Recharging path planning method and apparatus, self-moving device, and readable storage medium

Abstract

A recharging path planning method and apparatus, a self-moving device, and a readable storage medium, relating to the technical field of self-moving device recharging. In the present application, when a self-moving device triggers recharging, a historical operating path corresponding to the self-moving device at a current position is acquired; on the basis of the current position and a recharging position of a charging station, a pre-selected recharging path for the self-moving device is determined; and on the basis of the historical operating path and the pre-selected recharging path, planning a recharging path for the self-moving device to obtain a target recharging path, such that the self-moving device moves to the charging station for recharging on the basis of the target recharging path.

Description

Recharge path planning method, device, self-mobile device and readable storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on October 23, 2023, with application number 202311379088.8, and invention name “Recharging path planning method, device, self-mobile device and readable storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of recharging of self-mobile equipment, and in particular to a recharging path planning method, apparatus, self-mobile equipment, and readable storage medium. Background Art

[0003] With the continuous development of science and technology, mobile devices have been widely used. When the power of a mobile device is low during work, it needs to return to a charging station for charging.

[0004] The inventors realized that when a mobile device selects a recharging route to return to a charging station for charging, some mobile devices find a wire pre-set on the boundary line of the working map and make the mobile device walk along the wire to return to the charging station. When the boundary line found by the mobile device is far away from the charging station, it is necessary to walk a long distance along the boundary line to reach the charging station, and a large amount of electricity is consumed during this walking process.

[0005] In addition, some self-moving devices directly search for the shortest distance path between the current location of the self-moving device and the location of the charging station, and return to the charging station by walking on the shortest distance path. However, the self-moving device is prone to walking to areas where the self-moving device is not working or has not been cleaned on the shortest distance path, thereby consuming a large amount of electricity to pass through the non-working area; therefore, the above situation has unreasonable return path planning, and it is easy for the remaining electricity to be insufficient to support the self-moving device to return to the charging station, resulting in low return efficiency of the self-moving device.

[0006] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art.

[0007] Application Contents

[0008] The main purpose of this application is to provide a recharging path planning method, device, self-mobile device and readable storage medium, aiming to solve the technical problems of unreasonable recharging path planning and low recharging efficiency when a self-mobile device is traveling to a charging station for recharging.

[0009] To achieve the above objectives, the present application provides a recharging path planning method, which is applied to a self-mobile device. The recharging path planning method includes:

[0010] When the self-mobile device triggers recharging, obtaining a historical working path corresponding to the current location of the self-mobile device;

[0011] Determining a preselected recharging path for the mobile device based on the current location and the recharging location of the charging station;

[0012] A recharging path is planned for the self-mobile device according to the historical working path and the preselected recharging path to obtain a target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

[0013] The present application also provides a self-propelled device, comprising: a vehicle head, a vehicle body, a memory, a processor, and a recharging path planning program stored in the memory and executable on the processor, wherein the vehicle head is detachably connected to the vehicle body, the memory and the processor are disposed on the vehicle body, and the recharging path planning program is configured to implement the following steps:

[0014] When the self-mobile device triggers recharging, obtaining a historical working path corresponding to the current location of the self-mobile device;

[0015] Determining a preselected recharging path for the mobile device based on the current location and the recharging location of the charging station;

[0016] A recharging path is planned for the self-mobile device according to the historical working path and the preselected recharging path to obtain a target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

[0017] The present application also provides one or more computer-readable storage media, wherein the storage media stores a recharge path planning program, and when the recharge path planning program is executed by one or more processors, the following steps are implemented:

[0018] When the self-mobile device triggers recharging, obtaining a historical working path corresponding to the current location of the self-mobile device;

[0019] Determining a preselected recharging path for the mobile device based on the current location and the recharging location of the charging station;

[0020] A recharging path is planned for the self-mobile device according to the historical working path and the preselected recharging path to obtain a target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

[0021] An embodiment of the present application provides a recharging path planning method. The embodiment of the present application first obtains a historical working path corresponding to the current location of the self-mobile device when recharging is triggered by the self-mobile device, then plans a recharging path for the self-mobile device based on the historical working path and the pre-selected recharging path to obtain a target recharging path, and finally plans a recharging path for the self-mobile device based on the historical working path and the pre-selected recharging path to obtain a target recharging path, so that the self-mobile device can move to a charging station for recharging according to the target recharging path, wherein the recharging power consumption of the target recharging path is the least.

[0022] The present application records the current position of the self-mobile device and the historical working path taken by the self-mobile device when working, and determines the pre-selected recharging path that the self-mobile device can travel to the charging station based on the current position of the self-mobile device and the recharging position of the charging station, and plans the recharging path of the self-mobile device in a dynamic planning and adjustment manner through the pre-selected recharging path and the historical working path to obtain a target recharging path that can return to the charging station, so that when the self-mobile device travels on the target recharging path, the power required to be consumed is the minimum walking power consumption among all recharging paths. Therefore, the target recharging path is the optimal recharging path for the current self-mobile device to return to the charging station, thereby overcoming the technical problem that when the self-mobile device is traveling to the charging station for recharging, due to unreasonable recharging path planning, the self-mobile device needs to consume a large amount of electricity to return to the charging station during the recharging process, thereby solving the technical problem of low recharging efficiency of the current self-mobile device.

[0023] The details of one or more embodiments of the disclosure are set forth in the accompanying drawings and the description below, and other features and advantages of the disclosure will be apparent from the description, the drawings, and the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] FIG1 is a flow chart of a first embodiment of a method for planning a recharge path according to the present invention;

[0027] FIG2 is a schematic diagram of a scenario provided by Example 1 of the recharging path planning method of the present application;

[0028] FIG5 is a flow chart of a second embodiment of the method for recharging path planning of the present application;

[0029] FIG4 is a schematic diagram of the module structure of the recharging path planning device according to an embodiment of the present application;

[0030] FIG5 is a schematic diagram of the device structure of the hardware operating environment involved in the recharge path planning method in an embodiment of the present application.

