Snow removal methods for map areas, self-moving equipment, equipment and media

Abstract

This invention belongs to the field of snow removal technology for self-operated mobile devices, and discloses a method for snow removal in a map area, a self-operated mobile device, a device, and a medium. The method includes: acquiring a working map corresponding to the working area where the self-operated mobile device is located, and snow removal location points located on the working map; when it is determined that the working area where the self-operated mobile device is currently located belongs to a target area, and when it is determined that the snow in the working area belongs to the target type of snow, controlling the self-operated mobile device to throw the snow in the working area to a target snow removal location point different from the snow removal location point. This invention can throw snow of the target type belonging to the target area in the working area to other target snow removal location points, wherein the snow in the target snow removal location points can continue to be cleared when the self-operated mobile device moves subsequently, so as to ensure the overall snow removal effect of the working area and the working efficiency of the self-operated mobile device.

Description

Technical Field

[0001] This invention relates to the field of snow-throwing technology for self-moving equipment, and more particularly to a snow-throwing processing method for a map area, a self-moving equipment, the equipment, and the medium. Background Technology

[0002] Self-moving robots, designed specifically for yard snow removal, primarily function to move snow from the work area to a designated location. However, in practice, they face a significant technical challenge: due to the high moisture and stickiness of some snow, existing snow-rolling and snow-throwing blade structures struggle to effectively and long-distance deliver it to the intended work area, potentially throwing it into unsuitable areas. This limitation significantly reduces the efficiency and snow removal effectiveness of self-moving robots.

[0003] Therefore, those skilled in the art urgently need to find a new technical solution to solve the above-mentioned technical problems. Summary of the Invention

[0004] Therefore, it is necessary to provide a snow removal method, a self-moving device, a device, and a medium for handling snow in a map area, in order to solve the problem that the stickiness of snow in existing self-moving devices reduces their working efficiency and snow removal effect.

[0005] To achieve the above objectives, a method for snow-spraying a map area is provided, the method comprising:

[0006] Obtain the working map corresponding to the working area of ​​the self-moving device and the snow-throwing location points located on the working map;

[0007] When it is determined that the working area where the self-moving device is currently located belongs to the target area, and when it is determined that the snow in the working area belongs to the target type of snow, the self-moving device is controlled to throw the snow in the working area to a target snow throwing location that is different from the snow throwing location.

[0008] Optionally, determine whether the user wants to reset the charging station location;

[0009] After determining that the user has reset the location of the charging pile, the self-moving device controls the mobile device to move and locate in the work area according to the charging pile device, and then forms a work map corresponding to the work area.

[0010] Optionally, before obtaining the snow-throwing location point on the working map, the method further includes:

[0011] The location points marked by the user on the working map are used as the snow-throwing location points;

[0012] Alternatively, the target boundary in the working map can be used as the snow-throwing location point;

[0013] Alternatively, the location point that has been the most frequent snow-throwing location point in the historical time of the working map can be used as the snow-throwing location point.

[0014] Optionally, controlling the self-moving device to throw snow from the working area to a target snow-throwing location different from the snow-throwing location includes:

[0015] Determine the first direction corresponding to the snow-throwing location point;

[0016] Determine the current location of the self-moving device in the working area;

[0017] Determine the target snow-throwing location with a second direction based on the current location and the first direction;

[0018] The self-moving device is continuously controlled to throw snow from the working area toward a target snow-throwing location with a second direction.

[0019] Optionally, determining the target snow-throwing location point with a second direction based on the current location point and the first direction includes:

[0020] When the current position point is close to the snow-throwing position point, a target snow-throwing position point with a second direction and close to the snow-throwing position point is determined based on the current position point and the first direction.

[0021] When the current position point is far away from the snow-throwing position point, a target snow-throwing position point with a second direction and far away from the snow-throwing position point is continuously determined based on the current position point and the first direction.

[0022] Optionally, after controlling the self-moving device to throw the snow in the working area to a target snow-throwing location different from the snow-throwing location, the method further includes:

[0023] The self-moving device is continuously controlled to process the snow in the target snow-throwing location until the snow is finally thrown to the snow-throwing location.

