Mobile control method of autonomous mobile robot, storage medium and robot

Abstract

This application proposes a movement control method for an autonomous mobile robot, a storage medium, and a robot. The method includes: controlling the autonomous mobile robot to move along a channel path toward a task area; when the autonomous mobile robot reaches a preset position along the channel path, determining whether the autonomous mobile robot is located on a work surface based on the output of a surface recognition sensor; if not, controlling the autonomous mobile robot to move according to a preset route plan; while moving according to the preset route plan, continuously operating the surface recognition sensor, and determining whether the autonomous mobile robot has reached the work surface based on the output of the surface recognition sensor during the continuous operation period; when the autonomous mobile robot reaches the work surface, controlling the autonomous mobile robot to perform the work task. In this way, the autonomous mobile robot moves within a relatively safe range and eventually moves to the lawn to begin work, thereby improving mowing efficiency, safety, and accuracy to a certain extent.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a movement control method of an autonomous mobile robot, a storage medium and the robot. Background Art

[0002] Currently, when using an autonomous mobile robot for mowing, a task area must be drawn to confine the robot to mowing within this area. However, due to discrepancies between the boundaries of the user-drawn work area and the actual lawn boundary, for example, the drawn boundary may extend beyond the actual lawn boundary. As a result, the endpoint of the path drawn for the robot to move to the task area may not be on the lawn. When the mowing robot moves along the path to the preset target point, it recognizes that it is not on the lawn and stops moving, making it unable to continue mowing. This affects mowing efficiency, safety, and accuracy to a certain extent. Summary of the Invention

[0003] The embodiments of the present application provide a movement control method, storage medium and robot of an autonomous mobile robot, which enable the robot to continue to move safely when it recognizes that it is not in a lawn, thereby improving mowing efficiency, safety and accuracy.

[0004] In a first aspect, an embodiment of the present application provides a method for controlling movement of an autonomous mobile robot, the method comprising:

[0005] Controlling the autonomous mobile robot to move along a channel path toward a task area, wherein the channel path intersects a boundary of the task area;

[0006] When the autonomous mobile robot reaches a preset position along the channel path, determining whether the autonomous mobile robot is located on a working surface based on an output of a surface recognition sensor;

[0007] If the autonomous mobile robot is not located on the working surface, controlling the autonomous mobile robot to move according to a preset route plan;

[0008] During the movement according to the preset route plan, the surface recognition sensor is continuously operated, and based on the output of the surface recognition sensor during the continuous operation, it is determined whether the autonomous mobile robot has reached the working surface;

[0009] When the autonomous mobile robot reaches the working surface, controlling the autonomous mobile robot to perform a working task;

[0010] The preset route plan includes one of the following:

[0011] From the preset position along the channel path to the intersection of the channel path and the boundary;

[0012] moving from the preset position along the channel path to an intersection of the channel path and the boundary, and then moving from the intersection along the boundary;

[0013] Move from the preset position along the boundary.

[0014] In some possible embodiments, the channel path is defined by map data or by physical markers, and / or the boundary of the mission area is defined by map data or by physical markers.

[0015] In some possible embodiments, the channel path and the boundary are defined by map data, and the map data includes movement trajectory information recorded when a user remotely controls the movement of the autonomous mobile robot through an external device.

[0016] In some possible embodiments, the preset position is an end point of the channel path, and the end point is located within the boundary of the task area;

[0017] Alternatively, the preset position is the intersection of the channel path and the boundary of the task area.

[0018] In some possible embodiments, if the preset position is the intersection of the channel path and the boundary of the task area, the preset route plan includes moving from the preset position along the boundary; if the preset position is the end point of the channel path, and the end point is located within the boundary of the task area, then the preset route plan includes moving from the preset position along the channel path to the intersection of the channel path and the boundary, or, moving from the preset position along the channel path to the intersection of the channel path and the boundary, and then moving from the intersection along the boundary.

[0019] In some possible embodiments, determining whether the autonomous mobile robot has reached the working surface based on the output of the surface recognition sensor during continuous operation includes:

[0020] determining, based on an output at a first moment during a period in which the surface recognition sensor continues to operate, whether the autonomous mobile robot has reached a working surface at the first moment;

[0021] The method further comprises:

[0022] If the autonomous mobile robot has not reached the working surface after moving one circle along the boundary of the task area or after reaching the end point of the channel path from the preset position along the channel path, the autonomous mobile robot is controlled to stop moving and the abnormality is reported to the user terminal.

[0023] In some possible embodiments, the surface recognition sensor is a camera, and determining whether the autonomous mobile robot is located on a working surface based on an output of the surface recognition sensor includes:

[0024] Performing semantic recognition on the image output by the camera;

[0025] It is determined whether the autonomous mobile robot is located on a work surface according to a result of semantic recognition.

[0026] In some possible embodiments, the autonomous mobile robot is a lawn mowing robot, the working surface is a lawn, and the working task is mowing the lawn.

[0027] In a second aspect, an embodiment of the present application provides a computer-readable storage medium storing a mobile control program of an autonomous mobile robot. The mobile control program of the autonomous mobile robot includes execution instructions. When the execution instructions are executed by a processor, the processor executes part or all of the steps described in the first aspect.

[0028] In a third aspect, an embodiment of the present application provides an autonomous mobile robot, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing some or all of the steps described in the first aspect of the embodiment of the present application.

[0029] In a fourth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps described in the first aspect of the embodiments of the present application. The computer program product may be a software installation package.

