Path planning method, self-moving device and storage medium

Abstract

The invention provides a path planning method, self-moving equipment and a storage medium. The method comprises the following steps: acquiring a map of a target area, and determining a first position and a second position in the map; based on the map, planning a first moving path of a self-moving device moving from the first position to the second position; generating an obstacle area in the map according to the position selected on the first moving path, and obtaining an updated map; and based on the updated map, planning a second moving path for the self-moving device to move from the first position to the second position by bypassing the obstacle area. By utilizing the method, the self-moving equipment can be prevented from moving between two fixed positions according to a fixed path for a long time, so that the influence of the movement of the self-moving equipment on working environments such as lawns and the like can be reduced.

Description

Technical Field

[0001] This application relates to the technical field of self - moving devices, and in particular, to a path planning method, a self - moving device, and a storage medium. Background Art

[0002] With the continuous progress of technology and the rapid development of artificial intelligence, using self - moving devices (such as lawn mowers, cleaning machines, cruising machines, etc.) for operations can greatly improve operation efficiency.

[0003] In related technologies, the paths planned by self - moving devices between two fixed positions are often the same, resulting in the formation of fixed driving trajectories by self - moving devices in the operation environment (such as a lawn). Over time, this will damage the operation environment. Summary of the Invention

[0004] In view of the above, it is necessary to provide a path planning method, a self - moving device, and a storage medium, which can solve the technical problem that because the paths planned between two fixed positions are the same, the self - moving device travels along a fixed path, causing damage to the operation environment.

[0005] On the one hand, this application provides a path planning method. The method includes: obtaining a map of a target area, and determining a first position and a second position in the map. Based on the map, planning a first movement path for the self - moving device to move from the first position to the second position, generating an obstacle area in the map according to the positions selected on the first movement path, obtaining an updated map, and based on the updated map, planning a second movement path for the self - moving device to move from the first position around the obstacle area to the second position.

[0006] On the other hand, this application provides a self - moving device. The self - moving device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the self - moving device implements the above - mentioned path planning method. On the other hand, this application provides a computer - readable storage medium. A computer program is stored on the computer - readable storage medium. When the computer program is executed by a processor in a self - moving device, it implements the above - mentioned path planning method, or when it is executed by a processing device in an electronic device, it implements the above - mentioned path planning method.

[0007] In the path planning solution of this embodiment, an obstacle area is generated in the map according to the position selected on the first movement path, which can make the updated map different from the original map. Through the updated map, a second movement path that bypasses the obstacle area and moves from the first position to the second position can be planned, so that the second movement path is different from the first movement path. According to the second movement path, controlling the self-moving device to move from the first position to the second position can avoid the self-moving device moving between two fixed positions along a fixed path for a long time, thereby reducing the impact of the movement of the self-moving device on the operating environment such as the lawn. Description of the Drawings Figure 1 is a flowchart of a path planning method provided by an embodiment of the present application.

[0008] Figure 2 is a schematic diagram of a first movement path provided by an embodiment of the present application.

[0009] Figure 3 is a schematic diagram of a first movement path provided by another embodiment of the present application.

[0010] Figure 4 is a schematic diagram of a second movement path provided by an embodiment of the present application.

[0011] Figure 5 is a schematic diagram of a second movement path provided by another embodiment of the present application.

[0012] Figure 6 is a schematic diagram of a second movement path provided by still another embodiment of the present application.

[0013] Figure 7 is a schematic diagram of a control method of a self-moving device provided by an embodiment of the present application.

[0014] Figure 8 is a schematic diagram of the structure of a self-moving device provided by an embodiment of the present application. Detailed Description of the Embodiment

[0015] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] It should be noted that in this application, "at least one" means one or more, and "a plurality" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims, and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0017] In the embodiments of this application, words such as "exemplary" or "for example" are used to give examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0018] This application provides a path planning method, which can avoid the self-moving device moving between two fixed positions along a fixed path for a long time, thereby reducing the impact of the movement of the self-moving device on the operating environment such as lawns.