[0024] Optionally, the step of continuously controlling the self-moving device to perform snow-throwing processing on the target snow-throwing location until finally throwing the snow towards the snow-throwing location includes:

[0025] Determine whether there is a designated no-snow-throwing zone within the work area;

[0026] Once it is determined that there is a target no-snow-throwing zone in the work area, the positional relationship between the target no-snow-throwing zone and the target snow-throwing location point is determined;

[0027] Once the target snow-throwing location is located within the target snow-no-throwing area and it is determined that there is no target object in the target snow-no-throwing area, the self-moving device is continuously controlled to throw the snow in the target snow-throwing location until the snow is finally thrown to the snow-throwing location.

[0028] If the target snow-throwing location is outside the target snow-throwing prohibited area, the self-moving device is continuously controlled to throw the snow in the target snow-throwing location until the snow is finally thrown to the snow-throwing location.

[0029] To achieve the above objectives, a self-moving device is also provided, including a controller and a memory. The memory stores a snow-throwing processing program for a map area, and the controller controls the snow-throwing processing program for the map area to implement the steps of the snow-throwing processing method for the map area described above.

[0030] To achieve the above objectives, a computer device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the snow-throwing method for the map area described above.

[0031] To achieve the above objectives, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of the snow-throwing method for the map area described above.

[0032] The snow-throwing method for a map area provided by this invention includes: acquiring a working map corresponding to the working area where the self-moving device is located, and snow-throwing location points located on the working map; when it is determined that the working area where the self-moving device is currently located belongs to a target area, and when it is determined that the snow in the working area belongs to the target type of snow, controlling the self-moving device to throw the snow in the working area to a target snow-throwing location point different from the original snow-throwing location point. In this way, snow of the target type belonging to the target area in the working area is thrown to other target snow-throwing location points, wherein the snow in the target snow-throwing location points can continue to be cleared when the self-moving device moves subsequently, to ensure the overall snow removal effect of the working area and the working efficiency of the self-moving device. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic flowchart of an embodiment of the snow-throwing method for map areas according to the present invention.

[0035] Figure 2 This is a schematic block diagram of an embodiment of the self-moving device of the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] like Figure 1 As shown, an embodiment of the present invention provides a method for operating a region of a self-moving device, which can be applied to a controller in a self-moving device. The controller can also be understood as an MCU (Microcontroller Unit) or other devices with the same function. The method includes the following steps S10 to S20:

[0038] S10, obtain the working map corresponding to the working area where the self-moving device is located and the snow-throwing location point located on the working map.

[0039] Understandably, a self-moving device can be a self-moving tool for clearing snow in a work area. It can be divided into a front end and a body, which can be detachable. The front end is equipped with a snow-clearing device, which includes snow-rolling blades and snow-throwing blades. The snow-rolling blades roll snow from the surface of the work area into the snow-throwing blades, and finally, the snow-throwing blades throw the snow to an external location. The body can be equipped with a walking mechanism for the self-moving device, which can be a tracked structure or a structure composed of rotating wheels. A work map can be used as... The movement of the self-moving device can also serve as a user visualization tool (mapping the movement trajectory of the self-moving device onto the movement path in the working map); the working area can be the actual working location required by the self-moving device. This embodiment does not limit the specific shape of the working area, such as the working area can be a regular rectangular shape or an irregular polygonal shape; the snow-throwing location point can be the location where the self-moving device needs to throw the snow. This location point can be set by the user or automatically generated according to specific needs. Preferably, this location point should not affect the user's normal travel or facilitate the removal of snow.

[0040] S20, when it is determined that the working area where the self-moving device is currently located belongs to the target area, and when it is determined that the snow in the working area belongs to the target type of snow, the self-moving device is controlled to throw the snow in the working area to a target snow throwing position point that is different from the snow throwing position point.

