribed rectangle as a virtual boundary of the target working area to obtain a regular working area with a virtual boundary.

[0052] In actual work, due to the limitation of the actual site, the boundary information of the target working area is not a regular rectangle. Therefore, it is necessary to virtually regularize the target working area to obtain a regular working area with a regular virtual boundary. For example, in order to facilitate the division of the regular working area, the above virtual boundary is a rectangle.

[0053] like Figure 2 As shown, in a specific application scenario of an embodiment of the present application, a smart lawn mower is used to mow a target working area with an irregular boundary contour. First, the boundary contour of the target working area is obtained, and then a circumscribed rectangle that can be circumscribed to the boundary contour is obtained. The circumscribed rectangle is used as a virtual boundary of the target working area to obtain a regular working area with a virtual boundary.

[0054] exist Figure 2 In the figure, the area enclosed by the irregular curve is the target working area, and the rectangular frame formed by the dotted line is the virtual boundary, and a regular working area is formed, which is circumscribed with the target working area enclosed by the irregular curve.

[0055] S300, dividing the rule working area into a plurality of sub-rule working areas;

[0056] S400, dividing the target working area into multiple sub-target working areas based on multiple sub-rule working areas;

[0057] S500: planning a walking path of the intelligent lawn mower according to the sub-target working area, wherein the walking rules of the walking path include the following steps:

[0058] R100, traversing multiple sub-target working areas in the first path mode;

[0059] R200, after completing the walking in multiple sub-target work areas, determine whether the walking has met the work requirements;

[0060] R300. When the working requirements are not met, a second walking is performed on multiple sub-target working areas in a second path mode different from the first path mode.

[0061] Before planning a path, the target working area needs to be divided. The technical solution of the present application is further described below in conjunction with specific embodiments.

[0062] Embodiment 1

[0063] like Figure 3 As shown, after the aforementioned steps S100 and S200, step S300 in the method provided in the first embodiment of the present application includes:

[0064] S311 , rasterizing the regular working area to obtain a plurality of rectangular working areas with the same area, thereby dividing the regular working area into a plurality of sub-regular working areas.

[0065] Figure 4 FIG. 1 shows a possible schematic diagram of dividing a regular working area in Embodiment 1 of the present application. Specifically, Figure 4 As shown, the black area in the figure is the obstacle in the target working area. In order to formulate different working strategies according to the regional conditions of different parts of the target working area, it is necessary to divide the regular working area.

[0066] For example, Figure 4 As shown, the regular working area is divided into grids to obtain multiple regular working areas with the same area, that is, multiple sub-regular working areas, and the division is completed. After the division is completed, the obstacles in the target working area are cut and divided into different sub-regular working areas. The size of multiple sub-regular working areas can be set according to actual work business requirements.

[0067] like Figure 3 As shown, step S400 in the method provided in Embodiment 1 of the present application includes:

[0068] S411, dividing the target working area into a plurality of first-level sub-target working areas based on the plurality of sub-rule working areas;

[0069] S412, obtaining the area of ​​each first-level sub-target working area and a plurality of other adjacent first-level sub-target working areas;

[0070] S413: Perform cluster analysis and merge the multiple first-level sub-target work areas according to the area to form multiple sub-target work areas.

[0071] Figure 5 FIG. 1 shows a possible schematic diagram of dividing the sub-target working area in the first embodiment of the present application. Specifically, Figure 5As shown in the figure, when the sub-rule working areas are divided, since the target working area is irregular, the area of ​​each sub-rule working area obtained by division is not equal, and the area of ​​the sub-rule working area in contact with the virtual boundary is smaller. Therefore, it is necessary to merge the sub-target working areas according to the area.

[0072] The target working area is divided into multiple first-level sub-target working areas, and then the area of ​​each first-level sub-target working area is obtained. Through cluster analysis, if the area areas of two adjacent first-level sub-target working areas are both smaller than a preset area threshold, the two adjacent first-level sub-target working areas are merged into one sub-target working area. Finally, the division of all sub-target working areas is completed. Figure 5 The multiple areas enclosed by the solid lines of the middle target working area are sub-target working areas, and some sub-target working areas on the boundary are obtained by merging.

