Path tracking method and self-moving device

Abstract

Embodiments of the present application provide a path tracking method and a self-moving device. The method comprises: obtaining a guide point on a navigation path at a look-ahead distance from a current position of the self-moving device, planning a local navigation path between the current position and the guide point; performing collision analysis on the local navigation path, and if the local navigation path is determined not to collide, controlling the self-moving device to travel to the guide point according to the local navigation path; if the local navigation path is determined to collide, increasing the value of the look-ahead distance, obtaining a new guide point, and planning a local navigation path between the current position and the new guide point; and performing collision analysis on the local navigation path, and if the local navigation path is determined not to collide, controlling the self-moving device to travel to the guide point according to the local navigation path. The method provided by the present application can meet the requirements of following and obstacle avoidance in navigation, while reducing the computational complexity, so that it is suitable for resource-limited environments.

Description

Technical Field

[0001] This invention belongs to the field of tracking and navigation technology, specifically relating to a path tracking method and a self-moving device. Background Technology

[0002] Self-moving devices, such as automatic lawnmowers, can automatically mow and recharge their batteries in a user's lawn without user intervention. Because automatic lawnmowers require no further management after a single setup, they free users from tedious and time-consuming household chores like lawn maintenance, making them extremely popular.

[0003] Existing tracking and navigation methods for self-moving devices mostly employ traditional path tracing methods, which tend to use global path planning. However, these algorithms have the following shortcomings when applied to navigation of self-moving devices:

[0004] 1. Difficulty in quickly adapting to dynamic environments: The working environment of self-moving devices is usually complex and changeable. When encountering complex environments that require rapid adjustment, the global path planning algorithm cannot make timely adjustments. Self-moving devices are prone to collisions when they get close to obstacles, leading to planning failure.

[0005] 2. Inability to effectively solve the obstacle avoidance problem when close to obstacles: When performing global path planning, traditional path tracking methods usually rely entirely on the global path without considering collision avoidance with obstacles.

[0006] 3. High computational requirements: Traditional path tracing methods rely on global path planning, which requires high computational power. However, self-moving devices usually use embedded systems with limited computational power, so traditional path tracing methods are not suitable for resource-constrained embedded systems. Summary of the Invention

[0007] Therefore, the present invention aims to propose a novel path tracking method that can balance the needs of following and obstacle avoidance in device navigation, while reducing computational complexity and making it suitable for resource-constrained environments.

[0008] To address the aforementioned technical problems, this invention provides a path tracking method for local path planning of a self-moving device, comprising:

[0009] S10. Obtain a guide point on the navigation path whose distance from the current position of the self-mobile device is the look-ahead distance, and plan a local navigation path between the current position of the self-mobile device and the guide point;

[0010] S20. Perform collision analysis on the local navigation path to determine whether a collision will occur. If the local navigation path will not collide, proceed to step S40; if the local navigation path will collide, proceed to step S30.

[0011] S30. Increase the value of the look-ahead distance, obtain a guide point on the navigation path whose distance from the current position of the self-mobile device is the increased look-ahead distance, and plan a local navigation path between the current position of the self-mobile device and the new guide point;

[0012] Perform collision analysis on the local navigation path to determine whether a collision will occur. If it is determined that the local navigation path will not collide, proceed to step S40.

[0013] S40. Control the self-moving device to travel to the guide point according to the local navigation path.

[0014] In one embodiment, if it is determined in step S30 that a collision will occur in the local navigation path, the method further includes:

[0015] Obtain the pose of the self-moving device corresponding to the guide point, and offset the guide point longitudinally according to the pose to obtain a new guide point;

[0016] Plan a local navigation path between the current location of the self-moving device and the new guide point, perform collision analysis on the local path, and determine whether the local navigation path will collide. If it is determined that the local path will not collide, proceed to step S40.

[0017] In one embodiment, the longitudinal offset of the guide point includes:

[0018] Based on the collision analysis of the local navigation path, the collision pose of the self-moving device relative to the obstacle is determined when the collision occurs, and the offset amount and offset direction of the guide point are determined based on the collision pose.

