Method for adjusting movement path, terminal device, and storage medium

Abstract

Embodiments of the present invention relate to the field of path planning and provide a method for adjusting a movement path, a terminal device, and a storage medium. The method comprises: displaying a control interface, wherein the control interface is provided with a working area identification; when the working mode of a mobile robot is a repeated traversal mode, displaying at least one initial path preview identification matching the repeated traversal mode in the working area identification, and displaying at least one trajectory adjustment identification corresponding to the initial preview identification; receiving trigger information generated by an external object executing a preset trigger operation on the trajectory adjustment identification, adjusting the at least one initial path preview identification on the basis of the trigger information to obtain a plurality of target path preview identifications, and displaying the plurality of target path preview identifications on the control interface, wherein the plurality of target path preview identifications correspond to different angle information; and generating a movement path, matching the plurality of target path preview identifications, of the mobile robot. The efficiency of the mobile robot performing path planning and the user experience are improved.

Description

Mobile path adjustment method, terminal device and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 21, 2023, with application number 202311219631.8, and invention name “Mobile path adjustment method, terminal device and storage medium”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the technical field of path planning, and in particular to a method for adjusting a moving path, a terminal device, and a storage medium. Background Art

[0003] With the continuous advancement of science and technology and the rapid development of artificial intelligence, automated and intelligent robots are increasingly involved in various fields. People continue to explore and apply robotics technology to various industries such as production, services, medical care, and education, and they can tirelessly perform complex, tedious, or efficient tasks.

[0004] However, there are still many setup issues when using robots, which reduce the robot's work efficiency. Taking a lawn mower as an example, the existing technology often requires step-by-step adjustments when planning the path based on which the lawn mower performs the mowing task. For example, the path value is first set and then a preview path is generated based on the set value so that the user can judge whether the preview path meets the requirements based on the set value. During this process, the value needs to be continuously adjusted to generate the corresponding preview path. In addition, when planning complex paths, if multiple paths need to be planned, data needs to be continuously transmitted and generated, which consumes a lot of time and computing power, seriously affecting work efficiency.

[0005] Summary of the Invention

[0006] The main purpose of the embodiments of the present invention is to provide a method for adjusting a mobile path, a terminal device, and a storage medium, aiming to solve the problem in existing path planning technology that when planning complex paths, if multiple paths need to be planned, data needs to be continuously adjusted and transmitted, which consumes a lot of time, seriously affecting the work efficiency of the robot and resulting in low work efficiency.

[0007] In a first aspect, an embodiment of the present invention provides a method for adjusting a moving path, comprising:

[0008] Displaying a control interface, wherein the control interface is provided with a work area identifier;

[0009] When the working mode of the mobile robot is the repeated traversal mode, at least one initial path preview mark adapted to the repeated traversal mode is displayed in the working area mark, and at least one trajectory adjustment mark corresponding to the initial preview mark is displayed;

[0010] receiving trigger information generated by an external object executing a preset trigger operation on the trajectory adjustment identifier, adjusting the at least one initial path preview identifier according to the trigger information, obtaining a plurality of target path preview identifiers, and displaying the plurality of target path preview identifiers on the control interface, wherein the plurality of target path preview identifiers have different angle information;

[0011] A moving path of the movable robot matching the plurality of target path preview identifiers is generated.

[0012] In a second aspect, an embodiment of the present invention further provides a terminal device, comprising a processor, a memory, a computer program stored on the memory and executable by the processor, and a data bus for realizing connection and communication between the processor and the memory, wherein when the computer program is executed by the processor, the steps of the mobile path adjustment method provided in the specification of the present invention are implemented.

[0013] In a third aspect, an embodiment of the present invention further provides a storage medium for computer-readable storage, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the mobile path adjustment method provided in the specification of the present invention.

[0014] Embodiments of the present invention provide a method, terminal device, and storage medium for adjusting a mobile path. The method includes displaying a control interface, wherein the control interface includes a work area identifier; when the mobile robot is in a repeat traversal mode, displaying at least one initial path preview identifier compatible with the repeat traversal mode in the work area identifier, and displaying at least one trajectory adjustment identifier corresponding to the initial preview identifier; receiving trigger information generated by an external object executing a preset trigger operation on the trajectory adjustment identifier, adjusting the at least one initial path preview identifier based on the trigger information, obtaining multiple target path preview identifiers, and displaying the multiple target path preview identifiers on the control interface, wherein the multiple target path preview identifiers have different angle information; and generating a mobile path for the mobile robot that matches the multiple target path preview identifiers. This method solves the problem in the prior art that when planning complex paths, if multiple paths need to be planned, the need for continuous data adjustment and transmission consumes a significant amount of time, seriously affecting the robot's work efficiency and resulting in low work efficiency. This mobile path adjustment method quickly realizes multiple angle adjustments by dragging and dropping, and simultaneously generates and displays the corresponding adjustment results, saving the computing power of continuously generating mobile paths during the angle adjustment process, improving the efficiency of path planning, and this mobile path adjustment method allows users to instantly preview the angle adjustment effect during the adjustment process, realizing the visibility of the adjustment results, and further improving the user experience and path planning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] FIG1 is a schematic diagram of a control interface provided by an embodiment of the present invention;

[0017] FIG2 is a schematic diagram of another control interface provided by this embodiment;

[0018] FIG3 is a schematic diagram of an implementation of the present embodiment when the target working mode is a repeated traversal mode;

[0019] FIG4 is a schematic diagram of a scenario for implementing the method for adjusting the moving path provided in this embodiment;

[0020] FIG5 is a schematic diagram of a scenario in which a trajectory adjustment identifier and a function identifier coincide with each other, provided by the present embodiment;

[0021] FIG6 is a schematic diagram illustrating corresponding processing results when a trajectory adjustment identifier and a function identifier coincide with each other, provided by the present embodiment;

[0022] FIG7 is a schematic block diagram of the structure of a terminal device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0024] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0025] It should be understood that the terms used in this specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention. As used in the specification and appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0026] Embodiments of the present invention provide a method for adjusting a movement path, a terminal device, and a storage medium. The method for adjusting a movement path can be applied to a terminal device, which can be an electronic device such as a tablet computer, a laptop computer, a desktop computer, a personal digital assistant, or a wearable device.

[0027] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0028] Please refer to FIG. 1 , which is a flow chart of a method for adjusting a moving path provided by an embodiment of the present invention.

[0029] As shown in FIG. 1 , the moving path adjustment method includes steps S101 to S104 .

[0030] Step S101: displaying a control interface, wherein the control interface is provided with a work area identifier.

[0031] Exemplarily, as shown in FIG2 , the work area identifier 201 is used to indicate the range of the work area of ​​the path to be planned.

[0032] Optionally, the control interface is displayed in the terminal device or in a display module of the mobile device.

[0033] Step S102: When the working mode of the mobile robot is the repeated traversal mode, at least one initial path preview mark adapted to the repeated traversal mode is displayed in the working area mark, and at least one trajectory adjustment mark corresponding to the initial preview mark is displayed.

[0034] For example, the repeated traversal mode involves obtaining multiple target path preview identifiers within the work area identifier. The number of target path preview identifiers obtained is equal to the preset number of traversals in the repeated traversal mode, which can be set by the user as needed. Furthermore, the mobile robot can perform multiple traversals within the map information corresponding to the work area identifier based on the multiple target path preview identifiers to ensure the quality of the mobile robot's work within the map information corresponding to the work area identifier.

[0035] Preferably, the repeated traversal mode indicates obtaining two target path preview identifiers in the work area identifier.

[0036] For example, the movable robot is a lawn mowing robot. When the lawn mowing robot is in the repeated traversal mode, the lawn mowing robot needs to perform multiple mowing tasks according to multiple target path preview identifiers, where each target path preview identifier completely covers the entire target working area, but the angle information corresponding to each target path preview identifier is different, and the generated target path is also different. That is to say, the lawn mowing robot performs multiple complete mowing tasks at different angles in the target working area, which can avoid missing mowing in the working area.

[0037] It should be understood that at different travel angles, the same obstacle or restricted area may have different avoidance parameters. These parameters can include driving speed, turning position, and so on, resulting in different movement paths. Utilizing different movement paths can improve job coverage and reduce the proportion of missed cuts. This allows the mobile robot to perform tasks in repeated traversal mode using movement paths generated at different angles, thereby improving work quality and better meeting user needs.

[0038] 2 , the initial path preview mark 202 is used to preview the moving path of the movable robot. The initial path preview mark intersects with the boundary of the work area mark, and there are at least two intersection points so that the initial path preview mark can cross the work area mark.