[0073] Embodiment 2

[0074] like Figure 6 As shown, step S400 in the method provided in Embodiment 2 of the present application includes:

[0075] S421, dividing the target working area into a plurality of first-level sub-target working areas based on the plurality of sub-rule working areas;

[0076] S422, obtaining the boundary contour of each first-level sub-target working area and the boundary contours of a plurality of other adjacent first-level sub-target working areas;

[0077] S423: Analyze and merge multiple first-level sub-target working areas according to boundary contours to form multiple sub-target working areas.

[0078] Figure 7 FIG. 1 shows a possible schematic diagram of dividing the sub-target working area in the second embodiment of the present application. Specifically, Figure 6 and Figure 7 As shown, according to the above multiple sub-rule working areas, the target working area is divided into multiple first-level sub-target working areas. Since the boundary contour of the target working area is irregular, some sub-rule working areas have no corresponding first-level sub-target working areas after being divided.

[0079] Furthermore, according to the boundary contour of each first-level sub-target working area and the boundary contours of multiple other adjacent first-level sub-target working areas, multiple first-level sub-target working areas are merged to obtain multiple sub-target working areas.

[0080] Embodiment 3

[0081] like Figure 8 As shown, step S300 in the method provided in Embodiment 3 of the present application includes:

[0082] S321, acquiring a boundary contour of the target working area according to boundary information of the target working area;

[0083] S322 . Divide the regular working area into a mesh according to the boundary contour to form a plurality of sub-regular working areas with regular virtual boundaries.

[0084] Fig. 9 A possible schematic diagram of dividing the sub-rule working area in the third embodiment of the present application is shown. Figure 8 and Fig. 9 As shown, the boundary contour of the target working area is obtained according to the boundary information of the target working area, and then the corner points of the boundary contour figure are obtained by a data analysis method, and the inner points of the boundary contour and the virtual boundary are obtained. The corner points and inner points of the boundary contour are shown in Fig. 9 The black points on the middle boundary contour ensure that the corner points are located within the sub-rule working area and the internal points are located on the boundary of the sub-rule working area during division, thus completing the division of the sub-rule working area.

[0085] like Figure 8 As shown, step S400 in the method provided in Embodiment 3 of the present application includes:

[0086] S411, dividing the target working area into a plurality of first-level sub-target working areas based on the plurality of sub-rule working areas;

[0087] S412, obtaining the area of ​​each first-level sub-target working area and a plurality of other adjacent first-level sub-target working areas;

[0088] S413: Perform cluster analysis and merge the multiple first-level sub-target work areas according to the area to form multiple sub-target work areas.

[0089] Fig.10 A possible schematic diagram of dividing the sub-target working area in the third embodiment of the present application is shown. Figure 8 to Figure 10 As shown, according to Fig. 9 The sub-rule working areas obtained by the division are initially divided into multiple first-level sub-target working areas. Among them, due to the irregular boundary contour of the target working area, some sub-rule working areas have no corresponding first-level sub-target working areas after division.

[0090] Then, the area of ​​each first-level sub-target working area is obtained. If the area of ​​any one or more of two adjacent first-level sub-target working areas is less than a certain area threshold, the two adjacent first-level sub-target working areas are merged to obtain the merged sub-target working area, thereby completing the division of the sub-target working areas.

[0091] After the area is divided, it is necessary to set the walking path planning of the mobile device according to the sub-target working areas obtained by the division. The technical solution of the present application is further described below in conjunction with specific embodiments.

[0092] Embodiment 4

[0093] like Fig.11 As shown, step R100 in the method provided in the fourth embodiment of the present application includes:

[0094] R111, walking once in a sub-target working area along a preset first path, and marking the coverage area of ​​the intelligent lawn mower;

[0095] R112, determine whether walking in the current sub-target working area is completed;

[0096] R113. If yes, calculate the first coverage rate of the current sub-target working area according to the marked coverage area;

[0097] R114. Determine whether the first coverage rate is greater than a first preset coverage rate;

[0098] R115, if yes, then proceed to the next sub-goal work area;

[0099] R116, if not, walk twice in the current sub-target working area along the preset second path, and then turn to walking in the next sub-target working area after completion.

