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

Abstract

The application provides a path planning method, a self-moving device, an electronic device and a storage medium. The self-moving device has a corresponding working path in a working area. The method comprises the following steps: in response to a moving instruction, a target sub-path is determined from a sub-path of the working path according to a device position point of the self-moving device, wherein the sub-path extends to a region boundary of the working area; and 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 from the device position point to the target position point is planned, the moving path comprises a first moving path along the target sub-path to the region boundary and a second moving path along the region boundary to the target position point, and the target position point is located at the region boundary. By using the above method, energy consumption can be reduced, and the influence on the aesthetics of the working environment such as lawn can be reduced, so that the working effect of the self-moving device can be ensured.

Description

TECHNICAL FIELD

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

[0002] With the continuous progress of technology and the rapid development of artificial intelligence, using self-moving devices (for example, lawn mowers, cleaning machines, cruise machines, etc.) to perform work can greatly improve work efficiency.

[0003] In related technologies, a self-moving device often performs a work task according to a pre-planned work path. The work path is often neat and regular, and the self-moving device walking along the work path will leave neat and beautiful wheel marks on the work environment such as a lawn. Such neat and beautiful wheel marks will not damage the overall aesthetic degree of the work environment such as a lawn. When a sudden situation (such as insufficient power) occurs, causing the self-moving device to need to stop the current work task and move from the stop position point to the target position point, the self-moving device often directly travels along the straight line path between the stop position point and the target position point, causing the work environment such as a lawn to leave redundant wheel marks, which damages the neatness and beauty of the originally neat and regular work environment such as a lawn, and makes it difficult to ensure the work effect of the self-moving device. Taking a lawn mower as an example, the lawn mower usually works in a target work area. In order to facilitate charging, the area boundary line of the target work area is provided with a charging station. When the lawn mower needs to move to the charging station for charging due to insufficient power while performing a mowing task, in order to save power, the lawn mower often directly travels along the straight line path between the stop position point and the charging station, causing wheel marks to be left on the lawn, affecting the overall aesthetic degree of the lawn and the mowing effect of the lawn mower. SUMMARY

[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 work environment such as a lawn leaves redundant wheel marks due to the self-moving device directly traveling along the straight line path between the stop position point and the target position point, which damages the neatness and beauty of the work environment such as a lawn and the work effect of the self-moving device.

[0005] In one aspect, the application provides a path planning method applied to a self-moving device, the self-moving device having a corresponding working path in a working area, the method comprising: in response to a moving instruction, determining a target sub-path from sub-paths of the working path according to a device position point of the self-moving device, wherein the sub-path extends to a region boundary of the working area; and planning a moving path of the self-moving device from the device position point to a target position point based on the target position point, the device position point, the region boundary and the target sub-path, the moving path comprising a first moving path along the target sub-path to the region boundary and a second moving path along the region boundary to the target position point, the target position point being located at the region boundary.

[0006] In another aspect, the application provides a path planning method applied to an electronic device, the electronic device being communicatively connected with a self-moving device, the self-moving device having a corresponding working path in a working area, the method comprising: in response to a moving instruction, determining a target sub-path from sub-paths of the working path according to a device position point of the self-moving device, wherein the sub-path extends to a region boundary of the working area; and planning a moving path of the self-moving device from the device position point to a target position point based on the target position point, the device position point, the region boundary and the target sub-path, the moving path comprising a first moving path along the target sub-path to the region boundary and a second moving path along the region boundary to the target position point, the target position point being located at the region boundary.

[0007] In another aspect, the application provides a self-moving device, comprising: 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 enable the self-moving device to implement the path planning method.

[0008] In another aspect, the application provides an electronic device, comprising: a storage device, a processing device and a computer program stored in the storage device and executable on the processing device, wherein the processing device executes the computer program to enable the electronic device to implement the path planning method.

[0009] In another aspect, the application provides a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being executable on a processor in a self-moving device to implement the path planning method or on a processing device in an electronic device to implement the path planning method.

[0010] In the path planning method of the embodiment, the sub-path closest to the self-moving device can be selected as the target sub-path from the sub-paths extending to the region boundary through the device position point of the self-moving device, so that the distance of the self-moving device from the device position point to the target sub-path can be reduced, and the damage to the appearance of the work environment such as the lawn can be reduced. Based on the target position point, the device position point, the region boundary and the target sub-path, the first moving path along the target sub-path and the second moving path along the region boundary can be planned, so that fewer wheel marks can be left in the work area. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 is a flowchart of a path planning method provided by an embodiment of the present application.

[0012] Figure 2 is a schematic diagram of a work area, a region boundary and a work path provided by an embodiment of the present application.