[0039] The initial path preview identifier may include at least one line pattern, which may be a straight line, a curved line, or any customizable pattern, such as "A" or "S." Multiple line patterns may have pre-set angular and positional relationships, such as parallel lines spaced 1 cm apart or lines in "S" patterns connected to each other.

[0040] Optionally, when the initial path preview mark includes at least two line patterns, the range covered by the initial path preview mark at least partially overlaps with the working area mark, thereby better previewing and displaying the subsequently generated moving path that matches the path preview mark, thereby improving visibility and user experience.

[0041] Exemplarily, the trajectory adjustment identifier 203 is used to adjust the preview displayed moving path to obtain a target path preview identifier.

[0042] Specifically, when the working mode of the movable robot is the repeated traversal mode, one or more initial path preview identifiers adapted to the repeated traversal mode are displayed in the working area identifier according to the preset number of traversals in the repeated traversal mode, and one or more trajectory adjustment identifiers corresponding to the initial preview identifiers are displayed.

[0043] For example, when the number of traversals preset in the repeat traversal mode is three, an initial path preview icon adapted to the repeat traversal mode is displayed in the work area icon, and a trajectory adjustment icon corresponding to the initial preview icon is displayed. For another example, when the number of traversals preset in the repeat traversal mode is three, three initial path preview icons adapted to the repeat traversal mode are displayed in the work area icon, and two trajectory adjustment icons corresponding to two of the initial path preview icons are displayed. It should be understood that different path preview icon adjustment methods can be provided according to different display modes to increase the flexibility and efficiency of path preview icon adjustment, thereby improving the user experience.

[0044] Step S103: receiving trigger information generated by the trajectory adjustment identifier being executed by an external object to perform a preset trigger operation, and adjusting the at least one initial path preview identifier according to the trigger information, obtaining multiple target path preview identifiers and displaying the multiple target path preview identifiers on the control interface, wherein the angle information between the multiple target path preview identifiers is different.

[0045] Exemplarily, preset trigger operations include dragging, single-clicking, and double-clicking. Using these preset trigger operations, an external object can be used to adjust the position information corresponding to a trajectory adjustment marker. This then generates trigger information corresponding to an initial path preview marker based on the position information. This allows for adjusting at least one initial path preview marker based on the trigger information to obtain multiple target path preview markers. Users can simultaneously obtain multiple target path preview markers by adjusting a single initial path preview marker, or obtain multiple target path preview markers by adjusting multiple initial path preview markers multiple times. This increases the flexibility and efficiency of adjusting path preview markers, further improving the efficiency of path planning.

[0046] For example, in the process of adjusting the initial path preview identifier according to the trigger information, the initial path preview identifier that is continuously updated during the adjustment process may be displayed in real time, or the adjusted target path preview identifier may be directly displayed.

[0047] It should be understood that in the embodiments of the present application, the target path preview indicator is obtained by adjusting the initial path preview indicator. Therefore, the two indicators in the user interface share certain commonalities, such as the same line pattern and the same or different line identification attributes. For example, the initial path preview indicator and the target path preview indicator may be displayed by changing from a dotted line to a solid line, changing colors, or varying the depth of the same color, to improve visibility.

[0048] Exemplarily, if the angle information between multiple target path preview identifiers is different, then after obtaining multiple target path preview identifiers, any two target path preview identifiers will intersect with each other, and any two target path preview identifiers can intersect to form a diamond pattern style or a rectangular pattern style. That is, there are intersections between the target path preview identifiers, and they are not in a parallel relationship. At the same time, before the target path preview identifier is generated, the multiple initial path identifiers corresponding to each other also intersect to form a diamond pattern style or a rectangular pattern style. Furthermore, since the angle information between the multiple target path preview identifiers is different, the visual appearance of the multiple target path preview identifiers presented on the control interface is different, and the user can distinguish the multiple target path preview identifiers through the control interface.

[0049] In some embodiments, the initial path preview identifier includes a first path preview identifier, and the trajectory adjustment identifier includes a first trajectory adjustment identifier; the receiving of trigger information generated by an external object performing a preset trigger operation on the trajectory adjustment identifier, and adjusting the at least one initial path preview identifier according to the trigger information, obtaining multiple target path preview identifiers, and displaying the multiple target path preview identifiers on the control interface includes: receiving first trigger information generated by an external object performing a first preset trigger operation on the first trajectory adjustment identifier, and adjusting the first path preview identifier according to the first trigger information, obtaining a first target path preview identifier, and displaying the first target path preview identifier; determining a second target path preview identifier according to the first trigger information and a preset angle difference, and displaying the second target path preview identifier.

[0050] Exemplarily, after the first path preview identifier and the first trajectory adjustment identifier corresponding to the first path preview identifier are displayed in the working area identifier of the control interface, the position information of the first trajectory adjustment identifier is changed by dragging or clicking the first trajectory adjustment identifier in response to an external object, thereby generating corresponding first trigger information, wherein the first preset trigger operation is at least one or more of dragging and clicking.

[0051] For example, first angle information corresponding to the first trajectory adjustment marker is obtained based on the first trigger information, thereby adjusting the first path preview marker based on the first angle information, obtaining the first target path preview marker, and displaying the first target path preview marker. Adjusting the first path preview marker based on the first trigger information can include adjusting the first path preview marker when the position of the first trajectory adjustment marker remains unchanged, or controlling the corresponding second path preview marker to change in accordance with the position of the first trajectory adjustment marker, with the type of change being either linear or irregular.

[0052] For example, if an external object adjusts the position of the first trajectory adjustment identifier by dragging, then when the first trajectory adjustment identifier is dragged to the target position and the external object leaves the first trajectory adjustment identifier, the first path preview identifier will be adjusted according to the trigger information corresponding to the target position at this time, and the first target path preview identifier will be obtained and displayed.

[0053] Exemplarily, after obtaining the first target path preview identifier based on the first trigger information, the corresponding angle change information is obtained based on the first trigger information, and the angle change information and the preset angle difference are added or subtracted to obtain the target angle information corresponding to the second target path preview identifier, so that the second target path preview identifier can be obtained based on the target angle information and the second target path preview identifier can be displayed.

[0054] For example, when the angle change information obtained based on the first trigger information is 30 degrees and the preset angle difference is 50 degrees, the target angle information corresponding to the second target path preview identifier is 30 degrees + 50 degrees = 80 degrees or 30 degrees - 50 degrees = -20 degrees + 360 degrees = 340 degrees. Thus, the second target path preview identifier corresponding to the target angle information of 80 degrees or 340 degrees can be obtained and displayed.

[0055] In some embodiments, after displaying the second target path preview identifier, the method further includes: displaying a second trajectory adjustment identifier corresponding to the second target path preview identifier; receiving second trigger information generated by an external object performing a second preset trigger operation on the second trajectory adjustment identifier, and updating the second target path preview identifier according to the second trigger information, obtaining an updated second target path preview identifier, and displaying the updated second target path preview identifier.

[0056] Exemplarily, when the second target path preview identifier is displayed, the second trajectory adjustment identifier corresponding to the second target path preview identifier is also displayed, and the external object obtains the second trigger information by performing a second preset trigger operation on the second trajectory adjustment identifier, wherein the second preset trigger operation is one or more of dragging or clicking.

[0057] Exemplarily, the second angle information corresponding to the second trajectory adjustment identifier is obtained according to the second trigger information, thereby adjusting the second target path preview identifier according to the second angle information, obtaining an updated second target path preview identifier, and displaying the updated second target path preview identifier.

[0058] In the process of adjusting the second target path preview identifier according to the angle change information to obtain an updated second target path preview identifier, the second target path preview identifier can be adjusted when the position of the second trajectory adjustment identifier does not move, or the corresponding second path preview identifier can be controlled to change with the change of the second trajectory adjustment identifier position, and the type of change can be linear change or irregular change.

[0059] For example, if the external object adjusts the position of the second trajectory adjustment identifier by dragging, then when the second trajectory adjustment identifier is dragged to the target position and the external object leaves the second trajectory adjustment identifier, the second target path preview identifier will be adjusted according to the trigger information corresponding to the target position at this time, thereby obtaining an updated second target path preview identifier and displaying the updated second target path preview identifier.

[0060] Exemplarily, when the second trajectory adjustment identifier is in the process of adjusting the second target path preview identifier, the first target path preview identifier is not affected.

[0061] It should be understood that in this embodiment, in the repeated traversal mode, the first target path preview identifier is first determined and displayed. On this basis, the second target path preview identifier is determined and displayed according to the preset angle difference. The second target path preview identifier can be quickly obtained, thereby improving the efficiency of path planning. The user can further adjust and update the second target path preview identifier, thereby increasing flexibility and further enhancing the user experience.

