Path planning method, self-moving device, electronic device and storage medium

Abstract

The invention provides a path planning method, self-moving equipment, electronic equipment and a storage medium. The self-moving equipment has a corresponding working path in a working area. The method comprises the steps that in response to a moving instruction, a target sub-path is determined from sub-paths of a working path according to a device position point of a self-moving device, and the sub-paths extend to the area boundary of a working area; based on the target position point, the device position point, the region boundary and the target sub-path, a moving path of the self-moving device moving from the device position point to the target position point is planned, and the moving path comprises a first moving path from the target sub-path to the region boundary and a second moving path from the region boundary to the target position point; the target position point is located at the region boundary. By using the method, the energy consumption can be reduced, and the influence on the aesthetic degree of working environments such as lawns and the like can be reduced, so that the working effect of the self-moving equipment can be ensured.

Description

Technical Field

[0001] The present application relates to the technical field of self-moving equipment, and in particular to a path planning method, a self-moving equipment, an electronic device and a storage medium. Background Art

[0002] With the continuous advancement of science and technology and the rapid development of artificial intelligence, the use of self-moving equipment (such as lawn mowers, cleaning machines, cruise machines, etc.) to perform operations can greatly improve work efficiency.

[0003] In the related art, the self-moving device often performs work tasks according to the pre-planned work path, and the work path is often neat and regular. When the self-moving device walks along the work path, it will leave neat and beautiful wheel indentations on the lawn and other working environments. Such neat and beautiful wheel indentations will not destroy the overall aesthetics of the lawn and other working environments. When encountering an emergency (such as insufficient power) that requires the self-moving device to stop the current work task and go from the stop position to the target position, the self-moving device often directly travels along the straight path between the stop position and the target position, leaving extra wheel indentations in the lawn and other working environments, resulting in the destruction of the neatness and aesthetics of the lawn and other working environments that were originally neat and regular, and it is difficult to ensure the working effect of the self-moving device. Taking a lawn mower as an example, the lawn mower usually works in the target working area. For the convenience of charging, a charging station is set at the boundary line of the target working area. When the lawn mower needs to move to the charging station for charging due to insufficient power when performing the mowing task, in order to save power, the lawn mower often directly travels along the straight path between the stop position and the charging station, resulting in wheel indentations on the lawn, affecting the overall aesthetics of the lawn and the mowing effect of the lawn mower. Summary of the invention

[0004] In view of the above, it is necessary to provide a path planning method, a self-moving device, an electronic device and a storage medium, which can solve the technical problem that the self-moving device directly travels along a straight path between the stop position and the target position, leaving extra wheel marks in working environments such as lawns, thereby affecting the cleanliness and beauty of working environments such as lawns and the working performance of the self-moving device.

[0005] On the one hand, the present application provides a path planning method, which is applied to a self-moving device, and the self-moving device has a corresponding working path in a working area. The method includes: in response to a moving instruction, according to a device position point of the self-moving device, determining a target sub-path from the sub-paths of the working path, wherein the sub-path extends to the area boundary of the working area, and based on the target position point, the device position point, the area boundary and the target sub-path, planning a moving path for the self-moving device to move from the device position point to the target position point, the moving path including a first moving path along the target sub-path to the area boundary and a second moving path along the area boundary to the target position point, and the target position point is located at the area boundary.

[0006] On the other hand, the present application provides a path planning method, which is applied to an electronic device, wherein the electronic device is communicatively connected to a self-mobile device, and the self-mobile device has a corresponding working path in a working area. The method includes: in response to a moving instruction, determining a target sub-path from the sub-paths of the working path based on a device position point of the self-mobile device, wherein the sub-path extends to an area boundary of the working area, and planning a moving path of the self-mobile device from the device position point to the target position point based on the target position point, the device position point, the area boundary and the target sub-path, wherein the moving path includes a first moving path along the target sub-path to the area boundary and a second moving path along the area boundary to the target position point, and the target position point is located at the area boundary.

[0007] On the other hand, the present application provides a self-mobile device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-mobile device implements the path planning method.

[0008] On the other hand, the present application provides an electronic device, comprising: a storage device, a processing device, and a computer program stored on the storage device and executable on the processing device, wherein when the processing device executes the computer program, the electronic device implements the path planning method.

[0009] On the other hand, the present application provides a computer-readable storage medium, on which a computer program is stored. The computer program implements the path planning method when executed by a processor in a mobile device, or implements the path planning method when executed by a processing device in an electronic device.

[0010] In the path planning method of this embodiment, through the device position point of the self-moving device, the sub-path closest to the self-moving device can be selected from the sub-paths extending to the area boundary as the target sub-path, thereby reducing the distance of the self-moving device from the device position point to the target sub-path, thereby reducing the damage to the aesthetics of the working environment such as the lawn. Based on the target position point, the device position point, the area boundary and the target sub-path, a first moving path along the target sub-path and a second moving path along the area boundary can be planned, thereby leaving fewer wheel marks in the working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a flow chart of a path planning method provided in one embodiment of the present application.

[0012] Figure 2 It is a schematic diagram of a working area, area boundary and working path provided in an embodiment of the present application.

[0013] Figure 3 This is a schematic diagram of a working area, area boundaries, and working paths provided in another embodiment of the present application.

[0014] Figure 4 This is a schematic diagram of a working area, area boundaries and working path provided in yet another embodiment of the present application.

[0015] Figure 5 This is a schematic diagram of a working area, area boundaries and working path provided in yet another embodiment of the present application.

[0016] Figure 6 It is a schematic diagram of a moving path provided in an embodiment of the present application.