[0100] Embodiment 5

[0101] like Fig.12 As shown, step R111 in the method provided in Embodiment 5 of the present application includes:

[0102] R111-1. Starting from a boundary point of the current sub-target working area, proceeding in a direction that forms a first preset angle with a specific boundary of the regular working area, walk once in the current sub-target working area along a first shape trajectory.

[0103] like Fig.12 As shown, step R116 in the method provided in Embodiment 5 of the present application includes:

[0104] R116-1, starting from the end point of a walk when the walk is completed, starting in the direction of a second preset angle with the specific boundary, and walking twice in the current sub-target working area with the first shape trajectory. Including:

[0105] Fig.13 A possible schematic diagram of a walk in Embodiment 5 of the present application is shown. Figures 11 to 13 As shown, when the self-mobile device is walking in a sub-target working area, it first takes a boundary point of the sub-target working area as a starting point, preferably a corner point, and then starts in a direction with a first preset angle to a specific boundary of the regular working area, and walks in the current sub-target working area with a first shape trajectory.

[0106] Exemplarily, a boundary of a rectangular regular working area is taken as a specific boundary, and starting from a direction parallel to the boundary, a walk is performed in the current sub-target working area in a bow-shaped trajectory.

[0107] If there are no obstacles in the current sub-goal working area, then one walk can cover all areas in the current sub-goal working area. Fig.13 As shown, the movement of the self-mobile device will be blocked by obstacles, resulting in some areas being inaccessible and unable to work. Therefore, it is necessary to determine whether the first coverage rate of the area walked in the current sub-target working area is greater than the first preset coverage rate after a walk is completed. For example, the first preset coverage rate is 95%.

[0108] exist Fig.13 In the process, due to the occlusion of obstacles, part of the current sub-target working area is not covered in one walk, that is, the first coverage rate is less than the first preset coverage rate, and then a second walk is required.

[0109] Fig.14 A possible schematic diagram of the second walking in the fifth embodiment of the present application is shown. Fig.14 As shown, when the first coverage rate of a walk is less than the first preset coverage rate, the walking end point when the walk is completed is taken as the starting point, and the characteristic boundary of the regular working area in the direction of the walk is set out in the direction of the second preset angle, and a second walk is performed in the current sub-target working area with the above-mentioned first shape trajectory.

[0110] For example, starting from a direction perpendicular to the specific boundary, a second walk is performed in the current sub-target working area along the bow-shaped trajectory. Figures 13-14 As shown in FIG. 1 , due to the occlusion of obstacles in the current sub-target working area, there are still some areas that cannot be covered in the second walk, but they are different from the areas that cannot be covered in the first walk.

[0111] like Fig.15 As shown, based on the above-mentioned one walk and two walks, the areas covered by the two walks in the current sub-target working area are added together. It can be found that after one walk and two walks, the area that cannot be covered by walking in the current sub-target working area becomes smaller than that of one walk, thereby improving the efficiency of the self-moving walking work.

[0112] Embodiment 6

[0113] like Fig.16 As shown, step R111 in the method provided in Embodiment 6 of the present application includes:

[0114] R111-2. Starting from a point on the first regular boundary of the current sub-target working area, walking once in the current sub-target working area along a first shape trajectory in a direction forming a first preset angle with the first regular boundary.

[0115] like Fig.16 As shown, step R116 in the method provided in Embodiment 6 of the present application includes:

[0116] R116-2, starting from a point on the second regular boundary of the current sub-target working area, walking twice in the current sub-target working area along the first shape trajectory in a direction forming a second preset angle with the second regular boundary.

[0117] Fig.17 A possible schematic diagram of a walk in Example 6 of the present application is shown. Fig.17 As shown, starting from a point on the first regular boundary of the current sub-target working area, walking is performed in the current sub-target working area along a first shape trajectory in a direction forming a first preset angle with the first regular boundary.

