Path planning method of self-moving equipment and self-moving equipment

Abstract

The invention provides a path planning method of self-moving equipment and the self-moving equipment, and belongs to the technical field of intelligent control. The path planning method comprises the steps that the self-moving equipment moves along a concentric-square-shaped path or a spiral path from outside to inside or from inside to outside in a first working area; responding to the path switching trigger event, and switching the path; the path switching trigger event comprises the following steps: the self-moving equipment moves to a forbidden zone boundary; the path switching comprises the following steps: searching a reachable path switching point of the self-moving device, the path switching point being located on a new path, and controlling the self-moving device to move from the current position to the reachable path switching point so as to continue to move along the new path; the path switching point is at least one of the following types: an intersection point of a new path and a forbidden zone boundary, an angular point of the new path and a specific point on the new path. According to the scheme of the invention, the reachable path switching point is searched to ensure that the forbidden zone can be avoided, and the path switching event is responded in time, so that unnecessary pause and waiting are reduced.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology, and particularly to a path planning method for a self - moving device and a self - moving device. Background Art

[0002] Self - moving devices can move autonomously within a working area and perform operation tasks. Self - moving devices can complete path planning autonomously and intelligently enough to complete the operation of the entire area with a relatively low repetition rate. This path planning method is called full - area coverage path planning.

[0003] Currently, full - area coverage path planning is usually the bow - shaped path planning method. Figure 1 The bow - shaped path planning method in the prior art is shown. Figure 1 The arrows in indicate the moving direction of the self - moving device, and the self - moving device walks in the order of areas ① to ④ in sequence. As Figure 1 shown, the logic of the self - moving device when encountering a restricted area is to turn around and continue to execute the bow - shaped path. When a bow - shaped path planning can no longer continue, the self - moving device then performs supplementary operations on area ④ that was missed due to avoiding the restricted area. Figure 1 However, when the self - moving device is an automatic lawn mower, the bow - shaped path has a large number of turns. During turning, it is easy to grind the grass, with low efficiency. Moreover, due to the limitation of the installation position of the cutter head, this turning - around path is also prone to leaving uncut grass near the boundary area and the restricted area.

[0004] Summary of the Invention

[0005] In view of this, embodiments of this application are committed to providing a path planning method for a self - moving device and a self - moving device, which are used to solve the technical problems existing in bow - shaped cutting in the prior art.

[0006] In a first aspect, the present invention provides a path planning method for a self - moving device, including:

[0007] The self - moving device moves along a double - loop path or a spiral path from the outside to the inside or from the inside to the outside within a first working area;

[0008] In response to a path - switching trigger event, switch the path; the path - switching trigger event includes: the self - moving device moves to the boundary of a restricted area;

[0009] The path - switching includes: searching for a reachable path - switching point of the self - moving device, where the path - switching point is located on the new path, and controlling the self - moving device to move from the current position to the reachable path - switching point to continue moving along the new path; the path - switching point is at least one of the following types: the intersection point of the new path and the boundary of the restricted area, the corner point of the new path, and a specific point on the new path.​

[0010] Optionally, the restricted area boundary includes at least one of a virtual boundary of an obstacle, a virtual boundary of a thick grass area, and a virtual boundary of a shadow area.

[0011] Optionally, searching for a path switching point reachable by the self - moving device includes: searching for the path switching point reachable that is closest to the current position of the self - moving device.

[0012] Optionally, if the reachable path switching point searched is the intersection of the new path and the restricted area boundary, controlling the self - moving device to move from the current position to the reachable path switching point includes: controlling the self - moving device to move along the restricted area boundary to the reachable path switching point.

[0013] Optionally, if the reachable path switching point searched is the intersection of the new path and the restricted area boundary, controlling the self - moving device to move from the current position to the reachable path switching point includes: controlling the self - moving device to turn towards the direction without a restricted area, avoid the restricted area, and then move to the reachable path switching point.

