Slope snow sweeping method applied to self-moving equipment, self-moving equipment and medium

Abstract

The invention discloses a slope snow sweeping method applied to self-moving equipment, the self-moving equipment and a medium, and the method comprises the steps: when the self-moving equipment is located at a first high position point of a slope area, controlling the self-moving equipment to move from the first high position point to a first low position point of the slope area; controlling the self-moving equipment to move from the first low position point to the first high position point along the original path; and acquiring a second high position point, continuously controlling the self-moving equipment to move from the second high position point to a second low position point of the slope area, and controlling the self-moving equipment to move from the second low position point to the second high position point along the same path until the snow sweeping work of the whole slope area is completed. According to the scheme, the self-moving equipment is controlled to firstly move from the high position point to the low position point, snow sweeping work can be completed by means of the potential energy difference of the gradient, then the snow sweeping difficulty of the self-moving equipment in the slope area can be reduced, in addition, the self-moving equipment is controlled to move to the starting point based on the originally cleaned moving path, and the slipping phenomenon can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of snow-clearing by self-moving equipment, and in particular to a slope snow-clearing method applied to a self-moving equipment, a self-moving equipment and a medium. Background Art

[0002] When used in courtyard areas, snow-clearing robots can accurately throw the snow within the working range to the designated location. However, when dealing with snow in slope areas, the snow-clearing robot faces a series of challenges. Due to the certain inclination angle of the slope, it is particularly difficult for the snow-clearing robot to travel uphill and sweep the snow. At the same time, some snow-clearing robots also need to go uphill manually, which also increases the difficulty of snow sweeping. What's more tricky is that the accumulated snow itself may increase the slipperiness of the ground, causing the equipment to slip easily during movement. The combined effect of these problems makes it difficult for the snow-clearing robot to achieve the ideal cleaning effect in snow removal operations in slope areas, which in turn causes the problem of incomplete snow removal in slope areas.

[0003] Therefore, those skilled in the art are in urgent need of finding a new technical solution to solve the above technical problems. Summary of the invention

[0004] Based on this, it is necessary to provide a slope snow-clearing method, a self-moving device and a medium applied to a self-moving device in order to solve the technical problem in the prior art that snow-clearing robots do not remove snow thoroughly in slope areas.

[0005] To achieve the above object, a slope snow clearing method for a self-moving device is provided, the method comprising: When the self-moving device is at a first high position point in the slope area, controlling the self-moving device to move from the first high position point to a first low position point in the slope area to complete the snow clearing work on the path from the first high position point to the first low position point; Control the self-moving device to move from the first low position point to the first high position point along the original path; Obtain the second highest position point of the slope area confirmed based on the first high position point, continue to control the self-moving device to move from the second highest position point to the second lowest position point of the slope area, and control the self-moving device to move from the second lowest position point to the second highest position point along the original route until the snow clearing work of all moving paths in the entire slope area is completed.

[0006] Optionally, controlling the self-moving device to move from the first low position point to the first high position point along the original path includes: Controlling the self-moving device to retreat at the first low position point to move the self-moving device to a retreat point; Controlling the self-moving device to turn away from a target snow-throwing position at the retreat point to move the self-moving device to a forward point toward the snow-cleared area; the target snow-throwing position is a snow-throwing point located at the edge of the slope area; After controlling the snow shoveling head in the self-moving device to rise to a height of a preset distance threshold from the ground, controlling the working motor in the self-moving device to be turned off, and controlling the self-moving device to move forward from the forward point to the first high position point.

[0007] Optionally, before the self-moving device is at the first high position point in the slope area, the method further comprises: Obtaining a terrain potential energy straight line corresponding to the slope region and a regional area of ​​the slope region; The terrain potential energy straight line is used as the Y-axis for the self-moving device to move in the slope area, and a working map corresponding to the self-moving device is constructed in the area parallel to the Y-axis; in the working map, the first high position point and the second high position point are both located at the highest numerical point of the Y-axis.

