Ramp snow sweeping method, self - moving device and medium applied to self - moving device

Abstract

The present invention discloses a slope snow sweeping method, a self-mobile device and a medium applied to a self-mobile device. The method includes: when the self-mobile device is at a first high position point in a slope area, controlling the self-mobile device to move from the first high position point to a first low position point in the slope area; controlling the self-mobile device to move back from the first low position point to the first high position point along the original path; obtaining a second high position point, continuing to control the self-mobile device to move from the second high position point to a second low position point in the slope area, and controlling the self-mobile device to move back from the second low position point to the second high position point along the original path until the snow sweeping work of the entire slope area is completed. This solution controls the self-mobile device to first move from a high position point to a low position point, and can complete the snow sweeping work by means of the potential energy difference of the slope, thereby reducing the difficulty of snow sweeping of the self-mobile device in the slope area. In addition, controlling the self-mobile device to move to the starting point based on the previously cleaned moving path can reduce the phenomenon of slipping.

Description

Technical Field

[0001] The present invention relates to the technical field of snow removal for self - moving devices, and particularly to a slope snow removal method, a self - moving device and a medium applied to self - moving devices. Background Art

[0002] In the application of snow - sweeping robots in courtyard areas, the snow within the working range can be accurately thrown to a designated position. However, when dealing with snow on slope areas, the snow - sweeping robot faces a series of challenges. Due to the existence of a certain inclination angle of the slope, it becomes particularly difficult for the snow - sweeping robot to drive uphill and sweep snow at the same time. Moreover, some snow - sweeping robots need to rely on manual assistance to go uphill, which also increases the difficulty of snow removal. Even more intractable is that the snow itself may increase the ground slipperiness, resulting in the device being prone to slipping during travel. Under the combined action of these problems, it is difficult for the snow - sweeping robot to achieve an ideal cleaning effect in the snow - removal operation on slope areas, thus causing the problem of incomplete snow removal in slope areas.

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

[0004] Based on this, in view of the above - mentioned technical problems, it is necessary to provide a slope snow removal method, a self - moving device and a medium applied to self - moving devices to solve the technical problem of incomplete snow removal by snow - sweeping robots in slope areas in the prior art.

[0005] To achieve the above object, a slope snow removal method applied to a self - moving device is provided. The method includes:

[0006] When the self - moving device is at the first high - position point in the slope area, control the self - moving device to move from the first high - position point to the first low - position point in the slope area to complete the snow - sweeping work on the path from the first high - position point to the first low - position point;

[0007] Control the self - moving device to move back from the first low - position point to the first high - position point along the original path;

[0008] Obtain the second high - 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 high - position point to the second low - position point in the slope area, and control the self - moving device to move back from the second low - position point to the second high - position point along the original path until the snow - sweeping work on all moving paths in the entire slope area is completed.

[0009] Optionally, the control of the self - moving device to move back from the first low - position point to the first high - position point along the original path includes:

[0010] Control the self - moving device to reverse at the first low - position point to move the self - moving device to the reverse point;

[0011] Control the self - moving device to turn away from the target snow - throwing position point at the reverse point to move the self - moving device to the forward point towards the snow - swept area; the target snow - throwing position point refers to the snow - throwing point located at the edge of the slope area;

[0012] After controlling the snow - plowing head in the self - moving device to rise to a height at a preset distance threshold from the ground, control the working motor in the self - moving device to turn off, and control the self - moving device to move forward from the forward point to the first high - position point.

[0013] Optionally, before the self - moving device is at the first high - position point of the slope area, it further includes:

[0014] Obtain the terrain potential energy straight line corresponding to the slope area and the area of the slope area;

[0015] Take the terrain potential energy straight line as the Y - axis for the self - moving device to move in the slope area, and construct a working map corresponding to the self - moving device 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.

[0016] Optionally, taking the terrain potential energy straight line as the Y - axis for the self - moving device to move in the slope area includes:

[0017] When it is determined that the terrain potential energy straight line is a potential energy line horizontally to the right relative to the slope area, rotate the terrain potential energy straight line in a vertical form and take the rotated terrain potential energy straight line as the Y - axis for the self - moving device to move in the slope area.

[0018] Optionally, controlling the self - moving device to move from the first low - position point back to the first high - position point along the original path includes:

[0019] Control the self - moving device to reverse back along the original path from the first low - position point to the first high - position point.

