Method for mowing lawn pattern, and related apparatus

Abstract

Disclosed in the present application are a method for mowing a lawn pattern, and a related apparatus. The method comprises: acquiring a lawn pattern; determining a first mowing path on the basis of a first display mode of the lawn pattern, wherein the first display mode is to display the lawn pattern in a target lawn in a recessed manner; acquiring the rotation angle of a mowing apparatus in the first mowing path; and on the basis of the rotation angle, determining an operation area, wherein the operation area is used for indicating an area that requires a mowing operation. By means of the present application, a mowing mode can be matched on the basis of the rotation angle of a mowing apparatus, thereby ensuring the mowing effect of a pattern, and improving the mowing efficiency.

Description

Methods and related devices for cutting lawn patterns

[0001] This application claims priority to Chinese Patent Application No. 2024106700044, filed on May 28, 2024, entitled “Method and Apparatus for Cutting Lawn Patterns”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of lawnmower technology, and more particularly to a method and related apparatus for cutting lawn patterns. Background Technology

[0003] As the pace of greening increases, people often hope to enhance the attractiveness of lawns through patterns. Currently, lawn mowing devices, such as robotic mowers, typically mow lawns based on user-designed patterns. However, because these devices cannot effectively plan the mowing area for patterns of varying complexity, the resulting patterns often do not perfectly match the intended design. Summary of the Invention

[0004] This application provides a method and related apparatus for cutting lawn patterns, which can ensure the cutting effect of the pattern and improve the efficiency of mowing.

[0005] In a first aspect, embodiments of this application provide a method for cutting a lawn pattern, comprising: acquiring a lawn pattern; determining a first cutting path based on a first display mode of the lawn pattern, wherein the first display mode is to display the lawn pattern in relief in a target lawn; acquiring a rotation angle of a mowing device in the first cutting path; and determining a work area based on the rotation angle, wherein the work area is used to indicate the area where mowing operations need to be performed.

[0006] Secondly, embodiments of this application provide an apparatus for cutting lawn patterns, comprising: a first acquisition unit for acquiring a lawn pattern; a first determination unit for determining a first cutting path based on a first display mode of the lawn pattern, wherein the first display mode is to display the lawn pattern in relief in a target lawn; a second acquisition unit for acquiring the rotation angle of the mowing device in the first cutting path; and a second determination unit for determining a working area based on the rotation angle, wherein the working area is used to indicate the area where mowing operations need to be performed.

[0007] Thirdly, embodiments of this application provide an electronic device, including a processor and a memory storing execution instructions, the memory storing one or more programs; when the processor executes the execution instructions stored in the memory, the processor executes the method described in the first aspect.

[0008] Fourthly, embodiments of this application provide a computer-readable storage medium storing an energy data management program, including execution instructions, which, when executed by a processor of an electronic device, perform the method described in the first aspect.

[0009] Fifthly, embodiments of this application provide 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 embodiments of this application. The computer program product may be a software installation package.

[0010] As can be seen, in this embodiment, a lawn pattern is first obtained; then, a first cutting path is determined based on a first display mode of the lawn pattern, wherein the lawn pattern is recessed within the target lawn; next, the rotation angle of the mowing device in the first cutting path is obtained; finally, a working area is determined based on the rotation angle, wherein the working area is used to indicate the area where mowing operations need to be performed. By intelligently matching the cutting mode with the rotation angle of the mowing device, the cutting effect of the pattern is ensured, and the mowing efficiency is improved. Attached Figure Description

[0011] 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.

[0012] Figure 1 is a system architecture diagram of a lawn mowing system provided in an embodiment of this application;

[0013] Figure 2 is a flowchart illustrating a method for cutting lawn patterns according to an embodiment of this application;

[0014] Figure 3 is a schematic outline of a lawn pattern provided in an embodiment of this application;

[0015] Figure 4 is a schematic diagram showing the breakdown of a lawn pattern provided in an embodiment of this application;

[0016] Figure 5 is a schematic outline of another lawn pattern provided in an embodiment of this application;

[0017] Figure 6 is a schematic diagram showing the breakdown of another lawn pattern provided in an embodiment of this application;

[0018] Figure 7 is a schematic diagram of a lawn pattern filling provided in an embodiment of this application;

[0019] Figure 8 is a schematic diagram of the cutting of a lawn pattern provided in an embodiment of this application;

[0020] Figure 9 is a functional unit block diagram of a device for cutting lawn patterns provided in an embodiment of this application;

[0021] Figure 10 is a functional unit block diagram of another device for cutting lawn patterns provided in an embodiment of this application;

[0022] Figure 11 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0023] 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 in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0024] 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 or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0025] 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.

