Recharge path planning method, device, self-contained equipment and readable storage medium

Abstract

The present invention discloses a recharging path planning method, device, self-mobile device and readable storage medium, belonging to the technical field of recharging of self-mobile devices. The present invention obtains the historical working path corresponding to the current position of the self-mobile device when the self-mobile device triggers recharging; determines the pre-selected recharging path of the self-mobile device according to the current position and the recharging position of the charging station; plans the recharging path of the self-mobile device according to the historical working path and the pre-selected recharging path, and obtains the target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path, thereby solving the technical problems of unreasonable recharging path planning and low recharging efficiency in the process of the self-mobile device going to the charging station for recharging.

Description

Technical Field

[0001] The present invention relates to the technical field of recharging a self-mobile device, and in particular to a recharging path planning method, device, self-mobile device and readable storage medium. Background Art

[0002] With the continuous development of science and technology, self-moving equipment has been widely used. When the power of a self-moving equipment is low during work, it needs to return to the charging station for charging.

[0003] When the self-mobile device selects a recharging path to return to the charging station for charging, some self-mobile devices find a wire pre-set on the boundary line of the work map and make the self-mobile device walk along the wire to return to the charging station. When the boundary line found by the self-mobile device is far from the charging station, it needs to walk a long distance along the boundary line to reach the charging station, which consumes a lot of power during the walking process.

[0004] In addition, some self-moving devices directly search for the shortest distance path between the current location of the self-moving device and the location of the charging station, and return to the charging station by walking on the shortest distance path. However, the self-moving device is prone to walking to areas where the self-moving device is not working or has not been cleaned on the shortest distance path, which requires a large amount of electric energy to pass through the non-working area. Therefore, the above situation has unreasonable recharging path planning, and it is easy to have a situation where the remaining electric energy is insufficient to support the self-moving device to return to the charging station, resulting in low recharging efficiency of the self-moving device.

[0005] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of the present invention is to provide a recharging path planning method, device, self-moving device and readable storage medium, aiming to solve the technical problems of unreasonable recharging path planning and low recharging efficiency when a self-moving device is traveling to a charging station for recharging.

[0007] To achieve the above object, the present invention provides a recharging path planning method, which is applied to a self-moving device, and the recharging path planning method includes:

[0008] When the self-mobile device triggers recharging, obtaining a historical working path corresponding to the current position of the self-mobile device;

[0009] Determining a preselected recharging path for the self-mobile device based on the current location and the recharging location of the charging station;

[0010] According to the historical working path and the pre-selected recharging path, a recharging path is planned for the self-mobile device to obtain a target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

[0011] Optionally, the step of performing recharging path planning for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path includes:

[0012] Determining whether the historical working path matches the charging station recharging location;

[0013] If they match, the target recharging path is generated by comparing the recharging power consumptions corresponding to the historical working path and the pre-selected recharging path respectively;

[0014] If there is no match, determining the path splicing position of the historical working path;

[0015] According to the path splicing position, a backfill sub-path is constructed for the self-mobile device, and the backfill sub-path and the historical working path are spliced ​​into the target backfill path.

[0016] Optionally, the step of determining the path splicing position of the historical working path includes:

[0017] Acquire at least one historical work position of the historical work path;

[0018] For any of the historical working positions, for any of the historical working positions, detecting the recharging power consumption between the historical working position and the recharging position of the charging station;

[0019] According to the recharging power consumption, the path splicing position is selected from each of the historical working positions.

[0020] Optionally, the recharging power consumption includes a first power consumption of the historical working path and a second power consumption of the preselected recharging path, and the step of generating the target recharging path by comparing the recharging power consumptions corresponding to the historical working path and the preselected recharging path respectively includes:

[0021] detecting a relationship between the second power consumption and the first power consumption;

[0022] When the second power consumption is less than or equal to the first power consumption, selecting the target recharging path from the preselected recharging paths;

[0023] When the second power consumption is greater than the first power consumption, using the historical working path as the target recharging path;

[0024] When the power consumption of some paths in the second power consumption and the power consumption of some paths in the first power consumption are added together to obtain the minimum recharging power consumption, the target recharging path is generated according to the historical working path and the pre-selected recharging path.

[0025] Optionally, after the step of performing recharging path planning on the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path, the recharging path planning method further includes:

[0026] Detecting whether there is an obstacle when the self-mobile device walks along the target recharging path;

[0027] If so, controlling the self-moving device to bypass the obstacle, and determining the bypass termination position on the target recharging path after the bypass is completed;

[0028] An alternative sub-path is generated according to the detour termination position and the charging station recharging position, and the self-mobile device is controlled to move to the charging station for recharging according to the alternative sub-path, wherein the alternative sub-path is generated by the historical working path and / or the pre-selected recharging path.

[0029] Optionally, the step of performing recharging path planning for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path includes:

[0030] Obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively;

[0031] According to the road condition information, a recharging path is planned for the self-mobile device to determine the target recharging path.