[0020] Optionally, controlling the self - moving device to move from the first low - position point back to the first high - position point along the original path includes:

[0021] When the self - moving device moves along the moving path between the first high - position point and the first low - position point, obtain the current point and the target point located in the moving path;

[0022] Calculate the first direction vector between the current point and the target point;

[0023] Determine whether the self - moving device has deviated based on the comparison result between the first direction vector and the first preset direction vector;

[0024] After determining that the self - moving device has not deviated based on the comparison result between the direction vector and the preset direction vector, control the self - moving device to move back to the first high - position point along the original path from the first low - position point.

[0025] Optionally, after determining whether the self - moving device has deviated based on the comparison result between the first direction vector and the first preset direction vector, it further includes:

[0026] When it is determined that the self - moving device has deviated based on the comparison result between the direction vector and the preset direction vector, obtain the next target point;

[0027] Calculate the second direction vector between the current point and the next target point;

[0028] Determine whether the self - moving device has reversed based on the comparison result between the second direction vector and the second preset direction vector;

[0029] When it is determined that the self - moving device has not reversed based on the comparison result between the second direction vector and the second preset direction vector, control the self - moving device to move back to the first high - position point along the original path from the first low - position point.

[0030] Optionally, after determining whether the self - moving device has reversed based on the comparison result between the second direction vector and the second preset direction vector, it further includes:

[0031] When it is determined that the self - moving device has reversed based on the comparison result between the second direction vector and the second preset direction vector, control the self - moving device to move in the moving path in a reverse - moving manner;

[0032] After the self - moving device moves to the first high - position point, determine whether the self - moving device needs to reverse based on the head orientation of the self - moving device and the second high - position point;

[0033] When it is determined that the self - moving device needs to reverse based on the head orientation of the self - moving device and the second high - position point, control the self - moving device to reverse and then move to the second high - position point.

[0034] To achieve the above object, a self - moving device is further 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 above - mentioned slope snow - sweeping method applied to the self - moving device.

[0035] To achieve the above object, a computer-readable storage medium is further provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-described slope snow sweeping method applied to a self-moving device are implemented.

[0036] The slope snow sweeping method applied to a self-moving device provided by the present invention includes: when the self-moving device is at a first high position point in a 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 sweeping work on the path where the first high position point and the first low position point are located; controlling the self-moving device to move back to the first high position point along the original path from the first low position point; obtaining a 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 a second low position point in the slope area, and controlling the self-moving device to move back to the second high position point along the original path from the second low position point until the snow sweeping work on all moving paths in the entire slope area is completed. In this solution, by controlling the self-moving device to move from a high position point to a low position point first, the snow sweeping work can be completed by means of the potential energy difference of the slope, thereby reducing the difficulty of snow sweeping of the self-moving device in the slope area. In addition, by controlling the self-moving device to move back to the starting point based on the previously cleaned moving path, the phenomenon of the self-moving device slipping can be reduced. Thus, the cleaning effect of the slope area can be further ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0038] Figure 1 is a schematic flowchart of an embodiment of the slope snow sweeping method applied to a self-moving device of the present invention;

[0039] Figure 2 is a schematic block diagram of an embodiment of the self-moving device of the present invention;

[0040] Figure 3 is a schematic diagram of the self-moving device of the present invention;

[0041] Figure 4 is a schematic diagram of the moving path of the self-moving device in the slope area of the present invention;

[0042] Figure 5 is a coordinate schematic diagram of the moving path of the self-moving device in the slope area of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] Next, in combination with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] As Figure 1 , Figure 3 and Figure 4 shown, a slope snow removal method applied to a self - moving device provided in an embodiment of the present invention can be applied to a controller in the self - moving device. Herein, the controller can also be understood as an MCU (Microcontroller Unit) or other devices with the same function. The method includes the following steps:

[0045] S10. When the self - moving device is at the first high - position point in the slope area, control the self - moving device to move from the first high - position point to the first low - position point in the slope area, so as to complete the snow removal work on the path from the first high - position point to the first low - position point.

[0046] Understandably, a snow shoveling module and a snow throwing module are provided on the self - moving device. Among them, a snow shovel bucket is provided on the snow shoveling module, and a snow throwing blade and a snow throwing tube are provided on the snow throwing module. In this way, after the self - moving device moves to the corresponding working area, the snow removal work in the area can be completed through the snow shoveling module and the snow throwing module; the slope area can be the entire working area of the self - moving device or a part of the entire working area of the self - moving device, which is specifically determined according to 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 in the slope area, and the second low - position point is the end point of the current moving path in the slope area. For example, if 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 be that two path points form a moving path of the self - moving device; 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 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 in the snow shoveling module, the snow throwing intensity, etc. according to the snow depth on the path.

