Path planning method, self-moving device and computer-readable medium

Abstract

Provided in the present invention are a path planning method, a self-moving device and a computer-readable medium. The self-moving device identifies a specific second object to be identified and, according to position coordinates of the second object to be identified, plans a path, thus improving the reliability of the position coordinates. In order to improve the reliability of the position coordinates, the present invention comprises: the self-moving device determines the device state of the self-moving device, so as to determine, according to the device state, a first object to be identified; the self-moving device moves on the basis of the first object to be identified; and, when moving to the first object to be identified, the self-moving device acquires, according to a preset rule, a second object to be identified so as to determine the position coordinates on the basis of the second object to be identified. After leaving a station, the self-moving device determines the position coordinates on the basis of the objects to be identified, so as to determine a start point and an end point. Thus, the self-moving device can identify valid and accurate start points, ensuring the accuracy of path planning, and improving user experience.

Description

A path planning method, a self-mobile device and a computer-readable medium Technical Field

[0001] The present invention relates to the field of intelligent control, and in particular to a path planning method, a self-mobile device and a computer-readable medium. Background Art

[0002] With the development of science and technology, more and more autonomous devices have entered people's lives. For example, smart lawn mowers and robot vacuums have brought great convenience to people's production and life.

[0003] When operating, autonomous mobile devices require a map of the work area. To obtain this map, they must first construct boundary lines to define the work and non-work areas before proceeding. To accurately construct a route, the starting point location is crucial. Operators equipped with positioning devices often try multiple attempts within the work area to select an area with good signal strength as the route's starting point. This cumbersome and inaccurate positioning process not only increases the difficulty of the operation but also significantly reduces the user experience of the autonomous mobile device.

[0004] In view of this, it is indeed necessary to provide an improved path planning method to overcome the defects of the existing technology.

[0005] Summary of the Invention

[0006] In view of the shortcomings of the prior art, the object of the present invention is to provide an automated solution with accurate positioning and simple method.

[0007] The present invention provides a path planning method, which is applied to a self-moving device; the path planning method comprises:

[0008] determining a device state of the self-mobile device, so as to determine a first identification target according to the device state;

[0009] When the mobile device moves to the first recognition target, a second recognition target is acquired according to a preset rule, so as to determine the position coordinates according to the second recognition target.

[0010] Further improvement plans are:

[0011] Determining the device state of the self-moving device so as to determine the first identification target according to the device state includes: determining whether the self-moving device is in the process of leaving the site, and if so, determining the first identification target, wherein the first identification target is a boundary line.

[0012] Further improvement plans are:

[0013] The determining whether the mobile device is in the process of leaving the site includes: determining a distance between the mobile device and the site, and determining that the mobile device has left the site when it is detected that the distance is greater than a predetermined threshold.

[0014] Further improvement plans are:

[0015] The acquiring the second identification target according to the preset rule includes: the self-moving device moves along the direction of the boundary line to acquire the signal of the second identification target.

[0016] Further improvement plans are:

[0017] The second identification target includes a target module having a first identifier.

[0018] The present invention also provides a path planning method, which is applied to a self-moving device; the path planning method comprises:

[0019] The self-mobile device determines a second recognition target, so as to determine a position coordinate according to the second recognition target, and uses the position coordinate as a starting point of the path;

[0020] The self-moving device moves according to a preset rule to collect path identification points;

[0021] When the self-mobile device detects the second recognition target again, the self-mobile device plans a path of the self-mobile device according to the position coordinates of the second recognition target and the path recognition points.

[0022] Further improvement plans are:

[0023] The determining of the second identification target by the self-mobile device further comprises: when the self-mobile device fails to identify the second identification target, determining a device state of the self-mobile device, so as to determine the first identification target according to the device state;

[0024] When the mobile device moves to the first recognition target, a second recognition target is acquired according to a preset rule, so as to determine the position coordinates according to the second recognition target.

[0025] Further improvement plans are:

[0026] The second identification target includes a target module having a first identifier.

[0027] The present invention also provides a self-moving device, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and is characterized in that the path planning method is implemented when the processor executes the computer program.

