Path planning method and self-moving device

Abstract

The application belongs to the technical field of self-moving devices, and particularly relates to a path planning method and a self-moving device. The method comprises the following steps: acquiring a region to be planned, wherein the region to be planned comprises region boundary points; dividing the region to be planned based on the region boundary points to obtain a target sub-region; and performing path planning based on the target sub-region to obtain a work path of the region to be planned. According to the embodiment of the application, the path planning can be performed in a sub-region in the case that the shape of the region is irregular, so that the accuracy of the path planning is high and the reliability is good.

Description

Technical Field

[0001] This application belongs to the field of self-moving device technology, and particularly relates to a path planning method and a self-moving device. Background Technology

[0002] With the advancement of technology, the research and development of self-moving devices such as lawnmowers, sweepers, and robots with navigation functions have been extremely rapid, bringing great convenience to people's lives. Self-moving devices need to follow certain paths when moving, so their movement paths need to be rationally planned.

[0003] However, in cases where the region shape is irregular, the path planning methods in related technologies tend to have a single direction, resulting in low accuracy and poor reliability. Summary of the Invention

[0004] The purpose of this application is to provide a path planning method that can solve the problem in the prior art where the path planning direction is singular when the region shape is irregular, resulting in low accuracy and poor reliability of path planning.

[0005] In a first aspect, embodiments of this application provide a path planning method, the method comprising:

[0006] Obtain the region to be planned, which includes the region boundary points;

[0007] Based on the boundary points of the region, the region to be planned is divided to obtain the target sub-regions;

[0008] Based on the target sub-regions, path planning is performed to obtain the operation path for the region to be planned.

[0009] In one possible implementation of the first aspect, the step of dividing the region to be planned based on the region boundary points to obtain the target sub-region includes:

[0010] Based on the boundary points of the region, determine the first boundary line corresponding to the region to be planned;

[0011] The first boundary line is shifted inwards towards the area to be planned until the first boundary line intersects with the first inflection point among the boundary points of the area at the target position;

[0012] Based on the first boundary line at the target location, the area to be planned is divided to obtain the target sub-region;

[0013] Wherein, the first inflection point is the first inflection point where the first boundary line intersects during the translation process, and the target position is the location of the first inflection point.

[0014] In one possible implementation of the first aspect, determining the first boundary line corresponding to the area to be planned based on the area boundary points includes:

[0015] Calculate the curvature value for each consecutive boundary point of the region;

[0016] Based on the curvature value, the curvature difference between two adjacent boundary points of the region is calculated sequentially.

[0017] The boundary points of regions where the continuous curvature difference is less than a preset difference threshold are taken as the boundary points of the target region. The boundary points of the target region are linearly fitted to obtain the first boundary line.

[0018] In one possible implementation of the first aspect, the step of dividing the area to be planned based on the first boundary line at the target location to obtain the target sub-region includes:

[0019] If the first inflection point is not marked, then the first inflection point is marked, and the area to be planned is divided based on the first boundary line at the target location to obtain the target sub-region. Then, the step of determining the first boundary line corresponding to the area to be planned based on the area boundary point and subsequent steps are returned to be executed until the length of the determined first boundary line is less than a preset length threshold.

[0020] In one possible implementation of the first aspect, the method further includes:

[0021] If the first inflection point is marked, then return to the step of determining the first boundary line corresponding to the area to be planned based on the area boundary point and subsequent steps, until the length of the determined first boundary line is less than the preset length threshold.

[0022] In one possible implementation of the first aspect, after translating the first boundary line inward toward the region to be planned until the first boundary line intersects with a first inflection point among the boundary points of the region at a target location, the method further includes:

[0023] If there is a second inflection point among the boundary points of the region that intersects with the second boundary line, and the distance between the second inflection point and the first inflection point is less than a first preset distance threshold, then the region to be planned is divided based on the line connecting the first inflection point and the second inflection point.

[0024] In one possible implementation of the first aspect, the method further includes:

[0025] If the included angle between the main directions of adjacent target sub-regions is less than a preset angle difference threshold, then the adjacent target sub-regions are merged to obtain an updated target sub-region.

[0026] And / or, if the area of ​​one or two of the adjacent target sub-regions is less than a preset area threshold, the adjacent target sub-regions are merged to obtain an updated target sub-region.

[0027] In one possible implementation of the first aspect, the step of performing path planning based on the target sub-region to obtain the operation path for the region to be planned includes:

[0028] Obtain the main direction of the target sub-region, and obtain the operation path of the region to be planned based on the main direction.

[0029] In one possible implementation of the first aspect, obtaining the work path for the area to be planned based on the main direction includes:

[0030] Based on the main direction corresponding to each target sub-region, the operation path corresponding to each target sub-region is planned respectively;

[0031] Based on the start and end points of the operation paths of two adjacent target sub-regions, a third path connecting the two target sub-regions is obtained;

[0032] Based on the operation paths corresponding to each target sub-region and each third path, the operation path of the region to be planned is determined.