[0118] Exemplarily, the starting point is a point on the first regular boundary of the current sub-target working area that is arbitrarily close to a corner point or is a corner point, the first preset angle is an angle that is an arbitrary angle with the first regular boundary, and the first shape is strangely a bow-shaped trajectory.

[0119] So, like Fig.17 As shown, after one walk, due to the obstruction of obstacles in the current sub-target working area, one walk cannot cover all areas in the current sub-target working area, and the first coverage rate is less than the first preset coverage rate. Therefore, a second walk is required.

[0120] Fig.18 A possible schematic diagram of the secondary walking in the sixth embodiment of the present application is shown. Fig.18As shown, starting from a point on the second regular boundary of the current sub-target working area, walking twice in the current sub-target working area along the first shape trajectory in a direction forming a second preset angle with the second regular boundary.

[0121] Exemplarily, the second regular boundary is a regular boundary in the current sub-target working area that is parallel to the first regular boundary, and the second preset angle is an arbitrary angle, preferably the same angle as the first preset angle.

[0122] In this way, the second walk is completed. After the second walk, due to the occlusion of obstacles in the current sub-target working area, the second walk cannot cover all areas in the current sub-target working area, but the area that cannot be covered in the second walk is different from that in the first walk.

[0123] like Figures 16 to 19 As shown, by combining the coverage areas of one walk and two walks, it can be obtained that all areas within the current sub-target working area can be covered. Therefore, after combining the one walk and two walks, the coverage rate reaches 100%, which is greater than the first preset coverage rate.

[0124] Embodiment 7

[0125] like Fig. 20 As shown, step R200 in the method provided in Embodiment 7 of the present application includes:

[0126] R211, calculating a second coverage rate of the target working area according to the first coverage rate and the area areas of the plurality of sub-target working areas;

[0127] R212, comparing the second coverage rate with a second preset coverage rate;

[0128] R213. When the second coverage rate is less than the second preset coverage rate, it is determined that one traversal walk does not meet the work requirement;

[0129] R214. When the second coverage rate is greater than or equal to the second preset coverage rate, it is determined that one traversal walk meets the working requirements, wherein the second preset coverage rate is greater than the first preset coverage rate.

[0130] like Fig. 20 As shown, step R300 in the method provided in Embodiment 7 of the present application includes:

[0131] R311. When the first traversal walking fails to meet the working requirements, count the sub-target working areas whose first coverage rate is less than the third preset coverage rate among the multiple sub-target working areas to form a set of key areas, wherein the third preset coverage rate is between the first preset coverage rate and the second preset coverage rate;

[0132] R312. Traverse the key area set in the second path mode to perform a second walk through multiple sub-target work areas.

[0133] After performing the first walk and the second walk based on steps R111 to R116 on all sub-target working areas according to the regional conditions in different sub-target working areas, the second coverage rate of the entire target working area after completing the first walk and the second walk is calculated according to the first coverage rate of all sub-target working areas and the regional areas of the multiple sub-target working areas. The second coverage rate is compared with the second preset coverage rate, wherein the second preset coverage rate is greater than the first preset coverage rate.

[0134] When the second coverage rate is greater than the second preset coverage rate, it can be considered that the traversal walk consisting of the first walk and the second walk meets the work requirements and completes the current work. When the second coverage rate is less than the second preset coverage rate, it can be considered that the traversal walk consisting of the first walk and the second walk does not meet the work requirements and a targeted second walk is required.

[0135] Specifically, when the second coverage rate is less than the second preset coverage rate, the sub-target work areas whose first coverage rate is less than the third preset coverage rate among the multiple sub-target work areas are counted, and the sub-target work areas that cover this condition are collected to form a key area set. Among them, the third preset coverage rate is between the first preset coverage rate and the second preset coverage rate, and the third preset coverage rate is greater than the first preset coverage rate, which can improve the work coverage rate in the key areas in the second traversal walk. Then, for the above-mentioned key area set that does not meet the work requirements, a second walk is performed to improve the efficiency of the self-mobile equipment in covering the target work area.