[0028] The present invention also provides a computer-readable medium having a non-volatile program code executable by a processor, wherein the program code enables the processor to execute the path planning method.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The present invention provides a path planning method, a self-mobile device, and a computer-readable medium. The self-mobile device identifies a specific second identification target and plans a path according to the position coordinates of the second identification target, thereby improving the reliability of the position coordinates. In order to further improve the reliability of the position coordinates, the self-mobile device can also determine the device status of the self-mobile device so as to determine the first identification target according to the device status; the self-mobile device moves according to the first identification target; when the self-mobile device moves to the first identification target, the second identification target is obtained according to a pre-set rule so as to determine the position coordinates according to the second identification target. After the self-mobile device leaves the station, the position coordinates are determined based on the identification target, and then the starting point and the end point are confirmed. This can ensure that the self-mobile device identifies a valid and accurate starting point, ensure the accuracy of the path planning, and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG1 is a schematic diagram 1 of path planning according to a preferred embodiment of the present invention;

[0032] FIG2 is a schematic diagram 2 of path planning according to a preferred embodiment of the present invention;

[0033] FIG3 is a schematic diagram 3 of path planning according to a preferred embodiment of the present invention;

[0034] FIG4 is a schematic structural diagram of a self-moving device according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0035] The terms used in the present invention are for the purpose of describing particular embodiments only and are not intended to be limiting of the present invention.

[0036] In the prior art, in order to accurately construct a route, the starting point location data of the route is more important. However, in the prior art, the starting point location is usually determined based on signal strength or the location of the site. However, when determining the starting point location in the above manner, there are the following problems: 1. Determination based on signal strength requires multiple measurements, the positioning process is cumbersome, and the accuracy is low; 2. When the starting point is currently determined based on the site location, the site location determination process requires a complex interactive process, and sometimes the site location cannot be accurately obtained, such as when the signal indicating the site location is not scanned. In view of this, the present invention provides a new path planning method, by which the starting point location of the path can be accurately confirmed, and the confirmation process is simple and does not require manual participation.

[0037] The path planning method provided by the present invention is applied to a self-moving device; the path planning method includes:

[0038] determining a device state of the self-mobile device, so as to determine a first identification target according to the device state;

[0039] The self-moving device moves according to the first recognition target; preferably, the first recognition target is a boundary line, and the boundary line can be a physical boundary line or a virtual boundary line; when the self-moving device leaves the site, it turns to the left rear / right rear and moves towards the boundary line until it moves to the boundary line.

[0040] When the self-moving device moves to the first identification target, a second identification target is acquired according to a pre-set rule so that the position coordinates can be determined based on the second identification target. As shown in Figure 1, after the self-moving device moves to the boundary line, it turns in the same direction as when leaving the station. For example, if it turned left when leaving the station, it will turn left again after reaching the boundary line; conversely, if it turned right when leaving the station, it will turn right again after reaching the boundary line. At this time, the self-moving device will continue to move along the boundary line, and during the driving process, it will continuously scan the second identification target, wherein the second identification target is different from the first identification target; preferably, the second identification target is an RFID.

[0041] After the mobile device leaves the station, the location coordinates are determined based on the identified target, and then the starting point and end point are confirmed. This can ensure that the mobile device identifies a valid and accurate starting point, ensure the accuracy of path planning, and improve the user experience.

[0042] Preferably, determining the device state of the self-moving device so as to determine the first identification target according to the device state includes: determining whether the self-moving device is in the process of leaving the site, and if so, determining the first identification target, wherein the first identification target is a boundary line signal. Wherein, the site is a charging pile / charging station;

[0043] Preferably, determining whether the mobile device is in the process of leaving the site includes: determining the distance between the mobile device and the site, and determining that the mobile device has left the site when the distance is greater than a predetermined threshold. Determining that the mobile device has successfully left the site when the distance between the mobile device and the site satisfies a specified condition is: whether the distance is greater than a distance threshold, wherein the distance threshold is a value between 1 and 2 meters. Preferably, determining whether the mobile device is in the process of leaving the site also includes: determining whether the mobile device is in a charging state, and determining that the exit is successful when the mobile device is not charging. In an optional embodiment, determining whether the mobile device is in the process of leaving the site also includes: determining that the exit is successful when the distance is greater than the distance threshold and the mobile device is not in a charging state. In an optional embodiment, determining whether the mobile device is in the process of leaving the site also includes: determining whether there is a signal connection between the site and the mobile device, and determining that the exit is successful when no signal connection is determined. In an optional embodiment, determining whether the mobile device is in the process of leaving the site also includes: determining that the exit is successful when the distance is greater than the distance threshold and the mobile device detects a disconnection from the site.