[0033] Secondly, embodiments of this application provide a path planning device, the device comprising:

[0034] An acquisition unit is used to acquire a region to be planned, the region to be planned including region boundary points;

[0035] The first processing unit is used to divide the area to be planned based on the area boundary points to obtain the target sub-region;

[0036] The second processing unit is used to perform path planning based on the target sub-region to obtain the operation path of the region to be planned.

[0037] Thirdly, embodiments of this application provide a self-moving device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method of the first aspect.

[0038] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method of the first aspect.

[0039] Fifthly, embodiments of this application provide a computer program product that, when run on a self-moving device, causes the self-moving device to execute the method described in the first aspect.

[0040] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect, and will not be repeated here.

[0041] The beneficial effects of this application embodiment compared with related technologies are as follows: This application embodiment obtains a region to be planned, including region boundary points, divides the region to be planned based on the region boundary points to obtain target sub-regions, and performs path planning for each target sub-region based on the path planning results of each target sub-region. Based on the path planning results of each target sub-region, path planning is performed between adjacent target sub-regions, thereby obtaining the operation path of the region to be planned. When the shape of the region to be planned is irregular, since the self-moving device can plan a more reasonable operation path when processing work areas with more regular shapes, it is possible to first divide the region to be planned into multiple target sub-regions with more regular shapes based on the region boundary points, and then perform path planning based on each sub-region to obtain the operation path of the region to be planned. This can make the path planning more accurate and reliable. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic flowchart illustrating the implementation of the path planning method provided in the embodiments of this application;

[0044] Figure 2 This is a schematic diagram of the process for obtaining a target sub-region based on region boundary points provided in an embodiment of this application;

[0045] Figure 3 This is a flowchart illustrating the process of determining the first boundary line based on regional boundary points, as provided in an embodiment of this application.

[0046] Figure 4 This is a schematic diagram of the process for obtaining the target sub-region based on the first boundary line provided in an embodiment of this application;

[0047] Figure 5 This is a flowchart illustrating the process of obtaining the work path based on the main direction, as provided in an embodiment of this application.

[0048] Figure 6This is a schematic diagram of the area to be planned provided in the embodiments of this application;

[0049] Figure 7 This is a schematic diagram of the area to be planned provided in the embodiments of this application;

[0050] Figure 8 This is a schematic diagram of the area to be planned provided in the embodiments of this application;

[0051] Figure 9 This is a schematic diagram illustrating the process of obtaining the work path based on the main direction, as provided in an embodiment of this application.

[0052] Figure 10 This is a schematic diagram of the path planning device provided in the embodiments of this application;

[0053] Figure 11 This is a schematic diagram of the structure of the self-moving device provided in the embodiments of this application. Detailed Implementation

[0054] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0055] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0056] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0057] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0058] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [the described condition or event] is detected," or "in response to detection of [the described condition or event]."

[0059] Furthermore, in the description of this application, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0060] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in some other embodiments," "in other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0061] With the advancement of technology, the research and development of self-moving devices such as lawnmowers, sweepers, and robots with navigation functions have been extremely rapid, bringing great convenience to people's lives. Self-moving devices need to follow certain paths when moving, so their movement paths need to be rationally planned.

[0062] However, when the area shape is irregular, the path planning method in the relevant technology is difficult to define the main direction of the operation path, the path planning direction is unidirectional, and there are cases of flying lines between areas (i.e., the operation path crosses areas), resulting in low accuracy and poor reliability of path planning.

[0063] To address the aforementioned shortcomings, this application provides a path planning method. This method involves acquiring a region to be planned, including its boundary points. Based on these boundary points, the region is divided into target sub-regions. Path planning is then performed for each target sub-region. Finally, based on the path planning results for each target sub-region, path planning is performed between adjacent target sub-regions, thereby obtaining the operational path for the region to be planned. When the region to be planned has an irregular shape, since mobile devices can plan more reasonable operational paths when processing more regularly shaped work areas, the region to be planned can be first divided into multiple more regularly shaped target sub-regions based on its boundary points. Then, path planning is performed based on each sub-region to obtain the operational path for the region to be planned. This approach improves the accuracy and reliability of the path planning.

[0064] The implementation process of the path planning method provided in this application is described below through specific embodiments.

[0065] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating the implementation of the path planning method provided in the embodiments of this application.

[0066] like Figure 1 As shown, the method may include the following steps:

[0067] S101, Obtain the area to be planned.

[0068] In some embodiments, when performing path planning, the self-moving device first acquires the area to be planned. The self-moving device can be a lawnmower, a sweeping robot, or a robot with navigation capabilities, and the area to be planned can be a lawn or a surface to be cleaned. The shape of the area to be planned can be regular or irregular. The area to be planned includes multiple boundary points, and the boundary of the area to be planned is composed of multiple consecutive boundary points.

