Path planning method for autonomous mobile device, electronic device, and storage medium

Abstract

A path planning method for an autonomous mobile device, an electronic device, and a storage medium, relating to the field of autonomous mobile devices. The method comprises: acquiring an original map containing a target operation region and a target path generation requirement (S101); and, on the basis of the original map and the target path generation requirement, generating a target path satisfying a preset safety condition and covering the target operation region (S102). Hence, it is possible to satisfy different path generation requirements of different users for various operation regions.

Description

Path planning method for autonomous mobile device, electronic device and storage medium

[0001] This application claims priority to the Chinese patent application filed with the Patent Office of China on March 20, 2024, with application number 202410321886.3, and invention name “Path planning method, device, controller, equipment and storage medium”, and the Chinese patent application filed with the Patent Office of China on March 20, 2024, with application number 202410321888.2, and invention name “Path generation method, electronic device and storage medium for mobile device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of autonomous mobile devices, and in particular to a path planning method, electronic device, and storage medium for an autonomous mobile device. Background Art

[0003] A robotic lawnmower is an intelligent device that can fully automatically mow the lawn in its work area, following a pre-defined path. Current path generation methods can only generate fixed paths, but different users have different path generation requirements for various work areas. This approach fails to provide diverse paths, resulting in missed areas when the robotic lawnmower follows a pre-defined path, hindering mowing performance and creating a poor user experience. Summary of the Invention

[0004] The embodiments of the present application provide a path planning method, electronic device, and storage medium for an autonomous mobile device, aiming to meet the different path generation requirements of different users for various work areas.

[0005] In a first aspect, an embodiment of the present application provides a path planning method for an autonomous mobile device, comprising: obtaining an original map including a target operation area and a target path generation requirement, and generating a target path that meets preset safety conditions and covers the target operation area based on the original map and the target path generation requirement.

[0006] In a second aspect, an embodiment of the present application further provides an electronic device, comprising a processor, a memory, a computer program stored on the memory and executable by the processor, and a data bus for realizing connection and communication between the processor and the memory, wherein when the computer program is executed by the processor, the path planning method as described in the first aspect is realized.

[0007] In a third aspect, an embodiment of the present application further provides a storage medium for computer-readable storage, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the path planning method as described in the first aspect.

[0008] The embodiments of the present application provide a path planning method, electronic device and storage medium for an autonomous mobile device. The embodiments of the present application obtain an original map containing a target operation area and a target path generation requirement, and generate a target path that meets preset safety conditions and covers the target operation area based on the original map and the target path generation requirement. Therefore, the embodiments of the present application can generate corresponding paths according to the different path generation requirements of users for various operation areas, which can greatly meet the different path generation requirements of different users for various operation areas, so that the generated path can better meet the operation area, improve the effect of the autonomous mobile device performing operations along the path, and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] 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.

[0010] FIG1 is a flow chart of a path planning method provided in an embodiment of the present application;

[0011] FIG2 is an example diagram of a target path covering a target operating area in an embodiment of the present application;

[0012] FIG3 is another example diagram of a target path covering a target operating area in an embodiment of the present application;

[0013] FIG4 is another example diagram of a target path covering a target operating area in an embodiment of the present application;

[0014] FIG5 is another example diagram of a target path covering a target operating area in an embodiment of the present application;

[0015] FIG6 is another example diagram of a target path covering a target operating area in an embodiment of the present application;

[0016] FIG7 a is an exemplary diagram of the intersection of a target path and an obstacle in an embodiment of the present application;

[0017] FIG7 b is an example diagram of a target path after obstacle avoidance adjustment in an embodiment of the present application;

[0018] FIG8 is another example diagram of a target path covering a target operating area in an embodiment of the present application;

[0019] FIG9 is an example diagram of a composite path covering a target operating area in an embodiment of the present application;

[0020] FIG10 is a flow chart of another path planning method provided in an embodiment of the present application;

[0021] FIG11 is a flow chart of another path planning method provided in an embodiment of the present application;

[0022] FIG12 is a schematic flow chart of the sub-steps of the path planning method for the autonomous mobile device in FIG11 ;

[0023] FIG13 is a schematic diagram of a scene of the first movement trajectory provided by an embodiment of the present application;

[0024] FIG14 is a schematic diagram of another scenario of the first movement trajectory provided by an embodiment of the present application;

[0025] FIG15 is a schematic diagram of a scenario of a moving trajectory within a target operating area provided by an embodiment of the present application;

[0026] FIG16 is a schematic diagram of another scenario of a moving trajectory within a target operating area provided by an embodiment of the present application;

[0027] FIG17 is a schematic diagram of a scene of a target inflection point in a moving trajectory provided by an embodiment of the present application;

[0028] FIG18 is a schematic diagram of a scenario in which a moving trajectory passes through an obstacle provided by an embodiment of the present application;

[0029] FIG19 is a schematic diagram of a scenario of movement trajectory adjustment provided by an embodiment of the present application;

[0030] FIG20 is a schematic diagram of a scene after the movement trajectory is adjusted according to an embodiment of the present application;

[0031] FIG21 is a schematic diagram of a scenario of a straight line trajectory provided by an embodiment of the present application;

[0032] FIG22 is a schematic diagram of a scenario of a composite movement trajectory provided by an embodiment of the present application;

[0033] FIG23a is a schematic diagram of a scenario in which a movement trajectory exceeds a target operation area according to an embodiment of the present application;

[0034] FIG23 b is a schematic diagram of a scene of an adjusted movement trajectory provided by an embodiment of the present application;

[0035] FIG24a is a schematic diagram of a scene of a moving trajectory within a target operating area provided by an embodiment of the present application;

[0036] FIG24 b is a schematic diagram of a scenario of a movement trajectory after the movement trajectory of FIG24 a is adjusted, provided by an embodiment of the present application;

[0037] FIG24c is a schematic diagram of another scenario of the movement trajectory after the movement trajectory of FIG24a is adjusted, provided by an embodiment of the present application;

[0038] FIG25 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;

[0039] FIG26 is a schematic block diagram of the structure of an electronic device provided in an embodiment of the present application;

[0040] 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;

[0041] FIG28 is a schematic block diagram of the structure of a controller provided in an embodiment of the present application;

[0042] FIG29 is a schematic block diagram of the structure of an autonomous mobile device provided in an embodiment of the present application;

[0043] Figure 30 is a schematic block diagram of the structure of another autonomous mobile device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] 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.

[0045] 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.

[0046] 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 and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0047] A robotic lawnmower is an intelligent device that can fully automatically mow the lawn in its work area, following a pre-defined path. Current path generation methods can only generate fixed paths, but different users have different path generation requirements for various work areas. This approach fails to provide diverse paths, resulting in missed areas when the robotic lawnmower follows a pre-defined path, hindering mowing performance and creating a poor user experience.

[0048] To solve the above problems, the embodiments of the present application provide a path planning method, electronic device and storage medium for an autonomous mobile device. The embodiments of the present application obtain an original map including a target operation area and a target path generation requirement, and generate a target path that meets preset safety conditions and covers the target operation area based on the original map and the target path generation requirement. Therefore, the embodiments of the present application can generate corresponding paths according to the different path generation requirements of users for various operation areas, which can greatly meet the different path generation requirements of different users for various operation areas, so that the generated path can be more consistent with the operation area, and the matching degree between the path and the target operation area is improved. In this way, when the autonomous mobile device operates in the corresponding target operation area along the path matching the target operation area, it can effectively avoid missing operations and improve the operation effect of the autonomous mobile device. For example, when a mowing robot follows the path matching the target operation area to perform tracking mowing in the corresponding target operation area, it can effectively avoid missing mowing and improve the mowing effect of the mowing robot.

[0049] It is understood that electronic devices may include autonomous mobile devices, smart terminals, or servers. Autonomous mobile devices may include robotic lawn mowers, robot vacuums, or unmanned aerial vehicles. Robotic lawn mowers can autonomously navigate, avoid collisions, automatically return to recharge within range, and feature safety and battery level monitoring. They also have a certain degree of climbing capability, making them particularly suitable for lawn mowing and maintenance in places such as home gardens and public green spaces. Their features include automatic mowing, grass clipping removal, automatic rain shelter, automatic charging, automatic obstacle avoidance, a compact design, an electronic virtual fence, and network control.

[0050] Smart terminals can be smartphones, tablets, laptops, desktop computers, smart speakers, smart watches, etc., but are not limited to these. Smart terminals and servers can be directly or indirectly connected through wired or wireless communication. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can 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.

[0051] 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.

[0052] Please refer to FIG1 , which is a flow chart of a path planning method provided in an embodiment of the present application.

[0053] As shown in FIG1 , the path planning method includes steps S101 to S102 .

[0054] Step S101: Obtain an original map including a target operation area and target path generation requirements.

[0055] In this embodiment, 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 this embodiment of the present application. The original map containing the target operation area is a map without an overlay path.

[0056] 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. 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.

[0057] In some embodiments, validating the work area selected by the user includes at least one of the following: determining whether there is an original 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.

[0058] The user-selected work area passes the validity verification if an original map containing the selected work area exists, the area of ​​the selected work area is greater than a first area threshold and less than 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 fails the validity verification if at least one of the following conditions is met: an original map containing the selected work area does not exist, 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, there are overlapping obstacles within the selected work area, and obstacles within the selected work area intersect with the boundary of the work area.

[0059] In some embodiments, when there is no original 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 there are overlapping obstacles in the selected work area and / or the obstacles in the selected work area intersect with the boundary of the work area, a prompt message "Unreasonable obstacles are not supported" is output.

[0060] In some embodiments, obtaining the original map containing the target work area and the target path generation requirement may include: displaying a path configuration page; in response to a work area selection operation triggered by a user in the path configuration page, displaying the work area corresponding to the work area selection operation in the path configuration page; in response to an input operation of a path generation requirement triggered by a user in the path configuration page, displaying the corresponding path generation requirement in the path configuration page; in response to a user triggering an operation of a confirmation button in the path configuration page, determining the work area currently displayed in the path configuration page as the target work area, and including the original map of the target work area and determining the path generation requirement currently displayed in the path configuration page as the target path generation requirement.

[0061] In some embodiments, the target path generation requirement includes at least a path type, and the path type in the target path generation requirement may include at least one of a first path type, a second path type, and a third path type, wherein the first path corresponding to the first path type includes a plurality of first path segments parallel to each other. The second path corresponding to the second path type includes a plurality of second path segments having a first orientation and a plurality of another second path segments having a second orientation, and the angle formed by the first orientation and the second orientation is any angle in (0°, 360°). The third path corresponding to the third path type includes a plurality of third path segments, the shape of each third path segment is the same as the outline shape of the original map containing the target operation area, the geometric centers of the plurality of third path segments coincide, the lengths are different, and the distance between the shorter third path segment and the boundary of the original map containing the target operation area is greater than the distance between the longer third path segment and the boundary of the original map containing the target operation area.