[0019] The guide point is rotated and biased according to the determined bias amount and bias direction.

[0020] In one embodiment, determining the offset amount and offset direction of the guide point based on the collision pose includes:

[0021] Determine the position coordinates of the self-moving device corresponding to the collision pose and the orientation of the self-moving device accordingly;

[0022] Obtain the detection collision area around the local navigation path, determine the minimum offset of the guide point based on the position coordinates and the positional relationship of the detection collision area, and determine the offset based on the preset dynamic adjustment algorithm and the minimum offset;

[0023] The orientation information of the obstacle relative to the self-moving device is determined based on the collision detection area, and the offset direction is determined based on the orientation information.

[0024] In one embodiment, step S40, controlling the self-moving device to travel to the guide point according to the local navigation path, includes:

[0025] Calculate the path length of the local navigation path, and determine the curvature of the local navigation path based on the path length and the look-ahead distance;

[0026] The maximum linear acceleration and control period of the self-moving device are determined based on the curvature; wherein, the larger the curvature, the smaller the maximum linear acceleration and the control period;

[0027] Determine whether the self-moving device needs to rotate to face the guide point. If the self-moving device does not need to rotate, adjust the current linear velocity and current angular velocity of the self-moving device according to the determined control cycle so that the self-moving device travels on the local navigation path; wherein the current linear velocity is less than the maximum linear acceleration and the angular velocity is less than a preset angular velocity threshold.

[0028] In one embodiment, performing collision analysis on the local navigation path to determine whether a collision will occur includes:

[0029] Simulate the movement of the self-moving device on the local navigation path and record the position information of the self-moving device at various times on the local navigation path;

[0030] Obtain the collision detection area around the local navigation path, compare the position information at each time with the collision detection area, and determine whether the position information is within the collision detection area. If one or more of the position information is within the collision detection area, it is determined that the local navigation path will collide. If all the position information is not within the collision detection area, it is determined that the local navigation path will not collide.

[0031] In one embodiment, the method for obtaining the detection collision region around the local navigation path further includes:

[0032] Detect obstacle information in front of the self-moving device and identify the position of the outer contour of the obstacle;

[0033] The detection collision area is obtained by performing an expansion calculation on the outer contour of the obstacle.

[0034] In one embodiment, the method further includes:

[0035] Determine the orientation of the collision detection area relative to the self-moving device and the orientation of the guide point. If the orientation of the obstacle relative to the self-moving device is the same as the orientation of the guide point relative to the self-moving device, control the self-moving device to rotate in the opposite direction to the orientation of the obstacle, and plan a local navigation path to the guide point based on the current orientation.

[0036] In one embodiment, if one or more of the location information are within the detection collision area, the method further includes:

[0037] Based on the location information of one or more locations within the collision detection area, potential collision paths are extracted and sent to the terminal to indicate an impending collision.

[0038] Furthermore, the present invention also provides a self-moving device, comprising:

[0039] Organism;

[0040] A driving mechanism is located at the bottom of the machine body and is used to support the machine body and drive the machine body to move.

[0041] A controller, which is used to execute the path tracing method described in any of the above embodiments.

[0042] The technical solution provided by this invention has the following advantages:

[0043] The path tracking method and self-moving device provided in this invention perform collision analysis on the guide point during path tracking, and determine whether to use the current guide point or adjust the guide point based on the analysis results, thereby reducing the possibility of collisions during path tracking. In navigation, it can take into account both following and obstacle avoidance requirements, while reducing computational complexity, making it suitable for resource-constrained environments. Attached Figure Description

[0044] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0045] Figure 1A flowchart illustrating the path tracing method provided in an embodiment of the present invention;

[0046] Figure 2 A schematic flowchart of a path tracking method provided in another embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram illustrating the principle of a local navigation path for a self-moving device according to an embodiment of the present invention.

[0048] Figure 4 This is a schematic diagram illustrating the principle of a local navigation path for a self-moving device according to an embodiment of the present invention.

[0049] Figure 5 This is a schematic diagram illustrating the principle of a local navigation path for a self-moving device according to an embodiment of the present invention.

