Path generation method and apparatus

Abstract

The application provides a path generation method and device, the method comprising: obtaining a first distance between a center position of a target lawn and a centroid of each of a plurality of obstacles on the target lawn; setting a plurality of concentric patterns according to the first distance corresponding to each of the obstacles and the center position of the target lawn, and generating a target path based on the plurality of concentric patterns; each of the obstacles does not intersect with a boundary of the plurality of concentric patterns, a distance between any two adjacent concentric patterns in the plurality of concentric patterns is not less than a first width, the first width is a minimum width of mowing by a mowing device, and a distance between a boundary of a target concentric pattern in the plurality of concentric patterns and a closest obstacle inside the boundary of the target concentric pattern is not less than the first width. In this way, the working efficiency of the mower can be improved.

Description

Technical Field

[0001] This application relates to the field of general data processing technology, and in particular to a path generation method and apparatus. Background Technology

[0002] When beautifying lawns, the lawn is usually cut or rolled to create visual patterns based on different heights or reflective intensities. For concentric patterns (such as multiple concentric circles with different radii), multiple concentric patterns will form multiple ring patterns. When a lawnmower rolls or cuts at different lengths based on adjacent ring patterns, the lawn will visually form multiple ring patterns.

[0003] If there are multiple obstacles (artificial rocks) in the lawn, generating concentric patterns based on fixed lengths or radii will result in a chaotic distribution of obstacles across multiple concentric patterns. In this case, the lawnmower will need to use algorithms to avoid the obstacles during operation, which will affect the lawnmower's efficiency. Summary of the Invention

[0004] This application provides a path generation method and apparatus. When setting multiple concentric patterns, the distance between the nearest obstacle on the inner side of the boundary of the concentric pattern and the obstacle is not less than a first width, so that the lawnmower only needs to move from the outside of the obstacle and does not need to avoid the obstacle through algorithms, thereby improving the working efficiency of the lawnmower.

[0005] Firstly, this application provides a path generation method, which includes:

[0006] Obtain the first distance from the center of the target lawn to the centroid of each of the multiple obstacles on the target lawn;

[0007] Based on the first distance corresponding to each obstacle and the center position of the target lawn, multiple concentric patterns are set, and the target path is generated based on the multiple concentric patterns;

[0008] In this system, each of the multiple concentric patterns is centered on the center of the target lawn, and the largest concentric pattern does not exceed the boundary of the target lawn. Each obstacle does not intersect the boundary of the multiple concentric patterns. The distance between two adjacent concentric patterns is not less than a first width, which is the minimum width of the lawn mowing equipment. The distance between the boundary of the target concentric pattern and the obstacle closest to the inner side of the boundary of the target concentric pattern is not less than the first width.

[0009] As can be seen, in this application, multiple concentric patterns can form multiple concentric ring patterns. The lawn mowing equipment can move and operate based on these multiple concentric ring patterns. Since the distance between two adjacent concentric patterns is not less than the first width, the lawn mowing equipment will not affect the lawn of other concentric ring patterns when operating on each concentric ring pattern when there are no obstacles. Furthermore, since the boundaries of the multiple concentric patterns do not intersect with obstacles, and the distance between the nearest obstacle on the inner side of each concentric pattern boundary and the obstacle is not less than the first width, when there are obstacles in the concentric patterns, the lawn mowing equipment can also move and operate directly from the outside of the obstacles in the ring patterns without affecting other ring patterns. Thus, the target path formed by multiple concentric patterns does not require complex avoidance operations, allowing the lawn mowing equipment to move and operate smoothly according to the target path, thereby improving the operating efficiency of the lawn mowing equipment.

[0010] In a feasible example, multiple concentric patterns are set according to the first distance of each obstacle and the center position of the target lawn, including: setting concentric patterns in ascending order of area based on the center position of the target lawn; when setting the first concentric pattern, if there is no obstacle among the multiple obstacles whose first distance is less than the first width, then the minimum distance between the boundary of the first concentric pattern and the center position is not less than the first width; when setting the y-th concentric pattern, if there is no obstacle among the multiple obstacles whose minimum distance to the outer edge of the boundary of the (y-1)-th concentric pattern is less than the first width, then the minimum distance between the boundary of the y-th concentric pattern and the center position is not less than the sum of the minimum distance between the boundary of the (y-1)-th concentric pattern and the first width; where y≥2.

[0011] In this application, when setting concentric patterns, if there are no obstacles, the minimum distance between the boundary and the center of the first concentric pattern must be no less than the first width, and the minimum distance between the boundary and the center of the y-th concentric pattern must be no less than the sum of the minimum distance between the boundary and the center of the (y-1)-th concentric pattern and the first width. This allows the mowing equipment to move and operate within multiple ring patterns formed by multiple concentric patterns without affecting other ring patterns.

[0012] In a feasible example, when setting the first concentric pattern, the method further includes: if there is at least one first obstacle among the multiple obstacles whose first distance is less than the first width, then when the distance between the first obstacle Mx with the largest first distance and the first obstacle Mx+1 among the at least one first obstacle is not less than the first width, the minimum distance between the boundary and the center position of the first concentric pattern is not less than the second distance, the second distance is the sum of the maximum radius of the first obstacle Mx, the first distance corresponding to the first obstacle Mx and the first width, and the first distance corresponding to the first obstacle Mx is less than the first distance corresponding to the first obstacle Mx+1.

[0013] In this application, when setting the first concentric pattern, if there is at least one first obstacle whose first distance is less than the first width, the distance between the first obstacle Mx with the largest first distance and the first obstacle Mx+1 among the at least one first obstacle must not be less than the first width. Therefore, the distance between the boundary and the center of the first concentric pattern must ensure that there is at least the first width of distance next to the first obstacle Mx. This allows the mowing equipment to move directly outside the obstacle without performing complex obstacle avoidance operations, thereby improving the operating efficiency of the mowing equipment.

