Path planning method, self-propelled device, electronic device and storage medium

Abstract

Provided in the present application are a path planning method, a self-propelled device, an electronic device and a storage medium. The self-propelled device has a corresponding working path in a working area. The method comprises: in response to a movement instruction, determining a target sub-path from sub-paths of a working path on the basis of a device position point of a self-propelled device, wherein the sub-path extends to a region boundary of a working region; and on the basis of a target position point, the device position point, the region boundary and the target sub-path, planning a movement path for the self-propelled device to move from the device position point to the target position point, wherein the movement path comprises a first movement path from the target sub-path to the region boundary and a second movement path from the region boundary to the target position point, and the target position point is located at the region boundary. By using the method, the energy consumption can be reduced, and the impact on aspects such as the aesthetic appeal of a working environment such as lawn can be reduced, such that the operation effect of a self-propelled device can be ensured.

Description

Path planning method, self-moving device, electronic device, and storage medium

[0001] The present application claims priority to the Chinese patent application No. 202410973931.3, filed on July 18, 2024, and entitled "Path planning method, self-moving device, electronic device, and storage medium", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of self-moving devices, and in particular to a path planning method, a self-moving device, an electronic device, and a storage medium. BACKGROUND

[0003] With the continuous progress of technology and the rapid development of artificial intelligence, using self-moving devices (e.g., lawn mowers, cleaning machines, cruise machines, etc.) for work can greatly improve work efficiency.

[0004] In related technologies, a self-moving device often performs a work task according to a pre-planned work path. The work path is often neat and regular, and the self-moving device walking along the work path will leave neat and beautiful wheel marks on the work environment such as a lawn, which will not damage the overall aesthetics of the work environment such as a lawn. When a sudden situation (such as insufficient power) occurs, causing the self-moving device to stop the current work task and move from the stop position point to the target position point, the self-moving device often directly travels along the straight line path between the stop position point and the target position point, causing the work environment such as a lawn to leave redundant wheel marks, which damages the neatness and aesthetics of the originally neat and regular work environment such as a lawn, and makes it difficult to ensure the work effect of the self-moving device. Taking a lawn mower as an example, the lawn mower usually works in a target work area, and a charging station is provided on the boundary line of the target work area for easy charging. When the lawn mower needs to move to the charging station for charging due to insufficient power while performing a mowing task, in order to save power, the lawn mower often directly travels along the straight line path between the stop position point and the charging station, leaving wheel marks on the lawn and affecting the overall aesthetics of the lawn and the mowing effect of the lawn mower. SUMMARY

[0005] In view of the above, it is necessary to provide a path planning method, a self-moving device, an electronic device, and a storage medium, which can solve the technical problem that the work environment such as a lawn leaves redundant wheel marks due to the self-moving device directly traveling along the straight line path between the stop position point and the target position point, which damages the neatness and aesthetics of the work environment such as a lawn and the work effect of the self-moving device.

[0006] In one aspect, the application provides a path planning method applied to a self-moving device, the self-moving device having a corresponding working path in a working area, the method comprising: in response to a moving instruction, determining a target sub-path from sub-paths of the working path according to a device position point of the self-moving device, wherein the sub-path extends to a region boundary of the working area, and planning a moving path of the self-moving device from the device position point to a target position point based on the target position point, the device position point, the region boundary and the target sub-path, the moving path comprising a first moving path along the target sub-path to the region boundary and a second moving path along the region boundary to the target position point, the target position point being located at the region boundary.

[0007] In another aspect, the application provides a path planning method applied to an electronic device, the electronic device being communicatively connected with a self-moving device, the self-moving device having a corresponding working path in a working area, the method comprising: in response to a moving instruction, determining a target sub-path from sub-paths of the working path according to a device position point of the self-moving device, wherein the sub-path extends to a region boundary of the working area, and planning a moving path of the self-moving device from the device position point to a target position point based on the target position point, the device position point, the region boundary and the target sub-path, the moving path comprising a first moving path along the target sub-path to the region boundary and a second moving path along the region boundary to the target position point, the target position point being located at the region boundary.

[0008] In another aspect, the application provides a self-moving device, comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to enable the self-moving device to implement the path planning method.

[0009] In another aspect, the application provides a self-moving device for performing a working task along a working path in a working area, the self-moving device comprising a body and a memory, a processor, a working mechanism and a driving wheel arranged on the body, the working mechanism being configured to perform a corresponding working task, the driving wheel being configured to enable the self-moving device to move, and the memory being configured to store one or more computer programs, the one or more computer programs comprising a plurality of instructions executable by the processor to enable the self-moving device to perform the following steps: moving along a sub-path of the working path extending to a region boundary of the working area, and moving along the region boundary to a target position point after reaching the region boundary along the sub-path.

[0010] In another aspect, the present application provides an electronic device, comprising a storage device, a processing device, and a computer program stored in the storage device and executable on the processing device, wherein the processing device executes the computer program to enable the electronic device to implement the path planning method.

[0011] In another aspect, the present application provides a computer readable storage medium, which stores a computer program, wherein the computer program, when executed by a processor in a mobile device, implements the path planning method, or when executed by a processing device in an electronic device, implements the path planning method.

[0012] In the path planning method of the present embodiment, the device position point of the mobile device can be used to select a sub-path closest to the mobile device from the sub-paths extending to the region boundary as the target sub-path, so as to reduce the distance of the mobile device from the device position point to the target sub-path, and further reduce the damage to the aesthetics of the work environment such as a lawn. Based on the target position point, the device position point, the region boundary and the target sub-path, the first moving path along the target sub-path and the second moving path along the region boundary can be planned, so as to leave fewer wheel marks in the work area. BRIEF DESCRIPTION OF DRAWINGS

[0013] FIG. 1 is a flowchart of a path planning method according to an embodiment of the present application.

[0014] FIG. 2 is a schematic diagram of a work area, a region boundary and a work path according to an embodiment of the present application.

[0015] FIG. 3 is a schematic diagram of a work area, a region boundary and a work path according to another embodiment of the present application.

[0016] FIG. 4 is a schematic diagram of a work area, a region boundary and a work path according to yet another embodiment of the present application.