[0062] In some embodiments, the target path generation requirement includes a first path type and a target orientation angle, which is the same as the orientation angle indicated by the long axis orientation of the target work area. The long axis orientation of the target work area is the orientation of the long side of the minimum circumscribed rectangle of the target work area. Compared with the path generated along the short axis direction of the work area, the path generated along the long axis orientation of the work area contains fewer path segments, is longer, and has fewer total inflection points. In this way, when an autonomous mobile device uses a path generated along the long axis orientation of the work area to perform operations, the operation efficiency is higher. For example, when a mowing robot uses a path generated along the long axis orientation of the lawn to mow the lawn, the damage to the lawn is less and the mowing efficiency is higher.

[0063] In some embodiments, the target path generation requirements include a second path type, a first target orientation angle, and a second target orientation angle. The second path corresponding to the second path type includes multiple second path segments having a first orientation and multiple second path segments having a second orientation. The first target orientation angle corresponds to the first orientation, and the second target orientation angle corresponds to the second orientation. Because the second path type includes multiple path segments having a first orientation and multiple second path segments having a second orientation, the second path type has a certain degree of overlap. Using the second path type in uneven working areas such as slopes can effectively reduce missed operations and can also effectively reduce missed operations at path endpoints and turns. For example, when a lawn mower robot mows on uneven working areas such as slopes using the second path type, it can effectively reduce missed operations and can also effectively reduce missed operations at path endpoints and turns, and can also reduce mowing frequency. After mowing using the second path type, the lawn mower robot leaves diamond or square patterns of different orientations and shapes on the lawn, effectively enhancing the aesthetic value of the lawn and further improving the utilization and value of the lawn mower robot.

[0064] In some embodiments, the first target orientation angle or the second target orientation angle is the same as the orientation angle indicated by the long axis orientation of the target work area. Compared with the path generated along the short axis direction of the work area, the path generated along the long axis orientation of the work area contains fewer path segments, is longer, and has fewer total inflection points. Therefore, the first target orientation angle or the second target orientation angle is the same as the orientation angle indicated by the long axis orientation of the target work area, which can ensure that the number of first orientation or second orientation path segments in the path corresponding to the second path type is smaller, is longer, and has fewer total inflection points. In this way, when the autonomous mobile device uses the path corresponding to the second path type to perform operations, the operation efficiency is faster, and because the path of the second path type has a certain degree of repeated coverage, the use of the second path type in uneven work areas such as slopes can effectively reduce operation omissions, and can also effectively reduce the occurrence of operation omissions at the turning points at the end points of the path.

[0065] In some embodiments, the target path generation requirements include a second path type, a path intersection angle, and a target orientation angle, and the second path corresponding to the second path type includes a plurality of second path segments having a first orientation and a plurality of another second path segments having a second orientation. Wherein, based on the path intersection angle and the target orientation angle, the first target orientation angle and the second target orientation angle can be determined, the first target orientation angle corresponding to the first orientation, and the second target orientation angle corresponding to the second orientation. Since the path of the second path type includes a plurality of path segments having a first orientation and a plurality of another path segments having a second orientation, the path of the second path type has a certain degree of repeated coverage. Using the path of the second path type in uneven working areas such as slopes can effectively reduce job omissions, and can also effectively reduce the occurrence of job omissions at the turning points of the path endpoints.

[0066] In some embodiments, the target path generation requirements include a second path type, a path intersection angle, and a target orientation angle. The target orientation angle is the same as the orientation angle indicated by the long axis orientation of the target work area. The second path corresponding to the second path type includes multiple second path segments with a first orientation and multiple other second path segments with a second orientation. Compared with the path generated along the short axis direction of the work area, the 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 target orientation angle is the same as the orientation angle indicated by the long axis orientation of the target work area, which can ensure that the path corresponding to the second path type contains fewer path segments, is longer, and has fewer total inflection points. Moreover, since the path of the second path type has a certain degree of repeated coverage, the use of the second path type in uneven work areas such as slopes can effectively reduce job omissions, and can also effectively reduce the occurrence of job omissions at the turning points at the end points of the path.

[0067] In some embodiments, the target path generation requirement includes a third path type and a target number of path segments. The third path corresponding to the third path type includes multiple third path segments, each of which has the same shape as the outline of the original map. The geometric centers of the multiple third path segments coincide, the lengths vary, and the distance between a shorter third path segment and the boundary of the original map is greater than the distance between a longer third path segment and the boundary of the original map. Because the shapes of the path segments included in the path corresponding to the third path type are the same as the outline of the original map, the path corresponding to the third path type can better cover the work area and contain fewer inflection points, thereby increasing the efficiency of autonomous mobile devices using the path. For example, a lawn mower robot using a path corresponding to the third path type can improve mowing efficiency and, after mowing, leave behind beautiful patterns such as "circles" or "spirals" on the lawn, enhancing the lawn's aesthetics and ornamental value, further increasing the utilization and value of the lawn mower robot.

[0068] In some embodiments, the target path generation requirement includes a third path type and also includes the first path type and / or the second path type. Since the target path generation requirement includes the third path type and also includes the first path type and / or the second path type, this embodiment can generate a composite path composed of different path types based on the target path generation requirement. In this way, the autonomous mobile device can effectively improve the operation coverage rate and reduce the omission of operations by using the composite path to perform operations. For example, a lawn mower robot can effectively improve the mowing coverage rate and reduce the omission of mowing. After mowing with the composite path, it can leave a more complex and beautiful pattern on the lawn, improve the beauty and ornamental value of the lawn, and further improve the utilization rate and value of the lawn mower robot.

[0069] In some embodiments, the path type in the target path generation requirement corresponds to the terrain features of the target work area. The terrain features of the target work area may include the shape and / or slope of the target work area. This embodiment uses a path type corresponding to the terrain features of the work area to generate a path, so that the generated path can better adapt to the terrain of the work area. In this way, when the autonomous mobile device operates along a path adapted to the terrain of the work area, it can effectively avoid missing operations and improve the operation effect. For example, when a lawn mower robot follows a path adapted to the terrain of the lawn to mow the lawn, it can effectively avoid missing grass and improve the mowing effect of the lawn mower robot.

[0070] In some embodiments, obtaining target path generation requirements includes: determining the terrain characteristics of the target work area and obtaining a path type corresponding to the terrain characteristics; when the path type is a first path type, determining the orientation angle indicated by the long axis orientation of the target work area as the target orientation angle or obtaining the target orientation angle input by the user; when the path type is a second path type, obtaining the path intersection angle input by the user and determining the target orientation angle of the path intersection angle based on the long axis orientation of the target work area, or when the path type is the second path type, obtaining the first target orientation angle and the second target orientation angle input by the user; when the path type is a third path type, obtaining the target number of path segments and / or the target path spacing input by the user. This embodiment can automatically select an appropriate path type based on the terrain characteristics of the target work area and automatically set the path orientation based on the path type. This can improve the intelligence of path generation while ensuring that the generated path is better adapted to the terrain of the work area. In this way, when the autonomous mobile device operates in the corresponding work area along a path adapted to the terrain of the work area, it can avoid missed operations and improve the work effect. For example, when the mowing robot follows a path adapted to the terrain of the working area to perform tracking mowing in the corresponding working area, it can effectively avoid missing grass and improve the mowing effect of the mowing robot.

[0071] Step S102: Obtain a corresponding path generation strategy according to the target path generation requirement, and generate a target path that meets preset safety conditions and covers the target operation area based on the original map and the path generation strategy.

[0072] In this embodiment, the target path generation requirement includes at least a path type. Different path types correspond to different path generation strategies. The path type in the target path generation requirement includes at least one of a first path type, a second path type, and a third path type. The path generation strategy includes at least one of a first path generation strategy, a second path generation strategy, and a third path generation strategy. The first path generation strategy is used to generate a first path corresponding to a first path type, the second path generation strategy is used to generate a second path corresponding to a second path type, and the third path generation strategy is used to generate a third path corresponding to a third path type.

[0073] In some embodiments, obtaining a corresponding path generation strategy according to a target path generation requirement, and generating a target path that meets preset safety conditions and covers a target operation area based on an original map and a path generation strategy may include: when the path type in the target path generation requirement is a first path type, generating a target path that meets preset safety conditions and covers the target operation area based on the original map and the first path generation strategy; when the path type in the target path generation requirement is a second path type, generating a target path that meets preset safety conditions and covers the target operation area based on the original map and the second path generation strategy; when the path type in the target path generation requirement is a third path type, generating a target path that meets preset safety conditions and covers the target operation area based on the original map and the third path generation strategy; when the path type in the target path generation requirement includes the first path type and the third path type, generating a target path that meets preset safety conditions and covers the target operation area based on the original map, the first path generation strategy and the third path generation strategy; when the path type in the target path generation requirement includes the second path type and the third path type, generating a target path that meets preset safety conditions and covers the target operation area based on the original map, the second path generation strategy and the third path generation strategy.

[0074] In some embodiments, during the process of generating a target path, after generating any path segment, a determination is made as to whether the generated path segment satisfies a preset safety condition; if the generated path segment does not satisfy the preset safety condition, the generated path segment is adjusted until the adjusted path segment satisfies the preset safety condition; if the generated path segment satisfies the preset safety condition, the next path segment is generated until the target path is obtained. Determining whether the generated path segment satisfies the preset safety condition may include: determining whether the generated path segment is within the target operating area, is not within an obstacle, or is not on the boundary of an obstacle; if the generated path segment is within the target operating area, is not within an obstacle, and is not on the boundary of an obstacle, determining that the generated path segment satisfies the preset safety condition; if the generated path segment is not within the target operating area, is within an obstacle, and / or is on the boundary of an obstacle, determining that the first target path segment does not satisfy the preset safety condition.

[0075] In some embodiments, the target path generation requirements include a first path type and a target orientation angle. Generating a target path that meets preset safety conditions and covers a target operating area based on the original map and the first path generation strategy may include: rotating the original map containing the target operating area to the target orientation according to the target orientation angle; scanning the rotated original map along a preset direction at a preset path spacing until the scanning is completed, thereby obtaining a first target path that meets the preset safety conditions and covers the target operating area, the first target path including a plurality of mutually parallel first target path segments having the target orientation. The preset direction may include a first scanning direction or a second scanning direction, the first scanning direction being opposite to the second scanning direction.

[0076] For example, as shown in FIG2 , the first scanning direction may be from side ab of the target operation area 10 to side cd of the target operation area 10, and the second scanning direction may be from side cd of the target operation area 10 to side ab of the target operation area 10. The target operation area 10 is covered by a first target path oriented along the long side ab of the target operation area 10. The first target path includes a plurality of first target path segments 11, with the spacing between any two adjacent first target path segments 11 being the same. The plurality of first target path segments 11 are parallel to the long side ab of the target operation area 10. Compared to a path generated along the short axis of the target operation area 10 (the direction of the short side ae of the minimum circumscribed rectangle 20 of the target operation area 10), a path generated along the long side ab of the minimum circumscribed rectangle 20 of the target operation area 10 includes fewer path segments, is longer, and has fewer inflection points. Thus, when an autonomous mobile device uses a path generated along the long axis of the operation area to perform operations, its operating efficiency is improved. For example, when the lawn mowing robot uses a path generated along the long axis of the target work area 10 to mow the lawn, the lawn is less damaged and the mowing efficiency is higher.