[0014] In a feasible example, when setting the first concentric pattern, the method further includes: if there is at least one first obstacle among the multiple obstacles whose first distance is less than the first width, then when the distance between the first obstacle Mx with the largest first distance and the first obstacle Mx+1 among the at least one first obstacle is less than the first width, the minimum distance between the boundary and the center position of the first concentric pattern is not less than a third distance, the third distance is the sum of the maximum radius of the first obstacle Mx+1, the first distance corresponding to the first obstacle Mx+1 and the first width, and the first distance corresponding to the first obstacle Mx is less than the first distance corresponding to the first obstacle Mx+1.

[0015] In this application, when setting the first concentric pattern, if there is at least one first obstacle with a first distance less than the first width, and the distance between the first obstacle Mx with the largest first distance and the first obstacle Mx+1 is less than the first width, the distance between the boundary and the center of the first concentric pattern needs to ensure that there is at least the first width of distance next to the first obstacle Mx+1. This allows the mowing equipment to move directly outside the obstacle without performing complex obstacle avoidance operations, thereby improving the operating efficiency of the mowing equipment.

[0016] In a feasible example, when setting the y-th concentric pattern, the method further includes: if there is at least one second obstacle among the multiple obstacles whose minimum distance to the outer edge of the boundary of the (y-1)-th concentric pattern is less than the first width, then when the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 is not less than the first width, the minimum distance between the boundary of the y-th concentric pattern and the center position is set to be not less than the fourth distance, the fourth distance being the sum of the maximum radius of the second obstacle Mx, the first distance corresponding to the second obstacle Mx, and the first width, and the first distance corresponding to the second obstacle Mx is less than the first distance corresponding to the second obstacle Mx+1.

[0017] In this application, when setting the y-th concentric pattern, if the minimum distance between at least one second obstacle and the (y-1)-th concentric pattern is less than the first width, the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 among at least one second obstacle must not be less than the first width. Therefore, the distance between the boundary and the center of the y-th concentric pattern must ensure that there is at least the first width of distance next to the second obstacle Mx. This allows the mowing equipment to move directly outside the obstacle without performing complex obstacle avoidance operations, thereby improving the operating efficiency of the mowing equipment.

[0018] In a feasible example, when setting the y-th concentric pattern, the method further includes: if there is at least one second obstacle among the multiple obstacles whose minimum distance to the outer edge of the boundary of the (y-1)-th concentric pattern is less than the first width, then when the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 is less than the first width, the minimum distance between the boundary of the y-th concentric pattern and the center position is not less than the fifth distance, the fifth distance is the sum of the maximum radius of the second obstacle Mx+1, the first distance corresponding to the second obstacle Mx+1 and the first width, and the first distance corresponding to the second obstacle Mx is less than the first distance corresponding to the second obstacle Mx+1.

[0019] In this application, when setting the y-th concentric pattern, if the minimum distance between at least one second obstacle and the (y-1)-th concentric pattern is less than the first width, the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 is less than the first width. Therefore, the distance between the boundary and the center of the y-th concentric pattern needs to ensure that there is at least the first width of distance next to the second obstacle Mx+1. This allows the mowing equipment to move directly outside the obstacle without performing complex obstacle avoidance operations, thereby improving the operating efficiency of the mowing equipment.

[0020] In a feasible example, the distance between the first obstacle Mx+1 and the first obstacle Mx is determined based on the difference between a first value and a second value. The first value is the difference between the first distance corresponding to the first obstacle Mx+1 and the first distance corresponding to the first obstacle Mx, and the second value is the sum of the maximum radius of the first obstacle Mx and the maximum radius of the first obstacle Mx+1.

[0021] In this application, the distance between the first obstacle Mx+1 and the first obstacle Mx is determined based on their respective first distance and maximum radius, making the distance more consistent with the concentric pattern scene. Setting the concentric pattern based on this distance is beneficial for the subsequent generation of the target path.

[0022] Secondly, this application provides a path generation apparatus, which includes:

[0023] The acquisition unit is used to acquire the first distance between the center position of the target lawn and the centroid of each of the multiple obstacles on the target lawn;

[0024] The processing unit is used to set multiple concentric patterns based on the first distance corresponding to each obstacle and the center position of the target lawn, and to generate a target path based on the multiple concentric patterns;

[0025] In this system, each of the multiple concentric patterns is centered on the center of the target lawn, and the largest concentric pattern does not exceed the boundary of the target lawn. Each obstacle does not intersect the boundary of the multiple concentric patterns. The distance between two adjacent concentric patterns is not less than a first width, which is the minimum width of the lawn mowing equipment. The distance between the boundary of the target concentric pattern and the obstacle closest to the inner side of the boundary of the target concentric pattern is not less than the first width.

[0026] Thirdly, this application provides an electronic device including a processor, a memory, and a communication interface. The processor, memory, and communication interface are interconnected and perform communication with each other. The memory stores executable program code, the communication interface is used for wireless communication, and the processor is used to retrieve the executable program code stored in the memory and execute some or all of the steps described in any of the methods in the first aspect.

[0027] Fourthly, this application provides a computer-readable storage medium storing electronic data, which, when executed by a processor, is used to perform the electronic data to implement some or all of the steps described in the first aspect of this application.

[0028] Fifthly, this application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first aspect of this application. The computer program product may be a software installation package. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of a lawn beautification system provided in an embodiment of this application;

[0031] Figure 2 A flowchart illustrating a path generation method provided in an embodiment of this application;

[0032] Figure 3 This is a schematic diagram of a concentric pattern provided in an embodiment of this application;

[0033] Figure 4 A schematic diagram of the structure of concentric pattern boundary points provided in an embodiment of this application;

[0034] Figure 5 This is a schematic diagram of the structure of a first concentric pattern provided in an embodiment of this application;

[0035] Figure 6 This is a schematic diagram of another first concentric pattern provided in an embodiment of this application;

[0036] Figure 7 This is a schematic diagram of the structure of the y-th concentric pattern provided in the embodiments of this application;

[0037] Figure 8 This is a schematic diagram of the structure of a target path provided in an embodiment of this application;

[0038] Figure 9 A functional unit block diagram of a path generation device provided in an embodiment of this application;

[0039] Figure 10 A functional unit block diagram of another path generation device provided in an embodiment of this application;

[0040] Figure 11 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present application.