[0031] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0032] To make the above-mentioned purposes, features, and advantages of the present application more clearly understood, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of this application.

[0033] Example 1

[0034] This application proposes a first embodiment of a recharging path planning method, which is applied to a mobile device. Referring to FIG. 1 , the recharging path planning includes:

[0035] Step S10, when the self-mobile device triggers recharging, obtaining a historical working path corresponding to the current location of the self-mobile device;

[0036] Step S20, determining a preselected recharging path for the mobile device based on the current location and the recharging location of the charging station;

[0037] Step S30 , planning a recharging path for the mobile device based on the historical working path and the preselected recharging path to obtain a target recharging path, so that the mobile device can move to the charging station for recharging according to the target recharging path.

[0038] In this embodiment, it should be noted that before the self-mobile device starts working, a work map can be established in advance. Specifically, you can first walk around the area where the work needs to be performed, and establish a work map based on the walking results obtained after walking around. In the process of establishing the work map, you can pre-select an edge position in a working area as the charging station location. Specifically, you can select any signal point in the working area, place a base station at the signal point that can be used for positioning of the self-mobile device, and set the location of the charging station near the base station. At the same time, the location of the charging station of the self-mobile device can change with the change of the working area.

[0039] In addition, it should be noted that the charging station recharging location is a location located within the working map of the self-mobile device, close to the charging station location and capable of recharging. The self-mobile device triggers recharging by receiving a recharging instruction sent by the user end, or automatically triggering a recharging instruction when detecting that the power level drops to a certain value. The current position of the self-mobile device is obtained by integrating RTK (Real-time kinematic), wheel speed meter and inertial sensor for positioning.

[0040] In addition, it should be noted that the historical working path represents the path that the self-mobile device has worked on and cleared when walking to the current position, which can be recorded in the working map of the self-mobile device. Specifically, the historical working path can be the path with the least snow in the current working map, and the snow conditions on the historical working path do not affect the normal movement of the self-mobile device. In addition, the pre-selected recharging path represents all recharging paths that can be walked to the recharging position of the charging station when the self-mobile device is in the current position. Specifically, it can be one or more recharging paths among the shortest path between the current position and the recharging position of the charging station, the path with the least snow, the path with the least obstacles, or the path with the least number of turns.

[0041] In addition, it should be noted that the target recharging path represents the path that consumes the least power when the mobile device walks from its current location to the recharging location of the charging station. The planning of the target recharging path requires the joint detection of the historical working path and the pre-selected recharging path. Therefore, the power consumed by the mobile device when walking on the target recharging path will definitely be less than or equal to the power consumed when walking on the pre-selected recharging path.

[0042] An embodiment of the present application provides a recharging path planning method. The embodiment of the present application first obtains a historical working path corresponding to the current location of the self-mobile device when recharging is triggered by the self-mobile device, then plans a recharging path for the self-mobile device based on the historical working path and the pre-selected recharging path to obtain a target recharging path, and finally plans a recharging path for the self-mobile device based on the historical working path and the pre-selected recharging path to obtain a target recharging path, so that the self-mobile device can move to a charging station for recharging according to the target recharging path, wherein the recharging power consumption of the target recharging path is the least. The embodiment of the present application records the historical working path taken by the mobile device when it is working, and determines the pre-selected recharging path that the mobile device can walk to the charging station. When the mobile device returns to the charging station, the historical working path and the pre-selected working path are simultaneously considered, and a target recharging path that can return to the charging station is determined in a dynamic planning and adjustment manner. When the mobile device walks on the target recharging path, the power required to be consumed by the mobile device is the minimum walking power consumption among all recharging paths. Therefore, the target recharging path is the optimal recharging path for the current mobile device to return to the charging station, thereby overcoming the technical problem that when the mobile device is heading to the charging station for recharging, due to unreasonable recharging path planning, the mobile device needs to consume a large amount of electricity to return to the charging station during the recharging process. Therefore, the technical problem of low recharging efficiency of the current mobile device is solved.

[0043] In one possible implementation, the step of performing recharging path planning for the mobile device based on the historical working path and the preselected recharging path to obtain a target recharging path includes:

[0044] Step A10, determining whether the historical working path matches the charging station recharging location;

[0045] Step A20: If a match is found, the target recharging path is generated by comparing the recharging power consumption corresponding to the historical working path and the preselected recharging path.

[0046] Step A30: If there is no match, determining the path splicing position of the historical working path;

[0047] Step A40: constructing a recharging sub-path for the self-mobile device according to the path splicing position, and splicing the recharging sub-path and the historical working path into the target recharging path.

[0048] In this embodiment, it should be noted that determining whether a charging station recharge location exists in the historical working path is to determine whether there is a cleared path that can be traveled to the charging station. This is because the mobile device can start work from the charging station or from any location on the work map. Therefore, there may be situations where the mobile device's working path does not include the charging station recharge location, i.e., the area near the charging station has not been cleared by the mobile device. In this case, the mobile device cannot directly return to the charging station recharge location via the historical working path. Instead, it is necessary to find a path splicing location on the historical working path that can be spliced ​​with another recharge path to allow the mobile device to return to the charging station. The path splicing location is used to replace the current path of the mobile device. When the mobile device moves to the path splicing location, a recharge sub-path between the path splicing location and the charging station recharge location is detected. The recharge sub-path is the recharge path that consumes the least power between the mobile device at the path splicing location and the charging station recharge location. Therefore, the historical working path of the mobile device and the recharge sub-path are spliced ​​together to form a target recharge path, making the target recharge path of the mobile device the recharge path that consumes the least power.