[0013] Figure 3 is a schematic diagram of a work area, a region boundary and a work path provided by another embodiment of the present application.

[0014] Figure 4 is a schematic diagram of a work area, a region boundary and a work path provided by yet another embodiment of the present application.

[0015] Figure 5 is a schematic diagram of a work area, a region boundary and a work path provided by yet another embodiment of the present application.

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

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

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

[0019] Figure 9 is a flowchart of a path planning method provided by another embodiment of the present application.

[0020] Figure 10 is a structural schematic diagram of a self-moving device provided by an embodiment of the present application.

[0021] Figure 11 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the application will be 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. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0024] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0025] This application provides a path planning method that can reduce energy consumption and minimize the impact on the aesthetics of the work environment, such as lawns, thereby ensuring the operational effectiveness of self-moving equipment.

[0026] The path planning method provided in this application can be applied to one or more self-moving devices, or it can be applied to one or more electronic devices. Self-moving devices can be lawnmowers, cleaning machines, and cruiser drones, etc. Electronic devices can be computers, tablets, mobile phones, servers, cloud servers, personal digital assistants (PDAs), game consoles, interactive network television (IPTV), smart wearable devices, etc. This application does not limit the types of self-moving devices and electronic devices.

[0027] To more clearly illustrate the path planning method provided in the embodiments of this application, the path planning methods applied to self-mobile devices and electronic devices will be described below respectively.

[0028] like Figure 1 The diagram shown is a flowchart of a path planning method provided in one embodiment of this application. Depending on different needs, the order of the steps in this flowchart can be adjusted according to actual requirements, and some steps can be omitted. The method is applied to a self-moving device, which has a corresponding working path in its working area.

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

[0030] In some embodiments of the present application, the working region can be determined by map information. The working path is a path for the mobile device to perform a working task, and the working path can be neat and regular, and the mobile device can leave neat and regular wheel marks in the working region after performing the working task along the working path in the working region, and the neat and regular wheel marks will not destroy the overall aesthetics of the working environment such as the lawn. For example, after the lawn mowing robot mows the lawn along the arch-shaped path, it will cover a plurality of parallel arranged wheel marks in the lawn, and such a plurality of parallel arranged wheel marks can bring a better visual effect to the user.

[0031] The working path can be planned based on the map information of the working region according to various algorithms, wherein the various algorithms can be machine learning algorithms such as convolutional neural networks, positioning algorithms, and navigation algorithms. The sub-paths of the working path can be a plurality of sub-paths, and the sub-path extending to the region boundary means that the region boundary can be reached along the sub-path. In addition to the sub-path extending to the region boundary, the working path can also include other sub-paths not extending to the region boundary. The working path can have a corresponding direction and shape. For example, if the region boundary is rectangular, the working path can be an arch-shaped path, each sub-path can be horizontal or vertical, and the sub-paths extending to the region boundary can be a plurality of parallel and spaced sub-paths, forming a shape similar to an arch. Alternatively, if the region boundary is circular, the working path can be a path similar to a rotating disc shape, each sub-path extending to the region boundary can extend to the region boundary, forming a shape similar to a radiation, and the sub-path not extending to the region boundary is used to connect two sub-paths extending to the region boundary, thereby forming a working path similar to a rotating disc shape. The above examples of the working path are only examples, and are not limited in actual applications.

[0032] The regional boundary can be the boundary of the working area. For example, if the self - moving device is a lawn mower, the regional boundary can be the actual boundary of the lawn in the mowing map, or it can not be the actual boundary of the lawn, but a custom - defined boundary area. The regional boundary can be a regional range composed of multiple regional location points, and the regional boundary can have a corresponding shape. For example, the boundary of the working area can be circular, rectangular, or other shapes, and the application does not limit the shape of the regional boundary. Each boundary location point has a corresponding coordinate. The coordinates of the boundary location points can be obtained by user input, or the self - moving device can determine the boundary location points that make up the regional boundary based on the pre - planned boundary in the mowing map, and obtain the coordinates of the boundary location points from the pre - planned boundary. For example, the self - moving device can determine all the location points whose distance from the pre - planned boundary in the mowing map is less than or equal to the first preset value as boundary location points, and obtain the coordinates of the boundary location points from the pre - planned boundary, where the first preset value can be custom - set, and the application does not limit this.

