Operation path determination method and device, electronic equipment and program product

Abstract

The embodiment of the invention provides an operation path determination method and device, electronic equipment and a program product, and the method comprises the steps: obtaining a plurality of alternative operation paths of a self-moving device in an operation region, wherein the starting points of the alternative operation paths are the same, and the end points of the alternative operation paths are the same; obtaining path data of the automatic guiding device in the target time period, wherein the path data comprises a preset moving path of the corresponding automatic guiding device in the operation area and predicted time of the automatic guiding device moving to a plurality of path points on the preset moving path; according to the path data of the at least one automatic guiding device, the speed setting information of each alternative operation path is determined, and the speed setting information is used for indicating the speed setting of the self-moving device when the self-moving device moves according to the corresponding alternative operation path; and determining the operation path of the self-moving device in the target time period from the plurality of alternative operation paths according to the speed allocation information of the plurality of alternative operation paths. According to the scheme, the working efficiency of the self-moving device is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automatic movement technology, and in particular, to a method, device, electronic device and program product for determining an operation path. Background Art

[0002] With the continuous development of science and technology, self-propelled devices such as automatic floor washing vehicles or sweeping robots are widely used in daily life and work.

[0003] Before a self-moving device performs a moving operation from a preset starting point to an end point, an operating path of the self-moving device from the starting point to the end point must be determined first. The operating path of the self-moving device is usually determined based on factors such as the length of the operating path to increase the operating efficiency of the self-moving device.

[0004] However, when the self-moving device is operating in a scene where an automated guided vehicle (AGV) is installed, since the automated guided vehicle moves according to a preset moving path and the self-moving device needs to perform more comprehensive operations in the scene, there may be a situation where the working path of the self-moving device and the moving path of the automated guided vehicle intersect. In this case, the movement of the automated guided vehicle will interfere with the moving operation of the self-moving device. That is, when the self-moving device is moving according to its working path, it may encounter the moving automated guided vehicle. At this time, the self-moving device will pause until the encountered automated guided vehicle leaves. As a result, there may be a situation where the determined working path is short but the self-moving device takes too long to move along the working path, resulting in low operating efficiency of the self-moving device. Summary of the invention

[0005] In view of this, embodiments of the present application provide a method, device, electronic device, and program product for determining an operation path to at least partially solve the above-mentioned problems.

[0006] According to a first aspect of an embodiment of the present application, a method for determining an operation path is provided, for determining an operation path of a self-moving device in an operation area provided with at least one automatic guided device, the method for determining an operation path comprising: obtaining a plurality of alternative operation paths of the self-moving device in the operation area, wherein the plurality of alternative operation paths have the same starting point and the same end point; obtaining path data of the automatic guided device within a target time period, wherein the path data comprises a corresponding preset moving path of the automatic guided device in the operation area, and a predicted time for the automatic guided device to move to a plurality of path points on the preset moving path; determining the pace information of each of the alternative operation paths according to the path data of the at least one automatic guided device, wherein the pace information is used to indicate the pace of the self-moving device when it moves along the corresponding alternative operation path; determining the operation path of the self-moving device within the target time period from the plurality of alternative operation paths according to the pace information of the plurality of alternative operation paths.

[0007] According to a second aspect of an embodiment of the present application, there is provided a working path determination device for determining a working path of a self-moving device in a working area provided with at least one automatic guiding device, the working path determination device comprising: a path acquisition unit for acquiring a plurality of alternative working paths of the self-moving device in the working area, wherein the plurality of alternative working paths have the same starting point and the same end point; a data acquisition unit for acquiring path data of the automatic guiding device within a target time period, wherein the path data comprises a corresponding preset moving path of the automatic guiding device in the working area, and a predicted time for the automatic guiding device to move to a plurality of path points on the preset moving path; a pace determination unit for determining pace information of each of the alternative working paths respectively according to the path data of the at least one automatic guiding device, wherein the pace information is used to indicate the pace of the self-moving device when it moves along the corresponding alternative working path; a path determination unit for determining the working path of the self-moving device within the target time period from the plurality of alternative working paths according to the pace information of the plurality of alternative working paths.

[0008] According to the third aspect of an embodiment of the present application, there is provided an electronic device, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the method described in the first aspect above.

[0009] According to a fourth aspect of an embodiment of the present application, a computer program product is provided, including computer instructions, wherein the computer instructions instruct a computing device to execute the method described in the first aspect above.

[0010] According to the working path determination scheme provided by the embodiment of the present application, the speed information of each alternative working path in the working area can be determined according to the path data of the automatic guiding device in the working area, and according to the speed information of the alternative working path in the working area, an alternative working path can be determined from the alternative paths in the working area, so as to use the alternative working path as the working path of the self-moving device within the target time period. Thus, when determining the working path of the self-moving device within the target time period, not only the alternative working paths of the self-moving device in the working area are taken into account, but also the speed information of each alternative working path is taken into account. Then, when determining the working path from the alternative working paths, the alternative working path that shortens the moving time of the self-moving device can be determined more accurately, so as to reduce the possibility of the self-moving device encountering the automatic guiding device when moving along the working path, so as to reduce the possibility of the self-moving device pausing to move, thereby improving the working efficiency of the self-moving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0012] Figure 1 is a flow chart of a method for determining an operation path according to an embodiment of the present application;

[0013] Figure 2 is a schematic diagram of an alternative operation path of an embodiment of the present application;

[0014] Figure 3 is a schematic diagram of a rectangular coordinate system of an embodiment of the present application;

[0015] Figure 4 is a schematic diagram of a working path determination device according to an embodiment of the present application;

[0016] Figure 5 It is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0018] Application scenarios of this application

[0019] The embodiment of the present application proposes a scheme for determining an operation path, which is used to determine the operation path of a self-moving device in a specific application scenario. The application scenario is an operation area provided with at least one automatic guiding device, and the automatic guiding device is a device that performs mobile transportation according to a preset moving path. When the number of automatic guiding devices provided in the operation area is multiple, the preset moving paths of any two automatic guiding devices in the operation area may be the same or different, and the embodiment of the present application does not limit this. The automatic guiding devices in the operation area can be scheduled by a scheduling system so that the automatic guiding devices in the operation area move in an orderly manner according to the corresponding preset moving paths.

[0020] Method for determining the operation path

[0021] An embodiment of the present application provides a method for determining an operation path, which is used to determine an operation path of a self-moving device in the above-mentioned application scenario. The following describes the method for determining an operation path in detail through multiple embodiments.

[0022] Figure 1 : is a flow chart of a method for determining an operation path according to an embodiment of the present application, and the method for determining an operation path includes the following steps:

[0023] Step 101: Acquire multiple candidate operation paths from a mobile device in an operation area.