[0049] This embodiment analyzes the working range of historical working paths on a case-by-case basis, enabling the self-mobile device to determine the target recharging path more quickly and accurately. Since the self-mobile device can choose from a variety of recharging paths, and when one recharging path cannot quickly reach the charging station, the recharging path can be adjusted, ensuring that the target recharging path of the self-mobile device is the recharging path with the least power consumption.

[0050] In a possible implementation, the step of determining the path splicing position of the historical working path includes:

[0051] Step B10, obtaining at least one historical work position of the historical work path;

[0052] Step B20: for any of the historical working positions, detecting the recharging power consumption between the historical working position and the recharging position of the charging station;

[0053] Step B30: selecting the path splicing position from each of the historical working positions according to the recharging power consumption.

[0054] In this embodiment, it should be noted that the historical working position represents any position in the historical working path. Since the working area near the charging station has not been cleaned and it is impossible to return to the charging station directly through the historical working path, it is necessary to construct a recharging sub-path to return to the charging station. When constructing the recharging sub-path, in order to ensure that the recharging sub-path with the least power consumption can be obtained, the recharging power consumption between the historical working position and the charging station recharging position can be detected to determine the path splicing position in the historical working path, that is, to determine the recharging path with the least power consumption between the historical working position and the charging station recharging position. The recharging path with the least power consumption can specifically be the path with the shortest walking distance, the path with the least snow, the path with the least obstacles, or the path with the least number of turns when the automatic device walks to the charging station through the historical working position, and the historical working position corresponding to the position with the least recharging power consumption is used as the path splicing position, so that the mobile device first walks to the path splicing position when recharging, and then dynamically adjusts the target recharging path at the path splicing position.

[0055] In one possible implementation, the recharging power consumption includes a first power consumption of the historical working path and a second power consumption of the preselected recharging path. The step of generating the target recharging path by comparing the recharging power consumptions corresponding to the historical working path and the preselected recharging path includes:

[0056] Step C10, determining the relationship between the second power consumption and the first power consumption;

[0057] Step C20: When the second power consumption is less than or equal to the first power consumption, selecting the target recharging path from the preselected recharging paths;

[0058] Step C30: When the second power consumption is greater than the first power consumption, use the historical working path as the target recharging path;

[0059] Step C40: When the sum of the partial path power consumption in the second power consumption and the partial path power consumption in the first power consumption equals the minimum recharging power consumption, generate the target recharging path according to the historical working path and the preselected recharging path.

[0060] In this embodiment, it should be noted that when there is a charging station recharging location on the historical working path, the path that the self-mobile device has worked on can be regarded as the most convenient path to walk on the current working map. Since the distance between the self-mobile device and the charging station recharging location is different when the self-mobile device is at different positions in the working area, it is necessary to compare the recharging power consumption of the historical working path and the pre-selected recharging path. When the self-mobile device is recharged through the pre-selected recharging path, the recharging power consumption consumed is less than or equal to the recharging power consumption of recharging through the historical working path, the self-mobile device will select a target recharging path from the pre-selected recharging path. Since the pre-selected recharging path can be one or more, the recharging power consumption of all recharging paths in the pre-selected recharging path can be compared, and the path with the smallest recharging power consumption is used as the target recharging path. When the recharging power consumption of the historical working path is less than the recharging power consumption of the pre-selected recharging path, the historical working path is used as the target recharging path.

[0061] In addition, it should be noted that the target recharging path planned in this embodiment is a recharging path that can be used to return the mobile device to the charging station from its current location, and the target recharging path may also be a recharging path formed by splicing part of the historical working path and the pre-selected recharging path, that is, the power consumption in the historical working path and the pre-selected recharging path are detected separately, and all splicing methods of the historical working path and the pre-selected recharging path are determined, and the recharging power consumption of all splicing methods is calculated. At this time, there may be a recharging power consumption after adding the power consumption of part of the historical working path and the target recharging path, which is the minimum power consumption from the mobile device to the charging station, and the path with the minimum recharging power consumption added up to the power consumption in the historical working path and the pre-selected recharging path is spliced ​​and combined to generate the target recharging path.

[0062] In this embodiment, when there is a historical working path that can return to the charging station and has been cleaned, when the self-mobile device returns to the charging station for charging, it does not directly walk along the historical working path, but compares the recharging power consumption of the historical working path with the recharging power consumption of the pre-selected working path, and uses the path with less recharging power consumption as the target recharging path. In this way, it can be concluded that the self-mobile device consumes the least amount of power when recharging through the target recharging path.

[0063] In one possible implementation, after the step of performing recharging path planning for the mobile device based on the historical working path and the preselected recharging path to obtain a target recharging path, the recharging path planning method further includes:

[0064] Step D10, detecting whether there is an obstacle when the self-mobile device moves along the target recharging path;

[0065] Step D20: If yes, control the self-moving device to bypass the obstacle, and determine the bypass termination position on the target recharging path after the bypass is completed;

[0066] Step D30, generating an alternative sub-path based on the detour termination location and the charging station recharging location, and controlling the self-mobile device to move to the charging station for recharging according to the alternative sub-path, wherein the alternative sub-path is generated by the historical working path and / or the preselected recharging path.

[0067] In this embodiment, it should be noted that when the mobile device is traveling along the target recharging route, it may encounter obstacles or other situations that affect normal travel. In this case, it is necessary to detect the size of the obstacle and adjust the mobile device's travel path so that the mobile device can circumvent the obstacle. During the circumvention process, an alternative sub-path is searched to terminate the circumvention. The alternative sub-path can be returning to the current target recharging route and continuing along the current target recharging route to the charging station recharging location. Alternatively, the alternative sub-path can be searching for historical recharging routes or pre-selected recharging routes near the obstacle and selecting a new recharging route from the historical recharging routes or target recharging routes to continue traveling to the charging station recharging location. The alternative sub-path is selected based on the path that minimizes recharging power consumption when the mobile device returns from the current location to the charging station recharging location. In addition, the circumvention termination location represents the location where the mobile device stops circumventing the obstacle and moves to the charging station. By dynamically adjusting the target recharging route, the mobile device consumes less power to travel to the charging station recharging location.