[0050] Figure 6 This is a three-dimensional structural diagram of a self-moving device employing the path tracking method provided by the present invention. Detailed Implementation

[0051] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0052] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0053] In this invention, unless otherwise stated, the examples described below are merely specific examples and are not intended to limit the embodiments of the invention to the specific steps, values, conditions, data, order, etc. Those skilled in the art can utilize the concepts of this invention to construct further embodiments not mentioned herein by reading this specification.

[0054] Example 1

[0055] Self-moving devices can be understood as devices that rely on artificial intelligence to automatically perform tasks within a work area. Typically, self-moving devices create a map of the work area, facilitating map-based path planning and navigation.

[0056] Most existing self-moving devices employ traditional path tracking methods. These methods tend to rely on global path planning, which struggles to adapt quickly to dynamic environments. Since self-moving devices typically operate in complex and variable environments, global path planning algorithms cannot adapt promptly to situations requiring rapid adjustments. This leads to collisions when the device approaches obstacles, causing planning failures. Furthermore, traditional path tracking methods often rely entirely on global paths without considering obstacle avoidance. Collisions result in planning failures, necessitating path replanning and placing a greater burden on computational resources. In fact, global path planning demands significant computational power, which is limited for self-moving devices using embedded systems. Therefore, traditional path tracking methods are unsuitable for resource-constrained embedded systems.

[0057] To address the aforementioned problems, this invention provides a path tracking method for local path planning of a self-moving device, which includes the following in its specific implementation:

[0058] S10. Obtain a guide point on the navigation path whose distance from the current position of the self-mobile device is the look-ahead distance, and plan a local navigation path between the current position of the self-mobile device and the guide point;

[0059] S20. Perform collision analysis on the local navigation path to determine whether a collision will occur. If the local navigation path will not collide, proceed to step S40; if the local navigation path will collide, proceed to step S30.

[0060] S30. Increase the value of the look-ahead distance, obtain a guide point on the navigation path whose distance from the current position of the self-mobile device is the increased look-ahead distance, and plan a local navigation path between the current position of the self-mobile device and the new guide point;

[0061] Perform collision analysis on the local navigation path to determine whether a collision will occur. If it is determined that the local navigation path will not collide, proceed to step S40.

[0062] S40. Control the self-moving device to travel to the guide point according to the local navigation path.

[0063] In one embodiment, the aforementioned self-moving device may specifically include at least one of the following: a lawnmower robot, a sweeping robot, a mopping robot, a monitoring robot, etc. It should be noted that the self-moving devices listed above are merely illustrative. In specific implementations, depending on the specific application scenario and processing requirements, the target device may also include inspection robots, nanny robots, etc. This specification does not limit this.

[0064] The self-moving device moves autonomously and performs tasks within the work area. The aforementioned work area can be specifically understood as the area within which the self-moving device performs its tasks. For example, a lawnmower robot is responsible for mowing the lawn, a sweeping robot is responsible for cleaning the room area, or an automated inspection device is responsible for inspecting the factory area, and so on.

[0065] The self-moving device autonomously plans a navigation route based on its current location and the target location, and then travels within the work area according to the planned navigation route.

[0066] For details, please refer to Figure 3 As shown, the self-moving device 30 travels within the work area S. The self-moving device 30 stores a two-dimensional map of the work area S and updates its current coordinates in real time based on this map. For example, the two-dimensional map of the work area S is a two-dimensional planar map established by mutually perpendicular Rx and Ry axes. The real-time coordinates of the self-moving device 30 are represented as Pn(x, y) corresponding to the specific coordinates of the Rx and Ry axes. Let the target point of the self-moving device 30 be D(x, y). The control system pre-plans a navigation path to the target point. During travel, the self-moving device updates its current position Pn, enabling it to follow the navigation path and ultimately reach the target point D.