[0008] Optionally, the method of using the terrain potential energy straight line as the Y axis for the self-moving device to move in the slope area includes: When it is determined that the terrain potential energy line is a potential energy line horizontally pointing rightward relative to the slope area, the terrain potential energy line is rotated vertically and the rotated terrain potential energy line is used as the Y axis for the self-moving device to move in the slope area.

[0009] Optionally, controlling the self-moving device to move from the first low position point to the first high position point along the original path includes: The self-moving device is controlled to retreat from the first low position point to the first high position point along the original path.

[0010] Optionally, controlling the self-moving device to move from the first low position point to the first high position point along the original path includes: When the self-moving device moves along a moving path between the first high position point and the first low position point, acquiring a current point and a target point located in the moving path; Calculating a first direction vector between the current point and the target point; Determining whether the self-moving device is offset by comparing the first direction vector with a first preset direction vector; After determining that the self-moving device has not deviated through a comparison result between the direction vector and a preset direction vector, the self-moving device is controlled to move from the first low position point to the first high position point along the original path.

[0011] Optionally, after determining whether the self-moving device is offset by comparing the first direction vector with a first preset direction vector, the method further includes: When it is determined through a comparison result between the direction vector and a preset direction vector that the self-moving device is offset, acquiring a next target point; Calculating a second direction vector between the current point and the next target point; Determining whether the self-moving device is reversed by comparing the second direction vector with a second preset direction vector; When it is determined through the comparison result between the second direction vector and the second preset direction vector that the self-moving device has not reversed, the self-moving device is controlled to move from the first low position point to the first high position point along the original path.

[0012] Optionally, after determining whether the self-moving device is reversed by comparing the second direction vector with a second preset direction vector, the method further includes: When it is determined through a comparison result between the second direction vector and the second preset direction vector that the self-moving device is reversed, controlling the self-moving device to move in a backward movement manner on the moving path; After the self-moving device moves to the first high position point, determining whether the self-moving device needs to be reversed according to the front direction of the self-moving device and the second high position point; When it is determined that the self-moving device needs to be reversed through the front direction of the self-moving device and the second high position point, the self-moving device is controlled to move to the second high position point after being reversed.

[0013] To achieve the above objectives, a self-moving device is also provided, including a controller, a snow rolling module and a snow throwing module. The controller controls the snow rolling module and the snow throwing module to implement the steps of the slope snow clearing method applied to the self-moving device.

[0014] In order to achieve the above-mentioned purpose, a computer-readable storage medium is also provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned slope snow clearing method applied to a self-moving device are implemented.

[0015] The slope snow-clearing method for a self-moving device provided by the present invention includes: when the self-moving device is at the first high position point of the slope area, controlling the self-moving device to move from the first high position point to the first low position point of the slope area to complete the snow-clearing work on the path from the first high position point to the first low position point; controlling the self-moving device to move from the first low position point to the first high position point in the original way; obtaining the second high position point of the slope area confirmed based on the first high position point, continuing to control the self-moving device to move from the second high position point to the second low position point of the slope area, and controlling the self-moving device to move from the second low position point to the second high position point in the original way until the snow-clearing work on all moving paths in the entire slope area is completed. This scheme controls the self-moving device to move from the high position point to the low position point first, and can complete the snow-clearing work with the help of the potential energy difference of the slope, thereby reducing the difficulty of snow-clearing of the self-moving device in the slope area. In addition, controlling the self-moving device to move to the starting point based on the moving path that has been previously cleaned can reduce the slipping phenomenon of the self-moving device, so that the cleaning effect of the slope area can be further guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained according to these accompanying drawings without paying creative labor.