[0068] It can be understood that when a mobile device performs recharging path splicing, the specific splicing method can be to splice the historical working path with the preselected recharging path, or to splice the adjacent historical sub-paths in the historical working path, or to splice the preselected recharging path of the current position with the preselected recharging path of the next position.

[0069] This embodiment determines obstacles and the number of turns on the target recharging path in advance. When the self-moving device encounters obstacles that affect normal walking or an excessive number of turns during walking, the self-moving device can timely change its target recharging path. By splicing recharging paths, a recharging path with less power consumption can be found, thereby reducing the power consumption of the self-moving device during recharging and realizing dynamic adjustment of the recharging path.

[0070] For example, in order to help understand the technical concept or technical principle of the present application, please refer to Figure 2. Figure 2 provides a schematic diagram of a scenario in which a self-mobile device is planning a recharging path. The figure shows the historical working path obtained when the self-mobile device starts from the charging station and works in a bow-shaped scanning path. Points 1, 2, and 3 are historical working positions in the historical working path. When the self-mobile device works to the location of point 1 and triggers a charging instruction at point 1, the self-mobile device can directly return to the charging pile through the historical working path. When the self-mobile device works to the location of point 2 and triggers a charging instruction, the shortest recharging path consumes less power than the historical working path. At this time The self-moving device can be recharged via the shortest recharging path. When the self-moving device reaches point 3 and triggers a charging instruction, if there is no obstacle on the recharging path, it can move to the path change position, that is, the position of point 2, via the historical working path. At point 2, the self-moving device detects that there is a shortest path with the least power consumption back to the charging station. Therefore, the self-moving device will dynamically adjust the recharging path and return to the charging station for charging via the shortest path. When the self-moving device triggers a charging instruction at point 3 and there is an obstacle on the recharging path, it can move to the obstacle via the historical working path, and then make the self-moving device bypass the obstacle and move to the adjacent historical working path in the current recharging path.

[0071] Example 2

[0072] Based on the first embodiment of the present application, in another embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction and will not be repeated hereafter. On this basis, please refer to FIG3 , the steps of planning the recharging path for the self-mobile device based on the historical working path and the pre-selected recharging path to obtain the target recharging path include:

[0073] Step E10: Obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively;

[0074] Step E20 : planning a recharging path for the mobile device based on the road condition information to determine the target recharging path.

[0075] In this embodiment, it should be noted that since there are multiple recharging paths in the preselected recharging paths, in order to select the recharging path with the lowest power consumption, it is necessary to judge the road condition information of all preselected recharging paths, wherein the road condition information may specifically include snow accumulation, obstacles, number of turns and load of the walking motor, etc. By comparing the road condition information of the historical working path and the preselected recharging path, the best road condition information is selected, that is, the path with the lowest walking power consumption is selected as the target recharging path among the historical working path and the preselected recharging path.

[0076] In one possible implementation, the self-mobile device is provided with a distance measuring sensor and / or a snow-clearing motor, the road condition information includes snow accumulation, and the step of obtaining the road condition information corresponding to the historical working path and the preselected recharging path includes:

[0077] Step F10, identifying snow conditions of the historical working path and the preselected recharging path by the ranging sensor; and / or

[0078] Step F20, obtaining the periodic snow clearing amount of the snow clearing motor when traveling on the historical working path and the preselected recharging path; and obtaining the snow accumulation conditions of the historical working path and the preselected recharging path based on the periodic snow clearing amount.

[0079] In this embodiment, it should be noted that before the self-moving device determines the target recharging path, it is necessary to detect the snow accumulation conditions of the historical recharging paths and all pre-selected recharging paths. The detection method can be a ranging sensor or a snow-clearing motor set on the self-moving device, wherein the snow accumulation condition can be specifically expressed as the thickness of the snow. The ranging sensor can, for example, include a visual sensor or a lidar. The periodic snow clearing amount can be expressed as the load consumed by the snow-clearing motor when the snow-clearing motor clears snow on different recharging paths within the same period of time.

[0080] As an example, the step of identifying the snow conditions of the historical working path and the pre-selected recharging path through the ranging sensor includes: using a visual sensor or a lidar from a mobile device to concretely identify the snow conditions of all recharging paths, respectively judging the height and size of the snow in the historical working path and the recharging path, and comparing the snow conditions in the historical working path and the recharging path to select a recharging path with less snow as the target recharging path.

[0081] As another example, the step of obtaining the periodic snow clearing amount of the snow clearing motor when traveling on the historical working path and the pre-selected recharging path includes: under normal circumstances, the snow clearing motor may not be turned on during recharging, but when judging whether there is snow accumulation, a threshold time may be preset as the working time of the snow clearing motor. Within the threshold time, the load condition of the snow clearing motor is judged. The greater the load of the snow clearing motor, the thicker the snow on the recharging path. Therefore, the self-mobile device will select the path with the smallest snow clearing motor load among each recharging path as the target recharging path.

[0082] This embodiment specifically explains how to detect the snow condition on the recharging path, and there are multiple ways to detect the snow condition, so that when the self-moving device selects the target recharging path, it has a basis for the self-moving device to judge the road condition information. As a result, the self-moving device can more accurately select the most suitable target recharging path, reducing the load on the travel motor of the self-moving device when returning to the charging station for charging.

[0083] Example 3

[0084] The present application also provides a recharging path planning device, referring to FIG4 , which includes:

[0085] An acquisition module 10 is configured to acquire a historical working path corresponding to the current location of the self-mobile device when the self-mobile device triggers recharging;

[0086] a determination module 20 for determining a preselected recharging path for the mobile device based on the current location and the recharging location of the charging station;

[0087] The planning module 30 plans a recharging path for the self-mobile device based on the historical working path and the pre-selected recharging path to obtain a target recharging path for the self-mobile device to move to the charging station for recharging according to the target recharging path.