[0067] Here, the aforementioned "guide point" is a point on the navigation path that is a look-ahead distance L from the current position Pn of the self-moving device 30. The look-ahead distance L is pre-set in the self-moving device's control system. A circle is drawn with the current position Pn as the center and the look-ahead distance L as the radius, resulting in the following... Figure 3 The circle shown by the dashed line intersects with the navigation path, and this intersection point is the guide point Ps. After determining the guide point Ps, a local navigation path is planned between the current position Pn of the self-moving device 30 and the guide point Ps (e.g., ...). Figure 3 (As shown by the thicker line segment).

[0068] The self-moving device performs a collision analysis on the local navigation path to determine whether a collision event will occur if it follows the path. If the result is negative, meaning the local navigation path will not result in a collision, a collision-free navigation route has been found, and the process proceeds to step S40, controlling the self-moving device to travel along the local navigation path to the guide point Ps. If the result is positive, meaning the local navigation path will result in a collision, then step S30 is executed to further search for a suitable guide point.

[0069] In a specific implementation scenario, moving obstacles may appear in the work area, such as the obstacle shown in the ellipse shape in the figure. If the obstacle is close to the local navigation path, the self-moving device will perform collision analysis on the local navigation path and find that a collision event will occur if it travels along the current local navigation path. Since the current local navigation path is not a collision-free navigation path, the self-moving device will execute step S30.

[0070] In step S30, new guide points are found by increasing the look-ahead distance. For details, please refer to [link to relevant documentation]. Figure 4 The lookahead distance L = L + Δ, where Δ is a positive value, and the new lookahead distance L is larger. A circle is drawn with the current position Pn as the center and the increased lookahead distance L as the radius (e.g., ...). Figure 4 (As shown by the larger dashed circle in the diagram), the intersection of this circle and the navigation path is the new guide point Ps. For ease of explanation, the guide point determined in the previous planning is denoted as Ps1. The new guide point Ps is farther away from the current position Pn of the self-moving device 30 than Ps1. The local navigation path between the current position Pn of the self-moving device and the new guide point Ps is planned again, resulting in a new local navigation path (as shown in the diagram). Figure 4 (As shown by the thick solid line), this local navigation path takes into account obstacle avoidance 1. Collision analysis is performed on the above local navigation path to determine whether a collision will occur. If it is determined that no collision will occur, step S40 is executed to control the self-moving device to travel to the guide point Ps according to the local navigation path.

[0071] As the current location of the autonomous mobile device changes, the location of the guide point, determined based on the look-ahead distance, also changes accordingly. During the autonomous mobile device's operation, the local navigation path is updated in real time within each planning cycle. Since the length of the local navigation path is determined by the current location and the guide point, it is relatively short, resulting in less computational load per planning cycle and significantly reduced computational power requirements. Furthermore, it allows for more accurate identification of relationships with obstacles, enabling more accurate collision analysis, reducing the probability of collisions, and improving the planning success rate.

[0072] The path tracking method provided in this embodiment determines a guide point by looking ahead during navigation, plans a local navigation path based on the guide point, performs collision analysis on the local navigation path, and if no collision-free local navigation path is found, the guide point is further adjusted by increasing the look-ahead distance, the local navigation path is planned again, and collision analysis is performed on the local navigation path. If no collision occurs, the vehicle can proceed to the guide point according to the local navigation path. This reduces the possibility of collisions during navigation, while simultaneously meeting the requirements of following and obstacle avoidance, reducing computational complexity, and making it suitable for resource-constrained environments.

[0073] To increase the likelihood of finding a collision-free local navigation path and improve the planning success rate, in one embodiment, if it is determined in step S30 that a collision will occur in the local navigation path, please refer to [link to relevant documentation]. Figure 2 As shown, the method also includes:

[0074] S50. Obtain the pose of the self-moving device corresponding to the guide point, and offset the guide point longitudinally according to the pose to obtain a new guide point.

[0075] S60. Plan a local navigation path between the current location of the self-moving device and the new guide point, perform collision analysis on the local path, and determine whether the local navigation path will collide. If it is determined that the local path will not collide, proceed to step S40.