[0032] Optionally, the self-mobile device is provided with a distance measuring sensor and / or a snow shoveling motor, the road condition information includes snow accumulation, and before the step of obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively, the recharging path planning method further includes:

[0033] Identifying the snow conditions of the historical working path and the pre-selected recharging path by the ranging sensor; and / or

[0034] The periodic snow-shoveling amount of the snow-shoveling motor when traveling on the historical working path and the pre-selected recharging path is obtained; and the snow accumulation conditions of the historical working path and the pre-selected recharging path are obtained according to the periodic snow-shoveling amount.

[0035] The present application also provides a recharging path planning device, which is characterized in that it is applied to a self-moving device, and the recharging path planning device includes:

[0036] An acquisition module, used for acquiring a historical working path corresponding to the current position of the self-mobile device when the self-mobile device triggers recharging;

[0037] A determination module, configured to determine a preselected recharging path for the self-mobile device according to the current location and the recharging location of the charging station;

[0038] The planning module is used to plan the recharging path of the self-mobile device according to the historical working path and the pre-selected recharging path, and obtain a target recharging path so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

[0039] Optionally, the planning module is further used to:

[0040] Determining whether the historical working path matches the charging station recharging location;

[0041] If they match, the target recharging path is generated by comparing the recharging power consumptions corresponding to the historical working path and the pre-selected recharging path respectively;

[0042] If there is no match, determining the path splicing position of the historical working path;

[0043] According to the path splicing position, a backfill sub-path is constructed for the self-mobile device, and the backfill sub-path and the historical working path are spliced ​​into the target backfill path.

[0044] Optionally, the recharging path planning device further includes a detection module, and the detection module is used to:

[0045] Acquire at least one historical work position of the historical work path;

[0046] For any of the historical working positions, detecting the recharging power consumption between the historical working position and the recharging position of the charging station;

[0047] The path splicing position is selected from each of the historical working positions according to the recharging power consumption.

[0048] Optionally, the detection module is further used for:

[0049] detecting a relationship between the second power consumption and the first power consumption;

[0050] When the second power consumption is less than or equal to the first power consumption, selecting the target recharging path from the preselected recharging paths;

[0051] When the second power consumption is greater than the first power consumption, using the historical working path as the target recharging path;

[0052] When the power consumption of some paths in the second power consumption and the power consumption of some paths in the first power consumption are added together to obtain the minimum recharging power consumption, the target recharging path is generated according to the historical working path and the pre-selected recharging path.

[0053] Optionally, the planning module is further used to:

[0054] Detecting whether there is an obstacle when the self-mobile device walks along the target recharging path;

[0055] If so, controlling the self-moving device to bypass the obstacle, and determining the bypass termination position on the target recharging path after the bypass is completed;

[0056] An alternative sub-path is generated according to the detour termination position and the charging station recharging position, and the self-mobile device is controlled to move to the charging station for recharging according to the alternative sub-path, wherein the alternative sub-path is generated by the historical working path and / or the pre-selected recharging path.

[0057] Optionally, the determining module is further used for:

[0058] Obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively;

[0059] According to the road condition information, a recharging path is planned for the self-mobile device to determine the target recharging path.

[0060] Optionally, the self-moving device is provided with a distance measuring sensor and / or a snow-clearing motor, the road condition information includes snow accumulation, and the recharging path planning device further includes an identification module, and the identification module is used to:

[0061] Identifying the snow conditions of the historical working path and the pre-selected recharging path by the ranging sensor; and / or

[0062] The periodic snow-shoveling amount of the snow-shoveling motor when traveling on the historical working path and the pre-selected recharging path is obtained; and the snow accumulation conditions of the historical working path and the pre-selected recharging path are obtained according to the periodic snow-shoveling amount.

[0063] The present application also provides a self-moving device, which includes: a vehicle head, a vehicle body, a memory, a processor, and a recharging path planning program stored in the memory and executable on the processor, wherein the vehicle head is detachably connected to the vehicle body, the memory and the processor are arranged on the vehicle body, and the recharging path planning program is configured to implement the steps of the recharging path planning method as described above.

[0064] The present application also provides a computer-readable storage medium, characterized in that a recharging path planning program is stored on the storage medium, and when the recharging path planning program is executed by a processor, the steps of the recharging path planning method as described above are implemented.

[0065] An embodiment of the present application provides a recharging path planning method. The embodiment of the present application first obtains a historical working path corresponding to the current position of the self-mobile device when recharging is triggered by the self-mobile device, then plans a recharging path for the self-mobile device based on the historical working path and the pre-selected recharging path to obtain a target recharging path, and finally plans a recharging path for the self-mobile device based on the historical working path and the pre-selected recharging path to obtain a target recharging path, so that the self-mobile device can move to a charging station for recharging according to the target recharging path, wherein the recharging power consumption of the target recharging path is the least.