[0042] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps is not limited to the steps listed, but may optionally include steps not listed, or may optionally include other steps inherent to these processes, methods, products, or apparatuses.

[0043] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0044] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a lawn beautification system provided in an embodiment of this application, as shown below. Figure 1 As shown, the lawn beautification system 100 includes a path generation module 101, a control module 102, and a lawn mowing device 103.

[0045] The path generation module 101 is used to generate a corresponding path for the lawn mowing device 103 by setting a pattern on the target lawn.

[0046] The control module 102 is used to control the mowing device 103 to automatically mow or compact the lawn according to the path generated by the path generation module 101.

[0047] The lawn mowing device 103 is used to mow or compact lawns. Understandably, the lawn mowing device 103 can be set to different mowing heights when mowing lawns, and can also be set to different compaction pressures when compacting lawns. The path generation module 101 and the control module 102 can be part of the lawn mowing device 103 or independent modules of the lawn mowing device 103.

[0048] The path generation module 101 obtains the first distance between the center position of the target lawn and each of the multiple obstacles on the target lawn, and sets multiple concentric patterns based on the first distance corresponding to each obstacle and the center position of the target lawn. Finally, it generates the target path based on the concentric patterns. Each of the multiple concentric patterns is centered on the center position of the target lawn, and the largest concentric pattern does not exceed the boundary of the target lawn. Each obstacle does not intersect the boundaries of the multiple concentric patterns. The distance between any two adjacent concentric patterns is not less than a first width, which is the minimum width of the lawn mowing device 103. The distance between the boundary of the target concentric pattern and the nearest obstacle inside the boundary of the target concentric pattern is not less than the first width.

[0049] This allows the lawnmower 103 to pass directly through one side of an obstacle in a ring pattern formed by multiple concentric patterns, without occupying space in other ring patterns. Therefore, the target path formed by multiple graphic patterns eliminates unnecessary detours, enabling the lawnmower 103 to move smoothly along the target path and improving its operational efficiency.

[0050] Based on this, the present application provides a path generation method, and the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0051] Please see Figure 2 , Figure 2 This is a flowchart illustrating a path generation method provided in an embodiment of this application. This method is applied to the path generation module of the aforementioned lawn beautification system. Figure 2 As shown, the method includes the following steps:

[0052] Step S201: The path generation module obtains the first distance between the center position of the target lawn and the centroid of each of the multiple obstacles on the target lawn;

[0053] The center position of the target lawn can be obtained based on its coordinates. For example, it can be calculated using the coordinate averaging method, which determines the center position by averaging the coordinates of all vertices. The coordinates of the target lawn can be generated from a 2D image of it, which can be obtained from a lawn design drawing or by photographing the lawn. Similarly, the centroid of each obstacle can be determined based on its top-view plane or the plane where it contacts the lawn, including the maximum radius of subsequent obstacles.

[0054] In step S202, the path generation module sets multiple concentric patterns based on the first distance corresponding to each obstacle and the center position of the target lawn.

[0055] In this system, each of the multiple concentric patterns is centered on the center of the target lawn, and the largest concentric pattern does not exceed the boundary of the target lawn. No obstacle intersects the boundaries of any of the multiple concentric patterns. The distance between any two adjacent concentric patterns is not less than a first width, which is the minimum width required for the lawnmower to cut the lawn. The distance between the boundary of the target concentric pattern and the nearest obstacle to its inner edge is also not less than the first width. The concentric pattern can be a concentric circle, concentric ellipse, concentric rectangle, or other irregular concentric closed contour. For example, please refer to [link to example]. Figure 3 , Figure 3 This is a schematic diagram of a concentric pattern provided in an embodiment of this application, such as... Figure 3 As shown, it includes concentric circles, concentric matrices, and irregular concentric closed contours.

[0056] Concentric patterns are set based on the target lawn, so the largest concentric pattern will not exceed the boundary of the target lawn. "Each obstacle does not intersect the boundaries of multiple concentric patterns" means that the two-dimensional plane defined by each obstacle will not intersect the boundaries of multiple concentric patterns. The distance between two adjacent concentric patterns can be determined based on the first boundary points corresponding to each of the two adjacent concentric patterns. These first boundary points are determined when a ray drawn from the center of the target lawn intersects with each of the two adjacent concentric patterns. The inner side of the boundary of a concentric pattern refers to the side closer to the center.

[0057] For example, please refer to Figure 4 , Figure 4 A schematic diagram of the structure of concentric pattern boundary points provided in an embodiment of this application is shown below. Figure 4 As shown, taking concentric circles as an example, there are two concentric patterns: a first concentric pattern 302 and a second concentric pattern 301. The first concentric pattern 302 and the second concentric pattern 301 can be two adjacent concentric patterns. It can be seen that the ray drawn from the center position intersects with the first concentric pattern 302 and the second concentric pattern 301, resulting in the first boundary point 304 corresponding to the first concentric pattern 302 and the second boundary point 303 corresponding to the second concentric pattern. The distance between the first concentric pattern 302 and the second concentric pattern 301 can be determined based on the distance between the first boundary point 304 and the second boundary point 303.

[0058] The following is a detailed explanation of the current step:

[0059] In one feasible embodiment, multiple concentric patterns are set according to a first distance of each obstacle and the center position of the target lawn, including: setting concentric patterns in ascending order of area based on the center position of the target lawn; when setting the first concentric pattern, if there is no obstacle among the multiple obstacles whose first distance is less than the first width, then the minimum distance between the boundary of the first concentric pattern and the center position is not less than the first width; when setting the y-th concentric pattern, if there is no obstacle among the multiple obstacles whose minimum distance to the outer edge of the boundary of the (y-1)-th concentric pattern is less than the first width, then the minimum distance between the boundary of the y-th concentric pattern and the center position is not less than the sum of the minimum distance between the boundary of the (y-1)-th concentric pattern and the first width; wherein, y≥2.

[0060] When setting concentric patterns, the center of the target lawn is used as the reference point, and the patterns are set from smallest to largest area. A concentric pattern is a complete closed shape. When setting the first concentric pattern, if it is determined that there are no obstacles among the multiple obstacles whose distance is less than the first width, then the influence of obstacles on the setting of the first concentric pattern does not need to be considered. In this case, the minimum distance between the boundary and the center of the first concentric pattern is not less than the first width, allowing the lawnmower to move within the first concentric pattern.