[0014] Optionally, the switched path includes: searching whether there is an unreached traversal area reachable by the self - moving device near the self - moving device. If there is such an unreached traversal area, searching for a path switching point reachable by the self - moving device, where the path switching point is located in the unreached traversal area, and controlling the self - moving device to move from the current position to the path switching point to traverse the unreached traversal area.

[0015] Optionally, traversing the unreached traversal area includes: controlling the self - moving device to move along a regular bow - shaped path in the unreached traversal area. The bow - shaped path includes a first path and a second path, where the first path is substantially parallel to a certain section of the regular square - shaped path or the regular spiral path.

[0016] Optionally, the first path substantially coincides with the extension line of a certain section of the square - shaped path or the spiral path that the self - moving device has traversed.

[0017] Optionally, after the self - moving device traverses the unreached traversal area, search for a path switching point reachable by the self - moving device to continue moving.

[0018] Optionally, before controlling the self - moving device to move from the current position to the reachable path switching point, control the self - moving device to move clockwise or counter - clockwise along the restricted area boundary for one circle and return to the current position.

[0019] Optionally, the self - moving device further includes a second working area adjacent to the first working area; the self - moving device moves along a zigzag path within the second working area.

[0020] Optionally, based on user input, the first working area or the second working area of the self - moving device is determined.

[0021] In a second aspect, the present invention provides a self - moving device, which includes:

[0022] A housing;

[0023] A walking module installed in the housing, which drives the self - moving device to walk and turn;

[0024] A control module electrically connected to the walking module;

[0025] The control module controls the walking module to drive the self - moving device to move along a back - character path or a spiral path from the outside to the inside or from the inside to the outside within the first working area;

[0026] The control module responds to a path - switching trigger event to switch the path; the path - switching trigger event includes that the self - moving device moves to the boundary of the restricted area;

[0027] The path switching includes: searching for a reachable path - switching point that is located on the new path, and controlling the self - moving device to move from the current position to the reachable path - switching point to continue moving along the new path; the path - switching point is at least one of the following types: the intersection of the new path and the boundary of the restricted area, the corner point of the new path, and a specific point on the new path.

[0028] The solution of the present invention ensures that the restricted area can be avoided by searching for reachable path - switching points, and reduces unnecessary pauses and waits by promptly responding to path - switching events. According to the current position of the device, the path - switching point can be the intersection of the new path and the boundary of the restricted area, the corner point of the new path, or a specific point on the new path. This diverse selection of path - switching points can optimize the path switching of the device.

[0029] Furthermore, by finding the nearest reachable path - switching point, the self - moving device can switch to the new path as soon as possible, thereby saving time and resources, enabling it to continue the task faster. And selecting the nearest switching point can minimize the distance that the self - moving device needs to move, reduce unnecessary moving costs, and lower energy consumption. At the same time, quickly switching to the new path helps to maintain the continuity of the task, without interrupting the work process due to path switching, and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Shows the bow-shaped path planning method in the prior art;

[0031] Figure 2 Shows the path of the self-mobile device when walking in a square or spiral path and encountering a restricted area according to the bow-shaped path planning logic;

[0032] Figure 3 Shows a schematic structural diagram of an automatic lawn mower according to an embodiment of the present invention;

[0033] Figure 4 Shows a schematic flowchart of a path planning method for a self-mobile device according to an embodiment of the present invention;

[0034] Figure 5 Shows a schematic structural diagram of a square path according to an embodiment of the present invention;

[0035] Figure 6 Shows a schematic diagram of the movement path of the self-mobile device when the reachable path switching point searched according to an embodiment of the present invention is the intersection of the new path and the boundary of the restricted area;

[0036] Figure 7 Shows another schematic diagram of the movement path of the self-mobile device when the reachable path switching point searched according to an embodiment of the present invention is the intersection of the new path and the boundary of the restricted area;