[0066] The present application records the current position of the self-mobile device and the historical working path taken by the self-mobile device when working, and determines the pre-selected recharging path that the self-mobile device can walk to the charging station according to the current position of the self-mobile device and the recharging position of the charging station, and plans the recharging path of the self-mobile device in a dynamic planning and adjustment manner through the pre-selected recharging path and the historical working path, so as to obtain a target recharging path that can return to the charging station, so that when the self-mobile device walks on the target recharging path, the power required to be consumed by the self-mobile device is the minimum walking power consumption among all recharging paths. Therefore, the target recharging path is the optimal recharging path for the current self-mobile device to return to the charging station, thereby overcoming the technical problem that when the self-mobile device is going to the charging station for recharging, due to unreasonable recharging path planning, the self-mobile device needs to consume a large amount of electric energy to return to the charging station during the recharging process, thereby solving the technical problem of low recharging efficiency of the current self-mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 This is a flow chart of the first embodiment of the method for recharging path planning of the present application;

[0068] Figure 2 A schematic diagram of a scenario provided for the first embodiment of the method for recharging path planning of the present application;

[0069] Figure 3 A flowchart of the second embodiment of the method for recharging path planning of the present application is provided;

[0070] Figure 4 This is a schematic diagram of the module structure of the recharging path planning device according to an embodiment of the present application;

[0071] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the recharge path planning method in the embodiment of the present application.

[0072] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0073] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0074] Embodiment 1

[0075] This application proposes a first embodiment of a recharging path planning method, which is applied to a self-equipped device. Please refer to Figure 1 , the recharging path planning includes:

[0076] Step S10, when the self-mobile device triggers recharging, obtaining a historical working path corresponding to the current position of the self-mobile device;

[0077] Step S20, determining a preselected recharging path for the mobile device according to the current location and the recharging location of the charging station;

[0078] Step S30, planning a recharging path for the self-mobile device according to the historical working path and the pre-selected recharging path, and obtaining a target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

[0079] In the present embodiment, it should be noted that before the self-mobile device starts working, a work map can be established in advance. Specifically, the device can walk around the area where work needs to be performed, and establish a work map based on the walking results obtained after walking around. In the process of establishing the work map, an edge position in a working area can be pre-selected as the charging station location. Specifically, any signal point in the working area can be selected, and a base station that can be used for positioning the self-mobile device is placed at the signal point, and the location of the charging station is set near the base station. At the same time, the location of the charging station of the self-mobile device can change with the change of the working area.

[0080] In addition, it should be noted that the charging station recharging position is a position located inside the working map of the self-mobile device, close to the charging station position and capable of recharging. The self-mobile device may trigger recharging by receiving a recharging instruction sent by the user end, or automatically triggering the recharging instruction when it detects that the power level drops to a certain value. The current position of the self-mobile device may be obtained by fusing RTK (Real-time kinematic), wheel speed meter and inertial sensor for positioning.

[0081] In addition, it should be noted that the historical working path represents the path that the self-mobile device has worked on and cleaned when it walked to the current position, and can be recorded in the working map of the self-mobile device. Specifically, the historical working path can be the path with the least snow in the current working map, and the snow conditions on the historical working path do not affect the normal movement of the self-mobile device. In addition, the pre-selected recharging path represents all recharging paths that can be walked to the recharging position of the charging station when the self-mobile device is in the current position, and specifically can be one or more recharging paths including the shortest path between the current position and the recharging position of the charging station, the path with the least snow, the path with the least obstacles, or the path with the least number of turns.

[0082] In addition, it should be noted that the target recharging path represents the path with the least power consumption when the mobile device walks from the current position to the recharging position of the charging station. The planning of the target recharging path requires the joint detection of the historical working path and the pre-selected recharging path. Therefore, the power consumed by the mobile device when walking on the target recharging path will definitely be less than or equal to the power consumed when walking on the pre-selected recharging path.

[0083] An embodiment of the present application provides a recharging path planning method. The embodiment of the present application first obtains a historical working path corresponding to the current position of the self-mobile device when recharging is triggered by the self-mobile device, then plans a recharging path for the self-mobile device based on the historical working path and the pre-selected recharging path to obtain a target recharging path, and finally plans a recharging path for the self-mobile device based on the historical working path and the pre-selected recharging path to obtain a target recharging path, so that the self-mobile device can move to a charging station for recharging according to the target recharging path, wherein the recharging power consumption of the target recharging path is the least. The embodiment of the present application records the historical working path taken by the mobile device when it is working, and determines the pre-selected recharging path that the mobile device can walk to the charging station. When the mobile device returns to the charging station, the historical working path and the pre-selected working path are considered at the same time, and a target recharging path that can return to the charging station is determined in a dynamic planning and adjustment manner. When the mobile device walks on the target recharging path, the amount of electricity consumed is the minimum walking power consumption among all recharging paths. Therefore, the target recharging path is the optimal recharging path for the current mobile device to return to the charging station, thereby overcoming the technical problem that when the mobile device is going to the charging station for recharging, the mobile device needs to consume a large amount of electricity to return to the charging station due to unreasonable recharging path planning. Therefore, the technical problem of low recharging efficiency of the current mobile device is solved.