[0033] For example, as Figure 2 shown, it is a schematic diagram of the working area, regional boundary, and working path provided by an embodiment of the present application. As Figure 3 shown, it is a schematic diagram of the working area, regional boundary, and working path provided by another embodiment of the present application. As Figure 4 shown, it is a schematic diagram of the working area, regional boundary, and working path provided by yet another embodiment of the present application. Figure 2 And Figure 3 The working path shown is similar to the shape of a "bow", Figure 2 And Figure 3 The sub - paths extending to the regional boundary in it can be multiple sub - paths arranged in parallel and at intervals, and the direction can refer to the arrow directions in Figure 2 And Figure 3 The arrow directions in it, Figure 2 And Figure 3 The regional boundary of the working area is represented by a dashed line in it, Figure 2 And Figure 3 The shape of the regional boundary in it is rectangular. Figure 4 Each sub - path extending to the regional boundary in it extends to the regional boundary, and can form a shape similar to radiation. The sub - paths that do not extend to the regional boundary are used to connect two sub - paths extending to the regional boundary, thus forming a working path similar to a turntable shape. Figure 4 The direction of the working path in it can be referred to the arrow direction in Figure 4 The arrow direction in it, Figure 4 The regional boundary of the working area is represented by a dashed line in it, Figure 4 The shape of the regional boundary in it is circular. For the sake of convenience of explanation, Figure 2 And Figure 4 The dashed line representing the regional boundary in it can actually be a regional range composed of multiple boundary location points in practical applications.

[0034] In other embodiments of the present application, if the working area of the self-moving device is one of the sub-areas of the operation area, and the self-moving device has a corresponding working path in each sub-area, the area boundary described in the embodiments of the present application is the boundary of the sub-area, rather than the operation boundary of the operation area. Figure 5 As shown in FIG. 6, it is a schematic diagram of the working area, the area boundary and the working path provided by another embodiment of the present application. In Figure 5 , the operation boundary is represented by a thick black solid line, and the area inside the operation boundary (which can also be referred to as the internal area of the operation boundary frame) is the operation area. The working area is one of the sub-areas in the operation area. The area boundary is represented by a dashed line, and the area inside the area boundary (which can also be referred to as the internal area of the area boundary frame) is the working area. The working path of the self-moving device in the working area is an "arch" shaped path, and the direction of the "arch" shaped path can be referred to the corresponding arrow in Figure 5 . The area outside the area boundary (which can also be referred to as the area between the operation boundary and the area boundary) is another sub-area in the operation area, and the moving path of the self-moving device in the sub-area is a "back" shaped path, and the direction of the "back" shaped path can be referred to the corresponding arrow in Figure 5 .

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

[0036] The moving instruction can be an instruction for controlling or instructing the self-moving device to move to a target position point, and the target position point is located at the area boundary. In some embodiments, the target position point can be the position (coordinates) of a charging station, the position of a maintenance point or a cleaning point, the position of a safe parking point, the position of a storage point or the position of a task handover point, and the present application does not limit the target position point. In other embodiments, if the self-moving device is a lawn mower, the target position point can be the intersection position of the connecting path between the charging station and the working area boundary on the boundary, and the lawn mower can reach the charging station along the connecting path after reaching the intersection position. The coordinates of the target position point can be obtained by user input.

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

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

[0039] The reason why the device position point of the self-moving device deviates from the sub-path extending to the boundary of the region can be an external factor or an internal factor of the self-moving device. For example, when the working path includes a sub-path that does not extend to the boundary of the region, if the device position point of the self-moving device is located on the sub-path that does not extend to the boundary of the region, it can also be regarded as that the device position point of the self-moving device deviates from the sub-path extending to the boundary of the region. Or, if the self-moving device is a mower, when the distance between the preset grass dumping position point and the mowing path is greater than or equal to a second preset value, the self-moving device needs to go to the grass dumping position point to dump grass, which will cause the self-moving device to deviate from the mowing path, or when the irregularity of the lawn (such as steep slope, uneven ground) or obstacles are encountered, in order to keep the mower balanced and avoid obstacles, the mower may deviate from the original mowing path. When the navigation or positioning system fails, the mower may also not be able to recognize the direction, thereby causing the mower to deviate from the mowing path. Or, if the self-moving device is a cleaning machine, the change of the terrain of the cleaning area (such as uneven ground, encountering stairs or thresholds), the navigation algorithm may have defects or errors, or obstacles are encountered, etc., which may cause the cleaning machine to deviate from the original cleaning path. Or, if the self-moving device is a cruise machine, the change of weather conditions (such as strong wind and heavy rain), the navigation system or control system may fail or have errors, or obstacles are encountered, etc., which may cause the cruise machine to deviate from the original cruise path. The above examples of deviation reasons are only examples, and in actual applications, they are not limited thereto.

[0040] If the device position point deviates from the sub-path extending to the region boundary, the self-moving device determines the target sub-path from the sub-paths of the working path according to the device position point of the self-moving device, including: the self-moving device calculates a target distance between the device position point and each sub-path extending to the region boundary, and determines the sub-path corresponding to the smallest target distance as the target sub-path.