[0017] Figure 7 It is a schematic diagram of a moving path provided by another embodiment of the present application.

[0018] Figure 8 This is a schematic diagram of a moving path provided in yet another embodiment of the present application.

[0019] Fig. 9 It is a flow chart of a path planning method provided by another embodiment of the present application.

[0020] Fig.10 It is a structural diagram of a self-moving device provided in one embodiment of the present application.

[0021] Fig.11 It is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0024] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0025] The present application provides a path planning method, which can reduce energy consumption and reduce the impact on the aesthetics of the working environment such as lawns, thereby ensuring the working effect of the self-moving equipment.

[0026] The path planning method provided in the embodiment of the present application can be applied to one or more self-moving devices, or the path planning method provided in the embodiment of the present application can be applied to one or more electronic devices. The self-moving device can be a lawn mower, a cleaning machine, a cruise machine, etc. The electronic device can be a computer, a tablet, a mobile phone, a server, a cloud server, a personal digital assistant (PDA), a game console, an interactive network television (IPTV), a smart wearable device, etc. This application does not limit the types of self-moving devices and electronic devices.

[0027] In order to more clearly illustrate the path planning method provided in the embodiment of the present application, the path planning method applied to a mobile device and an electronic device will be described below respectively.

[0028] like Figure 1 , which is a flow chart of a path planning method provided by an embodiment of the present application. According to different requirements, the order of each step in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. The method is applied to a self-moving device, and the self-moving device has a corresponding working path in the working area.

[0029] S11, in response to the movement instruction, the self-moving device determines a target sub-path from the sub-paths of the working path according to the device position point of the self-moving device, wherein the sub-path extends to the area boundary of the working area.

[0030] In some embodiments of the present application, the working area can be determined by map information. The working path is the path along which the self-mobile device performs the working task. The working path can be neat and regular. After the self-mobile device performs the working task along the working path in the working area, it will leave neat and regular wheel indentations in the working area. The neat and beautiful wheel indentations will not destroy the overall aesthetics of the working environment such as the lawn. For example, after the lawn mower robot mows the lawn along the bow-shaped path, it will cover the lawn with multiple parallel wheel indentations. Such multiple parallel wheel indentations can bring better visual effects to users.

[0031] The working path can be planned based on the map information of the working area according to various algorithms, wherein the various algorithms can be machine learning algorithms such as convolutional neural networks, positioning algorithms, and navigation algorithms. There can be multiple sub-paths of the working path, and the sub-path extending to the regional boundary indicates that the regional boundary can be reached along the sub-path. In addition to the sub-path extending to the regional boundary, the working path can also include other sub-paths that do not extend to the regional boundary. The working path can have a corresponding direction and shape. For example, if the regional boundary is a rectangle, the working path can be a "bow"-shaped path, each sub-path can be horizontal or vertical, and the sub-path extending to the regional boundary can be parallel and spaced multiple sub-paths, forming a shape similar to the word "bow". Alternatively, if the regional boundary is circular, the working path can be a path similar to a turntable shape, and each sub-path extending to the regional boundary extends to the regional boundary to form a shape similar to a radiation, and the sub-path that does not extend to the regional boundary is used to connect two sub-paths extending to the regional boundary, thereby forming a working path similar to a turntable shape. The above examples of working paths are only examples, and are not limited to this in actual applications.

[0032] The area boundary may be the boundary of the working area. For example, if the self-mobile device is a lawn mower, the area boundary may be the actual boundary of the lawn in the mowing map, or it may not be the actual boundary of the lawn, but a custom boundary area boundary. The area boundary may be an area range composed of multiple area position points, and the area boundary may have a corresponding shape. For example, the boundary of the working area may be a circle or a rectangle or other shapes, and the present application does not limit the shape of the area boundary. Each boundary position point has a corresponding coordinate, and the coordinates of the boundary position point may be obtained by user input, or the self-mobile device may determine the boundary position points constituting the area boundary based on the pre-planned boundary in the mowing map, and obtain the coordinates of the boundary position points from the pre-planned boundary. For example, the self-mobile device may determine all the position points whose distance from the pre-planned boundary in the mowing map is less than or equal to the first preset value as boundary position points, and obtain the coordinates of the boundary position points from the pre-planned boundary, wherein the first preset value may be customized, and the present application does not limit this.

[0033] For example, Figure 2 , which is a schematic diagram of a working area, area boundaries and working path provided by an embodiment of the present application. Figure 3 , which is a schematic diagram of a working area, area boundaries and working paths provided by another embodiment of the present application. Figure 4 , which is a schematic diagram of a working area, area boundaries and working path provided in yet another embodiment of the present application. Figure 2 and Figure 3 The work path shown is similar to the shape of the Chinese character "bow". Figure 2 and Figure 3 The subpaths extending to the region boundary can be multiple subpaths set in parallel and at intervals. The direction can be referenced Figure 2 and Figure 3 The arrow in the figure points to Figure 2 and Figure 3 The dotted lines are used to indicate the boundaries of the working area. Figure 2 and Figure 3 The shape of the middle region boundary is a rectangle. Figure 4 Each subpath extending to the region boundary extends to the region boundary to form a radial shape, and the subpath not extending to the region boundary is used to connect two subpaths extending to the region boundary, thereby forming a working path similar to a turntable shape. Figure 4 The direction of the working path is for reference Figure 4 The arrow in the figure points to Figure 4 The dotted lines are used to indicate the boundaries of the working area. Figure 4 The shape of the middle region boundary is a circle. For ease of explanation, Figure 2 and Figure 4 The dotted line in the figure represents the boundary of the region. In practical applications, it can be a region consisting of multiple boundary position points.

