Path planning method and apparatus, controller, device, and storage medium

Abstract

A path planning method and apparatus, a controller, a device, and a storage medium, relating to the field of robots. The method comprises: acquiring a map and a path parameter of a target operation area, the path parameter being used for indicating the orientation of a path (S101); and generating path planning information on the basis of the map and the path parameter (S102), wherein the path planning information is used for instructing an autonomous movement device to travel and operate along a target path in the target operation area, and the target path comprises a plurality of first path segments which are parallel to each other and are arranged at intervals. On the basis of the path planning information of the method, movement and operation are performed, so that the autonomous movement device leaves regular vehicle trajectories during operation, thereby improving the ornamental value of a lawn, effectively avoiding missed mowing, and thus improving the mowing operation efficiency and accuracy.

Description

Path planning method, device, controller, equipment and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on March 20, 2024, with application number "202410321893.3" and invention name "Parallel path generation method, device, equipment and storage medium from a mobile device", the Chinese patent application filed with the China Patent Office on March 20, 2024, with application number 202410321896.7 and invention name "Cross path generation method, device, equipment and storage medium from a mobile device", and the Chinese patent application filed with the China Patent Office on March 20, 2024, with application number 202410321891.4 and invention name "Path planning method, device, controller, equipment and storage medium", all of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of robotics technology, and in particular to a path planning method, apparatus, controller, device, and storage medium. Background Art

[0003] A lawn mowing robot is an intelligent device that can perform fully automatic mowing operations in the work area. In the case of random mowing operations, when it encounters an obstacle, it changes its working direction by rotating 45°, 90° or 180° clockwise or counterclockwise to complete the mowing task in the work area; in the case of planned mowing operations, it operates according to equally spaced parallel covering stripes, and follows the parallel covering stripes from beginning to end to complete the mowing task in the work area.

[0004] However, the current random mowing operation will leave messy wheel tracks on the lawn, making the lawn less ornamental; and the planned mowing operation method will result in missed mowing in uneven areas such as slopes and turning areas at both ends of the track. The mowing efficiency and accuracy are low, the mowing effect of the mowing robot cannot be guaranteed, and the user experience is poor. Summary of the Invention

[0005] The main purpose of this application is to provide a path planning method, device, controller, equipment and storage medium, aiming to solve the problems of low ornamental value of lawns and low efficiency and accuracy of mowing operations.

[0006] In a first aspect, the present application provides a path planning method for an autonomous mobile device, the path planning method for an autonomous mobile device comprising the following steps:

[0007] Obtaining a map and path parameters of the target operation area, wherein the path parameters are used to indicate the direction of the path;

[0008] generating path planning information according to the map and the path parameters;

[0009] The path planning information is used to instruct the autonomous mobile device to travel and operate along a target path in the target operation area, and the target path includes a plurality of first path segments that are parallel to each other and spaced apart.

[0010] In a second aspect, the present application further provides a path planning device for an autonomous mobile device, the path planning device for the autonomous mobile device comprising an acquisition module and a generation module, wherein:

[0011] The acquisition module is used to acquire a map of the target operation area and path parameters, wherein the path parameters are used to indicate the direction of the path;

[0012] The generation module is used to generate path planning information based on the map and the path parameters, wherein the path planning information is used to instruct the autonomous mobile device to travel and operate along a target path in the target operation area, and the target path includes a plurality of first path segments that are parallel to each other and spaced apart.

[0013] In a third aspect, the present application also provides a controller comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the path planning method for an autonomous mobile device as described above is implemented.

[0014] In a fourth aspect, the present application also provides an autonomous mobile device, which includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the path planning method of the autonomous mobile device as described above is implemented.

[0015] In a fifth aspect, the present application further provides an autonomous mobile device, comprising:

[0016] body;

[0017] A movement module, disposed on the body and used to drive the autonomous mobile device to move;

[0018] A mowing mechanism, disposed on the body and used to perform mowing tasks;

[0019] A controller electrically connected to the mobile module and the mowing mechanism; the controller is configured to:

[0020] The autonomous mobile device is controlled to move and operate along a target path, wherein the target path includes a plurality of first path segments that are parallel to each other and spaced apart.

[0021] In a sixth aspect, the present application also provides a computer-readable storage medium, on which a computer program is stored, wherein when the computer program is executed by a processor, the path planning method for an autonomous mobile device as described above is implemented.

[0022] The present application provides a path planning method, apparatus, controller, device, and storage medium. These methods obtain a map and path parameters of a target work area, where the path parameters indicate the direction of the path. Path planning information is then accurately generated based on the map and the path parameters. The path planning information instructs an autonomous mobile device to travel and operate along a target path within the target work area, where the target path includes multiple first path segments that are parallel and spaced apart. Based on the map and path parameters, this solution accurately generates path planning information within the target work area. The autonomous mobile device moves and operates within the target work area according to the path planning information, leaving neat vehicle tracks and significantly enhancing the aesthetic value of the lawn. Furthermore, the method effectively avoids missed mowing, thereby improving mowing efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] FIG1 is a flow chart of a path planning method for an autonomous mobile device provided in an embodiment of the present application;

[0025] FIG2 is a schematic diagram of a scene of an intersection angle and an orientation angle in an embodiment of the present application;

[0026] FIG3 is a schematic flow chart of sub-steps of the path planning method for the autonomous mobile device in FIG1 ;

[0027] FIG4 is a schematic diagram of a scene of a target operation area in an embodiment of the present application;

[0028] FIG5 is a schematic diagram of a scene of scanning a first path segment in a first working area in an embodiment of the present application;

[0029] FIG6 is a schematic diagram of a scene of scanning a second path segment in a second working area in an embodiment of the present application;

[0030] FIG7 is a schematic diagram of a scenario in which path planning information is generated in a target operation area in an embodiment of the present application;

[0031] FIG8 is a schematic diagram of a scenario in which path planning information is generated in a target operation area in an embodiment of the present application;

[0032] FIG9 is a flow chart of another path planning method for an autonomous mobile device provided in an embodiment of the present application;

[0033] FIG10 is a flow chart of another path planning method for an autonomous mobile device provided in an embodiment of the present application;

[0034] FIG11 is a schematic diagram of a scene of rotating a map in an embodiment of the present application;

[0035] FIG12 is an example diagram of target operation area covering parallel paths in an embodiment of the present application;

[0036] FIG13 is another example diagram of target operation area covering parallel paths in an embodiment of the present application;

[0037] FIG14 is another exemplary diagram of target operation areas covering parallel paths in an embodiment of the present application;

[0038] FIG15 is a flow chart of another parallel path generation method provided in an embodiment of the present application;

[0039] FIG16 is an example diagram of a target operation area covering a cross path in an embodiment of the present application;

[0040] FIG17 is another example diagram of a target operation area covering parallel paths in an embodiment of the present application;

[0041] FIG18 is a flow chart of another path planning method for an autonomous mobile device provided in an embodiment of the present application;

[0042] FIG19 is an exemplary diagram of a plurality of first path segments in an embodiment of the present application;

[0043] FIG20 is an exemplary diagram of a plurality of second path segments in an embodiment of the present application;

[0044] FIG21 is an example diagram of a cross path in an embodiment of the present application;

[0045] FIG22 is a flow chart of another cross-path generation method provided in an embodiment of the present application;

[0046] FIG23 is a schematic block diagram of the structure of a path planning device for an autonomous mobile device provided in an embodiment of the present application;

[0047] FIG24 is a schematic block diagram of the structure of a controller provided in an embodiment of the present application;

[0048] FIG25 is a schematic block diagram of the structure of an autonomous mobile device provided in an embodiment of the present application;

[0049] FIG26 is a schematic block diagram of the structure of another autonomous mobile device provided in an embodiment of the present application.

[0050] FIG27 is a schematic block diagram of the structure of another path planning device for an autonomous mobile device provided in an embodiment of the present application;

[0051] FIG28 is a schematic block diagram of the structure of another path planning device for an autonomous mobile device provided in an embodiment of the present application;

[0052] Figure 29 is a schematic block diagram of the structure of an electronic device provided in an embodiment of the present application.

[0053] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0055] 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.

[0056] Among them, the autonomous mobile device can be a lawn mowing robot, which is an intelligent device that can perform fully automatic mowing operations in the working area. In the case of random mowing operations, when it encounters an obstacle, it changes its working direction by rotating 45°, 90° or 180° clockwise or counterclockwise to complete the mowing task in the working area; in the case of planned mowing operations, it operates according to equally spaced parallel covering stripes, and follows the parallel covering stripes from beginning to end to complete the mowing task in the working area.

[0057] However, the current random mowing operation will leave messy wheel tracks on the lawn, making the lawn less ornamental; and the planned mowing operation method will result in missed mowing in uneven areas such as slopes and turning areas at both ends of the track. The mowing efficiency and accuracy are low, the mowing effect of the mowing robot cannot be guaranteed, and the user experience is poor.

[0058] In order to solve the above problems, the present application provides a path planning method, apparatus, controller, device and storage medium. The embodiment of the present application obtains a map and path parameters of the target operation area, and the path parameters are used to indicate the direction of the path; then accurately generates path planning information based on the map and path parameters; wherein the path planning information is used to instruct the autonomous mobile device to travel and operate along the target path in the target operation area, and the target path includes a plurality of first path segments that are parallel to each other and spaced apart. Based on the map and path parameters, this solution can accurately generate path planning information in the target operation area. The autonomous mobile device moves and mows the grass in the target operation area according to the path planning information, which can make the vehicle tracks left by the operation neat and effectively avoid missing grass, thereby improving the mowing effect of the autonomous mobile device.

[0059] It is understandable that the path planning device of the autonomous mobile device can be specifically integrated into the microcontroller unit (MCU) of the autonomous mobile device, or it can be integrated into the controller. The MCU, also known as a single-chip microcomputer (Single Chip Microcomputer) or a single-chip microcomputer, is a chip-level computer formed by appropriately reducing the frequency and specifications of the central processing unit (CPU) and integrating peripheral interfaces such as memory, timer, universal serial bus (USB), analog-to-digital conversion / digital-to-analog conversion, universal asynchronous receiver / transmitter (UART), programmable logic controller (PLC), and direct memory access (DMA) to perform different combined control for different application scenarios.

[0060] This autonomous mobile device can be a lawn mower robot. It can move autonomously, avoid collisions, and automatically return to recharge within range. It also has safety and battery level detection capabilities and a certain degree of climbing ability. It is particularly suitable for lawn mowing and maintenance in places such as home gardens and public green spaces. Its features include: automatic mowing, grass clipping removal, automatic rain shelter, automatic charging, automatic obstacle avoidance, compact size, electronic virtual fence, and network control.

[0061] The following describes some embodiments of the present application 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.

[0062] Please refer to Figure 1, which is a flow chart of a path planning method for an autonomous mobile device provided in an embodiment of the present application. As shown in Figure 1, the path planning method for an autonomous mobile device includes steps S101 to S102.

[0063] Step S101: Acquire a map of a target operation area and path parameters, where the path parameters are used to indicate the direction of the path.

[0064] In some embodiments, the target work area can be a work area that requires mowing. The target work area can be manually selected by the user, or the autonomous mobile device can automatically select the work area closest to the autonomous mobile device based on the location of each work area and the location of the autonomous mobile device as the target work area. It can also be a default work area, which is not specifically limited in the embodiments of the present application. The work area that requires mowing is data in a map format.

[0065] In some embodiments, after obtaining the user-selected work area, the validity of the user-selected work area is verified. If the user-selected work area passes the validity verification, the user-selected work area is determined as the target work area. If the user-selected work area fails the validity verification, a prompt message is output, indicating the reason why the user-selected work area failed the validity verification. This embodiment, by outputting a prompt message when the user-selected work area fails the validity verification, allows the user to accurately adjust the work area based on the prompt message, thereby improving the user experience.

[0066] In some embodiments, validating the work area selected by the user includes at least one of the following: determining whether the map data format of the selected work area is a preset format; determining whether the area of ​​the selected work area is less than a first area threshold; determining whether the area of ​​the selected work area is greater than a second area threshold; determining whether there is an intersection between the outlines of the selected work area; determining whether there are overlapping obstacles in the selected work area; and determining whether the obstacles in the selected work area are completely inside the work area.

[0067] In some embodiments, the user-selected work area is determined to have passed validity verification if the map data format of the selected work area is a preset format, the area of ​​the selected work area is greater than or equal to a first area threshold and less than or equal to a second area threshold, the outlines of the selected work area do not intersect, there are no overlapping obstacles within the selected work area, and obstacles within the selected work area are completely within the work area. The user-selected work area is determined to have failed validity verification if at least one of the following conditions is met: the map data format of the selected work area is not a preset format, the area of ​​the selected work area is less than the first area threshold, the area of ​​the selected work area is greater than the second area threshold, the outlines of the selected work area intersect, obstacles within the selected work area overlap, and obstacles within the selected work area intersect with the boundary of the work area.

[0068] In some embodiments, when the map data format of the selected work area is not in a preset format, a prompt message "Map not ready" is output. When the area of ​​the selected work area is less than a first area threshold, a prompt message "Map area too small" is output. When the area of ​​the selected work area is greater than a second area threshold, a prompt message "Map area too large" is output. When the outlines of the selected work area intersect, a prompt message "Map shape does not exist" is output. When obstacles overlap in the selected work area and / or obstacles in the selected work area intersect with the boundary of the work area, a prompt message "Unreasonable obstacles are not supported" is output.

[0069] In some embodiments, obtaining the target operation area and path parameters may include: displaying a path planning configuration page; in response to an operation area selection operation triggered by a user in the path planning configuration page, displaying the operation area corresponding to the operation area selection operation in the path planning configuration page; in response to a path parameter input operation triggered by a user in the path planning configuration page, displaying the path parameters corresponding to the path parameter input operation in the path planning configuration page; in response to a user triggering an operation of a confirmation button in the path planning configuration page, determining the operation area currently displayed in the path planning configuration page as the target operation area, and determining the path parameters currently displayed in the path planning configuration page as the path parameters of the path to be planned.

[0070] In some embodiments, the path parameters include the intersection angle between the first path segment and the second path segment, and the orientation angle at which the first path segment and the second path segment intersect to form a grid, the orientation angle including a first orientation angle and a second orientation angle, the first orientation angle or the second orientation angle being the same as the long axis direction of the target work area, wherein the long axis direction is the direction of the longest line segment that can be obtained by connecting two points on the boundary of the target work area.