[0084] In a possible implementation, the step of performing recharging path planning for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path includes:

[0085] Step A10, determining whether the historical working path matches the charging station recharging position;

[0086] Step A20: if there is a match, the target recharging path is generated by comparing the recharging power consumptions corresponding to the historical working path and the pre-selected recharging path respectively;

[0087] Step A30: if there is no match, determining the path splicing position of the historical working path;

[0088] Step A40: construct a recharging sub-path for the self-mobile device according to the path splicing position, and splice the recharging sub-path and the historical working path into the target recharging path.

[0089] In this embodiment, it should be noted that determining whether there is a charging station recharging position on the historical working path is to determine whether there is a road that can be walked to the charging station and has been cleaned. This is because the self-mobile device can start from the charging station to work, and can also start from any position on the work map to work. Therefore, there may be a situation where the working path of the self-mobile device does not include the charging station recharging position, that is, the area near the charging station has not been cleaned by the self-mobile device. At this time, the self-mobile device cannot directly return to the charging station recharging position through the historical working path, but needs to find a path splicing position on the historical working path that can be spliced ​​with other recharging paths so that the self-mobile device can return to the charging station. The path splicing position is used to replace the current walking path of the self-mobile device. When the self-mobile device moves to the path splicing position, the recharging sub-path between the path splicing position and the charging station recharging position is detected, and the recharging sub-path is the recharging path with the least power consumption between the self-mobile device at the path splicing position and the charging station recharging position. Therefore, the historical working path and the recharging sub-path of the self-mobile device are spliced ​​as the target recharging path, so that the target recharging path of the self-mobile device is the recharging path with the least power consumption.

[0090] This embodiment analyzes the working range of the historical working path according to different situations, so that the self-moving device can determine the target recharging path more quickly and accurately. Since the self-moving device can choose from a variety of recharging paths, and when one recharging path cannot quickly reach the charging station, the recharging path can be adjusted, ensuring that the target recharging path of the self-moving device is the recharging path with the least power consumption.

[0091] In a possible implementation, the step of determining the path splicing position of the historical working path includes:

[0092] Step B10, obtaining at least one historical work position of the historical work path;

[0093] Step B20, for any of the historical working positions, detecting the recharging power consumption between the historical working position and the recharging position of the charging station;

[0094] Step B30: selecting the path splicing position from each of the historical working positions according to the recharging power consumption.

[0095] In this embodiment, it should be noted that the historical working position represents any position in the historical working path. Since the working area near the charging station has not been cleaned and it is impossible to return to the charging station directly through the historical working path, it is necessary to construct a recharging sub-path to return to the charging station. When constructing the recharging sub-path, in order to ensure that the recharging sub-path with the least power consumption can be obtained, the recharging power consumption between the historical working position and the charging station recharging position can be detected, and the path splicing position can be determined in the historical working path, that is, the recharging path with the least power consumption between the historical working position and the charging station recharging position can be determined. Among them, the recharging path with the least power consumption can specifically be the path with the shortest walking distance, the path with the least snow, the path with the least obstacles, or the path with the least number of turns when the automatic device walks to the charging station through the historical working position, and the historical working position corresponding to the position with the least recharging power consumption is used as the path splicing position, so that the self-mobile device first walks to the path splicing position when recharging, and then dynamically adjusts the target recharging path at the path splicing position.

[0096] In a possible implementation, the recharging power consumption includes a first power consumption of the historical working path and a second power consumption of the preselected recharging path, and the step of generating the target recharging path by comparing the recharging power consumptions corresponding to the historical working path and the preselected recharging path respectively includes:

[0097] Step C10, detecting the relationship between the second power consumption and the first power consumption;

[0098] Step C20, when the second power consumption is less than or equal to the first power consumption, selecting the target recharging path from the pre-selected recharging paths;

[0099] Step C30, when the second power consumption is greater than the first power consumption, using the historical working path as the target recharging path;

[0100] Step C40: when the power consumption of a part of the paths in the second power consumption and the power consumption of a part of the paths in the first power consumption are added together to obtain the minimum recharging power consumption, the target recharging path is generated according to the historical working path and the pre-selected recharging path.

[0101] In this embodiment, it should be noted that when there is a charging station recharging position on the historical working path, the path that the self-mobile device has worked on can be regarded as the most convenient path to walk in the current working map. Since the distance between the self-mobile device and the charging station recharging position is different when the self-mobile device is at different positions in the working area, it is necessary to compare the recharging power consumption of the historical working path and the pre-selected recharging path. When the self-mobile device recharges through the pre-selected recharging path, and the recharging power consumption consumed is less than or equal to the recharging power consumption of recharging through the historical working path, the self-mobile device will select a target recharging path from the pre-selected recharging path. Since the pre-selected recharging path can be one or more, the recharging power consumption of all recharging paths in the pre-selected recharging path can be compared, and the path with the smallest recharging power consumption is used as the target recharging path; and when the recharging power consumption of the historical working path is less than the recharging power consumption of the pre-selected recharging path, the historical working path is used as the target recharging path.