[0030] By implementing the embodiments of the present application, the autonomous mobile robot is controlled to move along a channel path to a task area, and the channel path intersects with the boundary of the task area; when the autonomous mobile robot reaches a preset position along the channel path, it is determined whether the autonomous mobile robot is located on a working surface based on the output of a surface recognition sensor; if the autonomous mobile robot is not located on the working surface, the autonomous mobile robot is controlled to move according to a preset route plan; in the process of moving according to the preset route plan, the surface recognition sensor is continuously operated, and it is determined whether the autonomous mobile robot has reached the working surface based on the output of the surface recognition sensor during the continuous operation; when the autonomous mobile robot reaches the working surface, the autonomous mobile robot is controlled to perform a work task; wherein, the preset route plan includes one of the following: from the preset position along the channel path to the intersection of the channel path and the boundary; from the preset position along the channel path to the intersection of the channel path and the boundary, and then moving from the intersection along the boundary; moving from the preset position along the boundary. In this way, after the autonomous mobile robot moves to the target point, it recognizes that it is located at a non-lawn boundary or channel, allowing the autonomous mobile robot to move within a relatively safe range and finally move to the lawn to start working, which improves the mowing efficiency, safety and accuracy to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the background technology, the drawings required for use in the embodiments of the present invention or the background technology will be described below.

[0032] Figure 1a This is a schematic diagram of the architecture of an autonomous mobile robot control system provided in an embodiment of the present application;

[0033] Figure 1b This is a schematic diagram of the architecture of another autonomous mobile robot control system provided in an embodiment of the present application;

[0034] Figure 2 This is a flow chart of a method for controlling movement of an autonomous mobile robot provided in an embodiment of the present application;

[0035] Figure 3 This is a scene diagram of a task area of ​​a mobile control method for an autonomous mobile robot provided in an embodiment of the present application;

[0036] Figure 4a This is a schematic diagram of a scenario of the first preset route solution provided in an embodiment of the present application;

[0037] Figure 4b This is a schematic diagram of a second preset route solution provided in an embodiment of the present application;

[0038] Figure 4c This is a schematic diagram of a scenario of the third preset route solution provided in an embodiment of the present application;

[0039] Figure 4d This is a schematic diagram of a fourth preset route solution provided in an embodiment of the present application;

[0040] Figure 5 This is a schematic structural diagram of a mobile control device for an autonomous mobile robot proposed in an embodiment of the present application;

[0041] Figure 6 1 is a schematic structural diagram of another mobile control device for an autonomous mobile robot provided in an embodiment of the present application;

[0042] Figure 7 This is a schematic structural diagram of an autonomous mobile robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or electronic device comprising a series of steps or units is not limited to the listed steps or units, but may, in an optional example, also include steps or units not listed, or may, in an optional example, include other steps or units inherent to the process, method, product, or electronic device.

[0045] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0046] Currently, when using an autonomous mobile robot for mowing, a task area must be drawn to confine the robot to mowing within this area. However, due to discrepancies between the boundaries of the user-drawn work area and the actual lawn boundary, for example, the drawn boundary may extend beyond the actual lawn boundary. As a result, the endpoint of the path drawn for the robot to move to the task area may not be on the lawn. When the mowing robot moves along the path to the preset target point, it recognizes that it is not on the lawn and stops moving, making it unable to continue mowing. This affects mowing efficiency, safety, and accuracy to a certain extent.

[0047] In response to the above problems, the embodiments of the present application provide a movement control method, storage medium and robot of an autonomous mobile robot, so that after the autonomous mobile robot moves to the target point, it can identify that it is moving around a non-lawn boundary or channel, so that the autonomous mobile robot moves within a relatively safe range and finally moves to the lawn to start working, thereby improving the mowing efficiency, safety and accuracy to a certain extent.

[0048] The mobile control method of the autonomous mobile robot provided in the embodiment of the present application can be applied to Figure 1a In the autonomous mobile robot control system shown in Figure 1a , Figure 1a 1 is a schematic diagram of the architecture of an autonomous mobile robot control system provided in an embodiment of the present application. The autonomous mobile robot control system 100 includes a terminal 110, a server 120, and an autonomous mobile robot 130.

[0049] The terminal 110 can communicate with the server 120 through the network. The terminal 110 refers to a device used by a user, such as a smart phone, a computer, a watch, a tablet computer, a display screen, etc.

[0050] In this solution, terminal 110 is equipped with a user interface, primarily responsible for interacting with server 120 or autonomous mobile robot 130, allowing users to conveniently monitor the status of autonomous mobile robot 130. Server 120 is a remote computer used to handle large-scale analytical tasks and store data. In this solution, server 120 can be used to make decisions regarding pre-set route plans. Server 120 can also collect data during use for decision-making analysis. Server 120 or autonomous mobile robot 130 can also send prompt information to terminal 110.

[0051] In one possible embodiment, see Figure 1b The mobile control method of the autonomous mobile robot provided in the embodiment of the present application can be applied to Figure 1b In the autonomous mobile robot control system shown in Figure 1bAs shown, the autonomous mobile robot control system 100 includes a terminal 110 and an autonomous mobile robot 130. The autonomous mobile robot 130 moves autonomously toward a working surface of a task area based on a control instruction from the terminal 110.

[0052] Based on this, the present application provides a mobile control method, storage medium and robot of an autonomous mobile robot. The present application is described in detail below with reference to the accompanying drawings.

[0053] See also Figure 2 , Figure 2 This is a flow chart of a method for controlling the movement of an autonomous mobile robot provided in an embodiment of the present application. Figure 2 As shown, the method includes the following steps:

[0054] S210, controlling the autonomous mobile robot to move toward a task area along a channel path, wherein the channel path intersects with a boundary of the task area.

[0055] The passage path is a mobile passage for the autonomous mobile robot connecting at least one task area, and is used for the autonomous mobile robot to move to the task area. The passage path has endpoints, and the endpoint facing the task area is the end point of the passage path. The task area is the target movement location of the autonomous mobile robot, that is, the location where the work begins. The boundary between the passage path and the task area may intersect, that is, the passage path extends into the task area.