[0041] Understandably, the target area can refer to a narrow and winding location within the planned movement path of the self-moving device in the work area. The movement path is a path planned based on the work area, and the path can be parallel to the target boundary of the self-moving area (such as the short and long sides included in a rectangular work area). The target type of snow can refer to snow that has reached a certain level of temperature and humidity. The target snow-throwing point can refer to a location point that is close to or far from the snow-throwing point (at which the self-moving device will subsequently clear the snow in this part of the movement path). At this location point, the target type of snow can be thrown away by throwing snow at close range, and this location point is constantly being updated. Thus, the process of throwing away the target type of snow can be performed multiple times.

[0042] Specifically, determining whether the current area belongs to the target area can be confirmed by a positioning sensor installed in the self-moving device. Further, the positioning sensor determines the current location of the self-moving device, and by comparing the current location with the working map, it is determined whether the current area belongs to the target area. Similarly, determining whether the snow in the working area belongs to the target type of snow can be confirmed by a recognition sensor installed in the self-moving device. Further, a load sensor or a temperature and humidity sensor determines the temperature and humidity of the snow, and by using the temperature and humidity of the snow, it is determined whether the snow in the working area belongs to the target type of snow. The load sensor is installed in the blades of the self-moving device, and the residual amount of snow on the blades is used to map the temperature and humidity of the snow.

[0043] In the embodiments where steps S10 to S20 are located, the snow of the target type belonging to the target area in the work area is thrown to other target snow-throwing locations. The snow in the target snow-throwing locations can continue to be cleared when the self-moving equipment moves around, so as to solve the problem that the current snow is sticky and causes the snow to be thrown to non-snow-throwing areas, affecting the snow removal effect in other areas and the overall working efficiency of the self-moving equipment.

[0044] In one embodiment, before obtaining the working map corresponding to the working area where the self-moving device is located, the method further includes:

[0045] Determine if the user has reset the charging station location;

[0046] After determining that the user has reset the location of the charging pile, the self-moving device controls the mobile device to move and locate in the work area according to the charging pile device, and then forms a work map corresponding to the work area.

[0047] Understandably, the charging station location can refer to the location where the mobile device is charging. This location can be a wireless charging station or a wired charging station. Specifically, the user can set the charging station location on the initial map in the display terminal. The charging station location cannot be set on the mobile device's planned walking path or sidewalk. Once set in such a location, the display terminal will remind the user. The main method for controlling the mobile device to move and locate within the working area based on the charging station device is as follows: it moves and locates itself based on the vicinity of the charging station location, obtains the new map data for the reset charging station location and the missing map data for the original charging station location, and supplements the initial map with the new map data and overwrites the missing map data before supplementing the initial map.

[0048] This embodiment is based on the process of redrawing the working map after resetting the charging pile positions. After the charging pile positions in the working map are updated, the self-moving device is controlled to draw the remaining working map in the working area based on the new charging pile positions, thereby improving the working efficiency of the self-moving device in the drawing process.

[0049] In another embodiment, before obtaining the working map corresponding to the working area of ​​the self-moving device, the method further includes:

[0050] Determine if the user has reset the charging station location;

[0051] After determining that the user has reset the location of the charging pile, a working map corresponding to the working area is directly generated based on the charging pile device.

[0052] Understandably, the locations of the charging piles are as mentioned above and will not be repeated here. In this embodiment, the working map is generated after processing by the controller. In another embodiment, the working map can be generated by the user's corresponding display terminal, and the display terminal sends the generated map to the controller.

[0053] This embodiment can directly draw the initial map based on the location of the charging pile without deleting the map data in the previous initial map. That is, after adding the charging pile device to the initial map based on the original map data that did not contain the location of the charging pile, a working map that can contain the movement path of the mobile device is formed.

[0054] In one embodiment, before obtaining the snow-throwing location point on the working map, the method further includes:

[0055] The location points marked by the user on the working map are used as the snow-throwing location points;

[0056] Alternatively, the target boundary in the working map can be used as the snow-throwing location point;

[0057] Alternatively, the location point that has been the most frequent snow-throwing location point in the historical time of the working map can be used as the snow-throwing location point.

[0058] Understandably, users can select the desired location point as the snow-throwing location point on the working map in the display terminal, or they can select the target boundary far away from the house or garage on the working map as the snow-throwing location point, or they can select multiple locations on the working map that have been used as snow-throwing location points in the historical time period (such as the initial map corresponding to the charging pile location mentioned above when it was not reset).

