3D Grid Path Planning for Autonomous Mowing on Non-Planar Terrain
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Solution Overview
Problem
Current movement control methods for autonomous mobile mowing apparatuses, such as mowing robots, are inadequate as they do not consider three-dimensional environments, leading to safety issues like abnormal handling, obstacle bypassing, or being trapped when encountering non-planar surfaces.
Innovation Solution
A movement control method that acquires a three-dimensional polygonal grid map of the work region, identifies non-traversable areas based on the robot's parameters, and deletes those areas from the map to create a safer path for the robot to follow, ensuring the robot avoids dangerous situations by planning a traversable route.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If two-dimensional path planning methods are used, then the planning process is simple, but the safety of movement deteriorates when encountering non-planar surfaces
Solution Approach 1:
The patent transitions from two-dimensional path planning to three-dimensional path planning by constructing a three-dimensional grid map that incorporates elevation information. This allows the autonomous mobile apparatus to understand and navigate non-planar surfaces, avoiding abnormal handling behaviors and improving movement safety while maintaining reasonable planning complexity.
2Device complexity
If three-dimensional information is not considered in path planning, then the planning method remains simple, but the robot triggers abnormal handling behaviors leading to safety dangers
Solution Approach 1:
The patent performs preliminary construction of a three-dimensional grid map before path planning, incorporating elevation information and identifying non-traversable areas in advance. This preliminary action allows the path planning algorithm to avoid regions that would cause abnormal handling behaviors, preventing safety issues before they occur.
3Adaptability or versatility
If the robot operates on non-planar surfaces without three-dimensional awareness, then the operation scope is wide, but the robot may be trapped or encounter dangerous situations
Solution Approach 1:
The patent enhances terrain adaptability while ensuring safety by incorporating the third dimension (elevation) into the grid map. This allows the robot to navigate complex terrains with varying heights and slopes, identifying traversable and non-traversable areas based on three-dimensional characteristics, thus maintaining both versatility and reliability.
Data Source
AI summary
A movement control method, an electronic device, and a computer storage medium are provided. The method includes: acquiring a first polygonal grid map corresponding to a target work region, determining an avoidance subregion non-traversable for the autonomous mobile mowing apparatus in the target work region according to three-dimensional information of each of polygonal planes in a first polygonal grid map and parameters of an autonomous mobile mowing apparatus; 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 according to a second polygonal grid map. Based on the method, the region non-traversable for the autonomous mobile mowing apparatus can be avoided, thereby avoiding a danger caused by an abnormal handling behavior triggered by the autonomous mobile mowing apparatus, and improving safety of movement of the autonomous mobile mowing apparatus.