Path planning method, device, equipment and storage medium for mobile equipment

Abstract

The present application provides a path planning method for a self-moving device, the method comprising: obtaining positioning information of multiple strong positioning signal points on the boundary of a working area; wherein a strong positioning signal point is a location point whose positioning information meets preset conditions; performing linear fitting on the multiple strong positioning signal points based on the positioning information of the multiple strong positioning signal points to obtain a fitting line; calculating the normal vector of the fitting line; determining the direction of the normal vector as the operating direction of the self-moving device, and performing path planning on the working area based on the operating direction to obtain a moving path of the self-moving device. The technical solution of the present application can prevent the self-moving device from continuously working for a long time in an area where accurate positioning information cannot be obtained, avoid abnormal situations such as the self-moving device crashing due to inaccurate positioning, and thus enhance the stability of the self-moving device.

Description

Technical Field

[0001] The present application relates to the technical field of self-mobile equipment, and in particular to a path planning method and apparatus for a self-mobile equipment, a self-mobile equipment, and a computer-readable storage medium. Background Art

[0002] With the continuous advancement of computer and artificial intelligence technologies, autonomous mobile devices have gradually become part of people's lives. However, when commercial autonomous devices are operating within their work areas, they may experience weak positioning signals in certain areas. If random routing is used for autonomous devices, the devices may spend extended periods of time in these areas. This can lead to inaccurate positioning, causing them to deviate from their planned paths and causing operational instability. Summary of the Invention

[0003] The purpose of this application is to provide a path planning method and device for a self-moving device, a self-moving device and a computer-readable storage medium, aiming to solve the technical problem that the self-moving device deviates from the planned path and works unstably due to being in an area with poor positioning signal strength for a long time.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0005] According to one aspect of an embodiment of the present application, a path planning method for a self-moving device is provided, the method comprising: obtaining positioning information of multiple strong positioning signal points on a boundary of a working area; wherein the strong positioning signal points are location points whose positioning information meets preset conditions; performing linear fitting on the multiple strong positioning signal points based on the positioning information of the multiple strong positioning signal points to obtain a fitting line; calculating a normal vector of the fitting line; determining the direction of the normal vector as the operating direction of the self-moving device, and performing path planning on the working area based on the operating direction to obtain a moving path of the self-moving device.

[0006] In another embodiment of the present application, obtaining positioning information of multiple strong positioning signal points on the boundary of the working area includes: obtaining positioning information of each position point when a mobile device moves along multiple position points on the boundary of the working area; calculating the confidence of the positioning information of each position point; and determining the position point whose confidence meets preset conditions as a strong positioning signal point.

[0007] In another embodiment of the present application, a location point whose confidence meets preset conditions is determined as a strong positioning signal point, including: solving the positioning information of each location point to obtain a solution result, wherein the solution result includes a fixed solution and a non-fixed solution; the location point corresponding to the fixed solution is used as a candidate positioning signal point, and the location point corresponding to the non-fixed solution is used as a weak positioning signal point; and the candidate positioning signal point adjacent to the weak positioning signal point is used as a strong positioning signal point.

[0008] In another embodiment of the present application, based on the positioning information of multiple strong positioning signal points, linear fitting is performed on the multiple strong positioning signal points to obtain a fitting line, including: performing linear fitting on the positioning information of the multiple strong positioning signal points to obtain a baseline; obtaining the distance of each strong positioning signal point to the baseline; using multiple strong positioning signal points whose distance is less than a preset distance threshold as target positioning signal points; and performing linear fitting on the positioning information of the target positioning signal points to obtain a fitting line.

[0009] In another embodiment of the present application, calculating the normal vector of the fitting line includes: determining a direction vector of the fitting line; and determining a vector perpendicular to the direction vector as the normal vector of the fitting line.

[0010] In another embodiment of the present application, when the moving path is a bow-shaped line path, the direction of the normal vector is determined as the operating direction of the self-moving device, and the path of the working area is planned according to the operating direction to obtain the moving path of the self-moving device, including: determining the direction of the normal vector as the operating direction of the self-moving device; planning the path of the working area in a bow-shaped style according to the operating direction to generate a bow-shaped line path for the self-moving device.

[0011] In another embodiment of the present application, the path planning method for a mobile device provided by the present application further includes: marking the location points where strong positioning signal points are located.