[0024] A heat map can be generated by the scheduling system, which is used to represent the number of automatic guided devices passing through each sub-area in the working area. For example, the working area is divided into 100 sub-areas. For each sub-area, the number of automatic guided devices passing through the sub-area can be determined based on the scheduling rules for the automatic guided devices in the above working area stored in the scheduling system, and then a heat map is generated based on the 100 sub-areas and the number of automatic guided devices passing through each sub-area.

[0025] The above-mentioned multiple alternative working paths have the same starting point and the same end point. Based on this, after obtaining the heat map, multiple alternative working paths in the working area can be obtained from the mobile device according to the heat map, the starting point and the end point. For example, multiple target sub-areas are determined in the working area according to the heat map, and the target sub-areas are sub-areas that will pass through more automatic guided devices. Then, based on the multiple target sub-areas and the preset starting point and end point, multiple alternative working paths are determined, so that most of the alternative working paths can avoid the target sub-areas in the working area as much as possible.

[0026] For example, Figure 2 This is a schematic diagram of an alternative operation path of an embodiment of the present application. Figure 2 The area surrounded by the rectangular lines in the figure is the working area. Two automatic guiding devices are arranged in the working area. The two automatic guiding devices are the first automatic guiding device agv1 and the second automatic guiding device agv2. Figure 2 In the figure, broken line L1 is the preset moving path of agv1 within the target time period, broken line L2 is the preset moving path of agv2 within the target time period, the arrow on L1 is the moving direction of agv1 when it moves along L1, the arrow on L2 is the moving direction of agv2 when it moves along L2, M1 is the starting point of the above-mentioned multiple alternative operation paths, M2 is the end point of the above-mentioned multiple alternative operation paths, and the curve bar with M1 and M2 as the two end points is any alternative operation path among the above-mentioned multiple alternative operation paths.

[0027] Step 102: Obtain path data of the automatic guiding device within a target time period.

[0028] The target time period may be a time period after the current time. For example, if the current time is 11:50 on a certain day, the target time period may be from 12:00 to 13:00 on the same day.

[0029] The path data includes the preset moving path of the corresponding automatic guided device in the working area, and the predicted time for the automatic guided device to move to multiple path points on the preset moving path. Specifically, for each automatic guided device, the moving path of the automatic guided device in the working area within the target time period is the preset moving path of the automatic guided device, and the preset moving data has multiple path points. The path data of the automatic guided device includes the position information of the multiple path points and the predicted time when the automatic guided device moves to each path point. Based on this, a specific implementation of the above step 102 can be: according to the scheduling rules for scheduling the automatic guided devices in the working area stored in the scheduling system, each path point passed by the automatic guided device in the target time period can be determined, and then the path data of each automatic guided device in the target time period is obtained according to the position information of each path point and the predicted time when the automatic guided device passes each path point.

[0030] Step 103: Determine the pace information of each candidate operating path according to the path data of the at least one automatic guiding device.

[0031] In the embodiment of the present application, "the above-mentioned at least one automatic guiding device" is taken as an example to illustrate all the automatic guiding devices in the working area. In addition, "the above-mentioned at least one automatic guiding device" can also be part of the automatic guiding devices in the working area, and the embodiment of the present application is not limited to this.

[0032] The pace information is used to indicate the pace of the self-moving device when it moves along the corresponding alternative working path. The pace information of the alternative working path can be the position information of multiple positions on the alternative working path and the time when the self-moving device moves to each position along the alternative working path, or it can be an image used to represent the relationship between the moving distance and the moving time of the self-moving device during the movement of the alternative working path. The specific form of the pace information is not limited in the embodiments of the present application.

[0033] For each alternative working path, the pace information of the alternative working path can be determined based on the path data of all automatic guided devices in the above-mentioned working area, so as to determine that if the self-moving device performs moving work along the alternative working path within the target time period, it will move at the pace indicated by the pace information of the alternative working path.

[0034] Step 104 : Determine an operating path for the self-moving device within a target time period from among the multiple candidate operating paths based on the pace information of the multiple candidate operating paths.

[0035] For example, for each alternative working path, the moving time of the self-moving device during the process of moving along the alternative working path and performing the moving operation with the pace information of the alternative working path is determined, and then the alternative working path with the shortest corresponding moving time among all the alternative working paths is used as the working path of the self-moving device within the target time period.

[0036] In the embodiment of the present application, according to the path data of the automatic guided device in the working area, the speed information of each alternative working path in the working area can be determined, and according to the speed information of the alternative working path in the working area, an alternative working path is determined from the alternative paths in the working area, so as to use the alternative working path as the working path of the self-moving device in the target time period. Thus, when determining the working path of the self-moving device in the target time period, not only the alternative working paths of the self-moving device in the working area are taken into account, but also the speed information of each alternative working path is taken into account. Then, when determining the working path from the alternative working paths, the alternative working path that shortens the moving time of the self-moving device can be determined more accurately, so as to reduce the possibility of the self-moving device encountering the automatic guided device when moving along the working path, so as to reduce the possibility of the self-moving device pausing to move, thereby improving the working efficiency of the self-moving device.

[0037] In a possible implementation, the above step 103 includes the following specific processing:

[0038] Based on the path data of the at least one automatic guided device, multiple alternative speed information for each alternative working path are determined respectively, wherein, when the self-moving device moves along the alternative working path and at the alternative speed information of the alternative working path, there is no risk of collision between the self-moving device and the at least one automatic guided device.

[0039] A first characteristic value of each alternative pace information is obtained, wherein the first characteristic value of the alternative pace information includes a collision characteristic value, a speed characteristic value, an acceleration characteristic value and a jerk characteristic value, the collision characteristic value is used to indicate the degree of separation between the self-moving device and the at least one automatic guided device during the movement process corresponding to the alternative pace information, the movement process corresponding to the alternative pace information is a process in which the self-moving device moves along the alternative working path corresponding to the alternative pace information and at the alternative pace information, the speed characteristic value is used to indicate the degree of position change of the self-moving device during the movement process corresponding to the alternative pace information, the acceleration characteristic value is used to indicate the degree of speed change of the self-moving device during the movement process corresponding to the alternative pace information, and the jerk characteristic value is used to indicate the degree of acceleration change of the self-moving device during the movement process corresponding to the alternative pace information.

[0040] The pace information of the candidate working path is determined from the plurality of candidate pace information of the candidate working path according to the first feature value of the plurality of candidate pace information of the candidate working path.

[0041] The above-mentioned acquisition of the first characteristic value of the alternative pace information may be performed after the alternative pace information is determined, or may be performed during the process of determining the alternative pace information, which is not limited in the embodiment of the present application.