[0069] For example, such as Figure 6 As shown, region P is the area to be planned obtained by the mobile device, and its shape is irregular. Region P can represent the working environment of the lawnmower when it is mowing, such as a lawn. The lawn includes multiple boundary points, such as points a, b, c, d, e, and f. The boundary of the lawn is a curve composed of multiple consecutive boundary points a, b, c, d, e, and f.

[0070] S102, based on the regional boundary points, divide the area to be planned into target sub-regions.

[0071] In some embodiments, when the self-mobile device performs path planning, if the boundary curve formed by the multiple boundary points is irregular (i.e., the shape of the area to be planned is irregular), it will affect the path planning performance of the self-mobile device. Therefore, the acquired area to be planned can be divided into multiple target sub-regions with relatively regular shapes based on the boundary points. These target sub-regions can serve as multiple work areas for the self-mobile device during operation. Since the shapes of the target sub-regions are more regular than those of the area to be planned, the self-mobile device will plan paths more reasonably in each target sub-region. The preset rules for dividing the area to be planned can be determined according to the specific circumstances of the actual application scenario and are not limited here.

[0072] For example, when planning its path, a lawnmower can divide the lawn into multiple smaller lawns based on the boundary points of the lawn.

[0073] S103, based on the target sub-region, performs path planning to obtain the operation path of the area to be planned.

[0074] In some embodiments, after the self-mobile device divides the acquired area to be planned into multiple target sub-regions based on region boundary points, path planning can be performed within the divided target sub-regions to plan the operation path for the self-mobile device to perform operations within the area to be planned. The operation path can be an arc-shaped line or other shaped lines. After the operation path is planned, the self-mobile device can perform operations along the planned path during actual operation.

[0075] For example, when planning its path, a lawnmower can do so based on multiple small lawns. The lawnmower can plan its actual working path, such as an arc, within these small lawns. After planning the arc-shaped working path, the lawnmower can then work along the arc during actual operation.

[0076] In this embodiment, the self-moving device acquires the area to be planned, including the area boundary points, divides the area to be planned based on the area boundary points to obtain target sub-regions, and performs path planning based on the target sub-regions to obtain the operation path of the area to be planned. When the shape of the area to be planned is irregular, since the self-moving device can plan a more reasonable operation path when processing work areas with more regular shapes, the area to be planned can be divided into multiple target sub-regions with more regular shapes based on the area boundary points, and then path planning can be performed based on each sub-region to obtain the operation path of the area to be planned. This can make the path planning more accurate and reliable.

[0077] Please see Figure 2 , Figure 2 This is a schematic diagram illustrating the process of dividing the planned area into target sub-regions based on regional boundary points, as provided in an embodiment of this application. Figure 2 As shown, the process may include the following steps:

[0078] S201, Based on the regional boundary points, determine the first boundary line corresponding to the area to be planned.

[0079] In some embodiments, when a self-moving device divides the planned area based on region boundary points, it can divide the planned area into multiple target sub-regions based on the boundary lines obtained from the region boundary points. However, when there are many boundary lines, the number of target sub-regions obtained by dividing the planned area based on the boundary lines will also be large. When obtaining the operation path of the planned area based on the path planning results of each target sub-region, it will lead to a relatively complex path between the target sub-regions.

[0080] Therefore, in some cases, such as when the distance between the boundary points of the areas corresponding to two boundary lines is small, it is advisable to retain only one boundary line and use the line connecting the two boundary points with the smaller distance as the boundary line to delineate the area to be planned, thereby controlling the number of target sub-regions. In other words, not all boundary lines are ultimately used to delineate the area to be planned.

[0081] It should be noted that, for ease of distinction, the boundary line ultimately used to delineate the area to be planned can be called the first boundary line, and the boundary line not used to delineate the area to be planned can be called the second boundary line. Boundary lines can be determined based on regional boundary points; the specific process for determining the boundary lines is detailed in [the document / section]. Figure 3 The examples shown are described below.

[0082] S202, shift the first boundary line to the inside of the area to be planned until the first boundary line intersects with the first inflection point among the boundary points of the area at the target location.

[0083] The first inflection point is the first intersection point during the translation of the first boundary line, and the target position is the location of the first inflection point.

[0084] In some embodiments, after the mobile device determines the first boundary line for dividing the area to be planned based on the area boundary points, it can translate the boundary line to the inside of the area to be planned until it is translated to the target position, that is, the first boundary line intersects with the first inflection point in the area boundary points at the target position.

[0085] It should be noted that the first inflection point is a point among the regional boundary points. It is the first inflection point where the first boundary line intersects with the first boundary line during the process of translating the first boundary line into the inner part of the area to be planned. The target location is the location of the first inflection point.