[0037] Figure 8 Shows a schematic diagram of the path planning of the self-mobile device when there is a reachable area that has not been traversed near the self-mobile device according to an embodiment of the present invention;

[0038] Figure 9 Shows a schematic diagram of a path planning method when the self-mobile device moves along a spiral path according to an embodiment of the present invention;

[0039] Figure 10 Shows a schematic diagram of a path planning method for the self-mobile device in the second working area according to an embodiment of the present invention;

[0040] Figure 11 Shows a schematic diagram of a path planning method for the self-mobile device in the second working area according to another embodiment of the present invention;

[0041] Figure 12 Shows a schematic diagram of a path planning method for the self-mobile device in a specific scenario according to an embodiment of the present invention;

[0042] Figure 13 Shows a schematic diagram of a path planning method for the self-mobile device in a specific scenario according to another embodiment of the present invention;

[0043] Figure 14 Shows a schematic structural diagram of an electronic device according to an embodiment of the present invention;

[0044] In the figure: 1-automatic lawn mower, 11-housing, 12-moving module, 13-task execution module, 2-memory, 3-communication bus, 4-control module. Specific implementation method

[0045] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It can be understood that the specific embodiments described here are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, the accompanying drawings only show some structures related to the present application, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0046] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0047] In addition, in order to better illustrate the present invention, many specific details are given in the following specific embodiments. Those skilled in the art should understand that the present invention can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present disclosure.

[0048] It should be understood that the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article indicates that the associated objects before and after are in an "or" relationship.

[0049] The "multiple" in the embodiments of the present invention refers to two or more. The first, second, etc. descriptions in the embodiments of the present invention are only used for illustration and distinction of the described objects. There is no order, nor does it represent a special limitation on the number in the embodiments of the present invention, and cannot constitute any limitation on the embodiments of the present invention.

[0050] Figure 2 shows the path of the mobile device when walking in a U-shaped or spiral path according to the logic of the bow-shaped path planning when encountering a restricted area and turning around, where the dotted line represents the missed area. As Figure 2As shown, when moving along a zigzag or spiral path, if the above path planning logic is continued, it will result in large areas of missed regions, and if the bow-shaped path planning logic is used to supplement the operation in the missed regions, the efficiency is low.

[0051] The self-moving device can be any electronic device or intelligent device that can move automatically, such as an automatic lawn mower, a floor cleaning robot, etc. For the convenience of understanding the technical solution of the present application, the following will take an automatic lawn mower as an example for illustration.

[0052] Figure 3 Fig. shows a schematic structural diagram of an automatic lawn mower according to an embodiment of the present invention. As Figure 3 shown, the automatic lawn mower 1 includes a housing 11, a moving module 12, a task execution module 13, an energy module, a control unit, etc. The working location of the automatic lawn mower 1 is a lawn. Among them, the moving module 12 includes a crawler or a wheel set, which is driven by a driving motor to drive the automatic lawn mower 1 to move. The task execution module 13 includes a cutting assembly, which is installed at the bottom of the housing 11 and is driven by a cutting motor to rotate to perform the lawn mowing work. The energy module includes a battery pack (not shown in the figure), which provides electrical energy for the movement and work of the automatic lawn mower 1. The control unit is electrically connected to the moving module 12, the task execution module 13 and the energy module, controls the moving module to drive the automatic lawn mower 1 to move, and controls the task execution module to execute the work task.

[0053] The control unit receives various signals sent to the automatic lawn mower 1, generates corresponding control signals, and controls the moving module 12 or the task execution module 13 according to the generated control signals, so that the automatic lawn mower 1 performs lawn mowing operations along the planned route, and the automatic lawn mower can move according to the path planning method described below.