[0056] For examples, see Figure 3 , Figure 3 : is a scene diagram of a task area of ​​a mobile control method for an autonomous mobile robot provided in an embodiment of the present application, such as Figure 3 As shown, a channel path connects area A and area B, with area A being the starting location and area B being the task area. The channel path connects area A and area B, and the task area and the actual work area may or may not overlap. The end point of the channel path may not be located in the actual work area. After the autonomous mobile robot reaches the end point along the channel path, it may not reach the actual work area. The actual work area mentioned above can be a lawn to be mowed.

[0057] In a possible embodiment, the channel path is defined by map data or by physical markers, and / or the boundary of the mission area is defined by map data or by physical markers.

[0058] The map data and physical markers are historical movement data, which includes at least one of multiple locations, routes, and images recorded by the autonomous mobile robot during its historical movement. The channel path may be a driving movement path fitted based on the historical movement data, and the task area may be a range area fitted based on the historical movement data. In some possible cases, the channel path may be a driving movement path fitted based on the historical movement data and a preset electronic map, and the task area may be a range area fitted based on the historical movement data and a preset electronic map. In some possible cases, the channel path may be a driving movement path fitted based on the historical movement data, user input instructions, and a preset electronic map, and the task area may be a range area fitted based on the historical movement data, user input instructions, and a preset electronic map. The fitted channel path and fitted task area may deviate to a certain extent from the actual workable work area.

[0059] The aforementioned map data can be geographic information presented in digital or visual form and available for viewing, including virtual information such as coordinates, roads, and obstacles (e.g., electronic maps). The aforementioned physical markers can be physical identifiers used to identify paths or boundaries in the actual environment, such as physical markers, including ground tape, road signs, and sensor tags (e.g., RFID, QR codes); natural or artificial obstacles, including walls, fences, and physical boundaries identified by lidar.

[0060] In a possible embodiment, the channel path and the boundary are defined by map data, and the map data includes movement trajectory information recorded during the movement of the autonomous mobile robot by a user remotely controlling the movement of the autonomous mobile robot through an external device.

[0061] The aforementioned external devices include controllers, mobile phones, computers, tablets, remote controls, and other devices. The aforementioned movement trajectory information can include dynamic data such as the robot's position, direction, and speed (e.g., a sequence of coordinate points and a motion path) recorded during remote control. Specifically, a task area is the perimeter of the actual work area where the user remotely controls the robot. The robot records multiple locations passed through and then fits a closed geometric shape based on these locations. This closed geometric shape is defined as the boundary of the task area. Similarly, a channel path is the path where the user remotely controls the robot from one lawn to another. The robot records multiple locations passed through and then fits these locations into a path, which is called the channel path. The robot uses internal sensors (e.g., RTK positioning module, encoders, IMU, and visual cameras) to record the coordinates and posture of each movement step, forming a continuous series of location points. Since the boundary of the task area and the channel path are the locations traversed by the user, they are safe for the autonomous mobile robot, and it is safe for the autonomous mobile robot to move along these boundaries and channel paths to explore the work surface.

[0062] As can be seen, in this embodiment, the trajectory information recorded by the user's remote control robot movement is used to dynamically generate map data, thereby defining the channel path and mission area boundaries. This can transform the user's operating experience into a digital map that the robot can recognize, improving the autonomous mobile robot's adaptability and safety to the environment.

[0063] S220: When the autonomous mobile robot reaches a preset position along the channel path, determine whether the autonomous mobile robot is located on a working surface based on an output of a surface recognition sensor.

[0064] The surface recognition sensor may be a camera, such as a binocular camera, a trinocular camera, or a laser radar. For example, if the surface recognition sensor is a camera, the robot may use the camera to capture images in front of or below the robot, and then determine whether the autonomous mobile robot is located on the work surface using image segmentation technology. The work surface may be a lawn, which is the target location indicated by the task. The preset position may be a pre-set position that instructs the autonomous mobile robot to automatically stop for detection. This position may be the end point of the channel path, the intersection of the channel path and the boundary of the task area, or any other position on the boundary between the channel path and the task area, without limitation herein.

[0065] Specifically, the robot moves along a path, using technologies such as simultaneous localization and mapping (SLAM) and the global positioning system (GPS) to locate itself near a preset location. Upon reaching the preset location, surface recognition sensors activate and collect surface feature data in real time. This sensor data is processed using algorithms (such as image noise reduction and point cloud filtering) to extract key features, such as surface texture feature points, edge contours, and color distribution; surface height differences, tilt angles, obstacle coordinates; or contact pressure distribution and surface hardness values. The extracted features are compared with a preset "working surface standard" to determine whether the task area has been reached.

[0066] Specifically, the preset position is the end point of the channel path, and the end point is located within the boundary of the task area; or, the preset position is the intersection of the channel path and the boundary of the task area.

[0067] Wherein, the preset position can be the end point of the channel path, and the end point of the above-mentioned channel path is located inside the range surrounded by the boundary of the task area, that is, the autonomous mobile robot moves along the channel path to the end point of the channel path and detects whether it is located on the work surface. The preset position can also be the intersection of the channel path and the task area, that is, the autonomous mobile robot moves along the channel path to the boundary of the task area and detects whether it is located on the work surface. In some cases, the end point of the channel path can be located on the boundary of the task area, and can also be located inside the range surrounded by the boundary of the task area.

[0068] In a possible embodiment, the surface recognition sensor is a camera, and determining whether the autonomous mobile robot is located on the working surface based on the output of the surface recognition sensor includes: performing semantic recognition on the image output by the camera; and determining whether the autonomous mobile robot is located on the working surface based on the result of the semantic recognition.

[0069] Among them, semantic recognition can be achieved through deep learning semantic segmentation models, traditional computer vision methods, or other methods, which are not limited here. The above-mentioned deep learning semantic segmentation models can choose lightweight networks (such as BiSeNetV2, ESPNet), ResUNet and other models.