[0077] In some embodiments, scanning the rotated original map along a preset direction according to a preset path spacing until the scanning is completed, and obtaining a first target path that meets the preset safety conditions and covers the target working area may include: in the process of scanning the rotated original map along a preset direction according to the preset path spacing, obtaining a first target path segment for each scanned row; judging whether the scanned first target path segment meets the preset safety conditions; if the scanned first target path segment does not meet the preset safety conditions, adjusting the scanned first target path segment until the adjusted first target path segment meets the preset safety conditions; if the scanned first target path segment meets the preset safety conditions, continuing to scan the next row to obtain the next first target path segment, and executing the step of judging whether the scanned first target path segment meets the preset safety conditions until the rotated original map is scanned.

[0078] In some embodiments, determining whether the scanned first target path segment meets the preset safety conditions includes: determining whether the scanned first target path segment is inside the target operating area, whether it is not inside the obstacle, and whether it is not on the boundary of the obstacle; if the scanned first target path segment is inside the target operating area, not inside the obstacle, and not on the boundary of the obstacle, determining that the scanned first target path segment meets the preset safety conditions; if the scanned first target path segment is not inside the target operating area, inside the obstacle and / or on the boundary of the obstacle, determining that the scanned first target path segment does not meet the preset safety conditions.

[0079] In some embodiments, the target path generation requirements include a first path type, a target path spacing, and a target orientation angle. Generating a target path that meets preset safety conditions and covers a target operating area based on the original map and the first path generation strategy may include: rotating the original map containing the target operating area to the target orientation according to the target orientation angle; scanning the rotated original map along a preset direction according to the target path spacing until the scanning is completed, thereby obtaining a first target path that meets the preset safety conditions and covers the target operating area, wherein the first target path includes multiple mutually parallel first target path segments having the target orientation, and the spacing between two adjacent first target path segments is the target path spacing. The target path spacing can be set by the user.

[0080] In some embodiments, the target path generation requirement includes a second path type, a first target orientation angle, and a second target orientation angle. Generating a target path that meets preset safety conditions and covers a target operating area based on the original map and the second path generation strategy may include: rotating the original map to the first target orientation according to the first target orientation angle to obtain a first map; scanning the first map along a first scanning direction according to a preset path spacing to obtain a plurality of second target path segments having the first target orientation and meeting the preset safety conditions; resetting the first map to the original map, and rotating the original map to the second target orientation according to the second target orientation angle to obtain a second map; determining the final path of the first map. A scanning point is obtained, and the position of the last scanning point in the second map is determined; the end closest to the position in the second map is used as the scanning starting end, and the direction from the scanning starting end to the opposite end of the scanning starting end is determined as the second scanning direction; according to a preset path spacing, the second map is scanned along the second scanning direction to obtain multiple second target path segments with a second target orientation and meeting a preset safety condition; the multiple second target path segments with a first target orientation and meeting the preset safety condition are combined with the multiple second target path segments with a second target orientation and meeting the preset safety condition to obtain a second target path that meets the preset safety condition and covers the target operation area.

[0081] In some embodiments, the target path generation requirements include a second path type, a target path spacing, a first target orientation angle, and a second target orientation angle. Generating a target path that meets preset safety conditions and covers a target operating area based on the original map and the second path generation strategy may include: rotating the original map to the first target orientation according to the first target orientation angle to obtain a first map; scanning the first map along a first scanning direction according to the target path spacing to obtain a plurality of second target path segments having the first target orientation and meeting the preset safety conditions; resetting the first map to the original map, and rotating the original map to the second target orientation according to the second target orientation angle to obtain a second map; determining the first map. The method comprises the steps of: scanning the second map along the second scanning direction, scanning the second target path segment, and determining the last scanning point of the map, and determining the position of the last scanning point in the second map; taking the end closest to the position in the second map as the scanning starting end, and determining the direction from the scanning starting end to the opposite end of the scanning starting end as the second scanning direction; scanning the second map along the second scanning direction according to the target path spacing, and obtaining multiple second target path segments with the second target orientation and meeting the preset safety conditions; combining the multiple second target path segments with the first target orientation and meeting the preset safety conditions with the multiple second target path segments with the second target orientation and meeting the preset safety conditions to obtain a second target path that meets the preset safety conditions and covers the target operation area.

[0082] In some embodiments, during scanning of the first map, after each row is scanned, a second target path segment having a first target orientation is obtained; whether the second target path segment satisfies a preset safety condition is determined; if the second target path segment does not satisfy the preset safety condition, the second target path segment is adjusted until the adjusted second target path segment satisfies the preset safety condition; if the second target path segment satisfies the preset safety condition, the next row is scanned continuously to obtain the next second target path segment having the first target orientation, and the step of determining whether the second target path segment satisfies the preset safety condition is executed, until the first map is scanned completely. During scanning of the second map, after each row is scanned, a second target path segment having a second target orientation is obtained; whether the second target path segment satisfies the preset safety condition is determined; if the second target path segment does not satisfy the preset safety condition, the second target path segment is adjusted until the adjusted second target path segment satisfies the preset safety condition; if the second target path segment satisfies the preset safety condition, the next row is scanned continuously to obtain the next second target path segment having the second target orientation, and the step of determining whether the second target path segment satisfies the preset safety condition is executed, until the second map is scanned completely.

[0083] In some embodiments, the target path generation requirements include a second path type, a path intersection angle, and a target orientation angle of the path intersection angle. Generating a target path that meets preset safety conditions and covers a target operating area based on the original map and the second path generation strategy may include: determining a first target orientation angle and a second target orientation angle based on the path intersection angle and the target orientation angle of the path intersection angle; rotating the original map to the first target orientation according to the first target orientation angle to obtain a first map; scanning the first map along a first scanning direction according to a preset path spacing to obtain multiple second target path segments with the first target orientation and meeting preset safety conditions; resetting the first map to the original map, and rotating the original map to the second target orientation angle according to the second target orientation angle. The method comprises the steps of: determining a first target orientation and a second target orientation, and obtaining a second map; determining the last scanning point of the first map, and determining the position of the last scanning point in the second map; taking the end closest to the position in the second map as the scanning starting end, and determining the direction from the scanning starting end to the opposite end of the scanning starting end as the second scanning direction; scanning the second map along the second scanning direction according to the preset path spacing, and obtaining multiple second target path segments having the second target orientation and meeting the preset safety conditions; combining the multiple second target path segments having the first target orientation and meeting the preset safety conditions with the multiple second target path segments having the second target orientation and meeting the preset safety conditions, and obtaining a second target path that meets the preset safety conditions and covers the target operation area.

[0084] 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.

[0085] In some embodiments, the angle formed by the first target orientation and the second target orientation is any angle between (0° and 360°). For example, as shown in FIG3 , the angle formed by the first target orientation (the orientation of the long side ab of the target operation area 10) and the second target orientation (the orientation of the short side ae of the minimum circumscribed rectangle 20 of the target operation area 10) is 90°. The target operation area 10 includes a plurality of second target path segments 11 having the first target orientation (the orientation of the long side ab of the target operation area 10) and a plurality of other second target path segments 12 having the second target orientation (the orientation of the short side ae of the minimum circumscribed rectangle 20 of the target operation area 10). The combination of the plurality of second target path segments 11 having the first target orientation and the plurality of other second target path segments 12 having the second target orientation can form a second target path. After mowing the target operation area 10 using the second target path shown in FIG3 , a "checkered" pattern of different orientations and shapes will be left on the target operation area 10, effectively displaying and improving the ornamental value of the lawn, and further improving the utilization rate and value of the lawn mowing robot.

[0086] For another example, as shown in FIG4 , the angle formed by the first target orientation (the orientation of the short side ad of the target working area 10) and the second target orientation (the orientation of the short side bc of the target working area 10) is 45°. The target working area 10 includes a plurality of second target path segments 13 with the first target orientation and a plurality of another second target path segments 14 with the second target orientation. Combining the plurality of second target path segments 13 with the first target orientation and the plurality of another second target path segments 14 with the second target orientation can obtain a second target path having path segments in two directions. When mowing the target working area 10 using the second target path shown in FIG4 , the occurrence of missed mowing can be effectively reduced, and "diamond" patterns of different orientations and shapes will be left on the target working area 10, effectively displaying and improving the ornamental value of the lawn, and further improving the utilization rate and value of the mowing robot.

[0087] In some embodiments, the target path generation requirements include a third path type, a target path spacing, and a target path segment number. Generating a target path that meets preset safety conditions and covers a target operating area based on the original map and the third path generation strategy may include: using the outline of the original map as the first third target path segment within the target operating area; adding 1 to the number n (initial value of n is 0) of generated third target path segments, and shrinking the nth third target path segment by the target path spacing along the center of the original map to obtain the n+1th third target path segment, where n is greater than or equal to 1 and n+1 is less than or equal to the number of target path segments; Determine whether the n+1th third target path segment satisfies a preset safety condition. If the n+1th third target path segment does not satisfy the preset safety condition, adjust the n+1th third target path segment until the adjusted n+1th third target path segment satisfies the preset safety condition. If the n+1th third target path segment satisfies the preset safety condition, return to the step of increasing the number n of generated third target path segments by 1, and shrinking the nth third target path segment by the target path spacing along the center of the original map to obtain the n+1th third target path segment, until the number n of generated third target path segments equals the number of target path segments.

[0088] Among them, the number of third target path segments included in the third target path is the same as the number of target path segments, the shape of each third target path segment is the same as the outline shape of the original map, the geometric centers of multiple third target path segments coincide, the lengths are different, and the distance between the shorter third target path segment and the boundary of the original map is greater than the distance between the longer third target path segment and the boundary of the original map, and the longest third target path segment is the outline of the original map, and the distance between any two adjacent third target path segments is the target path spacing. For example, as shown in Figure 5, the entire area of ​​the target operation area 10 is covered with the third target path, and the third target path includes multiple third target path segments 15 that shrink inward toward the center of the target operation area 10, and the distance between any two adjacent third target path segments 15 is the target path spacing L, and the shape of each third target path segment 15 is the same as the outline shape of the target operation area 10.

[0089] For example, as shown in Figure 6 , points A, B, and C are points on the nth third target path segment, points A1, B1, and C1 are points on the n+1th third target path segment, and point B1 is located on the angle bisector of angle ABC formed by points A, B, and C. The distances from point B1 to line segments AB and BC are both target path spacing L. For another example, as shown in Figure 7a , the third and fourth third target path segments pass through obstacle 30 , and adjustments need to be made to the third and fourth third target path segments. As shown in Figure 7b , after the adjustments, the third and fourth third target path segments bypass obstacle 30 .

[0090] In some embodiments, determining whether the n+1th third target path segment meets the preset safety conditions may include: determining whether the n+1th third target path segment is inside the target operating area, whether it is not inside the obstacle, and whether it is not on the boundary of the obstacle; if the n+1th third target path segment is inside the target operating area, not inside the obstacle, and not on the boundary of the obstacle, then determining that the n+1th third target path segment meets the preset safety conditions; if the n+1th third target path segment is not inside the target operating area, inside the obstacle and / or on the boundary of the obstacle, then determining that the n+1th third target path segment does not meet the preset safety conditions.