[0054] Figure 4 Fig. shows a schematic flowchart of a path planning method for a self-moving device according to an embodiment of the present invention. As Figure 4 shown, the path planning method includes:

[0055] Step S100, the self-moving device moves along a zigzag path or a spiral path from the outside to the inside or from the inside to the outside in the first working area;

[0056] Step S200, in response to a path switching trigger event, switch the path; the path switching trigger event includes the self-moving device moving to the boundary of the restricted area. Switching the path includes: searching for a reachable path switching point of the self-moving device, the path switching point is located on the new path, and controlling the self-moving device to move from the current position to the reachable path switching point to continue moving along the new path; the path switching point includes at least one of the following types: the intersection of the new path and the boundary of the restricted area, the corner point of the new path, and the specific point on the new path.

[0057] The solution of the present invention ensures avoiding the restricted area by searching reachable path switching points, and reduces unnecessary pauses and waits by promptly responding to path switching events. According to the current position of the device, the path switching point can be the intersection of the new path and the boundary of the restricted area, the corner point of the new path, or a specific point on the new path. This diverse selection of path switching points can optimize the path switching of the device.

[0058] In step S100, the self - moving device needs to define the parameters of the figure - eight path or spiral path, such as the starting point, ending point, path width, path length, etc. The following takes the figure - eight path as an example to illustrate a schematic of a parameter setting method. Figure 5 A schematic structural diagram of a figure - eight path according to an embodiment of the present invention is shown. As Figure 5 shown, the figure - eight path can be regarded as composed of multiple rectangles with gradually increasing sizes from the inside out. Assume that the length of the largest rectangle is H, the width is W, the single - cut width is d, and the cutting overlap degree of adjacent cutting paths is r. Then the width a of the smallest rectangle in the figure - eight path is d - r, the length b of the smallest rectangle is H - W + a, and the number of rectangles N is (W / a + 1) / 2. When moving along the figure - eight path or spiral path, the path directions of two adjacent rectangles can be the same or different.

[0059] In this step S200, during the process of the self - moving device executing the moving task, it needs to continuously detect whether a path switching event is triggered. This event is usually that the self - moving device approaches or moves to the boundary of the restricted area. The boundary of the restricted area can be determined according to a pre - established restricted area map or a restricted area map temporarily established during work. The boundary of the restricted area at least includes one of the virtual boundaries of obstacles, virtual boundaries of thick grass areas, and virtual boundaries of shadow areas in the pre - established restricted area map on the map or the map temporarily established during work. The boundary of the restricted area can also include a restricted area that will not be traversed by the current work with specific working parameters.

[0060] In the embodiment of this specification, the restricted area map can be pre - established by a mapping device. The mapping device can be, for example, a mapping device dedicated to constructing maps, or the self - moving device itself with a positioning module.

[0061] The mapping device has a positioning module, which may include a satellite positioning module. The satellite positioning module can include signals sent by a combined Global Navigation Satellite System (GNSS), and can also include signals sent by independent navigation satellite systems, such as GPS in the United States, Glonass in Russia, Galileo in Europe, and the Beidou satellite navigation system in China. It can also include relevant augmentation systems, such as WAAS (Wide Area Augmentation System) in the United States, EGNOS (European Geostationary Navigation Overlay Service) in Europe, and MSAS (Multi-functional Transport Satellite Augmentation System) in Japan, etc. It can also include signals sent by other satellite navigation systems under construction or to be constructed in the future.

[0062] The positioning module can also include one or more of the following modules: RTK (Real Time Kinematic), odo (Odometer), IMU (Inertial Measurement Unit), and vision system. The satellite positioning module can be fused with one or more of the above modules to accurately and quickly achieve positioning and obtain position information.

[0063] During the process of constructing a restricted area map, the user can move the mapping device by pushing it, or control the movement of the mapping device by remote control, or in any other way. When constructing a restricted area map, the mapping device moves around the boundary of the restricted area once, and the positioning module of the mapping device records the boundary positions of the restricted area, so as to establish a restricted area map based on the boundary positions of the restricted area.