[0026] Current lawn mowing devices have relatively simple control functions, making it impossible to reasonably plan the mowing area for patterns of varying complexity designed by users, which can easily result in the mowing pattern not fully matching the expected pattern.

[0027] To address the aforementioned problems, this application provides a method and related apparatus for cutting lawn patterns. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0028] Please refer to Figure 1, which is a system architecture diagram of a lawn mowing system provided in an embodiment of this application. As shown in Figure 1, the lawn mowing system 100 includes a receiving module 101, a calculation module 102, and a control module 103. These modules are interconnected. The receiving module 101 receives lawn patterns uploaded by the user or various instructions transmitted by the user. If the receiving module 101 transmits the received lawn pattern designed by the user to the control module 103, the control module 103 assumes that the lawn pattern is recessed onto the lawn to obtain a cutting path, and transmits the cutting path to the calculation module 102. The calculation module 102 calculates the rotation angle of the mowing device along this cutting path to obtain the rotation angle. After the rotation angle is reached, the data is transmitted to the control module 103, which determines whether the lawn pattern can be split based on the rotation angle, thereby determining the area in the lawn that needs to be mowed. If the receiving module 101 receives a user's instruction to fill the pattern, it transmits the instruction to the control module 103. The control module 103 modifies the pattern according to the instruction and determines the area where the modified pattern is located as the area that needs to be mowed. If the receiving module 101 receives a user's instruction on the pattern display mode, it transmits the instruction to the control module 103. The control module 103 determines the area that needs to be mowed and the mowing path according to the instruction.

[0029] Please refer to Figure 2, which is a flowchart illustrating a method for cutting lawn patterns according to an embodiment of this application. The method includes the following steps.

[0030] S210, retrieve the lawn pattern.

[0031] S220, determine the first cutting path based on the first display method of the lawn pattern.

[0032] The display mode is used to indicate whether the lawn pattern is highlighted or recessed. The first display mode is to recess the lawn pattern. Assuming the lawn pattern is recessed, the cutting path for the recessed lawn pattern is obtained so that the turning angle of the cutting machine's head in the cutting path can be obtained subsequently. For example, please refer to Figure 3. Figure 3 is a schematic outline diagram of a lawn pattern provided in an embodiment of this application. As shown in Figure 3, the inner contour curve 21 and the outer contour curve 22 form a closed lawn pattern D. When the pattern is recessed, the lawn between the inner contour curve 21 and the outer contour curve 22 is cut. The arrow in the exemplary Figure 3 can point to the cutting direction of the cutting device based on pattern D. The generated cutting path includes the cutting direction of the mowing device.

[0033] S230, obtain the rotation angle of the mowing device in the first cutting path.

[0034] Specifically, obtaining the rotation angle of the mowing device in the first cutting path includes: obtaining the outline curve of the lawn pattern; determining multiple line connection points of the lawn pattern based on the outline curve; and determining the rotation angle of the mowing device in the first cutting path relative to the multiple line connection points.

[0035] The contour curves include the outer contour curve and the inner contour curve in the contour diagram. Depending on the pattern, multiple line connection points can be determined by referring to the inner contour curve, the outer contour curve, or a combination of both. As shown in Figure 3, if the inner contour curve 21 is selected to determine the line connection points of the lawn pattern, the first line connection point 211 and the second line connection point 212 can be determined. The first line connection point 211 and the second line connection point 212 are adjacent line connection points in the same cutting direction. According to the cutting direction in the cutting path of pattern D, the above line connection points have two turning values, resulting in two turning angles. If the outer contour curve 22 is selected to determine the line connection points of the lawn pattern, the third line connection point 221 and the fourth line connection point 222 can be determined. The third line connection point 221 and the fourth line connection point 222 are adjacent line connection points in the same cutting direction. According to the cutting direction in the cutting path of pattern D, the above line connection points have two turning values, resulting in two turning angles. The line connection point may have two turning values ​​or one turning value. The specific number of turning values ​​can be determined according to the cutting direction and is not limited here.