[0012] According to one aspect of an embodiment of the present application, a path planning device for a self-moving device is provided, including: a positioning information acquisition module, used to obtain positioning information of multiple strong positioning signal points on the boundary of a working area; wherein the strong positioning signal point is a location point whose positioning information meets preset conditions; a linear fitting module, used to perform linear fitting on the multiple strong positioning signal points based on the positioning information of the multiple strong positioning signal points to obtain a fitting line; a normal vector calculation module, used to calculate the normal vector of the fitting line; and a path planning module, used to determine the direction of the normal vector as the operating direction of the self-moving device, and perform path planning on the working area according to the operating direction to obtain a moving path of the self-moving device.

[0013] According to one aspect of an embodiment of the present application, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, any one of the path planning methods for a mobile device provided in the present application is implemented.

[0014] According to one aspect of an embodiment of the present application, a self-moving device is provided, comprising: a vehicle body, including a vehicle body and wheels; and a control module for executing any one of the path planning methods for the self-moving device provided in the present application.

[0015] In this application, the positioning information of multiple strong positioning signal points on the boundary of the working area is obtained; wherein the strong positioning signal point is a position point whose positioning information meets the preset conditions; then, based on the positioning information of the multiple strong positioning signal points, the multiple strong positioning signal points are linearly fitted to obtain a fitting line, thereby determining the distribution area of ​​the strong positioning signal points; then, the normal vector of the fitting line is calculated, the direction of the normal vector is determined as the operating direction of the self-mobile device, and the path of the working area is planned according to the operating direction to obtain the moving path of the self-mobile device. Since the moving path is obtained based on the normal vector planning of the fitting line corresponding to the strong positioning signal point, that is, the strong positioning signal points on different moving paths are relatively evenly distributed, the various path points on the moving path can be interspersed between strong positioning signals and weak positioning signals, thus avoiding the self-mobile device from being in an area with poor positioning signals for a long time, so that when the self-mobile device moves on the moving path, it can ensure that accurate positioning information is obtained when the positioning signal is stable, thus avoiding abnormal situations such as downtime of the self-mobile device caused by inaccurate positioning, thereby enhancing the stability of the self-mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0017] Figure 1 The following schematically shows an exemplary system architecture block diagram applying the technical solution of the present application.

[0018] Figure 2 The flowchart of the path planning method for a mobile device provided in one embodiment of the present application is schematically shown.

[0019] Figure 3 The schematic diagram of the working area in this application is schematically shown.

[0020] Figure 4The diagram schematically shows the distribution of strong positioning signal points in an embodiment of the present application.

[0021] Figure 5 The following schematically illustrates a method for determining a target positioning signal point in an embodiment of the present application.

[0022] Figure 6 The figure schematically shows the moving path of the self-moving device in one embodiment of the present application.

[0023] Figure 7 The figure schematically shows the moving path of the self-moving device in the related art.

[0024] Figure 8 The schematic diagram shows the structure of a path planning device for a mobile device provided by one embodiment of the present application.

[0025] Figure 9 The block diagram schematically shows a computer system structure of a mobile device for implementing an embodiment of the present application.

[0026] Figure 10 A schematic diagram of a self-moving device provided by an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0027] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0028] Figure 1 The following schematically shows an exemplary system architecture block diagram applying the technical solution of the present application.

[0029] like Figure 1As shown, the system architecture 100 may include a terminal device 110, a network 120, and a server 130. The terminal device 110 may include a smartphone, a tablet computer, a laptop computer, an intelligent voice interaction device, a smart home appliance, an in-vehicle terminal, a self-mobile device, and the like. The server 130 may be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The network 120 may be a communication medium of various connection types capable of providing a communication link between the terminal device 110 and the server 130, such as a wired communication link or a wireless communication link. The self-mobile device may be a device including a self-mobile assistance function, a semi-autonomous mobile device, or a fully autonomous mobile device. The self-mobile device may be a device including a self-mobile assistance function. The self-mobile assistance function may be implemented by an in-vehicle terminal, and the corresponding self-mobile device may be a vehicle equipped with the in-vehicle terminal. The self-mobile device may also be a semi-autonomous mobile device or a fully autonomous mobile device. For example, a lawn mower, a sweeper, a robot with navigation function, and the like.

[0030] Depending on implementation needs, the system architecture in the embodiments of the present application can have any number of terminal devices, networks, and servers. For example, server 130 can be a server group consisting of multiple server devices. In addition, the technical solutions provided in the embodiments of the present application can be applied to terminal device 110, server 130, or can be implemented by both terminal device 110 and server 130, and this application does not impose any special restrictions on this.