[0071] In some embodiments, the path parameters also include a target spacing, which is the distance between two adjacent path segments. Compared with the path segments generated along the short axis direction of the working area, the path segments generated along the long axis direction of the working area are fewer in number, longer in length, and have fewer total inflection points. In this way, when the autonomous mobile device uses the path segments generated along the long axis direction of the working area to mow the lawn, the damage to the lawn is lighter and the mowing efficiency is faster. After mowing the lawn using the cross path segments, cross stripes of different directions and shapes will be left on the lawn, effectively showing and improving the ornamental value of the lawn, and further improving the utilization rate and value of the mowing robot. Among them, the cross stripes can include vertical cross stripes (for example, checkered cross stripes) or diamond cross stripes. The diamond cross stripes can also form stripe patterns of various geometric shapes such as triangular stripes and pentagonal stripes through appropriate deformation. The embodiments of the present application do not specifically limit this.

[0072] The embodiment of the present application uses diamond-shaped cross stripes as an example to illustrate the diamond-shaped path segments generated based on the intersection angle and orientation angle. Due to the repeatable coverage characteristics of diamond-shaped path segments, the use of diamond-shaped path segments can effectively reduce the occurrence of missed mowing in uneven working areas such as slopes. It can also effectively reduce the occurrence of missed mowing at the turns at the end points of the path segments and reduce the frequency of mowing. In addition, after the lawn mower robot uses the diamond-shaped path segments to mow the lawn, it will leave "diamond" path segment patterns of different orientations and shapes on the lawn, effectively showing and enhancing the ornamental value of the lawn, further improving the utilization rate and value of the lawn mower robot.

[0073] In some embodiments, obtaining the path parameters includes: obtaining from a user terminal; or determining based on the long axis direction of the target operation area, where the long axis direction is the direction of the longest line segment that can be obtained by connecting two points on the boundary of the target operation area.

[0074] In one embodiment, the path parameters may be obtained from a user terminal. Obtaining the path parameters from the user terminal may include sending a path planning request to the user terminal and receiving the path parameters returned by the user terminal based on the path planning request. The user terminal may be configured based on actual circumstances and is not specifically limited in this embodiment of the present application. For example, the user terminal may be a mobile phone, computer, tablet computer, or other device.

[0075] In one embodiment, the path parameters can be determined based on the long axis direction of the target operation area. Determining the path parameters based on the long axis direction of the target operation area may include: obtaining two points on the boundary of the target operation area, using the straight line formed by the two points as the longest line segment, using the longest line segment as the long axis segment, obtaining the long axis direction of the long axis segment, and calculating the long axis direction based on a preset orientation angle algorithm to generate the path parameters. The preset orientation angle algorithm can be set according to actual conditions and is not specifically limited in the embodiments of the present application.

[0076] Step S102: Generate path planning information according to the map and the path parameters.

[0077] The path planning information is used to instruct the autonomous mobile device to travel and operate along a target path within a target operating area, wherein the target path includes a plurality of first path segments that are parallel to each other and spaced apart and a plurality of second path segments that are parallel to each other and spaced apart, and at least some of the first path segments intersect with at least some of the second path segments to form a grid.

[0078] As shown in FIG2 , first path segments 111, 112, and 113 are arranged parallel to each other and spaced apart, while second path segments 121, 122, and 123 are arranged parallel to each other and spaced apart. First path segments 111, 112, 121, and 122 intersect to form a grid C. First path segments 111, 112, 122, and 123 intersect to form a grid D. Angle A in FIG2 is the intersection angle between the first and second path segments, and angle B is the orientation angle of the grid.

[0079] In some embodiments, when the map indicates that there is an obstacle in the target operating area, the target path also includes an obstacle avoidance path, which is used to bypass the obstacle, and the obstacle avoidance path is connected between two adjacent first path segments or two adjacent second path segments.

[0080] In one embodiment, as shown in FIG3 , step S102 includes sub-steps S1021 and S1022 .

[0081] Sub-step S1021: determining a first orientation angle of the first path segment and a second orientation angle of the second path segment according to the intersection angle and the orientation angle of the grid.

[0082] The angle difference between the first orientation angle of the first path segment and the orientation angle of the grid is half of the intersection angle; the angle difference between the second orientation angle of the second path segment and the orientation angle of the grid is half of the intersection angle.

[0083] In one embodiment, the first heading angle of the first path segment is obtained by rotating the heading angle in a first clockwise direction by half of the intersection angle; the second heading angle of the second path segment is obtained by rotating the heading angle in a second clockwise direction by half of the intersection angle. The first clockwise direction may be clockwise, and the second clockwise direction may be counterclockwise. Based on the heading angle and the intersection angle, the first and second heading angles can be accurately determined, greatly improving the accuracy of generated path planning information.

[0084] Among them, the first orientation angle is the angle between the first path segment and the first direction axis, the second orientation angle is the angle between the second path segment and the first direction axis, and the first direction axis is a coordinate axis of a rectangular coordinate system established in the target operation area, for example, the coordinate axis is the x-axis.

[0085] Sub-step S1022: Generate the path planning information according to the map, the first orientation angle, and the second orientation angle.

[0086] Among them, the path planning information includes multiple first path segment planning information and multiple second path segment planning information; the first path segment planning information includes multiple first path points arranged along a first direction in the map, and the first direction is the direction indicated by the first direction angle; the second path segment planning information includes multiple second path points arranged along a second direction in the map, and the second direction is the direction indicated by the second direction angle.

[0087] Exemplarily, as shown in Figure 2, the first path segment 111, the first path segment 112 and the first path segment 113 are arranged in parallel, the orientation of the first path segment 111, the first path segment 112 and the first path segment 113 is a first orientation angle, and each first path point in the first path segment 111 is arranged along the first orientation, each first path point in the first path segment 112 is arranged along the first orientation, and each first path point in the first path segment 113 is arranged along the first orientation; the second path segment 121, the second path segment 122 and the second path segment 123 are arranged in parallel, the orientation of the second path segment 121, the second path segment 122 and the second path segment 123 is a second orientation angle, and each second path point in the second path segment 121 is arranged along the second orientation, each second path point in the second path segment 122 is arranged along the second orientation, and each second path point in the second path segment 123 is arranged along the second orientation.

[0088] In one embodiment, a method for generating multiple first path segment planning information includes: rotating the map to a first orientation according to a first orientation angle to obtain a first working area; scanning the first working area along a first preset direction according to a first preset path segment spacing, and obtaining a first path segment planning information after each scan is completed; if the first path segment planning information does not meet the preset safety conditions, adjusting the first path segment planning information until the adjusted first path segment planning information meets the preset safety conditions; if the first path segment planning information meets the preset safety conditions, continuing to scan the next row until the first working area is scanned. Wherein, the first preset path segment spacing and the first preset direction can be set according to actual conditions, and the embodiment of the present application does not make specific restrictions on this. For example, the first preset path segment spacing can be 20 cm, and the first preset direction can be scanning from the bottom to the top of the map. By scanning the first working area, the first path segment can be accurately obtained, which greatly improves the efficiency and accuracy of path planning.

[0089] In one embodiment, during scanning of the first operating area, each time a row is scanned, a candidate first path segment having a first orientation angle is obtained; whether the candidate first path segment satisfies a preset safety condition is determined; if the candidate first path segment does not satisfy the preset safety condition, the candidate first path segment is adjusted until the adjusted candidate first path segment satisfies the preset safety condition; if the candidate first path segment satisfies the preset safety condition, the candidate first path segment is determined as the first path segment, and scanning of the next row is continued; the step of determining whether the candidate first path segment satisfies the preset safety condition is returned to, until the first operating area is completely scanned. By determining whether the candidate first path segment satisfies the preset safety condition, the safety and reliability of the planned path segment can be improved.

[0090] In one embodiment, by determining whether the candidate first path segment is inside the target operating area, inside the obstacle, or on the boundary of the obstacle, it is possible to determine whether the candidate first path segment meets the preset safety conditions; if it is determined that the candidate first path segment is not inside the target operating area, not inside the obstacle, and not on the boundary of the obstacle, then it is determined that the candidate first path segment meets the preset safety conditions; if it is determined that the candidate first path segment is inside the target operating area, and / or inside the obstacle, and / or on the boundary of the obstacle, then it is determined that the candidate first path segment does not meet the preset safety conditions.

[0091] Among them, the interior of the target operation area is the area where the autonomous mobile device can operate normally, and the interior of the obstacle and the boundary of the obstacle refer to the area where the autonomous mobile device cannot operate normally. The obstacle can be determined according to actual conditions, and the embodiment of the present application does not make specific limitations on this. For example, the obstacle can be a stone, a tree, a wall, etc.

[0092] In one embodiment, adjusting the candidate first path segment includes but is not limited to: deleting part of the candidate first path segment outside the target operation area, inside the target operation area and / or on the boundary of the obstacle to obtain the first path segment that meets the preset safety conditions.

[0093] Exemplarily, as shown in FIG4 , the target operation area 10 includes abcd, where ab is the long side and cd is the short side. According to the first orientation angle, the target operation area is rotated to the first orientation to obtain the first operation area 20 shown in FIG5 , and the first operation area 20 is scanned from bottom to top according to the first preset path segment spacing; in the process of scanning the first operation area 20, each time a row is scanned, a candidate first path segment with the first orientation is obtained; determining whether the candidate first path segment meets the preset safety condition; if the candidate first path segment does not meet the preset safety condition, adjusting the candidate first path segment until the adjusted candidate first path segment meets the preset safety condition; if the candidate first path segment meets the preset safety condition, determining the candidate first path segment as the first path segment (refer to the first path segment 21 in FIG5 ), and continuing to scan the next row; returning to the step of determining whether the candidate first path segment meets the preset safety condition until the first operation area 20 is scanned, wherein two adjacent first path segments among the multiple first path segments in FIG5 are connected by the endpoints of the path segments through the edge ab, the edge bc, or the edge cd.

[0094] In one embodiment, a method for generating multiple second path segment planning information includes: rotating the map to a second orientation according to a second orientation angle to obtain a second working area; scanning the second working area along a second preset direction according to a second preset path segment spacing, and obtaining a second path segment planning information after each row of scanning is completed; if the second path segment planning information does not meet the preset safety conditions, adjusting the second path segment planning information until the adjusted second path segment planning information meets the preset safety conditions; if the second path segment planning information meets the preset safety conditions, continuing to scan the next row until the second working area is scanned. Wherein, the second preset path segment spacing and the second preset direction can be set according to actual conditions, and the embodiment of the present application does not make specific restrictions on this. For example, the second preset path segment spacing can be 20 cm, and the second preset direction can be scanning from the bottom to the top of the map. By scanning the second working area, the second path segment can be accurately obtained, which greatly improves the efficiency and accuracy of path planning.

[0095] In one embodiment, during scanning of the second operating area, each time a row is scanned, a candidate second path segment having a second orientation angle is obtained; whether the candidate second path segment satisfies a preset safety condition is determined; if the candidate second path segment does not satisfy the preset safety condition, the candidate second path segment is adjusted until the adjusted candidate second path segment satisfies the preset safety condition; if the candidate second path segment satisfies the preset safety condition, the candidate second path segment is determined as the second path segment, and scanning of the next row is continued; the step of determining whether the candidate second path segment satisfies the preset safety condition is returned to, until the second operating area is completely scanned. By determining whether the candidate second path segment satisfies the preset safety condition, the safety and reliability of the planned path segment can be improved.

[0096] In one embodiment, by determining whether the candidate second path segment is inside the target operating area, inside the obstacle, or on the boundary of the obstacle, it is possible to determine whether the candidate second path segment meets the preset safety conditions; if it is determined that the candidate second path segment is not inside the target operating area, not inside the obstacle, and not on the boundary of the obstacle, then it is determined that the candidate second path segment meets the preset safety conditions; if it is determined that the candidate second path segment is inside the target operating area, and / or inside the obstacle, and / or on the boundary of the obstacle, then it is determined that the candidate second path segment does not meet the preset safety conditions.

[0097] In one embodiment, adjusting the candidate second path segments includes but is not limited to: deleting part of the candidate second path segments outside the target operation area, inside the target operation area and / or on the boundary of the obstacle to obtain a second path segment that meets the preset safety conditions.

[0098] Exemplarily, as shown in FIG4 , the target operation area 10 includes abcd, where ab is the long side and cd is the short side. According to the second orientation angle, the target operation area is rotated to the second orientation to obtain the second operation area 30 shown in FIG6 , and according to the second preset path segment spacing, the second operation area 30 is scanned from bottom to top; in the process of scanning the second operation area 30, each time a row is scanned, a candidate second path segment with a second orientation is obtained; determine whether the candidate second path segment meets the preset safety condition; if the candidate second path segment does not meet the preset safety condition, adjust the candidate second path segment until the adjusted candidate second path segment meets the preset safety condition; if the candidate second path segment meets the preset safety condition, determine the candidate second path segment as the second path segment (refer to the second path segment 31 in FIG6 ), and continue to scan the next row; return to the step of determining whether the candidate second path segment meets the preset safety condition until the second operation area 30 is scanned.

[0099] In one embodiment, a first work area including a plurality of first path segment planning information and a second work area including a plurality of second path segment planning information are rotated to the same orientation, wherein the first path segment planning information includes a plurality of first path points arranged along a first orientation on a map, the first orientation being an orientation indicated by a first orientation angle; and the second path segment planning information includes a plurality of second path points arranged along a second orientation on the map, the second orientation being an orientation indicated by a second orientation angle. The first path segments in the first work area and the second path segments in the second work area are combined to generate a grid including the plurality of first path segments and the plurality of second path segments.

[0100] Exemplarily, the first path segment in FIG5 and the second path segment in FIG6 are combined to obtain a path segment 40 covering the target operation area as shown in FIG7 . The path segment 40 includes a first path segment 41 and a second path segment 42 .

[0101] It should be noted that two adjacent first path segments among the multiple first path segments are connected through the endpoints of the path segments, and two adjacent second path segments among the multiple second path segments are connected through the endpoints of the path segments; the endpoints of the target first path segments in at least some of the first path segments coincide with the endpoints of the target second path segments in at least some of the second path segments to form an intersection of the target first path segment and the target second path segment.