[0042] In the embodiment of the present application, multiple alternative pace information of each alternative working path can be determined according to the path data of the automatic guiding device in the working area, and then the pace information of the alternative working path can be determined in the multiple alternative pace information of each alternative working path. Since there is no risk of collision between the self-moving device and the automatic guiding device in the moving process corresponding to the alternative pace information, and the pace information is determined in the alternative pace information, and the working path is determined in the alternative working path, the self-moving device is less likely to meet the automatic guiding device in the process of moving along the working path and performing the moving operation with the pace information of the working path, thereby reducing the number of times the self-moving device pauses and improves the working efficiency of the self-moving device. In addition, when determining the pace information of the alternative working path in the multiple alternative pace information of each alternative working path, the collision characteristic value, speed characteristic value, acceleration characteristic value and jerk characteristic value of the alternative pace information are considered, and the factors are considered more comprehensively, reducing the possibility of unreasonable determination of the pace information due to the relatively single consideration factor, thereby further improving the working efficiency of the self-moving device.

[0043] In a possible implementation, the determining of the pace information of the candidate working path from the plurality of candidate pace information of the candidate working path according to the first feature value of the plurality of candidate pace information of the candidate working path includes the following specific processing:

[0044] A first priority value of the alternative pace information is determined according to the first characteristic value of the alternative pace information, wherein a collision characteristic value and a speed characteristic value of the alternative pace information are negatively correlated with the first priority value of the alternative pace information, and an acceleration characteristic value and a jerk characteristic value of the alternative pace information are positively correlated with the first priority value of the alternative pace information.

[0045] Among the multiple candidate pace information of the candidate work path, the candidate pace information with the smallest first priority value is used as the pace information of the candidate work path.

[0046] For each alternative pace information, the specific method for determining the first priority value of the alternative pace information can be to perform weighted summation on the reciprocal of the collision characteristic value, the speed characteristic value, the acceleration characteristic value, and the jerk characteristic value of the alternative pace information to obtain the first priority value of the alternative pace information, wherein the weights of the reciprocal of the collision characteristic value, the speed characteristic value, the acceleration characteristic value, and the jerk characteristic value can be set according to actual needs, and the embodiment of the present application does not limit this. In addition, the specific method for determining the collision characteristic value, the speed characteristic value, the acceleration characteristic value, and the jerk characteristic value will be described in detail below.

[0047] In the embodiment of the present application, the alternative pacing information with the smallest first priority value is used as the pacing information of the corresponding alternative working path. Therefore, since the collision characteristic value and the speed characteristic value are negatively correlated with the first priority value, and the acceleration characteristic value and the jerk characteristic value are positively correlated with the first priority value, during the process of moving along any alternative working path and with the pacing information of the alternative working path, the self-moving device and the automatic guided device in the working area are far apart, and the position change of the self-moving device is large, the speed change is small, and the acceleration change is small. Therefore, the pacing information of each alternative working path makes it less likely for the self-moving device to encounter the automatic guided device when moving along the alternative working path, the moving speed is faster, and the traveling state is more stable.

[0048] In a possible implementation, determining the plurality of candidate pace information for each candidate operating path according to the path data of the at least one automatic guided device includes the following specific processing:

[0049] On the preset moving path of at least one of the above-mentioned automatic guided devices, a target path point corresponding to an alternative working path is determined, wherein when the automatic guided device corresponding to the target path point corresponding to the alternative working path moves to the target path point, there is a risk of collision between the automatic guided device and the self-moving device moving along the alternative working path.

[0050] In the alternative operation paths, a conflict path of the target path point is determined, wherein when the automatic guided device corresponding to the target path point moves to the target path point, if the self-moving device moves to the conflict path of the target path point, there is a risk of collision between the automatic guided device and the self-moving device.

[0051] Based on the predicted time and conflicting path of the target path point corresponding to the alternative working path, multiple alternative pace information of the alternative working path are determined, wherein if the self-moving device moves along the alternative working path and at the alternative pace information corresponding to the alternative working path, then when the predicted time of the target path point is reached, the self-moving device is located outside the conflicting path of the target path point, so that during the process of the self-moving device moving along the alternative working path and at the alternative pace information of the alternative working path, there is no risk of collision between the self-moving device and the at least one automatic guided device mentioned above.

[0052] In an embodiment of the present application, a target path point that causes a risk of collision between the self-moving device and the automatic guiding device can be determined on a preset moving path, and then a conflict path of the target path point can be determined on an alternative working path to more accurately determine the path segment on the alternative working path that causes a risk of collision with the self-moving device, and then alternative pacing information can be determined based on the predicted time of the target path point and the conflict path, so that when the automatic guiding device moves to its corresponding target path point, the self-moving device is outside the conflict path of the target path point. Therefore, the possibility of the self-moving device and the automatic guiding device meeting each other during the process of the self-moving device moving along the alternative working path and with the alternative pacing information of the alternative working path can be reduced. Since the pacing information of the working path of the self-moving device in the target time period is any of the alternative pacing information, the possibility of the self-moving device meeting the automatic guiding device when moving along the determined working path is relatively small, and thus the frequency of the self-moving device pausing to move is relatively small, so as to improve the operating efficiency of the self-moving device.

[0053] In a possible implementation, determining a target path point corresponding to an alternative operation path on a preset moving path of the at least one automatic guided device includes the following specific processing:

[0054] In the process of the self-moving device moving along the candidate working path, the area through which the projection of the self-moving device on the working area passes is taken as the first projection area.

[0055] If, when the automatic guided device moves to a path point on the corresponding preset moving path, the projection of the automatic guided device on the working area overlaps with the first projection area of ​​the alternative working path, the path point is determined as the target path point corresponding to the alternative working path, so that when the automatic guided device corresponding to the target path point corresponding to the alternative working path moves to the target path point, there is a risk of collision between the automatic guided device and the self-moving device moving along the alternative working path.

[0056] Based on the path data including the location information of the path points of the corresponding preset moving path, it can be determined whether there is an overlapping part between the projection of the automatic guided device on the working area and the first projection area of ​​the alternative working path when the automatic guided device moves to the path point on the corresponding preset moving path. If so, the path point is used as the target path point corresponding to the alternative working path.

[0057] The determination of the first projection area can be determined based on the method of drawing the alternative operation path of the self-moving device. During the forward movement of the self-moving device, the direction on the same plane as the forward direction and perpendicular to the forward direction is the width direction of the self-moving device; based on this, in a specific example, if the method of drawing the alternative operation path is to use the line passing through the center point of the width of the self-moving device as the alternative operation path, the method of determining the first projection area is to first determine two line segments located on both sides of the alternative operation path corresponding to the first projection area and whose spacing from the first projection area is half of the width of the self-moving device, and then use the area between the two line segments as the first projection area corresponding to the alternative operation path.

