METHOD FOR CONTROLLING AUTONOMOUS MOBILE DEVICE, AUTONOMOUS MOBILE DEVICE, AND COMPUTER STORAGE MEDIUM

Abstract

A method for controlling an autonomous mobile device, an autonomous mobile device, and a computer storage medium are provided. The method includes: determining a plurality of candidate positions based on a first coordinate set; determining one of the candidate positions satisfying a safety condition for rotating the autonomous device as a first position; controlling the autonomous mobile device to turn at the first position so that the autonomous mobile device is perpendicular to a first boundary corresponding to the first coordinate set, and a tail of the autonomous mobile device is closer to the first boundary than a head of the autonomous mobile device; controlling the autonomous mobile device to move backward to a second position; and controlling the autonomous mobile device to turn at the second position so that the autonomous mobile device is parallel to the first boundary.

Description

Claims

1. A method for controlling an autonomous mobile device, wherein a memory of the autonomous mobile device stores a first coordinate set, and the first coordinate set comprises coordinates of the autonomous mobile device when a work region of the autonomous mobile device is planned, the method comprising: determining a plurality of candidate positions based on the first coordinate set;determining one of the candidate positions satisfying a safety condition for rotating the autonomous mobile device as a first position;controlling the autonomous mobile device to turn at the first position so that the autonomous mobile device is perpendicular to a first boundary corresponding to the first coordinate set, and a tail of the autonomous mobile device is closer to the first boundary than a head of the autonomous mobile device;controlling the autonomous mobile device to move backward to a second position; andcontrolling the autonomous mobile device to turn at the second position so that the autonomous mobile device is parallel to the first boundary.

2. The method according to claim 1, wherein the first coordinate set corresponds to coordinates of a movement center of the autonomous mobile device when the work region of the autonomous mobile device is planned.

3. The method according to claim 1, wherein the plurality of candidate positions is determined by the following operation (a) or (b): (a) setting the candidate positions for a plurality of coordinates in the first coordinate set such that connecting lines between the candidate positions and corresponding coordinates in the first coordinate set are perpendicular to the first boundary; and(b) determining a second coordinate set based on the first coordinate set, wherein the second coordinate set corresponds to a second boundary, and the second boundary is parallel to the first boundary; and selecting the plurality of candidate positions in the work region, wherein distances between each of the candidate positions and the second boundary are identical.

4. The method according to claim 1, wherein the safety condition is that the autonomous mobile device unobstructedly rotates by 360 degrees at the candidate position.

5. The method according to claim 4, wherein whether the candidate position satisfies the safety condition is ascertained by: determining a second coordinate set according to the first coordinate set, wherein the second coordinate set corresponds to a second boundary, and the second boundary is parallel to the first boundary;ascertaining whether a circle with the candidate position as a circle center and a predetermined length as a radius intersects with the second boundary or a boundary of a forbidden region; anddetermining that the candidate position satisfies the safety condition when the circle with the candidate position as the circle center and the predetermined length as the radius neither intersects with the second boundary nor intersects with the boundary of the forbidden region, and determining that the candidate position does not satisfy the safety condition when the circle with the candidate position as the circle center and the predetermined length as the radius intersects with the second boundary or the boundary of the forbidden region.

6. The method according to claim 5, wherein the movement center of the autonomous mobile device is the circle center, a radius of a largest circumcircle of the autonomous mobile device is R, and the predetermined length is R.

7. The method according to claim 5, wherein the second coordinate set corresponds to coordinates of a width definition point of the autonomous mobile device when the work region of the autonomous mobile device is planned.

8. The method according to claim 5, wherein the first boundary is parallel to the second boundary with an equal distance therebetween.

9. The method according to claim 1, wherein the autonomous mobile device rotates by 90 degrees at the second position.

10. The method according to claim 1, wherein the method further comprises: controlling the autonomous mobile device to work.

11. The method according to claim 1, wherein a movement center of the autonomous mobile device is behind a geometric center.

12. The method according to claim 1, wherein the autonomous mobile device is a mowing robot.

13. An autonomous mobile device, comprising a controller and a memory, wherein the memory stores a first coordinate set, the first coordinate set corresponds to coordinates of the autonomous mobile device when a work region of the autonomous mobile device is planned, and the controller is configured to execute a method for controlling an autonomous mobile device, the method comprising: controlling the autonomous mobile device to turn at a first position so that the autonomous mobile device is perpendicular to a first boundary corresponding to the first coordinate set, and a tail of the autonomous mobile device is closer to the first boundary than a head of the autonomous mobile device;controlling the autonomous mobile device to move backward to a second position; andcontrolling the autonomous mobile device to turn at the second position so that the autonomous mobile device is parallel to the first boundary.

14. The autonomous mobile device according to claim 13, wherein the first coordinate set corresponds to coordinates of a movement center of the autonomous mobile device when the work region of the autonomous mobile device is planned.

15. The autonomous mobile device according to claim 13, wherein the method further comprises: determining a plurality of candidate positions based on the first coordinate set; anddetermining one of the candidate positions satisfying a safety condition for rotating the autonomous mobile device as a first position.

16. The autonomous mobile device according to claim 15, wherein the plurality of candidate positions is determined by the following operation (a) or (b): (a) setting the candidate positions for a plurality of coordinates in the first coordinate set such that connecting lines between the candidate positions and the coordinates in the corresponding first coordinate set are perpendicular to the first boundary; and(b) determining a second coordinate set based on the first coordinate set, wherein the second coordinate set corresponds to a second boundary, and the second boundary is parallel to the first boundary; and selecting the plurality of candidate positions in the work region, wherein distances between each of the candidate positions and the second boundary are identical.

17. The autonomous mobile device according to claim 15, wherein the safety condition is that the autonomous mobile device unobstructedly rotates by 360 degrees at the candidate position.

18. The autonomous mobile device according to claim 15, wherein whether the candidate positions satisfy the safety condition is ascertained by: determining a second coordinate set according to the first coordinate set, wherein the second coordinate set corresponds to a second boundary, and the second boundary is parallel to the first boundary;ascertaining whether a circle with the candidate position as a circle center and a predetermined length as a radius intersects with the second boundary or a boundary of a forbidden region; anddetermining that the candidate position satisfies the safety condition when the circle with the candidate position as the circle center and the predetermined length as the radius neither intersects with the second boundary nor intersects with the boundary of the forbidden region, and determining that the candidate position does not satisfy the safety condition when the circle with the candidate position as the circle center and the predetermined length as the radius intersects with the second boundary or the boundary of the forbidden region.

19. The autonomous mobile device according to claim 18, wherein the movement center of the autonomous mobile device is the circle center, a radius of a largest circumcircle of the autonomous mobile device is R, and the predetermined length is R.

20. A computer storage medium, wherein the computer storage medium stores computer executable instructions and the computer executable instructions are used for executing a method for controlling an autonomous mobile device, the method comprising: controlling the autonomous mobile device to turn at a first position so that the autonomous mobile device is perpendicular to a first boundary corresponding to the first coordinate set, and a tail of the autonomous mobile device is closer to the first boundary than a head of the autonomous mobile device;controlling the autonomous mobile device to move backward to a second position; andcontrolling the autonomous mobile device to turn at the second position so that the autonomous mobile device is parallel to the first boundary.