[0017] Figure 1 It is a flow chart of an embodiment of a slope snow clearing method applied to a self-moving device according to the present invention; Figure 2 is a schematic block diagram of an embodiment of a mobile device of the present invention; Figure 3 is a schematic diagram of the present invention in a mobile device; Figure 4 is a schematic diagram of the moving path of the self-moving device in the slope area of ​​the present invention; Figure 5 It is a coordinate schematic diagram of the moving path of the self-moving device in the slope area of ​​the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] like Figure 1 , Figure 3 and Figure 4 As shown, a slope snow clearing method for a self-moving device provided by an embodiment of the present invention can be applied to a controller in the self-moving device, wherein the controller can also be understood as an MCU (microcontroller unit) or other devices with the same function, and the method comprises the following steps: S10, when the self-moving device is at the first high position point of the slope area, control the self-moving device to move from the first high position point to the first low position point of the slope area to complete the snow clearing work on the path from the first high position point to the first low position point.

[0020] Understandably, the self-moving device is provided with a snow shoveling module and a snow throwing module, wherein the snow shoveling module is provided with a snow shoveling bucket, and the snow throwing module is provided with snow throwing blades and a snow throwing cylinder. In this way, after the self-moving device moves to the corresponding working area, the snow shoveling module and the snow throwing module can complete the snow clearing work in the area; the slope area can be the entire working area of ​​the self-moving device, or it can be a partial working area in the entire working area of ​​the self-moving device, which is specifically determined by the area of ​​the scene where the slope area is located and the slope of the area. There are multiple high position points and low position points in the slope area. The first high position point is the starting point of the current moving path of the slope area, and the second low position point is the end point of the current moving path of the slope area. There are a first high position point A, a first low position point B, a second high position point C and a second low position point D in the slope area. There is a corresponding relationship on the path between the first high position point A and the first low position point B, and there is a corresponding relationship on the path between the second high position point C and the second low position point D. The corresponding relationship can form a moving path for the self-moving device for the two path points; when the self-moving device moves from the first high position point to the first low position point in the slope area, the self-moving device turns on the corresponding snow shoveling module and the snow throwing module to throw the snow on the path between the two position points to the target snow throwing area. In addition, the snow shoveling module and the snow throwing module can adjust the ground clearance, snow throwing intensity, etc. in the snow shoveling module according to the depth of snow on the path.

[0021] S20, controlling the self-moving device to move from the first low position point to the first high position point along the original path.

[0022] It can be understood that the movement of the self-moving device from the first highest position point to the first lowest position point is only one of the moving paths of the self-moving device in the slope area. In this way, the self-moving device needs to return to the first highest position point to complete the snow clearing work on the paths of other moving paths. Further, the self-moving device moves back and forth in the slope area according to the following moving sequence. The moving sequence is the first highest position point A-the first lowest position point B-the first highest position point A. After identifying the same high position points twice, it can be determined that the self-moving device has returned to the original starting point.

[0023] S30, obtaining the second highest position point of the slope area confirmed based on the first high position point, continuing to control the self-moving device to move from the second highest position point to the second lowest position point of the slope area, and controlling the self-moving device to move from the second lowest position point to the second highest position point along the original route until the snow clearing work of all moving paths in the entire slope area is completed.

[0024] It can be understood that the second highest position point is the starting point of the next moving path of the slope area (specifically, the second highest position point can be confirmed based on the first highest position point, and there is a specified spacing between the second highest position point and the first highest position point, and there is a corresponding sequence of movement paths between the two position points, such as the first moving path-the second moving path), and the second lowest position point is the end point of the next moving path of the slope area. Further, the self-moving device moves back and forth in the slope area according to the following moving sequence, and the moving sequence is the first highest position point A-the first lowest position point B-the first highest position point A-the second highest position point C-the second lowest position point D-the second highest position point C; the movement of the self-moving device between the second highest position point and the second lowest position point is consistent with the movement of the self-moving device between the first highest position point and the first lowest position point. The self-moving device will move on different moving paths in the slope area according to the same moving method. The specific number of movements is confirmed based on the number of moving paths generated by the slope area, and the number of moving paths is confirmed based on the area of ​​the slope area and the spacing between the paths.

[0025] In the embodiment of steps S10 to S30, the self-moving device is controlled to move from a high position point to a low position point first, and the snow-clearing work can be completed with the help of the potential energy difference of the slope, thereby reducing the difficulty of snow-clearing of the self-moving device in the slope area. In addition, the self-moving device is controlled to move to the starting point based on the previously cleared moving path, which can reduce the slipping phenomenon of the self-moving device. In this way, the cleaning effect of the slope area can be further guaranteed.