[0058] In an embodiment of the present application, the target path point on the preset moving path is determined by the overlap between the projection of the automatic guiding device on the working area and the first projection area of ​​the alternative working path when the automatic guiding device moves to the corresponding path point on the preset moving path. The overlap between the projection of the automatic guiding device on the working area and the first projection area of ​​the alternative working path indicates that the automatic guiding device is more likely to encounter the self-moving device moving along the alternative working path, so the determination of the target path point can be more accurate.

[0059] In a possible implementation, determining the conflicting path of the target path point in the candidate operation path includes the following specific processing:

[0060] When the automatic guiding device corresponding to the target path point is moved to the target path point, the projection of the automatic guiding device on the working area serves as the second projection area.

[0061] In the alternative operation path, the conflict path of the target path point corresponding to the second projection area is determined, wherein, if the self-moving device moves along the alternative operation path corresponding to the target path point to any point on the conflict path of the target path point, then the projection area of ​​the self-moving device on the operation area and the second projection area corresponding to the target path point have an overlapping part; if the self-moving device moves along the alternative operation path corresponding to the target path point to any point other than the conflict path of the target path point, then the projection area of ​​the self-moving device on the operation area and the second projection area corresponding to the target path point do not have an overlapping part, so that when the automatic guided device corresponding to the target path point moves to the target path point, if the self-moving device moves to the conflict path of the target path point, there is a risk of collision between the automatic guided device and the self-moving device.

[0062] The method for determining the automatic guided device corresponding to the target path point is that when determining that the automatic guided device moves to the path point on the corresponding preset moving path, whether there is any overlapping part between the projection of the automatic guided device on the working area and the first projection area of ​​the alternative working path. If so, the path point is used as the target path point corresponding to the alternative working path, and the automatic guided device is used as the automatic guided device corresponding to the target path point.

[0063] In the embodiment of the present application, since the self-moving device moves along the alternative working path corresponding to the target path point to any point on the conflict path of the target path point, the projection area of ​​the self-moving device on the working area overlaps with the second projection area corresponding to the target path point, and thus the possibility of the automatic guiding device located at the target path point encountering the self-moving device on the conflict path of the target path point is small, and therefore the conflict path of the target path point can be determined more accurately.

[0064] In a possible implementation, the above-mentioned determining multiple candidate pace information of the candidate working path according to the predicted time of the target path point corresponding to the candidate working path and the conflicting path includes the following specific processing:

[0065] The starting point and the end point of the conflict path are determined as the conflict points;

[0066] Cluster multiple conflict points corresponding to the alternative operation path to obtain multiple conflict groups of the alternative operation path, wherein each conflict group includes at least two conflict points, the difference in predicted time corresponding to any two conflict points belonging to the same conflict group is less than or equal to a preset duration, and the difference in predicted time corresponding to any two conflict points belonging to different conflict groups of the same alternative operation path is greater than a preset duration; wherein the preset duration is 2 seconds or 3 seconds, etc., which is not limited to the embodiments of the present application.

[0067] Constructing a rectangular coordinate system corresponding to the alternative operation path, wherein the variable corresponding to the horizontal axis of the rectangular coordinate system is used to represent the duration of movement of the self-moving device along the alternative operation path, and the variable corresponding to the vertical axis of the rectangular coordinate system is used to represent the length of the path that the self-moving device has moved along the alternative operation path starting from the starting point of the alternative operation path;

[0068] According to the conflict point corresponding to the alternative operation path and the predicted time corresponding to the conflict point, the coordinate point corresponding to the conflict point is determined in the rectangular coordinate system corresponding to the alternative operation path; wherein the predicted time corresponding to the conflict point is the predicted time corresponding to the target path point corresponding to the conflict path where the conflict point is located.

[0069] The area enclosed by the coordinate points corresponding to the conflict points belonging to the same conflict group in the rectangular coordinate system corresponding to the conflict group is determined as the conflict area corresponding to the conflict group;

[0070] According to the multiple conflicting areas in the rectangular coordinate system, multiple alternative pace images are drawn in the rectangular coordinate system, wherein the alternative pace images are used to indicate alternative pace information corresponding to the alternative pace images, and there is no overlapping part between the alternative pace images and the multiple conflicting areas.

[0071] For example, based on Figure 2 The alternative operation paths and preset operation paths shown are Figure 2 p1, p2, p3, p4 are 4 path points on L1, p5 and p6 are 2 path points on L2, and p1, p2, p3 and p4 on L1, as well as the path points between p1 and p2, and the path points between p3 and p4 are all target path points of L1, p5 and p6 in L2, as well as the path points between p5 and p6 are all target path points on L2, Figure 2 The line segment with q1 and q2 as the two end points on the alternative working path between M1 and M2 is the conflicting path p1. Based on this, the method for determining multiple alternative pace information of the alternative working path is as follows:

[0072] First, the two end points of the conflicting path of each target path point are determined as conflicting points. For example, the conflicting points of p1 are determined to be q1 and q2.

[0073] Secondly, all the conflict points are clustered to obtain multiple conflict groups. Since the difference in predicted time corresponding to p3 and p2 is greater than the preset time length, and the difference in predicted time between p5 and p4 is greater than the preset time length, the conflict points of p1, p2, and the conflict points of the path points between p1 and p2 are all regarded as first-class conflict points, and the first-class conflict points constitute the first conflict group. The conflict points of p3, p4, and the conflict points of the path points between p3 and p4 are all regarded as second-class conflict points, and the second-class conflict points constitute the second conflict group. The conflict points of p5, p6, and the conflict points of the path points between p5 and p6 are all regarded as third-class conflict points, and the third-class conflict points constitute the third conflict group.

[0074] Then build Figure 2 The rectangular coordinate system corresponding to the alternative operation path in , Figure 3 is a schematic diagram of a rectangular coordinate system of an embodiment of the present application, such as Figure 3 As shown, the variable t corresponding to the t-axis is used to represent the movement of the mobile device from Figure 2 The variable s corresponding to the s-axis is used to represent the path length along which the mobile device moves from the starting point of the alternative operating path to the alternative operating path.

[0075] Then, according to all the conflict points corresponding to the alternative operation path and the predicted time corresponding to each conflict point, the coordinate point corresponding to the conflict point is determined in the rectangular coordinate system corresponding to the alternative operation path. For example, the coordinate point of q1 is Figure 3 The coordinates of the point in are (t1, s1), and the coordinates of the point q2 are Figure 3 The coordinates of the point in (t1, s2) are based on the fact that q1 and q2 are in the same conflict path, t1 is the predicted time corresponding to the target path point corresponding to the conflict path where q1 and q2 are located, and s1 is Figure 2 The path length from M1 to q1 in the alternative operation path in , s2 is Figure 2 The path length from M1 to q2 in the alternative operation path.