[0017] FIG. 5 is a schematic diagram of a work area, a region boundary and a work path according to yet another embodiment of the present application.

[0018] FIG. 6 is a schematic diagram of a moving path according to an embodiment of the present application.

[0019] FIG. 7 is a schematic diagram of a moving path according to another embodiment of the present application.

[0020] FIG. 8 is a schematic diagram of a moving path according to yet another embodiment of the present application.

[0021] FIG. 9 is a flowchart of a path planning method according to another embodiment of the present application.

[0022] FIG. 10 is a structural schematic diagram of a self-moving device according to an embodiment of the present application.

[0023] FIG. 11 is a structural schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described in detail below with reference to the drawings and specific embodiments.

[0025] It should be noted that "at least one" in the present application means one or more, and "multiple" means two or more than two. "And / or" describes the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence.

[0026] In the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design presented as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or advantageous than other embodiments or design solutions. Rather, the use of "exemplary" or "for example" is intended to present concepts in a concrete manner.

[0027] The present application provides a path planning method, which can reduce energy consumption and reduce the impact on the aesthetics of the work environment such as lawn, so as to ensure the work effect of the self-moving device.

[0028] The path planning method provided by the embodiments of the present application can be applied to one or more self-moving devices, or the path planning method provided by the embodiments of the present application can be applied to one or more electronic devices. The self-moving device can be a mower, a cleaning machine, a cruise machine, etc. The electronic device can be a computer, a tablet, a mobile phone, a server, a cloud server, a personal digital assistant (PDA), a game console, an interactive Internet Protocol Television (IPTV), a smart wearable device, etc. The present application does not limit the types of self-moving devices and electronic devices.

[0029] In order to more clearly illustrate the path planning method provided by the embodiments of the present application, the path planning methods applied to self-moving devices and electronic devices will be described respectively.

[0030] As shown in FIG. 1, it is a flow chart of a path planning method according to an embodiment of the present application. The order of the steps in the flow chart can be adjusted according to actual requirements, and some steps can be omitted according to different requirements. The method is applied to a self-moving device, and the self-moving device has a corresponding working path in a working area.

[0031] S11, in response to the movement instruction, the self-moving device determines a target sub-path from the working path according to a device position point of the self-moving device, wherein the sub-path extends to a region boundary of the working area.

[0032] In some embodiments of the present application, the working area can be determined by map information. The working path is a path for the self-moving device to perform a work task, and the working path can be neat and regular. After the self-moving device performs the work task along the working path in the working area, neat and regular wheel marks are left in the working area, and the neat and regular wheel marks do not destroy the overall aesthetics of the work environment such as a lawn. For example, after a lawn mower robot mows grass along an arch-shaped path in a lawn, it covers multiple parallel arranged wheel marks in the lawn, which can bring a better visual effect to the user.

[0033] The working path can be planned based on map information of the working area according to various algorithms, wherein the various algorithms can be machine learning algorithms such as convolutional neural networks, positioning algorithms, and navigation algorithms. The sub-paths of the working path can be multiple, and the sub-paths extending to the region boundary indicate that the region boundary can be reached along the sub-paths. In addition to the sub-paths extending to the region boundary, the working path can also include other sub-paths not extending to the region boundary. The working path can have a corresponding direction and shape. For example, if the region boundary is rectangular, the working path can be an arch-shaped path, each sub-path can be horizontal or vertical, and the sub-paths extending to the region boundary can be multiple parallel and spaced sub-paths, forming an arch-like shape. Alternatively, if the region boundary is circular, the working path can be a disc-like path, each sub-path extending to the region boundary can form a radial-like shape, and the sub-paths not extending to the region boundary are used to connect two sub-paths extending to the region boundary, thereby forming a disc-like working path. The above examples of the working path are only examples, and are not limited in actual applications.

[0034] The area boundary can be the boundary of the work area. For example, if the self-moving device is a lawnmower, the area boundary can be the actual boundary of the lawn in the lawn mowing map, or it can be a custom boundary area boundary instead of the actual lawn boundary. The area boundary can be a region consisting of multiple area location points, and the area boundary can have a corresponding shape. For example, the boundary of the work area can be circular, rectangular, or other shapes; this application does not limit the shape of the area boundary. Each boundary location point has corresponding coordinates. The coordinates of the boundary location points can be obtained by user input, or the self-moving device can determine the boundary location points constituting the area boundary based on the pre-planned boundary in the lawn mowing map, and obtain the coordinates of the boundary location points from the pre-planned boundary. For example, the self-moving device can determine all location points whose distance from the pre-planned boundary in the lawn mowing map is less than or equal to a first preset value as boundary location points, and obtain the coordinates of the boundary location points from the pre-planned boundary. The first preset value can be customized; this application does not limit this.

[0035] For example, Figure 2 is a schematic diagram of the working area, area boundary, and working path provided in one embodiment of this application. Figure 3 is a schematic diagram of the working area, area boundary, and working path provided in another embodiment of this application. Figure 4 is a schematic diagram of the working area, area boundary, and working path provided in yet another embodiment of this application. The working paths shown in Figures 2 and 3 are similar to the shape of a bow. The sub-paths extending to the area boundary in Figures 2 and 3 can be multiple parallel and spaced sub-paths, and their directions can be referred to by the arrows in Figures 2 and 3. The area boundary of the working area is represented by dashed lines in Figures 2 and 3, and the shape of the area boundary in Figures 2 and 3 is rectangular. In Figure 4, each sub-path extending to the area boundary can form a radial shape. Sub-paths that do not extend to the area boundary are used to connect two sub-paths that extend to the area boundary, thereby forming a working path similar to a turntable. The direction of the working path in Figure 4 can be referred to by the arrows in Figure 4. The area boundary of the working area is represented by dashed lines in Figure 4, and the shape of the area boundary in Figure 4 is circular. For ease of explanation, the dashed lines representing the boundaries of regions in Figures 2 and 4 can actually represent the area formed by multiple boundary points in practical applications.