[0026] Further, the controlling the self-moving device to move from the first low position point to the first high position point along the original path includes: Controlling the self-moving device to retreat at the first low position point to move the self-moving device to a retreat point; Controlling the self-moving device to turn away from a target snow-throwing position at the retreat point to move the self-moving device to a forward point toward the snow-cleared area; the target snow-throwing position is a snow-throwing point located at the edge of the slope area; After controlling the snow shoveling head in the self-moving device to rise to a height of a preset distance threshold from the ground, controlling the working motor in the self-moving device to be turned off, and controlling the self-moving device to move forward from the forward point to the first high position point.

[0027] It can be understood that the self-moving device retreats in a direction away from the first lowest position point and the first highest position point, that is, the self-moving device moves to a position point outside the slope area; the self-moving device can turn in the direction of the completed cleaned area, that is, it can turn 180 degrees in place away from the target snow-throwing position point, and the self-moving device can turn in a non-in-place manner in a way that is conducive to the self-moving device turning, such as bypassing obstacles in the arc in the form of an arc (such as a large amount of snow in the arc that hinders the forward movement). After the turn is completed, the self-moving device moves toward the path of the completed snow-clearing area so that the self-moving device can return along the original route; the forward point and the backward point can be the same position point (when the self-moving device turns in place When turning), the forward point and the backward point may not be the same position point (when the self-moving device makes a non-in-situ turn), and the setting of the forward point is to control the self-moving device to adjust a correct direction; the snow shoveling head of the self-moving device is located in the snow shoveling module, and the present application can first control the snow shoveling head in the snow shoveling module to be lifted to the corresponding height (the snow shoveling head is mechanically connected to the electric push rod in the self-moving device, and the change of the push rod value of the electric push rod can change the height of the snow shoveling head of the self-moving device from the ground), and then turn off the working motor in the snow shoveling module in the self-moving device; the working motor of the self-moving device may refer to the motor corresponding to the snow shoveling module and the snow throwing module, and the motor is in a turned-off state during the uphill process, that is, the corresponding snow shoveling module and the snow throwing module do not perform the corresponding work; In this embodiment, the self-moving device is controlled to retreat at the first lowest position and to turn away from the target snow-throwing position. The main purpose is to allow the self-moving device to have a certain turning space during the turning process to avoid problems such as scratches between the self-moving device body and the snow due to too small space; the snow shoveling head in the self-moving device is controlled to be lifted. The main purpose is to further clear the snow on the moving path (such as continuous snowing in the sky or / and the snow on the moving path is not cleared clean) through the snow shoveling head while preventing the bottom of the snow shoveling head of the self-moving device from rubbing against the ground; the working motor in the self-moving device is controlled to be turned off. The main purpose is to save electric energy resources in the self-moving device (no large-scale snow clearing work is required during the uphill process).

[0028] Furthermore, before the self-moving device is at the first high position point in the slope area, it also includes: Obtaining a terrain potential energy straight line corresponding to the slope region and a regional area of ​​the slope region; The terrain potential energy straight line is used as the Y-axis for the self-moving device to move in the slope area, and a working map corresponding to the self-moving device is constructed in the area parallel to the Y-axis; in the working map, the first high position point and the second high position point are both located at the highest numerical point of the Y-axis.