[0086] In some embodiments, when determining inflection points among region boundary points, the inflection point can be determined by calculating the gradient change of curvature. The specific process is as follows: First, the curvature values ​​of consecutive region boundary points are calculated sequentially. Then, the difference in curvature values ​​between two adjacent region boundary points is calculated. When the difference in curvature values ​​is greater than a preset difference threshold, i.e., when the gradient change of curvature is significant, the current region boundary point can be determined as an inflection point. The preset difference threshold can be determined based on the specific circumstances of the actual application scenario and is not limited here.

[0087] For example, such as Figure 6 As shown, line L1 is the first boundary line for dividing the planned area P based on the area boundary points, and point G1 is the first inflection point. Line L1 is moved into the planned area P until it intersects with inflection point G1 at point L1'. The location of inflection point G1 is the target location.

[0088] S203, based on the first boundary line at the target location, divide the area to be planned to obtain the target sub-area.

[0089] In some embodiments, the mobile device translates the boundary line used to divide the area to be planned towards the inside of the area to be planned until the boundary line intersects with the first inflection point among the area boundary points at the target location. The area to be planned can then be divided based on the boundary line translated to the target location. When dividing the area to be planned, it can be divided into multiple target sub-regions.

[0090] After step S202, the path planning method provided in this application embodiment may further include the following steps:

[0091] If there is a second inflection point among the boundary points of the region that intersects with the second boundary line, and the distance between the second inflection point and the first inflection point is less than the first preset distance threshold, then the region to be planned is divided based on the line connecting the first inflection point and the second inflection point.

[0092] In some embodiments, if there are many target sub-regions, planning the operation path between the target sub-regions will be more complicated. Therefore, in some cases, such as when the distance between the inflection points of two boundary lines is small, the line connecting the two inflection points can be used to divide the area to be planned, thereby reducing the number of unnecessary partitions.

[0093] The second inflection point that meets the preset conditions is an inflection point whose distance from the first inflection point is less than a preset distance threshold. The preset distance threshold can be determined according to the specific circumstances of the actual application scenario, and is not limited here. For example, the preset distance threshold can be 10cm.

[0094] For example, such as Figure 6 and Figure 7 As shown, after the first boundary line L3 is shifted inward to the inside of the area to be planned P and intersects with the first inflection point G1' at the target position, there is already a second inflection point G2 in the area to be planned P that intersects with the previously determined second boundary line L2 for dividing the area to be planned. The distance between the second inflection point G2 and the first inflection point G1' is 8cm, which is less than the preset distance threshold. Therefore, the line L4 connecting the first inflection point G1 and the second inflection point G2 can be directly used as the first boundary line for dividing the planned area. At this time, the first boundary line L3 is discarded and the area is not divided based on the first boundary line L3.

[0095] It can be observed that when L4 is used as the first boundary line, compared to L3, the target sub-region (i.e. Figure 7 Region A) has a larger range, meaning that when L4 is used as the first boundary line, the number of target sub-regions can be reduced, and a more reasonable operation path can be planned.

[0096] In step S203, based on the first boundary line at the target location, the area to be planned is divided to obtain the target sub-region, which may include the following steps:

[0097] S2031, if the first inflection point is not marked, mark the first inflection point, divide the area to be planned based on the first boundary line at the target location, obtain the target sub-region, and return to execute the step of determining the first boundary line corresponding to the area to be planned based on the region boundary point and subsequent steps, until the length of the determined first boundary line is less than the preset length threshold.

[0098] In some embodiments, the self-moving device divides the planned area based on the boundary lines at the location of the first inflection point to obtain target sub-regions. If the first inflection point is not marked, i.e., no other boundary lines occupy the first inflection point, then the first inflection point is marked. After marking the first inflection point, the planned area can be divided into multiple target sub-regions based on the boundary lines.

[0099] Accordingly, after dividing the area to be planned into multiple target sub-regions, the process can return to step S201 and subsequent steps, namely, the step of determining the first boundary line corresponding to the area to be planned based on the area boundary points and subsequent steps, to continue determining the next boundary line for dividing the area to be planned, and dividing the area to be planned based on this boundary line, and performing path planning on the divided target sub-regions. When determining the boundary line for dividing the area to be planned, if the length of the boundary line is less than a preset length threshold, then the execution of step S201 and subsequent steps is stopped, that is, the path planning operation ends.

[0100] The preset length threshold can be determined based on the specific circumstances of the actual application scenario, and is not limited here. For example, the preset length threshold can be determined based on the shortest curve segment of the boundary line of the area to be planned, and the preset length threshold can be 20cm.

[0101] S2032, If the first inflection point is marked, return to the step of determining the first boundary line corresponding to the area to be planned based on the area boundary point and subsequent steps, until the length of the determined first boundary line is less than the preset length threshold.