[0088] In one embodiment, the planning module 30 is further configured to:

[0089] Determining whether the historical working path matches the charging station recharging location;

[0090] If they match, the target recharging path is generated by comparing the recharging power consumption corresponding to the historical working path and the pre-selected recharging path;

[0091] If there is no match, determining the path splicing position of the historical working path;

[0092] According to the path splicing position, a recharging sub-path is constructed for the self-mobile device, and the recharging sub-path and the historical working path are spliced ​​into the target recharging path.

[0093] In one embodiment, the recharging path planning device further includes a detection module, and the detection module is configured to:

[0094] Acquire at least one historical work position of the historical work path;

[0095] For any of the historical working positions, detecting the recharging power consumption between the historical working position and the recharging position of the charging station;

[0096] The path splicing position is selected from each of the historical working positions according to the recharging power consumption.

[0097] In one embodiment, the detection module is further configured to:

[0098] determining a relationship between the second power consumption and the first power consumption;

[0099] When the second power consumption is less than or equal to the first power consumption, selecting the target recharging path from the preselected recharging paths;

[0100] When the second power consumption is greater than the first power consumption, using the historical working path as the target recharging path;

[0101] When the sum of the partial path power consumption in the second power consumption and the partial path power consumption in the first power consumption equals the minimum recharging power consumption, the target recharging path is generated according to the historical working path and the preselected recharging path.

[0102] In one embodiment, the planning module 30 is further configured to:

[0103] detecting whether there is an obstacle when the self-mobile device moves along the target recharging path;

[0104] If so, controlling the self-moving device to detour the obstacle, and determining the detour termination position on the target recharging path after the detour is completed;

[0105] An alternative sub-path is generated based on the detour termination location and the charging station recharging location, and the self-mobile device is controlled to move to the charging station for recharging according to the alternative sub-path, wherein the alternative sub-path is generated by the historical working path and / or the preselected recharging path.

[0106] In one embodiment, the determining module 20 is further configured to:

[0107] Obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively;

[0108] Based on the road condition information, a recharging path is planned for the mobile device to determine the target recharging path.

[0109] In one embodiment, the self-moving device is provided with a distance measuring sensor and / or a snow-clearing motor, the road condition information includes snow accumulation, and the recharging path planning device further includes an identification module, wherein the identification module is configured to:

[0110] Identifying snow conditions of the historical working path and the preselected recharging path by the ranging sensor; and / or

[0111] The periodic snow-shoveling amount of the snow-shoveling motor when traveling on the historical working path and the preselected recharging path is obtained; and the snow accumulation conditions of the historical working path and the preselected recharging path are obtained based on the periodic snow-shoveling amount.

[0112] The recharging path planning device provided by the present application adopts the recharging path planning method of the above-mentioned embodiment 1 or embodiment 2, which can solve the technical problem that when existing self-mobile devices are traveling to charging stations for recharging, a large amount of electric energy is consumed during the recharging process due to unreasonable recharging path planning, resulting in low recharging efficiency of the self-mobile devices. Compared with the prior art, the beneficial effects of the recharging path planning device provided by the embodiment of the present application are the same as the beneficial effects of the recharging path planning method provided by the above-mentioned embodiment, and the other technical features of the recharging path planning device are the same as the features disclosed in the method of the above-mentioned embodiment, and are not further described here.

[0113] Example 4

[0114] The present application also provides a self-propelled device, comprising: a vehicle head, a vehicle body, a memory, a processor, and a recharging path planning program stored in the memory and executable on the processor, wherein the vehicle head is detachably connected to the vehicle body, the memory and the processor are disposed on the vehicle body, and the recharging path planning program is configured to implement the following steps:

[0115] When the self-mobile device triggers recharging, obtaining a historical working path corresponding to the current location of the self-mobile device;

[0116] Determining a preselected recharging path for the mobile device based on the current location and the recharging location of the charging station;

[0117] A recharging path is planned for the self-mobile device according to the historical working path and the preselected recharging path to obtain a target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

[0118] In one embodiment, the step of performing recharging path planning for the mobile device based on the historical working path and the preselected recharging path to obtain a target recharging path includes:

[0119] Determining whether the historical working path matches the charging station recharging location;

[0120] If they match, the target recharging path is generated by comparing the recharging power consumption corresponding to the historical working path and the pre-selected recharging path;

[0121] If there is no match, determining the path splicing position of the historical working path;

[0122] According to the path splicing position, a recharging sub-path is constructed for the self-mobile device, and the recharging sub-path and the historical working path are spliced ​​into the target recharging path.

[0123] In one embodiment, the step of determining the path splicing position of the historical working path includes:

[0124] Acquire at least one historical work position of the historical work path;

[0125] For any of the historical working positions, detecting the recharging power consumption between the historical working position and the recharging position of the charging station;

[0126] The path splicing position is selected from each of the historical working positions according to the recharging power consumption.

[0127] In one embodiment, the recharging power consumption includes a first power consumption of the historical working path and a second power consumption of the preselected recharging path.

[0128] The step of generating the target recharging path by comparing the recharging power consumption corresponding to the historical working path and the preselected recharging path includes:

[0129] determining a relationship between the second power consumption and the first power consumption;

[0130] When the second power consumption is less than or equal to the first power consumption, selecting the target recharging path from the preselected recharging paths;

[0131] When the second power consumption is greater than the first power consumption, using the historical working path as the target recharging path;

[0132] When the sum of the partial path power consumption in the second power consumption and the partial path power consumption in the first power consumption equals the minimum recharging power consumption, the target recharging path is generated according to the historical working path and the preselected recharging path.