[0044] Preferably, acquiring the second identification target according to a preset rule includes: the self-moving device moving along the direction of the boundary line to acquire the signal of the second identification target. The self-moving device will continue to move along the boundary line, and during the movement, it will continuously scan the second identification target, wherein the second identification target is different from the first identification target; preferably, the second identification target is an RFID.

[0045] Preferably, the second identification target includes a target module with a first identifier. The present invention has multiple RFIDs arranged on the boundary line, wherein the characteristic RFID (i.e., the second identification target) located at the site has a characteristic identifier, and the other RFIDs are ordinary RFIDs; preferably, the RFID has a 16-bit identification code; in a preferred embodiment, the first bit of the identification code is a pre-set symbol bit, which is a fixed identifier; bits 2-4 are the first tag bits, which are pre-set special characters. The first tag bit indicates whether the RFID has a first identifier, and the first identifier is used to indicate that the RFID is located at the site; when bits 2-4 are "777", the RFID is located at the site and is the second identification target; when bits 2-4 are not "777", the RFID is located on the boundary line and away from the site, that is, an ordinary RFID. The setting of other bits is the same as that of the prior art, or is set according to actual needs, and will not be repeated here.

[0046] Preferably, acquiring the second identification target according to a preset rule includes: when the first identifier is detected, using the target module with the first identifier as the second identification target. Acquiring the second identification target according to the preset rule so as to determine the location coordinates based on the second identification target includes: acquiring the second identification target and using the second identification target as the starting point of the path. When the self-mobile device detects that the first tag bit of the RFID is a preset special character, i.e., the first identifier, the RFID is determined to be a special RFID at the site; the location coordinates of the special RFID are then identified and used as the starting point of the path.

[0047] Preferably, the path planning method further includes: determining the starting point and the end point of the path according to the position coordinates determined by the second identification target. After the self-mobile device completes the confirmation of the starting point, it continues to move along the boundary line, and records the position information of each RFID after scanning an RFID; when the self-mobile device goes around a circle and returns to the charging pile, it will identify the special RFID again, and use the special RFID identified again as the end point. The present invention uses a special RFID as the confirmation of the starting point and the end point, without considering the signal strength or complex positioning algorithms. The required position coordinates can be determined directly through the identification of the special RFID, which is simpler, easier to operate, and more accurate.

[0048] In a preferred embodiment, the present invention installs a special tag (RFID) that is different from other tags (RFID) at the center of the charging pile; when the self-mobile device starts from the charging pile, it will face two situations: one, the RFID of the charging pile is recognized; two, the RFID of the charging pile is not recognized; in either case, the self-mobile device will start from the charging pile and walk straight for 1-2m in front of the charging pile. The specific distance can be set according to actual needs; after walking straight, it stops, and then turns left and circles with the charging pile as the center until it finds the boundary line signal; after the self-mobile device finds the boundary line signal, it goes online, and then passes through the charging pile again, records the RFID position of the charging pile as the starting point, and then starts line patrol and mapping. When the self-mobile device encounters other RFIDs during the line patrol, it will also record other RFIDs for machine relocation; when the self-mobile device goes around a circle and returns to the charging pile, it recognizes the RFID of the charging pile and records the current position as the end point. In an optional embodiment, when relocation is required, the starting point coordinates are used instead of the end point coordinates to ensure the accuracy of positioning. In this way, the location of the charging pile RFID can be accurately identified, and the exact starting and ending point coordinates can be obtained. The operation is simple, the information is accurate, and no user participation is required, which can significantly improve the user experience.