[0091] In some embodiments, when the target path generation requirements include a first path type and a third path type, a third target path that satisfies a preset safety condition can be generated based on the original map and the third path generation strategy, and a first target path that satisfies a preset safety condition can be generated based on the original map and the first path generation strategy. The first target path and the third target path can be combined to obtain a composite path covering the target operation area. For example, as shown in FIG8 , based on the original map and the third path generation strategy, multiple third target path segments 15 can be generated on the target operation area 10. Then, based on the original map and the first path generation strategy, multiple first target path segments 16 can be generated on the target operation area 10. The third target path segments 15 and the multiple first target path segments 16 can be combined to obtain the composite path shown in FIG9 .

[0092] In some embodiments, when the target path generation requirements include a second path type and a third path type, a third target path that meets preset safety conditions can be generated based on the original map and the third path generation strategy, and a second target path that meets preset safety conditions can be generated based on the original map and the second path generation strategy. The second target path and the third target path are combined to obtain a composite path covering the target operation area.

[0093] In some embodiments, when the target path generation requirements include a first path type, a second path type, and a third path type, a third target path that meets preset safety conditions can be generated based on the original map and the third path generation strategy, a second target path that meets preset safety conditions can be generated based on the original map and the second path generation strategy, and a first target path that meets preset safety conditions can be generated based on the original map and the first path generation strategy. The first target path, the second target path, and the third target path are combined to obtain a composite path covering the target operation area.

[0094] In some embodiments, as shown in FIG10 , step S101 further includes:

[0095] Step S103: Compare the historical path generation requirement with the target path generation requirement to determine whether the path needs to be regenerated.

[0096] In this embodiment, the historical path generation requirement is the path generation requirement used in the last path generation.

[0097] In some embodiments, comparing the historical path generation requirement with the target path generation requirement to determine whether path regeneration is required may include: determining that path regeneration is not required when a first condition or a second condition is met; or determining that path regeneration is required when the target path generation requirement is different from the historical path generation requirement and the second condition is not met. The first condition is that the target path generation requirement is the same as the historical path generation requirement; and the second condition is that the path type in the target path generation requirement is a first path type, the path type in the historical path generation requirement is a second path type, and the target heading angle in the target path generation requirement is the same as the first heading angle or the second heading angle in the historical path generation requirement.

[0098] For example, the path type in the target path generation requirement is the first path type, and the target heading angle in the target path generation requirement is α, and the path type in the historical path generation requirement is the second path type, and the first heading angle in the historical path generation requirement is α, and the second heading angle is β. Since the target heading angle α in the target path generation requirement is the same as the first heading angle α in the historical path generation requirement, there is no need to regenerate the path at this time. For another example, the path type in the target path generation requirement is the first path type, and the target heading angle in the target path generation requirement is α, and the path type in the historical path generation requirement is the second path type, and the first heading angle in the historical path generation requirement is γ, and the second heading angle is β. In this case, the target heading angle in the target path generation requirement is different from the first heading angle and the second heading angle in the historical path generation requirement. Therefore, there is a need to regenerate the path at this time.

[0099] If the path needs to be regenerated, step S102 is executed to obtain a corresponding path generation strategy according to the target path generation requirement, and generate a target path that meets the preset safety conditions and covers the target operation area based on the original map and the path generation strategy.

[0100] In this embodiment, the need to regenerate the path includes the need to regenerate a portion of the target path covering the target operation area or the need to regenerate the entire target path covering the target operation area.

[0101] In some embodiments, if the path needs to be regenerated, the corresponding path generation strategy is obtained according to the target path generation requirements, and the target path that meets the preset safety conditions and covers the target operation area is generated based on the original map and the path generation strategy, including: when the path that needs to be regenerated is part of the target path, multiple historical path segments that match the target path generation requirements are obtained, and based on the multiple historical path segments, the original map and the path generation strategy, the target path that meets the preset safety conditions and covers the target operation area is generated; or, when the path that needs to be regenerated is the entire target path, based on the original map and the path generation strategy, the target path that meets the preset safety conditions and covers the target operation area is generated.

[0102] In some embodiments, when the target path generation requirement differs from the historical path generation requirement and satisfies the third condition or the fourth condition, the path to be regenerated is determined to be a portion of the target path; alternatively, when the target path generation requirement differs from the historical path generation requirement and does not satisfy the second, third, and fourth conditions, the path to be regenerated is determined to be the entire target path. The third condition is: the path type in the target path generation requirement is the second path type, the path type in the historical path generation requirement is the first path type or the second path type, and the first target heading angle or the second target heading angle in the target path generation requirement is the same as any heading angle in the historical path generation requirement. The fourth condition is: the path type in the target path generation requirement includes the third path type and also includes the first path type and / or the second path type, the path type in the historical path generation requirement includes the third path type and also includes the first path type and / or the second path type, and at least some of the target heading angles in the target path generation requirement are the same as at least some of the heading angles in the historical path generation requirement.

[0103] For example, if the path type in the target path generation requirement is the second path type, and the first target orientation angle in the target path generation requirement is α and the second target orientation angle is β, the path type in the historical path generation requirement is the first path type, and the orientation angle in the historical path generation requirement is β, then the third condition is met, so it can be determined that the path to be regenerated is part of the target path. At this time, multiple historical path segments corresponding to the orientation angle β can be obtained, and the directions of the multiple historical path segments are the second target orientation. According to the second path generation strategy and the original map, multiple target path segments with the first target orientation indicated by the first target orientation angle α and meeting the preset safety conditions are generated. The multiple historical path segments with the first target orientation and the multiple target path segments with the second target orientation are combined to obtain a second target path covering the target operation area. If the path type in the target path generation requirement is the second path type, and the first target orientation angle in the target path generation requirement is α and the second target orientation angle is β, and the path type in the historical path generation requirement is the first path type, and the orientation angle in the historical path generation requirement is γ, then the second, third, and fourth conditions are not met. Therefore, it can be determined that the path that needs to be regenerated is all the paths required for the target operation area, that is, the entire target path.

[0104] For another example, if the path type in the target path generation requirement includes the second path type and the third path type, and the target orientation angles in the target path generation requirement include α and β, and the path type in the historical path generation requirement includes the second path type and the third path type, and the orientation angles in the historical path generation requirement include α and γ, then the fourth condition is met, so it can be determined that the path to be regenerated is part of the target path. At this time, multiple historical path segments corresponding to the orientation angle α can be obtained, and the directions of the multiple historical path segments are the first target orientation indicated by the orientation angle α; multiple target path segments with the second target orientation indicated by the second target orientation angle β and meeting the preset safety conditions are generated; the multiple historical path segments with the first target orientation and the multiple target path segments with the second target orientation are combined to obtain a second target path covering the target operation area; based on the contour of the target operation area and the number of target path segments and the target path spacing in the target path generation requirement, a third target path that meets the preset safety conditions is generated, so that the target operation area is covered by a composite path composed of the second target path and the third target path.

[0105] If the path does not need to be regenerated, step S104 is executed to overwrite the historical path in the target operation area.

[0106] In this embodiment, a historical path is a path generated based on historical path generation requirements that meets preset safety conditions. This embodiment compares the historical path generation requirements with the target path generation requirements to determine whether a new path needs to be generated. This way, only when new path generation is required, a corresponding path generation strategy is obtained based on the target path generation requirements. Based on the original map and the path generation strategy, a target path that meets preset safety conditions and covers the target operating area is generated. When new path generation is not required, the historical path is used to cover the target operating area, avoiding unnecessary path generation, reducing path generation time, and conserving computing resources.

[0107] In other embodiments of the present application, self-propelled equipment often leaves messy wheel tracks during operation, resulting in a poor aesthetic appearance of the work environment. For example, a lawn mower robot is an intelligent device that can fully automatically mow the lawn in its work area. When encountering obstacles during random mowing operations, the robot rotates 45°, 90°, or 180° clockwise or counterclockwise to complete the mowing task within the work area. However, current random mowing operations leave messy wheel tracks on the lawn, resulting in a poor aesthetic appearance of the lawn.

[0108] In order to solve the above problems, embodiments of the present application provide another path planning method, apparatus, controller, device and storage medium.

[0109] The embodiment of the present application obtains an original map and path parameters of the target operation area; obtains contour information of the target operation area based on the original map; and then accurately generates a target path based on the contour information and path parameters of the target operation area. The target path is used to instruct the autonomous mobile device to move and operate within the target operation area to form a movement trajectory, and the movement trajectory includes multiple similar graphics with the same contour shape as indicated by the contour information, and among the multiple similar graphics, the graphics with smaller areas are located inside the graphics with larger areas. Based on the contour information and path parameters of the target operation area, this solution can accurately generate a target path within the target operation area. The autonomous mobile device moves and operates within the target operation area according to the target path, so that the vehicle tracks left by the operation are neat, which can effectively improve the efficiency and accuracy of mowing operations, thereby greatly improving the ornamental value of the lawn.

[0110] 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, USB, analog-to-digital conversion / digital-to-analog conversion, UART, PLC, DMA, etc., to provide different combination controls for different application scenarios.

[0111] The autonomous mobile device can be a lawn mowing robot. The lawn mowing robot can walk automatically, avoid collisions, and automatically return to charge within a range. It has safety detection and battery power detection, and has a certain climbing ability. It is particularly suitable for lawn mowing and maintenance in home courtyards, public green spaces and other places. Its characteristics are: automatic mowing, cleaning grass clippings, automatic rain shelter, automatic charging, automatic obstacle avoidance, compact size, electronic virtual fence, network control, etc.

[0112] 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.

[0113] Please refer to FIG. 11 , which is a flow chart of another path planning method provided in an embodiment of the present application.

[0114] As shown in FIG11 , the path planning method for an autonomous mobile device includes steps S111 to S113 .

[0115] Step S111: Obtain the original map and path parameters of the target operation area.

[0116] The target work area may be a work area that requires mowing. The target work area may be manually selected by a user, or the autonomous mobile device may automatically select the work area closest to the autonomous mobile device based on the locations of the work areas and the location of the autonomous mobile device. The target work area may also be a default work area, which is not specifically limited in the present embodiment. The work area that requires mowing is data in a map format.

[0117] 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. If the user-selected work area fails the validation, a prompt message is output. This embodiment, by outputting a prompt message when the user-selected work area fails the validation, enables the user to accurately adjust the work area based on the prompt message, thereby improving the user experience.

[0118] 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.

[0119] The work area selected by the user 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 a first area threshold and less than 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 work area selected by the user 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.

[0120] 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.

[0121] In one embodiment, the path parameters can be considered as a target path generation requirement, and the method for obtaining the path parameters can refer to the method for obtaining the target path generation requirement in step S101. For example, obtaining the target operation area and path parameters may include: displaying a path configuration page; in response to a user triggering an operation area selection operation on the path configuration page, displaying the operation area corresponding to the operation area selection operation on the path configuration page; in response to a user triggering a path parameter input operation on the path configuration page, displaying the path parameters corresponding to the path parameter input operation on the path configuration page; in response to a user triggering an operation of a confirmation button on the path configuration page, determining the operation area currently displayed on the path configuration page as the target operation area, and determining the path parameters currently displayed on the path configuration page as the path parameters of the target path.

[0122] In one embodiment, the path parameters include the track spacing and track loop count. The track spacing is the distance between two adjacent tracks, and the track loop count is the number of tracks. This embodiment generates a track based on the track spacing and track loop count. After the autonomous mobile device mows the lawn using the target path, it can leave a track pattern on the lawn, such as a "circle" or "spiral" pattern, which enhances the lawn's aesthetics and visual appeal, further increasing the utility and value of the mowing robot.

