Autonomous Mobile Boundary Approach With Safe Rotation Planning
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Solution Overview
Problem
Existing autonomous mobile devices struggle to work in fully close proximity to the boundary of their work region while ensuring safety and avoiding collisions.
Innovation Solution
A method for controlling an autonomous mobile device involves determining candidate positions based on planned coordinates, selecting a position that satisfies a safety condition for rotation, and then controlling the device to turn perpendicular and parallel to the boundary, ensuring the tail is closer to the boundary than the head.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the autonomous mobile device works in close proximity to the boundary of the work region, then work coverage is improved, but safety risk of collision increases
Solution Approach 1:
The system performs preliminary safety checks by determining candidate positions and verifying rotation safety conditions before the device actually moves to and works near the boundary. This advance planning ensures that the device can work in close proximity to the boundary (improving work coverage) while pre-verifying that collision-free rotation is possible (maintaining safety).
Solution Approach 2:
The system uses feedback from the determined candidate positions and safety condition evaluations to adjust the device's movement and rotation actions. By continuously checking whether candidate positions satisfy safety conditions and adjusting the turning strategy accordingly, the system achieves both close boundary proximity for work coverage and collision avoidance for safety.
2Productivity
If the autonomous mobile device turns perpendicular to the boundary with tail closer than head, then proximity to boundary is improved, but device complexity increases
Solution Approach 1:
The system changes the operational parameters by defining specific turning configurations (perpendicular to boundary, tail closer than head) and determining candidate positions based on coordinate sets. These parameter changes enable the device to achieve closer proximity to the boundary while managing control complexity through structured parameter definition and safety condition checking.
Data Source
Figure 1A~1B
Figure 2~3
Figure 4A~4B
AI summary
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 (S510); determining one of the candidate positions satisfying a safety condition for rotating the autonomous device as a first position (S512); 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 (S514); controlling the autonomous mobile device to move backward to a second position (S516); and controlling the autonomous mobile device to turn at the second position so that the autonomous mobile device is parallel to the first boundary (S518); controlling the autonomous mobile device to work (S519).