[0102] In some embodiments, during the process of dividing the planned area based on the boundary line of the planned area at the location of the first inflection point to obtain the target sub-region, if the first inflection point is marked, that is, the first inflection point is occupied by the boundary line of the previously determined planned area, the boundary line of the currently determined planned area is discarded.

[0103] Accordingly, after discarding the currently determined boundary line for dividing the area to be planned, the process can return to step S201 and subsequent steps, namely, the step of determining the first boundary line corresponding to the area to be planned based on the area boundary points and subsequent steps, to continue determining the next boundary line for dividing the area to be planned, and dividing the area to be planned based on this boundary line, and performing path planning on the divided target sub-areas. When determining the boundary line for dividing the area to be planned, if the length of the boundary line is less than a preset length threshold, then the execution of step S201 and subsequent steps is stopped, that is, the path planning operation ends.

[0104] For example, such as Figure 8 As shown, the first inflection point G1 in the area to be planned, P, is occupied by the previously determined boundary line L2 used to divide the area. At this point, the currently determined boundary line L5 can be discarded, and the next boundary line used to divide the area can be determined. For example... Figure 6 As shown, line L6 is the next boundary line for dividing the area to be planned.

[0105] Please see Figure 3, Figure 3 This is a schematic diagram illustrating the process of determining the first boundary line corresponding to the area to be planned based on the area boundary points, as provided in an embodiment of this application. Figure 3 As shown, the process may include the following steps:

[0106] S301, calculate the curvature value of each consecutive boundary point of the region in sequence.

[0107] In some embodiments, when determining the boundary line for dividing the planned area based on the region boundary points, the boundary line can be determined according to the curvature values ​​of the region boundary points. First, the curvature value of each consecutive region boundary point is calculated sequentially, and then in subsequent steps, the boundary line for dividing the planned area is obtained based on the region boundary points that meet preset conditions.

[0108] It should be noted that the boundary of the area to be planned is the mapping boundary of the mobile device, which consists of a series of inflection points recorded by RTK (Real-Time Kinematic) carrier phase differential technology. Since the boundary line of the area to be planned may be an arc with curvature value or a wavy curve with varying curvature value, the boundary line for dividing the area to be planned can be a boundary composed of continuous area boundary points with curvature value variations within a preset threshold.

[0109] S302, calculate the curvature difference between two adjacent region boundary points based on the curvature value.

[0110] In some embodiments, when the self-moving device determines the boundary line for dividing the corresponding planned area based on the region boundary points, it can calculate the difference between the curvature values ​​after sequentially calculating the curvature values ​​of each consecutive region boundary point. To ensure better consistency of the curvature values ​​of the region boundary points whose curvature differences meet preset conditions in subsequent steps, and thus to make the boundary line for dividing the planned area based on these region boundary points more accurate, the difference between the curvature values ​​of two adjacent region boundary points can be calculated when calculating the difference between the curvature values.

[0111] S303, take the boundary points of the region with continuous curvature difference less than the preset difference threshold as the boundary points of the target region, and perform linear fitting on the boundary points of the target region to obtain the first boundary line.

[0112] In some embodiments, after the self-moving device calculates the curvature difference between two adjacent region boundary points based on the curvature values ​​of each consecutive region boundary point, it can obtain the boundary lines for dividing the planned area according to the region boundary points that meet preset conditions. The preset condition is that the difference in curvature values ​​of consecutive region boundary points is less than a preset difference threshold. The preset difference threshold can be determined based on the specific circumstances of the actual application scenario and is not limited here.

[0113] Correspondingly, the boundary points of the region whose curvature values ​​are less than a preset difference threshold can be linearly fitted, and these boundary points can be linearly fitted into a straight line, which is the boundary line for dividing the region to be planned.

[0114] For example, such as Figure 6 As shown, there are five consecutive boundary points a, b, c, d, e, and f on the boundary line of the area P to be planned. The differences in curvature values ​​between points a and b, between points a and b, between points b and c, between points c and d, and between points e and f are all less than the preset difference threshold. Therefore, the boundary points a, b, c, d, e, and f can be linearly fitted to obtain the boundary line for dividing the area to be planned.

[0115] Please see Figure 4 , Figure 4 This is a schematic diagram illustrating the process of obtaining the target sub-region based on the first boundary line, as provided in an embodiment of this application. Figure 4 As shown, the process may include the following steps:

[0116] S401, if the included angle between the main directions of adjacent target sub-regions is less than the preset angle difference threshold, then the adjacent target sub-regions are merged to obtain the updated target sub-regions.

[0117] In some embodiments, when the self-mobile device divides the planned area into multiple target sub-areas based on the boundary line of the planned area at the location of the first inflection point, it first divides the planned area into multiple target sub-areas based on the boundary line of the planned area at the location of the first inflection point.

