US 12,235,649 B2
Autonomous robot, moving path planning method and apparatus therefor, and storage medium
Mingming He, Suzhou (CN)
Assigned to Positec Power Tools (Suzhou) Co., LTD., Suzhou (CN)
Appl. No. 17/764,138
Filed by Positec Power Tools (Suzhou) Co., Ltd., Suzhou (CN)
PCT Filed Sep. 25, 2020, PCT No. PCT/CN2020/117800
§ 371(c)(1), (2) Date Mar. 25, 2022,
PCT Pub. No. WO2021/057909, PCT Pub. Date Apr. 1, 2021.
Claims priority of application No. 201910924785.4 (CN), filed on Sep. 27, 2019.
Prior Publication US 2022/0390953 A1, Dec. 8, 2022
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0219 (2013.01) [G05D 1/0088 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A moving path planning method for an autonomous robot comprising:
determining that a slope exists at a current position point;
adjusting a width value between a path segment where the current position point is located and a next path segment according to the slope, to keep a work overlap value between adjacent path segments within a specified range, the adjusting including:
adjusting, according to the slope, the width value between the path segment where the current position point is located and the next path segment, to enable an adjusted width value to be less than or equal to a ratio of a width between the adjacent path segments in a flat area to a cosine of a slope angle of the slope; and
controlling the autonomous robot to move along the next path segment.