[0036] In other embodiments of the present application, if the working area of the mobile device is one of the sub-areas of the operation area, the mobile device has a corresponding working path in each sub-area, and the area boundary described in the embodiments of the present application is the boundary of the sub-area, rather than the operation boundary of the operation area. As shown in FIG. 5, it is a schematic diagram of a working area, an area boundary and a working path provided by another embodiment of the present application. In FIG. 5, the operation boundary is represented by a thick black solid line, the area inside the operation boundary (also referred to as the internal area of the operation boundary frame) is the operation area, and the working area is one of the sub-areas in the operation area. The area boundary is represented by a dashed line, the area inside the area boundary (also referred to as the internal area of the area boundary frame) is the working area, and the working path of the mobile device in the working area is an "arch" shaped path. The direction of the "arch" shaped path can be referred to the corresponding arrow in FIG. 5. The area outside the area boundary (also referred to as the area between the operation boundary and the area boundary) is another sub-area in the operation area, and the moving path of the mobile device in the sub-area is a "U" shaped path. The direction of the "U" shaped path can be referred to the corresponding arrow in FIG. 5.

[0037] In some embodiments of the present application, the mobile device can stop performing the working task in response to the moving instruction. For example, if the mobile device is a mower, the mower can stop the mowing task in response to the moving instruction.

[0038] The moving instruction can be an instruction for controlling or instructing the mobile device to move to a target position point, and the target position point is located at the area boundary. In some embodiments, the target position point can be the position (coordinates) of a charging station, the position of a maintenance point or a cleaning point, the position of a safe parking point, the position of a storage point or the position of a task handover point, and the present application does not limit the target position point. In other embodiments, if the mobile device is a mower, the target position point can be the intersection position of the connecting path on the boundary between the charging station and the working area boundary. After the mower reaches the intersection position, the mower can reach the charging station along the connecting path. The coordinates of the target position point can be input by a user.

[0039] The moving instruction can be triggered in various ways, and the application does not limit the triggering method of the moving instruction. For example, if the target position point is the position or coordinates of the charging station, the self-moving device can receive a moving instruction sent from an external device to control the self-moving device to move to the charging station; or, if the internal power is detected to be less than a preconfigured value, the self-moving device can automatically generate and trigger a moving instruction to control the self-moving device to move to the charging station, wherein the preconfigured value can be customized, and the application does not limit the preconfigured value; or, the self-moving device can trigger a moving instruction to control the self-moving device to move to the charging station at a scheduled time point. For example, if the target position point is the position of the maintenance point, when an internal fault is detected, the self-moving device can automatically trigger a moving instruction to control the self-moving device to move to the position of the maintenance point.

[0040] During the working process, the device position point of the self-moving device often deviates from the sub-path extending to the boundary of the region, and the self-moving device can detect whether the device position point of the self-moving device deviates from the sub-path extending to the boundary of the region, wherein the method of detecting whether the device position point of the self-moving device deviates from the sub-path extending to the boundary of the region can be customized according to the actual application scenario. For example, if the minimum distance between the device position point of the self-moving device and the boundary of the region is greater than or equal to a second preset value, it can be determined that the self-moving device deviates from the working path.

[0041] The reason why the device position point of the self-moving device deviates from the sub-path extending to the boundary of the region can be an external factor or an internal factor of the self-moving device. For example, when the working path includes a sub-path that does not extend to the boundary of the region, if the device position point of the self-moving device is located on the sub-path that does not extend to the boundary of the region, it can also be regarded as that the device position point of the self-moving device deviates from the sub-path extending to the boundary of the region. Or, if the self-moving device is a mower, when the distance between the preset grass dumping position point and the mowing path is greater than or equal to a second preset value, the self-moving device needs to go to the grass dumping position point to dump grass, which will cause the self-moving device to deviate from the mowing path, or when the irregularity of the lawn (such as steep slope, uneven ground) or obstacles are encountered, in order to keep the mower balanced and avoid obstacles, the mower may deviate from the original mowing path. When the navigation or positioning system fails, the mower may also not be able to recognize the direction, thereby causing the mower to deviate from the mowing path. Or, if the self-moving device is a cleaning machine, the change of the terrain of the cleaning area (such as uneven ground, encountering stairs or thresholds), the navigation algorithm may have defects or errors, or obstacles are encountered, etc., which may cause the cleaning machine to deviate from the original cleaning path. Or, if the self-moving device is a cruise machine, the change of weather conditions (such as strong wind and heavy rain), the navigation system or control system may fail or have errors, or obstacles are encountered, etc., which may cause the cruise machine to deviate from the original cruise path. The above examples of deviation reasons are only examples, and in actual applications, they are not limited thereto.

[0042] If the device position point deviates from the sub-path extending to the region boundary, determining the target sub-path from the sub-paths of the working path according to the device position point of the self-moving device comprises: calculating, by the self-moving device, a target distance between the device position point and each sub-path extending to the region boundary, and determining the sub-path corresponding to the smallest target distance as the target sub-path.

[0043] The device position point can be the coordinate of the self-moving device. The self-moving device can obtain the device position point of the self-moving device in various ways. For example, the self-moving device can obtain the device position point of the self-moving device by using a real-time kinematic (RTK) positioning technology. Each sub-path extending to the region boundary can include a plurality of path position points, each path position point having a corresponding coordinate, and the target distance can be the distance between the device position point and the path position point closest to the device position point in each sub-path. The target distance can be a Euclidean distance, a Manhattan distance, a Chebyshev distance, or the like, and the present application does not limit the target distance.

[0044] In this embodiment, by determining the sub-path corresponding to the smallest target distance as the target sub-path, the distance of the self-moving device from the device position point to the target sub-path can be reduced, so that the wheel marks of the self-moving device are not obvious, thereby reducing the damage to the aesthetics of the work environment such as a lawn.

[0045] In some other embodiments of the present application, if the device position point of the self-moving device is located on the sub-path extending to the region boundary, the target sub-path can be the sub-path currently occupied by the self-moving device.

[0046] S12, the self-moving device plans a moving path of the self-moving device from the device position point to the target position point based on the target position point, the device position point, the region boundary, and the target sub-path.