[0136] Embodiment 8

[0137] like Fig.21 As shown, step R100 in the method provided in Embodiment 8 of the present application includes:

[0138] R121, starting from a boundary point of the current sub-target working area, starting from a direction that forms a first preset angle with a specific boundary of the regular working area, and walking in the current sub-target working area along a first shape trajectory;

[0139] R122, determine whether walking in the current sub-target working area is completed;

[0140] R123. After completing the walking in the current sub-target working area, proceed to the walking in the next adjacent sub-target working area.

[0141] like Fig.21 As shown, step R200 in the method provided in Embodiment 8 of the present application includes:

[0142] R221. During the execution of step R121, a moving trajectory of the mobile device is recorded, and a first coverage rate of the current sub-target working area is calculated according to the moving trajectory;

[0143] R222, counting the first coverage rates of the plurality of sub-target working areas, and calculating the second coverage rate of the target working area according to the area of ​​each sub-target working area and the first coverage rate;

[0144] R223. Determine whether the second coverage rate is less than a fourth preset coverage rate;

[0145] R224, when the second coverage rate is less than the fourth preset coverage rate, it is determined that one traversal walk does not meet the work requirements;

[0146] R225. When the second coverage rate is greater than or equal to the fourth preset coverage rate, it is determined that one traversal walk meets the working requirements.

[0147] like Fig.21 As shown, step R300 in the method provided in Embodiment 8 of the present application includes:

[0148] R321. When the first traversal walking fails to meet the work requirements, count the sub-target work areas in which the first coverage rate is less than the fourth preset coverage rate in multiple sub-target work areas to form a set of key areas;

[0149] R322, starting from a boundary point of a key area in the target working area, and walking in the current key area in a first shape trajectory in a direction that forms a second preset angle with a specific boundary of the regular working area;

[0150] R323. After completing walking in the current key area, enter the next key area.

[0151] Fig. 22 FIG. 1 shows a possible schematic diagram of a walk in Embodiment 8 of the present application. Specifically, Fig. 22 As shown, starting from a boundary point of the current sub-target working area, the first shape trajectory is set out in the direction of a first preset angle with a specific boundary of the rule working area, and walking in the current sub-target working area. Exemplarily, the boundary point is any boundary point of the current sub-target working area, which is located on the boundary point of the sub-rule working area or on the boundary contour of the target working area. The first preset angle can be an angle parallel to a specific boundary of the rule working area, and the first shape trajectory is preferably a bow-shaped trajectory.

[0152] After completing a walk in the current sub-target working area, directly use the end point of a walk in the current sub-target working area as the starting point of a walk in the adjacent sub-target working area, and walk in the next adjacent sub-target working area according to the above-mentioned first preset angle and first shape trajectory, and finally complete a walk in multiple sub-target working areas.

[0153] In the process of executing the above-mentioned walking, the moving track of the self-mobile device is recorded, and the first coverage rate of the current sub-target working area is calculated according to the moving track. After completing a walking of multiple sub-target working areas, the second coverage rate of the target working area is calculated according to the first coverage rate and area of ​​the multiple sub-target working areas. And it is judged whether the second coverage rate is less than the fourth preset coverage rate. If the second coverage rate is less than the fourth preset coverage rate, it can be considered that the one-time traversal walking does not meet the working requirements, and if the second coverage rate is greater than or equal to the fourth preset coverage rate, it can be considered that the one-time traversal walking meets the working requirements. Among them, the fourth preset coverage rate is greater than the first preset coverage rate.

[0154] Furthermore, when the second coverage rate is less than the fourth preset coverage rate and one traversal walk fails to meet the work requirements, multiple sub-target work areas whose first coverage rate is less than the fourth preset coverage rate are counted to form a set of key areas. Fig.23 The completed Fig. 22 A schematic diagram of the key areas marked after a walk is shown, wherein the key areas are indicated as shaded parts.

[0155] Then, starting from a boundary point of a key area in the target working area (A1, A2, A3), the robot starts in a direction that is at a second preset angle to the specific boundary of the regular working area, and walks in the current key area to the end point (B1, B2, B3) along the first shape trajectory. For example, the second preset angle is an angle perpendicular to the specific boundary. Fig.24 A possible schematic diagram of secondary walking in Example 8 of the present application is shown.