[0064] In the embodiments of this specification, the pre-established restricted area map can also be the boundary of the restricted area set by the user on the map through a terminal.

[0065] Once a path switching trigger event is detected, the self-moving device needs to search for a path switching point on the new path that it can reach. The new path refers to a backtracking path or a spiral path in an area that has not been traversed under the current traversal work, including areas that have not been traversed during the normal driving of the self-moving device and areas that have been missed due to obstacle avoidance. The corner points of the new path refer to the turning points on the new path. Specific points on the new path can be, for example, the foot of the perpendicular from the current position of the self-moving device to the new path, and the foot of the perpendicular is the specific point. Specific points can also be some specific points set in advance on the backtracking path or spiral path, such as the 1 / 2 midpoint, 1 / 3 point, etc.

[0066] In a specific example, searching for reachable path switching points accessible to the self-mobile device includes: searching for the reachable path switching point closest to the current position of the self-mobile device. By finding the closest reachable path switching point, the self-mobile device can switch to a new path as soon as possible, thus saving time and resources and enabling it to continue the task faster. Also, selecting the closest switching point can minimize the distance the self-mobile device needs to move, reducing unnecessary movement costs and energy consumption. At the same time, quickly switching to a new path helps maintain the continuity of the task, without interrupting the workflow due to path switching, and improves work efficiency.

[0067] Figure 6 Fig. shows a schematic diagram of the movement path for controlling the self-mobile device to move to a reachable path switching point. In Figure 6 the example shown, the reachable path switching point searched for is the intersection of the new path and the boundary of the restricted area. Of course, it can also be a specific point or a corner point. Controlling the self-mobile device to move from the current position to the reachable path switching point includes: controlling the self-mobile device to move along the boundary of the restricted area to the reachable path switching point.

[0068] Controlling the self-mobile device to move along the boundary of the restricted area can, when the self-mobile device is an automatic lawn mower, make it cut the grass near the restricted area while avoiding obstacles. In addition, it can ensure that it stays on a known safe path, reducing the possibility of colliding with the restricted area. Also, there is no need to calculate a complex new path. Just control the device to move along the boundary of the restricted area, which simplifies the implementation of path planning and navigation algorithms. At the same time, moving along the boundary of the restricted area makes the movement of the device more controllable, the operation more stable, and it can be more easily adjusted and intervened to handle different situations.

[0069] Figure 7 Fig. shows a schematic diagram of the movement path for controlling the self-mobile device to move to a reachable path switching point. In Figure 7 the illustrated embodiment, the reachable path switching point searched for is a specific point on the new path. Of course, it can also be an intersection or a corner point. Controlling the self-mobile device to move from the current position to the reachable path switching point includes: controlling the self-mobile device to turn towards the direction without a restricted area, avoiding the restricted area, and then moving to the reachable path switching point. Specifically, the self-mobile device can rotate a preset angle and move a preset distance along the direction away from the restricted area, and then try to rotate a certain angle and move a certain distance along the direction close to the restricted area. During this process, it is judged whether it can bypass the restricted area and reach the new path. If it still cannot bypass the restricted area, then again try to rotate a preset angle and move a preset distance along the direction away from the restricted area, and then try to rotate a certain angle and move a certain distance along the direction close to the restricted area. At this time, the predetermined point is the starting point where the self-mobile device enters the new path after bypassing the obstacle.

[0070] In some embodiments, in step S200, the switching path further includes: searching whether there is an accessible un-traversed area near the self-mobile device; if there is an accessible un-traversed area, searching for a path switching point accessible from the self-mobile device, where the path switching point is located in the un-traversed area, and controlling the self-mobile device to move from the current position to the path switching point to traverse the un-traversed area. The un-traversed area is an area that should have been traversed by the self-mobile device according to the normal logic planned zigzag path or spiral path, but due to certain reasons such as the self-mobile device avoiding restricted areas, detouring to avoid temporary obstacles, skidding, etc., this area has not been traversed by the self-mobile device. Among them, the un-traversed area is confirmed by marking the area traversed by the self-mobile device in real time on the map. When constructing the map, the mapping device moves around the boundary of the working area once, and the positioning module records the position of the working area boundary, so as to establish a map according to the position information of the working area boundary. The self-mobile device will record the position information of the traversed area during the movement, and thus can mark the area traversed by the self-mobile device in real time on the map.