[0034] In other embodiments of the present application, if the working area of ​​the self-mobile device is one of the partitions of the operation area including multiple partitions, and the self-mobile device has a corresponding working path in each partition, the area boundary described in the embodiment of the present application is the boundary of the partition, not the operation boundary of the operation area. Figure 5 FIG. 1 is a schematic diagram of a working area, area boundaries and working path provided by another embodiment of the present application. Figure 5 In the figure, the operation boundary is represented by a thick black solid line. The area within the operation boundary (also called the inner area of ​​the operation boundary box) is the operation area, and the working area is a partition within the operation area. The area boundary is represented by a dotted line. The area boundary is the working area (also called the inner area of ​​the area boundary box). The working path of the mobile device in the working area is a "bow"-shaped path. The direction of the "bow"-shaped path can be referred to Figure 5 The area within the operation boundary and outside the region boundary (also called the area between the operation boundary and the region boundary) is another partition within the operation region. The moving path of the mobile device in this partition is a "U"-shaped path. The direction of the "U"-shaped path can be referred to Figure 5 The corresponding arrow points to the direction.

[0035] In some embodiments of the present application, in response to the movement instruction, the self-moving device can stop performing the work task. For example, if the self-moving device is a lawn mower, in response to the movement instruction, the lawn mower can stop the mowing task.

[0036] The movement instruction may be an instruction to control or cause the self-moving device to move to a target location point, and the target location point is located at the boundary of the area. In some embodiments, the target location point may be the location (coordinates) of a charging station, the location of a maintenance point or a cleaning point, the location of a safe stop, the location of a storage point, or the location of a task handover point. The present application does not limit the target location point. In other embodiments, if the self-moving device is a lawn mower, the target location point may be the intersection position of the connection path between the charging station and the boundary of the working area on the boundary. After the lawn mower reaches the intersection position, it can reach the charging station along the connection path. The coordinates of the target location point may be obtained by user input.

[0037] The movement instruction can be triggered in a variety of ways, and the present application does not limit the triggering method of the movement instruction. For example, if the target location point is the location or coordinates of a charging station, the self-mobile device can receive a movement instruction sent from an external device to control the movement of the self-mobile device to the charging station; or, if it is detected that the internal power is less than a preset configuration value, the self-mobile device can automatically generate and trigger a movement instruction to control the movement of the self-mobile device to the charging station, wherein the preconfigured value can be customized, and the present application does not limit the preconfigured value; or, the self-mobile device can trigger a movement instruction to control the movement of the self-mobile device to the charging station at a planned time point. For example, if the target location point is the location of a maintenance point, when an internal fault is detected, the self-mobile device can automatically trigger a movement instruction to control the movement of the self-mobile device to the location of the maintenance point.

[0038] During the working process, the situation where the device position point of the self-mobile device deviates from the working path extending to the regional boundary often occurs. The self-mobile device can detect whether the device position point of the self-mobile device deviates from the sub-path extending to the regional boundary, wherein the method for detecting whether the device position point of the self-mobile device deviates from the sub-path extending to the regional boundary can be customized according to the actual application scenario. For example, if the minimum distance between the position point of the self-mobile device and is greater than or equal to the second preset value, it can be determined that the self-mobile device deviates from the working path.

[0039] The reason why the device position point of the self-mobile device deviates from the sub-path extending to the regional boundary may be an external factor or an internal factor of the self-mobile device. For example, when the working path includes a sub-path that does not extend to the regional boundary, if the device position point of the self-mobile device is located in the sub-path that does not extend to the regional boundary, it can also be regarded as the position point of the self-mobile device deviating from the sub-path extending to the regional boundary. Alternatively, if the self-mobile device is a lawn mower, when the distance between the preset grass-cutting position point and the mowing path is greater than or equal to the second preset value, the self-mobile device needs to go to the grass-cutting position point to cut the grass, which will cause the self-mobile device to deviate from the mowing path, or when the lawn is irregular (such as steep slopes, potholes on the ground) or encounters obstacles, in order to keep the lawn mower balanced and avoid obstacles, the lawn mower may deviate from the original mowing path. When the navigation or positioning system fails, it may also make the lawn mower unable to identify the direction, causing the lawn mower to deviate from the mowing path. Alternatively, if the self-moving device is a cleaning machine, changes in the terrain of the cleaning area (such as uneven ground, stairs or thresholds), defects or errors in the navigation algorithm, or obstacles may all cause the cleaning machine to deviate from the original cleaning path. Alternatively, if the self-moving device is a cruise aircraft, changes in weather conditions (such as strong winds and heavy rains), failures or errors in the navigation system or control system, or obstacles may all cause the cruise aircraft to deviate from the original cruise path. The above examples of deviation reasons are only examples and are not limited to these in actual applications.

[0040] If the device location point deviates from the sub-path extending to the boundary of the area, the self-mobile device determines the target sub-path from the sub-paths of the working path based on the device location point of the self-mobile device, including: the self-mobile device calculates the target distance between the device location point and each sub-path extending to the boundary of the area, and determines the sub-path corresponding to the smallest target distance as the target sub-path.

[0041] Among them, the device location point can be the coordinates of the self-mobile device. The self-mobile device can obtain the device location point of the self-mobile device in a variety of ways. For example, the self-mobile device can obtain its own device location point using real-time dynamic positioning technology (Real-Time Kinematic, RTK). Each of the sub-paths extending to the boundary of the area may include multiple path location points, each path location point has corresponding coordinates, and the target distance may be the distance between the device location point and the path location point closest to the device location point in each sub-path. The target distance can be Euclidean distance, Manhattan distance, Chebyshev distance, etc., and this application does not limit this.