[0118] For example, such as Figure 7 As shown, the self-moving device divides the planned area P based on the boundary lines L1', L2, and L4, resulting in four target sub-areas: areas A, B, C, and D.

[0119] In some embodiments, after dividing the area to be planned into multiple target sub-regions, adjacent target sub-regions that meet a first preset condition can be merged to obtain a new target sub-region. The first preset condition is that the angle between the main directions corresponding to adjacent target sub-regions is less than a preset angle difference threshold. The preset angle difference threshold can be determined according to the specific circumstances of the actual application scenario and is not limited here. For example, the preset angle difference threshold can be 5°.

[0120] For example, such as Figure 7 and Figure 9 As shown, after the self-moving device divides the planned area P into four target sub-regions A, B, C, and D based on the boundary lines L1', L2, and L4, the angle between the main directions of target sub-regions B and C is 3°. Since this angle difference is less than the preset angle difference threshold, target sub-regions B and C can be merged into region E, and the final target sub-regions of the planned area P are regions A, D, and E.

[0121] S402, if the area of ​​one or two adjacent target sub-regions is less than a preset area threshold, then the adjacent target sub-regions are merged to obtain the updated target sub-regions.

[0122] In some embodiments, after dividing the area to be planned into multiple target sub-regions, adjacent target sub-regions that meet a second preset condition can be merged to obtain an updated target sub-region. The second preset condition is that among adjacent target sub-regions, one or two target sub-regions have an area less than a preset area threshold. The preset area threshold can be determined based on the specific circumstances of the actual application scenario and is not limited here. For example, the preset area threshold can be 0.5m. 2 .

[0123] In step S103, path planning is performed based on the target sub-region to obtain the operation path for the area to be planned, which may include the following steps:

[0124] Obtain the main direction of the target sub-region, and obtain the operation path of the area to be planned based on the main direction.

[0125] In some embodiments, when the operation path of the area to be planned is obtained, the main direction of the target sub-area can be obtained first, and then path planning can be performed in the target sub-area according to the main direction of the target sub-area to obtain the operation path of the area to be planned.

[0126] In one possible implementation, obtaining the main direction of the target sub-region may include the following steps:

[0127] The first step is to calculate the number of operation paths for the target sub-region in each candidate direction.

[0128] In some embodiments, when determining the main direction of a target sub-region, the self-moving device can determine it based on the number of operation paths in the target sub-region. First, multiple candidate directions can be determined based on the shape of the area to be planned. Then, the width of the target sub-region in each candidate direction and the width of two adjacent operation paths of the self-moving device in each candidate direction are determined. Finally, the number of operation paths in each target sub-region in each candidate direction is calculated.

[0129] The second step is to determine the candidate direction with the fewest operation paths as the main direction of the target sub-region.

[0130] In some embodiments, when the mobile device determines the main direction of a target sub-region, after calculating the number of operation paths for each target sub-region in each candidate direction, it can determine which candidate direction is the main direction of the target sub-region based on the number of operation paths. For example, the candidate direction with the fewest operation paths can be determined as the main direction of the target sub-region.

[0131] In one possible implementation, obtaining the main direction of the target sub-region may include the following steps:

[0132] The direction of the first boundary line is taken as the main direction of the target sub-region.

[0133] In some embodiments, when determining the main direction of the target sub-region, the self-moving device can directly take the direction corresponding to the boundary line of the area to be planned as the main direction of the target sub-region, and then perform path planning directly according to the direction corresponding to the boundary line of the area to be planned in subsequent steps.

[0134] Please see Figure 5 , Figure 5 This is a schematic diagram illustrating the process of obtaining the work path of the area to be planned based on the main direction, as provided in an embodiment of this application. Figure 5 As shown, the process may include the following steps:

[0135] S501 plans the operation path for each target sub-region based on the main direction corresponding to each target sub-region.

[0136] In some embodiments, when the self-moving device obtains the operation path of the area to be planned based on the main direction, it can perform path planning for each target sub-area based on the main direction corresponding to each target sub-area, thereby obtaining the operation path corresponding to each target sub-area.

[0137] S502, based on the start and end points of the operation paths of two adjacent target sub-regions, a third path connecting the two target sub-regions is obtained.

[0138] In some embodiments, after path planning for each target sub-region, a third path connecting the two target sub-regions is obtained based on the start and end points of the work paths of two adjacent target sub-regions. For example, the line connecting the start point of the work path of the first target sub-region and the end point of the work path of the second target sub-region is used as the third path; or the line connecting the end point of the work path of the first target sub-region and the start point of the work path of the second target sub-region is used as the third path. It is understood that a line with a relatively shorter distance can be selected as the third path.