[0102] Exemplarily, as shown in Figure 7, the first path segment 411 and the first path segment 412 are connected through the endpoint of the first path segment 411 and the endpoint of the first path segment 412; the second path segment 421 and the second path segment 422 are connected through the endpoint of the second path segment 421 and the endpoint of the second path segment 422; wherein, the endpoint 4110 of the first path segment 411 can also coincide with the endpoint of the second path segment, that is, the endpoint 4110 is also the endpoint of the second path.

[0103] In some embodiments, a continuous path segment formed by connecting multiple first path segments is recorded as a preceding path segment, and a continuous path segment formed by connecting multiple second path segments is recorded as a succeeding path segment. The traveling order of the preceding path segment is before the succeeding path segment, and of the two endpoints of the succeeding path segment, the one closer to the end point of the preceding path segment is the starting point of the succeeding path segment.

[0104] For example, as shown in FIG7 , first path segment 411 and first path segment 412 are recorded as preceding path segments, and second path segment 421 and second path segment 422 are recorded as succeeding path segments. The autonomous mobile device first travels first path segment 411 and first path segment 412, and then uses the end of first path segment 411 and first path segment 412 as the starting point of second path segment 421, which is closer to the preceding path segment, among the succeeding path segments.

[0105] In some embodiments, when the map indicates that there are obstacles in the target operating area, the target path also includes an obstacle avoidance path, which is used to bypass the obstacle, and the obstacle avoidance path is connected between two adjacent first path segments or two adjacent second path segments.

[0106] Exemplarily, as shown in FIG8 , there is an obstacle M in the target operation area 10 . After the first path segment 41 is generated, the path segments of the first path segment 41 within the range of the obstacle M are deleted, and an obstacle avoidance path 411 is generated.

[0107] The path planning method for an autonomous mobile device provided in the above embodiment obtains a map and path parameters of a target operating area, wherein the path parameters are used to indicate the direction of the path; then, based on the map and the path parameters, accurately generates path planning information; wherein the path planning information is used to instruct the autonomous mobile device to travel and operate along a target path within the target operating area, wherein the target path includes a plurality of mutually parallel and spaced first path segments and a plurality of mutually parallel and spaced second path segments, wherein at least some of the first path segments intersect with at least some of the second path segments to form a grid. Based on the map and path parameters, this solution can accurately generate path planning information within the target operating area. The autonomous mobile device moves and operates within the target operating area according to the path planning information, resulting in neat vehicle tracks left by the operation, greatly improving the ornamental value of the lawn. Furthermore, the above method can effectively avoid missed mowing areas, thereby effectively improving the efficiency and accuracy of mowing operations.

[0108] In one embodiment, as shown in FIG9 , after step S101, the following steps are further included:

[0109] Step S103: Compare historical path parameters with the path parameters to determine whether new path planning information needs to be generated, where the historical path parameters are the path parameters used to generate the path planning information last time.

[0110] The historical path parameters are the path parameters used to generate the path planning information last time.

[0111] In one embodiment, when a first condition is met, it is determined that new path planning information does not need to be generated, wherein the first condition is that the path parameters are identical to the historical path parameters. When a second condition is met, it is determined that the new path planning information to be generated is partial path planning information of the entire path planning information required for the target operation area. This is when the path type in the historical path parameters is a single-direction path or a cross-path, and the path direction in the path parameters is partially identical to the path direction in the historical path parameters; or when the path parameters are different from the historical path parameters and the second condition is not met, it is determined that new path planning information needs to be generated.

[0112] Exemplarily, the first orientation angle is α and the second orientation angle is β, the historical path parameter is a unidirectional path segment, and the path segment orientation of the historical path parameter is α, then it is determined that the second condition is met. Therefore, it is determined that the new path segment to be generated is a partial path segment of all the path segments required for the target operating area, the target operating area is rotated toward β, and according to the preset path segment spacing, the rotated target operating area is scanned along the first preset direction to obtain a new unidirectional path segment map. The new unidirectional path segment map includes a new unidirectional coverage path segment with a orientation β and meeting the preset safety conditions. The historical unidirectional coverage path segment and the new unidirectional coverage path segment are combined to obtain a path segment that covers the target operating area and meets the preset safety conditions.

[0113] If new path planning information needs to be generated, step S102 is executed to generate path planning information according to the map and the path parameters.

[0114] If new path planning information does not need to be generated, step S104 is executed to cover the path segments in the target operation area based on the historical path planning information, where the historical path planning information is generated according to the historical path parameters.

[0115] In this embodiment, historical path planning information is planning information that satisfies preset safety conditions based on historical path parameters. This embodiment compares historical path parameters with path parameters to determine whether new path planning information needs to be generated. This allows for the generation of path planning information that satisfies preset safety conditions within the target operating area based on the path parameters only when new path planning information is required. When new path planning information is not required, the historical path planning information can be used to cover the target operating area. This avoids the unnecessary generation of new path planning information, reduces path planning information generation time, and conserves computing resources.

[0116] In other embodiments of the present application, a path generated using existing path generation methods has many turning points. When the robot mower follows the generated path and mows the lawn, it will trigger a turning operation when it reaches a turning point. However, the robot mower's turning speed is slow, which cannot guarantee mowing efficiency and results in a poor user experience.

[0117] In order to solve the above problems, an embodiment of the present application provides another path planning method for an autonomous mobile device, which generates a target parallel path covering the target work area based on a map of the target work area and a target orientation angle. Since the target orientation indicated by the target orientation angle is the same as the long axis direction of the target work area, the generated parallel path contains fewer and longer path segments with target orientations and parallel to each other, and the total number of turning points in the parallel path is fewer. In this way, when the autonomous mobile device uses a parallel path containing multiple path segments with target orientations and parallel to each other to operate, the number of turns can be reduced and the operating efficiency can be improved. For example, when a mowing robot uses a parallel path containing multiple path segments with target orientations and parallel to each other to mow the lawn, the number of turns and the occurrence of missed mowing can be reduced, thereby greatly improving the mowing efficiency and mowing effect.

[0118] The path planning method for an autonomous mobile device provided in an embodiment of the present application can be applied to one or more electronic devices. It is understandable that the electronic device may include an autonomous mobile device, an intelligent terminal, or a server. The path planning device of the autonomous mobile device can be specifically integrated into a microcontroller unit (MCU) of the mobile device, or into an intelligent terminal or a server. The MCU, also known as a single-chip microcomputer (MCU), is a chip-level computer that appropriately reduces the frequency and specifications of a central processing unit (CPU) and integrates peripheral interfaces such as memory, timer, universal serial bus (USB), analog-to-digital conversion / digital-to-analog conversion, universal asynchronous receiver / transmitter (UART), programmable logic controller (PLC), and direct memory access (DMA) to form a chip-level computer for different combination control for different application scenarios.

[0119] The autonomous mobile device may include a lawn mower robot, a sweeping robot or an unmanned aerial vehicle. The intelligent terminal may be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The intelligent terminal and the server may be directly or indirectly connected via wired or wireless communication. The server may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It may also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. This application does not impose any restrictions on this.

[0120] The following embodiments of the present application 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.

[0121] Please refer to Figure 10, which is a flow chart of another path planning method for an autonomous mobile device provided in an embodiment of the present application. As shown in Figure 10, the path planning method for an autonomous mobile device includes steps S201 to S202.

[0122] Step S201: Obtain a map including a target operation area and a target orientation angle.

[0123] In some embodiments, the target operation area can be an operation area where an operation is required, for example, an area where mowing, surveying, aerial photography, spraying, or sowing is required. The target operation area can be manually selected by the user, or the electronic device can automatically select the operation area closest to the electronic device as the target operation area based on the location of each operation area and the location of the electronic device. It can also be a default operation area, which is not specifically limited in the embodiments of the present application. The map containing the target operation area is a map without an overlay path.

[0124] In some embodiments, after obtaining the user-selected work area, the validity of the user-selected work area is verified. If the user-selected work area passes the validity verification, the user-selected work area is determined as the target work area, and the original map containing the target work area is obtained. If the user-selected work area fails the validity verification, a prompt message is output, indicating the reason why the user-selected work area failed the validity verification. This embodiment, by outputting a prompt message when the user-selected work area fails the validity verification, allows the user to accurately adjust the work area based on the prompt message, thereby improving the user experience.

[0125] In some embodiments, validating the work area selected by the user includes at least one of the following: determining whether there is a map containing the selected work area; determining whether the area of ​​the selected work area is less than a first area threshold; determining whether the area of ​​the selected work area is greater than a second area threshold; determining whether there is an intersection between the outlines of the selected work area; determining whether there are overlapping obstacles in the selected work area; and determining whether the obstacles in the selected work area are completely inside the work area.

[0126] In some embodiments, the user-selected work area is determined to have passed validity verification when a map containing the selected work area exists, the area of ​​the selected work area is greater than or equal to a first area threshold and less than or equal to a second area threshold, the outlines of the selected work areas do not intersect, there are no overlapping obstacles within the selected work areas, and obstacles within the selected work areas are completely within the work areas. The user-selected work area is determined to have failed validity verification when at least one of the following conditions is met: there is no map containing the selected work area, the area of ​​the selected work area is less than the first area threshold, the area of ​​the selected work area is greater than the second area threshold, there is an intersection between the outlines of the selected work areas, there are overlapping obstacles within the selected work areas, and obstacles within the selected work areas intersect with the boundaries of the work areas.

[0127] In some embodiments, when there is no map containing the selected work area, a prompt message "Map not ready" is output. When the area of ​​the selected work area is less than a first area threshold, a prompt message "Map area too small" is output. When the area of ​​the selected work area is greater than a second area threshold, a prompt message "Map area too large" is output. When the outlines of the selected work area intersect, a prompt message "Map shape does not exist" is output. When obstacles overlap in the selected work area and / or obstacles in the selected work area intersect with the boundary of the work area, a prompt message "Unreasonable obstacles are not supported" is output.

[0128] In some embodiments, obtaining the target heading angle may include: determining the heading angle input by the user as the target heading angle. Alternatively, determining the long axis direction of the target work area, where the long axis direction of the target work area is the direction of the long side of the minimum circumscribed rectangle of the target work area; and determining the target heading angle based on the long axis direction of the target work area. The target heading indicated by the target heading angle is the same as the long axis direction of the target work area.

[0129] In some embodiments, after obtaining a map containing the target operation area, the long axis direction and terrain features of the target operation area are determined, and the path type corresponding to the terrain features is obtained; when the path corresponding to the path type is a parallel path, the target orientation angle is determined based on the long axis direction of the target operation area. The target orientation indicated by the target orientation angle is the same as the long axis direction of the target operation area, and the long axis direction of the target operation area is the orientation of the long side of the minimum circumscribed rectangle of the target operation area. This embodiment can automatically select a suitable path type based on the terrain features of the target operation area, and automatically set the target orientation angle of the path when the path corresponding to the path type is a parallel path, which can improve the intelligence of path generation and ensure that the generated parallel path has fewer inflection points.

[0130] Step S202: Generate a target parallel path covering the target operating area according to the map and the target orientation angle.

[0131] In some embodiments, the target parallel path includes multiple path segments that have a target orientation and are parallel to each other, and the target parallel path is used to instruct the autonomous mobile device to move and operate in the target work area along the target parallel path. Since the target orientation indicated by the target orientation angle is the same as the long axis direction of the target work area, the generated parallel path contains fewer and longer path segments that have a target orientation and are parallel to each other, and the total number of inflection points of the parallel path is fewer. In this way, when the autonomous mobile device uses a parallel path that includes multiple path segments that have a target orientation and are parallel to each other to operate, the number of turns can be reduced and the operating efficiency can be improved. For example, when a lawn mower robot uses a parallel path that includes multiple path segments that have a target orientation and are parallel to each other to mow the lawn, the number of turns and the occurrence of missed mowing can be reduced, thereby greatly improving the mowing efficiency and mowing effect.

[0132] In some embodiments, generating a target parallel path covering the target operating area based on a map and a target orientation angle may include: rotating the map to the target orientation based on the target orientation angle to obtain a target map; and scanning the target map along a preset scanning direction based on a preset path spacing to obtain a target parallel path covering the target operating area. Each scan of a line of the target map may generate a path segment. By rotating the map to the target orientation, this embodiment allows for rapid scanning of the map to obtain the target parallel path, thereby improving the efficiency of path generation.

[0133] It will be appreciated that if the orientation of the map containing the target work area is the same as the target orientation indicated by the target orientation angle, the map does not need to be rotated. If the orientation of the map is different from the target orientation indicated by the target orientation angle, the map needs to be rotated to the target orientation indicated by the target orientation angle based on the target orientation angle. For example, as shown in Figure 11, if the orientation of the map containing the target work area 50 is different from the target orientation 60 indicated by the target orientation angle, the map containing the target work area 50 needs to be rotated to the target orientation 60.

[0134] The preset path spacing and preset scanning direction can be set by the user or by default, and are not specifically limited in this embodiment of the present application. For example, the preset path spacing is 0.5 meters, and the preset scanning direction is a first scanning direction or a second scanning direction. The first scanning direction is the direction from the first longest side to the second longest side of the minimum circumscribed rectangle of the target operating area, and the second scanning direction is the direction from the second longest side to the first long side of the target operating area, with the first long side and the second long side being opposite each other.

[0135] For example, as shown in Figure 12, the target operation area 50 is covered with a target parallel path oriented along the long side ab of the target operation area 50, and the target parallel path includes multiple path segments 311. The spacing between any two adjacent path segments 311 is the preset path spacing. Compared with the path generated along other directions of the target operation area 50, the path generated along the long side ab of the minimum circumscribed rectangle 52 of the target operation area 50 contains fewer path segments, is longer, and has fewer total turning points. In this way, when the autonomous mobile device uses a parallel path containing multiple path segments with target orientations and parallel to each other to perform operations, the number of turns can be reduced and the operation efficiency can be improved.

[0136] In some embodiments, the target parallel path includes multiple path segments that have a target orientation and are parallel to each other and meet preset safety conditions. The path planning method for the autonomous mobile device also includes: in the process of generating the target parallel path, after generating any path segment, determining whether the generated path segment meets the preset safety conditions; if the generated path segment does not meet the preset safety conditions, adjusting the generated path segment until the adjusted path segment meets the preset safety conditions; if the generated path segment meets the preset safety conditions, continuing to generate the next path segment until the generated path segment covers the target operating area. Among them, the preset safety conditions include that the generated path segment is inside the operating area, does not intersect with obstacles, and the generated path segment is not located at the boundary of the obstacle. This embodiment can ensure that any path segment in the generated target parallel path is safe, thereby ensuring the safety of the autonomous mobile device when using the target parallel path to perform operations.