[0042] In this embodiment, by determining the sub-path corresponding to the minimum target distance as the target sub-path, the distance that the self-moving device moves from the device position point to the target sub-path can be reduced, so that the wheel indentation of the self-moving device is not obvious, thereby reducing the damage to the aesthetics of the working environment such as the lawn.

[0043] In some other embodiments of the present application, if the device location point of the mobile device is located in a sub-path extending to the boundary of the area, the target sub-path may be the sub-path where the mobile device is currently located.

[0044] S12, the self-mobile device plans a moving path for the self-mobile device to move from the device location point to the target location point based on the target location point, the device location point, the area boundary and the target sub-path.

[0045] In some embodiments of the present application, the moving path includes a first moving path along the target subpath to the regional boundary and a second moving path along the regional boundary to the target position point. If the device position point deviates from the subpath extending to the regional boundary, the moving path may also include a third moving path between the device position point and the target subpath. The third moving path may be the shortest path from the device position point to the target subpath. For example, since the straight path is the shortest path between two points, the self-moving device may determine the straight path from the device position point to the target subpath as the third moving path. The first moving path may be a path from the target path position point to the target boundary position point along the target subpath, and the second moving path may be a path from the target boundary position point to the target position point along the regional boundary, wherein the target path position point may be the path position point closest to the device position point among the multiple path position points of the target subpath, and the path position point corresponding to the minimum target distance. The target boundary position point may be any boundary position point among the multiple boundary position points of the regional boundary that intersects with the target subpath, or may be the boundary position point closest to the target position point among the multiple boundary position points that intersect with the target subpath, and the boundary position point corresponding to the target subpath.

[0046] If there are multiple paths from the target boundary position point to the target position point along the area boundary, the second moving path can be the shortest path among the multiple paths from the target boundary position point to the target position point along the area boundary, or the second moving path can also be any one of the multiple paths from the target boundary position point to the target position point along the area boundary.

[0047] For example, if the region boundary is a closed loop shape (such as a rectangle or a circle), the self-moving device can determine the shortest path from the path from the target boundary position point to the target position point in the clockwise direction along the region boundary and the path from the target boundary position point to the target position point in the counterclockwise direction along the region boundary as the second moving path. Alternatively, the self-moving device can select any one of the paths from the path from the target boundary position point to the target position point in the clockwise direction along the region boundary and the path from the target boundary position point to the target position point in the counterclockwise direction along the region boundary as the second moving path.

[0048] For example, Figure 6 As shown in FIG. 1 , it is a schematic diagram of a moving path provided by an embodiment of the present application. Figure 7 As shown in FIG. 1 , it is a schematic diagram of a moving path provided by another embodiment of the present application. Figure 8 , which is a schematic diagram of a moving path provided by another embodiment of the present application. Figure 6 and Figure 2 correspond, Figure 6In the moving path shown, point A1 represents the device position point, point B1 represents the target path position point, point C1 represents the target boundary position point, point D1 represents the target position point, the third moving path is a straight path between point A1 and the target sub-path (point B1), the first moving path can be a path along the target sub-path from point B1 to point C1, and the second moving path can be a path along the area boundary from point C1 to point D1. Figure 7 and Figure 3 correspond, Figure 7 In the moving path shown, point A2 represents the device location point, B2 represents the target path location point, point C2 represents the target boundary location point, point D2 represents the target location point, the third moving path is a straight path between point A2 and the target sub-path (point B2), the first moving path can be a path along the target sub-path from point B2 to point C2, and the second moving path can be a path along the area boundary from point C2 to point D2. Figure 8 and Figure 4 correspond, Figure 8 In the moving path shown, point A3 represents the device position point, point B3 represents the target path position point, point C3 represents the target boundary position point, point D3 represents the target position point, the third moving path is a straight path between point A3 and the target sub-path (point B3), the first moving path can be a path along the target sub-path from point B3 to point C3, and the second moving path can be a path along the area boundary from point C3 to point D3. Figure 6-8 In the figure, the third moving path, the first moving path and the second moving path are indicated by arrows. To avoid confusion, Figure 6-8 Arrows are used to indicate the direction of the moving path of the mobile device from the device location point to the target location point, but the direction of the working path is not indicated.

[0049] In some embodiments of the present application, after planning the moving path, the self-moving device can move from the device position point to the target path position point according to the third moving path, move from the target path position point to the target boundary position point according to the first moving path, and move from the target boundary position point to the target position point according to the second moving path.

[0050] In this embodiment, by using the shortest path between the device position point and the target sub-path as the third moving path, using the shortest path from the target path position point to the region boundary along the target sub-path as the first moving path, and using the shortest path from the target boundary position point to the target position point along the region boundary as the second moving path, a moving path with less destructive effect on the aesthetics of the working environment such as the lawn can be planned. When the self-moving device moves along the shortest moving path, not only can the energy (such as power) consumption of the self-moving device be reduced, but also the damage to the aesthetics of the working environment such as the lawn caused by the wheel indentations of the self-moving device can be reduced, thereby ensuring the working effect of the self-moving device.

[0051] In some other embodiments of the present application, if the device location point of a mobile device is located on a sub-path extending to the boundary of an area, the first moving path may be a path along the target sub-path from the device location point to the area boundary, and the second moving path may be a path along the area boundary and from the target boundary location point to the target location point, the area boundary includes multiple boundary location points, and the target boundary location point is a boundary location point corresponding to the target sub-path among the multiple boundary location points.

[0052] In some embodiments of the present application, after planning the movement path, the self-moving device can move from the device position point to the target boundary position point according to the first movement path, and move from the target boundary position point to the target position point according to the second movement path.