[0156] Fig.25 A possible schematic diagram of the combination of one-step walking and two-step walking in the eighth embodiment of the present application is shown. Fig.24 As shown, after completing the second walk in the current key area, the end point of the second walk in the current key area is directly used as the starting point of the adjacent key area, and the adjacent key area is walked twice according to the second preset angle and the first shape trajectory. Combined with the second walk, the area in the sub-target working area not covered by the first walk can be covered, and the walking coverage that meets the fourth preset coverage rate can be completed.

[0157] In the process of walking in the target working area in the first path mode or the second path mode in the fourth to eighth embodiments, the self-moving device can turn to avoid obstacles when encountering obstacles and continue to move in the original path mode.

[0158] Fig.26 The following is a schematic diagram showing the coverage effect after walking the target working area using the method provided in the embodiment of the present application. Fig.25 As shown, after completing the walking work in the target working area by using the method provided in the embodiment of the present application, all areas in the target working area can be basically covered. In addition, walking by dividing the area can effectively improve the efficiency and accuracy of the walking work.

[0159] In summary, the walking path planning method of the intelligent lawn mower provided in the embodiment of the present application has the following technical effects:

[0160] By virtually regularizing the target working area according to the boundary information of the target working area, a regular working area with a regular rectangular virtual boundary is formed, and the regular working area is further meshed according to the rectangular virtual boundary to be divided into multiple sub-regular working areas, and then the target working area is divided into multiple sub-target working areas based on the multiple sub-regular working areas, so that the self-moving device plans the walking path according to the sub-target working area, performs a first traversal walking on multiple sub-target working areas in a first path mode, and determines whether the first walking meets the working requirements. If not, a second traversal walking is performed in accordance with the second path mode. The intelligent lawn mower and path planning method provided by the present application divide the target working area into multiple sub-working areas with regular boundaries, and formulates different walking path strategies for different sub-working areas in a targeted manner, thereby avoiding the problem of complex boundary contours of the working area and obstacles causing untraversed working areas in the working area, improving the coverage rate of the self-moving device during operation, and greatly enhancing the operation effect of the self-moving device.

[0161] Embodiment 9

[0162] like Fig. 27 As shown, based on the same inventive concept as a walking path planning method for a self-moving device in any of the aforementioned embodiments, an embodiment of the present application provides a walking path planning system 100 for a self-moving device, wherein the system includes:

[0163] A map acquisition unit 110 is used to acquire map information of a target area;

[0164] The area regularization unit 120 is used to virtually regularize the target working area according to the map information to form a regular working area with a virtual boundary;

[0165] The area division unit 130 divides the rule working area to obtain a plurality of sub-rule working areas, and divides the target working area into a plurality of sub-target working areas according to the sub-rule working areas and boundary information;

[0166] The path planning unit 140 is used to plan the walking path of the intelligent lawn mower based on the sub-target working area. The walking rules of the walking path include:

[0167] Perform a traversal walk on multiple sub-target work areas using a first path mode; after completing the walk on multiple sub-target work areas, determine whether the walk meets the work requirements; when the work requirements are not met, perform a second walk on multiple sub-target work areas using a second path mode different from the first path mode.

[0168] Exemplary Electronic Devices

[0169] Reference below Fig.28 To describe the electronic device of the embodiment of the present application,

[0170] The electronic device 300 includes: a processor 302, a communication interface 303, and a memory 301. Optionally, the electronic device 300 may also include a bus architecture 304. The communication interface 303, the processor 302, and the memory 301 may be interconnected via the bus architecture 304; the bus architecture 304 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus architecture 304 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.28 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0171] The processor 302 may be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the program of the present application.

[0172] The communication interface 303 uses any transceiver-like system for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), wired access networks, etc.

[0173] The memory 301 may be a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, an optical disc storage (including a compressed optical disc, a laser disc, an optical disc, a digital versatile disc, a Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor via a bus architecture 304. The memory may also be integrated with the processor.

[0174] The memory 301 is used to store computer-executable instructions for executing the solution of the present application, and the execution is controlled by the processor 302. The processor 302 is used to execute the computer-executable instructions stored in the memory 301, thereby realizing the walking path planning method provided by any of the above embodiments of the present application.