[0102] In addition, it should be noted that the target recharging path planned in this embodiment is a recharging path that can be used to return the mobile device to the charging station at the current position, and the target recharging path may also be a recharging path formed by splicing part of the historical working path and the pre-selected recharging path, that is, the power consumption in the historical working path and the pre-selected recharging path are detected respectively, and all splicing methods of the historical working path and the pre-selected recharging path are determined, and the recharging power consumption of all splicing methods is calculated. At this time, there may be a recharging power consumption after adding the power consumption of part of the historical working path and the target recharging path, which is the minimum power consumption from the mobile device to the charging station, and the path with the minimum recharging power consumption added to the power consumption in the historical working path and the pre-selected recharging path is spliced ​​to generate the target recharging path.

[0103] In this embodiment, when there is a historical working path that can return to the charging station and has been cleaned, when the self-mobile device returns to the charging station for charging, it does not directly walk along the historical working path, but compares the recharging power consumption of the historical working path with the recharging power consumption of the pre-selected working path, and takes the path with less recharging power consumption as the target recharging path. In this way, it can be obtained that the self-mobile device consumes the least amount of power when recharging through the target recharging path.

[0104] In a possible implementation, after the step of performing a recharging path planning for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path, the recharging path planning method further includes:

[0105] Step D10, detecting whether there is an obstacle when the self-mobile device walks along the target recharging path;

[0106] Step D20: If yes, control the self-moving device to bypass the obstacle, and determine the bypass termination position on the target recharging path after the bypass is completed;

[0107] Step D30, generating an alternative sub-path according to the detour termination position and the charging station recharging position, and controlling the self-mobile device to move to the charging station for recharging according to the alternative sub-path, wherein the alternative sub-path is generated by the historical working path and / or the pre-selected recharging path.

[0108] In this embodiment, it should be noted that when the self-mobile device is walking on the target recharging road, it may encounter obstacles and other situations that affect normal walking. At this time, it is necessary to detect the size of the obstacle and adjust the walking path of the self-mobile device so that the self-mobile device can bypass the obstacle and find an alternative sub-path during the bypassing process to terminate the bypass. The alternative sub-path can be returning to the current target recharging path and continuing to walk to the charging station recharging position with the current target recharging path, or searching for a historical recharging path or a pre-selected recharging path near the obstacle, and reselecting a recharging path from the historical recharging path or the target recharging path to continue walking to the charging station recharging position. The basis for selecting the alternative sub-path is that when the self-mobile device returns from the current position to the charging station recharging position, the recharging path consumes the least power. In addition, the detour termination position indicates the position where the self-mobile device stops bypassing and walking to the charging station when moving close to the obstacle. By dynamically adjusting the target recharging path, the self-mobile device can consume less power to walk to the charging station recharging position.

[0109] It can be understood that when the mobile device is performing recharging path splicing, the specific splicing method can be to splice the historical working path with the pre-selected recharging path, or to splice the adjacent historical sub-paths in the historical working path, or to splice the pre-selected recharging path at the current position with the pre-selected recharging path at the next position.

[0110] This embodiment determines the obstacles and number of turns on the target recharging path in advance. When the self-moving device encounters obstacles that affect normal walking and too many turns during walking, the self-moving device can change its target recharging path in a timely manner, and find a recharging path with less power consumption by splicing the recharging paths, thereby reducing the power consumption of the self-moving device during recharging and realizing dynamic adjustment of the recharging path.

[0111] For example, to help understand the technical concept or technical principle of this application, please refer to Figure 2 , Figure 2A schematic diagram of a scenario in which a self-mobile device is planning a recharging path is provided. The diagram shows a historical working path obtained when the self-mobile device starts from a charging station and works along a bow-shaped scanning path. Points 1, 2, and 3 are historical working positions in the historical working path. When the self-mobile device works to the location of point 1 and triggers a charging instruction at point 1, the self-mobile device can directly return to the charging pile through the historical working path. When the self-mobile device works to the location of point 2 and triggers a charging instruction, the shortest recharging path consumes less power than the historical working path. At this time, the self-mobile device can return to the charging pile through the shortest recharging path. When the self-mobile device works to point 3 and triggers the charging instruction, if there is no obstacle on the recharging path, it can walk to the path turning position, that is, the position of point 2, through the historical working path. The self-mobile device detects at point 2 that there is a shortest path with the least power consumption to return to the charging station. Therefore, the self-mobile device will dynamically adjust the recharging path and return to the charging station for charging by the shortest path. When the self-mobile device triggers the charging instruction at point 3 and there is an obstacle on the recharging path, it can walk to the obstacle through the historical working path, and then make the self-mobile device bypass the obstacle and walk to the adjacent historical working path in the current recharging path.

[0112] Embodiment 2

[0113] Based on the first embodiment of the present application, in another embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 The step of planning a recharging path for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path includes:

[0114] Step E10, obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively;

[0115] Step E20, planning a recharging path for the mobile device according to the road condition information, and determining the target recharging path.