[0070] For example, if a deep learning semantic segmentation model is selected, semantic segmentation is first performed on the image to identify the work surface and non-work surface in the image. Then, based on the camera's internal parameters, the real-world location of the work surface in the image is determined, along with the positional relationship between the robot and the work surface, to determine whether the robot is located on the work surface. The above process is an example and not a fixed method, and the specific implementation is not limited here.

[0071] It can be seen that in this embodiment, the working surface detection technology based on camera semantic recognition significantly improves the robot's environmental adaptability, operation accuracy and system flexibility by giving it visual understanding capabilities.

[0072] S230: If the autonomous mobile robot is not located on the working surface, control the autonomous mobile robot to move according to a preset route plan.

[0073] Among them, the preset route plan includes one of the following: from the preset position along the channel path to the intersection of the channel path and the boundary; from the preset position along the channel path to the intersection of the channel path and the boundary, and then moving from the intersection along the boundary; moving from the preset position along the boundary.

[0074] After the autonomous mobile robot reaches a preset position and detects whether it is located on a work surface, if the detection result shows that the autonomous mobile robot is not located on the work surface, a route plan decision is made, and the autonomous mobile robot is controlled to move according to the preset route plan determined by the decision. Specifically, the preset route plan may be from the preset position along the channel path to the intersection of the channel path and the boundary; or the preset route plan may be from the preset position along the channel path to the intersection of the channel path and the boundary, and then move along the boundary from the intersection; or the preset route plan may be directly moving from the preset position along the boundary.

[0075] In a possible embodiment, if the preset position is the intersection of the channel path and the boundary of the task area, the preset route plan includes moving from the preset position along the boundary; if the preset position is the end point of the channel path, and the end point is located within the boundary of the task area, then the preset route plan includes moving from the preset position along the channel path to the intersection of the channel path and the boundary, or, from the preset position along the channel path to the intersection of the channel path and the boundary, and then moving from the intersection along the boundary.

[0076] Wherein, if the preset position is pre-set as the end point of the passage path, and this end point is located in the range surrounded by the mission area boundary, then the preset route scheme can be to arrive at the intersection of the passage path and the boundary of the mission area along the passage path from the preset position, that is, the end point of the passage path, or, it can also be to arrive at the intersection of the passage path and the boundary of the mission area along the passage path from the preset position, that is, the end point of the passage path, and then move along the boundary of the mission area from the intersection of the passage path and the boundary of the mission area, and the above-mentioned movement along the boundary of the mission area can be counterclockwise or clockwise. If the preset position is pre-set as the intersection of the boundary of the passage path and the mission area, then the preset route scheme includes moving along the boundary of the mission area from the preset position, and the above-mentioned movement along the boundary of the mission area can be counterclockwise or clockwise. The consuming time of finding the lawn when moving clockwise and counterclockwise can be recorded respectively, and when the consuming time is recorded, the direction with shorter consuming time can be selected to walk along the boundary.

[0077] In some cases, the preset route plan may also be: if the preset position is pre-set as the intersection of the channel path and the boundary of the task area, and the end point of the channel path is located on the boundary of the task area, then the preset route plan includes moving from the preset position along the boundary of the task area, and the above-mentioned movement along the boundary of the task area can be counterclockwise or clockwise; if the preset position is pre-set as the intersection of the channel path and the boundary of the task area, and the end point of the channel path is located within the range surrounded by the boundary of the task area, then the preset route plan includes moving from the preset position along the boundary of the task area, and the above-mentioned movement along the boundary of the task area can be counterclockwise or clockwise, or, moving from the preset position along the channel path to the end point of the channel path.

[0078] As can be seen, in this embodiment, through the hierarchical path planning strategy, the robot can move in an orderly manner according to the preset logic when it detects that the working surface does not meet the standards, avoiding "infinite loops" or blind exploration. To a certain extent, it improves work efficiency, safety, and accuracy.

[0079] For examples, see Figures 4a to 4d , Figure 4a This is a schematic diagram of a first preset route solution provided in an embodiment of the present application. Figure 4b This is a schematic diagram of a second preset route solution provided in an embodiment of the present application. Figure 4c This is a schematic diagram of a third preset route solution provided in an embodiment of the present application. Figure 4d This is a scene diagram of the fourth preset route solution provided by the embodiment of the present application. Among them, point A is the end point of the channel path, and point B is the intersection of the channel path and the boundary of the task area. Figure 4aAs shown in , when the end point of the channel path is within the boundary of the task area, and the preset position is B, the preset route plan includes moving from B to A, or moving from B along the boundary of the task area. Figure 4b As shown in , when the end point of the channel path is located on the boundary of the task area and the preset position is B, the preset route plan includes moving one circle along the boundary of the task area from B. Figure 4c As shown in , when the end point of the channel path is within the boundary of the task area and the preset position is A, the preset route plan includes moving from A to B, or moving from A to B and then moving from B along the boundary of the task area. Figure 4d As shown, when the end point of the channel path is located on the boundary range of the task area and the preset position is A, the preset route plan includes moving one circle from A along the boundary of the task area.

[0080] S240: During the movement according to the preset route plan, the surface recognition sensor is continuously operated, and based on the output of the surface recognition sensor during the continuous operation, it is determined whether the autonomous mobile robot has reached the working surface.

[0081] Among them, when the autonomous mobile robot moves, the surface recognition sensor collects environmental data at a fixed frequency (such as 10Hz); the sensor data is processed synchronously, surface features (such as flatness, texture, and material) are extracted, and compared with the preset "working surface standard"; when the surface features at a certain location meet the standard, the confirmation of "reaching the working surface" is immediately triggered; if no qualified surface is detected throughout the entire process, the movement ends according to the preset route.

[0082] In a possible embodiment, determining whether the autonomous mobile robot has reached the working surface based on the output of the surface recognition sensor during continuous operation includes: determining whether the autonomous mobile robot has reached the working surface at the first moment based on the output of the surface recognition sensor at the first moment during continuous operation.