[0076] In other words, if the local navigation path planned in step S30 still fails to find a collision-free path, the guide points will be further adjusted. For details, please refer to [link to relevant documentation]. Figure 5 As shown, for ease of explanation, the previously determined guide point Ps2 is recorded. Based on the pose of the self-moving device as it travels to guide point Ps2, guide point Ps2 is longitudinally offset to obtain a new guide point Ps. A local navigation path is then planned between the current position and the new guide point based on the new guide point Ps. This local navigation path considers obstacle avoidance 2, thus improving obstacle avoidance capabilities. See also... Figure 5 The new local navigation path is shown by a thick solid line, while the previous local navigation path is shown by a thick dashed line. It can be seen that the new local navigation path is farther from obstacle 2 in the section approaching obstacle 2, thus achieving collision-free passage for the self-moving device 30. The pose of the self-moving device at guide point Ps2 includes its coordinate position and orientation at guide point Ps2. The orientation is the direction of movement of the self-moving device at guide point Ps2.

[0077] It should be noted that "longitudinal offset" is understood as offsetting the self-moving device to the left or right based on its pose at the guide point, relative to its forward direction. Longitudinal offset includes rotation and offset amounts. After longitudinal offset, a new guide point is obtained, which is approximately deviated from the original navigation path. The method provided in this embodiment balances following capability and obstacle avoidance by offsetting the guide point, resulting in a passable local navigation path and ensuring a high planning success rate.

[0078] In this specific embodiment, if in step S60 it is determined whether a collision will occur in the local navigation path, and if it is determined that a collision will occur in the local path, then the current planning fails, step S70 is executed, and a failure result is returned.

[0079] In a specific embodiment, the step of longitudinally offsetting the guide point may include:

[0080] Based on the collision analysis of the local navigation path, the collision pose of the self-moving device relative to the obstacle is determined when the collision occurs, and the offset amount and offset direction of the guide point are determined based on the collision pose.

[0081] The guide point is rotated and biased according to the determined bias amount and bias direction.

[0082] The self-moving device may encounter a collision at any point along the local navigation path. By obtaining the collision analysis results of the local navigation path, the collision pose of the self-moving device at the time of the collision can be determined, that is, the position coordinates and orientation of the self-moving device. These position coordinates and orientation reflect the position of the obstacle and its orientation relative to the self-moving device. Furthermore, the offset amount and offset direction of the guide point can be determined based on the collision pose, so that the new guide point is further away from the obstacle, in order to plan a collision-free local navigation path.

[0083] In one specific embodiment, the above step "determining the offset amount and offset direction of the guide point based on the collision pose" includes:

[0084] Determine the position coordinates of the self-moving device corresponding to the collision pose and the orientation of the self-moving device accordingly;

[0085] Obtain the detection collision area around the local navigation path, determine the minimum offset of the guide point based on the position coordinates and the positional relationship of the detection collision area, and determine the offset based on the preset dynamic adjustment algorithm and the minimum offset;

[0086] The orientation information of the obstacle relative to the self-moving device is determined based on the collision detection area, and the offset direction is determined based on the orientation information.

[0087] In the above steps, collision pose is determined through collision analysis, whereby the collision pose includes the position coordinates of the self-moving device and its orientation at the time of the collision. Further, the detection collision area around the local navigation path is acquired, and the positional relationship between the position coordinates corresponding to the collision pose and the detection collision area is identified. Based on the position coordinates of the collision pose and the positional relationship of the detection collision area, the minimum offset of the guide point is determined. This minimum offset ensures that after offsetting, the guide point can be located outside the detection collision area. In implementation, the actual offset is determined according to a preset dynamic adjustment algorithm and the minimum offset. This actual offset is greater than the minimum offset to ensure the success rate of obstacle avoidance.

[0088] Specifically, the offset can be understood as the offset distance between the new guide point and the previous guide point, i.e., the distance between the two points. For example, if the previous guide point is located in the collision detection area and its distance from the nearest outer boundary of the collision detection area is d, then the guide point needs an offset distance of at least d to avoid collisions with obstacles. Therefore, the minimum offset is d. Obviously, using the minimum offset d to offset the guide point may still not effectively avoid collisions with obstacles. Therefore, this embodiment uses a preset dynamic adjustment algorithm to obtain the actual offset based on the minimum offset, and the actual offset is greater than the minimum offset.