[0137] For example, as shown in FIG13 , during scanning along the first scanning direction (the direction from edge ab of the target operating area 50 to edge cd of the target operating area 50 ), the scanned path segments 1 to 3 and the 7 to 8 path segments satisfy the preset safety conditions, while the 4th path segment intersects the first obstacle 41 , the 5th path segment intersects the first obstacle M1 and the second obstacle M2 , and the 6th path segment intersects the first obstacle M1 . Therefore, after obtaining the 4th, 5th, or 6th path segments, it is necessary to adjust the 4th, 5th, or 6th path segments so that the adjusted 4th, 5th, or 6th path segments satisfy the preset safety conditions. As shown in FIG14 , the adjusted 4th path segment is truncated into 2 segments, the adjusted 5th path segment is truncated into 3 segments, and the adjusted 6th path segment is truncated into 2 segments.

[0138] In some embodiments, determining whether a generated path segment meets preset safety conditions may include: determining whether the generated path segment is inside the map, whether it intersects with an obstacle, and whether it is located at the boundary of the obstacle; if the generated path segment is inside the map, does not intersect with the obstacle, and is not located at the boundary of the obstacle, then determining that the generated path segment meets the preset safety conditions; if the generated path segment is not inside the map, and / or intersects with the obstacle and / or is located at the boundary of the obstacle, then determining that the generated path segment does not meet the preset safety conditions.

[0139] In some embodiments, as shown in FIG15 , step S201 further includes:

[0140] Step S203: Determine whether the path generated last time is a cross path.

[0141] In this embodiment, the intersecting paths include a plurality of first path segments having a first orientation and being parallel to each other, and a plurality of second path segments having a second orientation and being parallel to each other. The angle formed by the first orientation and the second orientation is any angle between (0° and 360°). For example, the angle formed by the first orientation and the second orientation is 90°, 45°, or 60°.

[0142] For example, as shown in Figure 16, the cross path includes multiple first path segments 311 with a first orientation (the orientation of the long side ab of the minimum circumscribed rectangle 52 of the target work area 50) and parallel to each other, and second path segments 321 with a second orientation (the orientation of the short side ae of the minimum circumscribed rectangle 52 of the target work area 50) and parallel to each other, and the angle formed by the first orientation and the second orientation is 90°. After mowing the target work area 50 using the cross path shown in Figure 16, a "checkered" pattern of different orientations and shapes will be left on the target work area 50, which effectively shows and improves the ornamental value of the lawn, and further improves the utilization rate and value of the mowing robot.

[0143] If the path generated last time is not a cross path, step S202 is executed to generate a target parallel path covering the target operation area according to the map and the target orientation angle.

[0144] In this embodiment, if the path generated this time is a parallel path and the path generated last time was not a cross path, it is necessary to regenerate all paths in the target operation area, that is, generate a target parallel path covering the target operation area based on the map and the target orientation angle.

[0145] If the path generated last time is a cross path, step S204 is executed to determine whether the target orientation is the same as the first orientation or the second orientation.

[0146] In some embodiments, when the path generated this time is a parallel path and the path generated last time was an intersecting path, it is necessary to further determine whether the target orientation is the same as the first orientation or the second orientation, so as to determine whether to regenerate the entire path or use the partial path segment included in the intersecting path.

[0147] If the target orientation is different from both the first orientation and the second orientation, step S202 is executed to generate a target parallel path covering the target operation area according to the map and the target orientation angle.

[0148] In some embodiments, when the path generated this time is a parallel path, the path generated last time is a cross path, and the target orientation is different from the first orientation and the second orientation, it can be determined that all paths need to be regenerated in the target operation area, that is, based on the map and the target orientation angle, a target parallel path covering the target operation area is generated.

[0149] Step S205 : If the target orientation is the same as the first orientation, a plurality of first path segments having the first orientation and being parallel to each other are determined as a target parallel path covering the target operating area.

[0150] In this embodiment, the path generated this time is a parallel path, the path generated last time is a cross path, and when the target orientation is the same as the first orientation, it can be determined that a path that meets the current requirements has been generated last time and does not need to be regenerated. This can avoid unnecessary new path generation, reduce path generation time, and save computing resources.

[0151] For example, assuming that the target orientation is the orientation of the long side ab of the minimum circumscribed rectangle 52 of the target operating area 50 in FIG12, as shown in FIG16, the intersection generated last time includes multiple first path segments 311 having a first orientation (the orientation of the long side ab of the minimum circumscribed rectangle 52 of the target operating area 50) and being parallel to each other, and second path segments 321 having a second orientation (the orientation of the short side ae of the minimum circumscribed rectangle 52 of the target operating area 50) and being parallel to each other, and the angle formed by the first orientation and the second orientation is 90°. Since the target orientation is the same as the first orientation, the multiple first path segments having a first orientation and being parallel to each other as shown in FIG12 can be determined as the target parallel path covering the target operating area.

[0152] Step S206 : If the target orientation is the same as the second orientation, a plurality of second path segments having the second orientation and being parallel to each other are determined as a target parallel path covering the target operating area.

[0153] In this embodiment, the path generated this time is a parallel path, the path generated last time is a cross path, and when the target orientation is the same as the second orientation, it can be determined that a second parallel path that meets the current requirements has been generated last time and does not need to be regenerated. This can avoid unnecessary new path generation, reduce path generation time, and save computing resources.

[0154] For example, assuming that the target orientation indicated by the target orientation angle is the orientation of the short side ae of the minimum circumscribed rectangle 52 of the target operation area 50 in Figure 12, as shown in Figure 16, the intersection generated last time includes multiple first path segments 311 having a first orientation (the orientation of the long side ab of the minimum circumscribed rectangle 53 of the target operation area 50) and parallel to each other and second path segments 321 having a second orientation (the orientation of the short side ae of the minimum circumscribed rectangle 52 of the target operation area 50) and parallel to each other, and the angle formed by the first orientation and the second orientation is 90°. Since the target orientation is the same as the second orientation, the multiple second path segments 321 having a second orientation and parallel to each other as shown in Figure 17 can be determined as the target parallel path covering the target operation area.

[0155] In other embodiments of the present application, when the lawn mower robot follows a track to mow the lawn in an operating area with complex terrain, it is easy to miss the grass, the mowing effect cannot be guaranteed, and the user experience is poor.

[0156] To address the aforementioned issues, embodiments of the present application provide another path planning method for an autonomous mobile device, which generates an intersecting path that covers a target work area. The intersecting path includes multiple first path segments that are parallel to each other and have a first target orientation, and multiple second path segments that are parallel to each other and have a second target orientation. This method provides higher coverage within the work area, resulting in a higher density of operations when the autonomous device operates using the intersecting path. Furthermore, the autonomous device operates twice in the intersection area. This reduces the likelihood of areas being missed due to complex terrain, control errors, and / or positioning errors when the autonomous device operates using the intersecting path, thereby improving coverage and operational effectiveness. Furthermore, when the autonomous device operates using the intersecting path, an aesthetically pleasing pattern is formed within the work area, thereby increasing the utilization and value of the autonomous device. For example, when a lawn mower robot uses the intersecting path for mowing, the method reduces the likelihood of missed mowing areas due to complex terrain, control errors, and / or positioning errors, thereby improving mowing effectiveness. Furthermore, when the lawn mower robot uses the intersecting path for mowing, an aesthetically pleasing pattern is formed within the mowing area, effectively showcasing and enhancing the aesthetic value of the lawn, further increasing the utilization and value of the lawn mower robot.

[0157] The path planning method for an autonomous mobile device provided in the embodiments of the present application can be applied to one or more electronic devices. It is understood that the electronic devices may include autonomous mobile devices, smart terminals, or servers. The path planning device for the autonomous mobile device can be integrated into a microcontroller unit (MCU) of a lawn mower robot, or integrated into a smart terminal or server.

[0158] The following embodiments of the present application 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.

[0159] Please refer to Figure 18, which is a flowchart of another path planning method for an autonomous mobile device provided in an embodiment of the present application. As shown in Figure 18, the path planning method for an autonomous mobile device includes steps S301 to S302.

[0160] Step S301: Obtain a map including a target operation area and target path generation parameters.

[0161] In some embodiments, the method for obtaining the target operation area has been described in detail in step S201 above and will not be repeated here.

[0162] In some embodiments, after obtaining the user-selected work area, the user-selected work area is validated. If the user-selected work area passes the validation, the user-selected work area is determined as the target work area, and a map containing the target work area is obtained. If the user-selected work area fails the validation, a prompt message is output. This embodiment outputs a prompt message when the user-selected work area fails the validation, allowing the user to accurately adjust the work area based on the prompt message, thereby improving the user experience. The method for validating the user-selected work area has been described in detail in step S201 above and will not be repeated here.

[0163] In some embodiments, the target path generation parameters include a first target heading angle and a second target heading angle, wherein the first target heading or the second target heading is the same as the long axis direction of the target work area. The long axis direction of the target work area is the direction of the long side of the minimum circumscribed rectangle of the target work area. Compared to a path generated along the short axis direction of the work area, a path generated along the long axis direction of the work area contains fewer path segments, is longer, and has fewer total inflection points. Therefore, the first target heading angle or the second target heading angle is the same as the heading angle indicated by the long axis direction of the target work area. This ensures that the number of path segments with the first target heading or the second target heading in the cross-path is smaller, longer, and has fewer total inflection points. This allows for faster operation efficiency when the self-moving device uses the cross-path for operation. Furthermore, since the cross-path has a certain degree of overlap, using the cross-path in uneven work areas such as slopes can effectively reduce missed operations and can also effectively reduce missed operations at path endpoints and turns.

[0164] In some embodiments, obtaining a map including a target operation area and target path generation parameters may include: determining the terrain features of the target operation area and obtaining a path type corresponding to the terrain features; when the path corresponding to the path type is an intersection path, obtaining a first target heading angle and a second target heading angle input by the user, or obtaining a path intersection angle input by the user, determining the target heading angle of the path intersection angle based on the long axis direction of the target operation area, and determining the first target heading angle and the second target heading angle based on the path intersection angle and the path intersection angle. This embodiment can automatically select an appropriate path type based on the terrain features of the target operation area, and when the path corresponding to the path type is an intersection path, prompt the user to input the first target heading angle and the second target heading angle, or prompt the user to input the path intersection angle, and automatically set the path intersection angle by the electronic device, and automatically determine the first target heading angle and the second target heading angle based on the path intersection angle and the path intersection angle, thereby improving the intelligence of path generation.

[0165] In some embodiments, determining the first target heading angle and the second target heading angle based on the path intersection angle and the target heading angle of the path intersection angle may include: multiplying the path intersection angle by a preset coefficient to obtain a gain heading angle; subtracting the gain heading angle from the target heading angle to obtain the first target heading angle; and adding the gain heading angle to the target heading angle to obtain the second target heading angle. The preset coefficient can be set based on actual conditions and is not specifically limited in the embodiments of the present application. For example, the preset coefficient may be 0.5 or 0.6.

[0166] Step S302: Generate a target intersection path covering the target operation area according to the map, the first target orientation angle, and the second target orientation angle.

[0167] In some embodiments, the target cross-path includes a plurality of first path segments having a first target orientation and being parallel to each other and a plurality of second path segments having a second target orientation and being parallel to each other, the first target orientation intersects with the second target orientation, the first target orientation angle corresponds to the first target orientation, and the second target orientation angle corresponds to the second target orientation. Among them, any angle among the angles (0°, 360°) at which the first target orientation intersects with the second target orientation. The cross-path in this embodiment has a higher coverage rate, so the operation density of the autonomous mobile device when using the cross-path for operation is higher, and the area at the intersection will be operated twice, so that when the autonomous mobile device uses the cross-path for operation, it can reduce the occurrence of some areas being missed due to complex terrain, control errors and / or positioning errors, thereby improving the coverage rate and operation effect of the operation.

[0168] In some embodiments, generating a target intersection path covering a target operating area based on a map, a first target orientation angle, and a second target orientation angle may include: generating a plurality of first path segments having a first target orientation and being parallel to each other based on the map and the first target orientation angle; generating a plurality of second path segments having a second target orientation and being parallel to each other based on the map and the second target orientation angle; and combining the plurality of first path segments having a first target orientation and being parallel to each other with the plurality of second path segments having a second target orientation and being parallel to each other to obtain a target intersection path covering the target operating area. This embodiment may generate a plurality of first path segments and a plurality of second path segments separately, and then combine the plurality of first path segments and the plurality of second path segments to obtain a target intersection path, which may improve the efficiency of path generation.

[0169] In some embodiments, in the process of generating the target cross-path, after generating any first path segment and / or second path segment, it is determined whether the generated first path segment and / or second path segment meets the preset safety conditions; if the generated first path segment and / or second path segment does not meet the preset safety conditions, the generated first path segment and / or second path segment is adjusted until the adjusted first path segment and / or second path segment meets the preset safety conditions; if the generated first path segment and / or second path segment meets the preset safety conditions, the next first path segment and / or second path segment is generated until the generated path segments cover the target operation area. This embodiment can ensure that any path segment in the generated target cross-path is safe, thereby ensuring the safety of the autonomous mobile device when using the target cross-path to operate. Among them, the method for determining the preset safety conditions has been described in detail in step S202 above and will not be repeated here.

[0170] In some embodiments, generating a plurality of first path segments having a first target orientation and being parallel to each other based on a map and a first target orientation angle may include: rotating the map to the corresponding first target orientation based on the first target orientation angle to obtain the first map; and scanning the first map along a first scanning direction based on a preset path spacing to obtain a plurality of first path segments having a first target orientation and being parallel to each other. In the process of scanning the first map, a first path segment having a first target orientation is obtained after each row is scanned. This embodiment rotates the map to the first target orientation, thereby enabling rapid scanning of the map to obtain a plurality of first path segments having a first target orientation and being parallel to each other, thereby improving the efficiency of path generation.