[0036] The steering angle is determined based on the steering of the mower head. More specifically, the steering angle of the mower head is calculated by referring to the cutting direction and the line connection points. For example, as shown in Figure 3, the mower 23 refers to the third line connection point 221 and the fourth line connection point 222. In the first cutting direction 24, the third line connection point 221 is used as the starting point and the fourth line connection point 222 is used as the ending point to determine the rotation angle of the mower head as 180 degrees. In the second cutting direction 25, the fourth line connection point 222 is used as the starting point and the third line connection point 221 is used as the ending point to determine the rotation angle of the mower head as 0 degrees.

[0037] S240, the working area is determined based on the rotation angle.

[0038] The work area is used to indicate the area where mowing operations need to be carried out.

[0039] Specifically, determining the work area based on the rotation angle includes: determining the splitting result of the lawn pattern based on the rotation angle and the multiple line connection points, the splitting result including whether the lawn pattern can be split or not; determining the non-pattern area as the work area based on the splitting result that can be split, the target lawn including pattern area and non-pattern area, the pattern area being used to indicate the area where the lawn pattern is located in the target lawn; and determining the pattern area as the work area based on the splitting result that cannot be split.

[0040] Specifically, determining the splitting result of the lawn pattern based on the rotation angle and the multiple line connection points includes: determining a first region and a second region for the first cutting path based on the multiple line connection points and the rotation angle, wherein the first region is used to indicate the area in the first cutting path where the mowing device does not need to turn, and the second region is used to indicate the area in the first cutting path where the rotation angle is greater than a preset angle; and determining the splitting result of the lawn pattern based on the first region and the second region.

[0041] Specifically, if a lawn pattern simultaneously contains a first region and a second region, and the number of first and second regions is greater than two, then the lawn pattern can be determined to be divisible, thus identifying it as a complex pattern. The preset angle can be 0 degrees, a user-defined angle, or an angle based on the user's preferred pattern.

[0042] Please refer to Figure 4, which is a schematic diagram of the splitting of a lawn pattern provided in an embodiment of this application. As shown in Figures 3 and 4, the lawn pattern can be divided into a region 401 that does not require turning and a region 402 that requires turning based on the first line connection point 211, the second line connection point 212 and the two rotation angles obtained above. That is, the current pattern has a first region and a second region. It is determined that the lawn pattern cannot be split, that is, it is determined to be a simple pattern. After determining that the lawn pattern is a simple pattern, the area where the lawn pattern is located is determined as the working area, that is, the lawn can be cut according to the first cutting path, which improves the mowing efficiency while ensuring the cutting effect of the pattern.

[0043] In this process, multiple line connection points can be determined by combining the inner and outer contour curves. Please refer to Figure 5, which is a schematic diagram of the contour of another lawn pattern provided in this embodiment. As shown in Figure 5, the third cutting direction 502, the fourth cutting direction 503, the fifth cutting direction 504, and the sixth cutting direction 505 are obtained according to the cutting path. The fifth line connection point 506, the sixth line connection point 507, the seventh line connection point 508, the eighth line connection point 512, the ninth line connection point 513, the tenth line connection point 514, the eleventh line connection point 509, the twelfth line connection point 510, and the thirteenth line connection point 511 are obtained according to the contour curve of the pattern. Referring to the sixth line connection point 507 and the seventh line connection point 508, the lawn mower 501, in the third cutting direction 502, uses the sixth line connection point 507 as the starting point and the seventh line connection point 508 as the ending point to determine the rotation angle of the lawn mower head. The angle is 180 degrees; the mowing device 501, referring to the sixth line connection point 507 and the seventh line connection point 508, determines the rotation angle of the mowing device head to be 0 degrees in the fourth cutting direction 503, with the seventh line connection point 508 as the starting point and the sixth line connection point 507 as the ending point; the mowing device 501, referring to the eighth line connection point 512 and the ninth line connection point 513, determines the rotation angle of the mowing device head to be 0 degrees in the fifth cutting direction 504, with the eighth line connection point 512 as the starting point and the ninth line connection point 513 as the ending point; the mowing device 501, referring to the eleventh line connection point 509 and the twelfth line connection point 510, determines the rotation angle of the mowing device head to be 0 degrees in the fifth cutting direction 504, with the eleventh line connection point 509 as the starting point and the twelfth line connection point 510 as the ending point; in summary, four rotation values ​​are obtained, three of which are 0 degrees and one is 180 degrees.