[0071] Among them, traversing the un-traversed area includes: controlling the self-mobile device to move along a regular bow-shaped path in the un-traversed area, and the bow-shaped path includes a first path and a second path, where the first path is substantially parallel to a certain section of the regular zigzag path or regular spiral path. In some embodiments, the first path substantially coincides with the extension line of a certain section of the zigzag path or spiral path that the self-mobile device has traversed. The first path can be, for example, the long side of the bow-shaped path, and the second path can be, for example, the short side of the bow-shaped path. In some embodiments, after the self-mobile device traverses the un-traversed area, it searches for a path switching point accessible from the self-mobile device to continue moving.

[0072] Figure 8 Shows a schematic diagram of the path planning of the self-mobile device when there is an accessible un-traversed area near the self-mobile device according to some embodiments of the present invention. In Figure 8 In the illustrated embodiment, the directions of adjacent paths are opposite. Of course, adjacent paths can also be in the same direction. Specifically, when the self-mobile device moves along a zigzag path or spiral path from the inside out, the self-mobile device searches for the un-traversed area inward. When there is an un-traversed area, it moves inward along the intersection points of the restricted area boundary and the path and the un-traversed path. When there is no un-traversed area, it moves to the nearest starting point on the outward path ( Figure 8 the black dots in, that is, the four intersection points of the rectangle, and the intersection points of the path and the restricted area boundary) to continue moving. When the self-mobile device moves along a zigzag path or spiral path from the outside in, the self-mobile device searches for the un-traversed area outward. When there is an un-traversed area, it moves outward along the intersection points of the restricted area boundary and the path and the un-traversed path. When there is no un-traversed area, it moves to the nearest starting point on the inward path ( Figure 8Continue to move forward at the black dots in the middle (i.e., the four intersection points of the rectangle) and the intersection points of the path and the boundary of the restricted area).

[0073] In another specific example, the directions of adjacent paths can also be kept consistent. At this time, when encountering a restricted area, if traversing the missed traversal area inward from the self - moving device, change the direction of the original path to be traversed to move forward; if traversing the missed traversal area outward from the self - moving device, just continue to walk along the originally planned path direction.

[0074] Figure 9 Shows a schematic diagram of a path planning method when a self - moving device moves along a spiral path according to an embodiment of the present invention. As Figure 9 shown, the self - moving device moves along a spiral path from the outside to the inside. When encountering the boundary of the restricted area, search for a path switching point reachable by the self - moving device, and control the self - moving device to move from the current position to the reachable path switching point to continue moving along a new path. In Figure 9 the shown embodiment, if no restricted area is encountered, then when the self - moving device moves along a spiral path from the outside to the inside, the directions of two adjacent paths are the same. However, after encountering a restricted area, the self - moving device needs to change the direction of the original path to avoid the restricted area and continue to move forward. Refer to Figure 9 , the restricted area is on the first path. After the self - moving device encounters the left side of the restricted area, it turns right to the second path and moves in the opposite direction to the first path until it moves to the right side of the restricted area, then turns left to the second path and moves in the opposite direction to the first path. Among them, the first path refers to the outermost path of the spiral path, and the second path refers to the path adjacent to the outermost path. In the above example, by searching and traversing the missed traversal area, it is ensured that all parts of the task are completed by the self - moving device, avoiding omission of important areas in the task and ensuring the integrity and accuracy of the task. By applying a regular bow - shaped path on the missed traversal area, the time and cost of traversing these areas can be minimized, improving the efficiency of path planning.