[0171] The preset path spacing and the first scanning direction can be set by the user or by default, and are not specifically limited in the present embodiment. For example, the preset path spacing is 0.5 meters, and the first scanning direction is the direction from the first longest side to the second longest side of the minimum circumscribed rectangle of the target operating area, or the first scanning direction is the direction from the second longest side to the first long side of the target operating area, with the first long side and the second long side facing each other.

[0172] It is understood that when the orientation of the map containing the target operating area is the same as the target orientation indicated by the target orientation angle, there is no need to rotate the map. When the orientation of the map is different from the target orientation indicated by the target orientation angle, the map needs to be rotated to the target orientation indicated by the target orientation angle according to the target orientation angle. For example, as shown in Figure 19, the orientation of the map containing the target operating area 50 is different from the target orientation 60 indicated by the target orientation angle, and the map containing the target operating area 50 needs to be rotated to the target orientation 60. Then, according to the preset path spacing, scanning is performed along the first scanning direction (the direction from the side ab to the side dc of the target operating area 50 or the direction from the side dc to the side ab of the target operating area 50) to obtain a plurality of first path segments 311 having the target orientation 60 and being parallel to each other.

[0173] In some embodiments, during scanning of the first map, after each row is scanned, a first path segment having a first target orientation is obtained; whether the first path segment satisfies a preset safety condition is determined; if the first path segment does not satisfy the preset safety condition, the first path segment is adjusted until the adjusted first path segment satisfies the preset safety condition; if the first path segment satisfies the preset safety condition, the next row is scanned continuously, and the step of determining whether the first path segment satisfies the preset safety condition is executed until the first map is scanned.

[0174] In some embodiments, generating multiple second path segments having a second target orientation and being parallel to each other based on a map and a second target orientation angle includes: rotating the map to the corresponding second target orientation based on the second target orientation angle to obtain a second map; determining the last scan point of the first map, and determining the position of the last scan point within the second map as the target position; using the end of the second map closest to the target position as the scan start end, and determining the direction from the scan start end to the end opposite to the scan start end as the second scan direction; and scanning the second map along the second scan direction based on a preset path spacing to obtain multiple second path segments having a second target orientation and being parallel to each other. This embodiment, by rotating the map to the second target orientation, can quickly scan the map and obtain multiple second path segments having a second target orientation and being parallel to each other, thereby improving the efficiency of path generation.

[0175] For example, as shown in FIG20 , because the orientation of the map containing the target operation area 50 is different from the second target orientation 70, the map containing the target operation area 50 is rotated to the second target orientation 70. The last scan point of the first map is scan point 121, and the corresponding position of first scan point 121 in the second map is target position 131. The end closest to target position 131 in the second map is end bc. Therefore, the direction from end bc to end ab can be determined as the second scanning direction. Then, based on the preset path spacing, the second map is scanned from end bc to end ab to obtain a plurality of second path segments 321 having the second target orientation 70 and being parallel to each other.

[0176] In some embodiments, during the scanning of the second map, a second path segment is obtained after each row is scanned; whether the second path segment meets the preset safety conditions is determined; if the second path segment does not meet the preset safety conditions, the second path segment is adjusted until the adjusted second path segment meets the preset safety conditions; if the second path segment meets the preset safety conditions, the next row is scanned continuously to obtain the next second path segment, and the step of determining whether the second path segment meets the preset safety conditions is executed until the second map is scanned.

[0177] In some embodiments, combining a plurality of mutually parallel first path segments having a first target orientation and a plurality of mutually parallel second path segments having a second target orientation to obtain a target cross-path covering the target operation area may include: converting the plurality of mutually parallel first path segments having a first target orientation into a map containing the target operation area based on a rotational relationship between the first map and the map, and converting the plurality of mutually parallel second path segments having a second target orientation into the map based on a rotational relationship between the second map and the map, to obtain a target cross-path composed of the plurality of first path segments and the second path segments. For example, as shown in FIG21 , the target operation area 50 is covered with a target cross-path composed of a plurality of first path segments 311 and a plurality of second path segments 321, wherein the plurality of first path segments 311 are parallel to the side ab, and the plurality of second path segments 321 are perpendicular to the side ab.

[0178] In some embodiments, as shown in FIG22 , step S301 further includes:

[0179] Step S303: Determine whether the historical path generation parameters include a heading angle.

[0180] In this embodiment, the historical path generation parameters are the path generation parameters used in the last generated path. If the historical path generation parameters include a heading angle, it can be determined that the last generated path was a parallel path or an intersecting path. A parallel path includes multiple parallel path segments. If the historical path generation parameters do not include a heading angle, it can be determined that the last generated path was not a parallel path or an intersecting path.

[0181] If the historical path generation parameters do not include the heading angle, step S302 is executed to generate a target intersection path covering the target operation area according to the map, the first target heading angle, and the second target heading angle.

[0182] In this embodiment, the path generated this time is an intersecting path, and the historical path generation parameters do not include the orientation angle. It can be determined that the path generated last time was not a parallel path or an intersecting path. Therefore, it is necessary to regenerate all paths within the target operating area, that is, based on the map, the first target orientation angle and the second target orientation angle, generate a target intersecting path covering the target operating area.

[0183] If the historical path generation parameters include a heading angle, step S304 is executed to determine whether the first target heading angle and / or the second target heading angle are the same as the heading angle in the historical path generation parameters.

[0184] In this embodiment, the path generated this time is an intersecting path, and the historical path generation parameters include an orientation angle. It can be determined whether the path generated last time was a parallel path or an intersecting path. Therefore, it is necessary to further determine whether the first target orientation angle and / or the second target orientation angle are the same as the orientation angle in the historical path generation parameters, so as to determine whether it is necessary to regenerate the entire path within the target operation area or to generate a partial path segment in the intersecting path.

[0185] If the first target orientation angle and the second target orientation angle are different from the orientation angles in the historical path generation parameters, step S302 is executed to generate a target intersection path covering the target operation area according to the map, the first target orientation angle and the second target orientation angle.

[0186] The path generated this time is an intersecting path, while the path generated last time was a parallel path or an intersecting path, and the first target orientation angle and the second target orientation angle are different from the orientation angles in the historical path generation parameters. It can be determined that the entire path needs to be regenerated within the target operating area. Therefore, based on the map, the first target orientation angle and the second target orientation angle, a target intersecting path covering the target operating area is generated.

[0187] If the first target orientation angle is the same as the orientation angle in the historical path generation parameters, execute step S305, generate multiple second path segments with the second target orientation and parallel to each other based on the map and the second target orientation angle, and combine the multiple historical path segments corresponding to the first target orientation angle and the multiple second path segments with the second target orientation and parallel to each other to obtain a target intersection path covering the target operation area.

[0188] In some embodiments, when the path generated this time is a cross-path, and the path generated last time was a parallel path or a cross-path, and the first target orientation angle is the same as the orientation angle in the historical path generation parameters, it can be determined that a partial path of the cross-path that meets the current requirements has been generated last time, and there is no need to regenerate the entire cross-path. This can avoid unnecessary new path generation, reduce path generation time, and save computing resources.

[0189] For example, the direction indicated by the heading angle in the historical path generation parameters is direction 60 in Figure 19, and the direction indicated by the first target heading angle is also direction 60 in Figure 19, then the multiple historical path segments corresponding to the heading angle in the historical path generation parameters are the multiple first path segments 311 in Figure 19.

[0190] If the second target orientation angle is the same as the orientation angle in the historical path generation parameters, execute step S306, generate multiple first path segments with the first target orientation and parallel to each other based on the map and the first target orientation angle, and combine the multiple historical path segments corresponding to the second target orientation angle and the multiple first path segments with the first target orientation and parallel to each other to obtain a cross path covering the target operation area.

[0191] For example, the direction indicated by the heading angle in the historical path generation parameters is direction 70 in Figure 20, and the direction indicated by the second target heading angle is also direction 70 in Figure 20, then the multiple historical path segments corresponding to the heading angle in the historical path generation parameters are the multiple second path segments 321 in Figure 20.

[0192] If the first target orientation angle is the same as the first orientation angle in the historical path generation parameters, and the second target orientation angle is the same as the second orientation angle in the historical path generation parameters, step S307 is executed to overwrite the historical intersection path in the target operation area.

[0193] For example, the direction indicated by the first orientation angle in the historical path generation parameters is the direction 60 in Figure 19, and the direction indicated by the first target orientation angle is also the direction 60 in Figure 19, and the direction indicated by the second orientation angle in the historical path generation parameters is the direction 70 in Figure 20, and the direction indicated by the second target orientation angle is also the direction 70 in Figure 20, then the historical cross-path includes multiple first path segments 311 in Figure 19 and multiple second path segments 321 in Figure 20. At this time, there is no need to regenerate the cross-path, and the historical cross-path can be used.

[0194] Please refer to Figure 23, which is a structural schematic block diagram of a path planning device for an autonomous mobile device provided in an embodiment of the present application.

[0195] As shown in FIG23 , the path planning device 200 for an autonomous mobile device includes an acquisition module 210 and a generation module 220 , wherein:

[0196] The acquisition module 210 is used to acquire a map of the target operation area and path parameters, wherein the path parameters are used to indicate the direction of the path;

[0197] The generation module 220 is used to generate path planning information based on the map and the path parameters, wherein the path planning information is used to instruct the autonomous mobile device to travel and operate along a target path in the target operation area, and the target path includes a plurality of first path segments that are parallel to each other and spaced apart and a plurality of second path segments that are parallel to each other and spaced apart, and at least part of the first path segments intersects with at least part of the second path segments to form a grid.

[0198] In one embodiment, two adjacent first path segments among the plurality of first path segments are connected by endpoints of the path segments, and two adjacent second path segments among the plurality of second path segments are connected by endpoints of the path segments;

[0199] An endpoint of a target first path segment in the at least part of the first path segment coincides with an endpoint of a target second path segment in the at least part of the second path segment to form an intersection of the target first path segment and the target second path segment.

[0200] In one embodiment, the continuous path segment formed by connecting the multiple first path segments is recorded as a preceding path segment, and the continuous path segment formed by connecting the multiple second path segments is recorded as a succeeding path segment. The traveling order of the preceding path segment is before the succeeding path segment, and of the two endpoints of the succeeding path segment, the one closer to the end point of the preceding path segment is the starting point of the succeeding path segment.

[0201] In one embodiment, when the map indicates that there is an obstacle in the target operating area, the target path also includes an obstacle avoidance path, which is used to bypass the obstacle, and the obstacle avoidance path is connected between two adjacent first path segments or two adjacent second path segments.

[0202] In one embodiment, the path parameters are obtained from a user terminal; or, the path parameters are determined based on the long axis direction of the target operation area, where the long axis direction is the direction of the longest line segment that can be obtained by connecting two points on the boundary of the target operation area.

[0203] In one embodiment, the generating module 220 is further configured to:

[0204] The path parameters include an intersection angle between the first path segment and the second path segment and an orientation angle of the grid. Generating path planning information according to the map and the path parameters includes:

[0205] determining a first orientation angle of the first path segment and a second orientation angle of the second path segment according to the intersection angle and the orientation angle of the grid;

[0206] The path planning information is generated according to the map, the first heading angle, and the second heading angle.

[0207] In one embodiment, the generating module 220 is further configured to:

[0208] The angle difference between the first orientation angle of the first path segment and the orientation angle of the grid is half of the intersection angle;

[0209] The angular difference between the second orientation angle of the second path segment and the orientation angle of the grid is half of the intersection angle.

[0210] In one embodiment, the generating module 220 is further configured to:

[0211] The path planning information includes multiple first path segment planning information and multiple second path segment planning information; the first path segment planning information includes multiple first path points arranged along a first direction in the map, and the first direction is the direction indicated by the first direction angle; the second path segment planning information includes multiple second path points arranged along a second direction in the map, and the second direction is the direction indicated by the second direction angle.

[0212] In one embodiment, the generating module 220 is further configured to:

[0213] The method of generating the plurality of first path segment planning information includes:

[0214] According to the first orientation angle, the map is rotated to a first orientation to obtain a first operating area;

[0215] Scanning the first working area along a first preset direction according to a first preset path segment spacing, and obtaining a first path segment planning information after each row is scanned;

[0216] If the first path segment planning information does not meet the preset safety condition, adjusting the first path segment planning information until the adjusted first path segment planning information meets the preset safety condition;

[0217] If the first path segment planning information meets the preset safety condition, the next line is scanned continuously until the first operation area is scanned.

[0218] In one embodiment, the generating module 220 is further configured to:

[0219] After obtaining the map and path parameters of the target operation area, the method further includes:

[0220] Comparing historical path parameters with the path parameters to determine whether new path planning information needs to be generated, the historical path parameters being the path parameters used in the last generation of path planning information;

[0221] When the historical path parameters are the same as the path parameters, there is no need to generate new path planning information; when the historical path parameters are different from the path parameters, it is necessary to generate new path planning information; if it is necessary to generate new path planning information, the path planning information is generated according to the map and the path parameters;

[0222] If new path planning information does not need to be generated, path segments are covered within the target operation area based on historical path planning information, where the historical path planning information is generated according to the historical path parameters.

[0223] In one embodiment, the generating module 220 is further configured to:

[0224] The comparing the historical path parameters with the path parameters to determine whether new path planning information needs to be generated includes:

[0225] When a first condition is met, determining that new path planning information does not need to be generated, wherein the first condition is that the path parameter is the same as the historical path parameter;

[0226] When the second condition is met, determining that the new path planning information to be generated is partial path planning information of the entire path planning information required for the target operation area, wherein the path type in the historical path parameters is a single-direction path or a cross path, and the path direction in the path parameters is partially the same as the path direction in the historical path parameters;

[0227] Alternatively, when the path parameter is different from the historical path parameter and does not meet the second condition, it is determined that new path planning information needs to be generated.

[0228] It should be noted that, those skilled in the art can clearly understand that, for the sake of convenience and brevity of description, the specific working process of the path planning device of the above-mentioned autonomous mobile device can refer to the corresponding process in the aforementioned embodiment of the path planning method of the autonomous mobile device, and will not be repeated here.

[0229] Please refer to Figure 24, which is a schematic block diagram of the structure of a controller provided in an embodiment of the present application.

[0230] As shown in FIG. 24 , the controller 300 includes a processor 302 and a memory 303 connected via a system bus 301 , wherein the memory may include a storage medium and an internal memory.