[0053] In this embodiment, by using the shortest path from the device location point to the area boundary along the target sub-path as the first moving path and the shortest path from the target boundary location point to the target location point along the area boundary as the second moving path, it is possible to not only reduce the energy (such as power) consumption of the self-moving device, but also reduce the impact of the self-moving device on the aesthetics of the working environment such as the lawn, thereby ensuring the working effect of the self-moving device.

[0054] In other embodiments of the present application, if the self-mobile device is moved to the target location point for charging, maintenance, cleaning and other operations, after the corresponding charging, maintenance, cleaning and other operations are completed, the self-mobile device can re-execute the work task. For example, when the target location point is the location of the charging station, if the distance from the target location point to the end point of the work path along the area boundary is greater than or equal to the distance from the target location point to the device location point where the work task is stopped along the moving path, when charging is completed, the self-mobile device moves to the device location point according to the moving path, and starts from the device location point to continue to perform the work task. Alternatively, if the distance from the target location point to the end point of the work path along the area boundary is less than the distance from the target location point to the device location point where the work task is stopped along the moving path, when charging is completed, the self-mobile device can move along the area boundary to the end point of the work path, and start from the end point to continue to perform the work task.

[0055] In this embodiment, the distance from the target position point to the end point of the working path along the area boundary is greater than or equal to the distance from the target position point to the device position point where the working task is stopped along the moving path. The self-moving device moves to the device position point according to the moving path to continue to perform the working task, which can not only reduce energy consumption, but also avoid leaving unnecessary wheel marks on the working environment such as lawns, thereby reducing the impact on the aesthetics of the working environment such as lawns. If the distance from the target position point to the end point of the working path along the area boundary is less than the distance from the target position point to the device position point where the working task is stopped along the moving path, when charging is completed, the self-moving device moves along the area boundary to the end point of the working path to continue to perform the working task, which can reduce energy consumption.

[0056] In the path planning method of this embodiment, through the device position point of the self-moving device, the sub-path closest to the self-moving device can be selected from the sub-paths extending to the regional boundary as the target sub-path, so that the distance of the self-moving device from the device position point to the target sub-path can be reduced, and then the damage to the aesthetics of the working environment such as the lawn can be reduced. Based on the target position point, the device position point, the regional boundary and the target sub-path, the first moving path along the target sub-path and the second moving path along the regional boundary can be planned, so that fewer wheel indentations can be left in the working area. When the self-moving device moves along the moving path, not only can the energy (such as power) consumption of the self-moving device be reduced, but also the damage to the aesthetics of the working environment such as the lawn caused by the wheel indentations of the self-moving device can be reduced, so as to ensure the working effect of the self-moving device. If the self-moving device is a lawn mower and the target position point is the location of the charging station, based on the target position point, the device position point, the regional boundary and the target sub-path, the first moving path along the target sub-path and the second moving path along the regional boundary can be planned for the lawn mower. Since the target subpath is part of the working path of the lawn mower, the self-mobile device walking along the working path will leave neat and beautiful wheel marks on the working environment such as the lawn. Such neat and beautiful wheel marks will not damage the overall aesthetics of the working environment such as the lawn, and the area boundary is the boundary of the working area, and does not belong to the working environment such as the lawn. Therefore, when the lawn mower travels along the moving path, it can not only save the power of the lawn mower, but also avoid the situation where the lawn mower runs out of power midway due to the long path, making it impossible to move the lawn mower to the charging station, but also reduce the damage to the aesthetics of the lawn caused by the wheel marks of the lawn mower, thereby ensuring the working effect of the lawn mower.

[0057] like Fig. 9 , is a flow chart of a path planning method provided by another embodiment of the present application. According to different requirements, the order of the steps in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. The method is applied to an electronic device, and the electronic device can communicate with the self-mobile device through wired communication and / or wireless communication. The present application does not limit the methods of wired communication and wireless communication. The self-mobile device has a corresponding working path in the working area.

[0058] S21, in response to the moving instruction, the electronic device determines a target sub-path from the sub-paths of the working path according to the device location point of the self-moving device, wherein the sub-path extends to the area boundary of the working area.

[0059] In some embodiments of the present application, the movement instruction may be an instruction to control or cause the self-mobile device to move to a target location point, and the target location point is located at the boundary of the area. The electronic device may receive the movement instruction sent from the self-mobile device, and control the self-mobile device to stop performing the work task, or the electronic device may receive the power information sent from the self-mobile device, compare the received power information with the preset configuration value, and if the power information is less than the preset configuration value, generate and send the movement instruction to the self-mobile device, and control the self-mobile device to stop performing the work task.

[0060] The above-mentioned method for triggering the movement instruction to move to the target position point is only an example, and the actual application is not limited thereto.

[0061] In some embodiments of the present application, if a device location point of a mobile device deviates from a sub-path extending to a boundary of an area, the electronic device determines a target sub-path from the sub-paths of a working path based on the device location point of the mobile device, including: the electronic device calculates a target distance between the device location point and each sub-path extending to a boundary of the area, and determines the sub-path corresponding to the smallest target distance as the target sub-path.

[0062] The device location point may be the coordinates of the self-mobile device, and the electronic device may obtain the device location point of the self-mobile device from the self-mobile device.

[0063] In this embodiment, by determining the sub-path corresponding to the minimum target distance as the target sub-path, the distance that the self-moving device moves from the device position point to the target sub-path can be reduced, so that the wheel indentation of the self-moving device is not obvious, thereby reducing the damage to the aesthetics of the working environment such as the lawn.