[0089] After determining the offset amount, the offset direction must also be determined. Only based on the offset amount and offset direction can the accurate location of the new guide point be determined. In a specific embodiment, the orientation information of the obstacle relative to the self-moving device is determined based on the collision detection area, and the offset direction is determined based on the orientation information. The offset direction points away from the collision detection area. For example, the offset direction can be represented by an offset angle, which is the angle between the line connecting the new guide point and the current position Pn of the self-moving device and the forward direction of the self-moving device.

[0090] The acquisition of the aforementioned "collision detection area" can be found in the relevant content of subsequent embodiments, and will not be repeated here.

[0091] In one embodiment, the above step of "controlling the self-moving device to travel to the guide point according to the local navigation path" may specifically include:

[0092] Calculate the path length of the local navigation path, and determine the curvature of the local navigation path based on the path length and the look-ahead distance;

[0093] The maximum linear acceleration and control period of the self-moving device are determined based on the curvature.

[0094] Determine whether the self-moving device needs to rotate to face the guide point. If the self-moving device does not need to rotate, adjust the current linear velocity and current angular velocity of the self-moving device according to the determined control cycle, so that the self-moving device travels on the local navigation path.

[0095] Understandably, if the local navigation path has significant curvature, the angular velocity of the self-moving device will change considerably, requiring timely adjustments to its orientation to follow the path. Failure to adjust orientation promptly will result in reduced tracking accuracy. Therefore, tracking is more challenging when the local navigation path has significant curvature.

[0096] To ensure tracking accuracy, in the above embodiments, the curvature of the local navigation path is determined based on the path length and look-ahead distance. The maximum linear acceleration and control period are then determined based on the curvature. In other words, the maximum linear acceleration and control period are limited by the curvature to ensure tracking accuracy. The control period is understood as the time period during which the self-moving device controls its movement. A shorter control period indicates a higher control frequency and higher control accuracy. Conversely, a larger curvature results in a smaller maximum linear acceleration and a shorter control period.

[0097] Specifically, the curvature of the local navigation path is divided into multiple curvature segments, and a corresponding maximum linear acceleration and matching control period are set for each curvature segment. After determining the curvature of the local navigation path, the curvature segment in which the curvature is located is identified, thereby matching the maximum linear acceleration and control period.

[0098] In some implementation scenarios, the orientation of the self-moving device is different from or even opposite to the orientation of the guide point. In this case, the self-moving device needs to rotate in place to face the guide point. If the self-moving device does not need to rotate, its current linear velocity and current angular velocity can be adjusted according to a defined control cycle to allow the self-moving device to travel on a local navigation path. Specifically, the current linear velocity is less than the maximum linear acceleration, and the angular velocity is less than a preset angular velocity threshold.

[0099] In one embodiment, the step "performing collision analysis on the local navigation path to determine whether a collision will occur" may include, in real-time:

[0100] Simulate the movement of the self-moving device on the local navigation path and record the position information of the self-moving device at various times on the local navigation path;

[0101] Obtain the collision detection area around the local navigation path, compare the position information at each time with the collision detection area, and determine whether the position information is within the collision detection area. If one or more of the position information is within the collision detection area, it is determined that the local navigation path will collide. If all the position information is not within the collision detection area, it is determined that the local navigation path will not collide.

[0102] In the above steps, collision analysis of the local navigation path is performed using computer simulation. That is, the control system of the self-moving device pre-simulates the movement trajectory of the self-moving device on the local navigation path and records its position information at various times along the path. All position information is compared with the collision detection area to determine if any position information is within the detection area. If one or more position information points are within the detection area, a collision is determined to occur on the local navigation path; otherwise, no collision is determined to occur.

[0103] The collision detection area is determined by the self-moving device based on the detected obstacles in front of it. The self-moving device is equipped with detection sensors to detect information about the surrounding environment and thus identify obstacles. Examples of such sensors include distance sensors and environmental acquisition devices like cameras. Distance sensors include LiDAR, TOF sensors, and infrared sensors, among others. Cameras include RGB cameras, panoramic cameras, and fisheye cameras.