[0175] Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application code, which is not specifically limited in the embodiments of the present application.

[0176] Those of ordinary skill in the art will appreciate that the various digital numbers such as the first and second involved in the present application are only for the convenience of description, and are not used to limit the scope of the embodiments of the present application, nor do they represent the order of precedence. "And / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one" refers to one or more. At least two refers to two or more. "At least one", "any one" or similar expressions refer to any combination of these items, including any combination of single items (individuals) or plural items (individuals). For example, at least one item (individual, kind) of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0177] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable systems.

[0178] Computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. Computer-readable storage media may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. Available media may be magnetic media (e.g., floppy disks, hard disks, tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

[0179] The various illustrative logic units and circuits described in the embodiments of the present application can be implemented or operated by a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic system, a discrete gate or transistor logic, a discrete hardware component, or the design of any combination of the above functions. The general-purpose processor can be a microprocessor, and optionally, the general-purpose processor can also be any traditional processor, controller, microcontroller or state machine. The processor can also be implemented by a combination of a computing system, such as a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration to implement.

[0180] The steps of the method or algorithm described in the embodiments of the present application can be directly embedded in hardware, a software unit executed by a processor, or a combination of the two. The software unit can be stored in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and the storage medium can be arranged in an ASIC, and the ASIC can be arranged in a terminal. Optionally, the processor and the storage medium can also be arranged in different components in the terminal. These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0181] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include these modifications and variations.

Claims

1. A walking path planning method for a self-moving device, characterized in that: include: Obtain boundary information of the target working area; Dividing the target working area into a plurality of sub-target working areas according to the boundary information; The walking path of the self-moving device is planned according to the sub-target working area, and the walking rules of the walking path include: Performing a traversal walk on the plurality of sub-target working areas in a first path mode; After completing the walking of the plurality of sub-target working areas, determining whether the one-time traversal walking meets the working requirements, wherein the working requirements refer to the coverage requirements of the self-mobile device in each sub-target working area; When the working requirements are not met, walking the plurality of sub-target working areas for a second time in a second path mode different from the first path mode, wherein the trajectory routes of the walking paths planned for the same sub-target working area are different in the first path mode and the second path mode; The step of judging whether the traversal walking meets the working requirements comprises: Walking once in a sub-target working area along a preset first path, and marking the coverage area of ​​the self-moving device; Determine whether walking in the current sub-target working area is completed, and if so, calculate a first coverage rate of the current sub-target working area according to the marked coverage area, and determine whether the first coverage rate is greater than a first preset coverage rate; If yes, then the walking process will proceed to the next sub-target work area; if no, then the walking process will proceed to the next sub-target work area for a second time along the preset second path. After the walking process is completed, the walking process will proceed to the next sub-target work area.

2. The walking path planning method according to claim 1, characterized in that: The step of walking once in a sub-target working area along a preset first path includes: Taking a boundary point of the current sub-target working area as a starting point, starting in a direction forming a first preset angle with a specific boundary of the regular working area, walking in the current sub-target working area with a first shape trajectory, wherein a boundary contour of the target working area is obtained according to the boundary information, a circumscribed rectangle of the boundary contour is obtained, and the circumscribed rectangle is used as a virtual boundary of the target working area to obtain a regular working area with a virtual boundary.

3. The walking path planning method according to claim 2, characterized in that: The second walking in the current sub-target working area by using the preset second path includes: Taking the end point of the walking when the first walking is completed as the starting point, starting in a direction forming a second preset angle with the specific boundary, a second walking is performed in the current sub-target working area along the first shape trajectory.

4. The walking path planning method according to claim 1, characterized in that: The step of walking once in a sub-target working area along a preset first path includes: Starting from a point on a first regular boundary of the current sub-target working area, walking is performed in the current sub-target working area along a first shape trajectory in a direction forming a first preset angle with the first regular boundary.