[0076] Then, the area enclosed by the coordinate points corresponding to the conflict points belonging to the same conflict group in the rectangular coordinate system corresponding to the conflict group is determined as the conflict area corresponding to the conflict group. For example, the conflict area corresponding to the first conflict group is Figure 3 In R1, the conflict area corresponding to the second conflict class group is Figure 3 In R2, the conflict area corresponding to the third conflict group is Figure 3 R3 in.

[0077] Finally, according to the multiple conflicting areas in the rectangular coordinate system, multiple alternative speed images without overlapping parts with all the conflicting areas are drawn in the rectangular coordinate system, and each alternative speed image is used to indicate the alternative speed information corresponding to the alternative speed image. For example, Figure 3 The two alternative pace images drawn in the alternative pace images are n1 and n2 respectively.

[0078] The above-mentioned drawing of the alternative speed image in the rectangular coordinate system can adopt the method of dynamic search with the origin as the starting point in the rectangular coordinate system. In the process of drawing the alternative speed image, firstly, a number of time sampling points are set on the t-axis, and the time corresponding to each time sampling point is less than or equal to the preset maximum time t max , and the time corresponding to the first time sampling point is 0, and the time corresponding to the last sampling point is t max , and then determine the nodes corresponding to each sampling point one by one in the rectangular coordinate system from the time corresponding to the time sampling point from front to back.

[0079] The maximum speed and maximum acceleration of the self-moving device are hard constraints based on drawing nodes of all sampling points. Specifically, the specific process of drawing the alternative pace graph based on the sampling points is as follows: the node corresponding to the first sampling point is the origin; then, the self-moving device can be determined from the time corresponding to the second sampling point, the time corresponding to the first sampling point, the maximum speed of the self-moving device, and the maximum acceleration of the self-moving device when reaching the time corresponding to the second sampling point. Figure 2 Starting from the starting point of the alternative operation path in , the path length value range moved along the alternative operation path is obtained, at least one path length value is obtained in the value range, and the node corresponding to the second sampling point is determined according to the time corresponding to the second sampling point and each obtained path length value. The number of nodes corresponding to the second sampling point is the same as the number of obtained path length values, and then the node corresponding to the first sampling point is connected with the node corresponding to the second sampling point, and the line segment passing through the conflict area in the connected line segment is deleted; similarly, each node corresponding to the third sampling point can be determined according to each node corresponding to the second sampling point, and the node corresponding to the second sampling point is connected with the node corresponding to the third sampling point, and the line segment passing through the conflict area in the connected line segment is deleted... until each node corresponding to the last sampling point is determined, and the node corresponding to the last sampling point is connected with the node corresponding to the second to last sampling point, and the line segment passing through the conflict area in the connected line segment is deleted. It should be noted that Figure 3 The s max for Figure 2 The length of the alternative operation path in , in the process of determining the node corresponding to each sampling point, if the path length value corresponding to a certain node is equal to or greater than s max , the node will be connected to the node corresponding to the previous sampling point, and the corresponding path length value in the connected line segment will exceed s max , and delete the connected line segments that pass through the conflicting area. In addition, the node corresponding to the next sampling point is no longer determined based on this node. Based on the above process, Figure 3 In the rectangular coordinate system in , we determine multiple points with the origin as the starting point and s=s max (e.g. n1) or t=t max (e.g. n2) is the image of the end point, these images are Figure 2 An image of alternative paces for alternative work paths in .

[0080] The specific implementation of connecting the node corresponding to the previous sampling point with the node corresponding to the current sampling point may be as follows:

[0081] In a specific implementation, each node corresponding to the previous sampling point may be connected to each node corresponding to the current sampling point.

[0082] In another specific embodiment, if the time corresponding to the current sampling point is in the time period corresponding to any conflict area, the decision result of each node corresponding to the current sampling point relative to the conflict area is determined. If the node is above the conflict area, the corresponding decision result is 1, and if the node is below the conflict area, the corresponding decision result is 0. Then, for each conflict area corresponding to the decision result of the node, if the time corresponding to the previous sampling point is in the time period corresponding to the conflict area, each node with the same decision result for the conflict area in the node corresponding to the previous sampling point is connected to the node, and if any node is not connected to all the nodes corresponding to the previous sampling point, the node corresponding to the next sampling point is not determined based on the node. Thus, in any two nodes corresponding to two adjacent sampling points, if the two nodes have different decision results for the same conflict area, the two nodes are not connected, thereby reducing the possibility of drawing errors in the alternative pace image.

[0083] Based on this, for each candidate pace image, a specific implementation method of determining the first characteristic value of the candidate pace information may be as follows:

[0084] Collision characteristic value: the distance between a line segment between every two adjacent nodes of the alternative speed pacing image and each conflicting area may be taken as the conflicting distance, or the minimum distance between a line segment between every two adjacent nodes of the alternative speed pacing image and the conflicting area may be taken as the conflicting distance, and then the conflicting distances of the line segments between every two adjacent nodes of the alternative speed pacing image may be accumulated, and the accumulated result may be the collision characteristic value of the alternative speed pacing information.

[0085] Speed ​​characteristic value: the speeds corresponding to the line segments between every two adjacent nodes of the candidate pace image may be accumulated, and the accumulated result may be the speed characteristic value of the candidate pace information.

[0086] Acceleration characteristic value: the speed corresponding to the line segment between every two adjacent nodes of the alternative pace image can be determined, and then the acceleration is determined according to the speed corresponding to every two adjacent line segments in the alternative pace image, and then the acceleration corresponding to every two adjacent line segments in the alternative pace image is accumulated, and the accumulated result can be the acceleration characteristic value of the alternative pace information.

[0087] Jerk characteristic value: the acceleration can be determined according to the speed corresponding to every two adjacent line segments in the alternative pace image, and then the jerk can be determined according to the acceleration of the first two adjacent line segments and the acceleration of the last two adjacent line segments in every three adjacent line segments in the alternative pace image. The jerk corresponding to every three adjacent line segments in the alternative pace image is accumulated, and the accumulated result can be the jerk characteristic value of the alternative pace information.

[0088] The embodiments of the present application do not limit the specific method for determining the collision characteristic value, the velocity characteristic value, the acceleration characteristic value, and the jerk characteristic value.

[0089] In a possible implementation, the above step 104 includes the following specific processing:

[0090] According to the alternative working path and the pace information corresponding to the alternative working path, a second characteristic value of the alternative working path is determined, wherein the second characteristic value of the alternative working path includes a duration characteristic value, an obstruction characteristic value and an average speed characteristic value, the duration characteristic value is used to indicate the movement duration of the self-moving device during the movement process corresponding to the alternative working path, the movement process corresponding to the alternative working path is the process in which the self-moving device moves along the alternative working path and at the pace information of the alternative working path, the obstruction characteristic value is used to indicate the possibility that the at least one automatic guiding device obstructs the movement of the self-moving device during the movement process corresponding to the alternative working path, and the average speed characteristic value is used to indicate the average speed of the self-moving device during the movement process corresponding to the alternative working path.