[0104] Specifically, the above step of "obtaining the detection collision area around the local navigation path" may, in practice, include:

[0105] Detect obstacle information in front of the self-moving device and identify the position of the outer contour of the obstacle;

[0106] The detection collision area is obtained by performing an expansion calculation on the outer contour of the obstacle.

[0107] Specifically, the outer contour of the obstacle is identified using the aforementioned detection sensor. Further, a dilation operation is performed on the outer contour to obtain the collision detection area. This dilation operation can be understood as magnifying the outer contour; after the dilation operation, the obstacle lies within the collision detection area. The collision detection area represents the region where a collision may occur, allowing the self-moving robot to avoid the collision detection area and reduce the likelihood of a collision.

[0108] In some implementation scenarios, the obstacle and the target point are located on the same side of the self-moving robot, and the self-moving robot needs to navigate around the obstacle to reach the target point. In one specific embodiment, the method further includes the following steps:

[0109] Determine the orientation of the collision detection area relative to the self-moving device and the orientation of the guide point. If the orientation of the obstacle relative to the self-moving device is the same as the orientation of the guide point relative to the self-moving device, control the self-moving device to rotate in place by a preset angle in the first direction, plan a local navigation path between the current position of the self-moving device and the guide point, determine whether the local navigation path will cause a collision, if the local navigation path will cause a collision, control the self-moving device to rotate in place in the second direction, plan the local navigation path between the current position of the self-moving device and the guide point again, determine whether the local navigation path will cause a collision, if the local navigation path will not cause a collision, execute step S40.

[0110] The second direction is opposite to the first direction. When the target point and the obstacle are on the same side, if a collision-free local navigation path cannot be found after rotating in the first direction, the system will attempt to rotate in the opposite direction to continue planning the local navigation path. Collision analysis will be performed on the local navigation path. If no collision will occur, the system will control the mobile device to travel to the guide point until it finally reaches the target point.

[0111] In one specific embodiment, if one or more of the location information are within the detection collision area, the method further includes:

[0112] Based on the location information of one or more locations within the collision detection area, potential collision paths are extracted and sent to the terminal to indicate an impending collision.

[0113] Even after the above steps, if the found local navigation path still results in a collision, meaning the mobile device has not found a collision-free navigation path, local planning fails, and the method terminates. In the above embodiment, the mobile device extracts the collision paths that may lead to a collision and sends them to the terminal to alert the user that a collision is imminent. On the one hand, this can remind the user to intervene to reduce the possibility of an actual collision; on the other hand, it can improve the intelligence of the mobile device, allowing the user to be aware of the mobile device's driving status.

[0114] The terminal can be a handheld device, such as a mobile phone, tablet, laptop, or smartwatch. In the above implementation method, users can anticipate an impending collision with their mobile device, enhancing the intelligence of information interaction in case of planning failure.

[0115] Example 2

[0116] This invention also provides a self-moving device; please refer to [link / reference]. Figure 6The self-moving device 30 includes a body 31, a driving mechanism 32, and a controller (not shown). The driving mechanism 32 is disposed at the bottom of the body 31 and is used to support the body 31 and drive the body 31 to move. The controller is disposed inside the body 31 and connected to the driving mechanism 32, and is used to control the driving mechanism to move. The controller is used to execute the path tracking method provided in any of the above embodiments.

[0117] Specifically, the self-moving device 30 also includes a detection sensor 33 disposed on its body, used to detect environmental information of the self-moving device 30. Details regarding the detection sensor 33 can be found in Embodiment 1 and will not be repeated here.