[0231] The storage medium may store a computer program including program instructions, which, when executed, may cause a processor to execute any one of the path planning methods for an autonomous mobile device.

[0232] The processor 302 is used to provide computing and control capabilities and support the operation of the entire controller 300.

[0233] The internal memory provides an environment for the operation of the computer program in the storage medium. When the computer program is executed by the processor, the processor can execute any path planning method for an autonomous mobile device.

[0234] Those skilled in the art will understand that the structure shown in Figure 24 is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the controller to which the scheme of the present application is applied. The specific controller may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0235] It should be understood that the processor may be a central processing unit (CPU), or 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. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0236] In one embodiment, the processor 302 is configured to execute a computer program stored in a memory to implement the following steps:

[0237] Obtaining a map and path parameters of the target operation area, wherein the path parameters are used to indicate the direction of the path;

[0238] generating path planning information according to the map and the path parameters;

[0239] The path planning information is used to instruct the autonomous mobile device to travel and operate along a target path within the target operation area, wherein the target path includes a plurality of first path segments that are parallel to each other and spaced apart and a plurality of second path segments that are parallel to each other and spaced apart, and at least part of the first path segments intersects with at least part of the second path segments to form a grid.

[0240] In one embodiment, two adjacent first path segments among the plurality of first path segments are connected by endpoints of the path segments, and two adjacent second path segments among the plurality of second path segments are connected by endpoints of the path segments;

[0241] An endpoint of a target first path segment in the at least part of the first path segment coincides with an endpoint of a target second path segment in the at least part of the second path segment to form an intersection of the target first path segment and the target second path segment.

[0242] In one embodiment, the continuous path segment formed by connecting the multiple first path segments is recorded as a preceding path segment, and the continuous path segment formed by connecting the multiple second path segments is recorded as a succeeding path segment. The traveling order of the preceding path segment is before the succeeding path segment, and of the two endpoints of the succeeding path segment, the one closer to the end point of the preceding path segment is the starting point of the succeeding path segment.

[0243] In one embodiment, when the map indicates that there is an obstacle in the target operating area, the target path also includes an obstacle avoidance path, which is used to bypass the obstacle, and the obstacle avoidance path is connected between two adjacent first path segments or two adjacent second path segments.

[0244] In one embodiment, the path parameter is obtained from a user terminal; or,

[0245] The path parameter is determined according to the long axis direction of the target operation area, where the long axis direction is the direction of the longest line segment that can be obtained by connecting two points on the boundary of the target operation area.

[0246] In one embodiment, when the processor 302 realizes that the path parameters include the intersection angle between the first path segment and the second path segment and the orientation angle of the grid, and generates the path planning information according to the map and the path parameters, it is configured to implement:

[0247] determining a first orientation angle of the first path segment and a second orientation angle of the second path segment according to the intersection angle and the orientation angle of the grid;

[0248] The path planning information is generated according to the map, the first heading angle, and the second heading angle.

[0249] In one embodiment, the angle difference between the first orientation angle of the first path segment and the orientation angle of the grid is half of the intersection angle;

[0250] The angular difference between the second orientation angle of the second path segment and the orientation angle of the grid is half of the intersection angle.

[0251] In one embodiment, the path planning information includes multiple first path segment planning information and multiple second path segment planning information; the first path segment planning information includes multiple first path points arranged along a first direction in the map, and the first direction is the direction indicated by the first direction angle; the second path segment planning information includes multiple second path points arranged along a second direction in the map, and the second direction is the direction indicated by the second direction angle.

[0252] In one embodiment, when implementing the method of generating the plurality of first path segment planning information, the processor 302 is configured to implement:

[0253] According to the first orientation angle, the map is rotated to a first orientation to obtain a first operating area;

[0254] Scanning the first working area along a first preset direction according to a first preset path segment spacing, and obtaining a first path segment planning information after each row is scanned;

[0255] If the first path segment planning information does not meet the preset safety condition, adjusting the first path segment planning information until the adjusted first path segment planning information meets the preset safety condition;

[0256] If the first path segment planning information meets the preset safety condition, the next line is scanned continuously until the first operation area is scanned.

[0257] In one embodiment, after obtaining the map and path parameters of the target operation area, the processor 302 is further configured to:

[0258] Comparing historical path parameters with the path parameters to determine whether new path planning information needs to be generated, the historical path parameters being the path parameters used in the last generation of path planning information;

[0259] When the historical path parameters are the same as the path parameters, there is no need to generate new path planning information; when the historical path parameters are different from the path parameters, it is necessary to generate new path planning information; if it is necessary to generate new path planning information, the path planning information is generated according to the map and the path parameters;

[0260] If new path planning information does not need to be generated, path segments are covered within the target operation area based on historical path planning information, where the historical path planning information is generated according to the historical path parameters.

[0261] In one embodiment, when comparing the historical path parameters with the path parameters to determine whether new path planning information needs to be generated, the processor 302 is configured to implement:

[0262] When a first condition is met, determining that new path planning information does not need to be generated, wherein the first condition is that the path parameter is the same as the historical path parameter;

[0263] When the second condition is met, determining that the new path planning information to be generated is partial path planning information of the entire path planning information required for the target operation area, wherein the path type in the historical path parameters is a single-direction path or a cross path, and the path direction in the path parameters is partially the same as the path direction in the historical path parameters;

[0264] Alternatively, when the path parameter is different from the historical path parameter and does not meet the second condition, it is determined that new path planning information needs to be generated.

[0265] 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 controller described above can refer to the corresponding process in the aforementioned path planning method embodiment of the autonomous mobile device, and will not be repeated here.

[0266] Please refer to Figure 25, which is a schematic block diagram of the structure of an autonomous mobile device provided in an embodiment of the present application.

[0267] As shown in FIG. 25 , the autonomous mobile device 400 includes a processor 402 and a memory 403 connected via a system bus 401 , wherein the memory may include a storage medium and an internal memory.

[0268] The storage medium may store a computer program including program instructions, which, when executed, may cause a processor to execute any one of the path planning methods for an autonomous mobile device.

[0269] The processor 402 is used to provide computing and control capabilities to support the operation of the entire autonomous mobile device 400 .

[0270] The internal memory provides an environment for the operation of the computer program in the storage medium. When the computer program is executed by the processor, the processor can execute any path planning method for an autonomous mobile device.

[0271] Those skilled in the art will understand that the structure shown in Figure 25 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the controller to which the solution of the present application is applied. The specific controller may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0272] It should be understood that the processor may be a central processing unit (CPU), or 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. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0273] In one embodiment, the processor 402 is configured to execute a computer program stored in a memory to implement the following steps:

[0274] Obtaining a map and path parameters of the target operation area, wherein the path parameters are used to indicate the direction of the path;

[0275] generating path planning information according to the map and the path parameters;

[0276] The path planning information is used to instruct the autonomous mobile device to travel and operate along a target path within the target operation area, wherein the target path includes a plurality of first path segments that are parallel to each other and spaced apart and a plurality of second path segments that are parallel to each other and spaced apart, and at least part of the first path segments intersects with at least part of the second path segments to form a grid.

[0277] In one embodiment, two adjacent first path segments among the plurality of first path segments are connected by endpoints of the path segments, and two adjacent second path segments among the plurality of second path segments are connected by endpoints of the path segments;

[0278] An endpoint of a target first path segment in the at least part of the first path segment coincides with an endpoint of a target second path segment in the at least part of the second path segment to form an intersection of the target first path segment and the target second path segment.

[0279] In one embodiment, the continuous path segment formed by connecting the multiple first path segments is recorded as a preceding path segment, and the continuous path segment formed by connecting the multiple second path segments is recorded as a succeeding path segment. The traveling order of the preceding path segment is before the succeeding path segment, and of the two endpoints of the succeeding path segment, the one closer to the end point of the preceding path segment is the starting point of the succeeding path segment.

[0280] In one embodiment, when the map indicates that there is an obstacle in the target operating area, the target path also includes an obstacle avoidance path, which is used to bypass the obstacle, and the obstacle avoidance path is connected between two adjacent first path segments or two adjacent second path segments.

[0281] In one embodiment, the path parameter is obtained from a user terminal; or,

[0282] The path parameter is determined according to the long axis direction of the target operation area, where the long axis direction is the direction of the longest line segment that can be obtained by connecting two points on the boundary of the target operation area.

[0283] In one embodiment, the processor 402, when implementing the path parameters including the intersection angle between the first path segment and the second path segment and the orientation angle of the grid, and generating the path planning information according to the map and the path parameters, is configured to implement:

[0284] determining a first orientation angle of the first path segment and a second orientation angle of the second path segment according to the intersection angle and the orientation angle of the grid;

[0285] The path planning information is generated according to the map, the first heading angle, and the second heading angle.

[0286] In one embodiment, the angle difference between the first orientation angle of the first path segment and the orientation angle of the grid is half of the intersection angle;

[0287] The angular difference between the second orientation angle of the second path segment and the orientation angle of the grid is half of the intersection angle.

[0288] In one embodiment, the path planning information includes multiple first path segment planning information and multiple second path segment planning information; the first path segment planning information includes multiple first path points arranged along a first direction in the map, and the first direction is the direction indicated by the first direction angle; the second path segment planning information includes multiple second path points arranged along a second direction in the map, and the second direction is the direction indicated by the second direction angle.

[0289] In one embodiment, when implementing the method of generating the plurality of first path segment planning information, the processor 402 is configured to implement:

[0290] According to the first orientation angle, the map is rotated to a first orientation to obtain a first operating area;

[0291] Scanning the first working area along a first preset direction according to a first preset path segment spacing, and obtaining a first path segment planning information after each row is scanned;

[0292] If the first path segment planning information does not meet the preset safety condition, adjusting the first path segment planning information until the adjusted first path segment planning information meets the preset safety condition;

[0293] If the first path segment planning information meets the preset safety condition, the next line is scanned continuously until the first operation area is scanned.

[0294] In one embodiment, after obtaining the map and path parameters of the target operation area, the processor 402 is further configured to:

[0295] Comparing historical path parameters with the path parameters to determine whether new path planning information needs to be generated, the historical path parameters being the path parameters used in the last generation of path planning information;

[0296] When the historical path parameters are the same as the path parameters, there is no need to generate new path planning information; when the historical path parameters are different from the path parameters, it is necessary to generate new path planning information; if it is necessary to generate new path planning information, the path planning information is generated according to the map and the path parameters;

[0297] If new path planning information does not need to be generated, path segments are covered within the target operation area based on historical path planning information, where the historical path planning information is generated according to the historical path parameters.

[0298] In one embodiment, when comparing the historical path parameters with the path parameters to determine whether new path planning information needs to be generated, the processor 402 is configured to implement:

[0299] When a first condition is met, determining that new path planning information does not need to be generated, wherein the first condition is that the path parameter is the same as the historical path parameter;

[0300] When the second condition is met, determining that the new path planning information to be generated is partial path planning information of the entire path planning information required for the target operation area, wherein the path type in the historical path parameters is a single-direction path or a cross path, and the path direction in the path parameters is partially the same as the path direction in the historical path parameters;

[0301] Alternatively, when the path parameter is different from the historical path parameter and does not meet the second condition, it is determined that new path planning information needs to be generated.

[0302] It should be noted that, those skilled in the art can clearly understand that, for the convenience and brevity of description, the above description of the specific working process of the autonomous mobile device can refer to the corresponding process in the aforementioned embodiment of the path planning method for the autonomous mobile device, and will not be repeated here.

[0303] In one embodiment, as shown in FIG26 , FIG26 is a schematic block diagram of the structure of another autonomous mobile device provided in an embodiment of the present application.

[0304] As shown in FIG26 , the autonomous mobile device 500 includes:

[0305] Body 510;

[0306] A movement module 520 is provided on the body and is used to drive the autonomous mobile device to move;

[0307] a mowing mechanism 530 , disposed on the body and used to perform mowing tasks;

[0308] A controller electrically connected to the mobile module and the mowing mechanism; the controller is configured to:

[0309] The autonomous mobile device is controlled to move and operate along a target path, wherein the target path includes a plurality of first path segments that are parallel to each other and spaced apart and a plurality of second path segments that are parallel to each other and spaced apart, and at least some of the first path segments intersect with at least some of the second path segments to form a grid.

[0310] Please refer to Figure 27, which is a schematic block diagram of the structure of another path planning device for an autonomous mobile device provided in an embodiment of the present application.

[0311] As shown in FIG27 , the path planning device 200 for the autonomous mobile device further includes:

[0312] A first parameter acquisition module 230 is configured to acquire a map including a target operating area and a target orientation angle, wherein the target orientation indicated by the target orientation angle is the same as the long axis direction of the target operating area;

[0313] The parallel path generation module 240 is used for the parallel path generation module, which is used to generate a target parallel path covering the target operating area according to the map and the target orientation angle, and the target parallel path includes multiple path segments having the target orientation and being parallel to each other.

[0314] In some embodiments, the parallel path generation module 240 is further configured to:

[0315] According to the target orientation angle, the map is rotated to the target orientation to obtain a target map;

[0316] According to the preset path spacing, the target map is scanned along a preset scanning direction to obtain a target parallel path covering the target operating area.

[0317] In some embodiments, the path planning device 200 for the autonomous mobile device further includes:

[0318] a safety checking module, configured to, in the process of generating the target parallel path, determine whether any of the path segments is generated and whether the generated path segment satisfies a preset safety condition;

[0319] a path adjustment module, configured to adjust the generated path segment if the generated path segment does not meet the preset safety condition, until the adjusted path segment meets the preset safety condition;

[0320] The parallel path generation module 240 is further configured to continue generating the next path segment if the generated path segment meets a preset safety condition, until the generated path segments cover the target operation area.

[0321] In some embodiments, the security check module is further configured to:

[0322] Determining whether the generated path segment is inside the map, intersects with an obstacle, or is located at a boundary of an obstacle;

[0323] If the generated path segment is inside the map, does not intersect with the obstacle, and is not located at the boundary of the obstacle, then it is determined that the generated path segment meets the preset safety condition;

[0324] If the generated path segment is not inside the map, intersects with an obstacle, and / or is located at a boundary of an obstacle, it is determined that the generated path segment does not meet a preset safety condition.

