| CPC G05D 1/0214 (2013.01) [G05D 1/0088 (2013.01)] | 12 Claims |
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1. A method for generating a transfer path, comprising:
determining a traveling start point and a traveling end point of position transfer of an autonomous mobile mowing apparatus;
determining at least one to-be-traversed region which the autonomous mobile mowing apparatus traverses when moving from the start point to the end point;
performing, for each of the to-be-traversed region, path search targeted for a shortest traveling path in the to-be-traversed region when the autonomous mobile mowing apparatus moves from the start point to the end point, to determine a first intra-regional path based on the searched shortest traveling path corresponding to each of the to-be-traversed region;
acquiring a second intra-regional path corresponding to at least one of the first intra-regional path, wherein the second intra-regional path is obtained by adding at least one to-be-traversed point to the corresponding first intra-regional path, the to-be-traversed point is randomly determined in the to-be-traversed region corresponding to the first intra-regional path, and the to-be-traversed point is located outside the first intra-regional path;
generating a random transfer path comprising each of the second intra-regional path for use as a transfer path of the autonomous mobile mowing apparatus from the start point to the end point; and
maneuvering the autonomous mobile mowing apparatus based on the random transfer path,
wherein the determining at least one to-be-traversed region which the autonomous mobile mowing apparatus traverses when moving from the start point to the end point comprises:
determining, in response to the start point and the end point being located in different work regions, at least one work region sequence according to a connection relationship between at least three work regions, wherein the work region sequence comprises at least three sequentially connected work regions, a first work region in the work region sequence is a work region where the start point is located, and a last work region in the work region sequence is a work region where the end point is located;
randomly determining a target work region sequence from the at least one work region sequence; and
determining the at least three work regions included in the target work region sequence respectively as the to-be-traversed regions,
wherein the acquiring the second intra-regional path corresponding to at least one of the first intra-regional path comprises:
respectively determining at least one straight path segment included in each of the first intra-regional path, wherein, when the first intra-regional path comprises a plurality of straight path segments, the straight path segments included in the first intra-regional path are sequentially connected end to end;
randomly determining, at least once, for each of the straight path segments, a to-be-traversed point in the to-be-traversed region where the straight path segment is located, and determining, when at least one to-be-traversed point is determined within a preset threshold of times for determining the to-be-traversed point and a polyline path segment obtained by adding the at least one to-be-traversed point to the straight path segment intersects with neither an obstacle nor a boundary line of the to-be-traversed region where the straight path segment is located, the straight path segment as a target straight path segment, wherein the to-be-traversed point is located outside the straight path segment; and
replacing, for each of the first intra-regional path, in response to the first intra-regional path comprising at least one of the target straight path segment, each of the target straight path segment included in the first intra-regional path with the corresponding polyline path segment, to obtain the second intra-regional path corresponding to the first intra-regional path,
wherein the generating the random transfer path comprising each of the second intra-regional path comprises:
acquiring an inter-regional path when the autonomous mobile mowing apparatus transfers between two adjacent work region in the target work region sequence; and
splicing each of the first intra-regional path for which no second intra-regional path is obtained and the second intra-regional path corresponding to each of the to-be-traversed region with each of the inter-regional path according to the target work region sequence, to obtain the random transfer path.
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