[0123] In one embodiment, the movement trajectory also includes a straight line trajectory, which intersects with multiple similar shapes to generate a composite target path. Using the composite target path for mowing can effectively improve grass coverage and reduce missed grass. Furthermore, mowing using the composite movement trajectory can leave a beautiful pattern on the lawn, enhancing its aesthetics and ornamental value, further increasing the utilization and value of the autonomous movement device.

[0124] In one embodiment, a target path corresponding to the terrain features is generated in this embodiment, so that the generated target path can better adapt to the terrain of the work area. In this way, when the autonomous mobile device follows the target path adapted to the terrain of the work area to perform tracking mowing in the corresponding work area, it can effectively avoid missing grass and improve the mowing effect of the mowing robot.

[0125] Step S112: Acquire contour information of the target operation area based on the original map.

[0126] The contour corresponding to the original map is obtained to obtain contour information of the working area, wherein the contour includes a circular contour, a spiral-shaped contour and a triangular contour, which is not specifically limited in the embodiment of the present application.

[0127] Step S113: Generate a target path according to the contour information of the target operation area and the path parameters.

[0128] Among them, the target path is used to instruct the autonomous mobile device to move and operate in the target operation area to form a movement trajectory, and the movement trajectory includes multiple similar graphics with the same contour shape as indicated by the contour information. Among the multiple similar graphics, the graphics with smaller areas are located inside the graphics with larger areas, and the geometric centers of the multiple similar graphics coincide and have the same orientation as the contour.

[0129] For example, as shown in FIG15 , the target work area 10 is the outline of the target work area, and the movement trajectories include movement trajectories 11, 11a, 11b, and 11c (other movement trajectories are not labeled). The outline shapes of movement trajectories 11, 11a, 11b, and 11c are similar, and the outline shapes of movement trajectories 11, 11a, 11b, and 11c are the same as the outline shape of the target work area 10. By aligning the geometric centers of the similar figures and aligning them with the outline, the lawn at the boundary of the target work area can be mowed, making the trimmed lawn more aesthetically pleasing.

[0130] In one embodiment, when the original map indicates that there are obstacles in the target operating area, the movement trajectory further includes an obstacle avoidance trajectory, which is used to bypass the obstacle.

[0131] In one embodiment, as shown in FIG12 , step S113 includes sub-steps S1131 and S1132 .

[0132] Sub-step S1131: taking the outline of the target operation area as the first movement trajectory within the target operation area based on the outline information.

[0133] For example, as shown in Figure 13, the outline 11 of the target operation area 10 in Figure 13 is used as the first movement trajectory within the target operation area. For another example, as shown in Figure 14, the outline 21 of the target operation area 20 in Figure 14 is used as the first movement trajectory within the target operation area.

[0134] Sub-step S1132: generating a target path according to the first movement trajectory, the movement trajectory spacing, and the number of movement trajectory circles.

[0135] Among them, the path parameters include the moving track spacing and the moving track number of circles. The moving track spacing is the distance between two adjacent moving tracks, and the moving track number of circles is the number of moving tracks. The moving track spacing and the moving track number of circles can be set according to actual conditions. The embodiment of the present application does not specifically limit this. For example, the moving track spacing can be set to 0.5 meters, and the moving track number of circles can be set to 5 circles. It can also be set to cover the entire target operation area. As shown in Figure 15, the target operation area 10 in Figure 15 is covered with moving tracks 11; as shown in Figure 16, the target operation area 10 in Figure 15 is covered with 5 circles of moving tracks 11. The interval between any two adjacent circles of moving tracks 11 is the moving track spacing.

[0136] In one embodiment, the first trajectory is contracted n times to obtain n candidate trajectories, where n is the number of trajectory turns minus 1. Candidate trajectories that do not meet the preset safety conditions are adjusted until all candidate trajectories meet the preset safety conditions, resulting in n+1 trajectories. Sub-target paths corresponding to these n+1 trajectories are then generated. By contracting the first trajectory n times, multiple candidate trajectories can be accurately obtained.

[0137] In one embodiment, the number of generated circles n of the movement trajectory is incremented by 1, and the nth movement trajectory is retracted along the center of the target operation area by the movement trajectory spacing to obtain the n+1th movement trajectory, wherein the initial value of n is 1, n is greater than or equal to 1, and n+1 is less than or equal to the number of movement trajectory circles. When n is 1, the movement trajectory is the first candidate movement trajectory. It is determined whether the n+1th candidate movement trajectory satisfies a preset safety condition. If the n+1th candidate movement trajectory does not satisfy the preset safety condition, the n+1th candidate movement trajectory is adjusted until the adjusted n+1th candidate movement trajectory satisfies the preset safety condition, and the n+1th candidate movement trajectory is used as the n+1th movement trajectory. If the n+1th candidate movement trajectory satisfies the preset safety condition, the process returns to the step of incrementing the number of generated circles n of the movement trajectory by 1, and retracting the nth movement trajectory along the center of the target operation area by the movement trajectory spacing to obtain the n+1th movement trajectory, until the number of generated circles n+1 of the movement trajectory equals the number of movement trajectory circles. According to the spacing and trajectory adjustment of the moving trajectory inward in the center of the target operation area, n+1 moving trajectories can be accurately obtained.

[0138] In one embodiment, the nth circle movement trajectory is retracted along the center of the target operating area by the movement trajectory spacing to obtain the n+1th circle movement trajectory. The method can be as follows: obtain a target inflection point in the nth circle movement trajectory, wherein the target inflection point is used to connect the first direction trajectory and the second direction trajectory in the nth circle movement trajectory; obtain an angle bisector from the target inflection point to the target point, and the distance between the target point and the first direction trajectory and the second direction trajectory is the movement trajectory spacing; use the target point as the target inflection point of the n+1th circle movement trajectory, and connect the target inflection points of the n+1th circle movement trajectory to obtain the n+1th circle movement trajectory.

[0139] Exemplarily, as shown in Figure 17, A, B and C are points in the n-th circle moving trajectory, point B is the target inflection point formed by the first direction trajectory AB and the second direction trajectory BC, and the target point B1 on the angle bisector of the target inflection point B is obtained; the target point B1 is on the angle bisector of the target inflection point B, and the distance between the target point B1 and the first direction trajectory AB and the second direction trajectory BC is the moving trajectory spacing L. The target inflection points are connected to obtain the n+1-th circle moving trajectory.

[0140] It should be noted that the preset safety condition is that the candidate movement trajectory is inside the target operation area, does not pass through obstacles, and is not on the boundary of obstacles.

[0141] Exemplarily, a method for determining whether the n+1th candidate movement trajectory meets the preset safety conditions may be: determining whether the n+1th candidate movement trajectory is inside the target operating area, whether it passes through an obstacle, and whether it is on the boundary of an obstacle; if the n+1th candidate movement trajectory is inside the target operating area, does not pass through an obstacle, and is not on the boundary of an obstacle, determining that the n+1th candidate movement trajectory meets the preset safety conditions; if the n+1th candidate movement trajectory is not inside the target operating area, passes through an obstacle and / or is on the boundary of an obstacle, determining that the n+1th candidate movement trajectory does not meet the preset safety conditions.

[0142] In one embodiment, if the n+1th candidate trajectory does not meet the preset safety conditions, a determination is made as to whether there is a safety point in the n+1th candidate trajectory. A safety point is a point in the n+1th candidate trajectory that meets the preset safety conditions. If a safety point exists in the n+1th candidate trajectory, the n+1th candidate trajectory is adjusted until the adjusted n+1th candidate trajectory meets the preset safety conditions. By adjusting the trajectory segments that do not meet the preset safety conditions, a n+1th trajectory that meets the preset safety conditions can be quickly obtained.

[0143] In one embodiment, a first trajectory point and a second trajectory point in the n+1th candidate movement trajectory are obtained, where the first trajectory point is any point in the n+1th candidate movement trajectory, and the first trajectory point and the second trajectory point are separated by a preset length; a determination is made as to whether the trajectory segment between the first trajectory point and the second trajectory point satisfies a preset safety condition; if the trajectory segment satisfies the preset safety condition, the trajectory segment is determined as a target trajectory segment; if the trajectory segment does not satisfy the preset safety condition, the trajectory segment is adjusted until the adjusted trajectory segment satisfies the preset safety condition; and the determination of whether the trajectory segment satisfies the preset safety condition is continued for the trajectory segment for which the preset safety condition has not yet been determined: if the trajectory segment satisfies the preset safety condition, the trajectory segment is determined as a target trajectory segment; if the trajectory segment does not satisfy the preset safety condition, the trajectory segment is adjusted until the adjusted trajectory segment satisfies the preset safety condition, and until all trajectory segments satisfy the preset safety condition, a trajectory for the n+1th movement trajectory that satisfies the preset safety condition is obtained. The preset length can be set according to actual conditions and is not specifically limited in this embodiment of the present application. For example, the preset length can be set to 0.1 meters.

[0144] For example, as shown in FIG18 , the third and fourth movement trajectories pass through the obstacle 30 , and the third and fourth movement trajectories need to be adjusted.

[0145] In one embodiment, when a candidate movement trajectory passes through an obstacle, the candidate movement trajectory that does not meet the preset safety conditions can be adjusted by: obtaining a first critical point and a second critical point, the first critical point being an intersection point of the candidate movement trajectory with the obstacle where the candidate movement trajectory passes through the obstacle, and the second critical point being another intersection point of the candidate movement trajectory with the obstacle where the candidate movement trajectory passes through the obstacle, the first critical point and the second critical point being in the same movement trajectory; deleting the movement trajectory between the first critical point and the second critical point, and generating a movement trajectory that avoids the obstacle between the first critical point and the second critical point.

[0146] It should be noted that the first critical point is the intersection between the safe point and the hidden danger point close to the first trajectory point, and the second critical point is the intersection between the safe point and the hidden danger point close to the second trajectory point. The safe point is a point that meets the preset safety conditions, and the hidden danger point is a point that does not meet the preset conditions.

[0147] For example, the third circle candidate movement trajectory in Figure 18 passes through the obstacle, as shown in Figure 19, the first trajectory point P1 and the second trajectory point P2 of the third circle candidate movement trajectory are obtained, and the trajectory segment P1P2 does not meet the preset safety condition. The first critical point S1 and the second critical point S2 are obtained, and the first critical point S1 and the second critical point S2 are respectively projected onto the second circle movement trajectory to obtain the first safety point T1 and the second safety point T2. The first trajectory point P1, the first critical point S1, the first safety point T1, the second safety point T2, the second critical point S2 and the second trajectory point P2 are sequentially connected to form a line segment to obtain the candidate trajectory segment P1 S1 T1 T2 S2 P2. When the candidate trajectory segment P1 S1 T1 T2 S2 P2 meets the preset safety condition, the candidate trajectory segment P1 S1 T1 T2 S2 P2 is used as the trajectory segment between the first trajectory point and the second trajectory point. Similarly, the fourth circle candidate movement trajectory is adjusted to obtain the movement trajectory shown in Figure 20, wherein the adjusted third and fourth circle movement trajectories bypass the obstacle 30.