[0325] In some embodiments, the path planning device 200 for the autonomous mobile device further includes:

[0326] a determination module, configured to determine whether the last generated path is a cross path, wherein the cross path includes a plurality of first path segments having a first orientation and being parallel to each other and a plurality of second path segments having a second orientation and being parallel to each other;

[0327] The parallel path generation module 240 is further configured to generate a target parallel path covering the target operation area according to the map and the target orientation angle if the path generated last time is not a cross path;

[0328] The judgment module is further configured to judge whether the target orientation is the same as the first orientation or the second orientation if the last generated path is a cross path;

[0329] The parallel path generating module 240 is further configured to generate a target parallel path covering the target operating area according to the map and the target orientation angle if the target orientation is different from both the first orientation and the second orientation.

[0330] In some embodiments, the parallel path generation module 240 is further configured to:

[0331] If the target orientation is the same as the first orientation, determining the plurality of first path segments having the first orientation and being parallel to each other as target parallel paths covering the target operating area;

[0332] Alternatively, if the target orientation is the same as the second orientation, the plurality of second path segments having the second orientation and being parallel to each other are determined as target parallel paths covering the target operating area.

[0333] In some embodiments, the first parameter acquisition module 230 is further configured to:

[0334] Determining the long axis direction and terrain features of the target operation area, and obtaining a path type corresponding to the terrain features;

[0335] When the path corresponding to the path type is a parallel path, the target orientation angle is determined according to the long axis direction of the target operating area.

[0336] 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 path planning device 200 of the autonomous mobile device described above can refer to the corresponding process in the aforementioned embodiment of the path planning method of the autonomous mobile device, and will not be repeated here.

[0337] Please refer to Figure 28, which is a schematic block diagram of the structure of another path planning device for an autonomous mobile device provided in an embodiment of the present application.

[0338] As shown in FIG28 , the path planning device 200 for an autonomous mobile device includes:

[0339] A second parameter acquisition module 250 is configured to acquire a target operating area and a target orientation angle, wherein the target orientation angle is used to indicate a first target orientation;

[0340] The cross-path generation module 260 is used to generate a target cross-path covering the target operation area based on the map, the first target orientation angle and the second target orientation angle, wherein the target cross-path includes a plurality of first path segments having a first target orientation and being parallel to each other and a plurality of second path segments having a second target orientation and being parallel to each other, the first target orientation intersects with the second target orientation, the first target orientation angle corresponds to the first target orientation, and the second target orientation angle corresponds to the second target orientation.

[0341] In some embodiments, the cross-path generation module 260 is further configured to:

[0342] generating, according to the map and the first target orientation angle, a plurality of first path segments having the first target orientation and being parallel to each other;

[0343] generating, according to the map and the second target orientation angle, a plurality of second path segments having the second target orientation and being parallel to each other;

[0344] A target cross path covering the target operation area is obtained by combining a plurality of first path segments having the first target orientation and being parallel to each other and a plurality of second path segments having the second target orientation and being parallel to each other.

[0345] In some embodiments, the cross-path generation module 260 is further configured to:

[0346] According to the first target orientation angle, the map is rotated to the corresponding first target orientation to obtain a first map;

[0347] The first map is scanned along a first scanning direction according to a preset path spacing to obtain a plurality of first path segments having the first target orientation and being parallel to each other.

[0348] In some embodiments, the cross-path generation module 260 is further configured to:

[0349] According to the second target orientation angle, the map is rotated to the corresponding second target orientation to obtain a second map;

[0350] determining a last scan point of the first map, and determining a position of the last scan point in the second map as a target position;

[0351] The end closest to the target position in the second map is used as a scanning start end, and the direction from the scanning start end to the end opposite to the scanning start end is determined as a second scanning direction;

[0352] The second map is scanned along the second scanning direction according to a preset path spacing to obtain a plurality of second path segments having the second target orientation and being parallel to each other.

[0353] In some embodiments, the first target orientation or the second target orientation is the same as the long axis direction of the target working area.

[0354] In some embodiments, the path planning device 200 for the autonomous mobile device further includes:

[0355] a determination module, configured to determine whether historical path generation parameters include a heading angle, wherein the historical path generation parameters are path generation parameters used in the last path generation;

[0356] The cross-path generation module 260 is further configured to generate a target cross-path covering the target operation area based on the map, the first target heading angle, and the second target heading angle if the historical path generation parameters do not include a heading angle;

[0357] The judgment module is further configured to, if the historical path generation parameters include a heading angle, judge whether the first target heading angle and / or the second target heading angle are the same as the heading angle in the historical path generation parameters;

[0358] The cross-path generation module 260 is further configured to generate a target cross-path covering the target operation area based on the map, the first target orientation angle, and the second target orientation angle if the first target orientation angle and the second target orientation angle are different from the orientation angles in the historical path generation parameters.

[0359] In some embodiments, the cross-path generation module 260 is further configured to:

[0360] If the first target heading angle is the same as the heading angle in the historical path generation parameters, generating a plurality of second path segments having the second target heading and being parallel to each other based on the map and the second target heading angle, and combining the plurality of historical path segments corresponding to the first target heading angle with the plurality of second path segments having the second target heading and being parallel to each other to obtain a target intersection path covering the target operation area;

[0361] If the second target heading angle is the same as the heading angle in the historical path generation parameters, generating, based on the map and the first target heading angle, a plurality of first path segments having the first target heading and being parallel to each other, and combining the plurality of historical path segments corresponding to the second target heading angle with the plurality of first path segments having the first target heading and being parallel to each other to obtain a cross-path covering the target operation area;

[0362] If the first target orientation angle is the same as the first orientation angle in the historical path generation parameters, and the second target orientation angle is the same as the second orientation angle in the historical path generation parameters, then the historical intersection path is overwritten within the target operation area.

[0363] 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 path planning device 200 of the autonomous mobile device described above can refer to the corresponding process in the aforementioned cross-path generation method embodiment, and will not be repeated here.

[0364] Please refer to Figure 29, which is a schematic block diagram of the structure of an electronic device provided in an embodiment of the present application.

[0365] As shown in FIG29 , an electronic device 600 includes a processor 601 and a memory 602, which are connected via a bus 603. The bus is, for example, an I2C (Inter-Integrated Circuit) bus. The electronic device may include a lawn mower robot, a sweeping robot, or an unmanned aerial vehicle.

[0366] In some embodiments, the processor 601 is used to provide computing and control capabilities to support the operation of the entire electronic device. The processor 601 can be a central processing unit (CPU), and the processor 601 can also be 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, etc.

[0367] In some embodiments, the memory 602 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0368] Those skilled in the art will understand that the structure shown in Figure 29 is merely a block diagram of a partial structure related to the embodiment of the present application, and does not constitute a limitation on the electronic device to which the embodiment of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0369] The processor 601 is configured to run a computer program stored in the memory 602 and implement any one of the path planning methods for an autonomous mobile device provided in the embodiments of the present application when executing the computer program.

[0370] In some embodiments, the processor 601 is configured to run a computer program stored in a memory, and implement the following steps when executing the computer program:

[0371] Acquire a map including a target operation area and a target orientation angle, wherein the target orientation indicated by the target orientation angle is the same as the long axis direction of the target operation area;

[0372] A target parallel path covering the target operating area is generated according to the map and the target orientation angle, wherein the target parallel path includes a plurality of path segments having the target orientation and being parallel to each other.

[0373] In some embodiments, when generating a target parallel path covering the target operating area according to the map and the target orientation angle, the processor 601 is configured to implement:

[0374] According to the target orientation angle, the map is rotated to the target orientation to obtain a target map;

[0375] According to the preset path spacing, the target map is scanned along a preset scanning direction to obtain a target parallel path covering the target operating area.

[0376] In some embodiments, the processor 601 is further configured to implement:

[0377] In the process of generating the target parallel path, after generating any of the path segments, determining whether the generated path segment meets a preset safety condition;

[0378] If the generated path segment does not meet the preset safety condition, adjusting the generated path segment until the adjusted path segment meets the preset safety condition;

[0379] If the generated path segment meets the preset safety condition, the next path segment is generated until the generated path segment covers the target operation area.

[0380] In some embodiments, when determining whether the generated path segment meets a preset safety condition, the processor 601 is configured to implement:

[0381] Determining whether the generated path segment is inside the map, intersects with an obstacle, or is located at a boundary of an obstacle;

[0382] If the generated path segment is inside the map, does not intersect with the obstacle, and is not located at the boundary of the obstacle, then it is determined that the generated path segment meets the preset safety condition;

[0383] If the generated path segment is not inside the map, intersects with an obstacle, and / or is located at a boundary of an obstacle, it is determined that the generated path segment does not meet a preset safety condition.

[0384] In some embodiments, after obtaining a map including a target operating area and a target orientation angle, the processor 601 is further configured to:

[0385] Determining whether the last generated path is a cross path, the cross path comprising a plurality of first path segments having a first orientation and being parallel to each other and a plurality of second path segments having a second orientation and being parallel to each other;

[0386] If the last generated path is not a cross path, generating a target parallel path covering the target operation area according to the map and the target orientation angle;

[0387] If the last generated path is a cross path, determining whether the target orientation is the same as the first orientation or the second orientation;

[0388] If the target orientation is different from both the first orientation and the second orientation, a target parallel path covering the target operation area is generated according to the map and the target orientation angle.

[0389] In some embodiments, after determining whether the target orientation is the same as the first orientation or the second orientation, the processor 601 is further configured to:

[0390] If the target orientation is the same as the first orientation, determining the plurality of first path segments having the first orientation and being parallel to each other as target parallel paths covering the target operating area;

[0391] Alternatively, if the target orientation is the same as the second orientation, the plurality of second path segments having the second orientation and being parallel to each other are determined as target parallel paths covering the target operating area.

[0392] In some embodiments, the processor 601 is further configured to implement:

[0393] Determining the long axis direction and terrain features of the target operation area, and obtaining a path type corresponding to the terrain features;

[0394] When the path corresponding to the path type is a parallel path, the target orientation angle is determined according to the long axis direction of the target operating area.

[0395] In some other embodiments, the processor 601 is configured to run a computer program stored in a memory, and implement the following steps when executing the computer program:

[0396] Obtaining a map including a target operation area and target path generation parameters, wherein the target path generation parameters include a first target orientation angle and a second target orientation angle;

[0397] Based on the map, the first target orientation angle and the second target orientation angle, a target intersection path covering the target operating area is generated, wherein the target intersection path includes a plurality of first path segments having a first target orientation and being parallel to each other and a plurality of second path segments having a second target orientation and being parallel to each other, the first target orientation intersects with the second target orientation, the first target orientation angle corresponds to the first target orientation, and the second target orientation angle corresponds to the second target orientation.

[0398] In some embodiments, when generating a target intersection path covering the target operating area according to the map, the first target orientation angle, and the second target orientation angle, the processor 601 is configured to implement:

[0399] generating, according to the map and the first target orientation angle, a plurality of first path segments having the first target orientation and being parallel to each other;

[0400] generating, according to the map and the second target orientation angle, a plurality of second path segments having the second target orientation and being parallel to each other;

[0401] A target cross path covering the target operation area is obtained by combining a plurality of first path segments having the first target orientation and being parallel to each other and a plurality of second path segments having the second target orientation and being parallel to each other.

[0402] In some embodiments, when generating, according to the map and the first target orientation angle, a plurality of first path segments having the first target orientation and being parallel to each other, the processor 601 is configured to implement:

[0403] According to the first target orientation angle, the map is rotated to the corresponding first target orientation to obtain a first map;

[0404] The first map is scanned along a first scanning direction according to a preset path spacing to obtain a plurality of first path segments having the first target orientation and being parallel to each other.

[0405] In some embodiments, when generating, according to the map and the second target orientation angle, a plurality of second path segments having the second target orientation and being parallel to each other, the processor 601 is configured to implement:

[0406] According to the second target orientation angle, the map is rotated to the corresponding second target orientation to obtain a second map;

[0407] determining a last scan point of the first map, and determining a position of the last scan point in the second map as a target position;

[0408] The end closest to the target position in the second map is used as a scanning start end, and the direction from the scanning start end to the end opposite to the scanning start end is determined as a second scanning direction;

[0409] The second map is scanned along the second scanning direction according to a preset path spacing to obtain a plurality of second path segments having the second target orientation and being parallel to each other.

[0410] In some embodiments, the first target orientation or the second target orientation is the same as the long axis direction of the target working area.

[0411] In some embodiments, after obtaining a map including a target operation area and target path generation parameters, the processor 601 is further configured to:

[0412] Determining whether historical path generation parameters include a heading angle, wherein the historical path generation parameters are path generation parameters used in the last path generation;

[0413] If the historical path generation parameters do not include a heading angle, generating a target intersection path covering the target operation area according to the map, the first target heading angle, and the second target heading angle;

[0414] If the historical path generation parameters include a heading angle, determining whether the first target heading angle and / or the second target heading angle are the same as the heading angle in the historical path generation parameters;

[0415] If the first target orientation angle and the second target orientation angle are different from the orientation angles in the historical path generation parameters, a target intersection path covering the target operation area is generated according to the map, the first target orientation angle, and the second target orientation angle.

[0416] In some embodiments, after determining whether the first target heading angle and / or the second target heading angle are the same as the heading angle in the historical path generation parameters, the processor 601 is further configured to:

[0417] If the first target heading angle is the same as the heading angle in the historical path generation parameters, generating a plurality of second path segments having the second target heading and being parallel to each other based on the map and the second target heading angle, and combining the plurality of historical path segments corresponding to the first target heading angle with the plurality of second path segments having the second target heading and being parallel to each other to obtain a target intersection path covering the target operation area;

[0418] If the second target heading angle is the same as the heading angle in the historical path generation parameters, generating, based on the map and the first target heading angle, a plurality of first path segments having the first target heading and being parallel to each other, and combining the plurality of historical path segments corresponding to the second target heading angle with the plurality of first path segments having the first target heading and being parallel to each other to obtain a cross-path covering the target operation area;

[0419] If the first target orientation angle is the same as the first orientation angle in the historical path generation parameters, and the second target orientation angle is the same as the second orientation angle in the historical path generation parameters, the historical intersection path is overwritten in the target operation area.

[0420] 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 electronic device described above can refer to the corresponding process in the aforementioned parallel path generation method embodiment, and will not be repeated here.

