CN-118655887-B - Snow throwing processing method, self-moving equipment, equipment and medium for map area

CN118655887BCN 118655887 BCN118655887 BCN 118655887BCN-118655887-B

Abstract

The invention belongs to the technical field of snow throwing of self-mobile equipment areas, and discloses a snow throwing processing method of a map area, self-mobile equipment, equipment and a medium, wherein the method comprises the steps of obtaining a working map corresponding to a working area where the self-mobile equipment is located and snow throwing position points located in the working map; and when the current working area of the self-mobile equipment is determined to belong to a target area and the snow in the working area is determined to belong to the target type of snow, controlling the self-mobile equipment to throw the snow in the working area to a target snow throwing position point different from the snow throwing position point. The snow removing device can throw snow of the target type of the target area in the working area to other target snow throwing position points, wherein the snow in the target snow throwing position points can be continuously removed when the self-moving equipment walks later, so that the overall snow removing effect of the working area and the working efficiency of the self-moving equipment are ensured.

Inventors

HUANG YANG
YANG MEIQI
CHEN YUFAN

Assignees

深圳汉阳科技有限公司

Dates

Publication Date: 20260505
Application Date: 20240528

Claims (9)

1. A snow throwing processing method of a map area, characterized by comprising: Acquiring a working map corresponding to a working area where self-mobile equipment is located and a snow throwing position point located on the working map; When the current working area of the self-moving equipment is determined to belong to a target area and the snow in the working area is determined to belong to a target type of snow, controlling the self-moving equipment to throw the snow in the working area to a target snow throwing position point different from the snow throwing position point, wherein the target snow throwing position point refers to a position point close to or far away from the snow throwing position point, on the target snow throwing position point, the self-moving equipment can remove the snow thrown to the target snow throwing position point in a subsequent moving path, and the target snow throwing position point can be updated continuously; and continuously controlling the self-moving equipment to throw snow in the target snow throwing position point until the snow is finally thrown to the snow throwing position point.
2. The method for snow throwing processing of a map area according to claim 1, wherein before acquiring the work map corresponding to the work area where the self-mobile device is located, further comprising: Determining whether a user resets the charging pile position; after the user is determined to reset the charging pile position, the self-moving equipment is controlled to walk and position in the working area according to the charging pile device, and then a working map corresponding to the working area is formed.
3. The method for snow throwing processing of a map area according to claim 1, wherein said acquiring is located before a snow throwing position point of said work map, further comprising: Taking the position points divided by the user on the working map as the snow throwing position points; Or taking a target boundary in the working map as the snow throwing position point; or taking the position point with the largest snow throwing position point in the historical time in the working map as the snow throwing position point.
4. The snow throwing processing method of a map area according to claim 1, wherein the controlling the self-moving device to throw snow in the work area to a target snow throwing position point different from the snow throwing position point includes: determining a first direction corresponding to the snow throwing position point; determining a current location point of the self-mobile device in the work area; Determining a target snow throwing position point with a second direction according to the current position point and the first direction; Continuously controlling the self-moving equipment to throw the snow in the working area to a target snow throwing position point with a second direction.
5. The method of snow throwing processing of a map area according to claim 4, wherein said determining a target snow throwing position point having a second direction from said current position point and said first direction includes: when the current position point is close to the snow throwing position point, determining a target snow throwing position point which is in a second direction and is close to the snow throwing position point according to the current position point and the first direction; And continuously determining a target snow throwing position point which has a second direction and is far away from the snow throwing position point according to the current position point and the first direction when the current position point is far away from the snow throwing position point.
6. The snow throwing processing method of a map area according to claim 1, wherein the continuously controlling the self-moving device to throw snow in the target snow throwing position point until the snow is finally thrown to the snow throwing position point includes: Determining whether a target snow throwing prohibition area exists in the working area; Determining a target snow throwing prohibition area in the working area, and determining a position relationship between the target snow throwing prohibition area and the target snow throwing position point; Continuously controlling the self-mobile equipment to throw snow in the target snow throwing position point until the snow is finally thrown to the snow throwing position point after the target snow throwing position point is positioned in the target snow throwing prohibition area and the target object is determined to be absent in the target snow throwing prohibition area; and continuously controlling the self-moving equipment to throw snow in the target snow throwing position point until the snow is finally thrown to the snow throwing position point when the target snow throwing position point is positioned outside the target snow throwing forbidden area.
7. A self-moving device characterized by comprising a controller and a memory, the memory storing a snow throwing process program of a map area, the controller controlling the snow throwing process program of the map area to implement the steps of the snow throwing process method of a map area according to any one of claims 1 to 6.
8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the snow throwing method of a map area as claimed in any one of claims 1 to 6.
9. A computer-readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the snow throwing processing method of a map area according to any one of claims 1 to 6.