[0029] Understandably, the terrain potential energy line can be a line drawn by the user on the map in the corresponding terminal, or a line generated according to the regional conditions identified by the self-mobile device during the mapping process, wherein the potential energy in the terrain potential energy line will be distributed according to the height of the position points, such as the potential energy of the high position point is greater than the potential energy of the low position point; the area of ​​the slope area can be determined according to the area corresponding to the actual scene. Furthermore, when mapping, the area of ​​the slope area can be obtained through the positioning module in the self-mobile device, and the corresponding working area can be determined as a slope area through other inclination angles such as the IMU module in the self-mobile device (when the self-mobile device performs snow clearing processing through the behavior tree, it will also detect Measure whether the area where the self-moving device is located is a slope area); the slope area can form a coordinate system, and the self-moving device can move in the coordinate system, wherein the terrain potential energy straight line is used as the Y axis of the coordinate system, and the width of the coordinate system is determined by the area of ​​the slope area. Specifically, the self-moving device is controlled to move along a moving path parallel to the Y axis (such as a bow-shaped sweeping moving path), the self-moving device is controlled to move from a high potential energy position in the moving path to a low potential energy position in the moving path, the self-moving device is controlled to move along the original path to a high potential energy position of the Y axis and then turn, and then move to the next high potential energy position of the Y axis, and the self-moving device is controlled to move along a moving path parallel to the Y axis until the entire work map is completed by the self-moving device; In this embodiment, the working map directly reflects the terrain changes in the slope area. The self-moving device can more accurately consider factors such as slope when planning the path, thereby improving the snow-clearing ability of the self-moving device on the slope area. The terrain potential energy straight line is used as the Y-axis, and the corresponding working map is generated based on the Y-axis. The working map can provide a clear navigation reference for the self-moving device, and the self-moving device can more easily identify its own position.

[0030] Furthermore, the method of using the terrain potential energy straight line as the Y axis of the self-moving device moving in the slope area includes: When it is determined that the terrain potential energy line is a potential energy line horizontally pointing rightward relative to the slope area, the terrain potential energy line is rotated vertically and the rotated terrain potential energy line is used as the Y axis for the self-moving device to move in the slope area.

[0031] Understandably, the terrain potential energy line can be a straight line drawn by the user. More specifically, when the traversed area is a slope area, the terrain potential energy line is rotated to the corresponding vertical direction and then the map area is gridded to generate the entire working map. Among them, the path planning of slope snow sweeping is similar to the bow-shaped path planning. After the mobile device has walked a straight line in the slope area, it returns to the original highest position point. The next planned point is also the highest position point. A moving path corresponding to the terrain potential energy line can be shown as follows Figure 5 It is represented as [a(0, 0), b(0, 1), c(0, 2), d(0, 3), e(0, 4), f(0, 5), g(0, 6), h(0, 7), i(0, 8), j(0, 9)], and another moving path can be expressed as Figure 5 Represented as [k(1, 0), l(1,1), m(1, 2), n(1, 3), o(1, 4), p(1, 5), q(1, 6), r(1, 7), s(1, 8), t(1, 9)]; In this embodiment, the vertical terrain potential straight line is used as the Y-axis, and the corresponding moving path is generated with the Y-axis, which simplifies the calculation complexity of the self-moving device when planning the path in the slope area, and the self-moving device can more easily plan the optimal path according to the height information; the rotated terrain potential straight line provides an accurate navigation reference for the self-moving device, and the self-moving device can adjust the driving direction according to the working map corresponding to the Y-axis to ensure movement along the predetermined moving path.

[0032] Further, the controlling the self-moving device to move from the first low position point to the first high position point along the original path includes: The self-moving device is controlled to retreat from the first low position point to the first high position point along the original path.

[0033] It is understandable that the self-moving device may move forward from the first low position point to the first high position point in the manner mentioned above, or may move backward from the first low position point to the first high position point in the manner mentioned in this embodiment; The purpose of using the backward mode in this embodiment is that when the self-moving device returns to the original route, there is no need to use the snow shoveling module and the snow throwing module in the self-moving device to clear the snow (it only needs to ensure that the self-moving device can return to the highest position point where it started).

[0034] Further, the controlling the self-moving device to move from the first low position point to the first high position point along the original path includes: When the self-moving device moves along a moving path between the first high position point and the first low position point, acquiring a current point and a target point located in the moving path; Calculating a first direction vector between the current point and the target point; Determining whether the self-moving device is offset by comparing the first direction vector with a first preset direction vector; After determining that the self-moving device has not deviated through a comparison result between the direction vector and a preset direction vector, the self-moving device is controlled to move from the first low position point to the first high position point along the original path.