[0062] In some implementations, the preset angle difference is 90 degrees; or, the preset angle difference is obtained according to the angle difference between the initial path preview marks.

[0063] Exemplarily, the preset angle difference is 90 degrees, or the preset angle difference is obtained based on the angle difference between the first path preview identifier and the second path preview identifier determined from the initial path preview identifiers in the repeated traversal mode. The angle difference between the multiple initial path preview identifiers is obtained based on historical records, such as the angle difference between the multiple target path preview identifiers determined by the user in the repeated traversal mode last time, or the angle difference between the multiple target path preview identifiers most frequently used by the user in the repeated traversal mode.

[0064] For example, if the angle information corresponding to the first trigger information is 30 degrees and the preset angle difference is 90 degrees, the target angle information corresponding to the second target path preview identifier is 30 degrees + 90 degrees = 120 degrees or 30 degrees - 90 degrees = -60 degrees + 360 degrees = 300 degrees. Thus, the second target path preview identifier corresponding to the target angle information of 120 degrees or 300 degrees can be obtained and displayed. At this time, the first target path preview identifier and the second target path preview identifier are in a vertical position, forming a rectangular pattern.

[0065] For example, if the angle information corresponding to the first trigger information is 30 degrees, and the preset angle difference between the first and second path preview identifiers in the initial path preview identifier is 40 degrees, then the target angle information corresponding to the second target path preview identifier is 30 degrees + 40 degrees = 70 degrees, or 30 degrees - 40 degrees = -10 degrees + 360 degrees = 350 degrees. Thus, the second target path preview identifier corresponding to the target angle information of 70 degrees or 350 degrees is obtained and displayed. At this point, the first and second target path preview identifiers are in a cross-state, forming a diamond pattern.

[0066] In some embodiments, the initial path preview identifier includes at least a third path preview identifier and a fourth path preview identifier, the trajectory adjustment identifier includes a third trajectory adjustment identifier, and the third path preview identifier corresponds to the third trajectory adjustment identifier; the receiving of trigger information generated by an external object performing a preset trigger operation on the trajectory adjustment identifier, and adjusting the at least one initial path preview identifier according to the trigger information to obtain multiple target path preview identifiers and displaying the multiple target path preview identifiers on the control interface includes: receiving third trigger information generated by an external object performing a third preset trigger operation on the third trajectory adjustment identifier, and adjusting the third path preview identifier according to the third trigger information to obtain a third target path preview identifier; adjusting the fourth path preview identifier according to the third trigger information and a preset angle difference to obtain a fourth target path preview identifier; and displaying the third target path preview identifier and the fourth target path preview identifier.

[0067] For example, a third path preview indicator and a fourth path preview indicator, as well as a third trajectory adjustment indicator corresponding to the third path preview indicator, are displayed in the work area indicator in the control interface. A preset angle difference is obtained by subtracting the angle information corresponding to the third path preview indicator from the angle information corresponding to the fourth path preview indicator. The third path preview indicator and the fourth path preview indicator can be stored in a database after historical settings, obtained by reading from the database, or generated in a pre-set manner.

[0068] For example, when the angle information corresponding to the third path preview identifier is 70 degrees and the angle information corresponding to the fourth path preview identifier is 30 degrees, the preset angle difference is 40 degrees; when the angle information corresponding to the third path preview identifier is 30 degrees and the angle information corresponding to the fourth path preview identifier is 70 degrees, the preset angle difference is 30 degrees - 70 degrees = -40 degrees + 360 degrees = 320 degrees, that is, the preset angle difference is 320 degrees.

[0069] Exemplarily, the external object obtains third trigger information by performing a third preset trigger operation on a third trajectory adjustment indicator, where the third preset trigger operation includes one or more of dragging or clicking. Third angle information is obtained based on the third trigger information, and the third path preview indicator is adjusted based on the third angle information to obtain a third target path preview indicator. Furthermore, a target angle change corresponding to a fourth path preview indicator is determined based on the difference between the third angle information and a preset angle, and the fourth path preview indicator is adjusted based on the target angle change to obtain a fourth target path preview indicator.

[0070] For example, the angle information corresponding to the third path preview identifier is 70 degrees, the angle information corresponding to the fourth path preview identifier is 30 degrees, and the preset angle difference is 40 degrees. When the angle change information is 60 degrees, that is, the third path preview identifier needs to be adjusted to 60 degrees, then the fourth path preview identifier should be adjusted to 60 degrees - 40 degrees = 20 degrees.

[0071] Alternatively, the third path preview identifier increases or decreases by 60 degrees to 130 degrees or 10 degrees according to the angle change information, and the fourth path preview identifier correspondingly changes to 90 degrees or (10 degrees-40 degrees+360 degrees)=330 degrees.

[0072] Exemplarily, when the third path preview identifier and the fourth path preview identifier are adjusted simultaneously through the third trajectory adjustment identifier, the adjustment result can be displayed in real time, or when the position information corresponding to the third trajectory adjustment identifier does not change, the third target path preview identifier and the fourth target path preview identifier obtained by adjusting the third path preview identifier and the fourth path preview identifier will be displayed.

[0073] For example, the external object adjusts the third track adjustment mark by dragging. When the external object's finger or a triggering device such as a capacitive pen leaves the third track adjustment mark, the third target path preview mark and the fourth target path preview mark are displayed.

[0074] Alternatively, when the external object adjusts the third track adjustment mark by dragging, the third target path preview mark and the fourth target path preview mark are synchronously displayed by the dragging change.

[0075] It should be understood that in this embodiment, in the repeated traversal mode, the third path preview identifier is first determined, and then the fourth path preview identifier is determined based on the preset angle difference, and then the third path preview identifier and the fourth path preview identifier are displayed at the same time. By adjusting the third path preview identifier while adjusting the fourth path preview identifier, the efficiency of path planning can be effectively improved. The user can also further adjust and update the fourth path preview identifier to increase flexibility and further enhance the user experience.

[0076] In some embodiments, the method also includes: displaying a fourth trajectory adjustment identifier corresponding to the fourth target path preview identifier; receiving fourth trigger information generated by the fourth trajectory adjustment identifier being executed by an external object for a fourth preset trigger operation, and adjusting the fourth target path preview identifier according to the fourth trigger information, obtaining an updated fourth target path preview identifier, and displaying the third target path preview identifier and the updated fourth target path preview identifier.

[0077] Exemplarily, while the third path preview identifier and the fourth path preview identifier are adjusted by the third trajectory adjustment identifier, the fourth path preview identifier or the fourth trajectory adjustment identifier corresponding to the fourth target path preview identifier is also displayed.

[0078] Among them, the fourth trajectory adjustment identifier can be changed and adjusted according to the third trigger information and the preset angle difference, and can also be synchronously adjusted according to the change of the fourth path preview identifier, so that the fourth trajectory adjustment identifier and the fourth path preview identifier or the fourth target path preview identifier maintain a consistent change state.

[0079] Exemplarily, after the third trajectory adjustment identifier adjusts the third path preview identifier and the fourth path preview identifier to obtain the third target path preview identifier and the fourth target path preview identifier, the external object performs a fourth preset trigger operation through the fourth trajectory adjustment identifier to obtain fourth trigger information, wherein the fourth preset trigger operation includes one or more of dragging or clicking.

[0080] Exemplarily, the corresponding fourth angle information is obtained according to the fourth trigger information, and the fourth target path preview identifier is updated according to the fourth angle information, and the updated fourth target path preview identifier is displayed. In this process, the fourth trajectory adjustment identifier is only for the fourth target path preview identifier, and not for the third path preview identifier or the third target path preview identifier.

[0081] In addition, after the third target path preview identifier and the fourth target path preview identifier are set, the final angle difference between the two is stored to form a historical record, which is then used to generate the initial path preview identifier.

[0082] For example, at time point a, the angle difference between the third target path preview identifier and the fourth target path preview identifier generated in the work area identifier is 60 degrees. At time point b, path planning needs to be performed again in the work area identifier. At this time, the angle difference of 60 degrees corresponding to time point a can be used to generate the corresponding initial path preview identifier.

[0083] In some implementations, the preset angle difference is 90 degrees; or, the preset angle difference is obtained according to the angle difference between the initial path preview marks.

[0084] Exemplarily, the preset angle difference is 90 degrees, or the preset angle difference is obtained based on the angle difference between the third path preview identifier and the fourth path preview identifier from the initial path preview identifier in the repeated traversal mode. The angle difference between the multiple initial path preview identifiers is obtained based on historical records, such as the angle difference between the multiple target path preview identifiers determined by the user in the repeated traversal mode last time, or the angle difference between the multiple target path preview identifiers most frequently used by the user in the repeated traversal mode.