[0116] In this embodiment, it should be noted that since there are multiple recharging paths in the preselected recharging paths, in order to select the recharging path with the lowest power consumption, it is necessary to judge the road condition information of all preselected recharging paths, wherein the road condition information may specifically include snow accumulation, obstacles, number of turns, load of the walking motor, etc. By comparing the road condition information of the historical working path and the preselected recharging path, the best road condition information is selected, that is, the path with the least walking power consumption is selected as the target recharging path among the historical working path and the preselected recharging path.

[0117] In a possible implementation, the self-moving device is provided with a distance measuring sensor and / or a snow shoveling motor, the road condition information includes snow accumulation, and the step of obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively includes:

[0118] Step F10, identifying the snow conditions of the historical working path and the pre-selected recharging path by the ranging sensor; and / or

[0119] Step F20, obtaining the periodic snow clearing amount of the snow clearing motor when it travels on the historical working path and the pre-selected recharging path; and obtaining the snow accumulation conditions of the historical working path and the pre-selected recharging path based on the periodic snow clearing amount.

[0120] In the present embodiment, it should be noted that before the self-moving device determines the target recharging path, it is necessary to detect the snow accumulation conditions of the historical recharging paths and all pre-selected recharging paths. The detection method may be a ranging sensor or a snowplow motor provided on the self-moving device, wherein the snow accumulation condition may be specifically manifested as the thickness of the snow. The ranging sensor may include, for example, a visual sensor or a lidar. The periodic snow plowing amount may be represented as the load consumed by the snowplow motor when the snowplow motor plows snow on different recharging paths within the same period of time.

[0121] As an example, the step of identifying the snow conditions of the historical working path and the pre-selected recharging path through the ranging sensor includes: using a visual sensor or a lidar from a mobile device to concretely identify the snow conditions of all recharging paths, respectively determine the height and size of the snow in the historical working path and the recharging path, and compare the snow conditions in the historical working path and the recharging path to select a recharging path with less snow as the target recharging path.

[0122] As another example, the step of obtaining the periodic snow clearing amount of the snow clearing motor when traveling on the historical working path and the pre-selected recharging path includes: generally, the snow clearing motor may not be turned on during recharging, but when judging whether there is snow accumulation, a threshold time may be preset as the working time of the snow clearing motor. Within the threshold time, the load condition of the snow clearing motor is judged. The greater the load of the snow clearing motor, the thicker the snow on the recharging path. Therefore, the self-mobile device will select the path with the smallest snow clearing motor load among the recharging paths as the target recharging path.

[0123] This embodiment specifically explains how to detect the snow condition on the recharging path, and there are multiple ways to detect the snow condition, so that when the self-moving device selects the target recharging path, there is a basis for the self-moving device to judge the road condition information. As a result, the self-moving device can more accurately select the most suitable target recharging path, reducing the load on the travel motor of the self-moving device when it returns to the charging station for charging.

[0124] Embodiment 3

[0125] The present invention also provides a recharging path planning device, please refer to Figure 4 , the recharging path planning device comprises:

[0126] An acquisition module 10 is used to acquire a historical working path corresponding to the current position of the self-mobile device when the self-mobile device triggers recharging;

[0127] A determination module 20, configured to determine a preselected recharging path for the self-mobile device according to the current location and the recharging location of the charging station;

[0128] The planning module 30 performs recharging path planning for the self-mobile device according to the historical working path and the pre-selected recharging path, and obtains a target recharging path, so that the self-mobile device moves to the charging station for recharging according to the target recharging path.

[0129] Optionally, the planning module 30 is further configured to:

[0130] Determining whether the historical working path matches the charging station recharging location;

[0131] If they match, the target recharging path is generated by comparing the recharging power consumptions corresponding to the historical working path and the pre-selected recharging path respectively;

[0132] If there is no match, determining the path splicing position of the historical working path;

[0133] According to the path splicing position, a backfill sub-path is constructed for the self-mobile device, and the backfill sub-path and the historical working path are spliced ​​into the target backfill path.

[0134] Optionally, the recharging path planning device further includes a detection module, and the detection module is used to:

[0135] Acquire at least one historical work position of the historical work path;

[0136] For any of the historical working positions, detecting the recharging power consumption between the historical working position and the recharging position of the charging station;

[0137] The path splicing position is selected from each of the historical working positions according to the recharging power consumption.

[0138] Optionally, the detection module is further used for:

[0139] detecting a relationship between the second power consumption and the first power consumption;

[0140] When the second power consumption is less than or equal to the first power consumption, selecting the target recharging path from the preselected recharging paths;

[0141] When the second power consumption is greater than the first power consumption, using the historical working path as the target recharging path;

[0142] When the power consumption of some paths in the second power consumption and the power consumption of some paths in the first power consumption are added together to obtain the minimum recharging power consumption, the target recharging path is generated according to the historical working path and the pre-selected recharging path.

