| CPC G05D 1/0274 (2013.01) [A01D 34/008 (2013.01); G05D 1/0214 (2013.01); G05D 1/0221 (2013.01); A01D 2101/00 (2013.01); G05D 2201/0208 (2013.01)] | 20 Claims |
|
1. A movement control method, comprising:
acquiring a first polygonal grid map corresponding to a target work region, wherein the first polygonal grid map comprises a three-dimensional continuous surface formed by splicing a plurality of polygonal planes, and different polygonal planes represent different subregions in the target work region;
determining, according to three-dimensional information of each of the polygonal planes in the first polygonal grid map and parameters of an autonomous mobile mowing apparatus, an avoidance subregion non-traversable for the autonomous mobile mowing apparatus in the target work region;
deleting a polygonal plane corresponding to the avoidance subregion from the first polygonal grid map to obtain a second polygonal grid map; and
controlling the autonomous mobile mowing apparatus to move in the target work region according to the second polygonal grid map,
wherein the controlling the autonomous mobile mowing apparatus to move in the target work region according to the second polygonal grid map comprises:
determining a starting point and an end point of position transfer of the autonomous mobile mowing apparatus;
determining polygonal planes respectively corresponding to a subregion where the starting point is located and a subregion where the end point is located;
determining at least one traversable polygonal plane sequence according to the polygonal planes respectively corresponding to the subregion where the starting point is located and the subregion where the end point is located and an adjacency relationship between the polygonal planes in the second polygonal grid map, wherein the traversable polygonal plane sequence comprises at least two successively adjacent polygonal planes, a first polygonal plane in the traversable polygonal plane sequence is the polygonal plane corresponding to the subregion where the starting point is located, and a last polygonal plane in the traversable polygonal plane sequence is the polygonal plane corresponding to the subregion where the end point is located;
determining, for each of the traversable polygonal plane sequence, a first transfer path of the autonomous mobile mowing apparatus transferring from the starting point to the end point according to the traversable polygonal plane sequence;
filtering the first transfer path to obtain a second transfer path with a shortest path length; and
controlling the autonomous mobile mowing apparatus to move from the starting point to the end point according to the second transfer path; and
wherein the determining, for each of the traversable polygonal plane sequence, the first transfer path of the autonomous mobile mowing apparatus transferring from the starting point to the end point according to the traversable polygonal plane sequence comprises:
searching, for each of the traversable polygonal plane sequence, according to obstacle distribution on a subregion represented by an i-th polygonal plane in the traversable polygonal plane sequence, for a path with a target of minimizing a movement path for the autonomous mobile mowing apparatus moving to a subregion represented by an (i+1)th polygonal plane, to determine an i-th path segment of the autonomous mobile mowing apparatus on the subregion represented by the i-th polygonal plane, wherein the traversable polygonal plane sequence comprises N polygonal planes, N is a positive integer greater than or equal to 2, i is a positive integer less than or equal to N−1, the 1st polygonal plane is the polygonal plane corresponding to the subregion where the starting point is located, a path starting point of a 1st path segment is the starting point, and a path starting point of an (i+1)-th path segment is a path end point of the i-th path segment;
searching, according to obstacle distribution on a subregion represented by an N-th polygonal plane in the traversable polygonal plane sequence, for a path with a target of minimizing a movement path for the autonomous mobile mowing apparatus moving to the end point, to determine an N-th path segment of the autonomous mobile mowing apparatus on the subregion represented by the N-th polygonal plane, wherein the N-th polygonal plane is the polygonal plane corresponding to the subregion where the end point is located; and
sequentially combining the 1st path segment to the N-th path segment to obtain the first transfer path of the autonomous mobile mowing apparatus transferring from the starting point to the end point.
|