[0148] In one embodiment, when the candidate movement trajectory is not inside the target operation area, the candidate movement trajectory that does not meet the preset safety conditions is adjusted by deleting the portion of the candidate movement trajectory that is not inside the target operation area and connecting the retained candidate movement trajectories to generate a movement trajectory inside the target operation area.

[0149] In one embodiment, when the movement trajectory also includes a straight line trajectory, a similar-shaped movement trajectory is generated within the target work area based on the contour information and path parameters of the target work area. The similar-shaped movement trajectory is then intersected with the straight line trajectory to generate a composite movement trajectory. Operating based on this composite movement trajectory can reduce the problem of missed mowing and greatly improve the aesthetic appeal of the lawn.

[0150] Exemplarily, as shown in FIG16 , based on the contour information of the target working area, the moving trajectory spacing and the number of moving trajectory circles, a plurality of moving trajectories 11 of similar graphics are generated in the target working area 10. When the path parameters also include straight line trajectory parameters, as shown in FIG21 , a straight line trajectory 12 is generated in the target working area 10 based on the straight line trajectory parameters. The moving trajectories 11 of similar graphics and the straight line trajectory 12 in the target working areas of FIG16 and FIG21 are combined to generate a composite moving trajectory as shown in FIG22 .

[0151] In one embodiment, when the movement trajectory exceeds the target operating area, the trajectory that exceeds the target operating area is deleted. As shown in Figure 23a, the movement trajectory in Figure 23a includes a trajectory that exceeds the boundary of the target operating area. The trajectory that exceeds the boundary of the target operating area is deleted, resulting in the movement trajectory shown in Figure 23b.

[0152] In one embodiment, as shown in FIG24a , the n+1th moving trajectory in the target working area is a three-circle moving trajectory. The n+1th moving trajectory in FIG24a is adjusted to generate a moving trajectory as shown in FIG24b . Of course, the n+1th moving trajectory in FIG24a can also be adjusted to generate a moving trajectory as shown in FIG24c . By adjusting the moving trajectory, a more beautiful pattern can be obtained, which effectively displays and improves the ornamental value of the lawn, and further improves the utilization rate and value of the lawn mowing robot.

[0153] In one embodiment, the historical path parameters are compared with the path parameters to determine whether a new target path needs to be generated, where the historical path parameters are the path parameters used to generate the target path last time. When the historical path parameters are the same as the path parameters, a new target path does not need to be generated. When the historical path parameters are different from the path parameters, a new target path needs to be generated. If a new target path needs to be generated, the target path is generated based on the contour information and path parameters of the target operating area. If a new target path does not need to be generated, the historical target path is overwritten within the target operating area, where the historical target path is a movement trajectory generated based on the historical path parameters.

[0154] In one embodiment, when a first condition is met, it is determined that a new target path does not need to be generated, wherein the first condition is that the path parameters are the same as the historical path parameters; when a second condition is met, it is determined that the new target path to be generated is a partial target path of all target paths required for the target operation area, wherein the second condition is that the target path orientation in the target path parameters is partially the same as the target path orientation 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 a new target path needs to be generated.

[0155] In this embodiment, the historical target path is a target path that satisfies preset safety conditions and is generated based on historical path parameters. This embodiment compares the historical path parameters with the path parameters to determine whether a new target path needs to be generated. This allows the target path that satisfies preset safety conditions to be generated within the target operating area based on the path parameters only when a new target path is required. Otherwise, the historical target path can be used to overwrite the target operating area, thus avoiding unnecessary new target path generation, reducing target path generation time, and conserving computing resources.

[0156] The path planning method for an autonomous mobile device provided in the above embodiment obtains an original map and path parameters of a target work area; obtains contour information of the target work area based on the original map; and then accurately generates a target path based on the contour information and path parameters of the target work area. The target path is used to instruct the autonomous mobile device to move and operate within the target work area to form a movement trajectory, which includes multiple similar figures with the same contour shape as indicated by the contour information, wherein the smaller figures are located within the larger figures. Based on the contour information and path parameters of the target work area, this solution can accurately generate a target path within the target work area. The autonomous mobile device moves and operates within the target work area according to the target path, leaving a neat vehicle track, effectively improving the efficiency and accuracy of mowing operations, and thereby greatly enhancing the aesthetic value of the lawn.

[0157] Please refer to Figure 25, 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.

[0158] As shown in FIG25 , the path planning device 200 includes:

[0159] The data acquisition module 210 is configured to acquire an original map including a target operation area and a target path generation requirement, wherein the target path generation requirement includes at least a path type;

[0160] The path generation module 220 is used to obtain a corresponding path generation strategy according to the target path generation requirements, and generate a target path that meets preset safety conditions and covers the target operation area based on the original map and the path generation strategy, wherein different path types correspond to different path generation strategies.

[0161] In some embodiments, the path type includes at least one of the following:

[0162] a first path type, wherein the first path corresponding to the first path type includes a plurality of mutually parallel first path segments;

[0163] A second path type, wherein the second path corresponding to the second path type includes a plurality of second path segments having a first orientation and a plurality of other second path segments having a second orientation, wherein an angle formed between the first orientation and the second orientation is any angle between (0° and 360°);

[0164] A third path type, wherein the third path corresponding to the third path type includes multiple third path segments, the shape of each third path segment is the same as the outline shape of the original map, the geometric centers of the multiple third path segments coincide, the lengths are different, and the distance between the shorter third path segment and the boundary of the original map is greater than the distance between the longer third path segment and the boundary of the original map.

[0165] In some embodiments, the path type in the target path generation requirement corresponds to the terrain characteristics of the target operation area.

[0166] In some embodiments, the path planning device 200 further includes a parameter comparison module and a path coverage module, wherein:

[0167] The parameter comparison module is used to compare the historical path generation requirement with the target path generation requirement to determine whether the path needs to be regenerated, wherein the historical path generation requirement is the path generation requirement used in the last path generation;

[0168] The path generation module 220 is further configured to, if a new path needs to be generated, obtain a corresponding path generation strategy based on the target path generation requirement, and generate a target path that meets preset safety conditions and covers the target operation area based on the original map and the path generation strategy;

[0169] The path covering module is configured to cover a historical path in the target operation area if there is no need to regenerate the path, wherein the historical path is a path generated according to the historical path generation requirement.

[0170] In some embodiments, the path generation module 220 is further configured to:

[0171] If the path to be regenerated is part of the target path, obtaining multiple historical path segments that match the target path generation requirements, and generating a target path that meets preset safety conditions and covers the target operation area based on the multiple historical path segments, the original map, and the path generation strategy;

[0172] Alternatively, in the case where the path to be regenerated is the entire target path, a target path that meets preset safety conditions and covers the target operating area is generated based on the original map and the path generation strategy.

[0173] In some embodiments, the parameter comparison module is further configured to:

[0174] When the first condition or the second condition is met, determining that the path does not need to be regenerated;

[0175] Alternatively, when the target path generation requirement is different from the historical path generation requirement and the second condition is not satisfied, determining that the path needs to be regenerated;

[0176] The first condition is that the target path generation requirement is the same as the historical path generation requirement;

[0177] The second condition is: the path type in the target path generation requirement is the first path type, the path type in the historical path generation requirement is the second path type, and the target heading angle in the target path generation requirement is the same as the first heading angle or the second heading angle in the historical path generation requirement.

[0178] In some embodiments, the parameter comparison module is further configured to:

[0179] When the target path generation requirement is different from the historical path generation requirement and the third condition or the fourth condition is met, determining that the path to be regenerated is part of the target path;

[0180] Alternatively, when the target path generation requirement is different from the historical path generation requirement and the second condition, the third condition, and the fourth condition are not satisfied, determining that the path to be regenerated is the entire target path;

[0181] The third condition is as follows: the path type in the target path generation requirement is the second path type, the path type in the historical path generation requirement is the first path type or the second path type, and the first target heading angle or the second target heading angle in the target path generation requirement is the same as any heading angle in the historical path generation requirement.

[0182] The fourth condition is: the path type in the target path generation requirement includes the third path type and also includes the first path type and / or the second path type, the path type in the historical path generation requirement includes the third path type and also includes the first path type and / or the second path type, and at least part of the target orientation angle in the target path generation requirement is the same as at least part of the orientation angle in the historical path generation requirement.

[0183] In some embodiments, the path planning device 200 further includes a safety check module for:

[0184] In the process of generating the target path, after generating any of the path segments, determining whether the generated path segment meets a preset safety condition;

[0185] 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;

[0186] If the generated path segment meets the preset safety condition, the next path segment is generated until the target path is obtained.

[0187] It should be noted that those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the path planning device 200 described above can refer to the corresponding process in the aforementioned path planning method embodiment, and will not be repeated here. The path planning device can be specifically integrated into a microcontroller unit (MCU) of an autonomous mobile device, or integrated into an intelligent terminal or server. The MCU, also known as a single chip microcomputer (Single Chip Microcomputer) or a single chip microcomputer, is a chip-level computer that appropriately reduces the frequency and specifications of the central processing unit (CPU) and integrates peripheral interfaces such as memory, timer, USB, analog-to-digital conversion / digital-to-analog conversion, UART, PLC, DMA, etc., to perform different combination controls for different application scenarios.

[0188] Please refer to Figure 26, which is a schematic block diagram of the structure of an electronic device provided in an embodiment of the present application.

[0189] As shown in FIG26 , the electronic device 300 includes a processor 301 and a memory 302, and the processor 301 and the memory 302 are connected via a bus 303. The bus is, for example, an I2C (Inter-integrated Circuit) bus.

[0190] Specifically, the processor 301 is used to provide computing and control capabilities to support the operation of the entire electronic device. The processor 301 can be a central processing unit (CPU), and the processor 301 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.

[0191] Specifically, the memory 302 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0192] Those skilled in the art will understand that the structure shown in Figure 27 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.

[0193] The processor 301 is configured to run a computer program stored in the memory 302 and implement any one of the path planning methods provided in the embodiments of the present application when executing the computer program.

[0194] In some embodiments, the processor 301 is configured to run a computer program stored in a memory, and implement the following steps when executing the computer program:

[0195] Acquire an original map containing a target operation area and a target path generation requirement, wherein the target path generation requirement includes at least a path type;

[0196] A corresponding path generation strategy is obtained according to the target path generation requirement, and a target path that meets preset safety conditions and covers the target operation area is generated based on the original map and the path generation strategy, wherein different path types correspond to different path generation strategies.

[0197] In some embodiments, the path type includes at least one of the following:

[0198] a first path type, wherein the first path corresponding to the first path type includes a plurality of mutually parallel first path segments;

[0199] A second path type, wherein the second path corresponding to the second path type includes a plurality of second path segments having a first orientation and a plurality of other second path segments having a second orientation, wherein an angle formed between the first orientation and the second orientation is any angle between (0° and 360°);

[0200] A third path type, wherein the third path corresponding to the third path type includes multiple third path segments, the shape of each third path segment is the same as the outline shape of the original map, the geometric centers of the multiple third path segments coincide, the lengths are different, and the distance between the shorter third path segment and the boundary of the original map is greater than the distance between the longer third path segment and the boundary of the original map.

[0201] In some embodiments, the path type in the target path generation requirement corresponds to the terrain characteristics of the target operation area.