[0019] The path planning method provided by the embodiments of this application can be applied to one or more self-moving devices, where the self-moving device can be a lawn mowing robot, a cleaning robot, an ice removal robot, a cruise robot, etc. This application does not limit the specific types of self-moving devices.

[0020] In other embodiments of this application, the path planning method provided by the embodiments of this application can be applied to one or more electronic devices, where the electronic device can be a computer, a tablet, a mobile phone, a server, a cloud server, a personal digital assistant (PDA), a game console, an Internet Protocol Television (IPTV), a smart wearable device, etc. This application does not limit the types of electronic devices.

[0021] To more clearly illustrate the path planning method provided by the embodiments of this application, the path planning method applied to self-moving devices will be exemplified below.

[0022] As Figure 1 shown, it is a flowchart of the path planning method provided by an embodiment of this application. According to different requirements, the order of each step in this flowchart can be adjusted according to actual requirements, and some steps can be omitted. The method is applied to a self-moving device.

[0023] S11. Obtain a map of the target area and determine a first position and a second position in the map.

[0024] In some embodiments of the present application, the area for which a movement path needs to be planned for the self - moving device can be used as the target area. For example, the target area can be a working area of the self - moving device, or an area that the self - moving device passes through when going to or returning from the working area.

[0025] The present application does not limit the specific type of the map. For example, the map of the target area can be a grid cost map that uses grids to represent various objects (such as roads and charging piles, etc.) in the target area. Each grid corresponds to a cost value, and the cost value can represent the distance of the corresponding grid from obstacles, etc. Or, the map of the target area can be a vector map that uses geometric figures such as lines, points, and polygons to represent various objects in the target area. The above examples of map types are only for illustration and are not limited to this in actual applications.

[0026] In some embodiments of the present application, the first position and the second position can be determined according to the endpoints of the movement path to be planned. The self - moving device can determine the first position and the second position through various methods, and the present application does not limit the method for determining the first position and the second position. Exemplarily, the self - moving device can determine the first position and the second position based on information such as coordinates input by the user. Or, the self - moving device can identify the positions pre - marked in the map as the first position and the second position. In addition, it can also respond to operations such as point - selection, tick - selection, and touch in the map by the user to determine the corresponding first position and the second position. The first position and the second position can be a single coordinate or a coordinate range.

[0027] In some embodiments, the target area may include non - passable areas such as obstacles and no - go zones. The self - moving device needs to bypass these non - passable areas when traveling back and forth between the first position and the second position. In other embodiments, the target area may not include non - passable areas such as obstacles or no - go zones.

[0028] S12. Based on the map, plan a first movement path for the self - moving device to move from the first position to the second position.

[0029] In some embodiments of the present application, the self - moving device can plan the first movement path based on the map using a path - planning algorithm. Among them, the path - planning algorithm can be A , Dijkstra and D Lite, etc.

[0030] For ease of understanding, the following will take the no - go zone as an example and combine Figure 2 and Figure 3 for illustration. Figure 2It is a schematic diagram of the first moving path provided by an embodiment of the present application, Figure 2 showing a situation where the target area includes a no-go area. In Figure 2 , the self-mobile device uses a path planning algorithm to plan the optimal path from the first position to bypass the no-go area and move to the second position as the first moving path (refer to the blue curve in Figure 2 ). Among them, multiple paths can be obtained during the planning process, and each path corresponds to a cost value. The optimal path can be the path corresponding to the smallest cost value among the multiple paths. Figure 3 It is a schematic diagram of the first moving path provided by another embodiment of the present application, Figure 3 showing a situation where the target area does not include a no-go area. In Figure 3 , since the straight-line path is the shortest and the cost value is the smallest, the straight-line path is the optimal path. The self-mobile device uses a path planning algorithm to plan the straight-line path between the first position and the second position as the first moving path (refer to the black straight line in Figure 3 ).

[0031] In this embodiment, using the path planning algorithm to plan the optimal path between the first position and the second position as the first moving path can provide a feasible reference benchmark for generating the second moving path below.