[0085] For example, when the preset angle difference between the third path preview mark and the fourth path preview mark is 90 degrees, the third path preview mark and the fourth path preview mark always cross to form a rectangular pattern.

[0086] Alternatively, if the pattern formed by the intersection of the angle difference between the third path preview identifier and the fourth path preview identifier is a diamond pattern, when the third path preview identifier and the fourth path preview identifier are adjusted according to the third trajectory identifier, the diamond pattern formed remains unchanged, but the position is moved.

[0087] In some embodiments, the initial path preview identifier includes at least a fifth path preview identifier and a sixth path preview identifier, the trajectory adjustment identifier includes a fifth trajectory adjustment identifier and a sixth trajectory adjustment identifier, and the fifth path preview identifier corresponds to the fifth trajectory adjustment identifier, and the sixth path preview identifier corresponds to the sixth trajectory adjustment identifier; receiving trigger information generated by an external object performing a preset trigger operation on the trajectory adjustment identifier, and adjusting the at least one initial path preview identifier according to the trigger information, obtaining multiple target path preview identifiers, and displaying the multiple target path preview identifiers on the control interface, includes: receiving fifth trigger information generated by an external object performing a fifth preset trigger operation on the fifth trajectory adjustment identifier, and simultaneously receiving sixth trigger information generated by an external object performing a sixth preset trigger operation on the sixth trajectory adjustment identifier; adjusting the fifth path preview identifier according to the fifth trigger information to obtain a fifth target path preview identifier and displaying the fifth target path preview identifier, and adjusting the sixth path preview identifier according to the sixth trigger information to obtain a sixth target path preview identifier and displaying the sixth target path preview identifier.

[0088] 3 , the working area marker of the control interface displays a fifth path preview marker 2021 and a sixth path preview marker 2022 , as well as a fifth track adjustment marker 2031 corresponding to the fifth path preview marker and a sixth track adjustment marker 2032 corresponding to the sixth path preview marker.

[0089] For example, the external object can perform a fifth preset operation via a fifth track adjustment indicator and simultaneously perform a sixth preset operation via a sixth track adjustment indicator. Thus, the fifth preset operation obtains corresponding fifth trigger information, and the sixth preset operation obtains corresponding sixth trigger information. The fifth preset operation is one or more of dragging or clicking, and the sixth preset operation is one or more of dragging or clicking.

[0090] Exemplarily, the fifth angle information corresponding to the fifth trajectory adjustment identifier is obtained according to the fifth trigger information, and the sixth angle information corresponding to the sixth trajectory adjustment identifier is obtained according to the sixth trigger information, so that the fifth path preview identifier is adjusted according to the fifth angle information and the sixth path preview identifier is adjusted according to the sixth angle information.

[0091] For example, if the current angle information of the fifth path preview marker is 30 degrees, the current angle information of the sixth path preview marker is 120 degrees, and the fifth and sixth path preview markers are perpendicular to each other, the pattern formed is a rectangle. If the fifth angle information obtained by the fifth trigger information is 40 degrees, and the sixth angle information obtained by the sixth trigger information is 50 degrees, then the angle information corresponding to the adjusted fifth path preview marker is 30 degrees + 40 degrees = 70 degrees, and the angle information corresponding to the adjusted sixth path preview marker is 120 degrees + 50 degrees = 170 degrees. Then, the pattern formed by the intersection of the adjusted fifth and sixth path preview markers is a diamond pattern.

[0092] For example, the fifth and sixth target path preview indicators are obtained during the process of adjusting the fifth path preview indicator based on the fifth trajectory adjustment indicator and adjusting the sixth path preview indicator based on the sixth trajectory adjustment indicator. During this process, the fifth and sixth target path preview indicators can be displayed in real time, or they can be displayed after the preset trigger operation is completed.

[0093] For example, when the fifth track adjustment mark is dragged to perform a preset trigger operation, the fifth target path preview mark is displayed after the drag operation is completed. When the sixth track adjustment mark is dragged to perform a preset trigger operation, the sixth target path preview mark is displayed after the drag operation is completed.

[0094] It should be understood that in this embodiment, in the repeated traversal mode, the user can simultaneously control two trajectory adjustment identifiers, and then simultaneously determine the fifth target path preview identifier and the sixth target path preview identifier, and then simultaneously display the fifth target path preview identifier and the sixth target path preview identifier. By simultaneously controlling the fifth trajectory adjustment identifier and the sixth trajectory adjustment identifier, the efficiency of path planning can be effectively improved, the flexibility can be increased, and the user experience can be further enhanced.

[0095] It should be noted that in the embodiment of the present application, multiple initial path preview identifiers and multiple target path preview identifiers can not only form rectangular or diamond pattern styles, but also form various irregular patterns when there are 3 or more initial path preview identifiers or target path preview identifiers, which are not limited here.

[0096] In some embodiments, before displaying the control interface, the method further includes: determining a target working area of ​​the mobile robot and generating a control interface adapted to the target working area, wherein the working area identifier is generated according to the target working area.

[0097] For example, the target work area of ​​the mobile robot is determined based on the task to be completed by the mobile robot, that is, the map information corresponding to the task to be completed by the mobile robot is determined. Then, a work area identifier corresponding to the target work area is generated for the mobile robot, and an adaptive control interface is generated based on the target work area. The target work area may include multiple work areas, and an adaptive control interface is generated based on the multiple work areas. When obtaining the control interface, the visualization range of the control interface can be adjusted based on the area size or concentration of the work areas, thereby improving the user experience.

[0098] For example, the tasks to be completed of the mobile robot are task a and task b. The working area corresponding to task a is map information map1, and the working area corresponding to task b is map information map2. The shapes of map1 and map2 are different, so the styles of the work area identification corresponding to task a and the work area identification corresponding to task b are different, so different styles are displayed on the control interface, as shown in Figure 2.

[0099] In addition, if the control interface is small, displaying the work area identifier corresponding to task a and the work area identifier corresponding to task b to the user at the same time may affect the user experience. The display can be adjusted according to the size of the areas corresponding to task a and task b. For example, the work area identifier corresponding to the task with a larger area is displayed first, and the work area identifier corresponding to the task with a smaller area can be adjusted by dragging the interface and then further displayed to the user.

[0100] Alternatively, when there are a large number of tasks, priority is given to displaying areas where tasks are more concentrated. For example, if tasks a, b, and c are concentrated in area A, and tasks d and e are distributed in area B, the control interface will prioritize displaying the work area identifiers corresponding to tasks a, b, and c, while the work area identifiers corresponding to tasks d and e can be adjusted by dragging the interface and further displayed to the user.

[0101] Therefore, when displaying the control interface, the corresponding control interface can be displayed based on the distribution status of the target work areas. When there are fewer target work areas, the control interface can display all target work areas. When there are more target work areas, the corresponding target work areas can be displayed first based on their corresponding area information or concentrated distribution area information. This ensures user experience while also allowing users to obtain more information first, improving visibility.

[0102] In some embodiments, adjusting the at least one initial path preview identifier according to the trigger information to obtain multiple target path preview identifiers includes: determining the relative position information between the trajectory adjustment identifier and a preset reference position according to the trigger information; adjusting at least one of the initial path preview identifiers according to the relative position information, thereby obtaining multiple target path preview identifiers.

[0103] For example, a preset reference position is set in the control interface, where the preset reference position serves as a reference for calculating the trajectory adjustment mark. A coordinate system is established using the preset reference position, and the coordinate information of the trajectory adjustment mark in this coordinate system is determined by triggering information. The coordinate information is then used to determine the relative position information between the trajectory adjustment mark and the preset reference position. Finally, the relative position information is used to adjust the initial path preview mark to obtain the target path preview mark.

[0104] For example, as shown in FIG4 , a coordinate system is established with the center position 205 of the control interface as the preset reference position, the direction directly above the straight line 206 where the center position is located as the positive direction of the y-axis, and the right direction perpendicular to the y-axis as the x-axis. The vector between the trajectory adjustment identifier and the origin of the coordinate system is determined as the relative position information through the trigger information, thereby using the vector to adjust at least one initial path preview identifier to obtain multiple target path preview identifiers.

[0105] In some embodiments, the relative position information includes relative angle information, and determining the relative position information between the trajectory adjustment identifier and the preset reference position based on the trigger information includes: determining the target position corresponding to the trigger information, and determining a connecting line based on the target position and the preset reference position; calculating the angle between the connecting line and the target reference line, and determining the relative angle information between the trajectory adjustment identifier and the preset reference position based on the angle.