[0202] In some embodiments, after obtaining the original map containing the target operation area and generating the target path, the processor 301 is further configured to:

[0203] Comparing the historical path generation requirement with the target path generation requirement to determine whether a new path needs to be generated, wherein the historical path generation requirement is the path generation requirement used in the last path generation;

[0204] If the path needs to be regenerated, a corresponding path generation strategy is obtained according to the target path generation requirement, and a target path that meets preset safety conditions and covers the target operation area is generated based on the original map and the path generation strategy;

[0205] If there is no need to regenerate the path, the historical path is overwritten in the target operation area, wherein the historical path is a path generated according to the historical path generation requirement.

[0206] In some embodiments, when generating a target path that satisfies preset safety conditions and covers the target operating area based on the original map and the path generation strategy, the processor 301 is configured to:

[0207] If the path to be regenerated is part of the target path, obtaining multiple historical path segments that match the target path generation requirements, and generating a target path that meets preset safety conditions and covers the target operation area based on the multiple historical path segments, the original map, and the path generation strategy;

[0208] Alternatively, in the case where the path to be regenerated is the entire target path, a target path that meets preset safety conditions and covers the target operating area is generated based on the original map and the path generation strategy.

[0209] In some embodiments, when comparing the historical path generation requirement with the target path generation requirement to determine whether a new path needs to be generated, the processor 301 is configured to implement:

[0210] When the first condition or the second condition is met, determining that the path does not need to be regenerated;

[0211] Alternatively, when the target path generation requirement is different from the historical path generation requirement and the second condition is not satisfied, determining that the path needs to be regenerated;

[0212] The first condition is that the target path generation requirement is the same as the historical path generation requirement;

[0213] The second condition is: the path type in the target path generation requirement is the first path type, the path type in the historical path generation requirement is the second path type, and the target heading angle in the target path generation requirement is the same as the first heading angle or the second heading angle in the historical path generation requirement.

[0214] In some embodiments, the processor 301 is further configured to implement the following steps:

[0215] When the target path generation requirement is different from the historical path generation requirement and the third condition or the fourth condition is met, determining that the path to be regenerated is part of the target path;

[0216] Alternatively, when the target path generation requirement is different from the historical path generation requirement and the second condition, the third condition, and the fourth condition are not satisfied, determining that the path to be regenerated is the entire target path;

[0217] The third condition is as follows: the path type in the target path generation requirement is the second path type, the path type in the historical path generation requirement is the first path type or the second path type, and the first target heading angle or the second target heading angle in the target path generation requirement is the same as any heading angle in the historical path generation requirement.

[0218] The fourth condition is: the path type in the target path generation requirement includes the third path type and also includes the first path type and / or the second path type, the path type in the historical path generation requirement includes the third path type and also includes the first path type and / or the second path type, and at least part of the target orientation angle in the target path generation requirement is the same as at least part of the orientation angle in the historical path generation requirement.

[0219] In some embodiments, the target path includes multiple path segments, and the processor 301 is further configured to implement the following steps:

[0220] In the process of generating the target path, after generating any of the path segments, determining whether the generated path segment meets a preset safety condition;

[0221] 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;

[0222] If the generated path segment meets the preset safety condition, the next path segment is generated until the target path is obtained.

[0223] 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 path planning method embodiment, and will not be repeated here.

[0224] 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.

[0225] As shown in FIG27 , the path planning device 400 for an autonomous mobile device includes an acquisition module 410 and a generation module 420 , wherein:

[0226] An acquisition module 410 is used to obtain an original map and path parameters of a target operation area;

[0227] The acquisition module 410 is further configured to acquire contour information of the target operation area based on the original map;

[0228] A generating module 420, configured to generate a target path according to the contour information of the target operation area and the path parameters;

[0229] The target path is used to instruct the autonomous mobile device to move and operate within the target operation area to form a movement trajectory, and the movement trajectory includes multiple similar graphics with the same contour shape as indicated by the contour information. Among the multiple similar graphics, the graphics with a smaller area are located inside the graphics with a larger area.

[0230] In one embodiment, the geometric centers of the plurality of similar figures coincide with each other and have the same orientation as the outline.

[0231] In one embodiment, when the original map indicates that there is an obstacle in the target operating area, the movement trajectory further includes an obstacle avoidance trajectory, and the obstacle avoidance trajectory is used to bypass the obstacle.

[0232] In one embodiment, the generating module 420 is further configured to:

[0233] Based on the contour information, the contour of the target operation area is used as a first movement trajectory within the target operation area;

[0234] A target path is generated according to the first movement trajectory, the movement trajectory spacing, and the number of movement trajectory circles.

[0235] In one embodiment, the generating module 420 is further configured to:

[0236] Contract the first movement trajectory n times to obtain n candidate movement trajectories, where n is equal to the number of movement trajectory circles minus 1;

[0237] Adjusting the candidate movement trajectories that do not meet the preset safety conditions until all candidate movement trajectories meet the preset safety conditions, thereby obtaining n+1 movement trajectories;

[0238] Generate sub-target paths corresponding to the n+1 movement trajectories.

[0239] In one embodiment, the candidate movement trajectory is inside the target operation area, does not pass through obstacles, and is not on the boundary of obstacles.

[0240] In one embodiment, the generating module 420 is further configured to:

[0241] Obtaining a first critical point and a second critical point, where the first critical point is an intersection point of the candidate movement trajectory passing through the obstacle and the obstacle, and the second critical point is another intersection point of the candidate movement trajectory passing through the obstacle and the obstacle, and the first critical point and the second critical point are in the same movement trajectory;

[0242] The movement trajectory between the first critical point and the second critical point is deleted, and a movement trajectory that avoids the obstacle is generated between the first critical point and the second critical point.

[0243] In one embodiment, the generating module 420 is further configured to:

[0244] Parts of the candidate movement trajectories that are not inside the target operation area are deleted, and the remaining candidate movement trajectories are connected to generate a movement trajectory inside the target operation area.

[0245] In one embodiment, the movement trajectory further includes a straight line trajectory, and the straight line trajectory intersects with the multiple similar graphics.

[0246] Please refer to Figure 28, which is a schematic block diagram of the structure of a controller provided in an embodiment of the present application.

[0247] As shown in FIG. 28 , the controller 500 includes a processor 502 and a memory 503 connected via a system bus 501 , wherein the memory may include a storage medium and an internal memory.

[0248] 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.

[0249] The processor 502 is used to provide computing and control capabilities to support the operation of the entire controller.

[0250] 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.

[0251] Those skilled in the art will understand that the structure shown in Figure 28 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.

[0252] It should be understood that the processor 502 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.

[0253] In one embodiment, the processor 502 is configured to execute a computer program stored in a memory to implement the following steps:

[0254] Obtain the original map and path parameters of the target operation area;

[0255] Acquiring contour information of the target operation area based on the original map;

[0256] generating a target path according to the contour information of the target operation area and the path parameters;

[0257] The target path is used to instruct the autonomous mobile device to move and operate within the target operation area to form a movement trajectory, and the movement trajectory includes multiple similar graphics with the same contour shape as indicated by the contour information. Among the multiple similar graphics, the graphics with a smaller area are located inside the graphics with a larger area.

[0258] In one embodiment, the geometric centers of the plurality of similar figures coincide with each other and have the same orientation as the outline.

[0259] In one embodiment, when the original map indicates that there is an obstacle in the target operating area, the movement trajectory further includes an obstacle avoidance trajectory, and the obstacle avoidance trajectory is used to bypass the obstacle.

[0260] In one embodiment, the processor 502, when implementing the path parameters including the moving track spacing and the moving track number of circles; and generating the target path according to the contour information of the target working area and the path parameters, is configured to implement:

[0261] Based on the contour information, the contour of the target operation area is used as a first movement trajectory within the target operation area;

[0262] A target path is generated according to the first movement trajectory, the movement trajectory spacing, and the number of movement trajectory circles.

[0263] In one embodiment, the processor 502 generates a target path according to the first movement trajectory, the movement trajectory spacing, and the number of movement trajectory circles, to achieve:

[0264] Contract the first movement trajectory n times to obtain n candidate movement trajectories, where n is equal to the number of movement trajectory circles minus 1;

[0265] Adjusting the candidate movement trajectories that do not meet the preset safety conditions until all candidate movement trajectories meet the preset safety conditions, thereby obtaining n+1 movement trajectories;

[0266] Generate sub-target paths corresponding to the n+1 movement trajectories.

[0267] In one embodiment, the preset safety condition is that the candidate movement trajectory is inside the target operation area, does not pass through obstacles, and is not on the boundary of obstacles.

[0268] In one embodiment, the processor 502, when implementing the candidate movement trajectory passing through an obstacle and adjusting the candidate movement trajectory that does not meet the preset safety condition, is configured to implement:

[0269] Obtaining a first critical point and a second critical point, where the first critical point is an intersection point of the candidate movement trajectory passing through the obstacle and the obstacle, and the second critical point is another intersection point of the candidate movement trajectory passing through the obstacle and the obstacle, and the first critical point and the second critical point are in the same movement trajectory;

[0270] The movement trajectory between the first critical point and the second critical point is deleted, and a movement trajectory that avoids the obstacle is generated between the first critical point and the second critical point.

[0271] In one embodiment, the processor 502 is configured to implement the following when realizing that the candidate movement trajectory is not within the target operation area and adjusting the candidate movement trajectory that does not meet the preset safety conditions:

[0272] Parts of the candidate movement trajectories that are not inside the target operation area are deleted, and the remaining candidate movement trajectories are connected to generate a movement trajectory inside the target operation area.

[0273] In one embodiment, the movement trajectory further includes a straight line trajectory, and the straight line trajectory intersects with the multiple similar graphics.

[0274] 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.

[0275] Please refer to Figure 29, which is a schematic block diagram of the structure of an autonomous mobile device provided in an embodiment of the present application.

[0276] As shown in FIG. 29 , the autonomous mobile device 600 includes a processor 602 and a memory 603 connected via a system bus 601 , wherein the memory may include a storage medium and an internal memory.

[0277] 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.

[0278] The processor 602 is used to provide computing and control capabilities to support the operation of the entire autonomous mobile device 600 .

[0279] 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.

[0280] 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 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.

[0281] 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.

[0282] In one embodiment, the processor 602 is configured to execute a computer program stored in a memory to implement the following steps:

[0283] Obtain the original map and path parameters of the target operation area;

[0284] Acquiring contour information of the target operation area based on the original map;

[0285] generating a target path according to the contour information of the target operation area and the path parameters;

[0286] The target path is used to instruct the autonomous mobile device to move and operate within the target operation area to form a movement trajectory, and the movement trajectory includes multiple similar graphics with the same contour shape as indicated by the contour information. Among the multiple similar graphics, the graphics with a smaller area are located inside the graphics with a larger area.

[0287] In one embodiment, the geometric centers of the plurality of similar figures coincide with each other and have the same orientation as the outline.

[0288] In one embodiment, when the original map indicates that there is an obstacle in the target operating area, the movement trajectory further includes an obstacle avoidance trajectory, and the obstacle avoidance trajectory is used to bypass the obstacle.