[0031] In one embodiment of the present application, the present embodiment is provided by a self-moving device. When the self-moving device enters a work area, it obtains positioning information of multiple strong positioning signal points on the boundary of the work area; the strong positioning signal points are location points whose positioning information meets preset conditions; based on the positioning information of the multiple strong positioning signal points, a linear fit is performed on the multiple strong positioning signal points to obtain a fitting line; the normal vector of the fitting line is calculated; the direction of the normal vector is determined as the operating direction of the self-moving device, and a path is planned in the work area based on the operating direction to obtain a movement path of the self-moving device.

[0032] Figure 2 The flowchart of the path planning method for a mobile device provided in one embodiment of the present application is schematically shown.

[0033] like Figure 2 As shown, the path planning method for a mobile device provided in this application includes S210 to S240, which are specifically as follows:

[0034] S210. Acquire positioning information of multiple strong positioning signal points on the boundary of the working area; wherein the strong positioning signal points are location points whose positioning information meets preset conditions.

[0035] Specifically, the work area refers to an area where the self-moving device needs to perform work tasks, wherein the work tasks that the self-moving device needs to perform may include any one or more of mowing, collecting fallen leaves, sweeping, irrigation or sowing.

[0036] Boundaries are the outlines of the work area.

[0037] Positioning information refers to information about the specific location within a work area obtained through a specified positioning system. Positioning systems can include Global Navigation Satellite Systems (GNSS), including but not limited to the Global Positioning System (GPS), the BeiDou Navigation Satellite System (BDS), the GLONASS (GLOBAL NAVIGATIONSATELLITE SYSTEM), and the Galileo Satellite Positioning System. Generally, positioning information can be obtained from a mobile device during mapping or operation within the work area through the positioning system.

[0038] The positioning information meeting the preset conditions includes that a certain parameter included in the positioning information meets the positioning requirements, and also includes that in the set positioning system, the accuracy of the positioning information obtained or the solution of the positioning information meets the preset conditions.

[0039] Figure 3 The schematic diagram of the working area in this application is schematically shown.

[0040] like Figure 3 As shown, the positioning information of the strong positioning signal points mentioned in the present application can be determined when the self-mobile device moves along the outline of the working area to determine the boundary of the working area. The process of the self-mobile device determining the boundary of the working area is, that is, the process of the self-mobile device determining each position point on the outline of the working area. Due to the influence of external factors, such as remote geographical location, building obstruction, etc., the positioning information of the existing position points may not meet the preset conditions, the positioning information of the position points may not be obtained, or the error of the positioning information of the obtained position points is large, resulting in the obtained positioning results not meeting the actual positioning requirements. Therefore, this step needs to obtain strong positioning signal points whose positioning information meets the preset conditions, so that the subsequent steps can proceed normally and ensure that the moving path obtained by this application meets the actual situation.

[0041] In another embodiment of the present application, obtaining positioning information of multiple strong positioning signal points on the boundary of the working area includes: obtaining positioning information of each position point when a mobile device moves along multiple position points on the boundary of the working area; calculating the confidence of the positioning information of each position point; and determining the position point whose confidence meets preset conditions as a strong positioning signal point.

[0042] Specifically, according to statistical concepts, confidence is the probability that the true value will be within a certain range, centered around the measured value. In this application, since a mobile device can obtain corresponding positioning information at various locations, the confidence level can be used to represent the likelihood that the true location corresponding to the aforementioned location is within a certain range of the positioning information.

[0043] Acquire the positioning information of multiple strong positioning signal points on the boundary of the working area, that is, obtain the position points on the boundary of the working area whose positioning information meets the preset conditions. In this embodiment, when the self-mobile device moves along multiple position points on the boundary of the working area, by acquiring the positioning information of each position point, then calculating the confidence of the positioning information of each position point, and comparing the confidence of the positioning information corresponding to each position with the preset conditions, the position point whose confidence meets the preset conditions is determined as a strong positioning signal point. For example, the confidence of the positioning information of point A is 97%, and the confidence of the positioning information of point B is 75%, and the preset condition stipulates that the confidence of the positioning information of the position point needs to be greater than 90%. Then the confidence of the positioning information of point A meets the preset conditions, and therefore point A is determined as a strong positioning signal point whose confidence meets the preset conditions.