[0035] Understandably, the current point may be the position point where the self-mobile device is currently located, which is any position point between the first highest position point and the first lowest position point, including the first highest position point and the first lowest position point; the target point may be the position point referenced by the self-mobile device, which is any position point between the first highest position point and the first lowest position point, including the first highest position point and the first lowest position point; the confirmation of the first direction vector is calculated by the coordinates of the current point and the target point, specifically, the corresponding vector can be determined by the coordinate difference of the two coordinate points; the first preset direction vector is a predetermined correct result, which represents the direction in which the self-mobile device should ideally move, and can be determined based on map information, path planning algorithm or user input; the comparison result can determine whether the self-mobile device is offset by matching the vector values ​​of the two. After the offset occurs, the body of the self-mobile device needs to be corrected. Before comparing the vectors, the two vectors are usually normalized (i.e., the modulus of the vectors is adjusted to 1), which can eliminate the influence of the vector size on the angle calculation and only focus on the difference in direction; In this embodiment, by comparing the vectors, it is timely determined whether the self-moving device is offset during the moving process, so that the self-moving device can take corresponding countermeasures in time to ensure the working efficiency of the self-moving device.

[0036] Further, after determining whether the self-moving device is offset by comparing the first direction vector with the first preset direction vector, the method further includes: When it is determined through a comparison result between the direction vector and a preset direction vector that the self-moving device is offset, acquiring a next target point; Calculating a second direction vector between the current point and the next target point; Determining whether the self-moving device is reversed by comparing the second direction vector with a second preset direction vector; When it is determined through the comparison result between the second direction vector and the second preset direction vector that the self-moving device has not reversed, the self-moving device is controlled to move from the first low position point to the first high position point along the original path.

[0037] Understandably, the next target point may refer to a position point different from the target point (which may be a position point on the moving path closer to the self-moving device). When the target point is a position point A on the moving path, the next target point may be a position point B on the moving path. Different target points may accurately determine whether the self-moving device has reversed after the device is offset. If the device has not reversed, the self-moving device may move from the first low position point to the first high position point in a forward moving manner. At the same time, the height of the snow shoveling head of the self-moving device and the shut-off of the working motor are consistent with the above-mentioned contents. In this embodiment, by timely detecting the deviation and adjusting the direction of travel, it is possible to ensure that the self-moving device always moves along the correct path, thereby improving the accuracy of the path; after detecting the deviation, active measures are taken to correct the deviation, avoiding potential dangers that the self-moving device may encounter due to continuing to move along the wrong path. At the same time, it is possible to continue to determine whether the self-moving device has reversed based on the occurrence of excessive deviation, so that the self-moving device can make corresponding countermeasures in time to ensure the working efficiency of the self-moving device.

[0038] It should be noted that the forward movement of the self-moving device from a high position point to a low position point is a forward movement of the ramp mode, while the backward movement of the self-moving device from a low position point to a high position point is a reverse movement of the ramp mode.

[0039] Further, after determining whether the self-moving device is reversed by comparing the second direction vector with the second preset direction vector, the method further includes: When it is determined through a comparison result between the second direction vector and the second preset direction vector that the self-moving device is reversed, controlling the self-moving device to move in a backward movement manner on the moving path; After the self-moving device moves to the first high position point, determining whether the self-moving device needs to be reversed according to the front direction of the self-moving device and the second high position point; When it is determined that the self-moving device needs to be reversed through the front direction of the self-moving device and the second high position point, the self-moving device is controlled to move to the second high position point after being reversed.