[0061] When setting the y-th concentric pattern, it is necessary to determine whether there is an obstacle outside the boundary of the (y-1)-th concentric pattern whose minimum distance from the boundary of the (y-1)-th concentric pattern is less than the first width. If there is no obstacle outside the boundary of the (y-1)-th concentric pattern whose minimum distance from the boundary of the (y-1)-th concentric pattern is less than the first width, then the influence of obstacles does not need to be considered when setting the y-th concentric pattern. In this case, the setting of the y-th concentric pattern needs to be based on the (y-1)-th concentric pattern. That is, the minimum distance between the boundary of the y-th concentric pattern and the center position must not be less than the sum of the minimum distance between the boundary of the (y-1)-th concentric pattern and the center position and the first width, so that the lawnmower can move and operate in the non-overlapping area between the y-th and (y-1)-th concentric patterns. It can be understood that the outer boundary refers to the side away from the center position. When setting concentric patterns, if the boundary of the set y-th concentric pattern crosses the target lawn boundary, the y-th concentric pattern is not retained, and the setting of multiple concentric patterns is stopped.

[0062] In this application, when setting concentric patterns, if there are no obstacles, the minimum distance between the boundary and the center of the first concentric pattern must be no less than the first width, and the minimum distance between the boundary and the center of the y-th concentric pattern must be no less than the sum of the minimum distance between the boundary and the center of the (y-1)-th concentric pattern and the first width. This allows the mowing equipment to move and operate within multiple ring patterns formed by multiple concentric patterns without affecting other ring patterns.

[0063] Furthermore, in a feasible embodiment, when setting the first concentric pattern, the method further includes: if there is at least one first obstacle among the plurality of obstacles whose first distance is less than the first width, then when the distance between the first obstacle Mx with the largest first distance and the first obstacle Mx+1 among the at least one first obstacle is not less than the first width, the minimum distance between the boundary and the center position of the first concentric pattern is not less than the second distance, the second distance is the sum of the maximum radius of the first obstacle Mx, the first distance corresponding to the first obstacle Mx and the first width, and the first distance corresponding to the first obstacle Mx is less than the first distance corresponding to the first obstacle Mx+1.

[0064] When setting the first concentric pattern, there may be at least one first obstacle whose first distance is less than the first width. In this case, it is necessary to consider placing at least one first obstacle within the first concentric pattern. When placing at least one first obstacle within the first concentric pattern, it is also necessary to consider whether the distance between the first obstacle Mx+1, which is closest to the first obstacle Mx with the largest first distance among the at least one first obstacles, and the first obstacle Mx is less than the first width. If the distance between the first obstacle Mx and the first obstacle Mx+1 is not less than the first width, then the first obstacle Mx+1 has no impact on the setting of the first concentric pattern. Therefore, the minimum distance between the boundary and the center of the first concentric pattern is not less than the second distance, which is the sum of the maximum radius of the first obstacle Mx, the first distance corresponding to the first obstacle Mx, and the first width. This allows the lawnmower to move and operate next to the first obstacle Mx within the first concentric pattern.

[0065] For example, please refer to Figure 5 , Figure 5 This is a schematic diagram of the structure of a first concentric pattern provided in an embodiment of this application, as shown below. Figure 5As shown, taking concentric circles as an example, when setting the first concentric pattern 302, if the distance 403 between the centroid of the first obstacle 401 and the center position of the first target is less than the first width, and the distance between the second obstacle 402 and the first obstacle 401 is less than the first width, then the minimum distance between the boundary of the first concentric pattern 302 and the center position needs to be no less than the second distance. The second distance includes... Figure 5 The sum of the first target distance 403, the first maximum radius 404 of the first obstacle 401, and the first length 405 shown, wherein the first length 405 is not less than the first width.

[0066] In this application, when setting the first concentric pattern, if there is at least one first obstacle whose first distance is less than the first width, the distance between the first obstacle Mx with the largest first distance and the first obstacle Mx+1 among the at least one first obstacle must not be less than the first width. Therefore, the distance between the boundary and the center of the first concentric pattern must ensure that there is at least the first width of distance next to the first obstacle Mx. This allows the mowing equipment to move directly outside the obstacle without performing complex obstacle avoidance operations, thereby improving the operating efficiency of the mowing equipment.

[0067] Furthermore, in a feasible embodiment, when setting the first concentric pattern, the method further includes: if there is at least one first obstacle among the plurality of obstacles whose first distance is less than the first width, then when the distance between the first obstacle Mx with the largest first distance among the at least one first obstacle and the first obstacle Mx+1 is less than the first width, the minimum distance between the boundary and the center position of the first concentric pattern is not less than a third distance, the third distance being the sum of the maximum radius of the first obstacle Mx+1, the first distance corresponding to the first obstacle Mx+1, and the first width, wherein the first distance corresponding to the first obstacle Mx is less than the first distance corresponding to the first obstacle Mx+1.

[0068] Specifically, when setting the first concentric pattern, if the distance between the first obstacle Mx+1 and the first obstacle Mx is less than the first width, then the influence of the first obstacle Mx+1 on it needs to be considered when setting the first concentric pattern. Therefore, the minimum distance between the boundary and the center position of the first concentric pattern should not be less than the third distance, which is the sum of the maximum radius of the first obstacle Mx+1, the first distance corresponding to the first obstacle Mx+1, and the first width.

[0069] Understandably, if the distance between the first obstacle Mx+2 and the first obstacle Mx+1 is less than the first width, the influence of the first obstacle Mx+2 must also be considered when setting the first concentric pattern. This process continues until the distance between the next obstacle and the previous obstacle is not less than the first width. Similarly, if the distance between the first obstacle Mx+2 and the first obstacle Mx+1 is less than the first width, and the distance between the first obstacle Mx+3 and the first obstacle Mx+2 is not less than the first width, then the minimum distance between the boundary and the center of the first concentric pattern must be no less than the sum of the maximum radius of the first obstacle Mx+2, the first distance corresponding to the first obstacle Mx+2, and the first width.