[0044] In another embodiment of the present application, a location point whose confidence meets preset conditions is determined as a strong positioning signal point, including: solving the positioning information of each location point to obtain a solution result, wherein the solution result includes a fixed solution and a non-fixed solution; the location point corresponding to the fixed solution is used as a candidate positioning signal point, and the location point corresponding to the non-fixed solution is used as a weak positioning signal point; and the candidate positioning signal point adjacent to the weak positioning signal point is used as a strong positioning signal point.

[0045] Specifically, when the positioning system uses the Global Navigation Satellite System (GNSS), the accuracy of the positioning information is related to the geometric shape between the observation satellite and the positioning information receiving device. Therefore, the error caused by the geometric shape between the observation satellite and the positioning information receiving device is called the strength of the accuracy. The geometric Dilution of Precision (DOP) can be used to measure the impact of the spatial geometric distribution of the observation satellites on the positioning accuracy. The geometric DOP can be divided into: Position Dilution of Precision (PDOP), Time Dilution of Precision (TDOP), Horizontal Dilution of Precision (HDOP), and Vertical Dilution of Precision (VDOP). When real-time kinematic (RTK) is not used to assist GNSS, the horizontal component dilution of precision, standard longitude deviation, standard latitude deviation, and standard elevation deviation can be obtained from the positioning system and the confidence level of the positioning information can be determined using the following formula: (msg_hdop×lon_std_dev) 2 、(msg_hdop×lat_std_dev) 2 and (msg_hdop × alt_std_dev) 2 , where msg_hdop represents the horizontal component dilution of precision (HDOP), lon_std_dev represents the standard longitude deviation, lat_std_dev represents the standard latitude deviation, and alt_std_dev represents the standard elevation deviation. If RTK is used to assist GNSS, the confidence level of the positioning information can be obtained by directly calculating the RTK covariance matrix.

[0046] Solving the positioning information for each location refers to resolving integer ambiguities in GNSS high-precision positioning. In the GNSS relative positioning process, RTK technology is used to obtain fixed solutions, floating-point solutions, differential solutions, single-point solutions, or invalid solutions. Obtaining a fixed solution also yields the corresponding covariance matrix, and achieving GNSS positioning accuracy can reach centimeters or even millimeters. Obtaining a floating-point solution means there is a certain degree of uncertainty in the result due to signal interference or other factors, resulting in positioning accuracy greater than 0.5 meters, with horizontal and vertical errors generally ranging from 1 to 3 meters. Obtaining a differential solution generally results in positioning accuracy between 5 and 10 meters, sometimes even greater, resulting in poor accuracy and not recommended for use. Obtaining a single-point solution means only three satellites are locked onto, and clock and atmospheric errors cannot be eliminated, resulting in low accuracy and unusable. Obtaining an invalid solution means insufficient satellites to determine position and time, making it impossible to determine position and time. In other words, obtaining a fixed solution offers the highest GNSS positioning accuracy compared to other solutions. Therefore, this application takes the position point corresponding to the fixed solution as the candidate positioning signal point, the position point corresponding to the non-fixed solution as the weak positioning signal point, and then takes the candidate positioning signal point adjacent to the weak positioning signal point as the strong positioning signal point, that is, the strong positioning signal point is relative to the weak positioning signal point that does not have a fixed solution. Determining the position of the strong positioning signal point is actually determining the position of the weak positioning signal point. Therefore, the subsequent steps can be processed according to the positioning information of the strong positioning signal point to plan the moving path of the mobile device.

[0047] In some embodiments, the method for determining strong positioning signal points may also include: if there are a continuous preset number of position points corresponding to multiple non-fixed solutions, then the area corresponding to the position points corresponding to the above multiple non-fixed solutions is used as a weak signal area, and the adjacent position points with fixed solutions outside the weak signal area are used as strong positioning signal points.

[0048] In some embodiments, the method for determining strong positioning signal points may also include: if there is a preset number of non-fixed solutions (i.e., weak positioning signal points) in a preset area, then the area is regarded as a weak signal area, and the adjacent position points with fixed solutions outside the weak signal area are regarded as strong positioning signal points.

[0049] For example, Figure 4 As shown, Figure 4 The following schematically shows the distribution of strong positioning signal points in an embodiment of the present application. Figure 4 The area filled with diagonal lines in the figure is a weak signal area, such as weak signal area 41, and the black dots represent strong positioning signal points, such as strong positioning signal point 42. Figure 4 It can be seen that the weak signal areas corresponding to different numbers of weak positioning signal points are of different sizes, indicating that the current positioning signal strength distribution is uneven.