[0133] In one embodiment, after the step of performing recharging path planning for the mobile device based on the historical working path and the preselected recharging path to obtain a target recharging path, the recharging path planning program is further configured to implement the following steps:

[0134] detecting whether there is an obstacle when the self-mobile device moves along the target recharging path;

[0135] If so, controlling the self-moving device to detour the obstacle, and determining the detour termination position on the target recharging path after the detour is completed;

[0136] An alternative sub-path is generated based on the detour termination location and the charging station recharging location, and the self-mobile device is controlled to move to the charging station for recharging according to the alternative sub-path, wherein the alternative sub-path is generated by the historical working path and / or the preselected recharging path.

[0137] In one embodiment, the step of performing recharging path planning for the mobile device based on the historical working path and the preselected recharging path to obtain a target recharging path includes:

[0138] Obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively;

[0139] Based on the road condition information, a recharging path is planned for the mobile device to determine the target recharging path.

[0140] In one embodiment, the self-moving device is provided with a distance measuring sensor and / or a snow-clearing motor, and the road condition information includes snow accumulation.

[0141] The step of obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively includes:

[0142] Identifying snow conditions of the historical working path and the preselected recharging path by the ranging sensor; and / or

[0143] The periodic snow-shoveling amount of the snow-shoveling motor when traveling on the historical working path and the preselected recharging path is obtained; and the snow accumulation conditions of the historical working path and the preselected recharging path are obtained based on the periodic snow-shoveling amount.

[0144] As shown in Figure 5, the self-mobile device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005, a vehicle body 1006, and a vehicle head 1007. The communication bus 1002 is used to implement communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also be a storage device independent of the aforementioned processor 1001. The vehicle head 1007 is detachably connected to the vehicle body 1006 , and the processor 1001 , the communication bus 1002 , the user interface 1003 , the network interface 1004 , and the memory 1005 are arranged on the vehicle body 1006 .

[0145] Those skilled in the art will appreciate that the structure shown in FIG5 does not limit the self-moving device, and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0146] As shown in FIG5 , the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module, and a recharge path planning program.

[0147] In the self-mobile device shown in Figure 5, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the self-mobile device of the present application can be set in the self-mobile device, and the self-mobile device calls the recharge path planning program stored in the memory 1005 through the processor 1001 to execute the recharge path planning method provided in the embodiment of the present application.

[0148] The self-moving device provided in this application, using the recharging path planning method of the above-mentioned embodiment, can solve the technical problem that existing self-moving devices consume a large amount of power during the recharging process due to unreasonable recharging path planning when traveling to a charging station for recharging, resulting in low recharging efficiency. Compared with the existing technology, the beneficial effects of the computer-readable storage medium provided in the embodiment of this application are the same as the beneficial effects of the recharging path planning method provided in the above-mentioned embodiment 1 or embodiment 2, and will not be repeated here.

[0149] It should be understood that various parts of the present disclosure can be implemented with hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in an appropriate manner.

[0150] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0151] Example 5

[0152] The present application also provides one or more computer-readable storage media, wherein the storage media stores a recharge path planning program, and when the recharge path planning program is executed by one or more processors, the following steps are implemented:

[0153] When the self-mobile device triggers recharging, obtaining a historical working path corresponding to the current location of the self-mobile device;

[0154] Determining a preselected recharging path for the mobile device based on the current location and the recharging location of the charging station;

[0155] A recharging path is planned for the self-mobile device according to the historical working path and the preselected recharging path to obtain a target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

[0156] In one embodiment, the step of performing recharging path planning for the mobile device based on the historical working path and the preselected recharging path to obtain a target recharging path includes:

[0157] Determining whether the historical working path matches the charging station recharging location;

[0158] If they match, the target recharging path is generated by comparing the recharging power consumption corresponding to the historical working path and the pre-selected recharging path;

[0159] If there is no match, determining the path splicing position of the historical working path;

[0160] According to the path splicing position, a recharging sub-path is constructed for the self-mobile device, and the recharging sub-path and the historical working path are spliced ​​into the target recharging path.

[0161] In one embodiment, the step of determining the path splicing position of the historical working path includes:

[0162] Acquire at least one historical work position of the historical work path;

[0163] For any of the historical working positions, detecting the recharging power consumption between the historical working position and the recharging position of the charging station;

[0164] The path splicing position is selected from each of the historical working positions according to the recharging power consumption.

[0165] In one embodiment, the recharging power consumption includes a first power consumption of the historical working path and a second power consumption of the preselected recharging path.

[0166] The step of generating the target recharging path by comparing the recharging power consumption corresponding to the historical working path and the preselected recharging path includes:

[0167] determining a relationship between the second power consumption and the first power consumption;

[0168] When the second power consumption is less than or equal to the first power consumption, selecting the target recharging path from the preselected recharging paths;

[0169] When the second power consumption is greater than the first power consumption, using the historical working path as the target recharging path;

[0170] When the sum of the partial path power consumption in the second power consumption and the partial path power consumption in the first power consumption equals the minimum recharging power consumption, the target recharging path is generated according to the historical working path and the preselected recharging path.

[0171] In one embodiment, after the step of performing recharging route planning for the mobile device based on the historical working path and the preselected recharging route to obtain a target recharging route, the recharging route planning program, when executed by one or more processors, further implements the following steps:

[0172] detecting whether there is an obstacle when the self-mobile device moves along the target recharging path;

[0173] If so, controlling the self-moving device to detour the obstacle, and determining the detour termination position on the target recharging path after the detour is completed;

[0174] An alternative sub-path is generated based on the detour termination location and the charging station recharging location, and the self-mobile device is controlled to move to the charging station for recharging according to the alternative sub-path, wherein the alternative sub-path is generated by the historical working path and / or the preselected recharging path.

[0175] In one embodiment, the step of performing recharging path planning for the mobile device based on the historical working path and the preselected recharging path to obtain a target recharging path includes:

[0176] Obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively;

[0177] Based on the road condition information, a recharging path is planned for the mobile device to determine the target recharging path.