[0289] In one embodiment, the processor 602, when implementing the path parameters including the moving track spacing and the moving track number of circles; and generating the target path according to the contour information of the target working area and the path parameters, is configured to implement:

[0290] Based on the contour information, the contour of the target operation area is used as a first movement trajectory within the target operation area;

[0291] A target path is generated according to the first movement trajectory, the movement trajectory spacing, and the number of movement trajectory circles.

[0292] In one embodiment, the processor 602 generates a target path according to the first movement trajectory, the movement trajectory spacing, and the number of movement trajectory circles, to achieve:

[0293] Contract the first movement trajectory n times to obtain n candidate movement trajectories, where n is equal to the number of movement trajectory circles minus 1;

[0294] Adjusting the candidate movement trajectories that do not meet the preset safety conditions until all candidate movement trajectories meet the preset safety conditions, thereby obtaining n+1 movement trajectories;

[0295] Generate sub-target paths corresponding to the n+1 movement trajectories.

[0296] In one embodiment, the preset safety condition is that the candidate movement trajectory is inside the target operation area, does not pass through obstacles, and is not on the boundary of obstacles.

[0297] In one embodiment, the processor 602, when implementing the candidate movement trajectory passing through an obstacle and adjusting the candidate movement trajectory that does not meet the preset safety condition, is configured to implement:

[0298] Obtaining a first critical point and a second critical point, where the first critical point is an intersection point of the candidate movement trajectory passing through the obstacle and the obstacle, and the second critical point is another intersection point of the candidate movement trajectory passing through the obstacle and the obstacle, and the first critical point and the second critical point are in the same movement trajectory;

[0299] The movement trajectory between the first critical point and the second critical point is deleted, and a movement trajectory that avoids the obstacle is generated between the first critical point and the second critical point.

[0300] In one embodiment, the processor 602 is configured to implement the following when realizing that the candidate movement trajectory is not within the target operation area and adjusting the candidate movement trajectory that does not meet the preset safety conditions:

[0301] Parts of the candidate movement trajectories that are not inside the target operation area are deleted, and the remaining candidate movement trajectories are connected to generate a movement trajectory inside the target operation area.

[0302] In one embodiment, the movement trajectory further includes a straight line trajectory, and the straight line trajectory intersects with the multiple similar graphics.

[0303] 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.

[0304] In one embodiment, as shown in FIG30 , FIG30 is a schematic block diagram of the structure of another autonomous mobile device provided in an embodiment of the present application.

[0305] As shown in FIG30 , the autonomous mobile device 700 includes:

[0306] Body 710;

[0307] A movement module 720 is provided in the body and is used to drive the autonomous mobile device to move;

[0308] a mowing mechanism 730 , disposed on the body and used to perform mowing tasks;

[0309] A controller electrically connected to the mobile module and the mowing mechanism; the controller is configured to:

[0310] The autonomous mobile device is controlled to move and operate along a movement trajectory, wherein the movement trajectory includes a plurality of similar graphics having the same contour shape as indicated by the contour information, wherein a graphic with a smaller area is located inside a graphic with a larger area.

[0311] 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.

[0312] An embodiment of the present application also provides a storage medium for computer-readable storage, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement any path planning method provided in the description of the embodiment of the present application.

[0313] The storage medium may be an internal storage unit of the electronic device described in the aforementioned embodiment, such as a hard disk or memory of the electronic device. The storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash memory card, etc. equipped on the electronic device.

[0314] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware embodiment, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable, and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media generally embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0315] It should be understood that the term "and / or" used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system that includes the element.

[0316] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments. The above are only specific embodiments 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. Therefore, the scope of protection of the present application shall be based on the scope of protection of the claims.

Claims

1. A path planning method for an autonomous mobile device, characterized in that: include: Obtain the original map containing the target operation area and the target path generation requirements; A target path that meets preset safety conditions and covers the target operating area is generated based on the original map and the target path generation requirement.

2. The path planning method according to claim 1, characterized in that: The target path generation requirement includes at least a path type, and the path type includes at least one of the following: a first path type, wherein the first path corresponding to the first path type includes a plurality of mutually parallel first path segments; A second path type, wherein the second path corresponding to the second path type includes a plurality of second path segments having a first orientation and a plurality of other second path segments having a second orientation, wherein an angle formed between the first orientation and the second orientation is any angle between (0° and 360°); A third path type, wherein the third path corresponding to the third path type includes multiple third path segments, the shape of each third path segment is the same as the outline shape of the original map, the geometric centers of the multiple third path segments coincide, the lengths are different, and the distance between the shorter third path segment and the boundary of the original map is greater than the distance between the longer third path segment and the boundary of the original map.

3. The path planning method according to claim 1 or 2, characterized in that: The path type in the target path generation requirement corresponds to the terrain characteristics of the target operation area.

4. The path planning method according to claim 2, characterized in that: The generating of the target path that meets preset safety conditions and covers the target operation area based on the original map and the target path generation requirement includes: A corresponding path generation strategy is acquired according to the target path generation requirement, and the target path is generated based on the original map and the path generation strategy, wherein different path types correspond to different path generation strategies.

5. The path planning method according to claim 4, characterized in that: After obtaining the original map including the target operation area and the target path generation requirement, the method further includes: Comparing the historical path generation requirement with the target path generation requirement to determine whether a new path needs to be generated, wherein the historical path generation requirement is the path generation requirement used in the last path generation; If the path needs to be regenerated, a corresponding path generation strategy is obtained according to the target path generation requirement, and a target path that meets preset safety conditions and covers the target operation area is generated based on the original map and the path generation strategy; If there is no need to regenerate the path, the historical path is overwritten in the target operation area, wherein the historical path is a path generated according to the historical path generation requirement.

6. The path planning method according to claim 5, characterized in that: The generating of a target path that meets preset safety conditions and covers the target operation area based on the original map and the path generation strategy includes: If the path to be regenerated is part of the target path, obtaining multiple historical path segments that match the target path generation requirements, and generating a target path that meets preset safety conditions and covers the target operation area based on the multiple historical path segments, the original map, and the path generation strategy; Alternatively, in the case where the path to be regenerated is the entire target path, a target path that meets preset safety conditions and covers the target operating area is generated based on the original map and the path generation strategy.

7. The path planning method according to claim 5, characterized in that: The comparing the historical path generation requirement with the target path generation requirement to determine whether a new path needs to be generated includes: When the first condition or the second condition is met, determining that the path does not need to be regenerated; Alternatively, when the target path generation requirement is different from the historical path generation requirement and the second condition is not satisfied, determining that the path needs to be regenerated; The first condition is that the target path generation requirement is the same as the historical path generation requirement; The second condition is: the path type in the target path generation requirement is the first path type, the path type in the historical path generation requirement is the second path type, and the target heading angle in the target path generation requirement is the same as the first heading angle or the second heading angle in the historical path generation requirement.

8. The method according to claim 7, characterized in that The method further comprises: When the target path generation requirement is different from the historical path generation requirement and the third condition or the fourth condition is met, determining that the path to be regenerated is part of the target path; Alternatively, when the target path generation requirement is different from the historical path generation requirement and the second condition, the third condition, and the fourth condition are not satisfied, determining that the path to be regenerated is the entire target path; The third condition is as follows: the path type in the target path generation requirement is the second path type, the path type in the historical path generation requirement is the first path type or the second path type, and the first target heading angle or the second target heading angle in the target path generation requirement is the same as any heading angle in the historical path generation requirement. The fourth condition is: the path type in the target path generation requirement includes the third path type and also includes the first path type and / or the second path type, the path type in the historical path generation requirement includes the third path type and also includes the first path type and / or the second path type, and at least part of the target orientation angle in the target path generation requirement is the same as at least part of the orientation angle in the historical path generation requirement.

9. The path planning method according to any one of claims 1 to 8, characterized in that: The target path includes a plurality of path segments, and the method further includes: In the process of generating the target 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 target path is obtained.

10. The path planning method according to claim 1, characterized in that: The target path generation requirement includes path parameters, and generating a target path that meets preset safety conditions and covers the target operation area based on the original map and the target path generation requirement includes: Acquiring contour information of the target operation area based on the original map; generating the target path according to the contour information of the target operation area and the path parameters; The target path is used to instruct the autonomous mobile device to move and operate within the target operation area to form a movement trajectory, and the movement trajectory includes multiple similar graphics with the same contour shape as indicated by the contour information. Among the multiple similar graphics, the graphics with a smaller area are located inside the graphics with a larger area.

11. The path planning method according to claim 10, characterized in that: The geometric centers of the multiple similar figures coincide with each other and have the same orientation as the outline.

12. The path planning method according to claim 11, characterized in that: In a case where the original map indicates that an obstacle exists in the target operating area, the movement trajectory further includes an obstacle avoidance trajectory, and the obstacle avoidance trajectory is used to bypass the obstacle.

13. The path planning method according to any one of claims 10 to 12, characterized in that: The path parameters include a moving track spacing and a moving track number of circles; generating a target path according to the contour information of the target operating area and the path parameters includes: Based on the contour information, the contour of the target operation area is used as a first movement trajectory within the target operation area; A target path is generated according to the first movement trajectory, the movement trajectory spacing, and the number of movement trajectory circles.

14. The path planning method according to claim 13, wherein: Generating a target path according to the first movement trajectory, the movement trajectory spacing, and the number of movement trajectory circles includes: Contract the first movement trajectory n times to obtain n candidate movement trajectories, where n is equal to the number of movement trajectory circles minus 1; Adjusting the candidate movement trajectories that do not meet the preset safety conditions until all candidate movement trajectories meet the preset safety conditions, thereby obtaining n+1 movement trajectories; Generate sub-target paths corresponding to the n+1 movement trajectories.

15. The path planning method according to claim 14, characterized in that: The preset safety condition is that the candidate movement trajectory is inside the target operation area, does not pass through obstacles, and is not on the boundary of obstacles.

16. The path planning method according to claim 14, characterized in that: The candidate movement trajectory passes through an obstacle; The adjusting the candidate movement trajectory that does not meet the preset safety condition includes: Obtaining a first critical point and a second critical point, where the first critical point is an intersection point of the candidate movement trajectory passing through the obstacle and the obstacle, and the second critical point is another intersection point of the candidate movement trajectory passing through the obstacle and the obstacle, and the first critical point and the second critical point are in the same movement trajectory; The movement trajectory between the first critical point and the second critical point is deleted, and a movement trajectory that avoids the obstacle is generated between the first critical point and the second critical point.

17. The path planning method according to claim 14, wherein: The candidate movement trajectory is not within the target operation area; and the adjusting of the candidate movement trajectory that does not meet the preset safety conditions includes: Parts of the candidate movement trajectories that are not inside the target operation area are deleted, and the remaining candidate movement trajectories are connected to generate a movement trajectory inside the target operation area.

18. The path planning method according to claim 10, characterized in that: The movement trajectory further includes a straight line trajectory, and the straight line trajectory intersects with the multiple similar graphics.

19. An electronic device, characterized in that: The electronic device includes a processor, a memory, a computer program stored on the memory and executable by the processor, and a data bus for realizing connection and communication between the processor and the memory, wherein when the computer program is executed by the processor, the path planning method according to any one of claims 1 to 18 is implemented.

20. A storage medium for computer-readable storage, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the path planning method according to any one of claims 1 to 18.

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