[0143] Optionally, the planning module 30 is further configured to:

[0144] Detecting whether there is an obstacle when the self-mobile device walks along the target recharging path;

[0145] If so, controlling the self-moving device to bypass the obstacle, and determining the bypass termination position on the target recharging path after the bypass is completed;

[0146] An alternative sub-path is generated according to the detour termination position and the charging station recharging position, and the self-mobile device is controlled to move to the charging station for recharging according to the alternative sub-path, wherein the alternative sub-path is generated by the historical working path and / or the pre-selected recharging path.

[0147] Optionally, the determining module 20 is further configured to:

[0148] Obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively;

[0149] According to the road condition information, a recharging path is planned for the self-mobile device to determine the target recharging path.

[0150] Optionally, the self-moving device is provided with a distance measuring sensor and / or a snow-clearing motor, the road condition information includes snow accumulation, and the recharging path planning device further includes an identification module, and the identification module is used to:

[0151] Identifying the snow conditions of the historical working path and the pre-selected recharging path by the ranging sensor; and / or

[0152] The periodic snow-shoveling amount of the snow-shoveling motor when traveling on the historical working path and the pre-selected recharging path is obtained; and the snow accumulation conditions of the historical working path and the pre-selected recharging path are obtained according to the periodic snow-shoveling amount.

[0153] The recharging path planning device provided by the present invention adopts the recharging path planning method in the above-mentioned embodiment 1 or embodiment 2, which can solve the technical problem that the existing self-mobile equipment consumes a lot of electric energy during the recharging process due to unreasonable recharging path planning when going to the charging station for recharging, resulting in low recharging efficiency of the self-mobile equipment. Compared with the prior art, the beneficial effects of the recharging path planning device provided by the embodiment of the present invention are the same as the beneficial effects of the recharging path planning method provided by the above-mentioned embodiment, and the other technical features in the recharging path planning device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0154] Embodiment 4

[0155] The present application also provides a self-moving device, which includes: a vehicle head, a vehicle body, a memory, a processor, and a recharging path planning program stored in the memory and executable on the processor, wherein the vehicle head is detachably connected to the vehicle body, the memory and the processor are arranged on the vehicle body, and the recharging path planning program is configured to implement the steps of the recharging path planning method as described above.

[0156] like Figure 5As shown, the self-mobile device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005, a vehicle body 1006, and a front 1007. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001. The vehicle head 1007 is detachably connected to the vehicle body 1006 , and the processor 1001 , the communication bus 1002 , the user interface 1003 , the network interface 1004 , and the memory 1005 are arranged on the vehicle body 1006 .

[0157] Those skilled in the art will understand that Figure 5 The structure shown in the figure does not constitute a limitation on the self-moving device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0158] like Figure 5 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and a recharge path planning program.

[0159] exist Figure 5 In the self-mobile device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the self-mobile device of the present invention can be set in the self-mobile device, and the self-mobile device calls the recharge path planning program stored in the memory 1005 through the processor 1001 to execute the recharge path planning method provided in an embodiment of the present invention.

[0160] The self-moving device provided by the present invention adopts the recharging path planning method in the above embodiment to solve the technical problem that the existing self-moving device consumes a lot of electric energy during the recharging process due to unreasonable recharging path planning when going to the charging station for recharging, resulting in low recharging efficiency of the self-moving device. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the embodiment of the present invention are the same as the beneficial effects of the recharging path planning method provided by the above embodiment 1 or embodiment 2, which will not be repeated here.

[0161] It should be understood that the various parts of the present disclosure can be implemented with hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0162] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0163] Embodiment 5

[0164] An embodiment of the present invention provides a computer-readable storage medium having computer-readable program instructions stored thereon, and the computer-readable program instructions are used to execute the recharging path planning method in the above-mentioned embodiment 1.

[0165] The computer-readable storage medium provided in the embodiment of the present invention may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. 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 or 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 thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0166] The computer-readable storage medium may be included in the electronic device, or may exist independently without being installed in the electronic device.

[0167] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by an electronic device, the electronic device: when the self-mobile device triggers recharging, obtains the historical working path corresponding to the current position of the self-mobile device; determines the pre-selected recharging path of the self-mobile device according to the current position and the recharging position of the charging station; plans the recharging path of the self-mobile device according to the historical working path and the pre-selected recharging path, and obtains the target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

[0168] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0169] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the 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 square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square 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 square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart 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.

[0170] The modules involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of the module does not limit the unit itself in some cases.

[0171] The readable storage medium provided by the present invention is a computer-readable storage medium, which stores computer-readable program instructions for executing the above-mentioned recharging path planning method, which can solve the technical problem that when the existing self-mobile device goes to the charging station for recharging, the recharging path planning is unreasonable, so a large amount of electric energy is consumed during the recharging process, resulting in low recharging efficiency of the self-mobile device. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the embodiment of the present invention are the same as the beneficial effects of the recharging path planning method provided by the above-mentioned embodiment 1 or embodiment 2, and will not be repeated here.

[0172] Embodiment 6

[0173] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the steps of the above-mentioned recharging path planning method when executed by a processor.