[0070] For example, please refer to Figure 6 , Figure 6 A schematic diagram of another first concentric pattern provided in the embodiments of this application, as shown below. Figure 6 As shown, taking concentric circles as an example, when setting the first concentric pattern 302, if the first distance between the centroid of the first obstacle 401 and the center position is less than the first width, and the distance between the second obstacle 402 and the first obstacle 401 is less than the first width, then the minimum distance between the boundary of the first concentric pattern 302 and the center position needs to be set to not exceed a third distance. The third distance includes... Figure 6 The sum of the second target distance 501, the second maximum radius 502 of the second obstacle 402, and the second length 503 shown, wherein the second length 503 is not less than the first width.

[0071] In this application, when setting the first concentric pattern, if there is at least one first obstacle with a first distance less than the first width, and the distance between the first obstacle Mx with the largest first distance and the first obstacle Mx+1 is less than the first width, the distance between the boundary and the center of the first concentric pattern needs to ensure that there is at least the first width of distance next to the first obstacle Mx+1. This allows the mowing equipment to move directly outside the obstacle without performing complex obstacle avoidance operations, thereby improving the operating efficiency of the mowing equipment.

[0072] Furthermore, in a feasible embodiment, when setting the y-th concentric pattern, the method further includes: if there is at least one second obstacle among the multiple obstacles whose minimum distance to the outer edge of the boundary of the (y-1)-th concentric pattern is less than the first width, then when the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 is not less than the first width, the minimum distance between the boundary of the y-th concentric pattern and the center position is set to be not less than the fourth distance, the fourth distance being the sum of the maximum radius of the second obstacle Mx, the first distance corresponding to the second obstacle Mx, and the first width, and the first distance corresponding to the second obstacle Mx is less than the first distance corresponding to the second obstacle Mx+1.

[0073] Specifically, when setting the y-th concentric pattern, if there is at least one second obstacle whose minimum distance to the outer edge of the (y-1)-th concentric pattern preceding the y-th concentric pattern is less than the first width, then it is necessary to consider whether the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 is less than the first width. If the distance between the second obstacle Mx and the second obstacle Mx+1 is not less than the first width, then when setting the y-th concentric pattern, only the influence of the second obstacle Mx on the y-th concentric pattern needs to be considered. Therefore, the minimum distance between the boundary and the center position of the y-th concentric pattern is not less than the fourth distance, which is the sum of the maximum radius of the second obstacle Mx, the first distance corresponding to the second obstacle Mx, and the first width. This allows the mowing equipment to move and operate next to the second obstacle Mx in the y-th concentric pattern. It is understood that at least one second obstacle and at least one first obstacle both refer to some of the obstacles among a plurality of obstacles.

[0074] For example, please refer to Figure 7 , Figure 7 This is a schematic diagram of the structure of the y-th concentric pattern provided in the embodiments of this application, as shown below. Figure 7 As shown, taking concentric circles as an example, when setting the y-th concentric pattern 601, if the first minimum distance 605 between the second obstacle Mx603 and the outer edge of the (y-1)-th concentric pattern 602 is less than the first width, then when the distance between the second obstacle Mx+1604 and the second obstacle Mx603 is less than the first width, the minimum distance between the boundary of the y-th concentric pattern 601 and the center position is not less than the sum of the maximum radius of the second obstacle Mx603, the first distance of the second obstacle Mx603, and the first width.

[0075] In this application, when setting the y-th concentric pattern, if the minimum distance between at least one second obstacle and the (y-1)-th concentric pattern is less than the first width, the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 among at least one second obstacle must not be less than the first width. Therefore, the distance between the boundary and the center of the y-th concentric pattern must ensure that there is at least the first width of distance next to the second obstacle Mx. This allows the mowing equipment to move directly outside the obstacle without performing complex obstacle avoidance operations, thereby improving the operating efficiency of the mowing equipment.

[0076] Furthermore, in a feasible embodiment, when setting the y-th concentric pattern, the method further includes: if there is at least one second obstacle among the multiple obstacles whose minimum distance to the outer edge of the boundary of the (y-1)-th concentric pattern is less than the first width, then when the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 among the at least one second obstacle is less than the first width, the minimum distance between the boundary of the y-th concentric pattern and the center position is not less than the fifth distance, the fifth distance is the sum of the maximum radius of the second obstacle Mx+1, the first distance corresponding to the second obstacle Mx+1 and the first width, and the first distance corresponding to the second obstacle Mx is less than the first distance corresponding to the second obstacle Mx+1.

[0077] Specifically, when setting the y-th concentric pattern, if the distance between the second obstacle Mx and the second obstacle Mx+1 is less than the first width, then the influence of the second obstacle Mx+1 on the y-th concentric pattern needs to be considered. Therefore, the minimum distance between the boundary and the center of the y-th concentric pattern needs to be no less than the sum of the maximum radius of the second obstacle Mx+1, the first distance corresponding to the second obstacle Mx+1, and the first width.

[0078] Similarly, if the distance between the second obstacle Mx+2 and the second obstacle Mx+1 is less than the first width, when setting the y-th concentric pattern, the influence of the second obstacle Mx+2 must also be considered. This process is repeated until the distance between the next target obstacle and the previous target obstacle is not less than the first width. Likewise, if the distance between the second obstacle Mx+2 and the second obstacle Mx+1 is less than the first width, and the distance between the second obstacle Mx+3 and the second obstacle Mx+2 is not less than the first width, then the minimum distance between the boundary and the center of the y-th concentric pattern must be no less than the sum of the maximum radius of the second obstacle Mx+2, the first distance corresponding to the second obstacle Mx+2, and the first width.

[0079] In this application, when setting the y-th concentric pattern, if the minimum distance between at least one second obstacle and the (y-1)-th concentric pattern is less than the first width, the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 is less than the first width. Therefore, the distance between the boundary and the center of the y-th concentric pattern needs to ensure that there is at least the first width of distance next to the second obstacle Mx+1. This allows the mowing equipment to move directly outside the obstacle without performing complex obstacle avoidance operations, thereby improving the operating efficiency of the mowing equipment.