[0050] S220 . Perform linear fitting on the multiple strong positioning signal points according to the positioning information of the multiple strong positioning signal points to obtain a fitting line.

[0051] Specifically, the linear fitting in the present application can be a straight line fitting or a curve fitting. When the linear fitting is a curve fitting, the acquired strong positioning signal points can be fitted by the least squares linear model, and the obtained fitting line is a curve. When the linear fitting is a straight line fitting, the fitting line obtained by fitting the discrete points by the straight line equation is a straight line. In the present application, based on the positioning information of multiple strong positioning signal points, linear fitting is performed on multiple strong positioning signal points, that is, the distribution area of ​​the strong positioning signal points is determined, so as to provide a reference for planning the direction of the moving path based on the fitting line.

[0052] In another embodiment of the present application, based on the positioning information of multiple strong positioning signal points, linear fitting is performed on the multiple strong positioning signal points to obtain a fitting line, including: performing linear fitting on the positioning information of the multiple strong positioning signal points to obtain a baseline; obtaining the distance of each strong positioning signal point to the baseline; using multiple strong positioning signal points whose distance is less than a preset distance threshold as target positioning signal points; and performing linear fitting on the positioning information of the target positioning signal points to obtain a fitting line.

[0053] Figure 5 The following schematically shows a schematic diagram of determining a target positioning signal point in one embodiment of the present application.

[0054] Specifically, the baseline is a reference line for selecting target positioning signal points. In order to prevent strong positioning signal points that are far away from the baseline from affecting the accuracy of the fitting line, it is necessary to eliminate strong positioning signal points that are far away from the baseline. Therefore, in this embodiment, the distance from each strong positioning signal point to the baseline is obtained. This distance is the distance between the strong positioning signal point and the foot of the perpendicular when the strong positioning signal point is used as the vertical line of the baseline; and the distance is compared with the preset distance threshold, and multiple strong positioning signal points with a distance less than the preset distance threshold are used as target positioning signal points. Figure 5 As shown in the figure, assuming the preset distance threshold is 0.5m and the distance between strong positioning signal point D and the baseline is 2m, strong positioning signal point D is removed from the target positioning signal points. The distance between strong positioning signal point E and the baseline is 0.2m, the distance between strong positioning signal point F and the baseline is 0.25m, and the distance between strong positioning signal point G and the baseline is 0.05m. Therefore, strong positioning signal points E, F, and G are all determined as target positioning signal points. The target positioning signal point is the location point closer to the baseline among multiple strong positioning signals, so the target positioning signal points also appear more clustered in the schematic diagram. Therefore, linear fitting is performed on the positioning information of the target positioning signal points again, and the resulting fitting line is more accurate, thereby ensuring the accuracy of the mobile device's movement path.

[0055] S230: Calculate the normal vector of the fitting line.

[0056] Specifically, according to the concept of spatial analytic geometry, the normal vector is a vector represented by a straight line perpendicular to a plane. In this application, the normal vector represents a straight line perpendicular to the fitting line. If the height difference when the self-moving device is working is not considered, and it is assumed that each position point has the same height when the self-moving device is working, then the fitting line and the normal vector can be represented by a linear equation in two-dimensional space, where the function expression of the fitting line H can be: A1x+B1y+C1=0, and the normal vector N is A2x+B2y=0, where A1, B1 and C1 are known constants, and x and y represent the position information of the target positioning signal point. When the fitting line H and the normal vector N are perpendicular, A1×A2+B1×B2=0. After determining the fitting line H based on the positioning information of the target positioning signal point, A2 and B2 of the normal vector N can be determined. As Figure 5 As shown in FIG, assuming that the fitting line after linear fitting of the target positioning signal point is still the baseline, the straight line perpendicular to the baseline is the normal vector N.

[0057] In another embodiment of the present application, calculating the normal vector of the fitting line includes: determining a direction vector of the fitting line; and determining a vector perpendicular to the direction vector as the normal vector of the fitting line.

[0058] Specifically, if the height difference when the self-mobile device is working is considered, assuming that each position point has a different height when the self-mobile device is working, the fitting line obtained by linear fitting of the target positioning signal point can also be a plane. Therefore, the direction vector of the fitting line is determined first, and then the normal vector perpendicular to the direction vector is determined.