[0064] In some other embodiments of the present application, if the device location point of the mobile device is located in a sub-path extending to a boundary of the area, the electronic device may determine the sub-path where the mobile device is currently located as the target sub-path.

[0065] In some embodiments of the present application, for a detailed introduction to the working area, working path, area boundary, target location point, device location point, etc., please refer to the description of step S11, and the present application will not repeat the description.

[0066] S22, the electronic device plans a moving path for the mobile device to move from the device location point to the target location point based on the target location point, the device location point, the area boundary and the target sub-path.

[0067] In some embodiments of the present application, the moving path includes a first moving path along the target subpath to the regional boundary and a second moving path along the regional boundary to the target position point. If the device position point of the self-mobile device deviates from the subpath extending to the regional boundary, the moving path may also include a third moving path between the device position point and the target subpath. The third moving path may be the shortest path from the device position point to the target subpath. For example, since the straight path is the shortest path between two points, the electronic device may determine the straight path from the device position point to the target subpath as the third moving path. The first moving path may be a path from the target path position point to the target boundary position point along the target subpath, and the second moving path may be a path from the target boundary position point to the target position point along the regional boundary, wherein the target path position point may be the path position point closest to the device position point among the multiple path position points of the target subpath, and is the path position point corresponding to the minimum target distance. The target boundary position point may be any boundary position point among the multiple boundary position points of the regional boundary that intersects with the target subpath, or may be the boundary position point closest to the target position point among the multiple boundary position points that intersect with the target subpath, and is the boundary position point corresponding to the target subpath.

[0068] If there are multiple paths from the target boundary position point to the target position point along the area boundary, the second moving path can be the shortest path among the multiple paths from the target boundary position point to the target position point along the area boundary, or the second moving path can also be any one of the multiple paths from the target boundary position point to the target position point along the area boundary.

[0069] For example, if the region boundary is a closed loop shape (such as a rectangle or a circle), the electronic device can determine the shortest path from the path from the target boundary position point to the target position point in the clockwise direction along the region boundary and the path from the target boundary position point to the target position point in the counterclockwise direction along the region boundary as the second moving path. Alternatively, the electronic device can select any one of the paths from the path from the target boundary position point to the target position point in the clockwise direction along the region boundary and the path from the target boundary position point to the target position point in the counterclockwise direction along the region boundary as the second moving path.

[0070] In some embodiments of the present application, after planning the moving path, the electronic device can control the mobile device to move from the device position point to the target path position point according to the third moving path, control the mobile device to move from the target path position point to the target boundary position point according to the first moving path, and control the mobile device to move from the target boundary position point to the target position point according to the second moving path.

[0071] In this embodiment, by using the shortest path between the device position point and the target sub-path as the third moving path, using the shortest path from the target path position point to the region boundary along the target sub-path as the first moving path, and using the shortest path from the target boundary position point to the target position point along the region boundary as the second moving path, a moving path with less destructive effect on the aesthetics of the working environment such as the lawn can be planned. When controlling the self-moving device to move along the shortest moving path, not only can the energy (such as power) consumption of the self-moving device be reduced, but also the damage to the aesthetics of the working environment such as the lawn caused by the wheel indentations of the self-moving device can be reduced, thereby ensuring the working effect of the self-moving device.

[0072] In some other embodiments of the present application, if the device location point of a mobile device is located on a sub-path extending to the boundary of an area, the first moving path may be a path along the target sub-path from the device location point to the area boundary, and the second moving path may be a path along the area boundary and from the target boundary location point to the target location point, the area boundary includes multiple boundary location points, and the target boundary location point is a boundary location point corresponding to the target sub-path among the multiple boundary location points.

[0073] In some embodiments of the present application, after planning the moving path, the electronic device can control the mobile device to move from the device position point to the target boundary position point according to the first moving path, and control the mobile device to move from the target boundary position point to the target position point according to the second moving path.

[0074] In this embodiment, by using the shortest path from the device location point to the area boundary along the target sub-path as the first moving path and the shortest path from the target boundary location point to the target location point along the area boundary as the second moving path, it is possible to not only reduce the energy (such as power) consumption of the self-moving device, but also reduce the impact of the self-moving device on the aesthetics of the working environment such as the lawn, thereby ensuring the working effect of the self-moving device.

[0075] In other embodiments of the present application, if the control of the self-mobile device to move to the target location is for charging, maintenance, cleaning and other operations, after the corresponding charging, maintenance and cleaning operations are completed, the electronic device can control the self-mobile device to re-execute the work task. For example, when the target location is the location of the charging station, if the distance from the target location to the end point of the work path along the area boundary is greater than or equal to the distance from the target location to the device location point where the work task is stopped along the moving path, when charging is completed, the electronic device can control the self-mobile device to move to the device location point according to the moving path, and start from the device location point to continue to perform the work task. Alternatively, if the distance from the target location to the end point of the work path along the area boundary is less than the distance from the target location to the device location point where the work task is stopped along the moving path, when the self-mobile device completes charging, the electronic device can control the self-mobile device to move along the area boundary to the end point of the work path, and start from the end point to continue to perform the work task.

[0076] In this embodiment, if the distance from the target position point to the end point of the working path along the area boundary is greater than or equal to the distance from the target position point to the device position point where the working task is stopped along the moving path, the self-moving device is controlled to move to the device position point according to the moving path to continue to perform the working task, which can not only reduce energy consumption, but also avoid leaving unnecessary wheel marks on the working environment such as lawns, thereby reducing the impact on the aesthetics of the working environment such as lawns. If the distance from the target position point to the end point of the working path along the area boundary is less than the distance from the target position point to the device position point where the working task is stopped along the moving path, when charging is completed, the self-moving device is controlled to move along the area boundary to the end point of the working path to continue to perform the working task, which can reduce the energy consumption of the self-moving device.