[0080] Specifically, in a feasible embodiment, the distance between the first obstacle Mx+1 and the first obstacle Mx is determined based on the difference between a first value and a second value. The first value is the difference between the first distance corresponding to the first obstacle Mx+1 and the first distance corresponding to the first obstacle Mx, and the second value is the sum of the maximum radius of the first obstacle Mx and the maximum radius of the first obstacle Mx+1.

[0081] The distance between the first obstacle Mx+1 and the first obstacle Mx is not determined directly based on the centroid distance between them, but rather in conjunction with the concentric pattern scene. Specifically, it is determined by the difference between the first distance corresponding to the first obstacle Mx+1 and the first distance corresponding to the first obstacle Mx, and the difference between the sum of the maximum radius of the first obstacle Mx and the maximum radius of the first obstacle Mx+1. The distance between the first obstacle Mx+1 and the first obstacle Mx is determined according to the aforementioned method, and the relationship between this distance and the first width is considered when setting the concentric pattern. When this distance is less than the first width, the boundary distance of the concentric pattern needs to ensure that there is at least a distance of the first width next to the first obstacle Mx+1. This is to prevent the lawnmower from being blocked by the first obstacle Mx+1 when moving on the first width loop path next to the first obstacle Mx; therefore, the loop path is directly set next to the first obstacle Mx+1.

[0082] Understandably, the distance between the second obstacle Mx and the second obstacle Mx+1 is also obtained based on the aforementioned method. Specifically, it is determined by the difference between the third data and the fourth value. The third value is the difference between the first distance corresponding to the second obstacle Mx+1 and the first distance corresponding to the second obstacle Mx. The second value is the sum of the maximum radius of the second obstacle Mx and the maximum radius of the second obstacle Mx+1.

[0083] In this application, the distance between the first obstacle Mx+1 and the first obstacle Mx is determined based on their respective first distance and maximum radius, making the distance more consistent with the concentric pattern scene. Setting the concentric pattern based on this distance is beneficial for the subsequent generation of the target path.

[0084] Step S203: The path generation module generates a target path based on multiple concentric patterns.

[0085] Specifically, the target path is generated based on multiple concentric patterns, which are mainly based on multiple concentric ring patterns formed between the multiple concentric patterns. Furthermore, the path in the ring pattern containing obstacles is generated based on the ring pattern with a width of at least a first width next to the obstacle.

[0086] For example, please refer to Figure 8 , Figure 8 This application provides a schematic diagram of the structure of a target path, as shown in the embodiments. Figure 8 As shown, taking concentric circles as an example, multiple concentric patterns 801 (represented by dashed lines in the figure) form multiple concentric ring patterns. The mowing length or rolling direction between two adjacent concentric ring patterns is different, thus visually presenting the concentric ring pattern. For each concentric ring pattern, there is a target path 802. The second concentric ring pattern from the outside in contains two obstacles, therefore the width of this concentric ring pattern is relatively large, and a distance of at least the first width is left beside the two obstacles. Therefore, a target path can be directly generated based on the outermost edge, allowing the mowing equipment to complete the movement operation relatively smoothly without needing to avoid obstacles using complex algorithms. Furthermore, since lawn beautification is achieved based on different rolling angles or mowing lengths, the inner part with obstacles can also produce differences due to the mowing or rolling on the outer side, thus visually forming a corresponding pattern.

[0087] As can be seen from the embodiments of this application, multiple concentric patterns can form multiple concentric ring patterns. The lawn mowing device can move according to these multiple concentric ring patterns. Since the distance between two adjacent concentric patterns is not less than the first width, the lawn mowing device will not affect the lawn of other concentric ring patterns when operating on each concentric ring pattern when there are no obstacles. Furthermore, since the boundaries of the multiple concentric patterns do not intersect with obstacles, and the distance between the nearest obstacle on the inner side of each concentric pattern boundary and the obstacle is not less than the first width, when there are obstacles in the concentric patterns, the lawn mowing device can also move directly from the outside of the obstacles in the ring patterns without affecting other ring patterns. Thus, the target path formed by multiple concentric patterns does not require complex avoidance operations, allowing the lawn mowing device to move smoothly according to the target path, thereby improving the operating efficiency of the lawn mowing device.

[0088] For embodiments consistent with those shown above, please refer to... Figure 9 , Figure 9This is a functional unit block diagram of a path generation device provided in an embodiment of this application. The path generation device is the path generation module or a part of the path generation module, such as... Figure 9 As shown, the path generation device 90 includes:

[0089] Acquisition unit 901 is used to acquire the first distance between the center position of the target lawn and the centroid of each of the multiple obstacles on the target lawn;

[0090] The processing unit 902 is used to set multiple concentric patterns based on the first distance corresponding to each obstacle and the center position of the target lawn, and to generate a target path based on the multiple concentric patterns;

[0091] In this system, each of the multiple concentric patterns is centered on the center of the target lawn, and the largest concentric pattern does not exceed the boundary of the target lawn. Each obstacle does not intersect the boundary of the multiple concentric patterns. The distance between two adjacent concentric patterns is not less than a first width, which is the minimum width of the lawn mowing equipment. The distance between the boundary of the target concentric pattern and the obstacle closest to the inner side of the boundary of the target concentric pattern is not less than the first width.

[0092] In a feasible embodiment, in setting multiple concentric patterns based on a first distance from each obstacle and the center position of the target lawn, the processing unit 902 is specifically configured to: set concentric patterns in ascending order of area based on the center position of the target lawn; when setting the first concentric pattern, if there is no obstacle among the multiple obstacles whose first distance is less than the first width, then the minimum distance between the boundary of the first concentric pattern and the center position is not less than the first width; when setting the y-th concentric pattern, if there is no obstacle among the multiple obstacles whose minimum distance to the outer edge of the boundary of the (y-1)-th concentric pattern is less than the first width, then the minimum distance between the boundary of the y-th concentric pattern and the center position is not less than the sum of the minimum distance between the boundary of the (y-1)-th concentric pattern and the first width; wherein, y≥2.