[0040] Understandably, the reversal of the self-moving device is equivalent to a change in the direction of the front of the self-moving device. Thus, after a large angle reversal occurs, the self-moving device can be controlled to perform a backward movement without adjusting the direction of the self-moving device. After the self-moving device returns to the high position point, it is necessary to determine whether the direction of the front of the self-moving device satisfies the specified direction (when moving from the high position point to the low position point, the direction of the front of the self-moving device must be aligned with the moving direction of the moving path). Thus, after the self-moving device moves to the first high position point, it is determined whether the self-moving device needs to be reversed by the alignment relationship between the direction of the front of the self-moving device and the second high position point. In this embodiment, after the reversal occurs, the self-moving device is controlled to move in a backward manner, and the self-moving device does not need to continue to adjust the direction of travel. At the same time, after the self-moving device moves to a high position point, it continues to determine whether the self-moving device needs to be reversed at the starting point of the next moving path, so that the self-moving device can move and work normally on the next moving path.

[0041] The present invention provides a slope snow-clearing method applied to a self-moving device, which belongs to the technical field of snow-clearing for self-moving devices. When the self-moving device is at a first high position point in a slope area, the self-moving device is controlled to move from the first high position point to a first low position point in the slope area to complete the snow-clearing work on the path from the first high position point to the first low position point; the self-moving device is controlled to move from the first low position point to the first high position point along the original route; the second high position point of the slope area confirmed based on the first high position point is obtained, the self-moving device is continued to be controlled to move from the second high position point to the second low position point in the slope area, and the self-moving device is controlled to move from the second low position point to the second high position point along the original route until the snow-clearing work on all moving paths in the entire slope area is completed. This solution controls the self-moving device to move from a high position point to a low position point first, and can automatically complete the snow clearing work with the help of the potential energy difference of the slope. There is no need for manual participation of the equipment in the slope snow clearing, thereby reducing the difficulty of snow clearing by the self-moving device in the slope area. In addition, the self-moving device is controlled to move to the starting point based on the previously cleared moving path, which can reduce the slipping of the self-moving device. In this way, the cleaning effect of the slope area can be further guaranteed, and the problem of incomplete snow removal in the slope area can be solved.

[0042] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0043] like Figure 2 and Figure 3As shown, a self-moving device is also provided, including a controller, a snow rolling module and a snow throwing module, wherein the controller controls the snow rolling module and the snow throwing module to implement the steps of the above-mentioned slope snow clearing method applied to the self-moving device. Among them, the self-moving device is provided with a working motor for working and a walking motor for walking. The controller can control the corresponding start and stop of the motors of the snow rolling module and the snow throwing module to control the self-moving device to complete the corresponding snow clearing work.

[0044] The execution function of the controller corresponds one-to-one to the slope snow-clearing method applied to the self-moving device in the above-mentioned embodiment. For the specific definition of the controller, please refer to the definition of the slope snow-clearing method applied to the self-moving device in the above text, which will not be repeated here. The execution process of each sub-module in the above-mentioned controller can be referred to the definition of the slope snow-clearing method applied to the self-moving device in the above text, which will not be repeated here, and it can be implemented in whole or in part by software, hardware and a combination thereof. Each sub-module can be embedded in or independent of the controller in hardware form, or it can be stored in the memory of the controller in software form, so that the controller can call and execute the operations corresponding to each of the above sub-modules.

[0045] In one embodiment, the present invention also provides one or more readable storage media storing computer-readable instructions, and the readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media; the readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by one or more processors, the one or more processors implement the steps of the slope snow clearing method applied to the self-moving equipment described in the above embodiment.

[0046] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0047] Technicians in the relevant field can clearly understand that in actual applications, the above functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the mobile device can be divided into different functional units or modules to complete all or part of the functions described above.

[0048] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A slope snow clearing method applied to a self-moving device, characterized in that: The method comprises: When the self-moving device is at a first high position point in the slope area, controlling the self-moving device to move from the first high position point to a first low position point in the slope area to complete the snow clearing work on the path from the first high position point to the first low position point; Control the self-moving device to move from the first low position point to the first high position point along the original path; Obtain the second highest position point of the slope area confirmed based on the first high position point, continue to control the self-moving device to move from the second highest position point to the second lowest position point of the slope area, and control the self-moving device to move from the second lowest position point to the second highest position point along the original route until the snow clearing work of all moving paths in the entire slope area is completed.