[0421] It should be noted that, those skilled in the art can clearly understand that, for the convenience and brevity of description, the above description of the specific working process of the autonomous mobile device can refer to the corresponding process in the aforementioned embodiment of the path planning method for the autonomous mobile device, and will not be repeated here.

[0422] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the various embodiments of the path planning method for an autonomous mobile device of the present application.

[0423] The computer-readable storage medium may be an internal storage unit of the controller and / or autonomous mobile device and / or electronic device described in the aforementioned embodiment, such as a hard disk or memory of the controller and / or autonomous mobile device and / or electronic device. The computer-readable storage medium may be non-volatile or volatile. The computer-readable storage medium may also be an external storage device of the controller and / or autonomous mobile device and / or electronic device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the controller and / or autonomous mobile device and / or electronic device.

[0424] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0425] It should also be understood that the term "and / or" used in this specification 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 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.

[0426] The serial numbers of the embodiments of the present application are for descriptive purposes only and do not represent the merits of the embodiments. The above description is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A path planning method for an autonomous mobile device, characterized in that: include: Obtaining a map and path parameters of the target operation area, wherein the path parameters are used to indicate the direction of the path; generating path planning information according to the map and the path parameters; The path planning information is used to instruct the autonomous mobile device to travel and operate along a target path in the target operation area, and the target path includes a plurality of first path segments that are parallel to each other and spaced apart.

2. The path planning method for an autonomous mobile device according to claim 1, wherein: The target path further includes a plurality of second path segments that are parallel to each other and spaced apart; two adjacent first path segments among the plurality of first path segments are connected by endpoints of the path segments, and two adjacent second path segments among the plurality of second path segments are connected by endpoints of the path segments; An endpoint of a target first path segment in the at least part of the first path segment coincides with an endpoint of a target second path segment in the at least part of the second path segment to form an intersection of the target first path segment and the target second path segment.

3. The path planning method for an autonomous mobile device according to claim 2, wherein: The continuous path segment formed by connecting the multiple first path segments is recorded as the preceding path segment, and the continuous path segment formed by connecting the multiple second path segments is recorded as the following path segment. The traveling order of the preceding path segment is before the following path segment, and of the two endpoints of the following path segment, the one closer to the end point of the preceding path segment is the starting point of the following path segment.

4. The path planning method for an autonomous mobile device according to claim 2, wherein: When the map indicates that there is an obstacle in the target operating area, the target path also includes an obstacle avoidance path, which is used to bypass the obstacle, and the obstacle avoidance path is connected between two adjacent first path segments or two adjacent second path segments.

5. The path planning method for an autonomous mobile device according to claim 1, wherein: The path parameter is obtained from the user terminal; or, The path parameter is determined according to the long axis direction of the target operation area, where the long axis direction is the direction of the longest line segment that can be obtained by connecting two points on the boundary of the target operation area.

6. The path planning method for an autonomous mobile device according to any one of claim 2, wherein: At least part of the first path segment and at least part of the second path segment intersect to form a grid, the path parameters including an intersection angle between the first path segment and the second path segment and an orientation angle of the grid, and generating path planning information based on the map and the path parameters, including: determining a first orientation angle of the first path segment and a second orientation angle of the second path segment according to the intersection angle and the orientation angle of the grid; The path planning information is generated according to the map, the first heading angle, and the second heading angle.

7. The path planning method for an autonomous mobile device according to claim 6, wherein: The angle difference between the first orientation angle of the first path segment and the orientation angle of the grid is half of the intersection angle; The angular difference between the second orientation angle of the second path segment and the orientation angle of the grid is half of the intersection angle.

8. The path planning method for an autonomous mobile device according to claim 6, wherein: The path planning information includes a plurality of first path segment planning information and a plurality of second path segment planning information; the first path segment planning information includes a plurality of first path points arranged along a first orientation in the map, the first orientation being the orientation indicated by the first orientation angle; The second path segment planning information includes a plurality of second path points arranged along a second orientation in the map, where the second orientation is the orientation indicated by the second orientation angle.

9. The path planning method for an autonomous mobile device according to claim 8, wherein: The method of generating the plurality of first path segment planning information includes: According to the first orientation angle, the map is rotated to a first orientation to obtain a first operating area; Scanning the first working area along a first preset direction according to a first preset path segment spacing, and obtaining a first path segment planning information after each row is scanned; If the first path segment planning information does not meet the preset safety condition, adjusting the first path segment planning information until the adjusted first path segment planning information meets the preset safety condition; If the first path segment planning information meets the preset safety condition, the next line is scanned continuously until the first operation area is scanned.

10. The path planning method for an autonomous mobile device according to any one of claims 1 to 3, wherein: After obtaining the map and path parameters of the target operation area, the method further includes: Comparing historical path parameters with the path parameters to determine whether new path planning information needs to be generated, the historical path parameters being the path parameters used in the last generation of path planning information; When the historical path parameters are the same as the path parameters, there is no need to generate new path planning information; when the historical path parameters are different from the path parameters, it is necessary to generate new path planning information; if it is necessary to generate new path planning information, the path planning information is generated according to the map and the path parameters; If new path planning information does not need to be generated, path segments are covered within the target operation area based on historical path planning information, where the historical path planning information is generated according to the historical path parameters.

11. The path planning method for an autonomous mobile device according to claim 10, wherein: The comparing the historical path parameters with the path parameters to determine whether new path planning information needs to be generated includes: When a first condition is met, determining that new path planning information does not need to be generated, wherein the first condition is that the path parameter is the same as the historical path parameter; When the second condition is met, determining that the new path planning information to be generated is partial path planning information of the entire path planning information required for the target operation area, wherein the path type in the historical path parameters is a single-direction path or a cross path, and the path direction in the path parameters is partially the same as the path direction in the historical path parameters; Alternatively, when the path parameter is different from the historical path parameter and does not meet the second condition, it is determined that new path planning information needs to be generated.

12. The path planning method for an autonomous mobile device according to claim 1, wherein: The method further comprises: Based on the map of the target operation area and the target orientation angle, a target parallel path covering the target operation area is generated, wherein the target orientation indicated by the target orientation angle is the same as the long axis direction of the target operation area, and the target parallel path includes multiple path segments having the target orientation and being parallel to each other.

13. The path planning method for an autonomous mobile device according to claim 12, characterized in that: Generating a target parallel path covering the target operation area according to the map of the target operation area and the target orientation angle includes: According to the target orientation angle, the map is rotated to the target orientation to obtain a target map; According to the preset path spacing, the target map is scanned along a preset scanning direction to obtain a target parallel path covering the target operating area.

14. The path planning method for an autonomous mobile device according to claim 12, wherein: The parallel path generation method further includes: In the process of generating the target parallel path, after generating any of the path segments, determining whether the generated path segment meets a preset safety condition; If the generated path segment does not meet the preset safety condition, adjusting the generated path segment until the adjusted path segment meets the preset safety condition; If the generated path segment meets the preset safety condition, the next path segment is generated until the generated path segment covers the target operation area.

15. The path planning method for an autonomous mobile device according to claim 14, characterized in that: The determining whether the generated path segment meets a preset safety condition includes: Determining whether the generated path segment is inside the map, intersects with an obstacle, or is located at a boundary of an obstacle; If the generated path segment is inside the map, does not intersect with the obstacle, and is not located at the boundary of the obstacle, then determining that the generated path segment meets the preset safety condition; If the generated path segment is not inside the map and / or intersects with an obstacle and / or is located at a boundary of an obstacle, it is determined that the generated path segment does not meet the preset safety condition.

16. The path planning method for an autonomous mobile device according to any one of claims 12 to 15, characterized in that: Before generating a target parallel path covering the target operating area based on the map of the target operating area and the target orientation angle, the method further includes: Determining whether the last generated path is a cross path, the cross path comprising a plurality of first path segments having a first orientation and being parallel to each other and a plurality of second path segments having a second orientation and being parallel to each other; If the last generated path is not a cross path, generating a target parallel path covering the target operation area according to the map and the target orientation angle; If the last generated path is a cross path, determining whether the target orientation is the same as the first orientation or the second orientation; If the target orientation is different from both the first orientation and the second orientation, a target parallel path covering the target operation area is generated according to the map and the target orientation angle.

17. The path planning method for an autonomous mobile device according to claim 16, wherein: After determining whether the target orientation is the same as the first orientation or the second orientation, the method further includes: If the target orientation is the same as the first orientation, determining the plurality of first path segments having the first orientation and being parallel to each other as target parallel paths covering the target operating area; Alternatively, if the target orientation is the same as the second orientation, the plurality of second path segments having the second orientation and being parallel to each other are determined as target parallel paths covering the target operating area.

18. The path planning method for an autonomous mobile device according to any one of claims 12 to 15, characterized in that: The method further comprises: Determining the long axis direction and terrain features of the target operation area, and obtaining a path type corresponding to the terrain features; When the path corresponding to the path type is a parallel path, the target orientation angle is determined according to the long axis direction of the target operating area.

19. The path planning method for an autonomous mobile device according to claim 1, wherein: The method further comprises: Acquire target path generation parameters, wherein the target path generation parameters are acquired based on the path parameters, and the target path generation parameters include a first target orientation angle and a second target orientation angle; Based on the map, the first target orientation angle and the second target orientation angle, a target intersection path covering the target operating area is generated, wherein the target intersection path includes a plurality of first path segments having a first target orientation and being parallel to each other and a plurality of second path segments having a second target orientation and being parallel to each other, the first target orientation intersects with the second target orientation, the first target orientation angle corresponds to the first target orientation, and the second target orientation angle corresponds to the second target orientation.

20. The path planning method for an autonomous mobile device according to claim 19, wherein: Generating a target intersection path covering the target operating area according to the map, the first target orientation angle, and the second target orientation angle includes: generating, according to the map and the first target orientation angle, a plurality of first path segments having the first target orientation and being parallel to each other; generating, according to the map and the second target orientation angle, a plurality of second path segments having the second target orientation and being parallel to each other; A target cross path covering the target operation area is obtained by combining a plurality of first path segments having the first target orientation and being parallel to each other and a plurality of second path segments having the second target orientation and being parallel to each other.

21. The path planning method for an autonomous mobile device according to claim 20, characterized in that: Generating a plurality of first path segments having the first target orientation and being parallel to each other according to the map and the first target orientation angle includes: According to the first target orientation angle, the map is rotated to the corresponding first target orientation to obtain a first map; The first map is scanned along a first scanning direction according to a preset path spacing to obtain a plurality of first path segments having the first target orientation and being parallel to each other.

22. The path planning method for an autonomous mobile device according to claim 21, wherein: Generating a plurality of second path segments having the second target orientation and being parallel to each other according to the map and the second target orientation angle includes: According to the second target orientation angle, the map is rotated to the corresponding second target orientation to obtain a second map; determining a last scan point of the first map, and determining a position of the last scan point in the second map as a target position; The end closest to the target position in the second map is used as a scanning start end, and the direction from the scanning start end to the end opposite to the scanning start end is determined as a second scanning direction; The second map is scanned along the second scanning direction according to a preset path spacing to obtain a plurality of second path segments having the second target orientation and being parallel to each other.

23. The path planning method for an autonomous mobile device according to claim 19, wherein: The first target orientation or the second target orientation is the same as the long axis direction of the target operation area.

24. The path planning method for an autonomous mobile device according to any one of claims 19 to 22, characterized in that: After obtaining the map of the target operation area and the target path generation parameters, the method further includes: Determining whether historical path generation parameters include a heading angle, wherein the historical path generation parameters are path generation parameters used in the last path generation; If the historical path generation parameters do not include a heading angle, generating a target intersection path covering the target operation area according to the map, the first target heading angle, and the second target heading angle; If the historical path generation parameters include a heading angle, determining whether the first target heading angle and / or the second target heading angle are the same as the heading angle in the historical path generation parameters; If the first target orientation angle and the second target orientation angle are different from the orientation angles in the historical path generation parameters, a target intersection path covering the target operation area is generated according to the map, the first target orientation angle, and the second target orientation angle.

25. The path planning method for an autonomous mobile device according to claim 24, characterized in that: After determining whether the first target heading angle and / or the second target heading angle are the same as the heading angle in the historical path generation parameters, the method further includes: If the first target heading angle is the same as the heading angle in the historical path generation parameters, generating a plurality of second path segments having the second target heading and being parallel to each other based on the map and the second target heading angle, and combining the plurality of historical path segments corresponding to the first target heading angle with the plurality of second path segments having the second target heading and being parallel to each other to obtain a target intersection path covering the target operation area; If the second target heading angle is the same as the heading angle in the historical path generation parameters, generating, based on the map and the first target heading angle, a plurality of first path segments having the first target heading and being parallel to each other, and combining the plurality of historical path segments corresponding to the second target heading angle with the plurality of first path segments having the first target heading and being parallel to each other to obtain a cross-path covering the target operation area; If the first target orientation angle is the same as the first orientation angle in the historical path generation parameters, and the second target orientation angle is the same as the second orientation angle in the historical path generation parameters, the historical intersection path is overwritten in the target operation area.

26. A path planning device for an autonomous mobile device, characterized in that: The path planning device for the autonomous mobile device includes an acquisition module and a generation module, wherein: The acquisition module is used to acquire a map of the target operation area and path parameters, wherein the path parameters are used to indicate the direction of the path; The generation module is used to generate path planning information based on the map and the path parameters, wherein the path planning information is used to instruct the autonomous mobile device to travel and operate along a target path in the target operation area, and the target path includes a plurality of first path segments that are parallel to each other and spaced apart.

27. A controller, characterized in that: The controller includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the path planning method for an autonomous mobile device according to any one of claims 1 to 25 is implemented.

28. An autonomous mobile device, characterized in that The autonomous mobile device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the path planning method for the autonomous mobile device according to any one of claims 1 to 25 is implemented.

29. An autonomous mobile device, characterized in that include: body; A movement module, disposed on the body and used to drive the autonomous mobile device to move; A mowing mechanism, disposed on the body and used to perform mowing tasks; A controller electrically connected to the mobile module and the mowing mechanism; the controller is configured to: The autonomous mobile device is controlled to move and operate along a target path, wherein the target path includes a plurality of first path segments that are parallel to each other and spaced apart and a plurality of second path segments that are parallel to each other and spaced apart, and at least some of the first path segments intersect with at least some of the second path segments to form a grid.

30. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the path planning method for an autonomous mobile device according to any one of claims 1 to 25 is implemented.

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