[0049] In a preferred embodiment, in order to reduce errors and the number of RFIDs, RFIDs are arranged at non-bends on the boundary line, as shown in FIG2 . The preferred spacing between two RFIDs is between 5 and 10 meters. Specifically, the RFIDs can be evenly arranged along the boundary according to the actual site area. Because when the RFID is set at a bend, the self-moving device will identify the RFID and record its position coordinates during the bend. However, when the self-moving device is turning, the self-moving device moves along an arc. At this time, it cannot be guaranteed that the identified RFID is at the center position of the self-moving device, which causes positioning deviation. Therefore, the present invention sets the RFID at a non-bend, thereby improving the accuracy of the position information and reducing interference errors.

[0050] The present invention also provides another path planning method, which includes all or part of the above-mentioned planning method. The path planning method is applied to a self-moving device; the path planning method includes:

[0051] The self-mobile device determines a second recognition target, so as to determine a position coordinate according to the second recognition target, and uses the position coordinate as a starting point of the path;

[0052] The self-moving device moves according to a preset rule to collect path identification points;

[0053] When the self-mobile device detects the second identified target again, the self-mobile device plans the path of the self-mobile device based on the location coordinates of the second identified target and the path identification points. Preferably, when the self-mobile device detects the second identified target again, the collection of path identification points ends; the self-mobile device plans the path of the self-mobile device based on the location coordinates of the second identified target and the path identification points.

[0054] The exit of a station may be parallel to the boundary line, as shown in Figure 3, or non-parallel, such as perpendicular, as shown in Figures 1-2. If the exit of a station is parallel, the self-mobile device will walk directly along the boundary line after leaving the station. Before leaving the station, the self-mobile device needs to obtain the location coordinates of the second identification target, namely the special RFID, and use this to determine the starting point of the path. The addition of the special RFID can improve the accuracy of the path starting point.

[0055] The determining of the second identification target by the self-mobile device further comprises: when the self-mobile device fails to identify the second identification target, determining a device state of the self-mobile device, so as to determine the first identification target according to the device state;

[0056] The self-moving device moves according to the first identified target;

[0057] When the mobile device moves to the first recognition target, a second recognition target is acquired according to a preset rule, so as to determine the position coordinates according to the second recognition target.

[0058] As shown in Figure 1, after the self-moving device moves to the boundary line, it turns in the same direction as when leaving the station. For example, if it turns left when leaving the station, it turns left again after reaching the boundary line; conversely, if it turns right when leaving the station, it turns right again after reaching the boundary line; at this time, the self-moving device will continue to move along the boundary line, and during the driving process, it continuously scans the second identification target, wherein the second identification target is different from the first identification target; preferably, the second identification target is RFID.

[0059] After the mobile device leaves the station, the location coordinates are determined based on the identified target, and then the starting point and end point are confirmed. This can ensure that the mobile device identifies a valid and accurate starting point, ensure the accuracy of path planning, and improve the user experience.

[0060] When the exit of the station is not parallel to the boundary line, such as being perpendicular or oriented in other directions, the mobile device may or may not recognize the special RFID when leaving the station. To further improve the accuracy of the starting point location, when the mobile device successfully exits the station, the mobile device can turn left or right according to a preset rule and move toward the boundary line. Preferably, after successfully exiting the station, the mobile device can circle around the station, i.e., circle along a preset pattern, such as a square, circle, or other regular or irregular pattern, until it finds the boundary line signal. When the mobile device finds the boundary line signal, it begins to move along the boundary line. When it passes through the station again, it identifies the location coordinates of the special RFID and uses them as the starting point of the path. Then, a boundary map is created along the boundary line. In a preferred embodiment, when the mobile device detects a regular RFID along the boundary line, the mobile device records the location coordinates of the regular RFID. When the mobile device returns to the station again, i.e., detects the location coordinates of the special RFID, the location coordinates of the special RFID detected for the second time are used as the end point of the path and the location coordinates of the end point. In an optional embodiment, in order to improve the accuracy of positioning, when the characteristic RFID is detected, the position coordinates of the starting point are replaced with the end point coordinates to ensure the accuracy of positioning.