[0044] Please refer to Figure 6, which is a schematic diagram of another lawn pattern splitting provided in this application embodiment. As shown in Figures 5 and 6, based on the line connection points and rotation angles, the lawn pattern R can be divided into 3 first regions and 1 second region 601. The 3 first regions are the first sub-region 602, the second sub-region 603, and the third sub-region 604. That is, when it is determined that the lawn pattern can be split, i.e., it is determined to be a complex pattern, after determining that the lawn pattern is a complex pattern, the area where the lawn pattern is not located is determined as the working area. The cutting route is redetermined according to the working area to cut the lawn, which can ensure the final cutting effect of the pattern.

[0045] Among them, any combination pattern containing complex patterns is also a complex pattern, that is, the area where the non-lawn pattern is located is also defined as the work area.

[0046] Specifically, before determining the non-patterned area as the work area, the method further includes: receiving a user's fill instruction, which instructs the lawn pattern to be changed from a hollow pattern to a solid pattern; and determining the patterned area as the work area based on the fill instruction.

[0047] After determining that the lawn pattern is complex, and before defining the non-patterned area as the work area, the user can choose to simplify the complex pattern. For example, the lawn pattern can be made into a solid pattern. Please refer to Figure 7, which is a schematic diagram of lawn pattern filling provided in an embodiment of this application. As shown in Figure 7, hollow A is transformed into solid A. By simplifying the pattern through filling, the area where the lawn pattern is located can be defined as the work area, making the lawn pattern more prominent, thereby improving the cutting efficiency of the pattern and ensuring the cutting effect of the pattern; or the complex pattern can be broken down into simple patterns for cutting.

[0048] Specifically, before determining the non-patterned area as the work area, the method further includes: receiving a user's mowing command, which instructs the lawn pattern to be recessed in the target lawn; splitting the lawn pattern into multiple sub-patterns based on the rotation angle and the multiple line connection points; determining a second cutting path based on the mowing command and the multiple sub-patterns; and determining the lawn area corresponding to the second cutting path as the work area.

[0049] Specifically, after determining that the lawn pattern is a complex pattern, and before identifying the non-patterned areas as the work area, if a user's recessed mowing command is received, the lawn pattern can be divided into multiple sub-patterns based on the first and second areas displayed in the above-mentioned splitting results. Specifically, determining the second cutting path based on the mowing command and the multiple sub-patterns includes: obtaining the position of the mowing device; determining the cutting order for each of the multiple sub-patterns based on the position of the mowing device; and determining the second cutting path based on the cutting order.

[0050] The cutting sequence of multiple sub-patterns is determined based on the proximity principle according to the current location of the mowing device. Navigation is performed using a real-time planned path according to the different sequences. When the cutting device is in a non-cutting area during navigation, the blades are shut off to avoid damaging the visual effect of the pattern. Please refer to Figure 8, which is a schematic diagram of lawn pattern cutting provided in an embodiment of this application. As shown in Figure 8, when the mowing vehicle 805 approaches the third sub-pattern 803, the lawn pattern can be cut according to the sequence of the third sub-pattern 803, the second sub-pattern 802, the first sub-pattern 801, and the fourth sub-pattern 804. By splitting the pattern, the complex pattern is simplified, thereby improving the cutting efficiency while ensuring the cutting effect.

[0051] As can be seen, in this embodiment, the cutting mode is intelligently matched by the rotation angle of the mowing device, which ensures the cutting effect of the pattern and improves the mowing efficiency.

[0052] Similar to the above embodiments, please refer to Figure 9. Figure 9 is a functional unit block diagram of a lawn pattern cutting device provided in this application embodiment. As shown in Figure 9, the lawn pattern cutting device 90 includes: a first acquisition unit 91 for acquiring a lawn pattern; a first determination unit 92 for determining a first cutting path based on a first display mode of the lawn pattern, wherein the first display mode is to display the lawn pattern in relief in the target lawn; a second acquisition unit 93 for acquiring the rotation angle of the mowing device in the first cutting path; and a second determination unit 94 for determining a working area based on the rotation angle, wherein the working area is used to indicate the area where mowing operations need to be performed.