[0178] In one embodiment, the self-moving device is provided with a distance measuring sensor and / or a snow-clearing motor, and the road condition information includes snow accumulation.

[0179] The step of obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively includes:

[0180] Identifying snow conditions of the historical working path and the preselected recharging path by the ranging sensor; and / or

[0181] The periodic snow-shoveling amount of the snow-shoveling motor when traveling on the historical working path and the preselected recharging path is obtained; and the snow accumulation conditions of the historical working path and the preselected recharging path are obtained based on the periodic snow-shoveling amount.

[0182] The present invention provides one or more computer-readable storage media having computer-readable program instructions stored thereon, which are used to execute the recharge path planning method described in the above embodiment. The computer-readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media.

[0183] The computer-readable storage medium provided in the embodiments of the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0184] The computer-readable storage medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0185] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by an electronic device, the electronic device: obtains the historical working path corresponding to the current location of the self-mobile device when the self-mobile device triggers recharging; determines the pre-selected recharging path of the self-mobile device based on the current location and the recharging location of the charging station; plans the recharging path of the self-mobile device based on the historical working path and the pre-selected recharging path, and obtains a target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

[0186] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0187] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0188] The modules involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0189] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions for executing the above-mentioned recharging path planning method, which can solve the technical problem that when existing self-mobile devices are traveling to charging stations for recharging, the recharging process consumes a large amount of electrical energy due to unreasonable recharging path planning, resulting in low recharging efficiency of the self-mobile devices. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the embodiments of this application are the same as the beneficial effects of the recharging path planning method provided in the above-mentioned embodiment one or embodiment two, and will not be repeated here.

[0190] Example 6

[0191] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the recharge path planning method as described above.

[0192] The computer program product provided in this application can solve the technical problem that existing mobile devices consume a large amount of power during the recharging process due to unreasonable recharging path planning when traveling to a charging station for recharging. Compared with the existing technology, the beneficial effects of the computer program product provided in the embodiments of this application are the same as the beneficial effects of the recharging path planning method provided in the above-mentioned embodiment 1 or embodiment 2, and will not be repeated here.

[0193] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0194] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0195] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0196] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A recharging path planning method, wherein: Applied to a self-mobile device, the recharging path planning method includes: When the self-mobile device triggers recharging, obtaining a historical working path corresponding to the current position of the self-mobile device; Determining a preselected recharging path for the self-mobile device according to the current location and the recharging location of the charging station; According to the historical working path and the pre-selected recharging path, a recharging path is planned for the self-mobile device to obtain a target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

2. The recharging path planning method according to claim 1, wherein: The step of planning a recharging path for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path comprises: Determining whether the historical working path matches the charging station recharging location; If they match, the target recharging path is generated by comparing the recharging power consumptions corresponding to the historical working path and the pre-selected recharging path respectively; If there is no match, determining the path splicing position of the historical working path; According to the path splicing position, a backfill sub-path is constructed for the self-mobile device, and the backfill sub-path and the historical working path are spliced ​​into the target backfill path.

3. The recharging path planning method according to claim 2, wherein: The step of determining the path splicing position of the historical working path comprises: Acquire at least one historical work position of the historical work path; For any of the historical working positions, detecting the recharging power consumption between the historical working position and the recharging position of the charging station; The path splicing position is selected from each of the historical working positions according to the recharging power consumption.

4. The recharging path planning method according to claim 2, wherein: The recharging power consumption includes a first power consumption of the historical working path and a second power consumption of the preselected recharging path, The step of generating the target recharging path by comparing the recharging power consumptions respectively corresponding to the historical working path and the pre-selected recharging path comprises: determining a relationship between the second power consumption and the first power consumption; When the second power consumption is less than or equal to the first power consumption, selecting the target recharging path from the preselected recharging paths; When the second power consumption is greater than the first power consumption, using the historical working path as the target recharging path; When the power consumption of some paths in the second power consumption and the power consumption of some paths in the first power consumption are added together to obtain the minimum recharging power consumption, the target recharging path is generated according to the historical working path and the pre-selected recharging path.

5. The recharging path planning method according to claim 1, wherein: After the step of performing recharging path planning on the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path, the recharging path planning method further includes: Detecting whether there is an obstacle when the self-mobile device walks along the target recharging path; If so, controlling the self-moving device to bypass the obstacle, and determining the bypass termination position on the target recharging path after the bypass is completed; An alternative sub-path is generated according to the detour termination position and the charging station recharging position, and the self-mobile device is controlled to move to the charging station for recharging according to the alternative sub-path, wherein the alternative sub-path is generated by the historical working path and / or the pre-selected recharging path.

6. The recharging path planning method according to claim 1, wherein: The step of planning a recharging path for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path comprises: Obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively; According to the road condition information, a recharging path is planned for the self-mobile device to determine the target recharging path.

7. The recharging path planning method according to claim 6, wherein: The self-moving device is provided with a distance measuring sensor and / or a snow-clearing motor, and the road condition information includes snow accumulation. The step of obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively comprises: Identifying the snow conditions of the historical working path and the pre-selected recharging path by the ranging sensor; and / or The periodic snow-shoveling amount of the snow-shoveling motor when traveling on the historical working path and the pre-selected recharging path is obtained; and the snow accumulation conditions of the historical working path and the pre-selected recharging path are obtained according to the periodic snow-shoveling amount.

8. A self-moving device, the self-moving device comprising: A vehicle head, a vehicle body, a memory, a processor, and a recharging path planning program stored in the memory and executable on the processor, wherein the vehicle head is detachably connected to the vehicle body, the memory and the processor are disposed on the vehicle body, and the recharging path planning program is configured to implement the following steps: When the self-mobile device triggers recharging, obtaining a historical working path corresponding to the current position of the self-mobile device; Determining a preselected recharging path for the self-mobile device according to the current location and the recharging location of the charging station; According to the historical working path and the pre-selected recharging path, a recharging path is planned for the self-mobile device to obtain a target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

9. The self-moving device according to claim 8, wherein: The step of planning a recharging path for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path comprises: Determining whether the historical working path matches the charging station recharging location; If they match, the target recharging path is generated by comparing the recharging power consumptions corresponding to the historical working path and the pre-selected recharging path respectively; If there is no match, determining the path splicing position of the historical working path; According to the path splicing position, a backfill sub-path is constructed for the self-mobile device, and the backfill sub-path and the historical working path are spliced ​​into the target backfill path.