[0041] The device position point can be the coordinate of the self-moving device. The self-moving device can obtain the device position point of the self-moving device in various ways. For example, the self-moving device can obtain its own device position point by using the real-time dynamic positioning technology (RTK). Each sub-path extending to the region boundary can include a plurality of path position points, each path position point having a corresponding coordinate, and the target distance can be the distance between the device position point and the path position point closest to the device position point in each sub-path. The target distance can be the Euclidean distance, Manhattan distance, Chebyshev distance, etc., which are not limited in the present application.

[0042] In the present embodiment, by determining the sub-path corresponding to the smallest target distance as the target sub-path, the distance of the self-moving device from the device position point to the target sub-path can be reduced, so that the wheel marks of the self-moving device are not obvious, thereby reducing the damage to the aesthetics of the work environment such as the lawn.

[0043] In some other embodiments of the present application, if the device position point of the self-moving device is located on the sub-path extending to the region boundary, the target sub-path can be the sub-path currently occupied by the self-moving device.

[0044] S12, the self-moving device plans a moving path of the self-moving device from the device position point to the target position point based on the target position point, the device position point, the region boundary and the target sub-path.

[0045] In some embodiments of this application, the movement path includes a first movement path along the target sub-path to the region boundary and a second movement path along the region boundary to the target location point. If the device location point deviates from the sub-path extending to the region boundary, the movement path may further include a third movement path from the device location point to the target sub-path. The third movement path may be the shortest path from the device location point to the target sub-path. For example, since a straight path is the shortest path between two points, the self-moving device may determine the straight path from the device location point to the target sub-path as the third movement path. The first movement path may be a path along the target sub-path from the target path location point to the target boundary location point, and the second movement path may be a path along the region boundary from the target boundary location point to the target location point. The target path location point may be the path location point closest to the device location point among multiple path location points of the target sub-path, corresponding to the path location point with the smallest target distance. The target boundary location point may be any boundary location point among multiple boundary location points of the region boundary that intersects with the target sub-path, or it may be the boundary location point closest to the target location point among multiple boundary location points that intersect with the target sub-path, corresponding to the boundary location point of the target sub-path.

[0046] If there are multiple paths along the region boundary from the target boundary location point to the target location point, the second movement path can be the shortest path among the multiple paths along the region boundary from the target boundary location point to the target location point, or the second movement path can be any one of the multiple paths along the region boundary from the target boundary location point to the target location point.

[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 as the second movement path from the target boundary point to the target point in a clockwise direction along the region boundary, and from the target boundary point to the target point in a counterclockwise direction along the region boundary. Alternatively, the self-moving device can choose either the path from the target boundary point to the target point in a clockwise direction along the region boundary, or the path from the target boundary point to the target point in a counterclockwise direction along the region boundary, as the second movement path.

[0048] For example, such as Figure 6 The diagram shown is a schematic representation of a movement path provided in an embodiment of this application. Figure 7 The diagram shown is a schematic representation of a movement path provided in another embodiment of this application. Figure 8 The diagram shown is a schematic representation of a movement path provided in another embodiment of this application. Figure 6 and Figure 2 correspond, Figure 6In the shown movement path, A1 represents the device position point, B1 represents the target path position point, C1 represents the target boundary position point, D1 represents the target position point, the third movement path is a straight line path between A1 and the target sub-path (B1), the first movement path can be a path along the target sub-path from B1 to C1, and the second movement path can be a path along the region boundary from C1 to D1. Figure 7 Corresponding to Figure 3 , Figure 7 In the shown movement path, A2 represents the device position point, B2 represents the target path position point, C2 represents the target boundary position point, and D2 represents the target position point. The third movement path is a straight line path between A2 and the target sub-path (B2). The first movement path can be a path along the target sub-path from B2 to C2, and the second movement path can be a path along the region boundary from C2 to D2. Figure 8 Corresponding to Figure 4 , Figure 8 In the shown movement path, A3 represents the device position point, B3 represents the target path position point, C3 represents the target boundary position point, and D3 represents the target position point. The third movement path is a straight line path between A3 and the target sub-path (B3). The first movement path can be a path along the target sub-path from B3 to C3, and the second movement path can be a path along the region boundary from C3 to D3. Figures 6-8 In the shown movement path, the third movement path, the first movement path, and the second movement path are indicated by arrows. In order to avoid confusion, Figures 6-8 The direction of the movement path of the mobile device from the device position point to the target position point is indicated by the arrow, and the direction of the working path is not indicated.