[0047] In some embodiments of the present application, the movement path comprises a first movement path along the target sub-path to the region boundary and a second movement path along the region boundary to the target location point. If the device location point deviates from the sub-path extending to the region boundary, the movement path can further comprise a third movement path between the device location point and the target sub-path. The third movement path can be the shortest path from the device location point to the target sub-path. For example, since the straight line path is the shortest among the paths between two points, the mobile device can determine the straight line path from the device location point to the target sub-path as the third movement path. The first movement path can be the path along the target sub-path from the target path location point to the target boundary location point, and the second movement path can be the path along the region boundary from the target boundary location point to the target location point, wherein the target path location point can be the path location point of the target sub-path closest to the device location point, which is the path location point corresponding to the smallest target distance. The target boundary location point can be any boundary location point of the region boundary intersecting with the target sub-path, or can be the boundary location point of the plurality of boundary location points of the region boundary closest to the target location point, which is the boundary location point corresponding to the target sub-path.

[0048] If there are multiple paths along the region boundary from the target boundary location point to the target location point, the second movement path can be the shortest path among the multiple paths along the region boundary from the target boundary location point to the target location point, or the second movement path can also be any one of the multiple paths along the region boundary from the target boundary location point to the target location point.

[0049] For example, if the region boundary is in the shape of a closed loop (such as a rectangle or a circle), the mobile device can determine the shortest path as the second movement path from the paths along the region boundary from the target boundary location point to the target location point in the clockwise direction and the paths along the region boundary from the target boundary location point to the target location point in the counterclockwise direction. Alternatively, the mobile device can select one of the paths along the region boundary from the target boundary location point to the target location point in the clockwise direction and the paths along the region boundary from the target boundary location point to the target location point in the counterclockwise direction as the second movement path.

[0050] For example, as shown in FIG. 6, is a schematic diagram of a moving path according to an embodiment of the present application. As shown in FIG. 7, is a schematic diagram of a moving path according to another embodiment of the present application. As shown in FIG. 8, is a schematic diagram of a moving path according to yet another embodiment of the present application. FIG. 6 corresponds to FIG. 2, in the moving path shown in FIG. 6, A1 represents a device position point, B1 represents a target path position point, C1 represents a target boundary position point, D1 represents a target position point, the third moving path is a straight line path between A1 and the target sub-path (B1), the first moving path can be a path along the target sub-path from B1 to C1, and the second moving path can be a path along the region boundary from C1 to D1. FIG. 7 corresponds to FIG. 3, in the moving path shown in FIG. 7, A2 represents a device position point, B2 represents a target path position point, C2 represents a target boundary position point, D2 represents a target position point, the third moving path is a straight line path between A2 and the target sub-path (B2), the first moving path can be a path along the target sub-path from B2 to C2, and the second moving path can be a path along the region boundary from C2 to D2. FIG. 8 corresponds to FIG. 4, in the moving path shown in FIG. 8, A3 represents a device position point, B3 represents a target path position point, C3 represents a target boundary position point, D3 represents a target position point, the third moving path is a straight line path between A3 and the target sub-path (B3), the first moving path can be a path along the target sub-path from B3 to C3, and the second moving path can be a path along the region boundary from C3 to D3. In FIGS. 6-8, the third moving path, the first moving path, and the second moving path are indicated by arrows, in order to avoid confusion, FIGS. 6-8 indicate the direction of the moving path from the device position point to the target position point by arrows, but do not indicate the direction of the working path.

[0051] In some embodiments of the present application, after the moving path is planned, the mobile device can move from the device position point to the target path position point according to the third moving path, move from the target path position point to the target boundary position point according to the first moving path, and move from the target boundary position point to the target position point according to the second moving path.

[0052] In the embodiment, by taking the shortest path between the device position point and the target sub-path as the third moving path, taking the shortest path along the target sub-path from the target path position point to the region boundary as the first moving path, and taking the shortest path along the region boundary from the target boundary position point to the target position point as the second moving path, a moving path with less damage to the aesthetics of the work environment such as a lawn can be planned. When the self-moving device moves along the shortest moving path, not only the energy (such as power) consumption of the self-moving device can be reduced, but also the damage to the aesthetics of the work environment such as a lawn caused by the wheel marks of the self-moving device can be reduced, so that the work effect of the self-moving device can be ensured.

[0053] In some other embodiments of the present application, if the device position point of the self-moving device is located on a sub-path extending to the region boundary, the first moving path can be a path along the target sub-path from the device position point to the region boundary, and the second moving path can be a path along the region boundary and from the target boundary position point to the target position point, the region boundary including a plurality of boundary position points, and the target boundary position point being a boundary position point corresponding to the target sub-path among the plurality of boundary position points.

[0054] In some embodiments of the present application, after the moving path is planned, the self-moving device can move from the device position point to the target boundary position point according to the first moving path, and move from the target boundary position point to the target position point according to the second moving path.

[0055] In the embodiment, by taking the shortest path along the target sub-path from the device position point to the region boundary as the first moving path, and taking the shortest path along the region boundary from the target boundary position point to the target position point as the second moving path, not only the energy (such as power) consumption of the self-moving device can be reduced, but also the influence of the self-moving device on the aesthetics of the work environment such as a lawn can be reduced, so that the work effect of the self-moving device can be ensured.

[0056] In other embodiments of the present application, if the mobile device moves to the target position point for charging, maintenance, cleaning, or the like, after the corresponding charging, maintenance, cleaning, or the like is completed, the mobile device can re-perform the work task. For example, if the target position point is the position of a charging station, and the distance along the region boundary from the target position point to the end point of the work path is greater than or equal to the distance along the movement path from the target position point to the device position point at which the work task is stopped, after charging is completed, the mobile device moves to the device position point according to the movement path, and from the device position point, continues to perform the work task. Alternatively, if the distance along the region boundary from the target position point to the end point of the work path is less than the distance along the movement path from the target position point to the device position point at which the work task is stopped, after charging is completed, the mobile device can move to the end point of the work path along the region boundary, and from the end point, continues to perform the work task.

[0057] In the present embodiment, if the distance along the region boundary from the target position point to the end point of the work path is greater than or equal to the distance along the movement path from the target position point to the device position point at which the work task is stopped, the mobile device moves to the device position point according to the movement path to continue to perform the work task, which not only reduces energy consumption, but also avoids leaving extra wheel marks on the work environment, such as a lawn, thereby reducing the impact on the aesthetics of the work environment, such as a lawn. If the distance along the region boundary from the target position point to the end point of the work path is less than the distance along the movement path from the target position point to the device position point at which the work task is stopped, after charging is completed, the mobile device moves to the end point of the work path along the region boundary to continue to perform the work task, which reduces energy consumption.