[0032] S13. According to the position selected on the first moving path, generate an obstacle area in the map to obtain an updated map.

[0033] In some embodiments of the present application, the selected position can be determined by random selection, or can be determined according to a preset rule (for example, a preset point, the distance between two or more preset positions, etc.), or can also respond to operations such as the user's clicking, ticking, and touching in the map to determine the selected position. The present application does not limit the selection method. The selected position can be a single coordinate or a coordinate range. The obstacle area can have a corresponding shape, such as a rectangle, an ellipse, a triangle, or an irregular shape, etc. The present application does not limit the specific shape of the obstacle area. Below, taking randomly selecting a position on the first moving path as an example, the generation method of the obstacle area will be described.

[0034] Exemplarily, the self-mobile device can generate an obstacle area in the map according to the position randomly selected on the first moving path. Among them, the generated obstacle area surrounds the selected position. For example, the selected position can be used as the central position of the obstacle area. The area of the obstacle area can be less than a first preset value, and the first preset value can be set customarily. The present application does not limit this. For example, the first preset value can be 2 square centimeters.

[0035] Exemplarily, if the map of the target map is a grid cost map, the self-mobile device can generate an obstacle area in the map according to the grid corresponding to the randomly selected position on the first movement path. Among them, the generated obstacle area surrounds the grid corresponding to the selected position. For example, the grid corresponding to the selected position can be used as the central position of the obstacle area. The number of grids in the obstacle area is less than a second preset value, and the second preset value can be set customarily, and this application does not limit this. For example, the second preset value can be 3.

[0036] In other embodiments of the present application, since the first position and the second position are the endpoints of the second movement path, in order to successfully plan the second movement path, it is necessary to set that the obstacle area does not include the first position and the second position.

[0037] Since the self-mobile device needs to travel along a fixed path for a long time, it is easy to cause damage to the working environment. Related technologies will use some algorithms to generate random paths between two fixed positions, such as Rapidly-exploring Random Tree (RRT) or RRT , however, the generated random paths vary greatly, and it is impossible to predict the length of each path, and they do not have the value of use in real scenarios. In this embodiment, an obstacle area is generated based on the position selected on the first movement path. Since the first movement path is the optimal path and has high feasibility, the optimal first movement path is used as a reference benchmark for path planning, so as to ensure the feasibility of the second movement path planned below. In addition, considering that if the obstacle area is too large, it will cause the second movement path planned to be too different from the first movement path, resulting in poor efficiency of the self-mobile device moving between the first position and the second position. Therefore, in this embodiment, by restricting the area size of the obstacle area or restricting the number of grids occupied by the obstacle area, the size of the obstacle area can be controlled, so that the second movement path is close to the optimal path, and the efficiency of the self-mobile device moving between the first position and the second position is improved.

[0038] In other embodiments of the present application, the obstacle area is a virtual area dynamically generated based on the map of the target area, and its virtuality plays an important role in multiple path planning. For example, when the self-mobile device needs to make multiple round trips between the first position and the second position, and thus needs to generate obstacle areas multiple times and perform path planning according to each generated obstacle area, since the obstacle area exists virtually and does not affect the actual physical environment, when performing path planning each time, the self-mobile device can be unrestricted by any previously generated obstacle areas. The size of each generated obstacle area can be fixed or randomly changed within a preset range; the shape of each generated obstacle area can be fixed or randomly changed according to a preset set of shapes.

[0039] S14. Based on the updated map, plan a second movement path for the self - moving device to move from the first position around the obstacle area to the second position. In some embodiments of the present application, the method for planning the second movement path may refer to the description of the method for planning the first movement path above. Combining Figure 4 、 Figure 5 and Figure 6 multiple schematic diagrams of the second movement path shown for illustration. As Figure 5 shown, it is a schematic diagram of the second movement path provided by another embodiment of the present application. As Figure 6 shown, it is a schematic diagram of the second movement path provided by yet another embodiment of the present application. Figure 4 And Figure 5 present the situation where the target area includes a no - go area, Figure 6 present the situation where the target area does not include a no - go area. In Figure 4 , the shape of the obstacle area is rectangular, and the green curve is used to represent the planned second movement path; in Figure 5 , the shape of the obstacle area is oval, and the yellow curve is used to represent the planned second movement path; in Figure 6 , the shape of the obstacle area is triangular, and the purple curve is used to represent the planned second movement path.