[0106] Exemplarily, the target position of the trajectory adjustment marker in the coordinate system corresponding to the preset reference position is determined according to the trigger information, the target position and the preset reference position are connected by a line to obtain a connecting line, and the coordinate axis of the coordinate system is used as the target reference line to calculate the angle between the connecting line and the coordinate axis, and then the relative angle information between the trajectory adjustment marker and the preset reference position is determined according to the angle.

[0107] For example, if the target reference line is in the positive direction of the y-axis, when the target position corresponding to the trajectory adjustment marker is in the positive direction of the y-axis, the angle information between the trajectory adjustment marker and the preset reference position is 0 degrees. When the trajectory adjustment marker moves clockwise from the y-axis, the relative angle information between the trajectory adjustment marker and the preset reference position increases from 0 degrees and changes in the range of 0-359 degrees.

[0108] Optionally, the connection line between the target position and the preset reference position may be displayed or not displayed in the control interface, and can be set according to needs.

[0109] Optionally, the coordinate system may be displayed or not displayed in the control interface, and can be set according to needs.

[0110] In some embodiments, the preset reference position is the center position of the work area marker, or the preset reference position is the center position of the control interface.

[0111] For example, the work area identifier displays map information of the work range of the movable robot, and the center position corresponding to the map information is used as the preset reference position. Alternatively, the center position of the control interface is used as the preset reference position.

[0112] For example, the center position of the overall map corresponding to the map information showing the working range of the movable robot in the work area logo is used as the preset reference position. Even if the work area logo is changed, the corresponding preset reference position remains the same, allowing users to get started more quickly and adjust the intensity, reducing the user's learning cost.

[0113] Alternatively, different preset reference positions are set according to different work area identifiers. For example, when the target area identifier contains multiple tasks, the center position of the control interface is used as the preset reference position. After changing the task, the corresponding preset reference position also changes. At this time, the user can understand the approximate position corresponding to the preset reference position, and the user can quickly adjust it according to the angle he wants.

[0114] In addition, when there are a large number of tasks, the preset reference position can be set in an area where the tasks are more concentrated, so as to facilitate the identification of more work areas and improve the adjustment efficiency and adjustment experience.

[0115] In some implementations, different initial path preview markers are set with different marker attributes, and the marker attributes include marker color, marker width, and marker line style.

[0116] Exemplarily, the initial path preview identifier includes at least a first path preview identifier and a second path preview identifier, or at least a third path preview identifier and a fourth path preview identifier, or at least a fifth path preview identifier and a sixth path preview identifier. Then, the first path preview identifier and the second path preview identifier have different identification attributes when displayed, the third path preview identifier and the fourth path preview identifier have different identification attributes when displayed, and the fifth path preview identifier and the sixth path preview identifier have different identification attributes when displayed.

[0117] For example, the first path preview marker and the second path preview marker are displayed in different colors for distinction; the third path preview marker and the fourth path preview marker are displayed in different line widths for distinction; and the fifth path preview marker and the sixth path preview marker are displayed in different line styles for distinction.

[0118] Optionally, when different path preview logos are distinguished, logo attributes including logo color, logo width, and logo line style may be randomly combined to achieve the purpose of distinction, thereby improving visibility.

[0119] In some implementations, the initial path preview mark is displayed in the work area mark.

[0120] Exemplarily, as shown in Figure 4, the initial path preview mark 202 is only displayed in the work area mark. In other words, it is only displayed inside the map frame and is not displayed outside it or in unselected map areas.

[0121] In some embodiments, the method further includes: controlling the initial path preview marker to perform a preset adjustment operation according to the movement trajectory of the trajectory adjustment marker on the control interface, and displaying in real time the execution result of the preset adjustment operation performed by the initial path preview marker.

[0122] Exemplarily, when the trajectory adjustment marker moves on the control interface, it controls at least one initial path preview marker to perform a preset adjustment operation, wherein the preset adjustment operation is an angle transformation, and displays in real time the execution result of the preset adjustment operation performed by at least one initial path preview marker.

[0123] For example, when the trajectory adjustment indicator changes, the initial path preview indicator changes synchronously and displays the change result in real time.

[0124] Step S104: generating a moving path of the movable robot that matches the multiple target path preview identifiers.

[0125] Exemplarily, position information corresponding to at least one target path preview identifier is determined according to trigger information corresponding to the trajectory adjustment identifier, thereby matching multiple moving paths of the movable robot in the map information corresponding to the working area identifier.

[0126] Specifically, the position information may be relative position information, relative angle information, or other content described in the aforementioned embodiments, which will not be repeated here.

[0127] After obtaining multiple target path preview identifiers, corresponding angle information is determined based on each of the multiple target path preview identifiers, thereby obtaining a movement path of the mobile robot corresponding to each target path preview identifier in the map information corresponding to the work area identifier based on the angle information. Different target path preview identifiers correspond to different angle information, and thus the multiple target path preview identifiers correspond to different movement paths.

[0128] For example, if the angle information corresponding to any one of multiple target path preview identifiers is 30 degrees, a corresponding bow-shaped path can be generated based on this angle information. Alternatively, after obtaining the angle information corresponding to the target path preview identifier, a database query is performed based on this angle information to obtain the path information corresponding to the minimum difference between the angle information and the target path preview identifier, which is then used as the movement path of the movable robot.

[0129] For example, if the angle information corresponding to the target path preview identifier is 30 degrees, the path information already stored in the database includes path information A at an angle of 32 degrees, path information B at an angle of 35 degrees, and path information C at an angle of 45 degrees, etc. At this time, you can query the database based on the angle information of 30 degrees, and obtain path information A at an angle of 32 degrees when the angle difference is the smallest as the moving path of the mobile robot.

[0130] The inclination angle of the movement path is consistent with the inclination angle of the target path preview icon. However, since the process of obtaining the movement path requires planning based on the actual scene, such as obstacles, restricted areas, slopes, and work area shapes contained in the corresponding map information of the target work area, the final movement path may differ from the target path preview icon.

[0131] For example, in the case of an arc-shaped path, the movement path consists of multiple sub-paths. The sub-path containing the obstacle avoidance path may have a different path inclination angle than the target path. Furthermore, because the spacing between sub-paths may differ from the spacing between the line patterns in the target path preview, even though the movement path and the target path preview have the same inclination angle, the sub-paths and line patterns may or may not overlap.

[0132] For example, in the process of determining the target working area of ​​the mobile robot according to the tasks to be completed by the mobile robot, if there are multiple target working areas, while generating the moving paths corresponding to the multiple target working areas of the mobile robot according to the target path preview identifier, it is also necessary to generate connection paths between the multiple target working areas, so that after the mobile robot completes the task corresponding to one target working area, it can further reach another target working area according to the connection path to perform the corresponding task.

[0133] Exemplarily, after obtaining the moving paths corresponding to the multiple target path preview identifiers, the mobile robot determines the order in which the mobile robot performs operations according to the adjustment order corresponding to the target path preview identifiers.

[0134] For example, after adjusting the first path preview identifier, a first target path preview identifier is obtained, and a second target path preview identifier is determined based on a preset angle difference. When the mobile robot performs a task, it first executes the task according to the movement path corresponding to the first target path preview identifier, and then executes the task according to the movement path corresponding to the second target path preview identifier. If the second target path preview identifier is adjusted again after obtaining it, the order in which the mobile robot executes the tasks remains unchanged.

[0135] For example, in obtaining the movement paths corresponding to the multiple target path preview identifiers, it is also necessary to obtain the path information connecting the multiple movement paths.

[0136] For example, taking two target path preview identifiers as an example, a first movement path corresponding to the first target path preview identifier and a second movement path corresponding to the second target path preview identifier are obtained respectively. If the mobile robot is located at position w in the map information corresponding to the target work area after preferentially executing the first movement path, then the mobile robot needs to move from position w to the starting position of the second movement path and then operate according to the second movement path at the starting position. Therefore, it is necessary to obtain a path plan from position w to the starting position of the second movement path.

[0137] Among them, after obtaining the first moving path corresponding to the first target path preview identifier and the second moving path corresponding to the second target path preview identifier, the path information and consumed time when the movable robot reaches the starting position of the second moving path after taking the first moving path as the first work task, and the path information and consumed time when the movable robot reaches the starting position of the first moving path after taking the second moving path as the first work task are respectively obtained, so as to determine the working order of the movable robot according to the consumed time.

[0138] Alternatively, if the movable robot is at position w in the map information corresponding to the target work area after preferentially executing the first moving path, the movable robot can then move from position w to position J, which is the closest to the second moving path, and execute from position J to the end position of the second moving path to perform the operation, and then reach the starting position of the second moving path from the end position, and then execute from the starting position to position J to complete the work task corresponding to the second moving path.