[0059] S240: Determine the direction of the normal vector as the operating direction of the self-moving device, and perform path planning on the working area according to the operating direction to obtain a moving path of the self-moving device.

[0060] Figure 6 The figure schematically shows the moving path of the self-moving device in one embodiment of the present application.

[0061] Specifically, the operating direction of the self-moving device refers to the direction in which the self-moving device is working. Figure 6The direction of the arrow in the middle represents the direction of movement of the self-moving device when it is operating according to the moving path planned by this application. In this application, determining the strong positioning signal point is actually determining the position of the weak positioning signal point, that is, there is a weak positioning signal point in the direction of the fitting line. Therefore, the direction of the normal vector of the fitting line is determined as the operating direction of the self-moving device, and the path planning of the working area is performed according to the operating direction to obtain the moving path of the self-moving device, so that the strong positioning signal points and the weak positioning signal points are relatively evenly distributed on each moving path, and the extreme situation that some moving paths need to pass through a large number of weak positioning signal points and some moving paths need to pass through a large number of strong positioning signal points is avoided as much as possible. When the self-moving device operates according to the moving path, it can avoid the problem of being unable to obtain accurate positioning information due to being continuously at a weak positioning signal point during operation.

[0062] In the present application, the positioning information of multiple strong positioning signal points on the boundary of the working area is obtained; wherein, the strong positioning signal point is a position point whose positioning information meets the preset conditions; then, based on the positioning information of the multiple strong positioning signal points, the multiple strong positioning signal points are linearly fitted to obtain a fitting line, thereby determining the distribution area of ​​the strong positioning signal points; then, the normal vector of the fitting line is calculated, the direction of the normal vector is determined as the operating direction of the self-mobile device, and the path of the working area is planned according to the operating direction to obtain the moving path of the self-mobile device. Since the moving path is obtained based on the normal vector planning of the fitting line corresponding to the strong positioning signal point, that is, the strong positioning signal points on different moving paths are evenly distributed, so that each path point on the moving path can be interspersed between strong positioning signals and weak positioning signals, and accurate positioning information can be obtained. Therefore, the present application can prevent the self-mobile device from being in a poor positioning signal area for a long time, and avoid abnormal situations such as downtime of the self-mobile device caused by inaccurate positioning, thereby enhancing the stability of the self-mobile device.

[0063] Figure 7 The figure schematically shows the moving path of the self-moving device in the related art.

[0064] like Figure 7 As shown, in a complex environment, the moving path of the self-moving device in the related art may continue to pass through weak positioning signal points or weak positioning signal areas, and the self-moving device needs to continuously obtain positioning information when operating, otherwise it will deviate from the moving path or fail to accurately avoid obstacles. Therefore, the related art has one or more problems of low working efficiency of the self-moving device, easy deviation from the moving path and failure to accurately avoid obstacles.

[0065] In another embodiment of the present application, when the moving path is a bow-shaped line path, the direction of the normal vector is determined as the operating direction of the self-moving device, and the path of the working area is planned according to the operating direction to obtain the moving path of the self-moving device, including: determining the direction of the normal vector as the operating direction of the self-moving device; planning the path of the working area in a bow-shaped style according to the operating direction to generate a bow-shaped line path for the self-moving device.

[0066] Specifically, the arcuate path refers to Figure 6 The path represented by the arrowed line in the figure. The direction of the normal vector is determined as the operating direction of the self-moving device. A bow-shaped path is used to fully cover the working area along this operating direction. This generates a bow-shaped path for the self-moving device. This allows the self-moving device to pass through both weak and strong positioning signal points during operation, avoiding the problem of being unable to obtain accurate positioning information due to being continuously at a weak positioning signal point during operation.

[0067] In another embodiment of the present application, the path planning method for a mobile device provided by the present application further includes: marking the location points where strong positioning signal points are located.

[0068] Specifically, marking the location point where the strong positioning signal point is located means establishing a specific index for the location point where the strong positioning signal point is located, so that the location point corresponding to the strong positioning signal point can be quickly obtained when needed later.

[0069] Figure 8 The schematic diagram shows the structure of a path planning device for a mobile device provided by one embodiment of the present application.