[0040] In this embodiment, since the updated map includes the obstacle area, planning the second movement path based on the updated map can make the second movement path different from the first movement path.

[0041] In other embodiments of the present application, the self - moving device may calculate the similarity between the second movement path and the historical movement paths stored in the self - moving device. If the similarity is greater than a preset threshold, it is determined that the second movement path is similar to the historical movement paths, and the obstacle area is adjusted in the updated map. Based on the map with the adjusted obstacle area, plan an updated second movement path.

[0042] Among them, the historical movement paths stored in the self - moving device may be the movement paths that have been executed before. The movement paths that have been executed before refer to the paths that have been used to control the movement of the self - moving device and saved. The self - moving device may store one or more movement paths that have been executed before. Therefore, the historical movement paths may be one or more. If the historical movement paths are multiple, when there is at least one historical movement path similar to the second movement path, the self - moving device may adjust the obstacle area. The preset threshold can be set customarily, and the present application does not limit this. The adjustment of the obstacle area may be to adjust the position and size of the obstacle area, etc. The method for planning the updated second movement path may refer to the description of the method for planning the first movement path above.

[0043] Considering that when the second movement path is similar to the historical movement path, there are many overlapping sections between the second movement path and the historical movement path. If the self-moving device is directly controlled to travel according to the second movement path, it will cause a greater degree of damage to the working environment such as the lawn. Therefore, in this embodiment, when it is determined that the second movement path is similar to the historical movement path, the obstacle area is adjusted, and according to the map after adjusting the obstacle area, an updated second movement path is planned, which can make the updated second movement path different from the historical movement path, ensuring the difference of the updated second movement path, thereby reducing the damage to the working environment such as the lawn.

[0044] In other embodiments of the present application, the processor of the self-moving device may control the self-moving device to move from the first position to the second position according to the second movement path.

[0045] In this embodiment, since the second movement path is different from the first movement path and has feasibility and difference, controlling the self-moving device to move from the first position to the second position according to the second movement path can not only improve the movement efficiency and flexibility, but also effectively avoid the self-moving device moving between two fixed positions along a fixed path for a long time, thereby reducing the impact of the movement of the self-moving device on the working environment such as the lawn.

[0046] In other embodiments of the present application, if the first position is connected to the working area where the current position of the self-moving device is located through a first connection path, the self-moving device may plan a third movement path for the self-moving device to move from the current position to the first connection path according to the map of the working area.

[0047] Among them, the planning method of the third movement path may refer to the description of the planning method of the first movement path above, and the present application will not repeat it.

[0048] In other embodiments of the present application, if the second position is connected to the target position through a second connection path, the processor of the self-moving device may control the self-moving device to move from the current position to the first connection path according to the third movement path, and move along the first connection path to the first position, control the self-moving device to move from the first position to the second position according to the second movement path, and control the self-moving device to move from the second position to the target position according to the second connection path.

[0049] Among them, the target position can be set customarily. For example, the target position can be the position of the charging pile, or the target position can be the position of the unloading point.

[0050] If the target position is the position of the charging pile, as Figure 7 shown, it is a schematic diagram of the control method of the self-moving device provided by an embodiment of the present application. In Figure 7Among them, the current position of the self - moving device is connected to the first position through the first communication path (for reference, see the red straight line in Figure 7 ). The processor of the self - moving device can control the self - moving device to move from the current position to the first communication path and then move along the first communication path to the first position according to the third movement path, control the self - moving device to move from the first position to the second position according to the second movement path, and control the self - moving device to move from the second position to the position of the charging pile according to the second communication path (for reference, see the orange straight line in Figure 7 ).