[0139] Specifically, in obtaining multiple target path preview identifiers, the connection path information and time-consuming information corresponding to adjacent execution of work tasks in any two target path preview identifiers are obtained, so as to plan the order of executing work tasks of multiple target path preview identifiers according to the overall time-consuming information, and then enable the movable robot to execute work tasks according to the moving paths corresponding to the target path preview identifiers in sequence according to the order, and after executing the moving path corresponding to one target path preview identifier, reach the initial position of the moving path corresponding to the next target path preview identifier according to the connection path information between the moving paths corresponding to the next target path preview identifier, so as to execute and complete the work tasks in the corresponding map information in the target work area in sequence.

[0140] In some embodiments, generating a moving path of the movable robot that matches the multiple target path preview identifiers includes: displaying a path confirmation interface, wherein the path confirmation interface is used to receive a confirmation operation of the external object; and generating a moving path of the movable robot that matches the multiple target path preview identifiers in response to the confirmation operation.

[0141] Exemplarily, after obtaining multiple target path preview identifiers, a path confirmation interface is displayed, which is used to represent asking an external object whether to agree to generate a moving path of the movable robot that matches the multiple target path preview identifiers based on the current multiple target path preview identifiers.

[0142] Exemplarily, a confirmation operation of an external object in a path confirmation interface is received, thereby generating a plurality of moving paths of the movable robot according to a plurality of target path preview identifiers.

[0143] For example, the path confirmation interface is in the form of a pop-up window, which is used to ask the user whether to agree to generate the moving path of the movable robot based on multiple target path preview identifiers. When the user's consent instruction is received, the moving path of the movable robot matching the multiple target path preview identifiers is generated. When the user's consent instruction is not received or the user's rejection instruction is received, the moving path of the movable robot matching the multiple target path preview identifiers will not be generated.

[0144] Furthermore, after receiving the user rejection instruction, the user can adjust the current target path preview indicator according to the trajectory adjustment indicator to update the target path preview indicator, and the path confirmation interface is displayed again after the update is completed.

[0145] In some embodiments, the method further includes: displaying an operation information interface, wherein the operation information interface includes work information of the movable robot working in the target work area; updating the operation information in response to the operation of the operation information interface or the control interface by the external object; and updating the operation information interface based on the operation information.

[0146] Exemplarily, the control interface includes an operation information interface. As shown in FIG4 , an operation information interface 204 is displayed in the control interface, wherein the operation information interface is used to display the work information required for the mobile robot to work in the target work area, receive and respond to adjustment operations of external objects on the operation information interface or the control interface, obtain updated operation information, and use the updated operation information to update the operation information interface.

[0147] For example, the operation information interface includes buttons for adjusting and displaying the working mode, and then receives the adjustment of the working mode by an external object to update the operation information and the operation information interface.

[0148] In some embodiments, the working information includes at least one or more of the actual area information corresponding to the working area identifier, the time consumption information corresponding to the movable robot working in the working area identifier, the working mode information, and the preset angle difference between the initial path preview identifiers.

[0149] Exemplarily, the real area information is the real area corresponding to the real map information in the work area identification. Optionally, when there are multiple target work areas, the real area information corresponding to the multiple target work areas can be displayed separately, or the total area between the real areas corresponding to the multiple target work areas can be displayed.

[0150] The time-consuming information is the time required for the mobile robot to complete the current task after determining the work path in the real map information. When there are multiple target work areas, the time information can be displayed separately, or the total time information required to complete all the target work areas can be displayed. The time-consuming information can also be the time required for the target path preview identifier to be executed after the movement path corresponding to the first target path preview identifier is executed is reached.

[0151] The working mode information is the working mode information of the mobile robot when operating in the real map information. For example, when the mobile robot is a lawn mower, the working mode information can be simplex mowing mode, duplex mowing mode, bow mowing mode, circular mowing mode, etc.

[0152] The preset angle difference is the angle difference between the initial path preview identifiers when the working mode of the mobile robot in the real map information is the repeated traversal mode.

[0153] Optionally, the working information may also include other information, such as the speed information of the mobile robot when working in the real map information, the cutter head height information when the mobile robot is a lawn mower, etc. There is no specific restriction in this application and it can be selected according to needs.

[0154] Furthermore, in response to the external object's adjustment operation on the operation information interface, the operation information is updated; and updating the operation information interface based on the operation information further includes: adjusting a preset angle difference.

[0155] Furthermore, in response to the external object's adjustment operation on the control interface, the operation information is updated; and updating the operation information interface based on the operation information also includes updating time information, speed information, the number of traversals in a repeated traversal mode, etc. according to the movable robot's movement path. It should be understood that different movement paths in the same work area may correspond to different operation information. For example, the time information corresponding to different movement paths may deviate. The movement path generated by the preview identifier of the target path selected by the user is then updated based on the operation information corresponding to the movement path. In this way, the user can obtain updated operation information in a timely manner, confirm whether to adopt the movement path, and determine whether to adjust the movement path again based on this information.

[0156] For example, after generating a moving path, the time information corresponding to the moving path is predicted to be 30 minutes based on the performance information of the movable robot, the actual environmental information of the working area and other related information. The time information of 30 minutes is updated to the operation information interface. If the user confirms that the time information of the operation is too long, the path preview icon can be adjusted again using the trajectory adjustment icon to generate a new moving path.

[0157] In some embodiments, after generating the moving path of the movable robot that matches the multiple target path preview identifiers, it also includes: obtaining at least two target path preview identifiers, when the angle difference between the target path preview identifiers is 180 degrees, the directions of the path information corresponding to the target path preview identifiers are the same or opposite.

[0158] The path information may include the direction of travel, the direction of avoiding obstacles, etc.

[0159] Exemplarily, at least two target path preview identifiers are obtained from the work area identifier. If the angle difference between the two target path preview identifiers is 180 degrees, it means that the paths corresponding to the two target path preview identifiers have the same or opposite travel directions.

[0160] For example, the target path preview identifiers are a first target path preview identifier and a second target path preview identifier, wherein the angle value corresponding to the first target path preview identifier is 30 degrees, and the angle value corresponding to the second target path preview identifier is 210 degrees. Then the angle difference between the first target path preview identifier and the second target path preview identifier is 180 degrees, that is, the first target path preview identifier and the second target path preview identifier are in a parallel state. When the corresponding path travel direction is obtained, it can be the same direction or the opposite direction.

[0161] Optionally, when the work area identifier includes three or more target path preview identifiers, and the angle difference between two target path preview identifiers is 180 degrees, it means that the paths corresponding to the two target path preview identifiers have the same or opposite travel directions.

[0162] In some embodiments, the control interface is also provided with a function identifier, and the method further includes: after the preset trigger operation is executed, if there is an overlapping area between the trajectory adjustment identifier and the function identifier, adjusting the display position of the trajectory adjustment identifier on the control interface, the display position is on the connecting line between the target position corresponding to the trigger information and the preset reference position, and there is no overlapping area between the display position and the function identifier.

[0163] Exemplarily, a function identifier is also provided in the control interface. When the preset trigger operation is completed, if there is an overlapping area between the position information of the trajectory adjustment identifier and the position information of the function identifier, the normal use of the trajectory adjustment identifier and the function identifier may be affected. Therefore, it is necessary to adjust the display position of the trajectory adjustment identifier in the control interface so that the trajectory adjustment identifier can be displayed normally without affecting the adjustment effect of the trajectory adjustment identifier on the initial path preview identifier and the normal use of the function identifier, thereby avoiding accidental touch of the user between the trajectory adjustment identifier and the function identifier, and improving user experience and adjustment efficiency.

[0164] For example, when adjusting the display position of the trajectory adjustment mark in the control interface, it must not affect the normal use of the function mark, and it is only necessary to prevent the trajectory adjustment mark and the function mark from overlapping. However, if the adjustment effect of the trajectory adjustment mark on the initial path preview mark is not affected, it is necessary to keep the angle change corresponding to the trajectory adjustment mark unchanged, and then adjust the trajectory adjustment mark to the connecting line between the target position corresponding to the trigger information and the preset reference position, and there must be no overlapping area between the display position and the function mark.

[0165] For example, as shown in Figures 5 and 6, the function identifier includes a Ready button and a notification button. When the Ready button coincides with the trajectory adjustment identifier, if the trajectory adjustment identifier is placed at this position to end the adjustment, then in order not to affect the normal use of the Ready button and the trajectory adjustment identifier, the trajectory adjustment identifier can be adjusted to the connecting line between the target position corresponding to the trigger information and the preset reference position, and there is no overlapping area between the display position of the trajectory adjustment identifier and the function identifier.

[0166] Please refer to FIG. 7 , which is a schematic block diagram of the structure of a terminal device provided in an embodiment of the present invention.

