| 摘要 |
An autonomous mobile device is configured to move on a surface provided with a base station thereon, and is operated in one of a work state and return state. In the work state, the autonomous mobile device is operable to plot a movement route along which the autonomous mobile device moves, and is operable to adjust the movement route upon presence of an obstacle. In the return state, the autonomous mobile device is operable to plot a returning route on the surface from the current position to the base station, and to move along the returning route to the base station. |
| 主权项 |
1. An autonomous mobile device configured to move on a surface provided with a base station thereon, said autonomous mobile device comprising:
a housing; a motion control module disposed at said housing for controlling movement of said autonomous mobile device; a detecting module disposed at said housing for detecting presence of an obstacle near said housing; and a processor coupled to said motion control module and said detecting module, and configured to operate said autonomous mobile device in one of a work state and a return state; wherein, in the work state, said processor is configured to plot a movement route on the surface and to control said motion control module to move said autonomous mobile device along the movement route on the surface, and is operable to adjust the movement route upon presence of an obstacle detected by said detecting module; wherein, in the return state, said processor is configured to
partition a portion of the surface, over which said autonomous mobile device moves in the work state, into a plurality of virtual blocks with reference to a first axis and a second axis perpendicular to the first axis,determine a starting one of the virtual blocks where said autonomous mobile device currently locates, a destination one of the virtual blocks where the base station locates, and an exclusion one of the virtual blocks where the obstacle locates,assign a number to each of the virtual blocks of the surface, a value of the number assigned to one of the virtual blocks is monotonically related to a block distance between said one of the virtual blocks and the destination one of the virtual blocks, the values of the numbers assigned respectively to the virtual blocks being proportional to the block distances,using the virtual blocks except the exclusion one, plot a returning route on the surface from the starting one to the destination one of the virtual blocks by identifying all possible ways to move said autonomous mobile device across successive two of the virtual blocks, calculating, for each of the possible ways, a sum of the values of the numbers that are assigned to the successive two of the virtual blocks, and selecting one of the possible ways that has a smallest sum as a part of the returning route,when more than one of the possible ways have the smallest sum, said processor is operable to select one of the possible ways that has the smallest sum and that is along one of the first and second axes toward the base station as the part of the returning route,control said movement control module to move said autonomous mobile device, along the selected one of the possible ways, to a first one of the successive two of the virtual blocks, andcontrol said motion control module to move said autonomous mobile device along the returning route to the base station. |