[0051] In the path planning scheme of this embodiment, an obstacle area is generated in the map according to the position selected on the first movement path, which can make the updated map different from the original map. Through the updated map, a second movement path can be planned to bypass the obstacle area and move from the first position to the second position, so that the second movement path is different from the first movement path. Controlling the self - moving device to move from the first position to the second position according to the second movement path can avoid the self - moving device moving between two fixed positions along a fixed path for a long time, thereby reducing the impact of the movement of the self - moving device on the working environment such as the lawn.

[0052] For example, as shown in Figure 8 , it is a schematic structural diagram of a self - moving device provided by an embodiment of the present application. Figure 8 Among them, the self - moving device 1 includes a body and a memory 11, a processor 12, a power supply 13, a sensor 14, a working mechanism 15, a communication module 16, a positioning module 17, a driving wheel 18 and a bus 19 arranged on the body. The processor 12 is respectively coupled to the memory 11, the power supply 13, the sensor 14, the working mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 through the bus 19.

[0053] The memory 11 may include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). The random access memory can be directly read and written by the processor 12, and can be used to store the operating system or executable programs of other running programs (such as machine instructions), and can also be used to store user and application data, etc. The random access memory can include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0054] The non-volatile memory can also store executable programs and store user and application data, etc., and can be pre-loaded into the random access memory for direct reading and writing by the processor 12. The non-volatile memory can include disk storage devices, flash memory.

[0055] The memory 11 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 12. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the processor 103, a path planning method executed on the self-mobile device 1 can be realized.

[0056] In other embodiments, the self-mobile device 1 further includes an external memory interface for connecting to an external memory to implement the expansion of the storage capacity of the self-mobile device 1.

[0057] The processor 12 may include one or more processing units. For example, the processor 12 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated in one or more processors.

[0058] The processor 12 provides computing and control capabilities. For example, the processor 12 is used to execute the computer program stored in the memory 11 to implement the above path planning method.

[0059] The power supply 13 is used to supply power to the self-mobile device. In an embodiment of the present application, the power supply 13 may include any one or more of power supply devices such as a battery, a fuel generator, a solar power generation module, and a wind power generation module.

[0060] The sensor 14 is used to obtain information for the self-mobile device 1, such as obtaining environmental information and movement information of the self-mobile device 1. In an embodiment of the present application, the sensor 14 may include one or more of sensors such as a lidar, a camera device, an infrared sensor, and an encoder.

[0061] The working mechanism 15 is used to perform corresponding working tasks. For example, mowing, deicing, cruising, cleaning, and spraying pesticides, etc. In some embodiments of the present application, the working mechanism 15 may include mechanisms such as a motor, a transmission mechanism, and a cutter head. When the self-mobile device is a lawn mower, the motor can drive the cutter head to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area.

[0062] The communication module 16 is used to realize the communication between the self-mobile device and other devices. In an embodiment of the present application, the communication module 16 may perform data interaction with other devices based on wired communication and / or wireless communication. The above wireless communication may include one or more combinations of communication methods such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0063] The positioning module 17 is used to determine the position of the self - moving device. In some embodiments of the present application, the positioning module 17 may include one or more of positioning modules of types such as the Global Positioning System (GPS), inertial navigation system, Real - time kinematic (RTK) carrier phase differential system, etc.

[0064] The driving wheels 18 are used to enable the self - moving device to move. In some embodiments of the present application, the driving wheels 18 can implement the moving function of the self - moving device according to the control of the processor 12. In some embodiments of the present application, the driving wheels 18 may include a left driving wheel and a right driving wheel.

[0065] The bus 19 is at least used to provide a communication channel for mutual communication among the memory 11, processor 12, power supply 13, sensor 14, working mechanism 15, communication module 16, positioning module 17, and driving wheels 18 in the self - moving device 1.

