The invention relates to a path planning method and device and self-moving equipment, and the method comprises the steps: obtaining an actual position coordinate of a target mark point and a preset position coordinate of the target mark point in a virtual map if the self-moving equipment is detected to reach a target physical boundary line before the self-moving equipment reaches an inflection point of a planned path; the target mark point is used for indicating the position where the self-moving device reaches a target physical boundary line; and if the actual position coordinate of the target mark point is inconsistent with the preset position coordinate, activating calibration processing of the planned path. Therefore, it is ensured that the self-moving device can efficiently execute tasks along the preset planned path, and the situation that the tasks are out of limit due to positioning deviation and the like is avoided.

    本发明涉及一种路径规划方法、装置及自移动设备,若在所述自移动设备到达所述规划路径的拐点前,检测到所述自移动设备到达目标物理边界线,则获取目标标记点的实际位置坐标,以及所述目标标记点在虚拟地图中的预设位置坐标,所述目标标记点用于指示所述自移动设备到达目标物理边界线处的位置;若所述目标标记点的实际位置坐标与所述预设位置坐标不一致,则激活所述规划路径的校准处理。由此保证自移动设备既能沿着预设的规划路径高效地执行任务,又不会由于定位偏差等原因导致出界。


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    Title :

    Path planning method and device and self-moving equipment


    Additional title:

    一种路径规划方法、装置及自移动设备


    Contributors:
    ZHU DONGHUI (author)

    Publication date :

    2024-07-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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