[0174] The computer program product provided by the present application can solve the technical problem that when the existing self-mobile device goes to the charging station for recharging, the recharging path planning is unreasonable, so a large amount of electric energy is consumed during the recharging process, resulting in low recharging efficiency of the self-mobile device. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the present invention are the same as the beneficial effects of the recharging path planning method provided by the above-mentioned embodiment 1 or embodiment 2, and will not be repeated here.

[0175] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0176] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0177] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0178] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A recharging path planning method, characterized in that: Applied to a self-mobile device, the recharging path planning method includes: When the self-mobile device triggers recharging, obtaining a historical working path corresponding to the current position of the self-mobile device; Determining a preselected recharging path for the self-mobile device based on the current location and the recharging location of the charging station; According to the historical working path and the pre-selected recharging path, a recharging path is planned for the self-mobile device to obtain a target recharging path, so that the self-mobile device moves to the charging station for recharging according to the target recharging path; The step of planning a recharging path for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path comprises: Determining whether the historical working path matches the charging station recharging location; If they match, the target recharging path is generated by comparing the recharging power consumptions corresponding to the historical working path and the pre-selected recharging path respectively; If there is no match, determining the path splicing position of the historical working path; According to the path splicing position, a backfill sub-path is constructed for the self-mobile device, and the backfill sub-path and the historical working path are spliced ​​into the target backfill path.

2. The recharging path planning method according to claim 1, characterized in that: The step of determining the path splicing position of the historical working path comprises: Acquire at least one historical work position of the historical work path; For any of the historical working positions, detecting the recharging power consumption between the historical working position and the recharging position of the charging station; The path splicing position is selected from each of the historical working positions according to the recharging power consumption.

3. The recharging path planning method according to claim 1, characterized in that: The recharging power consumption includes a first power consumption of the historical working path and a second power consumption of the preselected recharging path, The step of generating the target recharging path by comparing the recharging power consumptions respectively corresponding to the historical working path and the pre-selected recharging path comprises: detecting a relationship between the second power consumption and the first power consumption; When the second power consumption is less than or equal to the first power consumption, selecting the target recharging path from the preselected recharging paths; When the second power consumption is greater than the first power consumption, using the historical working path as the target recharging path; When the power consumption of some paths in the second power consumption and the power consumption of some paths in the first power consumption are added together to obtain the minimum recharging power consumption, the target recharging path is generated according to the historical working path and the pre-selected recharging path.

4. The recharging path planning method according to claim 1, characterized in that: After the step of performing recharging path planning on the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path, the recharging path planning method further includes: Detecting whether there is an obstacle when the self-mobile device walks along the target recharging path; If so, controlling the self-moving device to bypass the obstacle, and determining the bypass termination position on the target recharging path after the bypass is completed; An alternative sub-path is generated according to the detour termination position and the charging station recharging position, and the self-mobile device is controlled to move to the charging station for recharging according to the alternative sub-path, wherein the alternative sub-path is generated by the historical working path and / or the pre-selected recharging path.

5. The recharging path planning method according to claim 1, characterized in that: The step of planning a recharging path for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path comprises: Obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively; According to the road condition information, a recharging path is planned for the self-mobile device to determine the target recharging path.

6. The recharging path planning method according to claim 5, characterized in that: The self-moving device is provided with a distance measuring sensor and / or a snow-clearing motor, and the road condition information includes snow accumulation. The step of obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively comprises: Identifying the snow conditions of the historical working path and the pre-selected recharging path by the ranging sensor; and / or The periodic snow-shoveling amount of the snow-shoveling motor when traveling on the historical working path and the pre-selected recharging path is obtained; and the snow accumulation conditions of the historical working path and the pre-selected recharging path are obtained according to the periodic snow-shoveling amount.

7. A recharging path planning device, characterized in that: Applied to a self-mobile device, the recharging path planning device comprises: An acquisition module, used for acquiring a historical working path corresponding to the current position of the self-mobile device when the self-mobile device triggers recharging; A determination module, configured to determine a preselected recharging path for the self-mobile device according to the current location and the recharging location of the charging station; A planning module is used to plan a recharging path for the self-mobile device according to the historical working path and the pre-selected recharging path, and obtain a target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path; the planning module is also used to determine whether the historical working path matches the recharging position of the charging station; if it matches, the target recharging path is generated by comparing the recharging power consumption corresponding to the historical working path and the pre-selected recharging path respectively; if it does not match, the path splicing position of the historical working path is determined; according to the path splicing position, a recharging sub-path is constructed for the self-mobile device, and the recharging sub-path and the historical working path are spliced ​​into the target recharging path.

8. A self-moving device, the self-moving device comprising: A vehicle head, a vehicle body, a memory, a processor, and a recharging path planning program stored in the memory and executable on the processor, wherein the vehicle head is detachably connected to the vehicle body, the memory and the processor are arranged on the vehicle body, and the recharging path planning program is configured to implement the steps of the recharging path planning method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The storage medium stores a recharging path planning program, which, when executed by a processor, implements the steps of the recharging path planning method according to any one of claims 1 to 6.

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