[0167] As shown in FIG7 , the terminal device 300 includes a processor 301 and a memory 302 . The processor 301 and the memory 302 are connected via a bus 303 , such as an I 2 C (Inter-integrated Circuit) bus.

[0168] Specifically, the processor 301 is used to provide computing and control capabilities to support the operation of the entire terminal device. The processor 301 can be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0169] Specifically, the memory 302 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0170] Those skilled in the art will understand that the structure shown in Figure 7 is merely a block diagram of a partial structure related to the embodiment of the present invention, and does not constitute a limitation on the terminal device to which the embodiment of the present invention is applied. The specific server may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0171] The processor is configured to run a computer program stored in a memory, and implement any one of the moving path adjustment methods provided by the embodiments of the present invention when executing the computer program.

[0172] In one embodiment, the processor is configured to run a computer program stored in the memory, and implement the following steps when executing the computer program:

[0173] Displaying a control interface, wherein the control interface is provided with a work area identifier;

[0174] When the working mode of the mobile robot is the repeated traversal mode, at least one initial path preview mark adapted to the repeated traversal mode is displayed in the working area mark, and at least one trajectory adjustment mark corresponding to the initial preview mark is displayed;

[0175] receiving trigger information generated by an external object executing a preset trigger operation on the trajectory adjustment identifier, adjusting the at least one initial path preview identifier according to the trigger information, obtaining a plurality of target path preview identifiers, and displaying the plurality of target path preview identifiers on the control interface, wherein the plurality of target path preview identifiers have different angle information;

[0176] A moving path of the movable robot matching the plurality of target path preview identifiers is generated.

[0177] In some embodiments, the initial path preview identifier includes a first path preview identifier, and the trajectory adjustment identifier includes a first trajectory adjustment identifier;

[0178] The processor 301, in the process of receiving trigger information generated by an external object performing a preset trigger operation on the trajectory adjustment identifier, adjusting the at least one initial path preview identifier according to the trigger information, obtaining multiple target path preview identifiers, and displaying the multiple target path preview identifiers on the control interface, executes:

[0179] receiving first trigger information generated by an external object executing a first preset trigger operation on the first trajectory adjustment identifier, adjusting the first path preview identifier according to the first trigger information to obtain a first target path preview identifier, and displaying the first target path preview identifier;

[0180] A second target path preview identifier is determined according to the first trigger information and a preset angle difference, and the second target path preview identifier is displayed.

[0181] In some implementations, after displaying the second target path preview indicator, the processor 301 further executes:

[0182] displaying a second trajectory adjustment mark corresponding to the second target path preview mark;

[0183] Receive second trigger information generated by the second trajectory adjustment identifier being executed by an external object for a second preset trigger operation, update the second target path preview identifier according to the second trigger information, obtain an updated second target path preview identifier, and display the updated second target path preview identifier.

[0184] In some embodiments, the initial path preview identifier includes at least a third path preview identifier and a fourth path preview identifier, the trajectory adjustment identifier includes a third trajectory adjustment identifier, and the third path preview identifier corresponds to the third trajectory adjustment identifier;

[0185] The processor 301, in the process of receiving trigger information generated by an external object performing a preset trigger operation on the trajectory adjustment identifier, adjusting the at least one initial path preview identifier according to the trigger information, obtaining multiple target path preview identifiers, and displaying the multiple target path preview identifiers on the control interface, executes:

[0186] receiving third trigger information generated by an external object executing a third preset trigger operation on the third trajectory adjustment identifier, and adjusting the third path preview identifier according to the third trigger information to obtain a third target path preview identifier;

[0187] Adjusting the fourth path preview identifier according to the third trigger information and the preset angle difference to obtain a fourth target path preview identifier;

[0188] The third target path preview mark and the fourth target path preview mark are displayed.

[0189] In some embodiments, the processor 301 further executes:

[0190] displaying a fourth trajectory adjustment mark corresponding to the fourth target path preview mark;

[0191] Receive fourth trigger information generated by the fourth trajectory adjustment identifier being executed by an external object for a fourth preset trigger operation, adjust the fourth target path preview identifier according to the fourth trigger information, obtain an updated fourth target path preview identifier, and display the third target path preview identifier and the updated fourth target path preview identifier.

[0192] In some embodiments, the initial path preview identifier includes at least a fifth path preview identifier and a sixth path preview identifier, the trajectory adjustment identifier includes a fifth trajectory adjustment identifier and a sixth trajectory adjustment identifier, and the fifth path preview identifier corresponds to the fifth trajectory adjustment identifier, and the sixth path preview identifier corresponds to the sixth trajectory adjustment identifier;

[0193] The processor 301, in the process of receiving trigger information generated by an external object performing a preset trigger operation on the trajectory adjustment identifier, adjusting the at least one initial path preview identifier according to the trigger information, obtaining multiple target path preview identifiers, and displaying the multiple target path preview identifiers on the control interface, executes:

[0194] receiving fifth trigger information generated by an external object executing a fifth preset trigger operation on the fifth trajectory adjustment identifier, and simultaneously receiving sixth trigger information generated by an external object executing a sixth preset trigger operation on the sixth trajectory adjustment identifier;

[0195] According to the fifth trigger information, the fifth path preview identifier is adjusted to obtain a fifth target path preview identifier and the fifth target path preview identifier is displayed; and according to the sixth trigger information, the sixth path preview identifier is adjusted to obtain a sixth target path preview identifier and the sixth target path preview identifier is displayed.

[0196] In some implementations, the preset angle difference is 90 degrees; or, the preset angle difference is obtained according to the angle difference between the initial path preview marks.

[0197] In some implementations, the processor 301 further executes, before displaying the control interface:

[0198] A target working area of ​​the mobile robot is determined, and a control interface adapted to the target working area is generated, wherein the working area identifier is generated according to the target working area.

[0199] In some implementations, when adjusting the at least one initial path preview identifier according to the trigger information to obtain multiple target path preview identifiers, the processor 301 executes:

[0200] determining relative position information between the trajectory adjustment marker and a preset reference position according to the trigger information;

[0201] At least one of the initial path preview identifiers is adjusted according to the relative position information, thereby obtaining a plurality of target path preview identifiers.

[0202] In some embodiments, the relative position information includes relative angle information. In the process of determining the relative position information between the trajectory adjustment mark and the preset reference position according to the trigger information, the processor 301 executes:

[0203] Determining a target position corresponding to the trigger information, and determining a connecting line according to the target position and the preset reference position;

[0204] The angle between the connecting line and the target reference line is calculated, and the relative angle information between the trajectory adjustment mark and the preset reference position is determined according to the angle.

[0205] In some implementations, different initial path preview markers are set with different marker attributes, and the marker attributes include marker color, marker width, and marker line style.

[0206] In some implementations, the initial path preview mark is displayed in the work area mark.

[0207] In some embodiments, the processor 301 further executes:

[0208] The initial path preview mark is controlled to perform a preset adjustment operation according to the movement trajectory of the trajectory adjustment mark on the control interface, and the execution result of the preset adjustment operation performed by the initial path preview mark is displayed in real time.

[0209] In some embodiments, the processor 301, in the process of generating the moving path of the movable robot that matches the multiple target path preview identifiers, executes:

[0210] Displaying a path confirmation interface, wherein the path confirmation interface is used to receive a confirmation operation from the external object;

[0211] In response to the confirmation operation, a movement path of the movable robot matching the plurality of target path preview identifiers is generated.

[0212] In some embodiments, the processor 301 further executes:

[0213] Displaying an operation information interface, wherein the operation information interface includes operation information of the mobile robot in the target work area;

[0214] In response to an operation of the external object on the operation information interface or the control interface, updating the operation information;

[0215] The job information interface is updated based on the job information.

[0216] In some embodiments, the working information includes at least one or more of the actual area information corresponding to the working area identifier, the time consumption information corresponding to the movable robot working in the working area identifier, the working mode information, and the preset angle difference between the initial path preview identifiers.

[0217] In some implementations, the preset reference position is the center position of the work area marker, or the preset reference position is the center position of the control interface.

[0218] In some embodiments, after generating the moving paths of the movable robot that match the multiple target path preview identifiers, the processor 301 further executes:

[0219] At least two target path preview identifiers are obtained. When the angle difference between the target path preview identifiers is 180 degrees, the directions of the path information corresponding to the target path preview identifiers are the same or opposite.

[0220] In some embodiments, the control interface is further provided with a function identifier, and the processor 301 further executes:

[0221] After the preset trigger operation is executed, if there is an overlapping area between the trajectory adjustment identifier and the function identifier, the display position of the trajectory adjustment identifier on the control interface is adjusted, and the display position is on the connecting line between the target position corresponding to the trigger information and the preset reference position, and there is no overlapping area between the display position and the function identifier.