[0139] For example, such as Figure 9 As shown, the line D5 connecting the starting point of the operation path D1 of target sub-region A and the ending point of the operation path D2 of target sub-region E is taken as the third path; the line D6 connecting the ending point of the operation path D3 of target sub-region E and the starting point of the operation path D4 of target sub-region D is taken as the third path.

[0140] S503, based on the operation paths corresponding to each target sub-region and each third path, determines the operation path of the area to be planned.

[0141] In some embodiments, the operation paths of each target sub-region and each third path are connected to obtain the operation path of the entire area to be planned.

[0142] The path planning method provided in this application involves an automated mobile device acquiring a region to be planned, including its boundary points. Based on these boundary points, the region is divided into target sub-regions. Path planning is then performed for each target sub-region, and path planning is conducted between adjacent target sub-regions based on the path planning results for each sub-region, thereby obtaining the operational path for the region to be planned. When the region to be planned has an irregular shape, the automated mobile device can plan a more reasonable operational path when processing more regularly shaped work areas. Therefore, by first dividing the region to be planned into multiple more regularly shaped target sub-regions based on the boundary points, and then performing path planning for each sub-region, the operational path for the region to be planned can be obtained. This approach can improve the accuracy and reliability of path planning.

[0143] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0144] Corresponding to the method described in the above embodiments, Figure 10 A schematic diagram of the path planning device provided in the embodiments of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0145] Reference Figure 10 The path planning device includes:

[0146] The acquisition unit 101 is used to acquire the area to be planned, which includes the area boundary points.

[0147] The first processing unit 102 is used to divide the area to be planned based on the area boundary points to obtain the target sub-area.

[0148] The second processing unit 103 is used to perform path planning based on the target sub-region to obtain the operation path of the area to be planned.

[0149] In one possible implementation, the first processing unit 102 includes:

[0150] The processing module is used to determine the first boundary line corresponding to the area to be planned based on the area boundary points;

[0151] The translation module is used to translate the first boundary line to the inside of the area to be planned until the first boundary line intersects with the first inflection point among the boundary points of the area at the target position;

[0152] The partitioning module is used to divide the area to be planned based on the first boundary line at the target location, thus obtaining the target sub-region.

[0153] The first inflection point is the first intersection point during the translation of the first boundary line, and the target position is the location of the first inflection point.

[0154] In one possible implementation, the processing module is further configured to: sequentially calculate the curvature value of each consecutive region boundary point; based on the curvature value, sequentially calculate the curvature difference between two adjacent region boundary points; take the region boundary points with consecutive curvature differences less than a preset difference threshold as target region boundary points, and perform linear fitting on the target region boundary points to obtain a first boundary line.

[0155] In one possible implementation, the partitioning module is further configured to: mark the first inflection point if it is not marked, partition the area to be planned based on the first boundary line at the target location, obtain the target sub-region, and return to execute the step of determining the first boundary line corresponding to the area to be planned based on the boundary point of the area and subsequent steps, until the length of the determined first boundary line is less than a preset length threshold.

[0156] In one possible implementation, the partitioning module is further configured to: if the first inflection point is marked, return to the step of determining the first boundary line corresponding to the area to be planned based on the area boundary point and subsequent steps, until the length of the determined first boundary line is less than a preset length threshold.

[0157] In one possible implementation, the self-moving device is further configured to: if there is a second inflection point among the area boundary points that intersects with the second boundary line, and the distance between the second inflection point and the first inflection point is less than a first preset distance threshold, then divide the area to be planned based on the line connecting the first inflection point and the second inflection point.

[0158] In one possible implementation, the partitioning module is further configured to merge adjacent target sub-regions to obtain an updated target sub-region if the included angle between the main directions of adjacent target sub-regions is less than a preset angle difference threshold; and / or, if the area of ​​one or two adjacent target sub-regions is less than a preset area threshold, merge adjacent target sub-regions to obtain an updated target sub-region.

[0159] In one possible implementation, the second processing unit 103 is further configured to obtain the main direction of the target sub-region and obtain the operation path of the region to be planned based on the main direction.

[0160] In one possible implementation, the second processing unit 103 is further configured to plan the operation path corresponding to each target sub-region based on the main direction corresponding to each target sub-region; obtain the third path connecting the two target sub-regions based on the start and end points of the operation paths of two adjacent target sub-regions; and determine the operation path of the area to be planned based on the operation paths corresponding to each target sub-region and each third path.

[0161] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0162] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0163] Figure 11 This is a schematic diagram of the structure of a self-moving device 11 provided in an embodiment of this application. Figure 11 As shown, the self-moving device 11 of this embodiment includes: at least one processor 111 ( Figure 11(Only one is shown in the diagram), memory 113, and computer program 112 stored in the memory 113 and executable on the at least one processor 111, wherein the processor 111 executes the computer program 112 to implement the steps in the above method embodiments.