[0049] In some embodiments of the present application, after the movement path is planned, the mobile device can move from the device position point to the target path position point according to the third movement path, move from the target path 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.

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

[0051] In some other embodiments of the present application, if the device position point of the self-moving device is located on a sub-path extending to the region boundary, the first moving path can be a path along the target sub-path from the device position point to the region boundary, and the second moving path can be a path along the region boundary and from the target boundary position point to the target position point, the region boundary including a plurality of boundary position points, and the target boundary position point being a boundary position point corresponding to the target sub-path among the plurality of boundary position points.

[0052] In some embodiments of the present application, after the moving path is planned, the self-moving device can move from the device 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.

[0053] In the embodiment, by taking the shortest path along the target sub-path from the device position point to the region boundary as the first moving path, and taking the shortest path along the region boundary from the target boundary position point to the target position point as the second moving path, not only the energy (such as power) consumption of the self-moving device can be reduced, but also the influence of the self-moving device on the aesthetics of the work environment such as a lawn can be reduced, so that the work effect of the self-moving device can be ensured.

[0054] In other embodiments of the present application, if the mobile device moves to the target position point for charging, maintenance, cleaning, or the like, after the corresponding charging, maintenance, cleaning, or the like is completed, the mobile device can re-perform the work task. For example, if the target position point is the position of a charging station, and the distance along the region boundary from the target position point to the end point of the work path is greater than or equal to the distance along the movement path from the target position point to the device position point at which the work task is stopped, after charging is completed, the mobile device moves to the device position point according to the movement path, and from the device position point, continues to perform the work task. Alternatively, if the distance along the region boundary from the target position point to the end point of the work path is less than the distance along the movement path from the target position point to the device position point at which the work task is stopped, after charging is completed, the mobile device can move to the end point of the work path along the region boundary, and from the end point, continues to perform the work task.

[0055] In the present embodiment, if the distance along the region boundary from the target position point to the end point of the work path is greater than or equal to the distance along the movement path from the target position point to the device position point at which the work task is stopped, the mobile device moves to the device position point according to the movement path to continue to perform the work task, which not only reduces energy consumption, but also avoids leaving extra wheel marks on the work environment, such as a lawn, thereby reducing the impact on the aesthetics of the work environment, such as a lawn. If the distance along the region boundary from the target position point to the end point of the work path is less than the distance along the movement path from the target position point to the device position point at which the work task is stopped, after charging is completed, the mobile device moves to the end point of the work path along the region boundary to continue to perform the work task, which reduces energy consumption.

[0056] In the path planning method of the embodiment, the device position point of the self-moving device can be used to select the sub-path closest to the self-moving device from the sub-paths extending to the region boundary as the target sub-path, so as to reduce the distance of the self-moving device from the device position point to the target sub-path, and further reduce the damage to the aesthetics of the work environment such as the lawn. Based on the target position point, the device position point, the region boundary, and the target sub-path, the first moving path along the target sub-path and the second moving path along the region boundary can be planned, so as to leave fewer wheel marks in the work area. When the self-moving device moves along the moving path, not only the energy (such as power) consumption of the self-moving device can be reduced, but also the damage of the wheel marks of the self-moving device to the aesthetics of the work environment such as the lawn can be reduced, so as to ensure the work effect of the self-moving device. If the self-moving device is a mower and the target position point is the position of the charging station, based on the target position point, the device position point, the region boundary, and the target sub-path, the first moving path along the target sub-path and the second moving path along the region boundary can be planned for the mower. Since the target sub-path is part of the working path of the mower, the self-moving device walks along the working path to leave neat and beautiful wheel marks on the work environment such as the lawn, which will not damage the overall aesthetics of the work environment such as the lawn, and the region boundary is the boundary of the work area and does not belong to the work environment such as the lawn. Therefore, when the mower drives along the moving path, not only the power of the mower can be saved, and the situation that the mower cannot move to the charging station due to power consumption halfway caused by too long path can be avoided, but also the damage of the wheel marks of the mower to the aesthetics of the lawn can be reduced, so as to ensure the work effect of the mower.

[0057] As shown in Figure 9 FIG. 1 is a flowchart of a path planning method according to another embodiment of the present application. The order of the steps in the flowchart can be adjusted according to actual requirements, and some steps can be omitted according to different requirements. The method is applied to an electronic device, which can be connected to a self-moving device through wired communication and / or wireless communication. The self-moving device has a corresponding working path in a work area.

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

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

[0060] The triggering method of the moving instruction for moving 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 the device position point of the self-moving device deviates from the sub-path extending to the region boundary, the electronic device determines the target sub-path from the sub-paths of the work path according to the device position point of the self-moving device, including: the electronic device calculates a target distance between the device position point and each sub-path extending to the region boundary, and determines the sub-path corresponding to the smallest target distance as the target sub-path.