[0091] According to the second characteristic values ​​of the plurality of candidate operating paths, and the acceleration characteristic values ​​and the jerk characteristic values ​​of the pace information corresponding to the plurality of candidate operating paths, the operating path of the self-moving device within the target time period is determined from the plurality of candidate operating paths.

[0092] For each candidate operation path, a specific implementation method of determining the second characteristic value of the candidate operation path may be as follows:

[0093] Duration feature value: If the alternative speed image corresponding to the speed information of the alternative working path is s=s max t=t max As an image of the end point, the point corresponding to the end point on the alternative working path corresponding to the pace information is determined as the middle point, and for the path segment between the middle point and the end point of the alternative working path, the time t required for the self-moving device to move along the path segment is determined in a manner that the self-moving device moves along the path segment with uniform acceleration. last , and (tmax +t last ) as the duration characteristic value of the alternative operation path.

[0094] Blocked characteristic value: There can be multiple blocked characteristic values; the number of decision results corresponding to the alternative pace image corresponding to the pace information of the alternative work path is the first blocked characteristic value of the alternative work path. For example, there are 1000 nodes in the alternative pace image, of which 300 nodes have decision results, 240 of the 300 nodes have decision results for 1 conflict area, and the other 60 nodes have decision results for 2 conflict areas, then the first blocked characteristic value of the alternative work path is 60*2+240=360; the number of decision results that are 1 in the decision results corresponding to the alternative pace image corresponding to the pace information of the alternative work path is used as the second blocked characteristic value of the alternative work path; the number of decision results that are 0 in the decision results corresponding to the alternative pace image corresponding to the pace information of the alternative work path is used as the third blocked characteristic value of the alternative work path.

[0095] Average speed characteristic value: the ratio of the path length of the alternative operation path to the time characteristic value is taken as the average speed characteristic value of the alternative operation path.

[0096] The embodiment of the present application does not limit the specific method for determining the duration characteristic value, the obstruction characteristic value and the average speed characteristic value.

[0097] In an embodiment of the present application, when determining the operating path of the self-moving device within the target time period among multiple alternative operating paths, the duration characteristic value, obstruction characteristic value and average speed characteristic value of the alternative operating path are considered, and the acceleration characteristic value and jerk characteristic value of the pace information corresponding to the alternative operating path are also considered. The factors considered are relatively comprehensive, reducing the possibility of unreasonable determination of the operating path due to relatively single consideration factors.

[0098] In a possible implementation, the above-mentioned determining the operating path of the self-moving device within the target time period from among the multiple alternative operating paths according to the second characteristic values ​​of the multiple alternative operating paths and the acceleration characteristic values ​​and the jerk characteristic values ​​of the pace information corresponding to the multiple alternative operating paths includes the following specific processing:

[0099] A second priority value of the alternative work path is determined based on the second characteristic value of the alternative work path, and the acceleration characteristic value and the jerk characteristic value of the pace information corresponding to the alternative work path, wherein the average speed characteristic value of the alternative work path is negatively correlated with the second priority value of the alternative work path, the duration characteristic value and the obstruction characteristic value of the alternative work path are positively correlated with the second priority value of the alternative work path, and the acceleration characteristic value and the jerk characteristic value of the pace information corresponding to the alternative work path are positively correlated with the second priority value of the alternative work path.

[0100] Among the multiple candidate operation paths, the candidate operation path with the smallest second priority value is used as the operation path of the self-moving device within the target time period.

[0101] For each alternative work path, a specific method for determining the second priority value of the alternative work path can be to perform weighted summation on the duration characteristic value, the first obstruction characteristic value, the second obstruction characteristic value, the third obstruction characteristic value and the inverse of the average speed characteristic value of the alternative work path, and the acceleration characteristic value and the jerk characteristic value of the pace information corresponding to the alternative work path to obtain the second priority value of the alternative work path, wherein the weights of the duration characteristic value, the first obstruction characteristic value, the second obstruction characteristic value, the third obstruction characteristic value and the inverse of the average speed characteristic value, the acceleration characteristic value and the jerk characteristic value can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0102] In the embodiment of the present application, the alternative working path with the smallest second priority value is used as the working path of the self-moving device within the target time period. Therefore, since the average speed characteristic value is negatively correlated with the second priority value, the duration characteristic value, the obstruction characteristic value, the acceleration characteristic value and the jerk characteristic value are all positively correlated with the second priority value. Therefore, when the self-moving device moves along the working path within the target time period at the pace information corresponding to the working path, the possibility of encountering the automatic guidance device is small, the moving speed is faster and the travel state is more stable.

[0103] In a possible implementation, determining the second priority value of the alternative working path according to the second characteristic value of the alternative working path and the acceleration characteristic value and the jerk characteristic value of the pace information corresponding to the alternative working path includes the following specific processing:

[0104] A second priority value of the alternative working path is determined based on a duration characteristic value, an obstruction characteristic value, an average speed characteristic value and a length of the alternative working path, an acceleration characteristic value and a jerk characteristic value of a pace image corresponding to the alternative working path, and a minimum spacing between the alternative working path and static obstacles set in the working area, wherein the length and the minimum spacing of the alternative working path are negatively correlated with the second priority value of the alternative working path.

[0105] The duration characteristic value, the first obstruction characteristic value, the second obstruction characteristic value, the third obstruction characteristic value, the inverse of the average speed characteristic value, the inverse of the length of the alternative working path and the inverse of the above-mentioned minimum spacing, as well as the acceleration characteristic value and the jerk characteristic value of the pace information corresponding to the alternative working path can be weighted and summed to obtain the second priority value of the alternative working path, wherein the weights of the duration characteristic value, the duration characteristic value, the first obstruction characteristic value, the second obstruction characteristic value, the third obstruction characteristic value, the inverse of the average speed characteristic value, the inverse of the length of the alternative working path, the inverse of the above-mentioned minimum spacing, the acceleration characteristic value and the jerk characteristic value can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0106] In the embodiment of the present application, the length of the alternative working path and the minimum distance between the alternative working path and the static obstacles set in the working area are negatively correlated with the second priority value of the alternative working path. Therefore, when the mobile device moves along the working path within the target time period and at the pace information corresponding to the working path, the possibility of moving to the vicinity of a static obstacle and pausing is small, and the work can be performed on a longer path.