[0070] like Figure 8 As shown, a path planning device for a mobile device is provided, comprising:

[0071] The positioning information acquisition module 810 is used to obtain positioning information of multiple strong positioning signal points on the boundary of the working area; wherein the strong positioning signal points are location points whose positioning information meets preset conditions;

[0072] A linear fitting module 820 is configured to perform linear fitting on the multiple strong positioning signal points based on the positioning information of the multiple strong positioning signal points to obtain a fitting line;

[0073] Normal vector calculation module 830, used to calculate the normal vector of the fitting line;

[0074] The path planning module 840 is used to determine the direction of the normal vector as the working direction of the self-moving device, and perform path planning on the working area according to the working direction to obtain the moving path of the self-moving device.

[0075] In another embodiment of the present application, the positioning information acquisition module 810 includes: a location point positioning information acquisition unit, a confidence calculation unit and a strong positioning point determination unit; the location point positioning information acquisition unit is used to obtain the positioning information of each location point when the self-mobile device moves along multiple location points along the boundary of the working area; the confidence calculation unit is used to calculate the confidence of the positioning information of each location point; the strong positioning point determination unit is used to determine the location point whose confidence meets the preset conditions as a strong positioning signal point.

[0076] In another embodiment of the present application, the strong positioning point determination unit is further used to solve the positioning information of each position point to obtain a solution result, wherein the solution result includes a fixed solution and a non-fixed solution; the position point corresponding to the fixed solution is used as a candidate positioning signal point, and the position point corresponding to the non-fixed solution is used as a weak positioning signal point; the candidate positioning signal point adjacent to the weak positioning signal point is used as a strong positioning signal point.

[0077] In another embodiment of the present application, the linear fitting module 820 includes: a baseline determination unit, a distance acquisition unit, a target positioning signal point determination unit and a fitting line determination unit; the baseline determination unit is used to perform linear fitting on the positioning information of multiple strong positioning signal points to obtain a baseline; the distance acquisition unit is used to obtain the distance from each strong positioning signal point to the baseline; the target positioning signal point determination unit is used to take multiple strong positioning signal points whose distance is less than a preset distance threshold as target positioning signal points; the fitting line determination unit is used to perform linear fitting on the positioning information of the target positioning signal point to obtain a fitting line.

[0078] In another embodiment of the present application, the normal vector calculation module 830 includes: a direction vector determination unit and a normal vector determination unit; the direction vector determination unit is used to determine the direction vector of the fitting line; the normal vector determination unit is used to determine the vector perpendicular to the direction vector as the normal vector of the fitting line.

[0079] In another embodiment of the present application, the path planning module 840 includes: a working direction determination unit and a bow line path generation unit; the working direction determination unit is used to determine the direction of the normal vector as the working direction of the self-moving device; the bow line path generation unit is used to plan the path of the working area in a bow-shaped style according to the working direction, and generate a bow line path for the self-moving device.

[0080] In another embodiment of the present application, the path planning device for a mobile device provided by the present application further includes: a marking module for marking the location points where strong positioning signal points are located.

[0081] The specific details of the path planning device for the mobile device provided in each embodiment of the present application have been described in detail in the corresponding method embodiments and will not be repeated here.

[0082] Figure 9 The block diagram schematically shows a computer system structure of a mobile device for implementing an embodiment of the present application.

[0083] It should be noted that Figure 9 The computer system 900 shown in the mobile device is only an example and should not limit the functions and scope of use of the embodiments of the present application.

[0084] like Figure 9 As shown, the computer system 900 includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 902 or the program loaded from the storage part 908 into the random access memory (RAM) 903. Various programs and data required for system operation are also stored in the random access memory 903. The CPU 901, the read-only memory 902, and the random access memory 903 are connected to each other via a bus 904. An input / output interface 905 (i.e., an I / O interface) is also connected to the bus 904.

[0085] The following components are connected to the input / output interface 905: an input section 906 including a keyboard, a mouse, and the like; an output section 907 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 908 including a hard disk and the like; and a communication section 909 including a network interface card such as a local area network card or a modem. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the input / output interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like, is installed in the drive 910 as needed so that a computer program read therefrom can be installed into the storage section 908 as needed.

[0086] In particular, according to an embodiment of the present application, the processes described in the various method flow charts can be implemented as computer software programs. For example, an embodiment of the present application includes a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for executing the methods shown in the flow charts. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 909 and / or installed from a removable medium 911. When the computer program is executed by the central processing unit 901, the various functions defined in the system of the present application are performed.

[0087] It should be noted that the computer-readable medium shown in the embodiments of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0088] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0089] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiment of the application, the features and functions of two or more modules or units described above can be concretized in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0090] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiment of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the path planning method for a mobile device provided in accordance with the embodiment of the present application.