[0047] S20. Control the self - moving device to move back from the first low - position point to the first high - position point along the original path.

[0048] Understandably, the self - moving device moving from the first high - position point to the first low - position point is only one of the moving paths of the self - moving device in the slope area. Thus, the self - moving device needs to return to the first high - position point to complete the snow - clearing work of other moving paths. Further, the self - moving device moves back and forth in the slope area according to the following moving sequence: the first high - position point A - the first low - position point B - the first high - position point A. After identifying two identical high - position points, it can be determined that the self - moving device has returned to the original starting point.

[0049] S30. Obtain the second high - 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 high - position point to the second low - position point of the slope area, and control the self - moving device to move back along the original path from the second low - position point to the second high - position point until the snow - clearing work of all moving paths in the entire slope area is completed.

[0050] Understandably, the second high - position point is the starting point of the next moving path in the slope area (specifically, the second high - position point can be confirmed based on the first high - position point. There is a specified distance between the second high - position point and the first high - position point, and there is a corresponding sequence between the moving paths where the two position points are located, such as the first moving path - the second moving path). The second low - position point is the end point of the next moving path in the slope area. Further, the self - moving device moves back and forth in the slope area according to the following moving sequence: the first high - position point A - the first low - position point B - the first high - position point A - the second high - position point C - the second low - position point D - the second high - position point C. The moving situation of the self - moving device between the second high - position point and the second low - position point is the same as that between the first high - position point and the first low - position point. The self - moving device will move in different moving paths in the same moving manner in the slope area. The specific number of moves is confirmed based on the number of moving paths generated in the slope area, and the number of moving paths is confirmed based on the area of the slope area and the distance between the paths.

[0051] In the embodiment where steps S10 to S30 are located, controlling the self - moving device to move from the high - position point to the low - position point first can complete the snow - clearing work by means of the potential energy difference of the slope, thereby reducing the snow - clearing difficulty 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 previously cleared moving path can reduce the phenomenon of the self - moving device slipping. Thus, the cleaning effect of the slope area can be further ensured.

[0052] Further, controlling the self - moving device to move back from the first low - position point to the first high - position point along the original path includes:

[0053] Controlling the self - moving device to reverse at the first low - position point to move the self - moving device to a reverse point;

[0054] Controlling the self - moving device to turn away from the target snow - throwing position point at the reverse point to move the self - moving device to a forward point facing the snow - swept area; the target snow - throwing position point refers to the snow - throwing point located at the edge of the slope area;

[0055] After controlling the snow - plowing 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 turn off, and controlling the self - moving device to move forward from the forward point to the first high - position point.

[0056] Understandably, the self - moving device reverses in a direction away from the first low - position point and the first high - position point, that is, the self - moving device moves to a position point outside the slope area; the self - moving device can turn in place in a way that rotates towards the completed cleaning area, that is, it can make a 180 - degree U - turn in place away from the target snow - throwing position point. The non - in - place turning method of the self - moving device can be a method that is beneficial to the self - moving device to turn, such as bypassing obstacles inside the arc in the form of an arc (such as a large amount of snow blocking the forward movement inside the arc). After turning, the moving path of the self - moving device towards the completed snow - swept area enables the self - moving device to return along the original path; the forward point and the reverse point can be the same position point (when the self - moving device turns in place), and the forward point and the reverse point can also not be the same position point (when the self - moving device turns non - in - place). The setting of the forward point is to control the self - moving device to adjust to a correct orientation; the snow - plowing head of the self - moving device is located in the snow - plowing module. In this application, the snow - plowing head in the snow - plowing module can be first controlled to rise to the corresponding height (the snow - plowing head is mechanically connected to the electric push rod in the self - moving device, and the change in the push rod value of the electric push rod can change the ground clearance of the snow - plowing head of the self - moving device), and then the working motor in the snow - plowing module of the self - moving device is turned off; the working motor of the self - moving device can refer to the motors corresponding to the snow - plowing module and the snow - throwing module. The motor is in the off state during the uphill process, that is, the corresponding snow - plowing module and snow - throwing module do not perform their corresponding operations;

[0057] In this embodiment, the self-moving device is controlled to reverse at the first low position point and turn away from the target snow-throwing position point. The main purpose is to ensure that there is a certain turning space during the turning process of the self-moving device, avoiding problems such as the body of the self-moving device rubbing against the snow due to too small a space. The snow-plowing head of the self-moving device is controlled to lift. The main purpose is to further remove the snow on the moving path (such as continuous snowfall in the sky or / and the snow on the moving path not being cleaned up) by the snow-plowing head without causing friction between the bottom of the snow-plowing head of the self-moving device and the ground. The working motor of the self-moving device is controlled to turn off. The main purpose is to save the electrical energy resources in the self-moving device (no large-scale snow cleaning work is required during the uphill process).