[0077] In the path planning method of this embodiment, through the device position point of the self-moving device, the sub-path closest to the self-moving device can be selected from the sub-paths extending to the regional boundary as the target sub-path, so that the distance of the self-moving device from the device position point to the target sub-path can be reduced, and then the damage to the aesthetics of the working environment such as the lawn can be reduced. Based on the target position point, the device position point, the regional boundary and the target sub-path, the first moving path along the target sub-path and the second moving path along the regional boundary can be planned for the self-moving device, so that fewer wheel indentations can be left in the working area. When controlling the self-moving device to move along the moving path, not only can the energy (such as power) consumption of the self-moving device be reduced, but also the damage to the aesthetics of the working environment such as the lawn caused by the wheel indentations of the self-moving device can be reduced, so as to ensure the working effect of the self-moving device. If the self-moving device is a lawn mower and the target position point is the location of the charging station, based on the target position point, the device position point, the regional boundary and the target sub-path, the first moving path along the target sub-path and the second moving path along the regional boundary can be planned for the lawn mower. Since the target subpath is part of the working path of the lawn mower, the self-mobile device walking along the working path will leave neat and beautiful wheel indentations on the working environment such as the lawn. Such neat and beautiful wheel indentations will not damage the overall aesthetics of the working environment such as the lawn, and the area boundary is the boundary of the working area, and does not belong to the working environment such as the lawn. Therefore, when controlling the lawn mower to travel along the moving path, it can not only save the power of the lawn mower, but also avoid the situation where the lawn mower runs out of power midway due to the long path, making it impossible to move the lawn mower to the charging station, and it can also reduce the damage of the lawn mower's wheel indentations to the aesthetics of the lawn, thereby ensuring the working effect of the lawn mower.

[0078] like Fig.10 , which is a schematic diagram of the structure of a self-moving device provided in one embodiment of the present application. Fig.10 In the figure, the self-moving device 1 includes a body and a memory 11, a processor 12, a power supply 13, a sensor 14, an operating mechanism 15, a communication module 16, a positioning module 17, a driving wheel 18 and a bus 19 arranged on the body. The processor 12 is coupled to the memory 11, the power supply 13, the sensor 14, the operating mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 through the bus 19.

[0079] The memory 11 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processor 12, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0080] The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the processor 12. The non-volatile memory may include a disk storage device and a flash memory.

[0081] The memory 11 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 12. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the processor 103, the path planning method executed on the mobile device 1 can be implemented.

[0082] In other embodiments, the self-mobile device 1 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-mobile device 1 .

[0083] The processor 12 may include one or more processing units, for example, the processor 12 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0084] The processor 12 provides computing and control capabilities. For example, the processor 12 is used to execute a computer program stored in the memory 11 to implement the above-mentioned path planning method.

[0085] The power source 13 is used to power the self-moving device. In one embodiment of the present application, the power source 13 may include any one or more power supply devices such as a battery, a fuel generator, a solar power generation module, a wind power generation module, etc.

[0086] The sensor 14 is used to obtain information for the mobile device 1, such as obtaining environmental information and movement information of the mobile device 1. In an embodiment of the present application, the sensor 14 may include one or more sensors such as a laser radar, a camera, an infrared sensor, and an encoder.

[0087] The operating mechanism 15 is used to perform corresponding operating tasks, such as mowing, cruising, sweeping, and spraying pesticides. In some embodiments of the present application, the operating mechanism 15 may include a motor, a transmission mechanism, and a cutter disc. In some embodiments of the present application, the motor can drive the cutter disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area.

[0088] The communication module 16 is used to realize communication between the mobile device and other devices. In one embodiment of the present application, the communication module 16 can exchange data with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or more combinations of communication modes such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0089] The positioning module 17 is used to determine the position of the mobile device. In some embodiments of the present application, the positioning module 17 may include one or more positioning modules of the type of global positioning system (GPS), inertial navigation system, real-time kinematic (RTK) carrier phase differential system, etc.

[0090] The driving wheel 18 is used to realize the movement of the self-moving device. In some embodiments of the present application, the driving wheel 18 can realize the movement function of the self-moving device according to the control of the processor 12. In some embodiments of the present application, the driving wheel 18 may include a left driving wheel and a right driving wheel.

[0091] The bus 19 is at least used to provide a channel for mutual communication among the memory 11 , the processor 12 , the power supply 13 , the sensor 14 , the operating mechanism 15 , the communication module 16 , the positioning module 17 , and the driving wheel 18 in the mobile device 1 .

[0092] In other embodiments of the present application, the self-moving device 1 may further include an anti-collision part and a steering assembly, etc. The anti-collision part may be used to prevent the driving wheel 18 from colliding with an obstacle in front of the self-moving device. The steering assembly may be used to enable the driving wheel 18 to adjust the driving direction.

[0093] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the self-moving device 1. In other embodiments of the present application, the self-moving device 1 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0094] like Fig.11 , which is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. Fig.11 In the embodiment, the electronic device 2 may include a communication module 21, a storage device 22, a processing device 23, an input / output (I / O) interface 24 and a bus 25. The processing device 23 is coupled to the communication module 21, the storage device 22 and the input / output interface 24 through the bus 25.

[0095] The communication module 21 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions such as universal serial bus (USB), controller area network bus (CAN, Controller Area Network). The wireless communication module may provide one or more wireless communication solutions such as wireless fidelity (wireless fidelity, Wi-Fi), Bluetooth (Bluetooth, BT), mobile communication network, frequency modulation (frequency modulation, FM), near field communication technology (near field communication, NFC), infrared technology (infrared, IR), etc.