[0083] The first moment can be considered as any moment in the robot's movement along the preset route plan. During continuous operation, the output of each first moment is used to determine whether the autonomous mobile robot has reached the work surface. If the first moment confirms that the robot has reached the work surface, the current movement can be terminated and the subsequent control process can be entered.

[0084] It can be seen that in this embodiment, whether the autonomous mobile robot has reached the working surface is determined by continuous detection during movement, thereby improving the adaptability to situations where the surface state is changeable and improving the timeliness of the task.

[0085] In a possible embodiment, the method further includes: if the autonomous mobile robot has not reached the working surface after moving one circle along the boundary of the task area or after reaching the end point of the channel path from the preset position along the channel path, the autonomous mobile robot is controlled to stop moving and report the abnormality to the user terminal.

[0086] Among them, when the autonomous mobile robot moves along the boundary of the task area for a circle or reaches the end of the channel path from the preset position along the channel path, specifically, Figures 4a to 4d If the autonomous mobile robot still has not reached the working surface after completing all or part of the steps of the solution included in the embodiment, it is considered that the current autonomous mobile robot may not be able to safely reach the working surface, and the autonomous mobile robot is controlled to stop moving, and the abnormality is reported to the user terminal to inform the user.

[0087] Among them, see Figure 4a , the above specific process can be: Figure 4a As shown, when the end point of the channel path is within the boundary of the task area and the preset position is point B, the autonomous mobile robot can first move from point B to point A based on the preset route plan. Then, if the autonomous mobile robot is not detected moving to the work surface during this process, the autonomous mobile robot is controlled to move from point A to point B, and then move from point B along the boundary of the task area. Alternatively, the autonomous mobile robot can first move from point B along the boundary of the task area. Then, if the autonomous mobile robot is not detected moving to the work surface during this process, the autonomous mobile robot is controlled to move from point B to point A. If the autonomous mobile robot is still not detected on the work surface, the autonomous mobile robot is controlled to stop moving and an abnormality is reported to the user terminal to inform the user.

[0088] Among them, see Figure 4b , the above specific process can be: Figure 4b As shown in the figure, when the end point of the channel path is located on the boundary of the task area and the preset position is point B, the autonomous mobile robot can first move along the boundary of the task area from point B based on the preset route plan. If the autonomous mobile robot still cannot detect that it is on the work surface, the autonomous mobile robot is controlled to stop moving and an abnormality is reported to the user terminal to inform the user.

[0089] Among them, see Figure 4c , the above specific process can be: Figure 4cAs shown, when the endpoint of the channel path is within the boundary of the task area and the preset location is point A, the autonomous mobile robot can first move from point A to point B based on the preset route plan. Then, if the autonomous mobile robot is not detected moving to the work surface during this process, the autonomous mobile robot is controlled to move from point B along the boundary of the task area. Alternatively, the autonomous mobile robot can first move from point A to point B based on the preset route plan, and then move from point B along the boundary of the task area. If the autonomous mobile robot is still not detected on the work surface, the autonomous mobile robot is controlled to stop moving and an abnormality is reported to the user terminal to inform the user.

[0090] Among them, see Figure 4d , the above specific process can be: Figure 4d As shown, when the end point of the channel path is located on the boundary range of the task area, and the preset position is point A, it can first move one circle along the boundary of the task area from point A based on the preset route plan. If the autonomous mobile robot is still not detected to be on the work surface, the autonomous mobile robot is controlled to stop moving, and the abnormality is reported to the user terminal to inform the user. In the embodiment of the present application, if the robot reaches the work surface during the movement along the boundary of the task area, it will no longer move along the boundary of the task area. In this case, the robot does not move a complete circle along the boundary of the task area.

[0091] In a possible embodiment, when the end point of the channel path is on the boundary between the channel path and the task area, after controlling the autonomous mobile robot to move according to a preset route plan, it also includes: if it is determined that the position movement result is that the autonomous mobile robot is not located on the working surface, obtaining first image data, the first image data is used to display the surrounding environment of the autonomous mobile robot; determining a first predicted path based on the boundary of the task area and the first image data; controlling the autonomous mobile robot to move along the first predicted path to determine whether the autonomous mobile robot reaches the working surface; if the autonomous mobile robot is not located on the working surface, stopping movement and reporting the abnormality to the terminal.

[0092] In which, the autonomous mobile robot also includes an environment recognition sensor, which is used to capture images of the environment around the location of the autonomous mobile robot; the determining of the first predicted path based on the boundary of the task area and the first image data includes: continuously receiving the first image data from the environment recognition sensor and the third image data from the surface recognition sensor; determining environment perception result information based on the first image data and the third image data; determining positioning error data based on the environment perception result information and the boundary of the task area, the positioning error data characterizing the position deviation of the boundary and working surface of the task area from the actual situation; determining a correction result based on the positioning error data, the boundary of the task area, and the environment perception result information, the correction result including corrected positioning data and / or actual working surface position information and / or environmental obstacle information; determining a third predicted path based on the correction result, the third predicted path being a static prediction result; controlling the movement of the autonomous mobile robot based on the third predicted path, and fine-tuning and correcting the third predicted path to obtain the first predicted path.

[0093] Specifically, this can be achieved through the following process: Step 1, process two types of image data simultaneously, and extract environmental elements (such as boundaries, obstacles, and work surfaces) based on semantic segmentation. Step 2, reduce positioning errors based on Kalman filtering; align the perceived boundaries with the preset map for feature matching, calculate the position deviation and direction angle difference, and correct the preset boundary and work surface positions based on the error. Step 3, based on the corrected environmental model, use the A or RRT algorithm to generate a basic path; use The algorithm adjusts the path in real time, smoothing the path trajectory based on model predictive control (MPC) to achieve dynamic fine-tuning of the basic path.