[0058] In the path planning method of the embodiment, the device position point of the self-moving device can be used to select the sub-path closest to the self-moving device from the sub-paths extending to the region boundary as the target sub-path, so as to reduce the distance of the self-moving device from the device position point to the target sub-path, and further reduce the damage to the aesthetics of the work environment such as the lawn. Based on the target position point, the device position point, the region boundary, and the target sub-path, the first moving path along the target sub-path and the second moving path along the region boundary can be planned, so as to leave fewer wheel marks in the work area. When the self-moving device moves along the moving path, not only the energy (such as power) consumption of the self-moving device can be reduced, but also the damage of the wheel marks of the self-moving device to the aesthetics of the work environment such as the lawn can be reduced, so as to ensure the work effect of the self-moving device. If the self-moving device is a mower and the target position point is the position of the charging station, based on the target position point, the device position point, the region boundary, and the target sub-path, the first moving path along the target sub-path and the second moving path along the region boundary can be planned for the mower. Since the target sub-path is part of the working path of the mower, the self-moving device walks along the working path to leave neat and beautiful wheel marks on the work environment such as the lawn, which will not damage the overall aesthetics of the work environment such as the lawn, and the region boundary is the boundary of the work area and does not belong to the work environment such as the lawn. Therefore, when the mower drives along the moving path, not only the power of the mower can be saved, and the situation that the mower cannot move to the charging station due to power consumption halfway caused by too long path can be avoided, but also the damage of the wheel marks of the mower to the aesthetics of the lawn can be reduced, so as to ensure the work effect of the mower.

[0059] As shown in FIG. 9, it is a flowchart of the path planning method provided by another embodiment of the application. The order of the steps in the flowchart can be adjusted according to actual requirements, and some steps can be omitted according to different requirements. The method is applied to an electronic device, which can be connected with a self-moving device through wired communication and / or wireless communication. The application does not limit the method of wired communication and wireless communication. The self-moving device has a corresponding working path in the work area.

[0060] S21, in response to the moving instruction, the electronic device determines a target sub-path from the sub-paths of the working path according to the device position point of the self-moving device, wherein the sub-paths extend to the region boundary of the work area.

[0061] In some embodiments of the present application, the moving instruction can be an instruction for controlling or instructing the self-moving device to move to a target position point located at the region boundary. The electronic device can receive the moving instruction sent from the self-moving device and control the self-moving device to stop performing the work task, or the electronic device can receive the power information sent from the self-moving device, compare the received power information with a preset configuration value, and if the power information is less than the preset configuration value, generate and send the moving instruction to the self-moving device to control the self-moving device to stop performing the work task.

[0062] The triggering method of the moving instruction for moving to the target position point is only an example, and the actual application is not limited thereto.

[0063] In some embodiments of the present application, if the device position point of the self-moving device deviates from the sub-path extending to the region boundary, the electronic device determines the target sub-path from the sub-paths of the work path according to the device position point of the self-moving device, including: the electronic device calculates a target distance between the device position point and each sub-path extending to the region boundary, and determines the sub-path corresponding to the smallest target distance as the target sub-path.

[0064] The device position point can be the coordinates of the self-moving device, and the electronic device can obtain the device position point of the self-moving device from the self-moving device.

[0065] In this embodiment, by determining the sub-path corresponding to the smallest target distance as the target sub-path, the distance of the self-moving device from the device position point to the target sub-path can be reduced, so that the wheel marks of the self-moving device are not obvious, thereby reducing the damage to the aesthetics of the work environment such as lawn.

[0066] In some other embodiments of the present application, if the device position point of the self-moving device is located at the sub-path extending to the region boundary, the electronic device can determine the sub-path currently located by the self-moving device as the target sub-path.

[0067] In some embodiments of the present application, the detailed introduction about the work region, the work path, the region boundary, the target position point, the device position point, etc. can refer to the description of step S11, and the present application will not be described repeatedly.

[0068] S22, the electronic device plans a moving path of the self-moving device from the device position point to the target position point based on the target position point, the device position point, the region boundary, and the target sub-path.

[0069] In some embodiments of the present application, the movement path comprises a first movement path along the target sub-path to a boundary of the region and a second movement path along the boundary of the region to the target position point. If the device position point of the mobile device deviates from the sub-path extending to the boundary of the region, the movement path can further comprise a third movement path between the device position point and the target sub-path. The third movement path can be the shortest path from the device position point to the target sub-path. For example, since the straight line path is the shortest among paths between two points, the electronic device can determine the straight line path from the device position point to the target sub-path as the third movement path. The first movement path can be a path along the target sub-path from a target path position point to a target boundary position point, and the second movement path can be a path along the boundary of the region from the target boundary position point to the target position point, wherein the target path position point can be a path position point of the target sub-path closest to the device position point, i.e., a path position point corresponding to the smallest target distance. The target boundary position point can be any boundary position point of the boundary of the region intersecting the target sub-path, or can be a boundary position point of the boundary of the region closest to the target position point among the boundary position points intersecting the target sub-path, i.e., a boundary position point corresponding to the target sub-path.

[0070] If there are multiple paths along the boundary of the region from the target boundary position point to the target position point, the second movement path can be the shortest path among the multiple paths along the boundary of the region from the target boundary position point to the target position point, or the second movement path can also be any one of the multiple paths along the boundary of the region from the target boundary position point to the target position point.

[0071] For example, if the boundary of the region is in the shape of a closed loop (such as a rectangle or a circle), the electronic device can determine the shortest path as the second movement path from the paths along the boundary of the region from the target boundary position point to the target position point in the clockwise direction and the paths along the boundary of the region from the target boundary position point to the target position point in the counterclockwise direction. Alternatively, the electronic device can select one of the paths along the boundary of the region from the target boundary position point to the target position point in the clockwise direction and the paths along the boundary of the region from the target boundary position point to the target position point in the counterclockwise direction as the second movement path.