[0062] The device position point can be the coordinates of the self-moving device, and the electronic device can obtain the device position point of the self-moving device from the self-moving device.

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

[0064] In some other embodiments of the present application, if the device position point of the self-moving device is located at the sub-path extending to the region boundary, the electronic device can determine the sub-path currently located by the self-moving device as the target sub-path.

[0065] In some embodiments of the present application, the detailed introduction about the work region, the work path, the region boundary, the target position point, the device position point, etc. can refer to the description of step S11, and the present application will not be described repeatedly.

[0066] S22, the electronic device plans a moving path of the self-moving device from the device position point to the target position point based on the target position point, the device position point, the region boundary, and the target sub-path.

[0067] In some embodiments of the present application, the movement path comprises a first movement path along the target sub-path to a boundary of the region and a second movement path along the boundary of the region to the target position point. If the device position point of the mobile device deviates from the sub-path extending to the boundary of the region, the movement path can further comprise a third movement path between the device position point and the target sub-path. The third movement path can be the shortest path from the device position point to the target sub-path. For example, since the straight line path is the shortest among paths between two points, the electronic device can determine the straight line path from the device position point to the target sub-path as the third movement path. The first movement path can be a path along the target sub-path from a target path position point to a target boundary position point, and the second movement path can be a path along the boundary of the region from the target boundary position point to the target position point, wherein the target path position point can be a path position point of the target sub-path closest to the device position point, i.e., a path position point corresponding to the smallest target distance. The target boundary position point can be any boundary position point of the boundary of the region intersecting the target sub-path, or can be a boundary position point of the boundary of the region closest to the target position point among the boundary position points intersecting the target sub-path, i.e., a boundary position point corresponding to the target sub-path.

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

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

[0070] In some embodiments of the present application, after the movement path is planned, 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 movement path, to move from the target path position point to the target boundary position point according to the first movement path, and to move from the target boundary position point to the target position point according to the second movement path.

[0071] In the embodiment, by taking the shortest path between the device location point and the target sub-path as the third moving path, taking the shortest path along the target sub-path from the target path location point to the region boundary as the first moving path, and taking the shortest path along the region boundary from the target boundary location point to the target location point as the second moving path, a moving path with less damage to the aesthetics of the work environment such as a lawn can be planned. When the self-moving device is controlled to move along the shortest moving path, not only the energy (such as power) consumption of the self-moving device can be reduced, but also the damage to the aesthetics of the work environment such as a lawn caused by the wheel marks of the self-moving device can be reduced, so that the work effect of the self-moving device can be ensured.

[0072] In some other embodiments of the present application, if the device location point of the self-moving device is located on a sub-path extending to the region boundary, the first moving path can be a path along the target sub-path from the device location point to the region boundary, and the second moving path can be a path along the region boundary and from the target boundary location point to the target location point, the region boundary including a plurality of boundary location points, and the target boundary location point being a boundary location point corresponding to the target sub-path among the plurality of boundary location points.

[0073] In some embodiments of the present application, after the moving path is planned, the electronic device can control the self-moving device to move from the device location point to the target boundary location point according to the first moving path, and control the self-moving device to move from the target boundary location point to the target location point according to the second moving path.

[0074] In the embodiment, by taking the shortest path along the target sub-path from the device location point to the region boundary as the first moving path, and taking the shortest path along the region boundary from the target boundary location point to the target location point as the second moving path, not only the energy (such as power) consumption of the self-moving device can be reduced, but also the influence of the self-moving device on the aesthetics of the work environment such as a lawn can be reduced, so that the work effect of the self-moving device can be ensured.

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

[0076] In the present embodiment, the distance along the region boundary between the target position point and the end point of the work path is greater than or equal to the distance along the movement path between the target position point and the device position point where the work task is stopped, and the control of the self-moving device to move to the device position point according to the movement path to continue to perform the work task not only can reduce energy consumption, but also can avoid leaving extra wheel marks on the work environment such as lawn, thereby reducing the impact on the aesthetics of the work environment such as lawn. If the distance along the region boundary between the target position point and the end point of the work path is less than the distance along the movement path between the target position point and the device position point where the work task is stopped, the control of the self-moving device to move to the end point of the work path along the region boundary to continue to perform the work task after the charging is completed can reduce the energy consumption of the self-moving device.