[0222] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the terminal device described above can refer to the corresponding process in the aforementioned mobile path adjustment method embodiment, and will not be repeated here.

[0223] An embodiment of the present invention also provides a storage medium for computer-readable storage, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of any one of the moving path adjustment methods provided in the description of the embodiment of the present invention.

[0224] The storage medium may be an internal storage unit of the terminal device described in the aforementioned embodiment, such as a hard disk or memory of the terminal device. The storage medium may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device.

[0225] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware embodiment, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable, and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media generally embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0226] It should be understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system that includes the element.

[0227] The serial numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope of protection of the claims.

Claims

1. A method for adjusting a moving path, wherein: The method comprises: Displaying a control interface, wherein the control interface is provided with a work area identifier; When the working mode of the movable robot is the repeated traversal mode, at least one initial path preview mark adapted to the repeated traversal mode is displayed in the working area mark, and at least one trajectory adjustment mark corresponding to the initial preview mark is displayed; receiving trigger information generated by the trajectory adjustment mark being executed by an external object with a preset trigger operation, adjusting the at least one initial path preview mark according to the trigger information, obtaining a plurality of target path preview marks, and displaying the plurality of target path preview marks on the control interface, wherein the angle information between the plurality of target path preview marks is different; A moving path of the movable robot matching the plurality of target path preview identifiers is generated.

2. The method according to claim 1, wherein: The initial path preview identifier includes a first path preview identifier, and the trajectory adjustment identifier includes a first trajectory adjustment identifier; The receiving trigger information generated by the external object performing a preset trigger operation on the trajectory adjustment mark, adjusting the at least one initial path preview mark according to the trigger information, obtaining a plurality of target path preview marks, and displaying the plurality of target path preview marks on the control interface includes: receiving first trigger information generated by an external object executing a first preset trigger operation on the first trajectory adjustment mark, adjusting the first path preview mark according to the first trigger information to obtain a first target path preview mark, and displaying the first target path preview mark; A second target path preview mark is determined according to the first trigger information and the preset angle difference, and the second target path preview mark is displayed.

3. The method according to claim 2, wherein: After displaying the second target path preview mark, the method further includes: Displaying a second trajectory adjustment mark corresponding to the second target path preview mark; The second trajectory adjustment mark is received by an external object to perform a second preset trigger operation to generate second trigger information, and the second target path preview mark is updated according to the second trigger information, and the updated second target path preview mark is obtained and displayed.

4. The method according to claim 1, wherein: The initial path preview identifier at least includes a third path preview identifier and a fourth path preview identifier, the trajectory adjustment identifier includes a third trajectory adjustment identifier, and the third path preview identifier corresponds to the third trajectory adjustment identifier; The receiving trigger information generated by the external object performing a preset trigger operation on the trajectory adjustment mark, adjusting the at least one initial path preview mark according to the trigger information, obtaining a plurality of target path preview marks, and displaying the plurality of target path preview marks on the control interface includes: receiving third trigger information generated by the third trajectory adjustment mark being executed by an external object for a third preset trigger operation, and adjusting the third path preview mark according to the third trigger information to obtain a third target path preview mark; The fourth path preview mark is adjusted according to the third trigger information and the preset angle difference to obtain a fourth target path. Preview logo; The third target path preview mark and the fourth target path preview mark are displayed.

5. The method according to claim 4, wherein: The method further comprises: Displaying a fourth trajectory adjustment mark corresponding to the fourth target path preview mark; Receive fourth trigger information generated by the fourth trajectory adjustment identifier being executed by an external object for a fourth preset trigger operation, adjust the fourth target path preview identifier according to the fourth trigger information, obtain an updated fourth target path preview identifier, and display the third target path preview identifier and the updated fourth target path preview identifier.

6. The method according to claim 1, wherein: The initial path preview identifier at least includes a fifth path preview identifier and a sixth path preview identifier, the track adjustment identifier includes a fifth track adjustment identifier and a sixth track adjustment identifier, and the fifth path preview identifier corresponds to the fifth track adjustment identifier, and the sixth path preview identifier corresponds to the sixth track adjustment identifier; The receiving trigger information generated by the external object performing a preset trigger operation on the trajectory adjustment mark, adjusting the at least one initial path preview mark according to the trigger information, obtaining a plurality of target path preview marks, and displaying the plurality of target path preview marks on the control interface includes: receiving fifth trigger information generated by a fifth preset trigger operation performed by an external object on the fifth track adjustment mark, and simultaneously receiving sixth trigger information generated by a sixth preset trigger operation performed by an external object on the sixth track adjustment mark; The fifth path preview mark is adjusted according to the fifth trigger information to obtain a fifth target path preview mark and the fifth target path preview mark is displayed, and the sixth path preview mark is adjusted according to the sixth trigger information to obtain a sixth target path preview mark and the sixth target path preview mark is displayed.

7. The method according to any one of claims 2 to 5, wherein: The preset angle difference is 90 degrees; Alternatively, the preset angle difference is obtained according to the angle difference between the initial path preview marks.

8. The method according to any one of claims 1 to 6, wherein: Before displaying the control interface, the method further includes: A target working area of ​​the mobile robot is determined, and a control interface adapted to the target working area is generated, wherein the working area identifier is generated according to the target working area.

9. The method according to any one of claims 1 to 6, wherein: The step of adjusting the at least one initial path preview identifier according to the trigger information to obtain a plurality of target path preview identifiers includes: Determine relative position information between the trajectory adjustment mark and a preset reference position according to the trigger information; At least one of the initial path preview identifiers is adjusted according to the relative position information, thereby obtaining a plurality of target path preview identifiers.

10. The method according to claim 9, wherein: The relative position information includes relative angle information, and the determining the relative position information between the trajectory adjustment mark and the preset reference position according to the trigger information includes: Determining a target position corresponding to the trigger information, and determining a connecting line according to the target position and the preset reference position; The angle between the connecting line and the target reference line is calculated, and the relative angle information between the trajectory adjustment mark and the preset reference position is determined according to the angle.

11. The method according to any one of claims 1 to 6, wherein: Different initial path preview markers have different marker attributes, and the marker attributes include marker color, marker width, and marker line style.

12. The method according to any one of claims 1 to 6, wherein: The initial path preview mark is displayed in the working area mark.

13. The method according to any one of claims 1 to 6, wherein: The method further comprises: The initial path preview mark is controlled to perform a preset adjustment operation according to the moving track of the track adjustment mark on the control interface, and the execution result of the preset adjustment operation performed by the initial path preview mark is displayed in real time.

14. The method according to any one of claims 1 to 6, wherein: The step of generating a moving path of the movable robot matching the plurality of target path preview identifiers comprises: Displaying a path confirmation interface, wherein the path confirmation interface is used to receive a confirmation operation of the external object; In response to the confirmation operation, a moving path of the movable robot matching the plurality of target path preview identifiers is generated.

15. The method according to any one of claims 1 to 6, wherein: The method further comprises: Displaying an operation information interface, wherein the operation information interface includes operation information of the mobile robot operating in the target working area; In response to the external object's operation on the operation information interface or the control interface, updating the operation information; The job information interface is updated based on the job information.

16. The method according to claim 15, wherein: The working information includes at least one or more of the real area information corresponding to the working area identifier, the time consumption information corresponding to the working of the mobile robot in the working area identifier, the working mode information and the preset angle difference between the initial path preview identifiers.

17. The method according to claim 10, wherein: The preset reference position is the center position of the work area mark, or the preset reference position is the center position of the control interface.

18. The method according to claim 1, wherein: After generating the moving paths of the movable robot matching the plurality of target path preview identifiers, the method further comprises: At least two target path preview identifiers are obtained. When the angle difference between the target path preview identifiers is 180 degrees, the directions of the path information corresponding to the target path preview identifiers are the same or opposite.

19. The method according to claim 1, wherein: The control interface is also provided with a function identifier, and the method further includes: After the preset trigger operation is executed, if there is an overlapping area between the trajectory adjustment identifier and the function identifier, the display position of the trajectory adjustment identifier on the control interface is adjusted, and the display position is on the connecting line between the target position corresponding to the trigger information and the preset reference position, and there is no overlapping area between the display position and the function identifier.

20. A terminal device, wherein: The terminal device includes a processor and a memory; The memory is used to store computer programs; The processor is configured to execute the computer program and implement the method for adjusting the moving path according to any one of claims 1 to 19 when executing the computer program.

21. A computer storage medium for computer storage, wherein: The computer storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the moving path adjustment method according to any one of claims 1 to 19.

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