5. The walking path planning method according to claim 4, characterized in that: The second walking in the current sub-target working area by using the preset second path includes: Starting from a point on the second regular boundary of the current sub-target working area, walking twice in the current sub-target working area along the first shape trajectory in a direction forming a second preset angle with the second regular boundary.

6. The walking path planning method according to any one of claims 2 to 5, characterized in that: The first shape trajectory includes a bow-shaped walking trajectory.

7. The walking path planning method according to claim 1, characterized in that: The step of judging whether the traversal walking meets the working requirements comprises: Calculating a second coverage rate of the target working area according to the first coverage rate and the area areas of the plurality of sub-target working areas, and comparing the second coverage rate with a second preset coverage rate; When the second coverage rate is less than the second preset coverage rate, it is determined that the one-time traversal walk does not meet the working requirements; when the second coverage rate is greater than or equal to the second preset coverage rate, it is determined that the one-time traversal walk meets the working requirements, wherein the second preset coverage rate is greater than the first preset coverage rate.

8. The walking path planning method according to claim 7, characterized in that: When the working requirements are not met, performing a second walking on the plurality of sub-target working areas in a second path mode different from the first path mode comprises: When the first traversal walking fails to meet the working requirements, the sub-target working areas whose first coverage rate is less than the third preset coverage rate among the multiple sub-target working areas are counted to form a set of key areas, wherein the third preset coverage rate is between the first preset coverage rate and the second preset coverage rate; The key area set is traversed in a second path mode to perform a second walk on the multiple sub-target working areas.

9. The walking path planning method according to claim 2, characterized in that: The traversing the plurality of sub-target working areas in the first path mode once comprises: Starting from a boundary point of the current sub-target working area, starting from a direction that forms a first preset angle with a specific boundary of the regular working area, and walking in the current sub-target working area with a first shape trajectory; Determine whether walking in the current sub-target working area is completed, and if so, proceed to walking in the next adjacent sub-target working area.

10. The walking path planning method according to claim 9, characterized in that: The performing a second walking on the plurality of sub-target working areas in a second path mode different from the first path mode comprises: Starting from a boundary point of a sub-target working area in the target working area, the method starts in a direction forming a second preset angle with the specific boundary of the regular working area, and walks in the current sub-target working area along a first shape trajectory.

11. The walking path planning method according to claim 1, characterized in that: The planning rules of the walking path also include: When walking in the target working area in the first path mode and / or the second path mode, the vehicle turns to avoid obstacles when encountering obstacles, and continues to move in the original path mode.

12. A walking path planning system for a self-moving device, characterized in that: include: A map acquisition unit, used to acquire boundary information of a target working area; An area regularization unit, used for virtually regularizing the target working area according to the boundary information to form a regular working area with a virtual boundary; an area division unit, dividing the target working area into a plurality of sub-target working areas according to the regular working area and the boundary information; A path planning unit is used to plan the walking path of the self-moving device according to the sub-target working area, and the walking rules of the walking path include: Perform a traversal walk on the multiple sub-target working areas in a first path mode; after completing the walking on the multiple sub-target working areas, determine whether the traversal walk meets the working requirements, and the working requirements refer to the coverage requirements of the self-moving device in each sub-target working area; When the working requirements are not met, performing a second walking on the multiple sub-target working areas in a second path mode, wherein, in the first path mode and the second path mode, for the same sub-target working area, the trajectory routes of the walking paths planned by the path planning unit are different; The step of judging whether the traversal walking meets the working requirements comprises: Walking once in a sub-target working area along a preset first path, and marking the coverage area of ​​the self-moving device; Determine whether walking in the current sub-target working area is completed, and if so, calculate a first coverage rate of the current sub-target working area according to the marked coverage area, and determine whether the first coverage rate is greater than a first preset coverage rate; If yes, then the walking process will proceed to the next sub-target work area; if no, then the walking process will proceed to the next sub-target work area for a second time along the preset second path. After the walking process is completed, the walking process will proceed to the next sub-target work area.

13. The walking path planning system according to claim 12, characterized in that: In the first path mode and the second path mode, for the same sub-target working area, the trajectory routes of the walking paths planned by the path planning unit are different.

14. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the walking path planning method according to any one of claims 1 to 10.

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