[0093] In a feasible embodiment, when setting the first concentric pattern, the processing unit 902 is further configured to: if there is at least one first obstacle among the plurality of obstacles whose first distance is less than the first width, then when the distance between the first obstacle Mx with the largest first distance and the first obstacle Mx+1 among the at least one first obstacle is not less than the first width, set the minimum distance between the boundary and the center position of the first concentric pattern to be not less than the second distance, the second distance being the sum of the maximum radius of the first obstacle Mx, the first distance corresponding to the first obstacle Mx, and the first width, and the first distance corresponding to the first obstacle Mx is less than the first distance corresponding to the first obstacle Mx+1.

[0094] In a feasible embodiment, when setting the first concentric pattern, the processing unit 902 is further configured to: if there is at least one first obstacle among the plurality of obstacles whose first distance is less than the first width, then when the distance between the first obstacle Mx with the largest first distance among the at least one first obstacle and the first obstacle Mx+1 is less than the first width, set the minimum distance between the boundary and the center position of the first concentric pattern to be no less than a third distance, the third distance being the sum of the maximum radius of the first obstacle Mx+1, the first distance corresponding to the first obstacle Mx+1, and the first width, and the first distance corresponding to the first obstacle Mx is less than the first distance corresponding to the first obstacle Mx+1.

[0095] In a feasible embodiment, when setting the y-th concentric pattern, the processing unit 902 is further configured to: if there is at least one second obstacle among the multiple obstacles whose minimum distance to the outer edge of the boundary of the (y-1)-th concentric pattern is less than the first width, then when the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 is not less than the first width, set the minimum distance between the boundary and the center position of the y-th concentric pattern to be not less than the fourth distance, the fourth distance being the sum of the maximum radius of the second obstacle Mx, the first distance corresponding to the second obstacle Mx, and the first width, and the first distance corresponding to the second obstacle Mx is less than the first distance corresponding to the second obstacle Mx+1.

[0096] In a feasible embodiment, when setting the y-th concentric pattern, the processing unit 902 is further configured to: if there is at least one second obstacle among the multiple obstacles whose minimum distance to the outer edge of the boundary of the (y-1)-th concentric pattern is less than the first width, then when the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 among the at least one second obstacle is less than the first width, set the minimum distance between the boundary of the y-th concentric pattern and the center position to be no less than the fifth distance, the fifth distance being the sum of the maximum radius of the second obstacle Mx+1, the first distance corresponding to the second obstacle Mx+1, and the first width, and the first distance corresponding to the second obstacle Mx is less than the first distance corresponding to the second obstacle Mx+1.

[0097] In a feasible embodiment, the distance between the first obstacle Mx+1 and the first obstacle Mx is determined based on the difference between a first value and a second value. The first value is the difference between the first distance corresponding to the first obstacle Mx+1 and the first distance corresponding to the first obstacle Mx, and the second value is the sum of the maximum radius of the first obstacle Mx and the maximum radius of the first obstacle Mx+1.

[0098] It is understood that since the method embodiments and the device embodiments are different presentations of the same technical concept, the content of the method embodiment section in this application should be adapted to the device embodiment section in a synchronous manner, and will not be repeated here.

[0099] When using integrated units, such as Figure 10 As shown, Figure 10 A functional unit block diagram of another path generation device 90 provided in an embodiment of this application. Figure 10 In this document, the path generation device 90 includes a processing module 1012 and a communication module 1011. The processing module 1012 controls and manages the operation of the path generation device 90, for example, the steps of the acquisition unit 901, the determination and processing unit 902, and / or other processes for performing the techniques described herein. The communication module 1011 supports interaction between the path generation device 90 and other devices. Figure 10 As shown, the path generation device 90 may further include a storage module 1013, which is used to store the program code and data of the path generation device 90.

[0100] The processing module 1012 can be a processor or controller, such as a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication module 1011 can be a transceiver, RF circuitry, or a communication interface, etc. The storage module 1013 can be a memory.

[0101] All relevant content in each scenario involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here. The path generation device 90 described above can all execute the above... Figure 2 The path generation method shown.

[0102] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions according to the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. A computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. Available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. Semiconductor media can be solid-state drives.

[0103] Figure 11 This is a structural block diagram of an electronic device provided in an embodiment of this application. Figure 11As shown, the electronic device 1100 may include one or more of the following components: a processor 1101, a memory 1102, and a communication interface 1103. The processor 1101, the memory 1102, and the communication interface 1103 are interconnected and perform communication between them. The memory 1102 may store one or more computer programs, which may be configured to implement the methods described in the above embodiments when executed by one or more processors 1101.

[0104] Processor 1101 may include one or more processing cores. Processor 1101 connects to various parts within the electronic device 1100 using various interfaces and lines, and performs various functions and processes data of the electronic device 1100 by running or executing instructions, programs, code sets, or instruction sets stored in memory 1102, and by calling data stored in memory 1102. Optionally, processor 1101 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). Processor 1101 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. It is understood that the aforementioned modem may also not be integrated into processor 1101, but may be implemented separately through a communication chip.

[0105] The memory 1102 may include random access memory (RAM) or read-only memory (ROM). The memory 1102 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 1102 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the various method embodiments described above. The data storage area may also store data created by the electronic device 1100 during use.

[0106] It is understood that the electronic device 1100 may include more or fewer structural elements than those shown in the above block diagram, such as a power module, physical buttons, a WiFi (Wireless Fidelity) module, a speaker, a Bluetooth module, sensors, etc., without limitation.

[0107] The aforementioned electronic device 1100 may be part of the lawn beautification system 100 or a device independent of the lawn beautification system 100.

[0108] This application provides a computer-readable storage medium storing program data, which, when executed by a processor, is used to perform some or all of the steps of any of the path generation methods described in the above method embodiments.

[0109] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any path generation method described in the above method embodiments. This computer program product can be a software installation package.

[0110] It should be noted that, for the sake of simplicity, each of the aforementioned path generation method embodiments is described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to this application.

[0111] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce a good effect.

[0112] Those skilled in the art will understand that all or part of the steps in the various method embodiments of any of the above path generation methods can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk, or an optical disk, etc.