[0058] Further, before the self-moving device reaches the first high position point in the slope area, it further includes:

[0059] Obtain the terrain potential energy straight line corresponding to the slope area and the area of the slope area;

[0060] Use the terrain potential energy straight line as the Y-axis for the self-moving device to move in the slope area, and construct a working map corresponding to the self-moving device in the area parallel to the Y-axis in the area. In the working map, both the first high position point and the second high position point are located at the highest numerical point of the Y-axis.

[0061] It can be understood that the terrain potential energy straight line can be a line drawn by the user on the map in the corresponding terminal, or a line generated according to the area situation recognized by the self-moving device during the map construction process. Among them, the potential energy levels in the terrain potential energy straight line are distributed according to the height of the position points. For example, the potential energy of the high position point is greater than that of the low position point. The area of the slope area can be determined according to the area corresponding to the actual scenario. Further, during map construction, the area of the slope area can be obtained through the positioning module in the self-moving device, and at the same time, other inclination angles such as the IMU module in the self-moving device can be used to determine the corresponding working area as the slope area (when the self-moving device performs snow cleaning processing through the behavior tree during work execution, it will also detect whether the area where the self-moving device is located is the slope area). The slope area can form a coordinate system, and the self-moving device can move in this coordinate system. Among them, the terrain potential energy straight line is used as the Y-axis of this 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 the moving path of the bow-shaped sweep), the self-moving device is controlled to move from the high potential energy position in the moving path to the low potential energy position in the moving path, the self-moving device is controlled to move back to the high potential energy position of the Y-axis along the original path and then turn, and then move to the high potential energy position of the next Y-axis. The self-moving device is controlled to move along a moving path parallel to the Y-axis until the entire working map is completed by the work of the self-moving device;

[0062] In this embodiment, the working map directly reflects the terrain changes in the slope area. When the self-moving device performs path planning, it can more accurately consider factors such as slope, improving the snow removal ability of the self-moving device in the slope area; taking the terrain potential energy line as the Y-axis, a corresponding working map is generated based on the Y-axis, and 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.

[0063] Further, taking the terrain potential energy line as the Y-axis for the self-moving device to move in the slope area includes:

[0064] When it is determined that the terrain potential energy line is a potential energy line horizontally to the right relative to the slope area, the terrain potential energy line is rotated in a vertical form and the rotated terrain potential energy line is used as the Y-axis for the self-moving device to move in the slope area.

[0065] Understandably, the terrain potential energy line can be a line drawn by the user. More specifically, when it is traversed that the area is a slope area, after rotating the terrain potential energy line to the corresponding vertical direction and rasterizing the map area, the entire working map is generated. Among them, the path planning for slope snow removal is similar to the bow-shaped path planning. After the self-moving device finishes walking a straight line in the slope area, it retreats to the original highest position point, and the next planned point is also the highest position point. A moving path corresponding to the terrain potential energy line can be as Figure 5 Expressed 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 as Figure 5 Expressed 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)];

[0066] In this embodiment, the vertical terrain potential energy line is used as the Y-axis, and a corresponding moving path is generated based on the Y-axis, which simplifies the calculation complexity when the self-moving device performs path planning in the slope area. The self-moving device can more easily plan the optimal path according to the height information; the rotated terrain potential energy line provides an accurate navigation reference for the self-moving device, and the self-moving device can adjust its driving direction according to the working map corresponding to the Y-axis to ensure that it moves along the predetermined moving path.

[0067] Further, controlling the self-moving device to move back to the first high position point from the first low position point along the original path includes:

[0068] Control the self - moving device to retreat from the first low - position point along the original path to the first high - position point.