[0053] In one possible embodiment, the second acquisition unit 93 is specifically configured to: acquire the outline curve of the lawn pattern; determine multiple line connection points of the lawn pattern based on the outline curve; and determine the rotation angle of the lawn mower relative to the multiple line connection points in the first cutting path.

[0054] In one possible embodiment, in determining the work area based on the rotation angle, the second determining unit 94 is specifically configured to: determine the splitting result of the lawn pattern based on the rotation angle and the plurality of line connection points, the splitting result including whether the lawn pattern can be split or not; determine the non-patterned area as the work area based on the splitting result that can be split, the target lawn including patterned area and non-patterned area, the patterned area being used to indicate the area where the lawn pattern is located in the target lawn; and determine the patterned area as the work area based on the splitting result that cannot be split.

[0055] In one possible embodiment, in determining the splitting result of the lawn pattern based on the rotation angle and the plurality of line connection points, the second determining unit 94 is further configured to: determine a first region and a second region for the first cutting path based on the plurality of line connection points and the rotation angle, wherein the first region is used to indicate the area in the first cutting path where the mowing device does not need to turn, and the second region is used to indicate the area in the first cutting path where the rotation angle is greater than a preset angle; and determine the splitting result of the lawn pattern based on the first region and the second region.

[0056] In one possible embodiment, before determining the non-patterned area as the work area, the lawn pattern cutting device 90 is further configured to: receive a user's filling instruction, the filling instruction being used to indicate that the pattern type of the lawn pattern be changed from a hollow pattern to a solid pattern; and determine the patterned area as the work area based on the filling instruction.

[0057] In one possible embodiment, before determining the non-patterned area as the work area, the lawn pattern cutting device 90 is further configured to: receive a user's mowing instruction, the mowing instruction being used to instruct the lawn pattern to be recessed in the target lawn; divide the lawn pattern into multiple sub-patterns according to the rotation angle and the multiple line connection points; determine a second cutting path according to the mowing instruction and the multiple sub-patterns; and determine the lawn area corresponding to the second cutting path as the work area.

[0058] In one possible embodiment, the lawn pattern cutting device 90 is further configured to: obtain the position of the lawn mowing device; determine the cutting order for each of the plurality of sub-patterns based on the position of the lawn mowing device; and determine the second cutting path based on the cutting order.

[0059] 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.

[0060] In the case of using integrated units, please refer to FIG10, which is a functional unit block diagram of another lawn pattern cutting device provided in an embodiment of this application. As shown in FIG10, the lawn pattern cutting device 90 includes a processing module 1002 and a communication module 1001. The processing module 1002 is used to control and manage the operation of the lawn pattern cutting device 90, for example, executing the steps of the first acquisition unit 91, the first determination unit 92, the second acquisition unit 93, and the second determination unit 94, and / or to execute other processes of the technology described herein. The communication module 1001 is used for interaction between the lawn pattern cutting device 90 and other devices. As shown in FIG10, the lawn pattern cutting device 90 may further include a storage module 1003, which is used to store the program code and data of the lawn pattern cutting device 90.

[0061] The processing module 1002 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 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 computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication module 1001 can be a transceiver, RF circuitry, or a communication interface, etc. The storage module 1003 can be a memory.

[0062] All relevant content for 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 above-mentioned lawn pattern cutting device 90 can execute the lawn pattern cutting method shown in Figure 2.

[0063] Please refer to Figure 11, which is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. As shown in Figure 11, the electronic device 1100 includes a processor 1110, a memory 1120, a communication interface 1130, and one or more programs 1121. The one or more programs 1121 are stored in the memory and configured to be executed by the processor. When the program is executed, it includes some or all of the steps of any of the range estimation methods described in the above method embodiments. The processor, memory, and communication interface are interconnected and complete communication between them.

[0064] The memory can be volatile memory such as dynamic random access memory (DRAM) or non-volatile memory such as hard disk drive (HDD). The memory stores a set of executable program code, and the processor calls the executable program code stored in the memory to execute some or all of the steps of any energy data management method described in the above-described range estimation method embodiments.

[0065] As can be seen, the electronic device 1100 described in this application embodiment first acquires a lawn pattern; then, it determines a first cutting path based on a first display mode of the lawn pattern, wherein the first display mode is to display the lawn pattern recessed in the target lawn; subsequently, it acquires the rotation angle of the mowing device in the first cutting path; and finally, it determines a working area based on the rotation angle, wherein the working area is used to indicate the area where mowing operations need to be performed. By intelligently matching the cutting mode with the rotation angle of the mowing device, the cutting effect of the pattern is ensured, and the mowing efficiency is improved.