[0061] The present invention arranges multiple RFIDs on the boundary line, wherein the characteristic RFID (i.e., the second identification target) located at the site has a characteristic identifier, and the other RFIDs are ordinary RFIDs; preferably, the RFID has a 16-bit identification code; in a preferred embodiment, the first bit of the identification code is a pre-set symbol bit, which is a fixed identifier; bits 2-4 are the first tag bits, which are pre-set special characters, and the first tag bit indicates whether the RFID has a first identifier, and the first identifier is used to indicate that the RFID is located at the site; when bits 2-4 are "777", the RFID is located at the site and is the second identification target; when bits 2-4 are not "777", the RFID is located on the boundary line and away from the site, that is, an ordinary RFID. The settings of other bits are the same as those of the prior art, or are set according to actual needs, and will not be repeated here.

[0062] The present invention also provides a self-moving device, as shown in Figure 4, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and is characterized in that the path planning method is implemented when the processor executes the computer program. Specifically, the self-moving device comprises a processor, a memory, a network interface and a database connected via a system bus. The processor of the self-moving device is used to provide computing and control capabilities. The memory of the self-moving device comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the self-moving device is used to store data. The network interface of the self-moving device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method as described above is implemented. The device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, any step in the trajectory processing method as described above is implemented.

[0063] The present invention also provides a computer-readable medium having a non-volatile program code executable by a processor, wherein the program code enables the processor to execute the path planning method.

[0064] Compared with the prior art, the present invention has the following beneficial effects:

[0065] The present invention provides a path planning method, a self-mobile device, and a computer-readable medium. Specifically, the self-mobile device determines a device state of the self-mobile device, thereby determining a first identification target based on the device state; the self-mobile device moves based on the first identification target; and when the self-mobile device moves to the first identification target, a second identification target is acquired according to a pre-set rule, so that the position coordinates are determined based on the second identification target. After the self-mobile device leaves the station, the position coordinates are determined based on the identification target, thereby confirming the starting point and the end point. This ensures that the self-mobile device identifies a valid and accurate starting point, ensures the accuracy of path planning, and improves the user experience.

[0066] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0067] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0068] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, it should be understood by those skilled in the art that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or perform equivalent replacements on some of the technical features thereof. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A path planning method, characterized in that: The path planning method is applied to a self-moving device; the path planning method comprises: Determining a device state of the self-mobile device so as to determine a first identification target according to the device state; When the mobile device moves to the first recognition target, a second recognition target is acquired according to a preset rule, so as to determine the position coordinates according to the second recognition target.

2. The path planning method according to claim 1, characterized in that: Determining the device state of the self-mobile device so as to determine the first identification target according to the device state includes: determining whether the self-mobile device is in the process of leaving the site, and if so, determining the first identification target, wherein the first identification target is a boundary line.

3. The path planning method according to claim 2, characterized in that: The determining whether the mobile device is in the process of leaving the site includes: determining the distance between the mobile device and the site, and when it is detected that the distance is greater than a predetermined threshold, determining that the mobile device has left the site.

4. The path planning method according to claim 1, characterized in that: The acquiring the second identification target according to the preset rule includes: the self-moving device moves along the direction of the boundary line to acquire the signal of the second identification target.

5. The path planning method according to any one of claims 1 to 4, characterized in that: The second identification target includes a target module having a first identifier.

6. A path planning method, characterized in that: The path planning method is applied to a self-moving device; The path planning method comprises: The self-mobile device determines a second recognition target, so as to determine a position coordinate according to the second recognition target, and uses the position coordinate as a path starting point; The self-moving device moves according to a preset rule so as to collect path identification points; When the self-mobile device detects the second identification target again, the self-mobile device plans a path of the self-mobile device according to the position coordinates of the second identification target and the path identification points.

7. The path planning method according to claim 6, characterized in that: The determining the second identification target from the mobile device further comprises: when the mobile device fails to identify the second identification target, determining a device state of the mobile device, so as to determine the first identification target according to the device state; When the mobile device moves to the first recognition target, a second recognition target is acquired according to a preset rule, so as to determine the position coordinates according to the second recognition target.

8. The path planning method according to any one of claims 6 to 7, characterized in that: The second identification target includes a target module having a first identifier.

9. A self-moving device, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the path planning method described in any one of claims 1 to 8 is implemented.

10. A computer readable medium having a non-volatile program code executable by a processor, characterized in that: The program code enables the processor to execute the path planning method described in any one of claims 1-8.

Images