[0066] In other embodiments of the present application, the self - moving device 1 may further include an anti - collision part and a steering component, etc. The anti - collision part can be used to prevent the driving wheels 18 from colliding with obstacles in front of the self - moving device. The steering component can be used to adjust the driving direction of the driving wheels 18.

[0067] It can be understood that the structure schematically shown in the embodiments of the present application does not constitute a specific limitation on the self - moving device 1. In other embodiments of the present application, the self - moving device 1 may include more or fewer components than those shown in the figure, or combine certain components, or split certain components, or have different component arrangements. The components shown in the figure can be implemented in hardware, software, or a combination of software and hardware.

[0068] The embodiments of the present application also provide a computer - readable storage medium. A computer program is stored on the computer - readable storage medium, and the computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above - mentioned various embodiments of the present application.

[0069] Among them, the computer - readable storage medium may be the internal memory of the self - moving device or electronic device described in the above - mentioned embodiments, for example, the hard disk or memory of the self - moving device or electronic device. The computer - readable storage medium may also be an external storage device of the self - moving device or electronic device, for example, a plug - in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, FlashCard, etc. equipped on the self - moving device or electronic device.

[0070] In some embodiments, the computer-readable storage medium may include a storage program area and a storage data area. Among them, the storage program area may store an operating system, application programs required for at least one function, etc.; the storage data area may store data created according to the use of the self-mobile device or electronic device, etc.

[0071] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0072] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0073] The above embodiments are only used to illustrate the technical solutions of this application, rather than to limit them; although this application 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 perform equivalent replacements for some of the technical features; and 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 embodiments of this application, and should all be included in the protection scope of this application.

Claims

1. A path planning method, characterized in that: The method comprises: Obtaining a map of a target area, and determining a first position and a second position in the map; Based on the map, planning a first movement path for the mobile device to move from the first location to the second location; generating an obstacle area in the map according to the position selected on the first moving path to obtain an updated map; Based on the updated map, a second movement path is planned for the self-moving device to move from the first position to the second position bypassing the obstacle area.

2. The path planning method according to claim 1, characterized in that: Generating an obstacle area in the map according to the position selected on the first moving path includes: The obstacle zone is generated in the map according to a randomly selected position on the first moving path, wherein the obstacle zone surrounds the selected position and an area of ​​the obstacle zone is smaller than a first preset value.

3. The path planning method according to claim 1, characterized in that: Generating an obstacle area in the map according to the position selected on the first moving path includes: The obstacle zone is generated in the map according to the grids corresponding to the randomly selected positions on the first moving path, wherein the obstacle zone surrounds the grids, and the number of grids in the obstacle zone is less than a second preset value.

4. The path planning method according to claim 1, characterized in that: The obstacle area does not include the first position and the second position.

5. The path planning method according to claim 1, wherein: The method further comprises: Calculating the similarity between the second moving path and the historical moving path stored in the self-mobile device; If the similarity is greater than a preset threshold, determining that the second moving path is similar to the historical moving path, and adjusting the obstacle area in the updated map; Based on the map after adjusting the obstacle area, an updated second moving path is planned.

6. The path planning method according to claim 1 or 5, characterized in that: The method further comprises: According to the second moving path, the self-moving device is controlled to move from the first position to the second position.

7. The path planning method according to claim 1, characterized in that: If the first position is connected to the operating area where the current position of the self-moving device is located through a first communication path, the method further includes: According to the map of the operation area, a third movement path for the self-moving device to move from the current position to the first communication path is planned.

8. The path planning method according to claim 7, characterized in that: If the second location is connected to the target location via a second communication path, the method further includes: According to the third moving path, controlling the self-moving device to move from the current position to the first connecting path, and to move to the first position along the first connecting path; According to the second moving path, controlling the self-moving device to move from the first position to the second position; According to the second communication path, the self-moving device is controlled to move from the second position to the target position.

9. A self-propelled device, characterized in that: The self-mobile device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-mobile device implements the path planning method as claimed in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor in a mobile device, the path planning method according to any one of claims 1 to 8 is implemented.

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