[0113] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principle and implementation of a path generation method and apparatus of this application. The description of the above embodiments is only for the purpose of helping to understand the method and its core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​a path generation method and apparatus of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0114] This application is described with reference to flowchart illustrations and / or block diagrams of methods, hardware products, and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0115] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0117] It is understood that any product that is controlled or configured to execute the processing method of the flowchart described in the method embodiment of the path generation method of this application, such as the terminal and computer program product of the above flowchart, falls within the scope of the related products described in this application.

[0118] Obviously, those skilled in the art can make various modifications and variations to the path generation method and apparatus provided in this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A path generation method, characterized in that, The method includes: Obtain the first distance between the center position of the target lawn and the centroid of each of the multiple obstacles on the target lawn; Based on the first distance corresponding to each obstacle and the center position of the target lawn, multiple concentric patterns are set, and a target path is generated based on the multiple concentric patterns; In this configuration, each of the multiple concentric patterns is centered on the center of the target lawn, and the largest concentric pattern does not exceed the boundary of the target lawn. Each obstacle does not intersect the boundary of the multiple concentric patterns. The distance between any two adjacent concentric patterns is not less than a first width, which is the minimum width of the lawn mowing equipment. The distance between the boundary of the target concentric pattern and the obstacle closest to the inner side of the boundary of the target concentric pattern is not less than the first width.

2. The method according to claim 1, characterized in that, The method involves setting multiple concentric patterns based on the first distance corresponding to each obstacle and the center position of the target lawn, including: Concentric patterns are set up in ascending order of size, with the center of the target lawn as the center. When setting the first concentric pattern, if there is no obstacle among the plurality of obstacles whose first distance is less than the first width, then the minimum distance between the boundary of the first concentric pattern and the center position is not less than the first width. When setting the y-th concentric pattern, if there is no obstacle among the plurality of obstacles whose minimum distance to the outer edge of the (y-1)-th concentric pattern is less than the first width, then the minimum distance between the boundary of the y-th concentric pattern and the center position is not less than the sum of the minimum distance between the boundary of the (y-1)-th concentric pattern and the center position and the first width, where y ≥ 2.

3. The method according to claim 2, characterized in that, When setting the first concentric pattern, the method further includes: If there is at least one first obstacle among the plurality of obstacles whose first distance is less than the first width, then when the distance between the first obstacle Mx with the largest first distance and the first obstacle Mx+1 is not less than the first width, the minimum distance between the boundary of the first concentric pattern and the center position is set to be not less than the second distance. The second distance is the sum of the maximum radius of the first obstacle Mx, the first distance corresponding to the first obstacle Mx, and the first width. The first distance corresponding to the first obstacle Mx is less than the first distance corresponding to the first obstacle Mx+1.

4. The method according to claim 2 or 3, characterized in that, When setting the first concentric pattern, the method further includes: If at least one of the plurality of obstacles has a first distance less than the first width, then when the distance between the first obstacle Mx with the largest first distance and the first obstacle Mx+1 is less than the first width, the minimum distance between the boundary of the first concentric pattern and the center position is set to be no less than a third distance. The third distance is the sum of the maximum radius of the first obstacle Mx+1, the first distance corresponding to the first obstacle Mx+1, and the first width. The first distance corresponding to the first obstacle Mx is less than the first distance corresponding to the first obstacle Mx+1.

5. The method according to claim 2 or 3, characterized in that, When setting the y-th concentric pattern, the method further includes: If at least one of the multiple obstacles has a minimum distance to the outer edge of the boundary of the (y-1)th concentric pattern that is less than the first width, then when the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 is not less than the first width, the minimum distance between the boundary of the yth concentric pattern and the center position is set to be not less than a fourth distance. The fourth distance is the sum of the maximum radius of the second obstacle Mx, the first distance corresponding to the second obstacle Mx, and the first width. The first distance corresponding to the second obstacle Mx is less than the first distance corresponding to the second obstacle Mx+1.

6. The method according to claim 2 or 3, characterized in that, When setting the y-th concentric pattern, the method further includes: If at least one of the multiple obstacles has a minimum distance to the outer edge of the boundary of the (y-1)th concentric pattern that is less than the first width, then when the distance between the second obstacle Mx with the largest first distance and the second obstacle Mx+1 is less than the first width, the minimum distance between the boundary of the yth concentric pattern and the center position is set to be no less than a fifth distance. The fifth distance is the sum of the maximum radius of the second obstacle Mx+1, the first distance corresponding to the second obstacle Mx+1, and the first width. The first distance corresponding to the second obstacle Mx is less than the first distance corresponding to the second obstacle Mx+1.

7. The method according to claim 3, characterized in that, The distance between the first obstacle Mx+1 and the first obstacle Mx is determined based on the difference between a first value and a second value. The first value is the difference between the first distance corresponding to the first obstacle Mx+1 and the first distance corresponding to the first obstacle Mx. The second value is the sum of the maximum radius of the first obstacle Mx and the maximum radius of the first obstacle Mx+1.

8. A path generation device, characterized in that, The device includes: The acquisition unit is used to acquire the first distance between the center position of the target lawn and the centroid of each of the multiple obstacles on the target lawn; The processing unit is configured to set multiple concentric patterns based on the first distance corresponding to each obstacle and the center position of the target lawn, and generate a target path based on the multiple concentric patterns; In this configuration, each of the multiple concentric patterns is centered on the center of the target lawn, and the largest concentric pattern does not exceed the boundary of the target lawn. Each obstacle does not intersect the boundary of the multiple concentric patterns. The distance between any two adjacent concentric patterns is not less than a first width, which is the minimum width of the lawn mowing equipment. The distance between the boundary of the target concentric pattern and the obstacle closest to the inner side of the boundary of the target concentric pattern is not less than the first width.

9. An electronic device, characterized in that, The device includes: The processor, the memory, and the communication interface are interconnected and perform communication between them. The memory stores executable program code, and the communication interface is used for wireless communication. The processor is configured to retrieve the executable program code stored in the memory and execute the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange, wherein the computer program causes a computer to perform the method as described in any one of claims 1-7.

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