[0094] Specifically, the first step may be: initializing the environmental perception module: loading the pre-trained semantic segmentation model, initializing the Kalman filter. Define a function for processing sensor data, receiving the first image data, the third image data, and the previous moment's posture as input: semantically segmenting the first image data to obtain an environmental element mask, semantically segmenting the third image data to obtain a work surface mask, extracting boundary points from the environmental element mask, detecting the work surface from the environmental element mask, detecting the work surface from the work surface mask, extracting features from the first image data and the third image data, using the Kalman filter, updating the state based on the extracted features and the previous moment's posture, obtaining the current posture, and returning environmental perception result information containing boundary points, obstacles, work surfaces, and the current posture. The above process is an example, not a fixed method, and the specific implementation is not limited here.

[0095] Specifically, the second step can be as follows: Inputting the environment perception results (including boundary points, obstacles, work surfaces, and robot pose), the preset task area boundary points, and the preset work surface information (position, type, etc.) produces the correction results. First, the find_transform function is called with the perceived boundary points and the preset boundary points (preset_boundary). The optimal transformation matrix (including translation and rotation) from the perceived boundary to the preset boundary is calculated. The translation error (translation_error) (position deviation) and the rotation error (rotation_error) (angle deviation) are extracted from the transformation matrix (transform), thereby extracting the positioning error. A first list is then initialized to store the corrected work surface information. For each preset work surface, the transformation matrix is ​​applied to the surface position to obtain the corrected position. A new surface object containing the id, corrected position, and type is created and added to the first list. The correction results (including the translation error vector, rotation error angle, the corrected boundary points after the transformation is applied, a corrected work surface list, and at least one of the new obstacles extracted from the perception results) are generated. The above process is an example and not a fixed method, and the specific implementation is not limited here.

[0096] Specifically, the third step can be: based on the modified environment model, use A or RRT algorithm to generate the basic path. The algorithm adjusts the path in real time and smoothes the path trajectory based on MPC. The input includes the corrected boundary and work surface information, obstacles, the current position and / or posture of the autonomous mobile robot, and the target position and posture. Using the corrected boundary and new obstacles, a Path planner, call the plan method of the planner, generate the initial path from the current position to the target position goal_pose, create a second list to store the final path, for each target waypoint in static_path: call the detect_local_obstacles function, detect local obstacles based on the current position and target waypoints, use The algorithm replans the local path, calling local_planner.replan to generate a detour path, adding the detour path to the second list, updating the current location to the target waypoint, and returning the second list as the final path. The above process is an example and not a fixed method, and the specific implementation is not limited here.

[0097] It can be seen that in this embodiment, when the end point and the intersection point coincide with each other, further path prediction can improve the task completion rate.

[0098] In a possible embodiment, when the end point of the channel path is within the boundary between the channel path and the task area, controlling the autonomous mobile robot to move according to a preset route plan includes: controlling the autonomous mobile robot to move along the boundary of the task area, if, after the autonomous mobile robot moves along the boundary of the task area for one circle, it is determined that the position movement result is that the autonomous mobile robot is not located within the working surface, obtaining first image data, and the first image data is used to display the surrounding environment of the autonomous mobile robot; determining a first predicted path based on the boundary of the task area and the first image data; controlling the autonomous mobile robot to move along the first predicted path to determine whether the autonomous mobile robot reaches the working surface; if the autonomous mobile robot is not located on the working surface, stopping movement and reporting the abnormality to the terminal.

[0099] Wherein, determining whether the autonomous mobile robot has reached the working surface based on the output of the surface recognition sensor during continuous operation includes: controlling the autonomous mobile robot to move from the preset position to the intersection along the channel path to determine whether the autonomous mobile robot has reached the working surface; if the autonomous mobile robot is not located on the working surface, controlling the autonomous mobile robot to move along the boundary of the task area from the intersection to determine whether the autonomous mobile robot has reached the working surface, and acquiring second image data; if the autonomous mobile robot is not located on the working surface, determining a second predicted path based on the boundary of the task area and the second image data; controlling the autonomous mobile robot to move along the second predicted path; if the autonomous mobile robot is not located on the working surface, stopping movement and reporting an abnormality to the terminal.

[0100] It should be noted that the above prediction process has been described in detail above and will not be repeated here. You only need to modify the name and serial number accordingly.

[0101] It can be seen that in this embodiment, when the end point and the intersection point do not coincide, further path prediction can improve the task completion rate.

[0102] S250: When the autonomous mobile robot reaches the working surface, control the autonomous mobile robot to perform a working task.

[0103] When it is detected that the autonomous mobile robot reaches the work surface, the autonomous mobile robot is controlled to move from the current position to the starting point of a pre-planned work path covering the task area, and then move along the work path from the starting point of the work path to perform the work task.

[0104] It should be noted that, in a possible embodiment, in all the above embodiments, the autonomous mobile robot is a lawn mowing robot, the working surface is a lawn, and the working task is mowing the lawn.

[0105] It can be seen that in this embodiment, the autonomous mobile robot is controlled to move toward the task area along the channel path, and the channel path intersects with the boundary of the task area; when the autonomous mobile robot reaches the preset position along the channel path, it is determined whether the autonomous mobile robot is located on the working surface based on the output of the surface recognition sensor; if the autonomous mobile robot is not located on the working surface, the autonomous mobile robot is controlled to move according to the preset route plan; in the process of moving according to the preset route plan, the surface recognition sensor is kept working, and it is determined whether the autonomous mobile robot has reached the working surface based on the output of the surface recognition sensor during the continuous working period; when the autonomous mobile robot reaches the working surface, the autonomous mobile robot is controlled to perform the work task; wherein, the preset route plan includes one of the following: from the preset position along the channel path to the intersection of the channel path and the boundary; from the preset position along the channel path to the intersection of the channel path and the boundary, and then moving from the intersection along the boundary; moving from the preset position along the boundary. In this way, after the autonomous mobile robot moves to the target point, it recognizes that it is located at a non-lawn boundary or channel, allowing the autonomous mobile robot to move within a relatively safe range and finally move to the lawn to start working, which improves the mowing efficiency, safety and accuracy to a certain extent.