10. The self-moving device according to claim 9, wherein: The step of determining the path splicing position of the historical working path comprises: Acquire at least one historical work position of the historical work path; For any of the historical working positions, detecting the recharging power consumption between the historical working position and the recharging position of the charging station; The path splicing position is selected from each of the historical working positions according to the recharging power consumption.

11. The self-moving device according to claim 9, wherein: The recharging power consumption includes a first power consumption of the historical working path and a second power consumption of the preselected recharging path, The step of generating the target recharging path by comparing the recharging power consumptions respectively corresponding to the historical working path and the pre-selected recharging path comprises: determining a relationship between the second power consumption and the first power consumption; When the second power consumption is less than or equal to the first power consumption, selecting the target recharging path from the preselected recharging paths; When the second power consumption is greater than the first power consumption, using the historical working path as the target recharging path; When the power consumption of some paths in the second power consumption and the power consumption of some paths in the first power consumption are added together to obtain the minimum recharging power consumption, the target recharging path is generated according to the historical working path and the pre-selected recharging path.

12. The self-moving device according to claim 8, wherein: After the step of performing recharging path planning for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path, the recharging path planning program is further configured to implement the following steps: Detecting whether there is an obstacle when the self-mobile device walks along the target recharging path; If so, controlling the self-moving device to bypass the obstacle, and determining the bypass termination position on the target recharging path after the bypass is completed; An alternative sub-path is generated according to the detour termination position and the charging station recharging position, and the self-mobile device is controlled to move to the charging station for recharging according to the alternative sub-path, wherein the alternative sub-path is generated by the historical working path and / or the pre-selected recharging path.

13. The self-moving device according to claim 8, wherein: The step of planning a recharging path for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path comprises: Obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively; According to the road condition information, a recharging path is planned for the self-mobile device to determine the target recharging path.

14. The self-moving device according to claim 13, wherein: The self-moving device is provided with a distance measuring sensor and / or a snow-clearing motor, and the road condition information includes snow accumulation. The step of obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively comprises: Identifying the snow conditions of the historical working path and the pre-selected recharging path by the ranging sensor; and / or The periodic snow-shoveling amount of the snow-shoveling motor when traveling on the historical working path and the pre-selected recharging path is obtained; and the snow accumulation conditions of the historical working path and the pre-selected recharging path are obtained according to the periodic snow-shoveling amount.

15. One or more computer-readable storage media, wherein: The storage medium stores a recharging path planning program, and when the recharging path planning program is executed by one or more processors, the following steps are implemented: When the self-mobile device triggers recharging, obtaining a historical working path corresponding to the current position of the self-mobile device; Determining a preselected recharging path for the self-mobile device according to the current location and the recharging location of the charging station; According to the historical working path and the pre-selected recharging path, a recharging path is planned for the self-mobile device to obtain a target recharging path, so that the self-mobile device can move to the charging station for recharging according to the target recharging path.

16. The computer-readable storage medium of claim 15, wherein: The step of planning a recharging path for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path comprises: Determining whether the historical working path matches the charging station recharging location; If they match, the target recharging path is generated by comparing the recharging power consumptions corresponding to the historical working path and the pre-selected recharging path respectively; If there is no match, determining the path splicing position of the historical working path; According to the path splicing position, a backfill sub-path is constructed for the self-mobile device, and the backfill sub-path and the historical working path are spliced ​​into the target backfill path.

17. The computer-readable storage medium of claim 16, wherein: The step of determining the path splicing position of the historical working path comprises: Acquire at least one historical work position of the historical work path; For any of the historical working positions, detecting the recharging power consumption between the historical working position and the recharging position of the charging station; The path splicing position is selected from each of the historical working positions according to the recharging power consumption.

18. The computer-readable storage medium of claim 16, wherein: The recharging power consumption includes a first power consumption of the historical working path and a second power consumption of the preselected recharging path, The step of generating the target recharging path by comparing the recharging power consumptions respectively corresponding to the historical working path and the pre-selected recharging path comprises: determining a relationship between the second power consumption and the first power consumption; When the second power consumption is less than or equal to the first power consumption, selecting the target recharging path from the preselected recharging paths; When the second power consumption is greater than the first power consumption, using the historical working path as the target recharging path; When the power consumption of some paths in the second power consumption and the power consumption of some paths in the first power consumption are added together to obtain the minimum recharging power consumption, the target recharging path is generated according to the historical working path and the pre-selected recharging path.

19. The computer-readable storage medium of claim 15, wherein: After the step of performing recharging path planning for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path, the recharging path planning program further implements the following steps when executed by one or more processors: Detecting whether there is an obstacle when the self-mobile device walks along the target recharging path; If so, controlling the self-moving device to bypass the obstacle, and determining the bypass termination position on the target recharging path after the bypass is completed; An alternative sub-path is generated according to the detour termination position and the charging station recharging position, and the self-mobile device is controlled to move to the charging station for recharging according to the alternative sub-path, wherein the alternative sub-path is generated by the historical working path and / or the pre-selected recharging path.

20. The computer-readable storage medium of claim 15, wherein: The step of planning a recharging path for the self-mobile device according to the historical working path and the pre-selected recharging path to obtain a target recharging path comprises: Obtaining the road condition information corresponding to the historical working path and the pre-selected recharging path respectively; According to the road condition information, a recharging path is planned for the self-mobile device to determine the target recharging path.

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