[0069] Understandably, the self - moving device can move forward from the first low - position point to the first high - position point in the manner mentioned above, and can also retreat from the first low - position point to the first high - position point in the manner mentioned in this embodiment;

[0070] The purpose of using the retreat method in this embodiment is that when the self - moving device returns along the original path, it does not need to use the snow - shoveling module and snow - throwing module in the self - moving device to perform snow - clearing work (it only needs to ensure that the self - moving device can return to the highest position point where it originally started).

[0071] Further, controlling the self - moving device to move from the first low - position point to the first high - position point along the original path includes:

[0072] When the self - moving device moves on the moving path between the first high - position point and the first low - position point, obtain the current point and the target point located on the moving path;

[0073] Calculate the first direction vector between the current point and the target point;

[0074] Determine whether the self - moving device deviates according to the comparison result between the first direction vector and the first preset direction vector;

[0075] After determining that the self - moving device does not deviate according to the comparison result between the direction vector and the preset direction vector, control the self - moving device to move from the first low - position point to the first high - position point along the original path.

[0076] Understandably, the current point can be the position point where the self-mobile device is currently located, which is any position point between the first high position point and the first low position point, including the first high position point and the first low position point; the target point can be the position point referenced by the self-mobile device, which is any position point between the first high position point and the first low position point, including the first high position point and the first low position point; the first direction vector is confirmed by calculating the coordinates of the current point and the target point. Specifically, the corresponding vector can be determined by the coordinate difference between the two coordinate points; the first preset direction vector is a pre-determined correct result, which represents the direction that the self-mobile device should travel under ideal conditions and can be determined based on map information, path planning algorithms, or user input; the comparison result can determine whether the self-mobile device has deviated by matching the vector values of the two. After deviation occurs, the body of the self-mobile device needs to be corrected. Before performing the vector comparison, the two vectors are usually unitized (i.e., the modulus length of the vector 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;

[0077] In this embodiment, the deviation of the self-mobile device during movement is determined in a timely manner by comparing vectors, so that the self-mobile device can take corresponding countermeasures in a timely manner to ensure the working efficiency of the self-mobile device.

[0078] Further, after determining whether the self-mobile device has deviated based on the comparison result between the first direction vector and the first preset direction vector, it further includes:

[0079] When it is determined that the self-mobile device has deviated based on the comparison result between the direction vector and the preset direction vector, obtain the next target point;

[0080] Calculate the second direction vector between the current point and the next target point;

[0081] Determine whether the self-mobile device has reversed based on the comparison result between the second direction vector and the second preset direction vector;

[0082] When it is determined that the self-mobile device has not reversed based on the comparison result between the second direction vector and the second preset direction vector, control the self-mobile device to move back from the first low position point to the first high position point along the original path.

[0083] Understandably, the next target point may refer to a position point different from the target point (which may be a position point on the movement path closer to the self-moving device). When the target point is a position point A on the movement path, the next target point may be a position point B on the movement path. Different target points can accurately determine whether the fuselage of the self-moving device has reversed after deviation. When there is no reversal, the self-moving device can move from the first low position point to the first high position point in the forward movement mode, and at the same time, the height of the snow plow head of the self-moving device and the shutdown of the working motor are consistent with the above-mentioned content;

[0084] In this embodiment, by detecting the deviation in a timely manner and adjusting the traveling direction, it can ensure that the self-moving device always travels along the correct path, thereby improving the accuracy of the path; taking proactive measures to correct the deviation after detecting the deviation avoids potential dangers that the self-moving device may encounter due to continuing to travel along the wrong path. At the same time, it can continue to determine whether the self-moving device has reversed on the basis of excessive deviation, so that the self-moving device can make corresponding countermeasures in a timely manner and ensure the working efficiency of the self-moving device.

[0085] It should be noted that the forward movement of the self-moving device from the high position point to the low position point is the forward movement in the slope mode, while the backward movement of the self-moving device from the low position point to the high position point is the reverse movement in the slope mode.

[0086] Furthermore, after determining whether the self-moving device has reversed through the comparison result between the second direction vector and the second preset direction vector, it further includes:

[0087] When it is determined that the self-moving device has reversed through the comparison result between the second direction vector and the second preset direction vector, control the self-moving device to move on the movement path in the backward movement mode;

[0088] After the self-moving device moves to the first high position point, determine whether the self-moving device needs to reverse through the heading of the self-moving device and the second high position point;

[0089] When it is determined that the self-moving device needs to reverse through the heading of the self-moving device and the second high position point, control the self-moving device to reverse and then move to the second high position point.