Description

Snow throwing processing method, self-moving equipment, equipment and medium for map area Technical Field The invention relates to the technical field of snow throwing from a mobile device area, in particular to a snow throwing processing method of a map area, self-mobile device, equipment and medium. Background The self-moving equipment, which is a robot specially designed for courtyard snow removal, has the core function of transferring snow from a working area to a designated position. However, in the actual working process, the self-moving equipment is faced with a remarkable technical challenge that due to the fact that the humidity of partial snow is high and the viscosity is high, the existing snow rolling blade and snow throwing blade structure is difficult to effectively and remotely throw the snow rolling blade and the snow throwing blade to a preset working area and possibly throw the snow to a non-snow throwing area, and the limitation remarkably reduces the working efficiency and the snow removing effect of the self-moving equipment. Therefore, a new solution is needed to solve the above technical problems. Disclosure of Invention Based on the foregoing, it is necessary to provide a snow throwing processing method, a self-moving device, a device and a medium for a map area, so as to solve the problem that the working efficiency and snow removing effect of the self-moving device are reduced due to the viscosity of snow in the current self-moving device in the prior art. In order to achieve the above object, there is provided a snow throwing processing method of a map area, the method comprising: Acquiring a working map corresponding to a working area where self-mobile equipment is located and a snow throwing position point located on the working map; And when the current working area of the self-mobile equipment is determined to belong to a target area and the snow in the working area is determined to belong to the target type of snow, controlling the self-mobile equipment to throw the snow in the working area to a target snow throwing position point different from the snow throwing position point. Optionally, determining whether the user resets the charging stake position; after the user is determined to reset the charging pile position, the self-moving equipment is controlled to walk and position in the working area according to the charging pile device, and then a working map corresponding to the working area is formed. Optionally, the acquiring is located before the snow throwing position point of the working map, and further includes: Taking the position points divided by the user on the working map as the snow throwing position points; Or taking a target boundary in the working map as the snow throwing position point; or taking the position point with the largest snow throwing position point in the historical time in the working map as the snow throwing position point. Optionally, the controlling the self-mobile device to throw the snow in the working area to a target snow throwing position point different from the snow throwing position point includes: determining a first direction corresponding to the snow throwing position point; determining a current location point of the self-mobile device in the work area; Determining a target snow throwing position point with a second direction according to the current position point and the first direction; Continuously controlling the self-moving equipment to throw the snow in the working area to a target snow throwing position point with a second direction. Optionally, the determining the target snow throwing position point with the second direction according to the current position point and the first direction includes: when the current position point is close to the snow throwing position point, determining a target snow throwing position point which is in a second direction and is close to the snow throwing position point according to the current position point and the first direction; And continuously determining a target snow throwing position point which has a second direction and is far away from the snow throwing position point according to the current position point and the first direction when the current position point is far away from the snow throwing position point. Optionally, after the controlling the self-mobile device throws the snow in the working area to a target snow throwing position point different from the snow throwing position point, the method further includes: and continuously controlling the self-moving equipment to throw snow in the target snow throwing position point until the snow is finally thrown to the snow throwing position point. Optionally, the continuously controlling the self-mobile device to throw snow from the target snow throwing position point until the snow is finally thrown to the snow throwing position point includes: Determining whether a target snow throwing prohibition area exists in the working