[0075] In a specific example, before controlling the self - moving device to move from the current position to the reachable path switching point, control the self - moving device to move clockwise or counter - clockwise along the boundary of the restricted area for one circle and return to the current position. When the self - moving device is an automatic lawn mower, this step can cut the grass around the restricted area clean and reduce missed grass.

[0076] Figure 10 Shows a schematic diagram of a path planning method of a self - moving device in a working area according to an embodiment of the present invention. As Figure 10As shown, the working area of the self - moving device includes at least one first working area and at least one second working area. The first working area is a relatively regular area that facilitates the self - moving device to traverse in a figure - eight path or a spiral path. The second working area can be, for example, a fragmented and irregular area. The first working area and the second area are adjacent. The self - moving device moves along a bow - shaped path within the second working area. In Figure 10 In the example shown, the first working area is a regular area, and the second working area is the area above, below, left, and right of the first working area. The traveling directions of the self - moving device within the second working area are the same, that is, they all travel along the left - right direction. However, for some relatively narrow second working areas, in order to reduce the number of turns of the self - moving device to improve efficiency and the passability of the self - moving device, the long - side direction of the bow - shaped path is generally parallel to the long - side direction of the second working area, as Figure 11 shown.

[0077] In some embodiments, the present invention also provides a path - planning method. This path - planning method determines the first working area and the second working area of the self - moving device based on user input. Thus, the user can determine the path adopted by the self - moving device and the applicable area according to the actual scenario. In Figure 12 In the embodiment shown in Figure 13 , the user divides the first working area and the second working area, and selects to adopt a figure - eight path planning in the first working area and a bow - shaped path planning in the second working area. In

[0078] The present invention also provides a self - moving device. The self - moving device includes a housing, a traveling module, and a control module. The traveling module is installed in the housing, and the traveling module drives the self - moving device to travel and turn. The control module is electrically connected to the traveling module. The control module controls the traveling module to drive the self - moving device to move in the first working area, either from the outside to the inside or from the inside to the outside, along a figure - eight path or a spiral path. The control module responds to a path - switching trigger event and switches the path; the path - switching trigger event includes that the self - moving device moves to the boundary of the restricted area. The path - switching includes: searching for a reachable path - switching point of the self - moving device. The path - switching point is located on the new path, and controlling the self - moving device to move from the current position to the reachable path - switching point to continue moving along the new path; the path - switching point is at least one of the following types: the intersection of the new path and the boundary of the restricted area, the corner point of the new path, and the specific point on the new path.

[0079] The embodiments of the present application provide an electronic device, as Figure 14 shown. The electronic device includes a communication interface, a memory 2, a communication bus 3, and a control module 4. The control module 4, the communication interface, and the memory 2 complete communication with each other through the communication bus 3.

[0080] The memory is used to store computer programs. The control module is used to implement the steps of the path planning method of the aforementioned self-moving device when executing the programs stored on the memory.

[0081] The control module can be a central control module (Central Processing Unit, CPU). The control module can also be other general control modules, digital signal control modules (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other chips, or a combination of the above types of chips.

[0082] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the mobile trajectory adjustment method in the embodiments of the present invention. The control module executes various functional applications and data processing of the control module, that is, the mobile trajectory adjustment method, by running the non-transitory software programs, instructions, and modules stored in the memory.

[0083] The memory may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created by the control module and the like. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely set relative to the control module, and these remote memories can be connected to the control module through a network. Examples of the above networks include but are not limited to the Internet, enterprise intranets, local area networks, mobile communication networks, and combinations thereof.

[0084] Those skilled in the art can understand that to implement all or part of the processes in the above method embodiments, it can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memories.

[0085] The above are only some specific embodiments of the present application. Any improvements made on the premise of the present application's concept are regarded as the protection scope of the present application.