[0077] In the path planning method of the embodiment, the device position point of the self-moving device can be used to select the sub-path closest to the self-moving device from the sub-paths extending to the region boundary as the target sub-path, so as to reduce the distance of the self-moving device from the device position point to the target sub-path, and further reduce the damage to the aesthetics of the work environment such as the lawn. Based on the target position point, the device position point, the region boundary and the target sub-path, the first movement path along the target sub-path and the second movement path along the region boundary can be planned for the self-moving device, so as to leave fewer wheel marks in the work area. When the self-moving device is controlled to move along the movement path, not only the energy (such as power) consumption of the self-moving device can be reduced, but also the damage of the wheel marks of the self-moving device to the aesthetics of the work environment such as the lawn can be reduced, so as to ensure the work effect of the self-moving device. If the self-moving device is a mower and the target position point is the position of the charging station, based on the target position point, the device position point, the region boundary and the target sub-path, the first movement path along the target sub-path and the second movement path along the region boundary can be planned for the mower. Since the target sub-path is part of the working path of the mower, the self-moving device walks along the working path to leave neat and beautiful wheel marks on the work environment such as the lawn, which will not damage the overall aesthetics of the work environment such as the lawn, and the region boundary is the boundary of the work area and does not belong to the work environment such as the lawn, so when the mower is controlled to move along the movement path, not only the power of the mower can be saved, and the situation that the mower cannot move to the charging station due to the power consumption of the mower in the middle of the way caused by the too long path can be avoided, but also the damage of the wheel marks of the mower to the aesthetics of the lawn can be reduced, so as to ensure the work effect of the mower.

[0078] As shown in Figure 10 , it is a structure schematic diagram of the self-moving device provided by an embodiment of the application. Figure 10 In the embodiment, the self-moving device 1 includes a body, and a memory 11, a processor 12, a power supply 13, a sensor 14, a working 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 working mechanism 15, the communication module 16, the positioning module 17 and the driving wheel 18 through the bus 19.

[0079] The memory 11 can include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). The random access memory can be directly readable and writable by the processor 12, and can be used to store executable programs (e.g., machine instructions) of an operating system or other programs that are currently running, and can also be used to store data of users and applications, etc. The random access memory can include static random access memories (SRAMs), dynamic random access memories (DRAMs), synchronous dynamic random access memories (SDRAMs), double data rate synchronous dynamic random access memories (DDR SDRAMs), etc.

[0080] The non-volatile memory can also store executable programs and store data of users and applications, etc., and can be loaded in advance into the random access memory for direct reading and writing by the processor 12. The non-volatile memory can include disk storage devices, flash memories.

[0081] The memory 11 is configured 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 that, when executed by the processor 12, implement the path planning method performed on the self-moving device 1.

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

[0083] The processor 12 can include one or more processing units, for example: the processor 12 can include an application processor (AP), a modem processor, a graphics processing unit (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. Among them, different processing units can be independent devices, or can be integrated in 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 path planning method described above.

[0085] The power supply 13 is used to supply power for the self-moving device. In an embodiment of the present application, the power supply 13 can include any one or more of the following types of power supply devices: a battery, a fuel generator, a solar power module, a wind power module, etc.

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

[0087] The working mechanism 15 is used to perform corresponding work tasks, for example, mowing, patrolling, cleaning, and spraying pesticides, etc. In some embodiments of the present application, the working mechanism 15 can include a motor, a transmission mechanism, and a cutter head, etc. In some embodiments of the present application, the motor can drive the cutter head to rotate through the transmission mechanism to realize the mowing function. The motor can also control the movement of the cutter blade to adjust the mowing height and mowing area.

[0088] The communication module 16 is used to realize the communication between the self-moving device and other devices. In an embodiment of the present application, the communication module 16 can interact with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or a combination of the following communication modes: Bluetooth communication, Wi-Fi communication, Near Field Communication (NFC), etc.

[0089] The positioning module 17 is configured to determine the position of the self-moving device. In some embodiments of the present application, the positioning module 17 can include one or more of a Global Positioning System (GPS), an inertial navigation system, a Real-time kinematic (RTK) carrier phase differential system, and the like.

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

[0091] The bus 19 is configured to provide a communication channel between the memory 11, the processor 12, the power supply 13, the sensor 14, the working mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 in the self-moving device 1.

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

[0093] It can be understood that the structure shown in the embodiments 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 can include more or fewer components than shown, or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0094] As shown in FIG. 2, it is a structure schematic diagram of an electronic device provided by an embodiment of the present application. Figure 11 As shown in FIG. 2, it is a structure schematic diagram of an electronic device provided by an embodiment of the present application. Figure 11 In the embodiment, the electronic device 2 can 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, respectively.

