Autonomous work machine, autonomous work machine control method, and storage medium

A control method for an autonomous work machine that works in a work area, the control method comprising:

• detecting a plurality of markers arranged to define the work area;
• specifying marker information based on a detection result in the detecting;
• setting a virtual line connecting the plurality of markers based on the marker information specified in the specifying;
• and
• controlling the autonomous work machine such that the autonomous work machine does not deviate to a region beyond the virtual line set in the setting,
• wherein a time required for the autonomous work machine to reach the virtual line is calculated, and the autonomous work machine is controlled based on the calculated time.

A non-transitory computer readable storage medium storing a program for causing a computer to execute a control method for an autonomous work machine that works in a work area, the control method comprising:

• detecting a plurality of markers arranged to define the work area;
• specifying marker information based on a detection result in the detecting;
• setting a virtual line connecting the plurality of markers based on the marker information specified in the specifying;
• and
• controlling the autonomous work machine such that the autonomous work machine does not deviate to a region beyond the virtual line set in the setting,
• wherein a time required for the autonomous work machine to reach the virtual line is calculated, and the autonomous work machine is controlled based on the calculated time.

A control method for an autonomous work machine that works in a work area, the control method comprising:

• detecting a plurality of markers arranged to define the work area;
• specifying marker information based on a detection result of the detecting of the markers;
• setting a virtual line connecting the plurality of markers based on the specified marker information;
• and
• controlling the autonomous work machine such that the autonomous work machine does not deviate to a region beyond the virtual line;
• measuring a moving distance of the autonomous work machine,
• wherein the controlling further comprises:
• calculating a distance from the autonomous work machine to the virtual line based on the marker information, and
• controlling the autonomous work machine based on the calculated distance and the moving distance from a position of the autonomous work machine where the distance has been calculated.

A non-transitory computer readable storage medium storing a program for causing a computer to execute a control method for an autonomous work machine that works in a work area, the control method comprising:

• detecting a plurality of markers arranged to define the work area;
• specifying marker information based on a detection result of the detecting of the markers;
• setting a virtual line connecting the plurality of markers based on the specified marker information;
• and
• controlling the autonomous work machine such that the autonomous work machine does not deviate to a region beyond the virtual line;
• measuring a moving distance of the autonomous work machine,
• wherein the controlling further comprises:
• calculating a distance from the autonomous work machine to the virtual line based on the marker information, and
• controlling the autonomous work machine based on the calculated distance and the moving distance from a position of the autonomous work machine where the distance has been calculated.

An autonomous work machine that works in a work area, the autonomous work machine comprising:

• at least one processor circuit with a memory comprising instructions that, when executed by the at least one processor circuit, cause the at least one processor circuit to at least:
• detect a plurality of markers arranged to define the work area;
• specify marker information based on a detection result of the detecting of the markers;
• set a virtual line connecting the plurality of markers based on the specified marker information;
• and
• control the autonomous work machine such that the autonomous work machine does not deviate to a region beyond the virtual line;
• measure a moving distance of the autonomous work machine,
• wherein
• a distance is calculated from the autonomous work machine to the virtual line based on the marker information, and
• the autonomous work machine is controlled based on the calculated distance and the moving distance from a position of the autonomous work machine where the distance has been calculated.