Claims

1. A path planning method for a self-moving device, characterized in that: include: The self-moving device moves in the first working area from outside to inside or from inside to outside along a circular path or a spiral path; Responding to a path switching trigger event, switching the path; The path switching triggering event includes: the mobile device moves to the boundary of the restricted area; The switching path includes: searching for a path switching point reachable by the self-moving device, the path switching point being located on the new path, and controlling the self-moving device to move from a current position to the reachable path switching point to continue moving along the new path; the path switching point includes at least one of the following types: an intersection of the new path and the boundary of the restricted area, a corner point of the new path, and a specific point on the new path.

2. The path planning method for a self-moving device according to claim 1, characterized in that: The restricted area boundary includes at least one of an obstacle virtual boundary, a dense grass area virtual boundary, and a shadow area virtual boundary.

3. The path planning method for a self-moving device according to claim 1, characterized in that: The searching for a path switching point reachable from the mobile device includes: searching for a path switching point reachable closest to a current position of the mobile device.

4. The path planning method for a self-moving device according to claim 1, characterized in that: Controlling the self-moving device to move from the current position to the reachable path switching point includes: controlling the self-moving device to move along the boundary of the restricted area to the reachable path switching point.

5. The path planning method for a self-moving device according to claim 1, characterized in that: Controlling the self-moving device to move from the current position to the reachable path switching point includes: controlling the self-moving device to turn toward a direction without a restricted area, avoiding the restricted area, and then moving to the reachable path switching point.

6. The path planning method for a self-moving device according to any one of claims 1 or 3, characterized in that: The switching path includes: searching whether there is a reachable leaky traversal area near the self-mobile device; if the reachable leaky traversal area exists, searching for a path switching point reachable by the self-mobile device, the path switching point being located in the leaky traversal area; and controlling the self-mobile device to move from a current position to the path switching point to traverse the leaky traversal area.

7. The path planning method for a self-moving device according to claim 6, characterized in that: The traversing of the leaky traversal area includes: controlling the self-moving device to move along a regular bow-shaped path in the leaky traversal area, the bow-shaped path includes a first path and a second path, wherein the first path is roughly parallel to a certain section of the regular circular path or the regular spiral path.

8. The path planning method for a self-moving device according to claim 7, characterized in that: The first path roughly coincides with an extension line of a certain section of a circular path or a spiral path that has been traversed by the mobile device.

9. The path planning method for a self-moving device according to claim 6, characterized in that: After the self-mobile device traverses the missed traversal area, the self-mobile device searches for a path switching point reachable by the self-mobile device to continue moving.

10. The path planning method for a self-moving device according to claim 1, characterized in that: Before controlling the self-moving device to move from the current position to the reachable path switching point, the self-moving device is controlled to move clockwise or counterclockwise from the current position along the restricted area boundary and return to the current position.

11. The path planning method for a self-moving device according to claim 1, characterized in that: The self-moving device further comprises a second working area, which is adjacent to the first working area; the self-moving device moves along a bow-shaped path in the second working area.

12. The path planning method for a self-moving device according to claim 11, characterized in that: Based on the user input, a first working area or a second working area of ​​the self-mobile device is determined.

13. A self-moving device, the self-moving device comprising: case; A walking module, installed on the housing, the walking module drives the self-moving device to walk and turn; The control module is electrically connected to the walking module; characterized in that: The control module controls the walking module to drive the self-moving device to move in the first working area from outside to inside or from inside to outside along a circular path or a spiral path; The control module switches the path in response to a path switching trigger event; the path switching trigger event includes the self-mobile device moving to the boundary of the restricted area; The switching path includes: searching for a path switching point reachable by the self-moving device, the path switching point being located on the new path, controlling the self-moving device to move from a current position to the reachable path switching point to continue moving along the new path; the path switching point is at least one of the following types: an intersection of the new path and the boundary of the restricted area, a corner point of the new path, and a specific point on the new path.

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