[0059] In this embodiment, users can customize the snow-throwing location according to their needs and yard layout, meeting personalized snow removal requirements. By directly specifying the snow-throwing location, ineffective snow-throwing operations are reduced, improving snow removal efficiency. This ensures that snow is thrown outside the yard boundary, preventing snow accumulation on important passageways or equipment, improving the safety and convenience of yard use. Throwing snow outside the yard boundary also reduces the need for subsequent manual or machine processing, lowering workload. By analyzing historical data and selecting the most frequently used snow-throwing location, the operation path of snow removal equipment can be optimized, reducing unnecessary movement and energy consumption. Furthermore, by automatically selecting the snow-throwing location, the necessity of each user operation is reduced, increasing the automation level of self-moving equipment.

[0060] In one embodiment, controlling the self-moving device to throw snow from the working area to a target snow-throwing location different from the snow-throwing location includes:

[0061] Determine the first direction corresponding to the snow-throwing location point;

[0062] Determine the current location of the self-moving device in the working area;

[0063] Determine the target snow-throwing location with a second direction based on the current location and the first direction;

[0064] The self-moving device is continuously controlled to throw snow from the working area toward a target snow-throwing location with a second direction.

[0065] Understandably, the first direction can be a direction relative to the self-moving device, in which the orientation of the working device on the self-moving device is the same as the first direction. The working device includes snow-rolling blades, snow-throwing blades, and a snow-throwing tube, with the orientation of the snow-throwing tube being the first direction. The current position can be a location of the self-moving device within the working area, which can be determined by a positioning sensor in the self-moving device. The second direction can be relative to the actual snow-throwing direction of the self-moving device. Specifically, when the working area is too large, the self-moving device cannot directly throw the snow in the working area to the snow-throwing position. In this case, the working area needs to be divided into multiple areas. When the current position of the self-moving device is determined to be in a distant area, the determined second direction may be multiple or different from the first direction. When the current position of the self-moving device is determined to be in a nearby area, the determined first direction may be one or the same as the first direction. The target position can be the actual snow-throwing position of the self-moving device. Specifically, by controlling the snow-throwing angle and snow-throwing power on the working device in the self-moving device, the snow in the working area is thrown to the target snow-throwing position.

[0066] In this embodiment, by defining the first direction of the snow-throwing location and combining it with the current location of the self-moving device, the target snow-throwing location in the second direction can be accurately calculated, ensuring that the snow is accurately thrown to the predetermined area and avoiding the snow from scattering or accumulating in the wrong non-snow-throwing location.

[0067] In one embodiment, determining the target snow-throwing location point with a second direction based on the current location point and the first direction includes:

[0068] When the current position point is close to the snow-throwing position point, a target snow-throwing position point with a second direction and close to the snow-throwing position point is determined based on the current position point and the first direction.

[0069] When the current position point is far away from the snow-throwing position point, a target snow-throwing position point with a second direction and far away from the snow-throwing position point is continuously determined based on the current position point and the first direction.

[0070] Understandably, as mentioned above regarding the partitioning, when the current location is in a relatively close area (equivalent to the current location being close to the snow-throwing location), the self-moving device is controlled to directly determine a second direction that is the same as the first direction, and the snow is thrown towards the target snow-throwing location corresponding to the second direction; when the current location is in a relatively far area (equivalent to the current location being far from the snow-throwing location), the self-moving device is controlled to determine a second direction that is the same as or different from the first direction multiple times, and the snow is thrown towards the target snow-throwing location corresponding to the second direction;

[0071] In this embodiment, if the current position is far from the snow-throwing position, the snow needs to be thrown from the position far from the snow-throwing position to the position close to the snow-throwing position. Thus, multiple target snow-throwing positions need to be continuously determined in sequence. In the opposite case, a position with the same direction as the first direction can be determined, which will facilitate the self-moving device to throw the snow from the target snow-throwing position to the snow-throwing position.