[0091] Figure 10 A schematic diagram of a self-moving device provided by an embodiment of the present application is schematically shown.

[0092] like Figure 10As shown, the self-propelled device 1000 includes: a vehicle body 1010, including a body 1001 and wheels 1002; and a control module 1003, which is used to execute any of the path planning methods for the self-propelled device provided in this application. Specifically, the body 1001 is used to protect the control module 1003 inside the body 1010. The control module 1003 controls the wheels 1002 of the self-propelled device, causing the self-propelled device to operate along the movement path of this application. The specific details of the self-propelled device provided in this application have been described in detail in the corresponding method embodiments and will not be repeated here.

[0093] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of this application and include common knowledge or customary techniques in the art that are not disclosed herein.

[0094] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A path planning method for a mobile device, characterized in that: include: Acquire positioning information of multiple strong positioning signal points on the boundary of the working area; wherein the strong positioning signal points are location points whose positioning information meets preset conditions; performing linear fitting on the plurality of strong positioning signal points according to the positioning information of the plurality of strong positioning signal points to obtain a fitting line; Calculating a normal vector of the fitted line; The direction of the normal vector is determined as the operating direction of the self-moving device, and a path is planned for the working area according to the operating direction to obtain a moving path of the self-moving device.

2. The path planning method for a self-moving device according to claim 1, characterized in that: The obtaining of positioning information of a plurality of strong positioning signal points on the boundary of the working area includes: When the self-moving device moves along a plurality of location points on the boundary of the working area, obtaining positioning information of each of the location points; Calculating the confidence level of the positioning information of each of the position points; The location point whose confidence meets the preset condition is determined as the strong positioning signal point.

3. The path planning method for a self-moving device according to claim 2, characterized in that: The step of determining the location point whose confidence level meets the preset condition as the strong positioning signal point includes: Solving the positioning information of each of the position points to obtain a solution result, wherein the solution result includes a fixed solution and a non-fixed solution; Taking the position point corresponding to the fixed solution as a candidate positioning signal point, and taking the position point corresponding to the non-fixed solution as a weak positioning signal point; The candidate positioning signal points adjacent to the weak positioning signal point are used as the strong positioning signal points.

4. The path planning method for a self-moving device according to claim 1, wherein: The step of performing linear fitting on the plurality of strong positioning signal points according to the positioning information of the plurality of strong positioning signal points to obtain a fitting line comprises: Performing linear fitting on the positioning information of the plurality of strong positioning signal points to obtain a baseline; Obtaining the distance from each of the strong positioning signal points to the baseline; Taking the plurality of strong positioning signal points whose distance is less than a preset distance threshold as target positioning signal points; Performing linear fitting on the positioning information of the target positioning signal point to obtain the fitting line.

5. The path planning method for a self-moving device according to claim 1, characterized in that: The calculating the normal vector of the fitting line includes: Determining the direction vector of the fitting line; A vector perpendicular to the direction vector is determined as a normal vector of the fitting line.

6. The path planning method for a self-moving device according to claim 1, characterized in that: When the moving path is an arcuate path, determining the direction of the normal vector as the operating direction of the self-moving device, and performing path planning on the working area according to the operating direction to obtain the moving path of the self-moving device includes: Determining the direction of the normal vector as the operating direction of the self-moving device; The path planning is performed on the working area in a bow-shaped manner according to the working direction to generate a bow-shaped line path of the self-moving device.

7. The path planning method for a self-moving device according to claim 2, characterized in that: The method further comprises: The location point where the strong positioning signal point is located is marked.

8. A path planning device for a mobile device, comprising: A positioning information acquisition module is used to obtain positioning information of multiple strong positioning signal points on the boundary of the working area; wherein the strong positioning signal points are location points where the positioning information meets preset conditions; A linear fitting module, configured to perform linear fitting on the plurality of strong positioning signal points according to the positioning information of the plurality of strong positioning signal points to obtain a fitting line; A normal vector calculation module, used to calculate the normal vector of the fitting line; A path planning module is used to determine the direction of the normal vector as the working direction of the self-moving device, and to perform path planning on the working area according to the working direction to obtain the moving path of the self-moving device.

9. A computer-readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the path planning method for a mobile device according to any one of claims 1 to 7 is implemented.

10. A self-propelled device, characterized in that: include: the vehicle body, including the body and wheels; as well as A control module, configured to execute the path planning method for a mobile device as described in any one of claims 1 to 7 above.

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