[0106] See Figure 5 , Figure 5 : is a structural diagram of a mobile control device of an autonomous mobile robot proposed in an embodiment of the present application. The mobile control device 500 of the autonomous mobile robot includes: a first control module 510, a position determination module 520, a second control module 530, a surface detection module 540 and a third control module 550, wherein:

[0107] A first control module 510 is configured to control the autonomous mobile robot to move along a passage path toward a task area, wherein the passage path intersects a boundary of the task area;

[0108] a position determination module 520 for determining whether the autonomous mobile robot is located on a work surface based on an output of a surface recognition sensor when the autonomous mobile robot reaches a preset position along the channel path;

[0109] The second control module 530 is configured to control the autonomous mobile robot to move according to a preset route plan if the autonomous mobile robot is not located on the work surface; wherein the preset route plan includes one of the following: moving from the preset position along the channel path to an intersection of the channel path and the boundary; moving from the preset position along the channel path to an intersection of the channel path and the boundary, and then moving from the intersection along the boundary; or moving from the preset position along the boundary;

[0110] a surface detection module 540 for causing the surface recognition sensor to continuously operate during movement according to the preset route plan, and determining whether the autonomous mobile robot has reached a work surface based on output from the surface recognition sensor during the continuous operation period;

[0111] The third control module 550 is configured to control the autonomous mobile robot to perform a work task when the autonomous mobile robot reaches the work surface.

[0112] In a possible embodiment, the channel path is defined by map data or by physical markers, and / or the boundary of the mission area is defined by map data or by physical markers.

[0113] In a possible embodiment, the channel path and the boundary are defined by map data, and the map data includes movement trajectory information recorded during the movement of the autonomous mobile robot by a user remotely controlling the robot through an external device.

[0114] In a possible embodiment, the preset position is an end point of the channel path, and the end point is located within the boundary of the task area;

[0115] Alternatively, the preset position is the intersection of the channel path and the boundary of the task area.

[0116] In a possible embodiment, if the preset position is an intersection of the passage path and a boundary of the task area, the preset route plan includes moving from the preset position along the boundary;

[0117] If the preset position is the end point of the channel path and the end point is located within the boundary of the task area, the preset route plan includes moving from the preset position along the channel path to the intersection of the channel path and the boundary, or moving from the preset position along the channel path to the intersection of the channel path and the boundary, and then moving from the intersection along the boundary.

[0118] In a possible embodiment, the surface detection module 540 is specifically used to determine whether the autonomous mobile robot has reached the working surface based on the output of the surface recognition sensor during continuous operation. It is specifically used to: determine whether the autonomous mobile robot has reached the working surface at the first moment based on the output of the surface recognition sensor at the first moment during continuous operation; and is also specifically used to: if the autonomous mobile robot has not reached the working surface after moving one circle along the boundary of the task area or after reaching the end point of the channel path from the preset position along the channel path, the autonomous mobile robot has controlled the autonomous mobile robot to stop moving and report the abnormality to the user terminal.

[0119] In a possible embodiment, the surface recognition sensor is a camera, and the position determination module 520 is specifically configured to determine whether the autonomous mobile robot is located on the working surface based on the output of the surface recognition sensor:

[0120] Performing semantic recognition on the image output by the camera;

[0121] It is determined whether the autonomous mobile robot is located on a work surface according to a result of semantic recognition.

[0122] In a possible embodiment, the autonomous mobile robot is a lawn mowing robot, the working surface is a lawn, and the working task is mowing the lawn.

[0123] It is worth noting that the specific functional implementation of the mobile control device 500 of the autonomous mobile robot can be found in the above Figure 2 In the description of the mobile control method for an autonomous mobile robot shown in FIG. 1 , for example, the first control module 510 is used to implement the relevant content of execution S210, the position determination module 520 is used to implement the relevant content of execution S220, the second control module 530 is used to implement the relevant content of execution S230, the surface detection module 540 is used to implement the relevant content of execution S240, and the third control module 550 is used to implement the relevant content of execution S250. The various units or modules in the mobile control device 500 for an autonomous mobile robot can be individually or entirely combined into one or more other units or modules, or one or more of the units or modules can be further divided into multiple functionally smaller units or modules to achieve the same operation without affecting the technical effects of the embodiments of the present invention. The above-mentioned units or modules are divided based on logical functions. In actual applications, the functions of one unit (or module) are implemented by multiple units (or modules), or the functions of multiple units (or modules) are implemented by one unit (or module).

[0124] It can be seen that the mobile control device of the autonomous mobile robot described in the embodiment of the present application controls the autonomous mobile robot to move toward the task area along the channel path, and the channel path intersects with the boundary of the task area; when the autonomous mobile robot reaches the preset position along the channel path, it determines whether the autonomous mobile robot is located on the working surface based on the output of the surface recognition sensor; if the autonomous mobile robot is not located on the working surface, the autonomous mobile robot is controlled to move according to the preset route plan; in the process of moving according to the preset route plan, the surface recognition sensor is continuously operated, and whether the autonomous mobile robot has reached the working surface is determined based on the output of the surface recognition sensor during the continuous operation; when the autonomous mobile robot reaches the working surface, the autonomous mobile robot is controlled to perform the work task; wherein the preset route plan includes one of the following: from the preset position along the channel path to the intersection of the channel path and the boundary; from the preset position along the channel path to the intersection of the channel path and the boundary, and then moving from the intersection along the boundary; moving from the preset position along the boundary. In this way, after the autonomous mobile robot moves to the target point, it recognizes that it is located at a non-lawn boundary or channel, allowing the autonomous mobile robot to move within a relatively safe range and finally move to the lawn to start working, which improves the mowing efficiency, safety and accuracy to a certain extent.