2. The slope snow clearing method applied to a self-moving device as claimed in claim 1, characterized in that: The controlling the self-moving device to move from the first low position point to the first high position point along the original path includes: Controlling the self-moving device to retreat at the first low position point to move the self-moving device to a retreat point; Controlling the self-moving device to turn away from a target snow-throwing position at the retreat point to move the self-moving device to a forward point toward the snow-cleared area; the target snow-throwing position is a snow-throwing point located at the edge of the slope area; After controlling the snow shoveling head in the self-moving device to rise to a height of a preset distance threshold from the ground, controlling the working motor in the self-moving device to be turned off, and controlling the self-moving device to move forward from the forward point to the first high position point.

3. The slope snow clearing method applied to a self-moving device as claimed in claim 1, characterized in that: Before the self-moving device is at the first high position point in the slope area, the method further includes: Obtaining a terrain potential energy straight line corresponding to the slope region and a regional area of ​​the slope region; The terrain potential energy straight line is used as the Y-axis for the self-moving device to move in the slope area, and a working map corresponding to the self-moving device is constructed in the area parallel to the Y-axis; in the working map, the first high position point and the second high position point are both located at the highest numerical point of the Y-axis.

4. The slope snow clearing method applied to a self-moving device as claimed in claim 3, characterized in that: The method of using the terrain potential energy straight line as the Y axis for the self-moving device to move in the slope area includes: When it is determined that the terrain potential energy line is a potential energy line horizontally pointing rightward relative to the slope area, the terrain potential energy line is rotated vertically and the rotated terrain potential energy line is used as the Y axis for the self-moving device to move in the slope area.

5. The slope snow clearing method applied to a self-moving device as claimed in claim 1, characterized in that: The controlling the self-moving device to move from the first low position point to the first high position point along the original path includes: The self-moving device is controlled to retreat from the first low position point to the first high position point along the original path.

6. The slope snow clearing method applied to a self-moving device as claimed in claim 5, characterized in that: The controlling the self-moving device to move from the first low position point to the first high position point along the original path includes: When the self-moving device moves along a moving path between the first high position point and the first low position point, acquiring a current point and a target point located in the moving path; Calculating a first direction vector between the current point and the target point; Determining whether the self-moving device is offset by comparing the first direction vector with a first preset direction vector; After determining that the self-moving device has not deviated through a comparison result between the direction vector and a preset direction vector, the self-moving device is controlled to move from the first low position point to the first high position point along the original path.

7. The slope snow clearing method applied to a self-moving device as claimed in claim 6, characterized in that: After determining whether the self-moving device is offset by comparing the first direction vector with the first preset direction vector, the method further includes: When it is determined through a comparison result between the direction vector and a preset direction vector that the self-moving device is offset, acquiring a next target point; Calculating a second direction vector between the current point and the next target point; Determining whether the self-moving device is reversed by comparing the second direction vector with a second preset direction vector; When it is determined through the comparison result between the second direction vector and the second preset direction vector that the self-moving device has not reversed, the self-moving device is controlled to move from the first low position point to the first high position point along the original path.

8. The slope snow clearing method applied to a self-moving device as claimed in claim 7, characterized in that: After determining whether the self-moving device is reversed by comparing the second direction vector with the second preset direction vector, the method further includes: When it is determined through a comparison result between the second direction vector and the second preset direction vector that the self-moving device is reversed, controlling the self-moving device to move in a backward movement manner on the moving path; After the self-moving device moves to the first high position point, determining whether the self-moving device needs to be reversed according to the front direction of the self-moving device and the second high position point; When it is determined that the self-moving device needs to be reversed through the front direction of the self-moving device and the second high position point, the self-moving device is controlled to move to the second high position point after being reversed.

9. A self-propelled device, characterized in that: The invention comprises a controller, a snow rolling module and a snow throwing module, wherein the controller controls the snow rolling module and the snow throwing module to implement the steps of the slope snow clearing method applied to a self-moving device as claimed in any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the slope snow clearing method applied to a self-moving device as claimed in any one of claims 1 to 8 are implemented.

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