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

[0096] The storage device 22 can include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). The random access memory can be directly readable and writable by the processing device 23, and can be used to store executable programs (e.g., machine instructions) of programs that are currently running or other programs, and can also be used to store data of users and applications, etc. The random access memory can 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 can also store executable programs and store data of users and applications, etc., and can be loaded into the random access memory in advance for direct reading and writing by the processor 23. The non-volatile memory can include a magnetic disk storage device, a flash memory.

[0098] The storage device 22 is configured 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 a plurality of instructions that, when executed by the processing device 23, can implement the path planning method executed on the electronic device 2.

[0099] In other embodiments, asFigure 11 The electronic device 2 also includes an external memory interface for connecting an external memory to extend the storage capability of the electronic device 2.

[0100] The processing device 23 can include one or more processing units, for example: the processing device 23 can include an application processor (AP), a modem processor, a graphics processing unit (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 can be independent devices or integrated in one or more processors.

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

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

[0103] The bus 25 is configured to provide a communication channel between 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 can be understood that the structure shown in the embodiments 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 can include more or fewer components than shown, or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0105] The embodiments of the present application also provide a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program includes program instructions, and the method implemented by the program instructions can refer to the method in the above-mentioned embodiments of the present application.

[0106] The computer readable storage medium can be an internal storage of the self-moving device or the electronic device, such as a hard disk or a memory of the self-moving device or the electronic device. The computer readable storage medium can also be an external storage of the self-moving device or the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like.

[0107] In some embodiments, the computer readable storage medium can include a program storage area and a data storage area. The program storage area can store an operating system, an application required by at least one function, and the like. The data storage area can store data created according to the use of the self-moving device or the electronic device, and the like.

[0108] In the above embodiments, the description of each embodiment has its own focus. The parts not described in detail or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0109] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0110] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should 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 includes: In response to a movement command, a target sub-path is determined from the sub-paths of the work path based on the device location of the self-moving device, wherein the sub-path extends to the boundary of the work area; after the self-moving device performs a work task along the work path within the work area, it will leave wheel tracks in the work area. Based on the target location point, the device location point, the region boundary, and the target sub-path, a movement path is planned for the self-moving device to move from the device location point to the target location point. The movement path includes a first movement path along the target sub-path to the region boundary and a second movement path along the region boundary to the target location point, where the target location point is located at the region boundary.

2. The path planning method as described in 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 based on the device location point of the self-moving device includes: Calculate the target distance between the device location point and each sub-path extending to the boundary of the region, and determine the sub-path corresponding to the minimum target distance as the target sub-path.

3. The path planning method as described in claim 2, characterized in that, The movement path further includes a third movement path from the device location point to the target sub-path. The first movement path is a path along the target sub-path and from the target path location point to the target boundary location point. The second movement path is a path along the region boundary and from the target boundary location point to the target location point. The target sub-path includes multiple path location points. The region boundary includes multiple boundary location points. The target path location point is the path location point corresponding to the minimum target distance among the multiple path location points. The target boundary location point is the boundary location point corresponding to the target sub-path among the multiple boundary location points.

4. The path planning method as described in claim 3, characterized in that, The method further includes: According to the third movement path, move from the device location point to the target path location point; Based on the first movement path, move from the target path location point to the target boundary location point; Based on the second movement path, move from the target boundary location point to the target location point.

5. The path planning method as described in claim 1, characterized in that, If the device location point is located on a sub-path extending to the boundary of the region, the target sub-path is the sub-path where the self-moving device is currently located. The first movement path is the path from the device location point to the boundary of the region along the target sub-path. The second movement path is the path along the boundary of the region and from the target boundary location point to the target location point. The boundary of the region 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-paths extending to the boundary of the region include multiple parallel and spaced paths.

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

8. The path planning method as described in claim 7, characterized in that, The method further includes: If the self-moving device completes charging, it moves according to the movement path to the device location point where the work task has been stopped, and from that device location point, it continues to perform the work task.

9. A path planning method applied to electronic devices, characterized in that, The electronic device is communicatively connected to a self-moving device, which has a corresponding working path in the working area. The method includes: In response to a movement command, a target sub-path is determined from the sub-paths of the work path based on the device location of the self-moving device, wherein the sub-path extends to the boundary of the work area; after the self-moving device performs a work task along the work path within the work area, it will leave wheel tracks in the work area. Based on the target location point, the device location point, the region boundary, and the target sub-path, a movement path is planned for the self-moving device to move from the device location point to the target location point. The movement path includes a first movement path along the target sub-path to the region boundary and a second movement path along the region boundary to the target location point, where the target location point is located at the region boundary.

10. A self-moving device, characterized in that, The self-moving device 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-moving device implements the path planning method as described in any one of claims 1 to 8.

11. An electronic device, characterized in that, The electronic device includes: 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 described in claim 9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor in a self-moving 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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