[0072] In some embodiments of the present application, after the movement path is planned, the electronic device can control the mobile device to move from the device position point to the target path position point according to the third movement path, to move from the target path position point to the target boundary position point according to the first movement path, and to move from the target boundary position point to the target position point according to the second movement path.

[0073] In the embodiment, by taking the shortest path between the device location point and the target sub-path as the third moving path, taking the shortest path along the target sub-path from the target path location point to the region boundary as the first moving path, and taking the shortest path along the region boundary from the target boundary location point to the target location point as the second moving path, a moving path with less damage to the aesthetics of the work environment such as a lawn can be planned. When the self-moving device is controlled to move along the shortest moving path, not only the energy (such as power) consumption of the self-moving device can be reduced, but also the damage to the aesthetics of the work environment such as a lawn caused by the wheel marks of the self-moving device can be reduced, so that the work effect of the self-moving device can be ensured.

[0074] In some other embodiments of the present application, if the device location point of the self-moving device is located on a sub-path extending to the region boundary, the first moving path can be a path along the target sub-path from the device location point to the region boundary, and the second moving path can be a path along the region boundary and from the target boundary location point to the target location point, the region boundary including a plurality of boundary location points, and the target boundary location point being a boundary location point corresponding to the target sub-path among the plurality of boundary location points.

[0075] In some embodiments of the present application, after the moving path is planned, the electronic device can control the self-moving device to move from the device location point to the target boundary location point according to the first moving path, and control the self-moving device to move from the target boundary location point to the target location point according to the second moving path.

[0076] In the embodiment, by taking the shortest path along the target sub-path from the device location point to the region boundary as the first moving path, and taking the shortest path along the region boundary from the target boundary location point to the target location point as the second moving path, not only the energy (such as power) consumption of the self-moving device can be reduced, but also the influence of the self-moving device on the aesthetics of the work environment such as a lawn can be reduced, so that the work effect of the self-moving device can be ensured.

[0077] In other embodiments of the present application, if the control of the self-moving device to move to the target position point is for the operation of charging, maintenance, cleaning, etc., after the corresponding charging, maintenance, cleaning, etc. operation is completed, the electronic device can control the self-moving device to re-perform the work task. For example, when the target position point is the position of the charging station, if the distance along the region boundary between the target position point and the end point of the work path is greater than or equal to the distance along the movement path between the target position point and the device position point where the work task is stopped, after the charging is completed, the electronic device can control the self-moving device to move to the device position point according to the movement path, and from the device position point, continue to perform the work task. Alternatively, if the distance along the region boundary between the target position point and the end point of the work path is less than the distance along the movement path between the target position point and the device position point where the work task is stopped, when the self-moving device completes the charging, the electronic device can control the self-moving device to move to the end point of the work path along the region boundary, and from the end point, continue to perform the work task.

[0078] In the present embodiment, the distance along the region boundary between the target position point and the end point of the work path is greater than or equal to the distance along the movement path between the target position point and the device position point where the work task is stopped, and the control of the self-moving device to move to the device position point according to the movement path to continue to perform the work task not only can reduce energy consumption, but also can avoid leaving extra wheel marks on the work environment such as lawn, thereby reducing the impact on the aesthetics of the work environment such as lawn. If the distance along the region boundary between the target position point and the end point of the work path is less than the distance along the movement path between the target position point and the device position point where the work task is stopped, the control of the self-moving device to move to the end point of the work path along the region boundary to continue to perform the work task after the charging is completed can reduce the energy consumption of the self-moving device.

[0079] In the path planning method of the embodiment, the device position point of the self-moving device can be used to select the sub-path closest to the self-moving device from the sub-paths extending to the region boundary as the target sub-path, so as to reduce the distance of the self-moving device from the device position point to the target sub-path, and further reduce the damage to the aesthetics of the work environment such as the lawn. Based on the target position point, the device position point, the region boundary and the target sub-path, the first moving path along the target sub-path and the second moving path along the region boundary can be planned for the self-moving device, so as to leave fewer wheel marks in the work area. When the self-moving device is controlled to move along the moving path, not only the energy (such as the power) consumption of the self-moving device can be reduced, but also the damage of the wheel marks of the self-moving device to the aesthetics of the work environment such as the lawn can be reduced, so as to ensure the work effect of the self-moving device. If the self-moving device is a mower and the target position point is the position of the charging station, based on the target position point, the device position point, the region boundary and the target sub-path, the first moving path along the target sub-path and the second moving path along the region boundary can be planned for the mower. Since the target sub-path is part of the working path of the mower, the self-moving device walks along the working path to leave neat and beautiful wheel marks on the work environment such as the lawn, which will not damage the overall aesthetics of the work environment such as the lawn, and the region boundary is the boundary of the work area and does not belong to the work environment such as the lawn, so when the mower is controlled to move along the moving path, not only the power of the mower can be saved, and the situation that the mower cannot move to the charging station due to the power consumption of the mower in the middle of the way caused by the too long path can be avoided, but also the damage of the wheel marks of the mower to the aesthetics of the lawn can be reduced, so as to ensure the work effect of the mower.

[0080] As shown in FIG. 10, it is a structural schematic diagram of the self-moving device provided by an embodiment of the present application. In FIG. 10, the self-moving device 1 includes a body and a memory 11, a processor 12, a power supply 13, a sensor 14, a working mechanism 15, a communication module 16, a positioning module 17, a driving wheel 18 and a bus 19 arranged on the body. The processor 12 is coupled to the memory 11, the power supply 13, the sensor 14, the working mechanism 15, the communication module 16, the positioning module 17 and the driving wheel 18 through the bus 19 respectively.

[0081] The memory 11 can include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). The random access memory can be directly readable and writable by the processor 12, and can be used to store executable programs (e.g., machine instructions) of an operating system or other programs that are currently running, and can also be used to store data of users and applications, etc. The random access memory can include static random access memories (SRAMs), dynamic random access memories (DRAMs), synchronous dynamic random access memories (SDRAMs), double data rate synchronous dynamic random access memories (DDR SDRAMs), etc.