[0090] Understandably, when the self - moving device reverses, it is equivalent to a change in the orientation of the front of the self - moving device. Thus, after a large - angle reversal, the self - moving device can be controlled to perform a backward movement without adjusting the machine orientation of the self - moving device. After the self - moving device returns to the high - position point, it is necessary to determine whether the front - end orientation meets the specified direction (when moving from the high - position point to the low - position point, the front - end orientation of the self - moving device should 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 reverse based on the alignment relationship between the front - end orientation of the self - moving device and the second high - position point.

[0091] In this embodiment, after the reversal occurs, the self - moving device is controlled to move in a backward manner. The self - moving device does not need to continue adjusting the traveling direction. At the same time, after the self - moving device moves to the high - position point, it is continued to determine whether the starting point of the self - moving device on the next moving path needs to reverse, so that the self - moving device can move and work normally on the next moving path.

[0092] The present invention provides a slope snow - sweeping method applied to a self - moving device, belonging to the technical field of snow - sweeping of self - moving devices. When the self - moving device is at the first high - position point in the slope area, the self - moving device is controlled to move from the first high - position point to the first low - position point in the slope area to complete the snow - sweeping work on the path where the first high - position point and the first low - position point are located; the self - moving device is controlled to move back to the first high - position point along the original path from the first low - position point; the second high - position point of the slope area confirmed based on the first high - position point is obtained, and 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 back to the second high - position point along the original path from the second low - position point until the snow - sweeping work on all moving paths in the entire slope area is completed. This solution controls the self - moving device to first move from the high - position point to the low - position point, and can automatically complete the snow - sweeping work by means of the potential - energy difference of the slope without manual participation in the slope snow - sweeping of the device, thereby reducing the snow - sweeping difficulty 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 previously cleaned moving path can reduce the phenomenon of the self - moving device slipping. Thus, the cleaning effect of the slope area can be further ensured, and the problem of incomplete snow removal in the slope area can be solved.

[0093] It should be understood that the magnitudes of the sequence numbers of the steps in the above - mentioned embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0094] Such as 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. 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, a working motor for work and a traveling motor for walking are provided on the self - moving device. The controller can control the start and stop of the motors corresponding to the snow - rolling module and the snow - throwing module to control the self - moving device to complete the corresponding snow - clearing work.

[0095] The execution function of this controller corresponds one - to - one with the slope snow - clearing method applied to the self - moving device in the above - mentioned embodiment. For the specific limitations of the controller, reference can be made to the limitations of the slope snow - clearing method applied to the self - moving device in the foregoing text, which will not be elaborated here. The processes executed by each sub - module in the above - mentioned controller can be referred to the limitations of the slope snow - clearing method applied to the self - moving device in the foregoing text, which will not be elaborated here. It can be implemented in whole or in part through software, hardware, and their combination. Each sub - module can be embedded in the controller in hardware form or independent of the controller, or stored in the memory of the controller in software form, so as to facilitate the controller to call and execute the operations corresponding to the above - mentioned each sub - module.

[0096] In one embodiment, the present invention also provides one or more readable storage media storing computer - readable instructions. The readable storage media provided in this embodiment include non - volatile readable storage media and volatile readable storage media; computer - readable instructions are stored on the readable storage media. When the computer - readable instructions are executed by one or more processors, the one or more processors are caused to implement the steps of the slope snow - clearing method applied to the self - moving device in the above - mentioned embodiment.

[0097] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through computer-readable instructions. 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 can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can 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 (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0098] Those skilled in the art can clearly understand that in practical applications, the above functions can be allocated to different functional units or modules as needed, that is, the internal structure of the self-mobile device can be divided into different functional units or modules to complete all or part of the functions described above.

[0099] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or equivalently replace some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various 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; Acquire a second high 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 high position point to the second low position point of the slope area, and control the self-moving device to move from the second low position point to the second high position point along the original path until the snow clearing work of all moving paths in the entire slope area is completed; 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 shovel head in the self-moving device to be raised 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; 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.

2. The slope snow clearing method applied to a self-moving device as claimed in claim 1, 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.

3. 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.

4. The slope snow clearing method applied to a self-moving device as claimed in claim 3, 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.

5. The slope snow clearing method applied to a self-moving device as claimed in claim 4, 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.

6. The slope snow clearing method applied to a self-moving device as claimed in claim 5, 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 through the front direction of the self-moving device and the second high position point that the self-moving device needs to be reversed, the self-moving device is controlled to move to the second high position point after being reversed.

7. 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 6.

8. 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 6 are implemented.

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