[0107] Working path determination device

[0108] Corresponding to the above method embodiment, Figure 4 A schematic diagram of a working path determination device according to an embodiment of the present application is shown. Figure 4 As shown, the operation path determination device 400 includes:

[0109] A path acquisition unit 401 is used to acquire a plurality of candidate operation paths of the self-moving device in the operation area, wherein the plurality of candidate operation paths have the same starting point and the same end point;

[0110] A data acquisition unit 402 is used to acquire path data of the automatic guided device within a target time period, wherein the path data includes a preset moving path of the corresponding automatic guided device in the working area, and a predicted time for the automatic guided device to move to a plurality of path points on the preset moving path;

[0111] A pace determination unit 403, configured to determine pace information of each of the candidate operating paths according to the path data of the at least one automatic guided device, wherein the pace information is used to indicate the pace of the self-propelled device when moving along the corresponding candidate operating path;

[0112] The path determination unit 404 is configured to determine the working path of the self-moving device within the target time period from among the multiple candidate working paths according to the pace information of the multiple candidate working paths.

[0113] In the embodiment of the present application, the path acquisition unit 401 can acquire the alternative working path, the data acquisition unit 402 can acquire the preset moving path and the predicted time, the pace determination unit 403 can determine the pace information of each alternative working path in the working area according to the path data of the automatic guiding device in the working area, and the path determination unit 404 can determine an alternative working path in the alternative paths in the working area according to the pace information of the alternative working paths in the working area, so as to use the alternative working path as the working path of the self-moving device in the target time period. Thus, the working path of the self-moving device in the target time period is determined, not only the alternative working paths of the self-moving device in the working area are taken into account, but also the pace information of each alternative working path is taken into account, and then when the working path is determined from the alternative working paths, the alternative working path that shortens the moving time of the self-moving device can be determined more accurately, so as to reduce the possibility of the self-moving device meeting the automatic guiding device when moving along the working path, so that the possibility of the self-moving device pausing to move is small, and the working efficiency of the self-moving device is improved.

[0114] It should be noted that the operation path determination device of this embodiment is used to implement the corresponding operation path determination method in the aforementioned method embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0115] Electronic devices

[0116] Figure 5 This is a schematic block diagram of an electronic device provided in an embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device. Figure 5 As shown, the electronic device may include: a processor (processor) 502, a communication interface (Communications Interface) 504, a memory (memory) 506, and a communication bus 508. Among them:

[0117] The processor 502 , the communication interface 504 , and the memory 506 communicate with each other via a communication bus 508 .

[0118] The communication interface 504 is used to communicate with other electronic devices or servers.

[0119] The processor 502 is used to execute the program 510, and specifically can execute the relevant steps in the above-mentioned operation path determination method embodiment.

[0120] Specifically, the program 510 may include program codes, which include computer operation instructions.

[0121] The processor 502 may be a CPU, or an application specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0122] The memory 506 is used to store the program 510. The memory 506 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0123] The program 510 may be specifically used to enable the processor 502 to execute the operation path determination method in any of the aforementioned embodiments.

[0124] The specific implementation of each step in program 510 can refer to the corresponding description of the corresponding steps and units in any of the above-mentioned operation path determination method embodiments, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the above-mentioned method embodiments, which will not be repeated here.

[0125] Through the electronic device of the embodiment of the present application, according to the path data of the automatic guiding device in the working area, the speed information of each alternative working path in the working area can be determined, and according to the speed information of the alternative working path in the working area, an alternative working path is determined in the alternative paths in the working area, so as to use the alternative working path as the working path of the self-moving device in the target time period. Thus, when determining the working path of the self-moving device in the target time period, not only the alternative working paths of the self-moving device in the working area are taken into account, but also the speed information of each alternative working path is taken into account. Then, when determining the working path from the alternative working paths, the alternative working path that shortens the moving time of the self-moving device can be determined more accurately, so as to reduce the possibility of the self-moving device meeting the automatic guiding device when moving along the working path, so as to reduce the possibility of the self-moving device pausing to move, thereby improving the working efficiency of the self-moving device.

[0126] Computer storage media

[0127] The present application also provides a computer-readable storage medium storing instructions for causing a machine to execute the method for determining the operation path as described herein. Specifically, a system or device equipped with a storage medium may be provided, on which a software program code for implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or device reads and executes the program code stored in the storage medium.

[0128] In this case, the program code read from the storage medium itself can implement the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of the present application.

[0129] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0130] Computer program product

[0131] An embodiment of the present application also provides a computer program product, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0132] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0133] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0134] Those of ordinary skill in the art will appreciate that the units and method 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 the embodiments of the present application.

[0135] The above implementation methods are only used to illustrate the embodiments of the present application, and are not limitations on the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The scope of patent protection of the embodiments of the present application should be limited by the claims.

Claims

1. A method for determining an operation path, characterized in that: The method for determining an operating path of a self-propelled device in an operating area provided with at least one automatic guiding device comprises: Acquire a plurality of candidate operation paths of the self-moving device in the operation area, wherein the plurality of candidate operation paths have the same starting point and the same end point; Acquire path data of the automatic guided device within a target time period, wherein the path data includes a preset moving path of the corresponding automatic guided device in the working area and a predicted time for the automatic guided device to move to a plurality of path points on the preset moving path; Determine the pace information of each of the candidate working paths according to the path data of the at least one automatic guided device, wherein the pace information is used to indicate the pace of the self-propelled device when moving along the corresponding candidate working path; According to the pace information of the multiple candidate working paths, the working path of the self-moving device within the target time period is determined from the multiple candidate working paths.

2. The method according to claim 1, characterized in that The determining the pace information of each of the candidate working paths according to the path data of the at least one automatic guiding device comprises: Determine, based on the path data of the at least one automatic guided device, a plurality of alternative speed information of each of the alternative working paths, wherein, when the self-propelled device moves along the alternative working path and at the alternative speed information of the alternative working path, there is no risk of collision between the self-propelled device and the at least one automatic guided device; Acquire a first characteristic value of each of the alternative pace information, wherein the first characteristic value of the alternative pace information includes a collision characteristic value, a speed characteristic value, an acceleration characteristic value, and a jerk characteristic value, wherein the collision characteristic value is used to indicate the degree of separation between the self-moving device and the at least one automatic guided device during the movement process corresponding to the alternative pace information, the movement process corresponding to the alternative pace information is a process in which the self-moving device moves along the alternative working path corresponding to the alternative pace information and at the alternative pace information, the speed characteristic value is used to indicate the degree of position change of the self-moving device during the movement process corresponding to the alternative pace information, the acceleration characteristic value is used to indicate the degree of speed change of the self-moving device during the movement process corresponding to the alternative pace information, and the jerk characteristic value is used to indicate the degree of acceleration change of the self-moving device during the movement process corresponding to the alternative pace information; According to the first characteristic value of the plurality of candidate pace information of the candidate working path, the pace information of the candidate working path is determined from the plurality of candidate pace information of the candidate working path.