[0082] The non-volatile memory can also store executable programs and store data of users and applications, etc., and can be loaded in advance into the random access memory for direct reading and writing by the processor 12. The non-volatile memory can include disk storage devices, flash memories.

[0083] The memory 11 is configured to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 12. The one or more computer programs include a plurality of instructions that, when executed by the processor 12, implement a path planning method performed on the self-moving device 1.

[0084] In other embodiments, the self-moving device 1 further includes an external memory interface for connecting an external memory to achieve the expansion of the storage capacity of the self-moving device 1.

[0085] The processor 12 can include one or more processing units, for example: the processor 12 can include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units can be independent devices, or can be integrated in one or more processors.

[0086] The processor 12 provides computing and control capabilities, for example, the processor 12 is used to execute a computer program stored in the memory 11 to implement the path planning method described above.

[0087] The power supply 13 is used to supply power for the self-moving device. In an embodiment of the present application, the power supply 13 can include any one or more of the following types of power supply devices: a battery, a fuel generator, a solar power module, a wind power module, etc.

[0088] The sensor 14 is used to obtain information for the self-moving device 1, such as obtaining environmental information for the self-moving device 1 and movement information of the self-moving device 1. In an embodiment of the present application, the sensor 14 can include one or more of the following types of sensors: a laser radar, a camera, an infrared sensor, an encoder, etc.

[0089] The working mechanism 15 is used to perform corresponding work tasks, for example, mowing, patrolling, cleaning, and spraying pesticides, etc. In some embodiments of the present application, the working mechanism 15 can include a motor, a transmission mechanism, and a cutter head, etc. In some embodiments of the present application, the motor can drive the cutter head to rotate through the transmission mechanism to realize the mowing function. The motor can also control the movement of the cutter blade to adjust the mowing height and mowing area.

[0090] The communication module 16 is used to realize the communication between the self-moving device and other devices. In an embodiment of the present application, the communication module 16 can interact with other devices based on wired communication and / or wireless communication. The above-mentioned wireless communication can include one or a combination of the following communication methods: Bluetooth communication, Wi-Fi communication, Near Field Communication (NFC), etc.

[0091] The positioning module 17 is configured to determine the position of the self-moving device. In some embodiments of the present application, the positioning module 17 can include one or more of a Global Positioning System (GPS), an inertial navigation system, a Real-time kinematic (RTK) carrier phase differential system, and the like.

[0092] The driving wheel 18 is configured to enable the self-moving device to move. In some embodiments of the present application, the driving wheel 18 can enable the self-moving device to move according to the control of the processor 12. In some embodiments of the present application, the driving wheel 18 can include a left driving wheel and a right driving wheel.

[0093] The bus 19 is configured to provide a communication channel between the memory 11, the processor 12, the power supply 13, the sensor 14, the working mechanism 15, the communication module 16, the positioning module 17, and the driving wheel 18 of the self-moving device 1.

[0094] In other embodiments of the present application, the self-moving device 1 can further include an anti-collision part and a steering assembly. The anti-collision part can be configured to prevent the driving wheel 18 from colliding with an obstacle in front of the self-moving device. The steering assembly can be configured to enable the driving wheel 18 to adjust the driving direction.

[0095] It can be understood that the structure shown in the embodiments of the present application does not constitute a specific limitation on the self-moving device 1. In other embodiments of the present application, the self-moving device 1 can include more or fewer components than shown, or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0096] As shown in FIG. 11, it is a structure schematic diagram of an electronic device provided by an embodiment of the present application. In FIG. 11, the electronic device 2 can include a communication module 21, a storage device 22, a processing device 23, an input / output (I / O) interface 24, and a bus 25. The processing device 23 is coupled to the communication module 21, the storage device 22, and the input / output interface 24 through the bus 25.

[0097] The communication module 21 can include a wired communication module and / or a wireless communication module. The wired communication module can provide one or more of the following wired communication solutions: universal serial bus (USB), Controller Area Network (CAN) bus, etc. The wireless communication module can provide one or more of the following wireless communication solutions: wireless fidelity (Wi-Fi), Bluetooth (BT), mobile communication network, frequency modulation (FM), near field communication (NFC), infrared (IR) technology, etc.

[0098] The storage device 22 can include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). The random access memory can be directly readable and writable by the processing device 23, and can be used to store executable programs (e.g., machine instructions) of programs that are currently running or other programs, and can also be used to store data of users and applications, etc. The random access memory can include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0099] The non-volatile memory can also store executable programs and store data of users and applications, etc., and can be loaded into the random access memory in advance for direct reading and writing by the processor 23. The non-volatile memory can include a magnetic disk storage device, a flash memory.

[0100] The storage device 22 is configured to store one or more computer programs. The one or more computer programs are configured to be executed by the processing device 23. The one or more computer programs include a plurality of instructions that, when executed by the processing device 23, can implement the path planning method executed on the electronic device 2.

[0101] In other embodiments, the electronic device 2 as shown in FIG. 11 further comprises an external memory interface for connecting an external memory, so as to expand the storage capacity of the electronic device 2.

[0102] The processing device 23 can comprise one or more processing units, for example: the processing device 23 can comprise an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), and / or a neural-network processing unit (NPU), etc. Among them, different processing units can be independent devices, or can be integrated in one or more processors.

[0103] The processing device 23 provides computing and control capabilities, for example, the processing device 23 is used to execute a computer program stored in the storage device 22 to implement the path planning method described above.

[0104] The input / output interface 24 is used to provide a channel for user input or output, for example, the input / output interface 24 can be used to connect various input / output devices, such as a mouse, a keyboard, a touch device, a display screen, etc., so that the user can enter information, or make the information visualized.

[0105] The bus 25 is used to provide a communication channel between the communication module 21, the storage device 22, the processing device 23, and the input / output interface 24 in the electronic device 2.

[0106] It can be understood that the structure shown in the embodiments of the present application does not constitute a specific limitation on the electronic device 2. In other embodiments of the present application, the electronic device 2 can include more or fewer components than shown, or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0107] The embodiments of the present application also provide a computer readable storage medium, the computer readable storage medium stores a computer program, the computer program comprises program instructions, and the method implemented when the program instructions are executed can refer to the method in each of the embodiments of the present application.