[0066] This application also provides a computer storage medium storing a computer program for electronic data interchange, which causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments, wherein the computer includes an electronic device.

[0067] 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 of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer may include an electronic device.

[0068] It should be noted that, for the sake of simplicity, the aforementioned methods are 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. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are optional, and the actions and modules involved are not necessarily essential to this application.

[0069] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0070] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0071] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0072] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.

[0073] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0074] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0075] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for cutting a lawn pattern, wherein, include: Get the lawn pattern; A first cutting path is determined based on a first display method of the lawn pattern, wherein the first display method is to display the lawn pattern in recessed within the target lawn. Obtain the rotation angle of the mowing device in the first cutting path; The work area is determined based on the rotation angle, and the work area is used to indicate the area where mowing operations need to be performed.

2. The method according to claim 1, wherein, The method of obtaining the rotation angle of the mowing device in the first cutting path includes: Obtain the outline curve of the lawn pattern; The multiple line connection points of the lawn pattern are determined based on the outline curve; Determine the rotation angle of the mowing device relative to the plurality of line connection points in the first cutting path.

3. The method according to claim 2, wherein, Determining the work area based on the rotation angle includes: The splitting result of the lawn pattern is determined based on the rotation angle and the multiple line connection points, and the splitting result includes whether the lawn pattern can be split or cannot be split. Based on the decomposition results that can be decomposed, the non-patterned area is determined as the working area. The target lawn includes patterned areas and non-patterned areas. The patterned area is used to indicate the area where the lawn pattern is located in the target lawn. The pattern area is determined as the working area based on the splitting result that cannot be split.

4. The method according to claim 3, wherein, The step of determining the splitting result of the lawn pattern based on the rotation angle and the plurality of line connection points includes: Based on the multiple line connection points and the rotation angle, a first region and a second region are determined for the first cutting path. The first region is used to indicate the area in the first cutting path where the mowing device does not need to turn, and the second region is used to indicate the area in the first cutting path where the rotation angle is greater than a preset angle. The splitting result of the lawn pattern is determined based on the first region and the second region.

5. The method according to claim 4, wherein, The step of determining the splitting result of the lawn pattern based on the first region and the second region includes: If the number of both the first region and the second region is greater than 2, the splitting result is determined to be that the lawn pattern can be split.

6. The method according to claim 3, wherein, Before determining the non-patterned area as the working area, the method further includes: Receive a fill instruction from the user, the fill instruction being used to instruct the pattern type of the lawn pattern to be changed from a hollow pattern to a solid pattern; The pattern area is determined as the work area according to the fill instruction.

7. The method according to claim 3, wherein, Before determining the non-patterned area as the working area, the method further includes: Receive a user's mowing command, the mowing command being used to instruct the lawn pattern to be recessed into the target lawn; The lawn pattern is divided into multiple sub-patterns based on the rotation angle and the multiple line connection points; The second cutting path is determined based on the mowing command and the multiple sub-patterns; The lawn area corresponding to the second cutting path is determined as the work area.

8. The method according to claim 7, wherein, Determining the second cutting path based on the mowing command and the plurality of sub-patterns includes: Obtain the position of the mowing device; The cutting order for each of the plurality of sub-patterns is determined based on the position of the mowing device; The second cutting path is determined according to the cutting sequence.

9. A device for cutting lawn patterns, wherein, include: The first acquisition unit is used to acquire the lawn pattern; The first determining unit is configured to determine a first cutting path based on a first display mode of the lawn pattern, wherein the first display mode is to display the lawn pattern in recessed form in the target lawn. The second acquisition unit is used to acquire the rotation angle of the mowing device in the first cutting path; The second determining unit is used to determine the working area based on the rotation angle, wherein the working area is used to indicate the area where mowing operations need to be performed.

10. An electronic device, wherein, The method includes a processor and a memory storing execution instructions, the memory storing one or more programs; when the processor executes the execution instructions stored in the memory, the processor performs the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, wherein, The device stores an energy data management program, including execution instructions, which, when executed by the processor of the electronic device, perform the method according to any one of claims 1 to 8.

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