[0072] In one embodiment, after controlling the self-moving device to throw snow from the working area to a target snow-throwing location different from the snow-throwing location, the method further includes:

[0073] The self-moving device is continuously controlled to process the snow in the target snow-throwing location until the snow is finally thrown to the snow-throwing location.

[0074] Understandably, the snow-throwing location is the final snow-throwing location. Due to the location and type of snow, some snow cannot be thrown a long distance to the snow-throwing location. Therefore, the snow can be thrown to the designated area in multiple stages by snow-throwing, which can avoid the snow being thrown to non-snow-throwing areas and affecting the snow removal effect and efficiency of the work area.

[0075] In one embodiment, continuously controlling the self-moving device to perform snow-throwing processing on the target snow-throwing location until finally throwing the snow towards the snow-throwing location includes:

[0076] Determine whether there is a designated no-snow-throwing zone within the work area;

[0077] Once it is determined that there is a target no-snow-throwing zone in the work area, the positional relationship between the target no-snow-throwing zone and the target snow-throwing location point is determined;

[0078] Once the target snow-throwing location is located within the target snow-no-throwing area and it is determined that there is no target object in the target snow-no-throwing area, the self-moving device is continuously controlled to throw the snow in the target snow-throwing location until the snow is finally thrown to the snow-throwing location.

[0079] If the target snow-throwing location is outside the target snow-throwing prohibited area, the self-moving device is continuously controlled to throw the snow in the target snow-throwing location until the snow is finally thrown to the snow-throwing location.

[0080] Understandably, the target no-snow-throwing area can be understood as an area where mobile devices cannot be moved to temporarily for snow removal, and the target object can be understood as an object parked or placed in the area, such as bicycles or other vehicles parked in the area or various movable objects placed there.

[0081] This embodiment first determines whether the target snow-throwing location is located within the target prohibited snow-throwing area. If it is located within the target prohibited snow-throwing area, the visual sensor installed in the self-moving device can determine whether the target object exists within the target prohibited snow-throwing area. Finally, if no target object exists, the snow in the prohibited snow-throwing area is continuously thrown towards the snow-throwing location. If it is not located within the target prohibited snow-throwing area, the snow in the target snow-throwing location is directly thrown towards the snow-throwing location. In this way, snow accumulation in non-snow-throwing areas can be avoided, which would affect the overall snow removal and snow clearing efficiency.

[0082] This invention provides a snow-throwing method for a map area, belonging to the field of snow-throwing technology for self-moving devices. The method involves acquiring a working map corresponding to the working area of ​​the self-moving device and snow-throwing location points located on the working map. When it is determined that the working area currently occupied by the self-moving device belongs to a target area, and that the snow accumulation in the working area belongs to the target type, the self-moving device is controlled to throw the snow in the working area to a target snow-throwing location point different from the initial snow-throwing location point. In this way, snow of the target type belonging to the target area in the working area is thrown to other target snow-throwing location points. The snow at the target snow-throwing location points can be further cleared as the self-moving device moves, ensuring the overall snow removal effect of the working area and the working efficiency of the self-moving device.

[0083] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0084] like Figure 2 As shown, a self-moving device is also provided, including a controller and a memory. The memory stores a snow-spraying processing program for a map area, and the controller controls the execution of the snow-spraying processing program for the map area to implement the steps of the snow-spraying processing method described above. Various sensors, such as the aforementioned positioning sensor, load sensor, temperature and humidity sensor, and vision sensor, are installed on the front and body of the self-moving device. The controller and memory can be located at one position on the front and body of the self-moving device.

[0085] The controller's execution functions correspond one-to-one with the snow-throwing methods for map areas described in the above embodiments. Specific limitations of the controller can be found in the above description of the snow-throwing methods for map areas, and will not be repeated here. The execution process of each sub-module in the controller can also be found in the above description of the snow-throwing methods for map areas, and will not be repeated here. These sub-modules can be implemented entirely or partially through software, hardware, or a combination thereof. Each sub-module can be embedded in or independent of the controller in hardware form, or stored in the controller's memory in software form, so that the controller can call and execute the operations corresponding to each sub-module.

[0086] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the snow-throwing method for the map area described in the above embodiment.