[0164] The self-moving device 11 can be a lawnmower, a sweeper, or a robot with navigation capabilities. The self-moving device 11 may include, but is not limited to, a processor 111 and a memory 113. Those skilled in the art will understand that... Figure 11 This is merely an example of the self-moving device 11 and does not constitute a limitation on the self-moving device 11. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0165] The processor 111 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0166] In some embodiments, the memory 113 may be an internal storage unit of the self-moving device 11, such as a hard disk or memory of the self-moving device 11. In other embodiments, the memory 113 may be an external storage device of the self-moving device 11, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the self-moving device 11. Furthermore, the memory 113 may include both internal and external storage units of the self-moving device 11. The memory 113 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 113 can also be used to temporarily store data that has been output or will be output.

[0167] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, when implementing all or part of the processes in the methods of the above embodiments of this application, it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps applied in the method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include at least: any entity or device capable of carrying computer program code to a computing device / electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, such as a USB flash drive, a portable hard drive, a magnetic disk, or an optical disk. In some jurisdictions, according to legislation and patent practice, a computer-readable storage medium cannot be an electrical carrier signal or a telecommunication signal.

[0168] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0169] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0170] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0171] In the embodiments provided in this application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. The device / electronic device embodiments described above are merely illustrative, and the division of modules or units is only a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, and some features may be ignored. Furthermore, the indirect coupling, direct coupling, or communication connection shown or discussed may be through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0172] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0173] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A path planning method, characterized in that, The method includes: Obtain the region to be planned, which includes the region boundary points; Based on the boundary points of the region, the region to be planned is divided to obtain the target sub-regions; Based on the target sub-regions, path planning is performed to obtain the operation path for the region to be planned. The process of dividing the area to be planned based on the regional boundary points to obtain target sub-regions includes: Based on the boundary points of the region, determine the first boundary line corresponding to the region to be planned; The first boundary line is shifted inwards towards the area to be planned until the first boundary line intersects with the first inflection point among the boundary points of the area at the target position; Based on the first boundary line at the target location, the area to be planned is divided to obtain the target sub-region; Wherein, the first inflection point is the first inflection point where the first boundary line intersects during the translation process, and the target position is the location of the first inflection point; After translating the first boundary line inwards towards the area to be planned until the first boundary line intersects with the first inflection point among the boundary points of the area at the target location, the method further includes: If there is a second inflection point among the boundary points of the region that intersects with the second boundary line, and the distance between the second inflection point and the first inflection point is less than a first preset distance threshold, then the region to be planned is divided based on the line connecting the first inflection point and the second inflection point.

2. The method as described in claim 1, characterized in that, The step of determining the first boundary line corresponding to the area to be planned based on the area boundary points includes: Calculate the curvature value for each consecutive boundary point of the region; Based on the curvature value, the curvature difference between two adjacent boundary points of the region is calculated sequentially. The boundary points of regions where the continuous curvature difference is less than a preset difference threshold are taken as the boundary points of the target region. The boundary points of the target region are linearly fitted to obtain the first boundary line.

3. The method as described in claim 1, characterized in that, The step of dividing the area to be planned based on the first boundary line at the target location to obtain the target sub-region includes: If the first inflection point is not marked, then the first inflection point is marked, and the area to be planned is divided based on the first boundary line at the target location to obtain the target sub-region. Then, the step of determining the first boundary line corresponding to the area to be planned based on the area boundary point and subsequent steps are returned to be executed until the length of the determined first boundary line is less than a preset length threshold.

4. The method as described in claim 3, characterized in that, The method further includes: If the first inflection point is marked, then return to the step of determining the first boundary line corresponding to the area to be planned based on the area boundary point and subsequent steps, until the length of the determined first boundary line is less than the preset length threshold.

5. The method as described in claim 1, characterized in that, The method further includes: If the included angle between the main directions of adjacent target sub-regions is less than a preset angle difference threshold, then the adjacent target sub-regions are merged to obtain an updated target sub-region. And / or, if the area of ​​one or two of the adjacent target sub-regions is less than a preset area threshold, then the adjacent target sub-regions are merged to obtain an updated target sub-region.

6. The method according to any one of claims 1 to 4, characterized in that, The step of performing path planning based on the target sub-region to obtain the operation path for the region to be planned includes: Obtain the main direction of the target sub-region, and obtain the operation path of the region to be planned based on the main direction.

7. The method as described in claim 6, characterized in that, The process of obtaining the work path for the area to be planned based on the main direction includes: Based on the main direction corresponding to each target sub-region, the operation path corresponding to each target sub-region is planned respectively; Based on the start and end points of the operation paths of two adjacent target sub-regions, a third path connecting the two target sub-regions is obtained; Based on the operation paths corresponding to each target sub-region and each third path, the operation path of the region to be planned is determined.

8. A self-moving device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 7.

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