3. The method according to claim 2, characterized in that The determining, based on the path data of the at least one automatic guiding device, a plurality of alternative pace information of each of the alternative working paths, comprises: Determine a target path point corresponding to the alternative operation path on the preset moving path of the at least one automatic guided device, wherein when the automatic guided device corresponding to the target path point corresponding to the alternative operation path moves to the target path point, there is a risk of collision between the automatic guided device and the self-moving device moving along the alternative operation path; In the candidate operation paths, a conflict path of the target path point is determined, wherein when the automatic guiding device corresponding to the target path point moves to the target path point, if the self-moving device moves to the conflict path of the target path point, there is a risk of collision between the automatic guiding device and the self-moving device; Based on the predicted time and conflicting path of the target path point corresponding to the alternative working path, multiple alternative pace information of the alternative working path are determined, wherein if the self-moving device moves along the alternative working path and at the alternative pace information corresponding to the alternative working path, then when the predicted time of the target path point is reached, the self-moving device is located outside the conflicting path of the target path point, so that during the process of the self-moving device moving along the alternative working path and at the alternative pace information of the alternative working path, there is no risk of collision between the self-moving device and the at least one automatic guided device.

4. The method according to claim 3, characterized in that Determining the target path point corresponding to the alternative operation path on the preset moving path of the at least one automatic guided device includes: In the process of the self-moving device moving along the alternative working path, the area through which the projection of the self-moving device on the working area passes is used as a first projection area; If, when the automatic guided device moves to a path point on the corresponding preset moving path, the projection of the automatic guided device on the working area overlaps with the first projection area of ​​the alternative working path, the path point is determined as the target path point corresponding to the alternative working path, so that when the automatic guided device corresponding to the target path point corresponding to the alternative working path moves to the target path point, there is a risk of collision between the automatic guided device and the self-moving device moving along the alternative working path.

5. The method according to claim 3, characterized in that: Determining the conflicting path of the target path point in the candidate operation path includes: When the automatic guiding device corresponding to the target path point is moved to the target path point, the projection of the automatic guiding device on the working area serves as the second projection area; In the alternative operation path, the conflict path of the target path point corresponding to the second projection area is determined, wherein, if the self-moving device moves along the alternative operation path corresponding to the target path point to any point on the conflict path of the target path point, then the projection area of ​​the self-moving device on the operation area and the second projection area corresponding to the target path point have an overlapping part; if the self-moving device moves along the alternative operation path corresponding to the target path point to any point other than the conflict path of the target path point, then the projection area of ​​the self-moving device on the operation area and the second projection area corresponding to the target path point do not have an overlapping part, so that when the automatic guided device corresponding to the target path point moves to the target path point, if the self-moving device moves to the conflict path of the target path point, there is a risk of collision between the automatic guided device and the self-moving device.

6. The method according to claim 3, characterized in that The step of determining a plurality of alternative pace information of the alternative operation path according to the predicted time of the target path point corresponding to the alternative operation path and the conflicting path includes: Determine the starting point and the end point of the conflict path as conflict points; Clustering the multiple conflict points corresponding to the alternative operation path to obtain multiple conflict groups of the alternative operation path, wherein each conflict group includes at least two conflict points, the difference in predicted time corresponding to any two conflict points belonging to the same conflict group is less than or equal to a preset time length, and the difference in predicted time corresponding to any two conflict points belonging to different conflict groups of the same alternative operation path is greater than the preset time length; Constructing a rectangular coordinate system corresponding to the alternative operation path, wherein the variable corresponding to the horizontal axis of the rectangular coordinate system is used to represent the duration of movement of the self-moving device along the alternative operation path, and the variable corresponding to the vertical axis of the rectangular coordinate system is used to represent the length of the path that the self-moving device has moved along the alternative operation path starting from the starting point of the alternative operation path; According to the conflict point corresponding to the alternative operation path and the predicted time corresponding to the conflict point, determining a coordinate point corresponding to the conflict point in the rectangular coordinate system corresponding to the alternative operation path; Determine the area enclosed by the coordinate points corresponding to the conflict points belonging to the same conflict group in the rectangular coordinate system corresponding to the conflict group as the conflict area corresponding to the conflict group; According to the multiple conflicting areas in the rectangular coordinate system, multiple alternative pace images are drawn in the rectangular coordinate system, wherein the alternative pace images are used to indicate alternative pace information corresponding to the alternative pace images, and there is no overlapping part between the alternative pace images and the multiple conflicting areas.

7. The method according to claim 2, characterized in that The determining, based on the pace information of the plurality of candidate operating paths, the operating path of the self-moving device within the target time period from the plurality of candidate operating paths comprises: Determine a second characteristic value of the alternative working path according to the alternative working path and the pace information corresponding to the alternative working path, wherein the second characteristic value of the alternative working path includes a duration characteristic value, an obstruction characteristic value and an average speed characteristic value, the duration characteristic value is used to indicate the movement duration of the self-moving device during the movement process corresponding to the alternative working path, the movement process corresponding to the alternative working path is the process in which the self-moving device moves along the alternative working path and at the pace information of the alternative working path, the obstruction characteristic value is used to indicate the possibility that the at least one automatic guiding device obstructs the movement of the self-moving device during the movement process corresponding to the alternative working path, and the average speed characteristic value is used to indicate the average speed of the self-moving device during the movement process corresponding to the alternative working path; According to the second characteristic values ​​of the multiple candidate working paths and the acceleration characteristic values ​​and the jerk characteristic values ​​of the pace information corresponding to the multiple candidate working paths, the working path of the self-moving device within the target time period is determined from the multiple candidate working paths.

8. A device for determining an operation path, characterized in that: The device is used to determine the working path of the self-moving device in a working area where at least one automatic guiding device is provided, and the working path determining device comprises: A path acquisition unit, configured to acquire a plurality of candidate operation paths of the self-moving device in the operation area, wherein the plurality of candidate operation paths have the same starting point and the same end point; A data acquisition unit, used to acquire path data of the automatic guided device within a target time period, wherein the path data includes a preset moving path of the corresponding automatic guided device in the working area, and a predicted time for the automatic guided device to move to a plurality of path points on the preset moving path; A pace determination unit, configured to determine pace information of each of the candidate operating paths according to the path data of the at least one automatic guided device, wherein the pace information is used to indicate the pace of the self-propelled device when moving along the corresponding candidate operating path; The path determination unit is used to determine the working path of the self-moving device within the target time period from the multiple candidate working paths according to the pace information of the multiple candidate working paths.

9. An electronic device, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute an operation corresponding to any one of the methods in claims 1-7.

10. A computer program product, characterized in that The method comprises computer instructions for instructing a computing device to execute the method as claimed in any one of claims 1 to 7.

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