Patent ID: 11940809
Assignee: WILLAND (BEIJING) TECHNOLOGY CO., LTD.
Field: Control (Instruments)
Classification: CPC G  A | IPC A  G

Claim 15:
16. The non-transitory computer storage medium according to claim 15, wherein the three-dimensional information comprises a maximum pitch angle and a maximum roll angle, and the parameters of the autonomous mobile mowing apparatus comprise a pitch angle threshold and a roll angle threshold; and
the determining, according to the three-dimensional information of each of the polygonal planes in the first polygonal grid map and the parameters of the autonomous mobile mowing apparatus, the avoidance subregion non-traversable for the autonomous mobile mowing apparatus in the target work region comprises:
determining, for each of the polygonal planes in the first polygonal grid map, a subregion represented by the polygonal plane as the avoidance subregion non-traversable for the autonomous mobile mowing apparatus when the polygonal plane satisfies at least one of two conditions that the maximum pitch angle corresponding to the polygonal plane is greater than the pitch angle threshold, and the maximum roll angle corresponding to the polygonal plane is greater than the roll angle threshold.