[0108] The computer readable storage medium can be an internal storage of the self-moving device or the electronic device, such as a hard disk or a memory of the self-moving device or the electronic device. The computer readable storage medium can also be an external storage of the self-moving device or the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like.

[0109] In some embodiments, the computer readable storage medium can include a program storage area and a data storage area. The program storage area can store an operating system, an application required by at least one function, and the like. The data storage area can store data created according to the use of the self-moving device or the electronic device, and the like.

[0110] In the above embodiments, the description of each embodiment has its own focus. The parts not described in detail or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0111] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0112] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit the technical solutions of the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A path planning method applied to a self-moving device, the self-moving device having a corresponding working path in a working area, wherein, The method comprises: determining a target sub-path from the sub-paths of the working path according to a device position point of the self-moving device in response to a moving instruction, wherein the sub-paths extend to a region boundary of the working region; planning a moving path of the self-moving device from the device position point to a target position point based on the target position point, the device position point, the region boundary and the target sub-path, the moving path comprising a first moving path along the target sub-path to the region boundary and a second moving path along the region boundary to the target position point, and the target position point being located at the region boundary.

2. The path planning method of claim 1, wherein, If the device position point deviates from the sub-paths extending to the region boundary, the determining of the target sub-path from the sub-paths of the working path according to the device position point of the self-moving device comprises: calculating a target distance between the device position point and each sub-path extending to the region boundary, and determining the sub-path corresponding to the smallest target distance as the target sub-path.

3. The path planning method of claim 2, wherein, The moving path further comprises a third moving path from the device position point to the target sub-path, the first moving path being a path along the target sub-path and from a target path position point to a target boundary position point, the second moving path being a path along the region boundary and from the target boundary position point to the target position point, the target sub-path comprising a plurality of path position points, the region boundary comprising a plurality of boundary position points, the target path position point being a path position point corresponding to the smallest target distance among the plurality of path position points, and the target boundary position point being a boundary position point corresponding to the target sub-path among the plurality of boundary position points.

4. The path planning method of claim 3, wherein, The third moving path is the shortest path from the device position point to the target sub-path, the first moving path is the shortest path along the target sub-path and from the target path position point to the target boundary position point, and the second moving path is the shortest path along the region boundary and from the target boundary position point to the target position point.

5. The path planning method of claim 3, wherein, The method further comprises: moving from the device position point to the target path position point according to the third moving path; moving from the target path position point to the target boundary position point according to the first moving path; moving from the target boundary position point to the target position point according to the second moving path.

6. The path planning method of claim 1, wherein, If the device position point is located at a sub-path extending to the region boundary, the target sub-path is the sub-path where the self-moving device is currently located, the first moving path is a path from the device position point to the region boundary along the target sub-path, the second moving path is a path along the region boundary and from a target boundary position point to the target position point, the region boundary comprises a plurality of boundary position points, and the target boundary position point is a boundary position point corresponding to the target sub-path among the plurality of boundary position points.

7. The path planning method of any one of claims 1 to 6, wherein, The working path is an arch-shaped path, and the sub-paths extending to the region boundary comprise a plurality of parallel and spaced paths.

8. The path planning method of any one of claims 1 to 6, wherein, The target position point is a position of a charging station, the moving instruction is generated when it is detected that the power of the self-moving device is less than a preset configured value, and the execution of the work task is stopped.

9. The path planning method of claim 8, wherein, The method further includes: If the self-moving device completes charging, the self-moving device moves to a device position point at which the execution of the work task is stopped according to the moving path, and continues to execute the work task from the device position point.

10. The path planning method of claim 1, wherein, If the work area is one of a plurality of sub-areas of an operation area, the self-moving device has a corresponding work path in each sub-area, and the area boundary includes a boundary of each sub-area. 11.A path planning method applied to an electronic device, comprising: The electronic device is communicatively connected to the self-moving device, the self-moving device has a corresponding work path in a work area, and the method includes: In response to the moving instruction, a target sub-path is determined from a sub-path of the work path according to a device position point of the self-moving device, wherein the sub-path extends to an area boundary of the work area; Based on the target position point, the device position point, the area boundary, and the target sub-path, a moving path of the self-moving device from the device position point to the target position point is planned, the moving path includes a first moving path along the target sub-path to the area boundary and a second moving path along the area boundary to the target position point, and the target position point is located at the area boundary.

12. A self-moving device, wherein, The self-moving device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to enable the self-moving device to implement the path planning method of any one of claims 1 to 10.

13. An electronic device, comprising: The electronic device includes a storage device, a processing device, and a computer program stored on the storage device and executable on the processing device, and the processing device executes the computer program to enable the electronic device to implement the path planning method of claim 11.

14. A computer readable storage medium, wherein, The computer program is stored on the computer-readable storage medium and is executed by the processor in the self-moving device to implement the path planning method of any one of claims 1 to 10 or by the processing device in the electronic device to implement the path planning method of claim 11.

15. A self-moving device for performing a work task along a work path within a work area, wherein, The self-moving device includes a body, a memory, a processor, a work mechanism, and a drive wheel arranged on the body; The work mechanism is used to execute a corresponding work task; The drive wheel is used to realize the movement of the self-moving device; The memory is used to store one or more computer programs, the one or more computer programs include a plurality of instructions, and the plurality of instructions are executed by the processor to enable the self-moving device to implement the following steps: Move along a sub-path of the work path that extends to an area boundary of the work area; After reaching the area boundary along the sub-path, move along the area boundary to a target position point.

16. The self-mobbling device of claim 15, wherein, The work mechanism includes a motor, a transmission mechanism, and a cutter head, the motor is used to drive the cutter head to rotate through the transmission mechanism to realize the mowing function.

17. The self-mobility device of claim 15 or 16, wherein, The one or more computer programs include a plurality of instructions which, when executed by the processor, cause the self-moving device to further implement the following steps: moving from the device location point of the self-moving device to the sub-path.

18. The self-mobbling device of claim 17, wherein, The working path includes a plurality of parallel and spaced sub-paths, the self-moving device moves from the device location point to a target sub-path and moves along the target sub-path to the area boundary, the target sub-path being the sub-path in the working path with the smallest distance from the device location point.

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