[0096] The storage device 22 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processing device 23, and can be used to store executable programs (such as machine instructions) of other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0097] The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the processor 23. The non-volatile memory may include a disk storage device and a flash memory.

[0098] The storage device 22 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processing device 23. The one or more computer programs include multiple instructions, and when the multiple instructions are executed by the processing device 23, the path planning method executed on the electronic device 2 can be implemented.

[0099] In other embodiments, Fig.11 The electronic device 2 shown also includes an external memory interface for connecting to an external memory to expand the storage capacity of the electronic device 2 .

[0100] The processing device 23 may include one or more processing units, for example, the processing device 23 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0101] The processing device 23 provides computing and control capabilities. For example, the processing device 23 is used to execute a computer program stored in the storage device 22 to implement the above-mentioned path planning method.

[0102] The input / output interface 24 is used to provide a channel for user input or output. For example, the input / output interface 24 can be used to connect various input and output devices, such as a mouse, keyboard, touch device, display screen, etc., so that the user can enter information or visualize information.

[0103] The bus 25 is at least used to provide a channel for mutual communication among the communication module 21 , the storage device 22 , the processing device 23 , and the input / output interface 24 in the electronic device 2 .

[0104] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the electronic device 2. In other embodiments of the present application, the electronic device 2 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0105] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0106] The computer-readable storage medium may be an internal memory of the mobile device or electronic device described in the above embodiments, for example, a hard disk or memory of the mobile device or electronic device. The computer-readable storage medium may also be an external storage device of the mobile device or electronic device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc., equipped on the mobile device or electronic device.

[0107] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created based on the use of the mobile device or electronic device, etc.

[0108] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0109] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0110] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A path planning method, applied to a self-moving device, wherein the self-moving device has a corresponding working path in a working area, characterized in that: The method comprises: In response to the movement instruction, determining a target sub-path from the sub-paths of the working path according to the device position point of the self-moving device, wherein the sub-path extends to the area boundary of the working area; Based on the target location point, the device location point, the area boundary and the target sub-path, a moving path of the self-mobile device from the device location point to the target location point is planned, the moving path including a first moving path along the target sub-path to the area boundary and a second moving path along the area boundary to the target location point, the target location point being located at the area boundary.

2. The path planning method according to claim 1, characterized in that: If the device location point deviates from the sub-path extending to the boundary of the area, determining the target sub-path from the sub-paths of the working path according to the device location point of the self-moving device includes: The target distance between the device location point and each sub-path extending to the region boundary is calculated, and the sub-path corresponding to the minimum target distance is determined as the target sub-path.

3. The path planning method according to claim 2, characterized in that: The moving path also includes a third moving path from the device position point to the target sub-path, the first moving path is a path along the target sub-path and from the target path position point to the target boundary position point, the second moving path is a path along the area boundary and from the target boundary position point to the target position point, the target sub-path includes multiple path position points, the area boundary includes multiple boundary position points, the target path position point is the path position point corresponding to the minimum target distance among the multiple path position points, and the target boundary position point is the boundary position point corresponding to the target sub-path among the multiple boundary position points.

4. The path planning method according to claim 3, characterized in that: The method further comprises: According to the third moving path, move from the device position point to the target path position point; According to the first moving path, move from the target path position point to the target boundary position point; According to the second moving path, move from the target boundary position point to the target position point.

5. The path planning method according to claim 1, characterized in that: If the device location point is located on a sub-path extending to the boundary of the area, the target sub-path is the sub-path where the self-mobile device is currently located, the first moving path is the path from the device location point to the area boundary along the target sub-path, and the second moving path is the path along the area boundary and from the target boundary location point to the target location point. The area boundary includes multiple boundary location points, and the target boundary location point is the boundary location point corresponding to the target sub-path among the multiple boundary location points.

6. The path planning method according to any one of claims 1 to 5, characterized in that: The working path is a bow-shaped path, and the sub-path extending to the boundary of the area includes a plurality of parallel and spaced paths.

7. The path planning method according to any one of claims 1 to 5, characterized in that: The target location point is the location of the charging station. When it is detected that the power of the self-moving device is less than a preset configuration value, the moving instruction is generated and the work task is stopped.

8. The path planning method according to claim 7, characterized in that: The method further comprises: If the self-mobile device completes charging, it moves to the device location point where the work task is stopped according to the moving path, and starts from the device location point to continue to perform the work task.

9. A path planning method, applied to an electronic device, characterized in that: The electronic device is in communication connection with a self-moving device, and the self-moving device has a corresponding working path in a working area, and the method includes: In response to the movement instruction, determining a target sub-path from the sub-paths of the working path according to the device position point of the self-moving device, wherein the sub-path extends to the area boundary of the working area; Based on the target location point, the device location point, the area boundary and the target sub-path, a moving path of the self-mobile device from the device location point to the target location point is planned, the moving path including a first moving path along the target sub-path to the area boundary and a second moving path along the area boundary to the target location point, the target location point being located at the area boundary.

10. A self-propelled device, characterized in that: The self-mobile device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-mobile device implements the path planning method as claimed in any one of claims 1 to 8.

11. An electronic device, characterized in that: The electronic device comprises: a storage device, a processing device and a computer program stored on the storage device and executable on the processing device. When the processing device executes the computer program, the electronic device implements the path planning method as claimed in claim 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor in a mobile device, implements the path planning method as described in any one of claims 1 to 8, or, when executed by a processing device in an electronic device, implements the path planning method as described in claim 9.

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