[0125] In the case of integrated units, see Figure 6 , Figure 6 FIG. 1 is a structural diagram of another mobile control device for an autonomous mobile robot proposed in an embodiment of the present application. Figure 6 As shown, the mobile control device 500 of the autonomous mobile robot includes: a processing module 502 and a communication module 501. The processing module 502 is used to control and manage the actions of the mobile control device 500 of the autonomous mobile robot, for example, executing the steps of the first control module 510, the position determination module 520, the second control module 530, the surface detection module 540 and the third control module 550, and / or other processes for executing the technology described herein. The communication module 501 is used for the interaction between the mobile control device 500 of the autonomous mobile robot and other devices. Figure 6 As shown, the mobile control device 500 of the autonomous mobile robot may further include a storage module 503 , and the storage module 503 is used to store program codes and data of the mobile control device 500 of the autonomous mobile robot.

[0126] The processing module 502 may be a processor or controller, such as a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 501 may be a transceiver, an RF circuit, or a communication interface, and the like. The storage module 503 may be a memory.

[0127] Among them, all relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here. The mobile control device 500 of the above autonomous mobile robot can execute the above Figure 2 The mobile control method of the autonomous mobile robot is shown.

[0128] See also Figure 7 , Figure 7 is a schematic diagram of the structure of an autonomous mobile robot proposed in an embodiment of the present application, the autonomous mobile robot 130 corresponds to Figure 1a and Figure 1b The autonomous mobile robot 130 in the embodiment, such as Figure 7 As shown, the autonomous mobile robot 130 includes a processor 131 , a memory 132 , a communication interface 133 , and one or more programs 1321 . The one or more programs 1321 are stored in the memory 132 and are configured to be executed by the processor 131 .

[0129] The processor 131 , the memory 132 , and the communication interface 133 are interconnected and perform communication with each other.

[0130] The memory 132 can be a volatile memory such as a dynamic random access memory (DRAM) or a non-volatile memory such as a mechanical hard disk. The memory 132 is used to store a set of executable program codes, and the processor 131 is used to call one or more programs 1321 stored in the memory 132 to execute some or all of the steps of any of the autonomous mobile robot movement control methods described in the above embodiments.

[0131] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes an electronic device.

[0132] The present application also provides a computer program product comprising a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer may comprise an electronic device.

[0133] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0134] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0135] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0136] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0137] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0138] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory and includes a number of instructions for enabling a computer electronic device (which can be a personal computer, electronic device, or network electronic device, etc.) to execute all or part of the steps of the above-mentioned methods in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program code.

[0139] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by a program instructing related hardware. The program can be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0140] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for controlling movement of an autonomous mobile robot, characterized in that: The method comprises: Controlling the autonomous mobile robot to move along a channel path toward a task area, wherein the channel path intersects a boundary of the task area; When the autonomous mobile robot reaches a preset position along the channel path, determining whether the autonomous mobile robot is located on a working surface based on an output of a surface recognition sensor; If the autonomous mobile robot is not located on the working surface, controlling the autonomous mobile robot to move according to a preset route plan; During the movement according to the preset route plan, the surface recognition sensor is continuously operated, and based on the output of the surface recognition sensor during the continuous operation, it is determined whether the autonomous mobile robot has reached the working surface; When the autonomous mobile robot reaches the working surface, controlling the autonomous mobile robot to perform a working task; The preset route plan includes one of the following: From the preset position along the channel path to the intersection of the channel path and the boundary; moving from the preset position along the channel path to an intersection of the channel path and the boundary, and then moving from the intersection along the boundary; Moving from the preset position along the boundary.

2. The method according to claim 1, characterized in that The channel path is defined by map data or by physical markers, and / or the boundary of the mission area is defined by map data or by physical markers.

3. The method according to claim 2, characterized in that The channel path and the boundary are defined by map data, and the map data includes movement trajectory information recorded during the movement of the autonomous mobile robot by a user remotely controlling the robot through an external device.

4. The method according to claim 3, characterized in that The preset position is the end point of the channel path, and the end point is located within the boundary of the task area; Alternatively, the preset position is the intersection of the channel path and the boundary of the task area.

5. The method according to claim 4, characterized in that If the preset position is the intersection of the passage path and the boundary of the mission area, the preset route plan includes moving from the preset position along the boundary; If the preset position is the end point of the channel path and the end point is located within the boundary of the task area, the preset route plan includes moving from the preset position along the channel path to the intersection of the channel path and the boundary, or moving from the preset position along the channel path to the intersection of the channel path and the boundary, and then moving from the intersection along the boundary.

6. The method according to claim 1, characterized in that The step of determining whether the autonomous mobile robot has reached a working surface based on an output of the surface recognition sensor during continuous operation includes: determining, based on an output at a first moment during a period in which the surface recognition sensor continues to operate, whether the autonomous mobile robot has reached a working surface at the first moment; The method further comprises: If the autonomous mobile robot has not reached the working surface after moving one circle along the boundary of the task area or after reaching the end point of the channel path from the preset position along the channel path, the autonomous mobile robot is controlled to stop moving and the abnormality is reported to the user terminal.

7. The method according to claim 1, characterized in that The surface recognition sensor is a camera, and determining whether the autonomous mobile robot is located on a working surface based on an output of the surface recognition sensor includes: Performing semantic recognition on the image output by the camera; It is determined whether the autonomous mobile robot is located on a work surface according to a result of semantic recognition.

8. The method according to any one of claims 1 to 7, characterized in that The autonomous mobile robot is a lawn mowing robot, the working surface is a lawn, and the working task is mowing the lawn.

9. A computer-readable storage medium, characterized in that A movement control program of an autonomous mobile robot is stored, wherein the movement control program of the autonomous mobile robot includes execution instructions. When the execution instructions are executed by a processor, the processor executes the method according to any one of claims 1 to 8.

10. An autonomous mobile robot, characterized in that: comprising a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor; When the processor executes the one or more programs, the processor performs the method according to any one of claims 1 to 8.

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