[0118] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0119] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0120] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. A path tracing method for local path planning of a self-moving device, characterized in that, include: S10. Obtain a guide point on the navigation path whose distance from the current position of the self-mobile device is the look-ahead distance, and plan a local navigation path between the current position of the self-mobile device and the guide point; S20. Perform collision analysis on the local navigation path to determine whether a collision will occur. If the local navigation path will not collide, proceed to step S40; if the local navigation path will collide, proceed to step S30. S30. Increase the value of the look-ahead distance, obtain a guide point on the navigation path whose distance from the current position of the self-mobile device is the increased look-ahead distance, and plan a local navigation path between the current position of the self-mobile device and the new guide point; Perform collision analysis on the local navigation path to determine whether a collision will occur. If it is determined that the local navigation path will not collide, proceed to step S40. If it is determined that a collision will occur in the local navigation path, the method further includes: Obtain the pose of the self-moving device corresponding to the guide point, and offset the guide point longitudinally according to the pose to obtain a new guide point; Plan a local navigation path between the current location of the self-moving device and the new guide point, perform collision analysis on the local path, and determine whether the local navigation path will collide. If it is determined that the local path will not collide, proceed to step S40. S40. Control the self-moving device to travel to the guide point according to the local navigation path.

2. The path tracking method according to claim 1, characterized in that, The step of longitudinally offsetting the guide point includes: Based on the collision analysis of the local navigation path, the collision pose of the self-moving device relative to the obstacle is determined when the collision occurs, and the offset amount and offset direction of the guide point are determined based on the collision pose. The guide point is rotated and biased according to the determined bias amount and bias direction.

3. The path tracking method according to claim 2, characterized in that, The step of determining the offset amount and offset direction of the guide point based on the collision pose includes: Determine the position coordinates of the self-moving device corresponding to the collision pose and the orientation of the self-moving device accordingly; Obtain the detection collision area around the local navigation path, determine the minimum offset of the guide point based on the position coordinates and the positional relationship of the detection collision area, and determine the offset based on the preset dynamic adjustment algorithm and the minimum offset; The orientation information of the obstacle relative to the self-moving device is determined based on the collision detection area, and the offset direction is determined based on the orientation information.

4. The path tracking method according to any one of claims 1-3, characterized in that, In step S40, controlling the self-moving device to travel to the guide point according to the local navigation path includes: Calculate the path length of the local navigation path, and determine the curvature of the local navigation path based on the path length and the look-ahead distance; The maximum linear acceleration and control period of the self-moving device are determined based on the curvature; wherein, the larger the curvature, the smaller the maximum linear acceleration and the control period; Determine whether the self-moving device needs to rotate to face the guide point. If the self-moving device does not need to rotate, adjust the current linear velocity and current angular velocity of the self-moving device according to the determined control cycle so that the self-moving device travels on the local navigation path; wherein the current linear velocity is less than the maximum linear acceleration and the angular velocity is less than a preset angular velocity threshold.

5. The path tracking method according to any one of claims 1-3, characterized in that, The step of performing collision analysis on the local navigation path to determine whether a collision will occur includes: Simulate the movement of the self-moving device on the local navigation path and record the position information of the self-moving device at various times on the local navigation path; Obtain the collision detection area around the local navigation path, compare the position information at each time with the collision detection area, and determine whether the position information is within the collision detection area. If one or more of the position information is within the collision detection area, it is determined that the local navigation path will collide. If all the position information is not within the collision detection area, it is determined that the local navigation path will not collide.

6. The path tracking method according to claim 5, characterized in that, The method for obtaining the detection collision region around the local navigation path further includes: Detect obstacle information in front of the self-moving device and identify the position of the outer contour of the obstacle; The detection collision area is obtained by performing an expansion calculation on the outer contour of the obstacle.

7. The path tracking method according to claim 5, characterized in that, The method further includes: Determine the orientation of the collision detection area relative to the self-moving device and the orientation of the guide point. If the orientation of the obstacle relative to the self-moving device is the same as the orientation of the guide point relative to the self-moving device, control the self-moving device to rotate in the opposite direction to the orientation of the obstacle, and plan a local navigation path to the guide point based on the current orientation.

8. The path tracking method according to claim 5, characterized in that, If one or more of the location information is within the detection collision area, the method further includes: Based on the location information of one or more locations within the collision detection area, potential collision paths are extracted and sent to the terminal to indicate an impending collision.

9. A self-moving device, characterized in that, include: Organism; A driving mechanism is located at the bottom of the machine body and is used to support the machine body and drive the machine body to move. A controller for performing the path tracing method according to any one of claims 1-8.

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