[0087] In one embodiment, the present invention also provides one or more readable storage media storing computer-readable instructions. The readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media. The readable storage media stores computer-readable instructions, which, when executed by one or more processors, cause one or more processors to implement the steps of the snow-throwing method for the map area described in the above embodiment.

[0088] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware with computer-readable instructions. These computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When executed, these computer-readable instructions can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAM bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0089] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the self-moving device can be divided into different functional units or modules to complete all or part of the functions described above.

[0090] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for snow-throwing processing of a map area, characterized in that, The method includes: Obtain the working map corresponding to the working area of ​​the self-moving device and the snow-throwing location points located on the working map; When it is determined that the current working area of ​​the self-moving device belongs to the target area, and when it is determined that the snow in the working area belongs to the target type of snow, the self-moving device is controlled to throw the snow in the working area to a target snow-throwing location that is different from the snow-throwing location. The target snow-throwing location refers to a location that is close to or far from the snow-throwing location. At the target snow-throwing location, the self-moving device will clear the snow thrown to the target snow-throwing location in the subsequent movement path, and the target snow-throwing location will be continuously updated. The self-moving device is continuously controlled to process the snow in the target snow-throwing location until the snow is finally thrown to the snow-throwing location.

2. The snow-throwing method for a map area as described in claim 1, characterized in that, Before acquiring the working map corresponding to the working area of ​​the self-moving device, the process also includes: Determine if the user has reset the charging station location; After determining that the user has reset the location of the charging pile, the self-moving device controls the mobile device to move and locate in the work area according to the charging pile device, and then forms a work map corresponding to the work area.

3. The snow-spraying method for a map area as described in claim 1, characterized in that, Before obtaining the snow-throwing location point on the working map, the method further includes: The location points marked by the user on the working map are used as the snow-throwing location points; Alternatively, the target boundary in the working map can be used as the snow-throwing location point; Alternatively, the location point that has been the most frequent snow-throwing location point in the historical time of the working map can be used as the snow-throwing location point.

4. The snow-throwing method for a map area as described in claim 1, characterized in that, The step of controlling the self-moving device to throw snow from the working area to a target snow-throwing location different from the original snow-throwing location includes: Determine the first direction corresponding to the snow-throwing location point; Determine the current location of the self-moving device in the working area; Determine the target snow-throwing location with a second direction based on the current location and the first direction; The self-moving device is continuously controlled to throw snow from the working area toward a target snow-throwing location with a second direction.

5. The snow-throwing method for a map area as described in claim 4, characterized in that, Determining the target snow-throwing location with a second direction based on the current location and the first direction includes: When the current position point is close to the snow-throwing position point, a target snow-throwing position point with a second direction and close to the snow-throwing position point is determined based on the current position point and the first direction. When the current position point is far away from the snow-throwing position point, a target snow-throwing position point with a second direction and far away from the snow-throwing position point is continuously determined based on the current position point and the first direction.

6. The snow-throwing method for a map area as described in claim 1, characterized in that, The continuous control of the self-moving device to process the snow in the target snow-throwing location until the snow is finally thrown to the snow-throwing location includes: Determine whether there is a designated no-snow-throwing zone within the work area; Once it is determined that there is a target no-snow-throwing zone in the work area, the positional relationship between the target no-snow-throwing zone and the target snow-throwing location point is determined; Once the target snow-throwing location is located within the target snow-no-throwing area and it is determined that there is no target object in the target snow-no-throwing area, the self-moving device is continuously controlled to throw the snow in the target snow-throwing location until the snow is finally thrown to the snow-throwing location. If the target snow-throwing location is outside the target snow-throwing prohibited area, the self-moving device is continuously controlled to throw the snow in the target snow-throwing location until the snow is finally thrown to the snow-throwing location.

7. A self-moving device, characterized in that, The system includes a controller and a memory, the memory storing a snow-spraying program for a map area, and the controller controlling the snow-spraying program for the map area to implement the steps of the snow-spraying method for the map area as described in any one of claims 1 to 6.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the snow-throwing processing method for a map area as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the snow-throwing method for a map area as described in any one of claims 1 to 6.

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